AUTOMOTIVE COLLISION

AVOIDANCE SYSTEM

GREESHMA.A.S
S7 ECE
ROLL NO 38

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 OBJECTIVES
HAND FREE DRIVING

ACAS

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 INTRODUCTION
General Motors Corporation and Delphi-Delco
Electronics Systems have established a new
development in the science of Collision Warning
(CW) systems, utilizing the modern technological
approach in robotics and Adaptive Cruise Control
(ACC) system. It was called the Automotive Collision
Avoidance Systems (ACAS) field operation program.

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 ACAS
It is the Automotive Collision Avoidance System.

Aimed at integration of the latest technology

-Forward Collision Warning (FCW)
-Adaptive Cruise Control (ACC).

Now the Field Operation tests are being carried out.

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 FCW
It is the Forward Collision Warning
system.

It uses the long range forward-looking

radar sensor.

It incorporates the single active

forward-looking radar sensor augmented
with yaw rate sensor

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FCW PROCESSOR

Combines the information from all the subsystems

It gives signal to the Brake actuator and Throttle

actuator to adjust the speed of the host vehicle

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 BRAKE AND THROTTLE CONTROL
Data from ACC + radar sensor fused and fed to
processor.

Processor data controls actuators.

For speed less than cruise speed, the driver is

informed.

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 ACC
The Adaptive Cruise Control (ACC)

Detects and tracks motor vehicles in its forward path,

(forward radar based sensor)

Maintains the selected cruise speed when there is no vehicle

limiting its forward motion, (forward vision based sensor)

Maintains a selected headway between the host vehicle and a

lead vehicle, which is traveling slower than the selected
cruise speed and thus limiting the forward motion of the
host vehicle ( GPS).
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ACC System Design
Disturbances
(accelerator pedal (throttle) position, brake pedal position)
(air drag, grade,
Actuator Noise friction etc)
Control I/P
Actuators Physical Process
Actual output

Desired
(vehicle speed)
Control I/P

Sensed O/P
Reference Input Adaptive Sensors
Sensor Noise
Cruise Cont.
(desired vehicle speed)
(wheel speed sensor)

Src: Prof. Shashikant's Control System Lec-1 in DEP

Mode
Functional Block Diagram
 Functions Identified
Computing Current speed of our vehicle
Leading Vehicle related Task
Controlling Speed of our Vehicle
Controlling the Throttle
Controlling the Brake
Detecting Manual Intervention
UI to the Driver
TARGET PATH ESTIMATION AND SELECTION

Consists of 3 units
 Forward vision system

 Map based roadway geometry processor

 Scene tracking processor

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 FORWARD VISION SYSTEM
Predict the geometry of roadway ahead of the vehicle

It estimate road shape, lane width, vehicle heading

and lateral position of the vehicle in the lane

Rejects the targets which are off the road

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FORWARD VISION EQUIPMENT

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MAP-BASED ROADWAY GEOMETRY
PROCESSOR

It consists of DGPS, sensors and digitized road maps

It contains database of road way and matches with

GPS information

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A ROAD MAP DATABASE

Sample road map

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 SCENE TRACKING PROCESSOR
Exploits kinematics information about objects

Yaw Rate sensor which predict the roadway curvature

in front of the vehicle

Distinguish between in-lane and adjacent vehicles

Determine the heading of the host vehicle

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DELPHI DELCO TRACKING AND
IDENTIFICATION DISPLAY

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 DRIVER-VEHICLE INTERFACE
It consists of visual, auditory displays

Visual display consists of high resolution,

reconfigurable, full colour head up display

Auditory display done by a tonal alert which is

generated within the DVI hardware

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FORWARD COLLISION WARNING DISPLAY
 BENEFITS
Conveniently manages vehicle speed and headway
gap.

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).

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 SUMMARY
Robotics is a part of electronics engineering, which
exploits each aspect of electronics and mechanical
engineering.

The development of robotics has lead to the ACAS

program.

On the completion of this program, vehicles will change

the phase of driving.

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 CONCLUSION
Hand free driving provides a robust solution to avoid
accidents caused by the carelessness of driver

“In the coming century we may

witness a world without
accidents!!!”

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 Some of the References
 K. Ramamritham, Slides from Embedded Systems(IT606) course.

 Paul pop et. al. “Design Optimization of Multi-Cluster Embedded

Systems for Real-Time Applications”, Date’04, Paris, France, February 16-
20, 2004, pp. 1028-1033 .

 Krithi Ramamritham, “Allocation and Scheduling of Precedence-Related

Periodic Tasks”, IEEE Transaction in Parallel and Distributed Systems, 1995,
pp. 412-420.
 Jakob Axelsson, “A case Study in Heterogeneous Implementation of
Automotive Real-Time Systems”, 6th International Workshop on
Hardware/Software CoDesign, Seattle, March 15-18, 1998.
 Cecilia Ekelin, Jan jonsson, “Real Time System Constraints: Where do
they Come From and where do they Go?”, In Proceedings of the Int’l
Workshop on Real Time Constarints, Oct. 16, 1999, USA, pp. 53-57.
 Kristina Ahlström, Jan Torin, “Design Method for Conceptual Design of
By-Wire Control: Two Case Studies”, 7th Int’l conference on Engineering of
Complex Computer Systems, June 11-13, 2001.
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