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Author: Aakar Mehra
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Adaptive cruise control (ACC) testing requires minimum of two cars and a platform where the two cars can be tested for a continuous time. Here a custom-built platform and software are presented for testing various ACC algorithms on scaled model cars. There are multiple techniques being studied for driver convenience and safety automation systems for production vehicles: electronic stability control, adaptive cruise control, lane keeping, and obstacle avoidance. Presented here are some novel control framework that gives formal guarantees of correctness that go beyond traditional PID-based controllers for ACC that do not, inherently, have proofs that satisfy. In the first approach, safety constraints - maintaining a valid following distance from a lead car are represented by control barrier functions (CBFs), and control objectives - achieve a desired speed - are encoded through control Lyapunov functions (CLFs). While the same safety constraints are formulated using Linear Temporal Logic (LTL) for synthesizing the control software module using abstraction based controllers in the second approach. In the longer run, each interacting software module is endowed with specifications, under certain environment assumptions, the module is guaranteed to meet its specifications. For the CBF-CLF approach, the different objectives can be unified through a quadratic program (QP), with constraints dictated by CBFs and CLFs that balance safety and control objectives in an optimal fashion. Similarly for the abstraction controllers, PESSOA and Polyhedral Control Invariant Set approaches are correct-by-construction. The end result was the experimental demonstration of these methodologies on scale-model cars, for which the CBF-CLF and abstraction based controllers were implemented in real-time. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/155753
Author: Aakar Mehra
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Adaptive cruise control (ACC) testing requires minimum of two cars and a platform where the two cars can be tested for a continuous time. Here a custom-built platform and software are presented for testing various ACC algorithms on scaled model cars. There are multiple techniques being studied for driver convenience and safety automation systems for production vehicles: electronic stability control, adaptive cruise control, lane keeping, and obstacle avoidance. Presented here are some novel control framework that gives formal guarantees of correctness that go beyond traditional PID-based controllers for ACC that do not, inherently, have proofs that satisfy. In the first approach, safety constraints - maintaining a valid following distance from a lead car are represented by control barrier functions (CBFs), and control objectives - achieve a desired speed - are encoded through control Lyapunov functions (CLFs). While the same safety constraints are formulated using Linear Temporal Logic (LTL) for synthesizing the control software module using abstraction based controllers in the second approach. In the longer run, each interacting software module is endowed with specifications, under certain environment assumptions, the module is guaranteed to meet its specifications. For the CBF-CLF approach, the different objectives can be unified through a quadratic program (QP), with constraints dictated by CBFs and CLFs that balance safety and control objectives in an optimal fashion. Similarly for the abstraction controllers, PESSOA and Polyhedral Control Invariant Set approaches are correct-by-construction. The end result was the experimental demonstration of these methodologies on scale-model cars, for which the CBF-CLF and abstraction based controllers were implemented in real-time. The electronic version of this dissertation is accessible from http://hdl.handle.net/1969.1/155753
Author: Hasan Sahin
Publisher:
ISBN:
Category :
Languages : en
Pages : 94
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Author: Nivethitha Amudha Chandramohan
Publisher:
ISBN:
Category :
Languages : en
Pages : 146
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In automotive industry, driver assistance and active safety features are main areas of research. This thesis concentrates on designing one of the famous ADAS system feature called Adaptive cruise control. Feature development and analysis of various functionalities involved in the system control are done using Petri Nets. A background on the past and current ACC research is noted and taken as motivation. The idea is to implement the adaptive cruise control system in Petri net and analyze how to provide fault tolerance to the system. The system can be evaluated for various cases. The ACC technology implemented in di erent cars were compared and discussed. The interaction of the ACC module with other modules in the car is explained. The cruise system's algorithm in Petri net is used as the basis for developing Adaptive Cruise Control system's algorithm. The ACC system model is designed using Petri nets and various Petri net functionalities like place invariant, transition invariant and reachability tree of the model are analyzed. The results are veri ed using Matlab. Controllers are introduced for ideal cases and are implemented in Petri nets. Then the error cases are considered and fault tolerance techniques are carried out on the model to identify the fault places.
