Slide 1

Project Squeaky Wheel Team Autobots Customer Continental Automotive David Agnew, Jeremy McClain Fall 2011

Slide 2

Project Overview Steer-by-wire replaces the traditional steering system with an electronic one Motivation To remove the mechanical system from the vehicle, reducing power consumption To provide more responsive steering Car Design improvements A possible future with complete autonomy

Slide 3

Domain Research Steer-by-wire is a very new technology Most material available is from research projects Not used in personal transportation vehicles yet Primary use currently is in industrial equipment (forklifts, some agricultural vehicles)

Slide 4

Overview of Features Basic look at steer by wire control Simple control loop using PID to ensure proper control Requested Angle Current Wheel Angle PID Torque Request New Wheel Angle

Slide 5

Project Constraints The system is only active in the speed range of -10 to 20 miles per hour System must recalculate values every 500s The assisted torque is always within the range of +10 to -10 Nm.

Slide 6

Model-based View of System Contains the following diagrams Use Case Class Sequence State

Slide 7

Use Case Diagram

Slide 8

Class Diagram

Slide 9

Sequence Diagram

Slide 10

State Diagram

Slide 11

Prototype Overview

Slide 12

Demonstration Scenario 1 Speed: -5 mph Steering Wheel Adjustment : Left

Slide 13

Demonstration Scenario 2 Speed: 0 mph Steering Wheel Adjustment : Left

Slide 14

Demonstration Scenario 3 Speed: 20 mph Steering Wheel Adjustment : Right

Slide 15

Questions?