Team Dream Cruise Project License to Cruise. Fall Project Overview. Cooperative Adaptive Cruise Control

Transcription

1 Team Dream Cruise Project License to Cruise Devan Sayles Project Manager Justin Mrkva Artifacts Manager Anthony Curley Project Facilitator Grayson Wright Customer Liaison Fall 20 Project Overview Cooperative Adaptive Cruise Control Motivation for project Goal: provide additional convenience and safety to vehicle drivers - Address problem of driver constantly needing to adjust speed or disengage and reengage cruise control due to nearby vehicles - Facilitates safe and easy cruise control

2 Overview of Features Three main levels of functionality: - Cruise Control - Adaptive Cruise Control - Cooperative Adaptive Cruise Control Cruise Control No sensing or communication Maintain driver-set speed

3 Adaptive Cruise Control Sensing with camera and radar systems Automatic Speed Adjustment Cooperative Adaptive Cruise Control Sensing with camera and radar systems Automatic Speed Adjustment Communication with DSRC Radio Link GPS Data Platooning

4 Domain Research Investigated Adaptive Cruise Control patent - Provided insight to currently running sensor systems Investigated Adaptive Cruise Control System Overview (MIT) - Provided insight into the physical constraints of running systems Investigated Proportional-Integral-Derivative Controllers - Provided insight into the software constraints of the running systems Constraints System must interact with the preexisting subsystems System must communicate with subsystems via the CAN Bus System must be implemented without the use of dynamic memory allocation

5 Use Case Diagram Acknowledge Message CACC System <extends> Approve Platoon <<uses>> <<uses>> Request Platoon Set Target Speed Form Platoon Turn Off Driver Pause Request ID Other Vehicle Set Following Gap Broadcast Alert Resume Set Functionality Level Turn On Domain Model Diagram VehicleController int cruiselevel int followinggaplevel bool isplatooning toggleonoff() engagecruise(int level) disengagecruise() pause() resume() setfollowinggap(int gaplevel) setdesiredspeed(int speed) processdata(data incoming) addtrackedobject(trackedobject obj) removetrackedobject(trackedobject obj) TrackedObject objectid id + vector position + vector velocity Radar Sensor data getradardata() CAN bus DSRC Radio Communication data getincomingmessage() sendmessage(objectid, data) broadcastalert(data) Electronic Throttle Control float getpower() setpower(float value) Brake By Wire float getmagnitude() setmagnitude(float magnitude) User Interface pressonoffbutton() presspausebutton() presssetplusbutton() pressresumeminusbutton() presssetfollowinggap(int level) pressbrakepedal(float amount) pressgaspedal(float amount) pressupbutton() pressdownbutton() pressacceptbutton() pressbackcancelbutton() displaycurrentspeed(float speed) displaytargetspeed(float speed) displaymessage(data message, bool ackrequired) displayemergencywarning() displaycruisestate(data state) Radar Transponder sendrequest(vector location) getincomingrequest(data) sendvehicleinfo(data info) getincomingresponse(data) GPS data getlocalization() Camera data getimagedata()

6 Scenario: Turn On Driver: pressonoffbutton() User Interface: interface toggleonoff() Vehicle Controller: controller All Systems isoperational() displaymessage( askforcuiselevel, requiresack=true) bool isoperational int desiredcruiselevel displaycruisestate() Scenario: Set Following Gap presssetfollowinggap(level) User Interface: interface Vehicle Controller: controller Brake By Wire: brake setfollowinggap(level) setmagnitude(value) [targetobject.vector.distance == level] setmagnitude(value)

7 Scenario: Platoon Requested Vehicle Controller: controller Radio Communication: radiocom User Interface: interface getincomingmessage() message = (PlatoonRequest, car_id) displaymessage(platoon_request_message, False) driver_response [driver_response == True] sendmessage(accept_platoon, car_id) platoon_response [platoon_response == True] isplatooning = true Scenario: Broadcast Alert Vehicle Controller: controller Radar Sensor: radarsensor User Interface: interface DSRC Radio Communication: radiocom GetRadarData data processdata(data) broadcastalert() displayemergencywarning()

8 State Diagrams CACC On start do/ isplatooning = false Ignition Off Off Turn On [level is set] Turn Off New Error Detected [relevant to current level] Paused Set/Resume Pause [level == CACC] [level == ACC] [level == CC] Active CACC <see subgraph> ACC <see subgraph> CC Not Following do/ maintain speed search for vehicles ahead [isplatooning == true] Platoon Accepted / isplatooning = true Not Platooning Platooning Platoon Lost do/ send vehicle info / isplatooning = false [isplatooning == false] Ignition Off end Vehicle Detected Ahead Lead Vehicle Lost Following do/ track vehicle ahead match speed Not Following do/ maintain speed search for vehicles ahead ACC Vehicle Detected Ahead Lead Vehicle Lost Following do/ track vehicle ahead match speed [isplatooning == true] Platoon Accepted / isplatooning = true Not Platooning Platooning Platoon Lost do/ send vehicle info / isplatooning = false [isplatooning == false]