cruise control.ppt
TRANSCRIPT
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Cruise ControlCruise Control
Karen LieKaren Lie
Engr 315Engr 315
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OutlineOutline
► Introduction to Cruise Control Introduction to Cruise Control ►CC ModelingCC Modeling►CC SimulationCC Simulation
► Introduction to Adaptive ControlIntroduction to Adaptive Control►ACC ModelingACC Modeling►ACC SimulationACC Simulation
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Cruise Control SystemCruise Control System
► Input: buttons on Input: buttons on the steering wheel, the steering wheel, brake, clutch, gas brake, clutch, gas pedal and feedback pedal and feedback signalsignal
► ProcessorProcessor► SensorSensor►Output: the throttle Output: the throttle
positionposition
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ModelingModeling
m s V s( ) b V s( ) U s( )
Newton’s Second Law: m
dv
dt b v t( ) u t( )
Laplace Transform:
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Transfer FunctionTransfer Function
Y s( )
U s( )
1
m s b
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Design SpecificationDesign Specification
►Rise time < 5 secRise time < 5 sec►Overshoot < 10%Overshoot < 10%►Steady-State Error < 2%Steady-State Error < 2%
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Open-Looped SystemOpen-Looped System
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Closed-Loop w/ PI ControlClosed-Loop w/ PI Control
Kp = 100 Kp = 800 and Ki = 40
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weight of the carweight of the car
m = 500 kg
PI Control: Kp = 800 and Ki = 40
m = 2000 kg
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Adaptive Cruise ControlAdaptive Cruise Control
►So-called Active Cruise Control (ACC)So-called Active Cruise Control (ACC)►Traffic flow characteristicsTraffic flow characteristics►Collision-avoidance systemCollision-avoidance system►Not to be considered as a safety Not to be considered as a safety
feature by automakersfeature by automakers
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BackgroundBackground
►First laser-based system – Toyota’s First laser-based system – Toyota’s Progress, a compact luxury sedan, in Progress, a compact luxury sedan, in 19981998
►First radar-based system – Nissan’s First radar-based system – Nissan’s Cima 41LV-2, a luxury sedanCima 41LV-2, a luxury sedan
►First American ACC model – Lexus’ LS First American ACC model – Lexus’ LS 430, in 2000430, in 2000
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FunctionFunction
► Preset and maintain the car speedPreset and maintain the car speed►Measure the distance to the preceding car Measure the distance to the preceding car
and the relative speedand the relative speed► Adjust the car speed accordinglyAdjust the car speed accordingly►Maximum deceleration = 3.5m/s^2Maximum deceleration = 3.5m/s^2
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Adaptive Cruise ControlAdaptive Cruise Control►Change gear automaticallyChange gear automatically►Function properly in poor weather Function properly in poor weather
conditioncondition►Cannot pick up non-moving objectsCannot pick up non-moving objects►Effective in the speed between 30km-Effective in the speed between 30km-
180km/h180km/h
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Two types of ACC Two types of ACC
►Radar-Based System Radar-Based System – – Three overlapping radar-beams (76-Three overlapping radar-beams (76-
77kHz)77kHz)-- Detects moving object up to 120 m -- Detects moving object up to 120 m – – work in poor weather conditionswork in poor weather conditions►Laser-Based System (lidar) Laser-Based System (lidar) – – less expensive and easier to package less expensive and easier to package – – light beams are narrower than water light beams are narrower than water
droplet and snowflakesdroplet and snowflakes
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Radar-based Adaptive Cruise Radar-based Adaptive Cruise ControlControl
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Modeling in Highway Merging Modeling in Highway Merging
rd t( ) 6.33v0.48 2
By R. Sengupta and Q. Xu
ades t( ) kv tr t( )d
d kp r t( ) rd t( )
ACC Controller
Desired Range
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Highway Merge-In ScenarioHighway Merge-In Scenario
►1. At 0 sec, the preceding vehicle is 1. At 0 sec, the preceding vehicle is traveling 12.5 m/straveling 12.5 m/s
►2. The follower vehicle w/ACC is 150 2. The follower vehicle w/ACC is 150 m behind the preceding vehicle and is m behind the preceding vehicle and is traveling at 25 m/straveling at 25 m/s
►3. At 10 sec, the third vehicle cut in in 3. At 10 sec, the third vehicle cut in in between the two vehiclesbetween the two vehicles
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Simulation in Highway Simulation in Highway MergingMerging
By R. Sengupta and Q. Xu
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AccelerationAcceleration
Dotted Line = Desired AccelerationSolid Line = Actual Acceleration
By R. Sengupta and Q. Xu
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ImplementationImplementation
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Distance Source Distance Source
ACC Response CC Response (for comparison)
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QuestionQuestion