Adaptive Cruise Controlfdf

8/22/2019 Adaptive Cruise Controlfdf

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Adaptive Cruise Control

Advisor(s):

Prof. Krithi Ramamritham

Prof. S. RameshProf. Kavi Arya

Gurulingesh R.KReSIT, IIT Bombay


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Overview

Introduction Components

Design Implementation Results and O servations

!urther "or# Referen$es Demo%&ideo


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'oals of the Pro(e$t

Study the ACC appli$ation and to identify ) Components ) Algorithms ) Real*+ime Issues

Real*+ime approa$h to Design

Setup a asi$ platform


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Introdu$tion to ACC

,-tension of Cruise Control .

Operates either in

Distance Control state

Speed Control state

Des_Dist = Host_Vel * Timegap + where

Host_Vel is ost &ehi$le velo$ity

TimeGap is set y the driver

for additional safety


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Re/uirements

!un$tional0 ) Dete$t leading vehi$le. ) 1aintain desired speed. ) 1aintain desired timegap.

) Communi$ate a$tions to 2ser Interfa$e 3on*!un$tional 4timing $onstraints50

) Response +ime ) Data update rate and so on6

ISO 7imitations0 ) mean de$ 8 9.: m%s ; 4over ; s5< ) a$$eleration 8 ; m%s ;


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Overview

Introdu$tion Components


!urther "or# Referen$es


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Components of ACC

CONTROL

UNIT

SENSOR

FUSIONSENSOR

RADAR

TAR

GET

DETE

CTI O

N

TAR

GET

TRA

CKI N

G

USER

INTERFACE

BAC

TAC TA

BA

Sensors:

!our "heelSensors< =ra#ePedal Sensor Des_Vel) || (Curr_Dist TimeGap * Host_Vel + )

Chattering S-to-D 0Curr_Dist < TimeGap * Host_Vel + h!st

D-to-S 0(Host_Vel > Des_Vel) || (Curr_Dist TimeGap * Host_Vel + + h!st

"" #oD $ %

"" #oD %)

where RoD is Rate of $hange of Distan$e


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+as# and Data Items

Tasks 0

"heel+ i4?8i8@5< Speed+< Radar+< Driver+< Swit$h+ RoD

7eadDist OR

RoD OR


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Solution to mode*$hange6

Chattering ) In SC 1ode0

('a e_Dist + < Curr_Dist $ ollow_Dist ) HH4 ollow_Dist + < Curr_Dist $ #a ar_Dist "" #oD D,C# -'T) ||( ollow_Dist < Curr_Dist $ ollow_Dist + "" Curr_.o e 'C)

) In 3C 1ode0

4 ollow_Dist + < Curr_Dist $ #a ar_Dist "" #oD / D,C# -'T) ||( ollow_Dist < Curr_Dist $ ollow_Dist + "" Curr_.o e &C)


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Solution to Data Repository

ow many levels

,-ample0

!irst*7evel0 Raw data from radar< wheel sensor< et$6

Se$ond*7evel0 ost &elo$ity< 7ead Distan$e< et$6


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Solution to Data Repository6 "hen to update

!irst*7evel0 Continous

Se$ond*7evel0 On*Demand ased on #( )


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S$heduling

1ode*Change approa$h ) All +as#s are identified in advan$e. ) All tas#s are periodi$. ) R1S

Data Repository approa$h ) Aperiodi$ tas#s. ) 'uarantee to aperiodi$ tas#s. ) C=S


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Overview





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Implementation

ardware ) 2ltra*soni$ Distan$e 1eter 42D15

&urpose 0 leading vehi$ledistan$e

ange 0 ?.9m Accurac' 0 ;. $m Sampling ate 0 ? per se$

) Shaft ,n$oder 4,3C5 &urpose 0 ost &elo$ity

esolution 0 ? $m per step ) Communi$ation 4PC Ro ot5

Printer Port &er ) ?0 7eader and !ollower

ardware ,-pert0 'achita0a0 .alewar


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!ollower &ersion*;

!ront view Side &iew 2D1

Range0 ;m< A$$ura$y0 ? $m< Sampling Rate0 ?: per se$

Shaft ,n$oder

Resolution0 :.@$m


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Software Implementation

+wo*7evel Repository Approa$h

C=S S$heduling


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Software Implementation 6

1ode*Change Approa$h ) Same tas# stru$ture with0

dummy tas#s in ea$h mode.

1ode*swit$h tas# .

) All +as#s are periodi$.

) R1S S$heduling

) 1ode $hange after the $ompletion of leastpriority tas#.

Delay ounded y its periodi$ity.


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1ode*Change Approa$h 4$ont65 ) +as# Periodi$ity 4in se$onds50

2D1J"R0 :.; ,3CJ"R0 :.9

2D1JRD< 2D1J&,70 :.@ ,3CJRD0 :.B C+R7J+ASK0 :. 1OD,JS"0 :.@ 4 L 2D1JRD5


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Data 7ogging0 ) R+*!I!O R+7inu- Ar$hite$ture


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Overview


Design Implementation esults and $ servations



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Results > O servations Cruise Control Operation

Set speed L 9 m%s ;

Open*loop lower$ontroller

Shaft en$oder

error


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Results > O servations6

Constant 7eading Distan$e

7eadDist L B9 $m

+imegap L ?.M s


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Results > O servations6

7inear In$rease*De$rease

+imegap L ?. s


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Results > O servations6 +wo*7evel Repository

+ested for 2D1JRD +as#

7ead Dist L BN $m


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Overview



!urt er %ork Referen$es


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1ore ,-periments6 ,ffe$t of mode*$hange delay

Improve in CP2 utiliGation

7eadDist< RoD values

Periodi$ity of tas#s< data update rate

Chattering %w SC*3C 1ode Swit$hing

=,++,R &, IC7,


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!urther "or#

1ore e-periments to evaluate the design.

Implementing two*level repository on #ealTime Data 1ase2

Is printer port good enough or need for #TCommu0icatio0 4++P%++CA3%CA35.

1erging with 7ane Changing .

Inter*&ehi$le $ommuni$ation .

!ormal modeling using 2PPAA7%KRO3OS.


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'oals Revisited

Study the ACC appli$ation and to identify ) Components ) Algorithms ) Real*+ime Issues

Real*+ime approa$h to Design

Setup a asi$ platform


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Referen$es Petros Ioannou Cheng*Chih Chien. -uto0omous 30telli4e0t

Cruise Co0trol5 . I,,, +rans. On &ehi$ular +e$hnology

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