DEVELOPMENT OF CRUISE

CONTROL OF A VEHICLE
BY-RAVINDER SANSERWAL
BITS ID :- 2020HT65152
Difference between Model based design & traditional component specific design
Traditional Design
The traditional design is software-centric, that is it
treats software as the main entity and moves from
software to model by going through the following
stages:
1. A controller design using block diagrams or
computer-modelling techniques
2. Design implementation in the programming
language.
3. Integration of the developed controller with a
plant model
4. Simulation and subsequent adjustment of a
controller parameters
5. Testing and reiteration of design
Model Based Design
Contrary to this, in the model-based design methodology,
computer-modelling techniques are used throughout the
design process while the code is generated automatically
when the model is already simulated and approved. Here
are the stages of this process:
1. The development team creates a conceptual design for
a subsystem or component
2. A mathematical model is created from a specification
using graphical design and simulation tools, such as 
MATLAB, Simulink, and Stateflow
3. The model captures all the information about how the
embedded system should run in a real vehicle (the
component and its vehicle are modelled as one
dynamic system)
4. The mathematical model is used in all development
stages including design, implementation, and validation
5. The code is automatically generated based on the
perfected model and incorporated into an embedded
microprocessor
INTRODUCTION

• What is Cruise Control system?

• Cruise Control allow driver to set a speed to be maintained without his/her
intervention (e.g. 70mph down a long straight motorway like an Highway or
expressway)

• What advantages it offer ?

1. It absolves the driver with the need of pressing the accelerator pedal continuously
for running the vehicle & thus reducing the fatigue.
2. It helps us to achieve better fuel economy by running at a specific set speed (e.g.60-
80Kmph)
3. It also helps to avoid unconsciously violating speed limits.
SPECIFICATIONS

• Driver can request the system to maintain the current speed

• Driver can always turn it off
• System should not operate after braking or clutch activation.
• System should allow the driver to travel faster than the set speed by pressing the gas
pedal
• The system shows the status of on/off & cruise speed
Important design considerations include
•Safety: Can the system fully control the vehicle, and can it ensure that the vehicle will not enter
an unsafe state as a consequence of the control?
•Simplicity of use: Can a driver with no prior experience with the system use it correctly?
•Characteristics of real-time response: How rapidly does the vehicle respond to control inputs?
•Other?
Design a FSM(Finite State Machine Model)

We need to
• Specify the subsystems

• Specify the inputs

• Specify the outputs

• Decide on the required states(and a start state)

• Specify the transitions

• Identify the problems at subsystem level

Driver Inputs

• on: on/off button

• set: set the cruise speed to the current speed

• brake: the brake has been pressed

• Clutch:the clutch has been pressed

• accP: the accelerator has been pressed

• accR: the accelerator has been released

• resume: resume travelling at the set speed

Sensor Inputs

• correct: indicates the car is travelling at the correct speed

• slow: indicates the car is going slower than the set speed

• fast: indicates the car is going faster than the set speed
Control Outputs

• store: store the current speed as the cruise speed

• inc: increase the throttle

• dec: decrease the throttle

States

• Off: System is not operational.

• Ready: Switched on but no cruise speed set.

• Set: Actively controlling speed.

• Wait: Speed set but subsequently overridden by brake. Wait to be told to resume
control.

• Acc: Accelerator is currently pressed down (so override)

The Controller
Fast/dec correct

BRAKE
READY SET
SET/STORE WAIT
RESUME

Slow/inc

ON ON ON accP accR

ON ON
OFF ACC

 All other inputs are loops with no output(i.e. ignored). Omitted here for clarity
 CLUTCH
PEDAL
SWITCH

CRUISE
THROTTLE CONTROL
POSITION SWITCH
SENSOR TRANSMISSION
SPEED SET ON/OFF SYSTEM
SPEED+
SPEED-

WHEEL CRUISE STATUS

SPEED SENSORS DISPLAY
CONTROL
SENSORS MODULE SPEED

BRAKING THROTTLE
SYSTEM ACTUATOR

BRAKE THROTTLE
PEDAL BODY
SWITCH
High Level Requirements of the Cruise Control
Sub System of the Cruise Control
 Cruise Control Module
The cruise control module has to do three things.
1. First it remembers the speed you set. It stores this set speed until you change it or turn off the ignition.
2. Next it takes the speed signal from the vehicle speed sensor and compares it to the set speed.
3. Lastly it sends pulse signals to the actuator. The actuator will move the throttle linkage to bring the vehicle up to the set speed and then modulate
mai vacuum to maintain that speed.

• Brake Pedal switch

The cruise control release switch and stop lamp switch are used to disengage the cruise control system. A cruise control release switch and a stop
lamp switch, mounted on the brake pedal bracket disengage the system electrically when the brake pedal is pressed. This is accomplished by
interrupting the flow of current to the cruise control module. The cruise speed of the vehicle at brake actuation will be stored in the cruise control
module memory

• Throttle Actuator
The actuator is what actually moves the throttle linkage. It is most often vacuum operated although some actuators are electrically controlled with
small, stepper type motors. The actuator moves the linkage as directed by the cruise control module until the set speed has been achieved. It then
maintains this speed by controlling the amount of vacuum. It actually modulates the vacuum as the pulses from the control module direct.

