HANDFREE DRIVING FOR AUTOMOBILES

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HANDFREE DRIVING OF AUTOMOBILE BY AMIT KR SINGH C.S.E , S7 REG NO:12090205

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CONTENTS INTRODUCTION WHAT IS NEED FOR SAFETY PRECAUTIONS ACAS (Automotive Collision Avoidance System ) FCW (Forward Collision Warning system) VISION BASED SENSOR MAP BASED PATH PREDICTION GPS(GLOBAL POSITIONING SATELLITE)SYSTEM BRAKE AND THROTLE CONTROL ADVANTAGES DISADVANTAGES CONCLUSIONS

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INTRODUCTIOON All of us would like to drive our car with a mobile held in one hand, talking to the other person. But we should be careful; we don’t know when the car just before us applies the break and everything is gone. A serious problem encountered in most of the cities, National Highways, where any mistake means no ‘turning back’! There comes the tomorrows technology; Hand free driven car. Utilizing the modern technological approach in Robotics.

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2. What is the need for safety precaution? All around the world almost 45% of the accidents occur by mistakes of the driver In some cases the driver is engaged in some other affair than driving In USA the highways are so crowded that in some situations mistake on the part of one person on the road can lead to serious accidents. Most of these accidents are fatal. This was the main reason behind this project work put forward by the Delphi-Delco electronic systems and General Motors Corporation. It was called the Automotive Collision Avoidance Systems (ACAS) field operation program.

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Automotive Collision Avoidance System (ACAS). The ACAS/FOT Program has assembled a highly focused technical activity with the goal of developing a comprehensive “FCW “system that is seamlessly integrated into the vehicle infrastructure.. The FCW system incorporates the combined “ACC (Adaptive Cruise Control )“& rear-ends “CW “functionality Forward Collision Warning system (fcw) It was one of the earlier programs done by the DDE (Delphi-Delco Electronics ) systems. It included the forward looking radar sensing system It is high range forward looking radar

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Forewarn Smart Cruise Control with Headway Alert uses a mechanically-scanning, 76 GHz, long range radar sensor to detect objects in the vehicle’s path upto 150 meters or 402 feet ahead The system helps to reduce the need for drivers to manually adjust speed or disengage cruise control when encountering slower traffic. Driver information displays indicate the cruising speed and driver-selected gap Drivers can adjust system sensitivity to their preferred driving style.

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Fig.1 the working of forward looking radar

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forward looking radar with camera During the past few years, DDE has modified three of its engineering development vehicles that are being used to support the ACAS FOT Program. (a) 1994 Toyota Lexus LS400 (b) 1994 GM Cadillac Seville (c) 1998 Opel Vectra These vehicles have been modified to provide the basic functionality of fully integrated ACC and FCW systems.

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VISION BASED SENSOR The overall goal of the Forward Vision Sensor is to facilitate the development of a robust, real-time forward looking lane tracking system to enhance the overall forward Path Estimation and Target Selection algorithms The system consists of two components 1. A video camera, mounted behind the windshield of the vehicle, will acquire images of the roadway ahead of the host 2. A remotely located image processing unit will then detect and track the position of the lane boundaries in the images, and will provide a model of the changing road geometry In addition GPS Map, to provide more accurate estimates of road and host state to the Target Selection Module.

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forward vision camera The requirements state that the system should provide host and road state estimates to within these specified one-sigma accuracy requirements: 1. Lateral position in lane: < 0.2 meters 2. Lane width: < 0.2 meters 3. Heading: < 0.2° 4. Road Geometry: < 0.75 meters at 75 meter range2

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Delphi Diagnostic tracking and identification display The Forward Vision Sensor should produce confidence estimates (which may be a function of range) for the road-geometry and host vehicle state The minimum update rate is 10 Hz with an initial maximum acquisition time of 5 seconds.

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In this figure, the Host Vehicle is on a road with a guardrail on the right side, approaching a left turn, and will then encounter a T-intersection. Fig .2 distributed object detection example

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MAP BASED PATH PREDICTION In the current ACAS program path prediction is achieved by continuously estimating the location of the vehicle on the road, matching the vehicle location to a point on a road in the stored roadway map, tracking the path traversed by the vehicle and extracting the upcoming road geometry from the map The overall functional block diagram of this subsystem is shown in Fig.3

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Fig.3 Functional Diagram of the Map Based Path Prediction System DGPS is used to compute the heading and distance traversed by the vehicle

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The accuracy in determining the heading and distance is further enhanced by computing the heading angle and distance relative to the previous position of the host vehicle The combination of dead reckoning and DGPS with the map database has been explored to obtain a map based path prediction system DGPS, when used in conjunction with the map database, can provide fairly accurate path prediction except in situations of GPS signal outages Within the limited scope of the ACAS-FOT project, AssistWare (fig.4) has been contracted to aid in the development of maps that are superior to those commercially available. Fig.4 AssistWare System Components

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GPS(GLOBAL POSITIONING SATELLITE) SYSTEM The most important part of the ACC system is the Digitized GPS Global Positioning Satellite Systems (GPS) are navigation tools which allow users to determine their location anywhere in the world at any time of the day GPS systems use a network of 24 satellites to establish the position of individual users Originally developed by the military, GPS is now widely utilized by commercial users and private citizens GPS receivers can be integrated with other systems, such as a transponder or transmitter. The transmitter takes information from the GPS receiver and transmits it to a defined station, such as a police dispatcher.

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BRAKE AND THROTLE CONTROL Brake Control System A new Delphi Brake Control System will replace the OEM brake components on the Prototype and FOT deployment vehicles The brake control system includes an anti-lock brake system (ABS), vehicle stability enhancement, and traction control features For this program, the brake system will be enhanced to respond to ACC braking commands while maintaining the braking features and functions that were in the original brake system. Throttle Control System The throttle control system maintains the vehicle speed in response to the speed set by the driver or in response to the speed requested by the ACC function The block diagram fig.5 given below shows the ACC system.

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Fig.5 Prototype Vehicle System Block Diagram & Mechanization

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The primary ACC Subsystem display will be in a head-up display. The primary ACC display will include the following information: a. ACC On/Off b. Set Speed c. Current Speed d. Tracking/Not Tracking a Lead Vehicle ACC Operational/Failed The vehicle will provide a forward collision warning capability The ACC is considered to be active in the Maintain Speed or Maintain Headway modes The FCW algorithms (Table below) depend upon whether the ACC is active ACC is considered to be active in the Maintain Speed or Maintain Headway modes.

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FCW Modes Cruise Control Modes-Adaptive Cruise Control Enabled The cruise control behaves like a standard cruise control system until the adaptive features are enabled

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Figure 6 ACC Vehicle Controls

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BENEFITS Conveniently manages vehicle speed and headway gap Complements vehicle styling Makes cruise control more useable in most traffic conditions resulting in a more relaxed driving experience Operates under wide range of environmental conditions (dirt, ice, day, night, rain, or fog) Low false alarm rate

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FEATURES Radar-based sensing for optimal performance Sensor hidden behind front grille or fascia Best available detection and tracking performance Manages vehicle speed and headway gap using throttle control and limited braking Automatically notifies driver of a blocked sensor via displayed message Excellent following distance and speed control

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thank you THANK U