Earl Grey
and
The Boston Tea Party
Present
The Entourage
Slide 1
T122001010BAC
Speaker Name
Team Members
Casey Gold
Ellen Prommersberger
Nathan Winder
Steven Anderson
Tom Monikowski
T122001010BAC
Slide 2
Speaker Name
Ellen
Purpose
Ease tedium
of stop-andgo traffic
Improve
safety of
rush hour
driving
T122001010BAC
Slide 3
Speaker Name
Ellen
Objectives
Use sensors to determine position
of car relative to other vehicles
Control acceleration and breaking
based on distance away from
leading vehicle
Control steering to follow lead car
Demonstrate concept on RC
vehicle
T122001010BAC
Slide 4
Speaker Name
Ellen
Concept
T122001010BAC
Slide 5
Speaker Name
Ellen
Turning the Car
T122001010BAC
Slide 6
Speaker Name
Ellen
System Overview
T122001010BAC
Slide 7
Speaker Name
Casey
System
Architecture
T122001010BAC
Slide 8
Speaker Name
Casey
Processor and Memory
addr[0:15]
data[0:7]
U16
dat0
dat1
dat2
dat3
dat4
dat5
dat6
dat7
VDD
U1
U13D
8
9
26
PA0/IC3
VDD
PA1/IC2
C3
C2
C1
CAPACITOR
1
PA2/IC1
PA3/OC5/IC4/OC1
VSS
PA4/OC4/OC1
PA5/OC3/OC1
PA6/OC2/OC1
PA7/PAI/OC1
U13C
34
33
32
11
28
OUT
5
5
6
7
EXTAL
74HC14
8.0 MHz
D1
DIODE
8
XTAL
1M
R
SW1
1
U13A
2
3
U13B
4
1
74HC14
2
U14A
3
Switch
SW_PB_SPST
74HC14
C4
C
17
RESET
74HC08
VDD
R11
18
XIRQ
R12
19
doneFPGA
PC0/ADDR0/DATA0
PC1/ADDR1/DATA1
PC2/ADDR2/DATA2
PC3/ADDR3/DATA3
PC4/ADDR4/DATA4
PC5/ADDR5/DATA5
PC6/ADDR6/DATA6
PC7/ADDR7/DATA7
STRA/AS
STRB/R/W
E
PB0/ADDR8
PB1/ADDR9
PB2/ADDR10
PB3/ADDR11
PB4/ADDR12
PB5/ADDR13
PB6/ADDR14
PB7/ADDR15
pu_27
IRQ
PD0/RXD
PD1/TXD
R13
3
PD2/MISO
MODA/LIR
R14
PD3/MOSI
2
52
51
MODB/VSTBY
PD4/SCK
PD5/SS
11
1
22
23
24
25
Q1
Q2
Q3
Q4
Q5
Q6
Q7
Q8
2
5
6
9
12
15
16
19
addr0
addr1
addr2
addr3
addr4
addr5
addr6
addr7
2
3
4
5
6
7
8
9
pu_20
pu_21
1
19
A0
A1
A2
A3
A4
A5
A6
A7
VRL
PE0/AN0
PE1/AN1
PE2/AN2
PE3/AN3
PE4/AN4
PE5/AN5
PE6/AN6
PE7/AN7
43
45
47
49
44
46
48
50
U4
addr0
addr1
addr2
addr3
addr4
addr5
addr6
addr7
addr8
addr9
addr10
addr11
addr12
addr13
addr14
LE
OE
RW_to_fpga
ECLK_to_fpg a
adr8
adr9
adr10
adr11
adr12
adr13
adr14
adr15
VCC
21
D1
D2
D3
D4
D5
D6
D7
D8
74HC373
4
6
5
20
DIR
OE
U17
B0
B1
B2
B3
B4
B5
B6
B7
18
17
16
15
14
13
12
11
21
23
24
25
26
1
2
3
4
5
6
7
8
9
10
22
27
20
addr8
addr9
addr10
addr11
addr12
addr13
addr14
addr15
28
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
D0
D1
D2
D3
D4
D5
D6
D7
OE
WE
CE
VCC
DIR
OE
WE_RAM_fpga
OE_RAM_fpga
U3
pu_22
pu_23
pu_24
pu_25
addr15_fpga
addr14_fpga
addr13_fpga
addr0
addr1
addr2
addr3
addr4
addr5
addr6
addr7
addr8
addr9
addr10
addr11
addr12
addr13
addr14
10
9
8
7
6
5
4
3
25
24
21
23
2
26
27
22
1
20
28
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
I/O0
I/O1
I/O2
I/O3
I/O4
I/O5
I/O6
I/O7
OE
WE
CE
VCC
OE_ROM_fpga
Slide 9
Speaker Name
Casey
data0
data1
data2
data3
data4
data5
data6
data7
VCC
AT29C256
T122001010BAC
11
12
13
15
16
17
18
19
CY62256
74HC245
VRH
MC68HC11E
Sensor0
Sensor1
Sensor2
Sensor3
Sensor4
Sensor5
Sensor6
Speed
3
4
7
8
13
14
17
18
9
10
11