• Clutch Pedal switch

In addition to the brake switch, a vehicle with a manual transmission has a switch very similar to the brake switch and disengages the cruise control
system when the clutch pedal is depressed.

• Vehicle Speed Sensor

The Vehicle Speed Sensor (VSS) is mounted to the transmission and provides a low voltage Alternating Current (AC) signal to the Cruise Control
Module (CCM). The CCM converts the AC 258 | P a g e signal to a pulse width modulated Direct Current (DC) signal, which is sent to the cruise
control module at a rate of 4000 pulses per mile.
• Throttle position Sensor
Throttle position sensor provides the positional feedback of the opening of the throttle body for further use by the ECU to regulate the opening as per
the set speed.
Sub System probable Problems of the Cruise Control
• Faulty Brake pedal switch :-As cruise control is automatically cancelled by depressing the brake, some vehicles may disengage cruise control if it
cannot detect the brake light switch

• Control Switch – If the internal contacts wear out, the cruise control switch may not be able to contact the CCM. This might disable cruise control
completely, or it might not react to the cancel or accelerate functions.

• Vehicle Speed Sensor – There are usually multiple vehicle speed sensors (VSS) on any given vehicle. The CCM might use a VSS feed from the
ECM, instrument cluster, or transmission. If that signal is lost, the CCM can’t detect vehicle speed, disabling cruise control.

• Blown Fuse-The electrical components of the cruise control system are protected by fuses. Like inside your house, it is possible to blow a fuse.
This will cause the cruise control system to turn off until the fuse is replaced.

• Check Engine Warning Light-If the check engine warning light comes on, it usually means there is a problem with your transmission or engine.
Once the engine control unit detects this problem, it may disable your cruise control system in response as a safety precaution. Until you fix the
engine issue, the cruise control will stay disabled.
Model-based Design

Concepts: design process:

requirements to models to implementations

Models: check properties of interest:

- safety on the appropriate (sub)system
- progress on the overall system

Testing: model interpretation - to infer actual system

behaviour threads and monitors
From requirements to models

¨ goals of the system

¨ scenarios (Use Case models)
Requirements
¨ properties of interest

Any
appropriate ¨ identify the main events, actions, and interactions
design ¨ identify and define the main processes
approach
¨ identify and define the properties of interest
can be
used. ¨ structure the processes into an architecture

¨ check traces of interest

Model
¨ check properties of interest
Cruise Control System - requirements

When the car ignition is

switched on and the on
button is pressed, the
current speed is recorded
and the system is enabled: it
maintains the speed of the
car at the recorded setting.
Pressing the brake,
accelerator or off button
disables the system. Pressing
resume or on re-enables the
system.

buttons
Model - Outline design

¨ outline processes and interactions.

Sensor Scan monitors Cruise Controller triggers

the buttons, brake, clear speed and record
accelerator and engine speed, and enables or
Sensors
events. disables the speed control.

Engine Prompts

Input Speed monitors Speed Control clears and Throttle

the speed when the records the speed, and sets the
engine is on, and sets the throttle actual
provides the current accordingly when enabled. throttle.
speed readings to speed
speed control.
Model - Design
¨ Main events, actions and interactions.
on, off, resume, brake, accelerator
engine on, engine off,
speed, setThrottle
clearSpeed,recordSpeed,
enableControl,disableControl
¨ Identify main processes.
Sensor Scan, Input Speed,
Cruise Controller, Speed Control and
Throttle
¨ Identify main properties.
safety - disabled when off, brake or accelerator pressed.
¨ Define and structure each process.
Model - structure, actions and interactions

CONTROL CRUISE
The
CONTROL CONTROL
SENSOR Sensors
system is CRUISE SYSTEM
SCAN CONTROLLER
structured
as two
processes. Engine Prompts

The main INPUT speed THROTTLE

SPEED set
actions and SPEED Throttle
interactions CONTROL
are as
shown.

set Sensors = {engineOn,engineOff,on,off,

resume,brake,accelerator}
set Engine = {engineOn,engineOff}
set Prompts = {clearSpeed,recordSpeed,
enableControl,disableControl}
Model - Control subsystem

||CONTROL =(CRUISECONTROLLER
||SPEEDCONTROL)

Animate to check particular However, we need to

traces: - Is control enabled analyse to exhaustively
after the engine is check: Safety: Is the
switched on and the on control disabled
button is pressed? when off, brake or
- Is control disabled accelerator is
when the brake is then pressed?
pressed? Progress: Can every
- Is control re- action eventually be
enabled when resume selected?
is then pressed?
Cruise Control System Hardware

Parallel Interface Adapter (PIA) is polled every 100msec. It

records the actions of the sensors:
• buttons (on, off, resume)
• brake (pressed)
• accelerator (pressed)
• engine (on, off).

Wheel revolution sensor generates interrupts to enable the car

speed to be calculated.

Output: The cruise control system controls the car speed by setting
the throttle via the digital-to-analogue converter.