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Overview
Introduction Features Challenges Components Design Implementation Further Work

Unique Features of System

Separation of Concerns Systems Interaction Automatic Auto Braking

Adaptive Deceleration Rate

Safety Collision Avoidance

Introduction to ACC
Extension of Cruise Control. Operates either in

Distance Control state

Speed Control state
Functional: Detect leading vehicle. Maintain desired speed. Maintain desired time gap. Communicate actions to User Interface Non-Functional (timing constraints): Response Time Data update rate and so on

Introduction to ACC
Cooperative Adaptive Cruise Control with Collision Warning (CACC + CW) CACC: Cruise at given speed when the road is clear (cruise control), otherwise follow the car in front, using radar (adaptive) and/or communications (cooperative). CW: Warn the driver when an object is being approached too fast, or is too close.
x2 x1

Vehicle 2

Vehicle 1

What does feature support?

Functionality of unique feature
Obstacle Detection Auto Braking Control Transfer Warning Indicator

Why this is hard

Around curve Elevation changes Rapid deceleration

Dense traffic
Cut-ins

Components of unique feature

ACC Sensors
Radar Senses Obstacles in front of host vehicle. Speed Senses Speed of host vehicle.

ACC Controller
Controls the digital logic of the system

ACC Actuators
Brake Actuates Brakes of host vehicle Speed Actuates Speed of host vehicle Cruise Actuates Cruise Control of host vehicle

User Interface
Warning Indicator Emergency Messages Auto Brake Indicator ACC Engaged Message

Components of ACC
USER INTERFACE SENSOR SENSOR FUSION TAC TA

Sensors: Four Wheel Sensors, Brake Pedal Sensor, Throttle Pedal Senor, Radar Actuators: Brake Actuator, Throttle Actuator.
BAC BA

CONTROL UNIT
TARGET DETECTION TARGET TRACKING

RADAR

Controllers: High level & Low level controller. Communication Medium

Functionality and Data Flow

Controller State Diagram

State Variables
1. Current speed 2. Cruise Status

3. Brake
4. Throttle 5. Leading Vehicle 6. Driver Intervention

Possible Events:
Curr-speed > 25 km/h

Radar contact found

Driver intervention Lead-distance > safe-dist and so on.

CACC Hardware

Radar tracking up to 7 closest targets in FCM, giving distance, relative speed, and azimuth for each. Vision or radar for detection of stationary objects. Wireless communication (based on 802.11 or Token Bus).

Timing analysis
Steering (ignored) Brake Lat. Data (Ignored) Delco Radar Platoon Data

CAN Bus Input (can_read)

Comm-unications (runmodules)

Steering Wheel Button data

Steering Wheel Button data

Magnet/Button Input (veh_lat)

Steering Wheel Buttons (buttons)

Database (db_slv)

Long_data

Vehicle IO (veh_iols) Throttle Control CAN Bus Output (canbrake)

Speed Control (eng_spdls)

Steering Control HMI Control (hmi) Human Machine Interface

Brake Control

Steering (ignored)

Real Time Software Environment During Working

Timing analysis
EV Radar Data Radar Filtering (radflt1)

Radar (evt300)

Vision System Data

Vision System Driver (safetrac )

Database (db_ slv )

High -Level Control (the_beat)

GPS Driver (gpsread ) GPS Data

Sample Scenario
Controller Auto_Brake_Indicator
autoBrakingSignal actuateBrakes

Obstacle
detects

Radar
readData

senseRadarSignal

Brake_Actuator
releaseThrottle

Radar Sensor

Brakes

brakeSignal

Engine_Control

Sample Scenario Continue

Controller Auto_Brake_Indicator
autoBrakingSignal actuateBrakes actuateSpeed

Obstacle
detects

Radar
readData

senseRadarSignal

Brake_Actuator
compressThrottle

Radar Sensor

Speed_Actuator
releaseThrottle

Brakes

brakeSignal

Engine_Control

Further Work
More experiments to evaluate the design. More Advanced Real Time Algorithms
Implementing Real Time Database. Inter-Vehicle Communication Providing more Stability during Natural Causes.

Questions !?

Thank You!!