12
13
14
15
16
42
41
40
39
38
37
36
35
data0
data1
data2
data3
data4
data5
data6
data7
18
17
16
15
14
13
12
11
U15
adr0
adr1
adr2
adr3
adr4
adr5
adr6
adr7
29
B0
B1
B2
B3
B4
B5
B6
B7
U13E
10
pu_32
30
A0
A1
A2
A3
A4
A5
A6
A7
74HC245
pu_33
Y1
VCC
1
19
pu_34
31
27
2
3
4
5
6
7
8
9
11
12
13
15
16
17
18
19
data0
data1
data2
data3
data4
data5
data6
data7
VCC
FPGA
U8
18
19
20
23
24
25
26
27
28
38
39
40
44
45
46
47
RC SpeedContr ol
RC Steer ing Control
DOUT
48
49
50
60
62
66
68
70
32
55
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
I/O
MODE
PGM
I/O/PGCK1
I/O/PGCK2
I/O/PGCK3
I/O/PGCK4
I/O/SGCK1
I/O/SGCK2
I/O/SGCK3
I/O/SGCK4/DOUT
I/O/DIN
I/O/HDC
I/O/INIT
I/O/LDC
I/O/TCK
I/O/TDI
I/O/TMS
O/TDO
CCLK
DONE
77
80
81
82
83
84
69
67
Fi nalWar ning
IntWarning
WE_RAM_fpga
OE_RAM_fpga
OE_ROM_fpga
VCC
J1
HEADER 6
TDI
TMS
TCK
TDO
VCC
GND
3
4
5
6
7
8
9
14
1
2
3
4
5
6
RW_to_fpga
ECLK_to_fpg a
addr13_fpga
addr14_fpga
addr15_fpga
65
61
59
58
56
79
Steer ingControl
CLR
DAC CS
SpeedControl
CCLK
13
35
57
78
10
29
51
72
71
36
41
37
16
15
17
75
73
U12
53
4
XCS10
VCC
3
6
5
10
18
20
19
TDI
TDO
CLK
TCK
D0
D1
D2
D3
D4/CF
D5
D6
D7
TMS
CE
VCC
VCC
VCCO
CEO
OE/RST
17
1
16
2
15
7
14
9
12
13
8
XC18V256
doneFPGA
T122001010BAC
Slide 10 Speaker Name
Casey
Memory Mapping
 Implement on
FPGA
 Code using
Verilog
T122001010BAC
Slide 11 Speaker Name
Casey
Software
Accept values from sensors
•Interpret as distances or hits/misses
Conditionally determine the course of
action
•Speed and turning
Handle user warnings
T122001010BAC
Slide 12 Speaker Name
Tom
Software Speed
Adjustment
Two major components to speed
adjustments:
Relative velocities
Ideal distance
T122001010BAC
Slide 13 Speaker Name
Tom
Software Speed Adjustment
Sample of forward car stop-go pattern
6
5
Speed (Mph)
4
3
Forward car speed
2
1
0
0
1
2
3
4
5
Time (Seconds)
T122001010BAC
Slide 14 Speaker Name
Tom
6
7
8
9
Software Speed Adjustment
Speed comparison of Forward and test car for t=0.1,D=0.1,V=0.1
6
5
Speed (Mph)
4
Car speed (mph)
Forward car speed
3
2
1
0
0
1
2
3
4
5
Time(Seconds)
T122001010BAC
Slide 15 Speaker Name
Tom
6
7
8
9
Software Speed Adjustment
Ideal and actual distances between cars for t=0.1,D=0.1,V=0.1
45
Distance (inches)
40
35
Ideal distance (inches)
Actual distance (Sensor 4)
30
25
20
T122001010BAC
0
Slide 16 Speaker Name
1
Tom
2
3
4
Time (Seconds)
5
6
7
8
Software Speed Adjustment
Test car acceleration for t=0.1,D=0.1,V=0.1
10
8
Acceleration (ft/s^2)
6
4
2
Total Acceleration (ft/s^2)
0
0
1
2
3
4
5
-2
-4
-6
Time (Seconds)
T122001010BAC
Slide 17 Speaker Name
Tom
6
7
8
9
Software Speed Adjustment
Car speed for t=0.2,D=0.1,V=0.1
6000000000
5000000000
4000000000
Speed (Mph)
3000000000
2000000000
Car speed (mph)
1000000000
0
0
2
4
6
8
10
-1000000000
-2000000000
-3000000000
T122001010BAC
Time (Seconds)
Slide 18 Speaker Name
Tom
12
14
16
18
Software Speed Adjustment
Comparison of car speeds for t=0.25,D=0.01,V=0.01
6
5
Speed (Mph)
4
