Requirements Overview

1
Requirements Overview

• Level 1 Requirement
• Accepts Vehicle Speed Command
• Accepts Steering Angle Command
• Delivers Throttle D/A Steering D/A
• Delivers Estimate Distance Traveled
• Level 2 Requirement
• Receives Current Lon/Lat
• Accepts new Lon/Lat straight-line waypoint
• Dead recon to commanded waypoint
• Make speed/steering corrections based on sensor
  input and updates to Lon/Lat information

2
External Interfaces Overview

• Ethernet
• Server
• Responds to commands and data requests
• Simple command format
• Sensor/Actuator Output
• Provide Screw Terminal Connections for Prototype
• DAC Outputs
• 0-5V 10 significant bits output
• Steering
• Leftlt3.7Vltright
• Throttle
• Breaklt3.7VltAccel

3
External Interfaces Overview (cont.)

• Wheel Speed Capture Inputs (4)
• 5V digital inputs
• 16p/r
• Servo Pot Differential Analog Inputs (4)
• Measure voltage off servo pots to determine
  current position of potentiometers.

4
Screw Terminal Block
Vehicle Control System Hardware Architecture
Servo Pot Differential Inputs
4
RT Linux Laptop
Vehicle Speed
Ethernet
4
Wheel Speed
Throttle DAC
RS232

uC I/O Board
USB (power)
Steering DAC
Spare Capture/DIO
8