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Adaptive Cruise Control System

This document discusses the features and components of an adaptive cruise control (ACC) system with collision avoidance capabilities. It describes how ACC works to maintain a desired speed or time gap from the vehicle ahead using radar sensors and braking/acceleration controls. The system's components include sensors, controllers and actuators. It also separates concerns, detects obstacles automatically and adapts deceleration rates for safety.

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niraj444mehta
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339 views

Adaptive Cruise Control System

This document discusses the features and components of an adaptive cruise control (ACC) system with collision avoidance capabilities. It describes how ACC works to maintain a desired speed or time gap from the vehicle ahead using radar sensors and braking/acceleration controls. The system's components include sensors, controllers and actuators. It also separates concerns, detects obstacles automatically and adapts deceleration rates for safety.

Uploaded by

niraj444mehta
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Overview

Introduction Features Challenges Components Design Implementation Further Work

Unique Features of System


Separation of Concerns Automatic Adaptive Safety
Interaction Auto Braking Deceleration Rate Systems

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 Dense traffic Cut-ins Rapid deceleration

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

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

CONTROL UNIT
TARGET DETECTION TARGET TRACKING

Actuators: Brake Actuator, Throttle Actuator.


BAC BA

RADAR

Controllers: High level & Low level controller. Communication Medium

Functionality and Data Flow

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) CAN Bus Input (can_read) Delco Radar Platoon Data Comm-unications (runmodules)

Steering Wheel Button data Steering Wheel Buttons (buttons)

Steering Wheel Button data

Magnet/Button Input (veh_lat)

Long_data

Database (db_slv) Vehicle IO (veh_iols)

Speed Control (eng_spdls)

Throttle Control CAN Bus Output (canbrake) Steering Control

HMI Control (hmi)

Brake Control

Steering (ignored)

Human Machine Interface

Real Time Software Environment During Working

Timing analysis
EV Radar Data Radar Filtering (radflt1)

Radar (evt300)

Vision System Data Vision System Driver ( afetrac ) s

Database (db_ ) slv

High- Level Control (the_beat)

GPS Driver ( psread ) g 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 releaseThrottle

Radar Sensor

Speed_Actuator

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!!

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