adaptive cruise controlfdf
TRANSCRIPT
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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
Design Implementation Results and O servations
!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
Introdu$tion Components
Design Implementation Results and O servations
!urther "or# Referen$es
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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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Software Implementation 6
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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Software Implementation 6
Data 7ogging0 ) R+*!I!O R+7inu- Ar$hite$ture
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Overview
Introdu$tion Components
Design Implementation esults and $ servations
!urther "or# Referen$es
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Results > O servations Cruise Control Operation
Set speed L 9 m%s ;
Open*loop lower$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 $m
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Overview
Introdu$tion Components
Design Implementation Results and O servations
!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