ADAPTIVE CRUISE CONTROL MECHATRONICS MirzaAbdel.ppt

Adaptive Cruise Control (ACC)
Adaptive Cruise Control (ACC)
ELG 4152 Project
ELG 4152 Project
Professor Riadh Habash
Professor Riadh Habash
TA: Fouad Khalil
TA: Fouad Khalil
Group Memebers:
Group Memebers:
Mirza Abdel Jabbar Baig (3256498)
Mirza Abdel Jabbar Baig (3256498)
Mohammad Ali Akbari (3299852)
Mohammad Ali Akbari (3299852)
Navid Moazzami (3413826)
Navid Moazzami (3413826)
Hasan Ashrafuzzaman (3384661)
Hasan Ashrafuzzaman (3384661)

Reference
Reference
[1]
[1] A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios
A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios
Martinez, J.-J.; Canudas-de-Wit, C.; Volume 15, Issue 2, March 2007 Page(s):246 – 258
Martinez, J.-J.; Canudas-de-Wit, C.; Volume 15, Issue 2, March 2007 Page(s):246 – 258
[2]
[2] Modeling a Cruise Control
Modeling a Cruise Control
http://www.library.cmu.edu/ctms/ctms/examples/cruise/cc.htm
http://www.library.cmu.edu/ctms/ctms/examples/cruise/cc.htm
[3]
[3] Highway Speed Controller
Highway Speed Controller
http://www.site.uottawa.ca/~misbah/elg4392/HC12CodeWarriorC/HighwaySpeedController/
http://www.site.uottawa.ca/~misbah/elg4392/HC12CodeWarriorC/HighwaySpeedController/
project.c
project.c
[4] W. Jones, “Keeping cars from crashing,” IEEE Spectrum, vol. 38, no.
9, pp. 40–45, Sep. 2001.
[5] M. A. Goodrich and E. R. Boer, “Designing human-centered automation:
Tradeoffs in collision avoidance system design,” IEEE Trans. Intell.
Transp. Syst., vol. 1, no. 1, pp. 40–54, Mar. 2000.

Problem Statement
Problem Statement
 The main problem regarding the normal Cruise
The main problem regarding the normal Cruise
Control technology is that it is not aware of
Control technology is that it is not aware of
other vehicles’s movement
other vehicles’s movement
 The driver must be always aware. Hence,
The driver must be always aware. Hence,
possibility of mistakes
possibility of mistakes
 Possibility of collision with the leading car if not
Possibility of collision with the leading car if not
manually slowed down
manually slowed down

Proposed Solution
Proposed Solution
 Introduce Adaptive Cruise Control for
Introduce Adaptive Cruise Control for
longitudinal control of the vehicle
longitudinal control of the vehicle
 Speed would be automatically adjusted for safe
Speed would be automatically adjusted for safe
inter-distance
inter-distance
 Once safe inter-distance is reached, the speed
Once safe inter-distance is reached, the speed
would return to the desired speed set by the
would return to the desired speed set by the
driver
driver

Technical Objectives
Technical Objectives
 To design a control system for ACC.
To design a control system for ACC.
 No overshoot
No overshoot
 Settling Time of about 4-7 seconds.
Settling Time of about 4-7 seconds.
 No oscillation (because no overshoot)
No oscillation (because no overshoot)
 A steady-state error of 0
A steady-state error of 0

Vehicle Characteristics
 If the inertia of the wheels is neglected, and it is
If the inertia of the wheels is neglected, and it is
assumed that friction (which is proportional to
assumed that friction (which is proportional to
the car's speed) is what is opposing the motion
the car's speed) is what is opposing the motion
of the car, then the problem is reduced to the
of the car, then the problem is reduced to the
simple mass and damper system shown in the
simple mass and damper system shown in the
next slide.
next slide.