Author: Stacy A. Balk
Publisher:
ISBN:
Category : Automobiles
Languages : en
Pages : 21
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Book Description
This study is the fourth in a series of four experiments exploring human factors issues associated with the introduction of cooperative adaptive cruise control (CACC). Specifically, the goals of this experiment were as follows: Assess drivers’ workloads under two different CACC following gaps (near and far). Assess drivers’ reactions to a vehicle merging in front of them under different following gaps. Assess drivers’ reactions to an emergency event that requires driver intervention to avoid collision. Determine whether preferred time gap following distance affects the first three goals. As measured by the National Aeronautics and Space Administration Task Load Index, drivers’ perceived workloads did not vary between the cruise period and after the vehicle merge. However, workloads were significantly greater after the emergency crash event. Workloads varied based on neither assigned following distance nor preferred following distance. Those participants in driving in the assigned near distance were more likely to hover their foot over the brake during the merging event and to react faster to the emergency event. Preferred following distance did not affect performance. Throughout the study, participants’ following distance preferences did not affect performance. In other words, one’s abilities may not necessarily reflect his or her following preferences. This finding is promising for widespread implementation of CACC.
Author: Azim Eskandarian
Publisher: Springer
ISBN: 9780857290847
Category : Technology & Engineering
Languages : en
Pages : 0
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Book Description
The Handbook of Intelligent Vehicles provides a complete coverage of the fundamentals, new technologies, and sub-areas essential to the development of intelligent vehicles; it also includes advances made to date, challenges, and future trends. Significant strides in the field have been made to date; however, so far there has been no single book or volume which captures these advances in a comprehensive format, addressing all essential components and subspecialties of intelligent vehicles, as this book does. Since the intended users are engineering practitioners, as well as researchers and graduate students, the book chapters do not only cover fundamentals, methods, and algorithms but also include how software/hardware are implemented, and demonstrate the advances along with their present challenges. Research at both component and systems levels are required to advance the functionality of intelligent vehicles. This volume covers both of these aspects in addition to the fundamentals listed above.
Author: Rainer Möbus
Publisher:
ISBN: 9783832519582
Category :
Languages : en
Pages : 199
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Book Description
In this thesis the development and implementation of a multi-object adaptive cruise control (ACC) system is presented. A sensor fusion configuration as well as object tracking and sensor fusion algorithms are presented to obtain a thorough representation of the traffic scene ahead of an ACC-controlled vehicle.The sensor fusion configuration includes a 77GHz radar sensor and an IR laser sensor for object detection. A monocular CCD camera system is employed for lane recognition and the lane assignment of the detected objects. Experimental results of all presented algorithms are given.The control model and the control objectives of a multi-object ACC system are presented. The multi-object ACC problem is looked at as a constrained optimal control problem incorporating the dynamics of the traffic scene, the driver's desire to cruise at a certain velocity, the lane assignment of the other road users, the objective of respecting certain minimum distances to other road users and to adapt the velocity to the flow of the other road users. Additionally, overtaking a preceding vehicle on the right can be avoided. The choice of the relevant object is implicitly determined by the cost function and the optimization criteria. Constraints imposed by physical limitations as well as by comfort and safety considerations can be included and a receding horizon control strategy is applied.The multi-object ACC problem is looked at as a constrained finite time optimal control (CFTOC) problem with a mixed logical dynamical (MLD) system description. With an efficient way to represent and evaluate the explicit solution to the corresponding multi-parametric mixed integer quadratic program, it is possible to include all desired control objectives in the problem formulation and still obtain an explicit solution suitable for real-time operation. Simulation results of this multi-object ACC control approach are presented and the controller is compared to a reference ACC controller. With the efficient controller representation the multi-object ACC controller is implemented on the ECU of a standard production platform vehicle to confirm the simulation results in real traffic.
