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Overview
Introduction Components Design Implementation Results and Observations Further Work References Demo/Video
Introduction to ACC
where
Requirements
Functional:
Detect leading vehicle. Maintain desired speed. Maintain desired timegap. Communicate actions to User Interface
ISO Limitations:
mean dec 3.0 m/s2 (over 2 s), acceleration 2 m/s2
Overview
Introduction Components Design Implementation Results and Observations Further Work References
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. Controllers: High level & Low level controller. Communication Medium
CONTROL UNIT
TARGET DETECTION TARGET TRACKING
BAC
BA
RADAR
Overview
Introduction Components Design Implementation Results and Observations Further Work References
3. Brake
4. Throttle 5. Leading Vehicle 6. Driver Intervention
Possible Events:
Curr-speed > 25 km/h
Chattering
S-to-D: Curr_Dist < TimeGap * Host_Vel + - hyst && RoD 0 D-to-S: (Host_Vel > Des_Vel) || (Curr_Dist TimeGap * Host_Vel + + hyst && RoD 0)
where RoD
Data Items:
WheelSpeed[wi], HostVel, LeadVel, LeadDist, RoadType, LeftLane[vi, di], RightLane[vi, di], DesAcc, DesSpeed.
Issues
1. Dynamically varying data
Dist
Time
Issues (cont)
2. When to Update
Unnecessary Updates
Issues (cont)
3. All Tasks and Data throughout the system operation??
AdaptT when lead car is near
Approach
Mode-Change System
Exclusive modes of operation Mode change leads to:
Addition of a task Change in frequency of execution Deletion of a task
Data Repository
(Neera Sharma)
Approach (cont)
Mode-Change System
Dynamically varying data All Tasks and Data throughout the system operation
Data Repository
Dynamically varying data Derived Data Items
Issues
With mode-changes:
How many modes What triggers mode change When to switch mode Chattering Mode-change delay Schedulability
Solution to mode-change
How many?
Two: Safety-Critical(SC), Non-Safety Critical(NC)
When to switch?
Finish task execution.
Mode-change delay
Bounded by longest periodicity task.
Schedulability
Static checking.
Solution to mode-change
What triggers mode change?
LeadDist RoD OR OR
LeadDist FAR RoD DECR-FAST Mode SC
FAR
FAR FAR CLOSE
INCR-FAST
DECR-SLOW INCR-SLOW ----
NC
NC NC SC
FOLLOW
----
RETAIN
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) ||
Example:
First-Level: Raw data from radar, wheel sensor, etc Second-Level: Host Velocity, Lead Distance, etc
Scheduling
Mode-Change approach
All Tasks are identified in advance. All tasks are periodic. RMS
Overview
Introduction Components Design Implementation Results and Observations Further Work References
Implementation
Hardware
Ultra-sonic Distance Meter (UDM)
Purpose: leading vehicle distance Range: 1.3m Accuracy: 2.5cm Sampling Rate: 1 per sec
Communication (PC
Printer Port
Robot)
Follower Version-2
Side View
Resolution: 0.4cm
Software Implementation
Two-Level Repository Approach
CBS Scheduling
Software Implementation
Mode-Change Approach
Same task structure with:
dummy tasks in each mode. Mode-switch task.
Software Implementation
Mode-Change Approach (cont)
Task Periodicity (in seconds):
UDM_WR: 0.2 ENC_WR: 0.3 UDM_RD, UDM_VEL: 0.4 ENC_RD: 0.6 CTRL_TASK: 0.7 MODE_SW: 0.4 ( = UDM_RD)
Software Implementation
Data Logging:
RT-FIFO
RTLinux Architecture
Overview
Introduction Components Design Implementation Results and Observations Further Work References
Lead Dist = 69 cm
Overview
Introduction Components Design Implementation Results and Observations Further Work References
More Experiments
Effect of mode-change delay
Further Work
More experiments to evaluate the design.
Inter-Vehicle communication.
Formal modeling using UPPAAL/KRONOS.
Goals Revisited
Study the ACC application and to identify
Components Algorithms Real-Time Issues
References
Petros Ioannou; Cheng-Chih Chien. Autonomous Intelligent Cruise Control. IEEE Trans. On Vehicular Technology, 42(4):657-672, 1993. Thomas Gustafsson; Jrgen Hansson. Dynamic on-demand updating of data in real-time database systems. In Proceedings of ACM SAC 2004. Gerhard Fohler; Flexibility in Statically Scheduling Real-Time Systems. PhD Thesis, Technischen Universitat Wien Austria, Apr. 1994. L. Sha; R. Rajkumar; J. Lehoczky; K. Ramamritham. Mode Change Protocols for Priority-Driven Preemptive Scheduling. Technical Report: UM-CS-1989-060, University of Massachusetts Amherst, MA, USA.
Video Clip
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