Car speed (mph)
Forward car speed
3
2
1
0
0
2
4
6
8
10
Time (Seconds)
T122001010BAC
Slide 19 Speaker Name
Tom
12
14
16
18
20
Software Speed Adjustment
Ideal and Actual distances between cars for t=0.25,D=0.01,V=0.01
50
45
Distance (inches)
40
Ideal distance (inches)
Actual distance (Sensor 4)
35
30
25
20
0
2
4
6
8
10
Time (Seconds)
T122001010BAC
Slide 20 Speaker Name
Tom
12
14
16
18
20
Software Speed Adjustment
Distance for t=0.5,D=0.0035,V=0.005
60
50
Distance (Inches)
40
Ideal distance (inches)
Actual distance (Sensor 4)
30
20
10
0
0
5
10
15
20
Time (Seconds)
T122001010BAC
Slide 21 Speaker Name
Tom
25
30
35
40
Software Speed Adjustment
Total Acceleration for t=0.5,D=0.003,V=0.003
4
3
2
Acceleration (ft/s^2)
1
0
0
5
10
15
20
25
-1
-2
-3
-4
-5
T122001010BAC
Time (Seconds)
Slide 22 Speaker Name
Tom
30
35
40
45
Total Acceleration (ft/s^2)
Sensor Changes
ULTRASONIC
 +/- 5º beamwidth
(actually +/- 5.25” at 60”)
INFRARED
 +/- 2” beamwidth
at 0” - 60”
 13 pin output
 Single pin output
(requires about 7 FPGAs)
(direct connect to A/D
ports in HC11)
 1 cycle/second
 50 ms period
 $20 each
 $12 each
T122001010BAC
Slide 23 Speaker Name
Ellen
Sensors
Infrared analog
output
Sharp GP2Y0A02YK
Range:
20 cm – 150 cm
Beam width:
+/- 50mm
T122001010BAC
Slide 24 Speaker Name
Ellen
Sensor Data
Data Sheet
Reflectivity Curve
Sensor (Brown Reflectivity)
3.5
3
Voltage (V)
2.5
2
1.5
1
Experimental Data
Reflectivity Curve
T122001010BAC
Slide 25 Speaker Name
Ellen
0.5
0
0
20
40
60
Distance (cm)
80
100
RC Car Interface
Speed Control
•Maintain following distance relative to speed
•Constantly monitor speed of vehicle
Steering
•Incremental adjustment system
•Digital servos
Manual Control
•Disengages with driver input changes
•ENGAGE/DISENGAGE button
•Audio/Visual User Warnings
T122001010BAC
Slide 26 Speaker Name
Nathan
Speed Control Functionality
 Digital-Analog Conversion translates digital duty
cycle to analog voltage
 DC Motor: Linear Relationship between Voltage and
Speed
T122001010BAC
Slide 27 Speaker Name
Nathan
Speed Control Interface
T122001010BAC
Slide 28 Speaker Name
Nathan
Speed Control
Hardware Design
Vdd (15V)
DOUT
V+
VCC
C9
C10
R19
Speed
1
2
3
4
4N29
5
6
CCLK
DAC CS
7
8
SCLK
DIN
CS
DOUT
LDAC
CLR
VDD
REF
DGND
VSS
VCC
AGND
SHDN
SGND
UNI/ BIP
OUT
16
15
14
13
D2
MUR410
5
7
4
R15
12
2
11
1
U18
6
10
OPA548/TO
4
3
2
R16
U20
9
D3
MUR410
1
6
5
+
1
-
U19
SpeedControl
R18
MG1
+
A
MAX5312
C6
2
C5
CAPACITOR
CLR
R17
MOTOR SERVO
VC7
C8
Vss (-15V)
T122001010BAC
Slide 29 Speaker Name
Nathan
Steering Interface
VCC
VCC
R22
RESISTOR
Steering Servo
J4
U23
SteeringControl
1
6
5
2
4
1
2
3
4N29
 Digital interface with I/O port on FPGA
 Smooth servo transition from 0º - 90º
 0º corresponds to 6% duty cycle
 90º corresponds to 9.5% duty cycle
T122001010BAC
Slide 30 Speaker Name
Nathan
3 HEADER
Manual Control Interface
VCC
RC Receiver
VCC
J2
R20
RESISTOR
1
2
U21
1
6
5
2
4
RC Steer ing Control
3
3 HEADER
