Project Squeaky WheelTeam Autobots
Customer Continental AutomotiveDavid Agnew, Jeremy McClain
Fall 2011
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
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)
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
Project Constraints
• The system is only active in the speed range of -10 to 20 miles per hour
• System must recalculate values every 500µs• The assisted torque is always within the range
of +10 to -10 Nm.
Model-based View of System
• Contains the following diagrams
• Use Case• Class • Sequence• State
Use Case Diagram
Class Diagram
Sequence Diagram
State Diagram
Prototype Overview
Demonstration – Scenario 1
• Speed: -5 mph• Steering Wheel Adjustment : Left
Demonstration – Scenario 2
• Speed: 0 mph• Steering Wheel Adjustment : Left
Demonstration – Scenario 3
• Speed: 20 mph• Steering Wheel Adjustment : Right
Questions?