Implementing of sensors and actuators for autonomous driving

• Main Author: Yeo, Darren Zhi Duo
• Other Authors: Goh Wang Ling
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/139717
• Institution: Nanyang Technological University

Autonomous vehicles also known as driverless cars is the uprising technology. Autonomous vehicles exploit the functions of different sensors to enable vehicles to ‘see’ and ‘hear’. Based on the Society of Automotive Engineers International (SAE) [1], there are six levels of driving automation, ranging from level zero to level five, with level zero, one and two mandating driver’s control while level three and thereafter providing autonomous functions to the vehicle, with monitoring by the driver. This project is to implement a level three driving automation to a battery-electric vehicle that will be participating in the Shell Eco Marathon Asia 2020 Autonomous Category by identifying the appropriate sensors and implementing on the vehicle itself. A level three automation would mean that the vehicle will be able to operate without the need of the driver’s operating even though he or she is at the driver seat. However, the driver will be required to take over control when needed. With the level three automation, the vehicle will be able to challenge in the different stages of the competition. Sensors such as the Light Detection and Ranging (LiDAR), RAdio Detection And Ranging (Radar), Global Positioning System (GPS), stereo camera and ultrasonic sensors are popularly engaged in autonomous vehicle. A thorough study cum comparison between the sensors available in the market will be detailed in this report and the sensor identified for use in NV11, will be described. Details on sensors implementation and the electrical circuitry that will be used for the vehicle will all be described. Lastly, the LiDAR will be tested by creating a 2D map using gmapping SLAM process and the ultrasonic sensors will be tested to detect distances in close proximity.