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Synopsis- Capstone ProjectDriverless Electric Vehicle
( 2002-2006)First driverless electric vehicle from India in year 2002-2006 connected to web server through WEAN. Self Driving Vehicle a Lighthouse project of a company. As Chief Architect, spearheaded multilayer sensor fusion architecture, design and development of electronics, firmware, software that perceives its surroundings runs at 15KM/hours speed connected by virtual simulation and user human machine interface to wireless web server guided by image processing algorithms, GPS maps, SONAR, battery power management and intelligent motion controls for auto brake, actuators, navigation, lane & obstacle detection and correction. Prototype demonstrated, displayed to more than 100 fortunes clients’ like- GM, Yazaki, TRW, Denso, Caterpillars, Applied Materials, Honda and others that have helped organization in getting new business in software and embedded areas. Presented paper, virtual demo and case studies on many seminars and exhibitions like in Sensors Expo 2008 at Illinois, USA.Contact : www.in.linkedin.com/in/nareshmalik1 or [email protected]
Driverless Electric VehicleFuture of Mobility is in electricity, connected cars,
on-demand car services and driverless autonomous cars
What it comprises ?What is comprise Self Driving Vehicle System : The vehicle system comprises of the following components – Vehicle Chassis, Electric Traction, Ackermann Steering, Electro-mech Brakes, Wheel Bearing Encoders, Wheel Absolute and Incremental Encoders, CD Cameras, Ultrasonic Sensors, Inclinometers, Safety Bumpers, HMI and Navigation Embedded Computer, Control Computer, Frame Grabber, Motion Control and Sensor Interface Card, Sonar Data Acquisition Card, Telematic Wireless Zigbee/Bluetooth gateways , GSM, GPS, RFID interfaces.
Develop and deploy a computer controlled Electric vehicle with manual override, which can operate in any organized private campus for transportation.
Self Driving Electric Car Journey from
Robotics to Self Driving Electric Car
Self Driving Electric CarProject Kicked off with All-Terrain Mobile Robots
ATRV connected thru WLAN, horizontal/vertical Camera ,surrounded by SONAR, runs on Linux with kernel servers (processes) to communicate and programming is done through CORBA interface for Image , odometer and obstacle data.
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How Engineering, fabrication, Industrial Design integrated with sensors
Self Driving Electric CarThought Leaders on board to first Milestone of Journey
Communication
Traction
Map / Diagnostic
3 CCD Cameras
SONAR SensorBrake Steering
Lane Detection
Navigation System
RANGING PCB
FPGA SDAC
HMI PC
HCTL 1100 ICs
Fram
e Gr
aber
CT Drive CT Drive Curtis
Rang
ing
PC
B
MCSI PCB
SDAC PCB
CommandImage Processing
Feedback
LCD
Wireless (GSM, Zigbee, WiFi
Bluetooth)
GPS
Hitachi 7050 MCU(32 bits RISC)
Communication
Control System with Multi-sensor Guidance in place
①Thought Leaders vision ②TRW team inspecting and Inspiring ③Integration of Team Work
Self Driving Proto
Isolation ValvesClosed
Torque sensor
Gearbox
ECU
Motor drive
Motor
Power Sensor signals
Rack and Pinion Steering Gear
Vehicle speed Vehicle status signals
Hand wheel
Motor position measurement
Sensor power CAN Databus
Ignition
Self Driving Electric CarMotion Control Hardware - EPAS,Brake Pedal and Main Traction
The EPS unit is a servomechanism that provides assistance through the electronic control of an electric motor. The servomechanism has four main elements: a torque sensor, a motor, a gearbox, and an electronic control unit (ECU). The EPAS and Brake units has been tested for the reliability of software using simulated environment.
Self Driving Electric CarImage Processing technology Tools -Validates the real world apps
Lane Detection
Canny Edge Output
2D Vision Processing - Inverse Perspective Mapping Bridging the gap :Actual Vs Appearance
A two dimensional image may be represented in terms of pixels ( x, y ) x= row , y= column position and it has a gray level f( x, y ). Then any pixel for which f (x, y)> T is called an object point otherwise background point
Application of Validation tools : Vehicle guidance, curvature predication and Obstacle detection
Self Driving Electric CarSelf Driving thru HMI and Viewing Real time Lane departure
Image processing helps to estimate the world points of lane after grabbing the image using CCD camera and frame grabber & DSP processor. Image processing tool helps in validating and deciding appropriate image processing algorithms for lane following and road sign location.
Development of System : Turnkey multi-disciplinary project execution; Large-scale system integration , Software systems design, Real time system design Mechanical / Automotive design : Design and Analysis , Prototyping / New Product Development ,Automotive Testing and Sensor Application Projects
TEAM - Driverless Car Capabilities
Embedded System CapabilitiesEmbedded Real time Software Application : Firmware , Real Time Systems Algorithm , Java Graphic based Application, Front-end Development using Tcl/Tk, Gtk, Qt and other toolkits, Big Database Applications, Image Processing and DSP ApplicationsElectronics : Design and Development of Hardware , VLSI Design, Data Acquisition, Range Sensing Systems, Sensor hardware for IOT Applications Wireless Communication : Bluetooth, Zigbee, Wi Fi /Wireless LAN Applications.
Thank youEmail : [email protected]
