watonomous.github.io
[ Electrical Division : Sensor Placement Project-electrical Documentation ]
Created by [ Rowan Dempster] on Dec 27, 2019
This document is regarding the knowledge we have of the electrical
design and implementation of the sensors
From a power systems perspective:
Lidars: Ethernet connection and power connection is needed, the ethernet
gets connected to the switch (sensor networking will know about were
exactly). And the power goes to the power bank (120Vac)
Cameras: The Cameras attach to the ethernet switch (ask sensor networking for where) and the ethernet also powers the cameras
Radars: Radars will be attached via a voltage regulator via screw
terminals, this will then attach to the circuit breaker. (for ethernet
configuration contact radar driver and sensor networking)
attached below is the documentation which shows the power consumption of
a scenario of higher power
[[
[Formatted
Concept Design Report (2)
(1).pdf][]{.companion-edit-button-placeholder
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data-linked-resource-id=”1442115” data-template-name=”companionEditIcon”
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From sensor-interfacing perspective:
Sensor interfacing will be focusing on two main design aspects; 1.
hardware 2. software of the sensors that are currently being used (1
lidar, 3 cameras, 1 gps/imu)
Hardware: main concern from sensor-interfacing is ensuring all physical
hardware connections (ethernet and power connections) are stable (for
example, securing novatel position is one important aspect that is being
highlighted). Ensuring the hardware connections will significantly
reduce the redundancy in calibration timing and other preparation timing
for testing. During this project, it may be beneficial to also keep
sensor calibration group (software division) in the loop to ensure we
are not missing any requirements that may not be intuitive from hardware
perspective.
Software: potential concern regarding switch bandwidth is raised with the addition of 1 camera and few radars. The sensor-interfacing group will first do a theoretical hand calculation and verify the concern once all the sensors are placed. Based on this evaluation, sensor parameters may have to be adjusted to optimize the data traffic.
Another important objective from this project is achieving good cable management. Cable management has been mentioned alot. We need to organize the cables so that the car's exterior, interior and rugged compartment is visually appealing (instead of it being intimidating).
Attachments:
Formatted
Concept Design Report (2) (1).pdf
(application/pdf)\
Document generated by Confluence on Nov 28, 2021 22:40