IGVC drive by wire project: Critical design report
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Date
2022-04-22Author
Thornton, Collin
Whitefield, Derby
Minnick, Max
Johnson, Luke
Dang, Brandon
Weaver, Levi
Tucker, Tyler
Fipps, Samuel
Williams, Kenya
Schoeling, Jacob
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Investigate and develop a Drive-By-Wire (DBW) system, its computer interface, and user interface for a Polaris Gem e2. The vehicle is planned to participate in the IGVC 2023 autonomous vehicle competition. The DBW system includes automatic control of brakes, throttle, steering, and potentially other components, such as lights. The final solution included hydraulic autonomous brakes, a cabled emergency brake, and numerous custom controller boards. The boards interface via a research CAN bus, include hardware based ESTOP handling, and a interface with the vehicle through a system of relays designed to fully disconnect the boards during manual control.