Author: Péter Gáspár
Publisher: Springer
ISBN: 3030041166
Category : Technology & Engineering
Languages : en
Pages : 226
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Book Description
This book focuses on the design of a multi-criteria automated vehicle longitudinal control system as an enhancement of the adaptive cruise control system. It analyses the effects of various parameters on the average traffic speed and the traction force of the vehicles in mixed traffic from a macroscopic point of view, and also demonstrates why research and development in speed control and predictive cruise control is important. The book also summarises the main steps of the system’s robust control design, from the modelling to its synthesis, and discusses both the theoretical background and the practical computation method of the control invariant sets. The book presents the analysis and verification of the system both in a simulation environment and under real-world conditions. By including the systematic design of the predictive cruise control using road and traffic information, it shows how optimization criteria can lead to multiobjective solutions, and the advanced optimization and control design methods required. The book focuses on a particular method by which the unfavourable effect of the traffic flow consideration can be reduced. It also includes simulation examples in which the speed design is performed, while the analysis is carried out in simulation and visualization environments. This book is a valuable reference for researchers and control engineers working on traffic control, vehicle control and control theory. It is also of interest to students and academics as it provides an overview of the strong interaction between the traffic flow and an individual vehicle cruising from both a microscopic and a macroscopic point of view.
Author: Vaughan W. Inman
Publisher:
ISBN:
Category : Automobiles
Languages : en
Pages : 54
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Book Description
This summary report provides a high-level overview of four experiments that investigated human factors issues surrounding cooperative adaptive cruise control (CACC). CACC combines three driver assist systems: (1) conventional cruise control, which automatically maintains the speed a driver has set, (2) adaptive cruise control, which uses radar or light detection and ranging sensors to automatically maintain a gap the driver has selected between the driver’s vehicle and a slower-moving vehicle ahead, and (3) dedicated short-range communications to transmit and receive data with surrounding vehicles so that the cruise control system can more quickly respond to changes in speed and location of other CACC vehicles, even vehicles that the driver cannot see. This report describes a series of experiments that examined how use of a CACC affected drivers’ workload, propensity to distraction, level of physiological arousal, ability to avoid a crash, merging abilities, and trust in the system. The first experiment compared driving with CACC in a string of four or five vehicles with manual control of the following distance in the same strings. The second experiment explored driver performance when merging into a string of CACC vehicles. The third experiment took a closer look at the source of a substantial crash reduction benefit obtained with CACC in the first experiment. The fourth experiment examined the effect of a driver’s preferred following distance on performance and workload when using short and long CACC gap settings.
Author: Stephen Jones
Publisher:
ISBN:
Category : Automation
Languages : en
Pages : 48
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Book Description
Traffic congestion is growing at a faster rate than can be alleviated solely by additional road construction. Various Intelligent Transportation Systems technologies aim to increase and improve transportation via non-traditional means. Cooperative Adaptive Cruise Control (CACC) is one such technology, intended to increase traffic throughput by safely permitting shorter following distances between vehicles. Both vehicle-to-vehicle and vehicle-to-infrastructure communications help such endeavors at the micro- and macro-levels of traffic management. This report identifies the various ways in which the CACC concept could be realized and the human-factors-related implementation issues. Several research areas are suggested to address these human-factors issues.
Author: Péter Galambos
Publisher: Springer Nature
ISBN: 3031196503
Category : Computers
Languages : en
Pages : 241
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Book Description
This volume constitutes the papers of two workshops which were held in conjunctionwith the First International Conference on Robotics, Computer Vision and Intelligent Systems,ROBOVIS 2020, Virtual Event, in November 4-6, 2020 and Second International Conference on Robotics, Computer Vision and Intelligent Systems,ROBOVIS 2021, Virtual Event, in October 25-27, 2021. The 11 revised full papers presented in this book were carefully reviewed and selectedfrom 53 submissions.
