Adaptive Cruise Control Modified

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    By

    Archana devi

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    Overview

    Introduction

    Components

    Design

    Implementation

    Results and Observations

    Further Work References

    Demo/Video

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    Goals of the Project

    Study the ACC application and to identify

    Components

    Algorithms

    Real-Time Issues

    Real-Time approach to Design

    Setup a basic platform

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    Introduction to ACC

    Extension ofCruise Control.

    Operates either in

    Distance Control state

    Speed Control state

    Des_Dist = Hos t_Vel * Timegap + where

    Host_Vel is Host Vehicle velocity

    TimeGap is set by the driver

    for additional safety

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    Requirements

    Functional: Detect leading vehicle.

    Maintain desired speed.

    Maintain desired timegap.

    Communicate actions to User Interface

    Non-Functional (timing constraints):

    Response Time

    Data update rate and so on

    ISO Limitations:

    mean dec 3.0 m/s2 (over 2 s),

    acceleration 2 m/s2

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    Overview

    Introduction

    Components

    Design Implementation

    Results and Observations

    Further Work References

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    Components of ACC

    Sensors:Four Wheel Sensors, Brake Pedal Sensor, Throttle Pedal Senor, Radar

    Actuators:

    Brake Actuator, Throttle Actuator.

    Controllers:

    High level & Low level controller.

    Communication Medium

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    Overview

    Introduction

    Components

    Design Implementation

    Results and Observations

    Further Work References

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    Functionality and Data Flow

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    Issues

    With mode-changes: How many modes

    When to switch mode

    Schedulability

    What triggers mode change Chattering

    With Data Repository

    How many levels When to update

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    Solution to mode-change

    How many?

    Two: Safety-Critical(SC), Non-Safety Critical(NC)

    When to switch?

    Finish task execution.

    Schedulability

    Static checking.

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    Solution to mode-change

    What triggers mode

    change?LeadDist RoD Mode

    FAR DECR-FAST SC

    FAR INCR-FAST NC

    FAR DECR-SLOW NC

    FAR INCR-SLOW NC

    CLOSE ---- SC

    FOLLOW ---- RETAINLeadDist & RoD

    LeadDist OR

    RoD OR

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    Solution to mode-change

    Chattering

    In SC Mode:

    (Safe_Dist+ < Curr_Dist Follow_Dist-) ||

    (Follow_Dist+ < Curr_Dist Radar_Dist && RoD = DECR-FAST) ||

    (Follow_Dist-< Curr_Dist Follow_Dist+ && Curr_Mode = SC)

    In NC Mode:

    (Follow_Dist+ < Curr_Dist Radar_Dist && RoD DECR-FAST) ||

    (Follow_Dist-< Curr_Dist Follow_Dist+ && Curr_Mode = NC)

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    Solution to Data Repository

    How many levels

    Example:

    First-Level: Raw data from radar, wheel sensor, etc

    Second-Level: Host Velocity, Lead Distance, etc

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    Solution to Data Repository

    When to update

    First-Level: Continous

    Second-Level: On-Demand based on R(d)

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    Scheduling

    Mode-Change approach

    All Tasks are identified in advance.

    All tasks are periodic.

    RMS

    Data Repository approach

    Aperiodic tasks. Guarantee to aperiodic tasks.

    CBS

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    Overview

    Introduction

    Components

    Design Implementation

    Results and Observations

    Further Work References

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    Implementation

    Hardware

    Ultra-sonic Distance Meter (UDM)

    Purpose: leading vehicle distance

    Range: 1.3m

    Accuracy: 2.5cm Sampling Rate: 1 per sec

    Shaft Encoder (ENC)

    Purpose: Host Velocity

    Resolution: 1 cm per step

    Communication (PC Robot)

    Printer PortVer 1: Leader and Follower

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    Follower Version-2

    Front view Side View

    UDM

    Range: 2m, Accuracy: 1cm, Sampling Rate: 10 per sec

    Shaft Encoder

    Resolution: 0.4cm

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    Overview

    Introduction

    Components

    Design Implementation

    Results and Observations

    Further Work References

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    Results & Observations

    Cruise Control Operation

    Set speed = 35 m/s2

    Open-loop lowercontroller

    Shaft encoder

    error

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    Results & Observations

    Constant Leading Distance LeadDist = 63 cm

    Timegap = 1.8 s

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    Results & Observations

    Linear Increase-Decrease Timegap = 1.5 s

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    Results & Observations

    Two-Level Repository

    Tested for UDM_RD Task

    Lead Dist = 69 cm

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    Overview

    Introduction

    Components

    Design Implementation

    Results and Observations

    conclusion

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