RC SpeedContr ol
4N29
VCC
VCC
J3
R21
RESISTOR
1
2
U22
1
6
5
3
75 MHz
2
4
3 HEADER
4N29
 RC controller operates at 75.75MHz
 RC receiver outputs digital signals
 Signals “RC SpeedControl” and “RC SignalControl”
T122001010BAC
sent to FPGA
 Change in signals indicates Manual Input/Override
Slide 31 Speaker Name
Nathan
User Warning Output
VCC
V+
R23
RESISTOR
U24
R26
2
R25
D7
MUR410
5
7
6
5
4
4N29
2
6
1
2
OPA548/TO
4
3
1
LS1
U26
+
1
-
IntWarning
D8
MUR410
SOUNDER
R28
C12
VCC
C11
CAPACITOR
R27
VV+
R24
RESISTOR
R29
D9
MUR410
6
1
D10
MUR410
SOUNDER
R32
C14
C13
CAPACITOR
D6
D4
D5
LED BI-COLOUR
2
OPA548/TO
4
3
1
LS2
U27
LED BI-COLOUR
2
LED BI-COLOUR
4
4N29
LED BI-COLOUR
2
R30
5
7
6
5
+
1
-
U25
Fi nalWar ning
D11
R31
V-
T122001010BAC
 Warnings output digital signals from FPGA
 Signal “IntWarning” to warn of potential problems
• Slower frequency buzzing and flashing yellow LEDs
 Signal “FinalWarning” to alert system disengagement
• Faster frequency buzzing and flashing red LEDs
Slide 32 Speaker Name
Nathan
Power System
Tether (120VAC – 15VDC)
•5 V Regulator
Sensors
Processor
Memory
FPGA
DAC
RC receiver
Servos
•3.3 V Regulator
EPROM
T122001010BAC
Slide 33 Speaker Name
Steve
•15 VDC
DC motor
Current gain
OpAmps
DAC
Schedule
T122001010BAC
Slide 34 Speaker Name
Steve
Deliverables
Milestone One
 Full prototype
functionality
Expo
 Full Distribution to
10,000 Dealers
Nationwide
 ROI: 100 Million Dollars
T122001010BAC
Slide 35 Speaker Name
Steve
Milestone Two
 Implement on real
Escalade
Actual Deliverables
Milestone One
 Peripheral Hardware
Tested and Built
 Servos Mounted
 Processor, Memory and
FPGA fully functioning
 Running preliminary
Software
T122001010BAC
Slide 36 Speaker Name
Steve
Milestone Two
 Final Bug-infested
Software
 Finalized Hardware
mounted in vehicle
Division of Labor
Casey – FPGA/Processor Setup,
Programming
Ellen – Controls, Sensors, Quality
Control
Nathan – Control Interface, Hardware
Design, Construction
Steven – Power, Construction
Tom – Math, Sensors, Software Design
T122001010BAC
Slide 37 Speaker Name
Steve
Parts and Prices
 RC Escalades (2)
• $70 ea
 Optoisolators 6N139 (6)
• $0.25 ea
 Infrared Sensors
Sharp GP2Y0A02YK (7)
• $14.50 ea
 DAC MAX5312
• $10 (adaptor socket)
 Buzzers/bicolored LEDs
• $1 ea
 Prototyping materials
• $25
 PCBs 2-layer Board
• $33 per revision
T122001010BAC
Slide 38 Speaker Name
Steve
 CPU 68HC11E0
 FPGA XCS10
 RAM CY62256
 Flash ROM AT29C256
 Bus drivers 74HC245 (2)
 Latch 74HC373
 Assorted logic chips
 8MHz clock
 EPROM XC18V256
 OpAmps OPA548 (3)
 RC receiver and servos
Possible Additions
Extra sensors
NOS
•Wet or dry shot?
Programming for
highway driving
(higher speeds)
Five 10” LCD
screens
More accurate
sensing for
nonstandard
vehicles
Streetglow
•Blue
•Blinking?
T122001010BAC
Slide 39 Speaker Name
Steve
Wrap Up Haiku
Escalade Rollin
Entourage Wheels are Spinnin
Bass that’s a Bumpin
T122001010BAC
Slide 40 Speaker Name
Steve