SemiAutonomous Driver Assist Sensor System

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Semi-Autonomous Driver Assist Sensor System
(S.A.D.A.S.S.)

• Team 3Drew Mason, Nick McCoy,
• Michael Weiss, Michael Wozniak

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Mission Statement

• To design a driver assist program using a variety
  of sensors to detect oncoming dangers for the
  vehicle.
• To keep track and communicate with the other
  vehicles in convoy.
• The system will analyze the data from the sensors
  and determine a safe path of travel for the
  driver to follow.
• The system will also display what this course of
  action is to the operator of the vehicle.

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Problem Statement

• To design a system that will detect dangers on
  the road which will help warn a driver and
  suggest a course of action.
• Communicate with the other vehicles in the convoy
  to keep formation and convey convoy status.
• Detect a problem in the road condition, as well
  as detect on-coming traffics velocity, distance,
  and whether or not the on-coming vehicle will
  present a problem if the convoy must cross the
  center of the road to avoid the obstacle.
• A maximum of 1.3gs in a turn with radius 8.07
  meters may not be exceeded.
• Limit cost and size.

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Design Description

• Different sensor types were initially researched
• Distance Measuring Equipment
• Lasers
• Ultrasonic
• Infrared
• Lidar/Ladar
• Radar
• Ground Penetrating Radar
• Doppler Radar
• Long-Range Scanning Radar

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Design Description

• Final sensors were chosen for each subsystem
  based on the worst-case scenario requirements for
  each subsystem.

• Convoy Separation
• Vehicles must maintain 5 meter separation
• Sensor must be accurate
• Sensor must have fast read time

DMEs, Laser, Ultrasonic, Infrared

• Obstacle Detection
• Must be detected at 57 meters away
• Must see through all conditions
• Accurate and reliable to see most obstacles

Laser, Ultrasonic, Infrared, GPR, Ladar, Doppler,
Radar

• Oncoming Traffic Detection
• Must be detected at 300 meters
• Be able to see through all conditions
• Reasonable size

Radar, Ladar, Doppler, Infrared, Laser, LRSCR
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Design Description

• Comparing the sensors to each other, final
  concepts were derived for each subsystem.

• Convoy Separation
• DME 3000-2
• .1-8 meter range
• /- 5mm accuracy at 8 meters

• Oncoming Traffic
• IR-360 Thermal Infrared Camera
• 1000 meter range in complete darkness
• 360-degree in-cab control
• 4,500 meters max human sized target detection
• LD30-31K-HiP Long Range Laser
• 500 meters bad reflectivity
• /- 5cm
• 1.6 mrad divergence
• .5 s measuring time

• Obstacle Detection
• AR3000 Laser
• 300 meter range
• /- 20 mm
• 1.7 mrad divergence

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CAD Model
Inside Passenger View Showing Screen and IR
Controls
Front View Showing All Sensors
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Design Description

• Convoy Separation
• DME
• Accurately measures distances within 8 meters.
• Fast data return rate.
• 5 meter convoy separation covered within DMEs
  range.

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Design Description

• Obstacle Detection
• 2 Mounted Lasers
• Angled to hit a point on the road approximately
  60 meters in front of the wheels.
• Computer will recognize regular road patterns
  with slight variations.
• Large enough changes in measured distances means
  something is there.
• For example, a change in distance by 4
  centimeters describes a crater in the ground.

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Design Description

• Oncoming Traffic
• IR/Thermal Camera
• Uses heat signatures to detect objects a large
  distances.
• In total darkness the thermal camera will detect
  up to 1000 meters.
• This will be used to see oncoming traffic.
• Long-range Laser
• Used as a fail-safe if the IR/Thermal Camera
• becomes inoperable
• Will oscillate in front of the vehicle
• Beam passing through a typical vehicle height at
  around 300 meters.

Long Range LIDAR in Action
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Benefits of IR Thermal Imaging
Without IR
With IR
Without IR
With IR
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Design Description

• Adding it up
• All sensor information will be relayed in real
  time to a CPU.
• The CPU in turn then sends the data to an LCD
  screen in the passenger side.
• Update data via wireless router to other
  vehicles.
• GPS/INS system for complete convoy situational
  awareness
• Displays approximate visual locations of the
  sensors findings along with exact distances.
• The occupants will be alerted by a blinking light
  mounted above the screen.

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Design Features and Flaws

• Features
• Accurate detection in all three subsystems
• Reliable information
• Displays warning to occupants
• All obstacles detected well within worst-case
  scenario times
• Cost-effective
• Flaws
• In intense conditions (heavy rain, dust storm,
  etc) laser accuracy is compromised
• In total darkness, obstacle detection laser
  accuracy is compromised

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Cost Analysis
Convoy Separation 8,356
Obstacle Detection
18,018
Oncoming Traffic
21,875
363
User Interface
50,558
Miscellaneous
Total Price 128,923.82
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Conclusion

• All three subsystems working simultaneously will
  provide a very good representation of the
  physical surroundings.
• Long range lasers and thermal cameras see out to
  1000 meters.
• The DMEs see up to 8 meters.
• With all systems, we cover a range of 8-1000
  meters total.
• However, in intense dust storms and other severe
  weather conditions, the laser systems accuracy
  will be compromised.

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Thank You!
Any Questions?