Vehicle Control Unit : Unmanned Ground Vehicle

Sammanfattning

This report presents the hardware design that will serve as the vehicle control unit forEmmel Sweden’s autonomous eight-wheeled Unmanned Ground Vehicle. The vehiclecontrol unit content consisted of necessary systems like throttle, regen/braking, sensoroutputs, actuator outputs, and safety circuits. The work covered the component selection, schematic design, and printable circuit boardlayout for all subsystems. The design includes 28 analog output channels driven bydigital-to-analog converters, 12 analog inputs, 8 digital inputs, three Controller AreaNetwork buses, smart high-side MOSFET switching outputs, and a 9-degree-of-freedominertial measurement unit interface. The central processing unit is an STM32G474VET6microcontroller. The result of the project is a complete and ready-for-fabrication PCB design, fulfilling theVCU requirements that were provided by Emmel. This is a benchmark PCB intended fortesting subsystems and the overall functionality of the components.