System Block Diagram [2]
System Block Diagram [2]

Controller Selection
 Which kind of Controller is the best?
Which kind of Controller is the best?
 No controller.
No controller.
 P controller.
P controller.
 PI controller.
PI controller.
 PID controller.
PID controller.
 PD controller.
PD controller.

P Controller
P Controller
No Controller
No Controller
Step Response
Time (sec)
Amplitude
0 20 40 60 80 100 120
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
System: untitled1
Settling Time (sec): 76.7
Settling time = 76.7 s
Steady state error > 98%
Kp = 10000
Settling Time = 0.389s
Steady state error = 2%
Step Response
Time (sec)
Amplitude
0 0.1 0.2 0.3 0.4 0.5 0.6
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
System: untitled1

Kp=800, Ki=40
Settling time = 4.89 s
Steady state error = 0
Step Response
Time (sec)
Amplitude
0 1 2 3 4 5 6 7
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
System: untitled1
PI Controller
PI Controller
*Final
choice is PI
Controller*

Distance Checking [1]
Distance Checking [1]
Three scenarios:
Three scenarios:
 d
dr >
r >
d
d0
0, cruises at desired speed, ACC inactive
, cruises at desired speed, ACC inactive
 d
dr
r
< d
< dc
c, danger zone, ACC enables to slow down
, danger zone, ACC enables to slow down
 d
d0
0 < d
< dr
r
< d
< d0
0, ACC is enable to reach safe inter-distance
, ACC is enable to reach safe inter-distance

Implementation of Distance
Checking [3]
Checking [3]
 The distance checking algorithm only requires a minimum distance and a
The distance checking algorithm only requires a minimum distance and a
range.
range.
 The algorithm calculates the actual minimum distance (> provided
The algorithm calculates the actual minimum distance (> provided
distance) and maximum distance and then outputs the new speed of the
distance) and maximum distance and then outputs the new speed of the
vehicle.
vehicle.
 The user can also provide a maximum and minimum speed for the
The user can also provide a maximum and minimum speed for the
vehicle.
vehicle.

Checking
Checking
temp=(300*(speedmax-speedmin))/(12*range)
minimum_Distance=(minimum_Distance*32)/10
max_Distance = minimum_Distance + (3*range)
if (distance > (max_Distance))
speed = speedmax;
if (distance < minimum_Distance)
speed = 0;
if ((distance < max_Distance) and (distance>minimum_Distance))
if leader_speed > 0
speed = ((100*speedmin-(kvit*(minimum_distance))) + temp * distance)/100;
else
speed = ((100*speedmin+(kvit*(max_Distance))) + temp * distance)/100;

Simulation
Simulation
 Maximum follower vehicle speed = 100 m/s
Maximum follower vehicle speed = 100 m/s
 Minimum follower vehicle speed = 0 m/s
Minimum follower vehicle speed = 0 m/s
 Minimum distance = 40 m
Minimum distance = 40 m
 Range = 20 m
Range = 20 m
 Initial distance = 80 m
Initial distance = 80 m
 Kp = 800
Kp = 800
 Ki = 40
Ki = 40
 b = 50
b = 50
 m = 1000
m = 1000
The following parameters were used for the simulation:
The following parameters were used for the simulation:

Final Model (simplified)
Final Model (simplified)

Simulation
Simulation
Yellow: Distance between two vehicles
Blue: Speed of the leader vehicle
Purple: Speed of the follower vehicle

Limitations/Conclusion
Limitations/Conclusion
 Not a complete transfer function of the vehicle
Not a complete transfer function of the vehicle
and environment.
and environment.
 Linear distance-checking model.
Linear distance-checking model.
 No limitations on the acceleration and jerk.
No limitations on the acceleration and jerk.
 Our model is simplified compared to real-time
Our model is simplified compared to real-time
models, but can be used to implement a practical
models, but can be used to implement a practical
ACC.
ACC.

ADAPTIVE CRUISE CONTROL MECHATRONICS MirzaAbdel.ppt

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