Okan Autonomous Vehicle Mechantronics
The vehicle is controlled by a computer. For the vehicle to be commanded by the computer the commands must be transferred to the vehicle controls. These controls are the vehicle steering wheel, brake pedal and gas controls. Since the vehicle used in this project has an automatic transmission it is not currently necessary to control the transmission. To control the steering and brake pedals the steering wheel moment and brake pedal forces were measured. Afterwards, two electric motors (one linear) were purchased according to these forces. The design and assembly of these motors is explained below.
Steering Control System
An electric motor has been attached to turn the steering wheel automatically. This electric motor turns the steering shaft with the use of gears. Figure 1 shows the electric motor before it was connected to the steering shaft. Figures 2a and 2b show the electric motor after it was attached to the steering shaft. Figures 3a and 3b show the electric motor assembly on the vehicle.
Brake Control System
A linear electric motor is attached to the brake pedal to press the brake pedal automatically. Figure 4 shows the linear motor before it was connected to the brake pedal. Figure 5 shows the linear motor connected to the brake pedal.
Gas Control System
Normally the speed of the vehicle is adjusted by the throttle position. The throttle position is adjusted by the gas pedal position which is measured and transferred to the ECU by the CAN Bus. Since this vehicle does not have a driver, the gas pedal information is sent the ECU directly by the use of an electronic control card.
Figure 1. The electric motor before it was connected to the steering shaft.
Figure 2a. Electric motor attached to the steering shaft.
Figure 2b. Electric motor attached to the steering shaft.
Figure 3a. Steering electric motor assembly on the vehicle.
Figure 3b. Steering electric motor assembly on the vehicle.
Figure 4. The linear motor before it was connected to the brake pedal..
Figure 5. The linear motor connected to the brake pedal.
We would like to thank TOFAŞ ARGE for supplying the Fiat Linea and assembly of the mechatronic system.