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We plan to demonstrate the concept of Adaptive Cruise Control (ACC) by extending the existing Autoplug test bed to support multiple agents (cars) and show the real time simulation using the popular Open Racing Car simulator(TORCS).
The test set up has four HCS12 ECU units-
a. TORCS CAN Gateway – This gateway is used to communicate with the TORCS simulator over serial. It performs the serial conversion and filtering of CAN messages created and transmitted from the interaction with the Wiimote steering wheel.These messages are required for the TORCS driver input. The CAN message will contains data such as the current gear, yaw rate, engine rpm, car speed and individual wheel speeds.
b. Engine ECU - Provides functions for throttle control and cruise control.
c. Brake ECU - Provides functions for stability control, traction control and ABS.
d. MATLAB Gateway – This gateway collects data such as front and real wheel slip, brake pressure, acceleration etc.. from the CAN bus and transmits this data over serial to a machine running Matlab which can help us visualize the different parameters without the controls switched on and also how features like brake pressure , acceleration are modulated when controls like ABS, traction, stability are switched ON.
All the 4 ECUs are networked together using the Industry Automotive standard - CAN protocol.
Initially we plan to implement a basic ACC model using two cars -one controlled entirely using software in the TORCS simulator and another controlled externally using the Wiimote steering wheel. In this case , the distance between the two cars is extracted from within the TORCS simulator itself. After implementing a robust ACC algorithm which has features like dynamic safe distane calculation, we plan to control both the cars using external Wiimote steering wheels.
## Project plan and Deliverables
# Phase 1: By Nov 9th
• Adding multiple agents in TORCS. • Implementing a basic Adaptive Cruise Control algorithm by getting the distance metric from TORCS.
# Phase 2: By Nov 20th
• Improve the Adaptive Cruise Control algorithm with dynamic safe distance calculation. (Based on the acceleration and speed of the car implementing ACC)
• Control both cars through external Wiimote controllers with the following car implementing ACC.
# Phase 3: By Nov 27th
• Implement a hardware car model with a ping sensor that can sense the distance from a moving obstacle and demonstrate the ACC behavior in TORCS. Show performance results /waveforms on Matlab
Who will lead which part?
• Understanding and Implementation of ACC algorithm in the Engine ECU – Aswath and Kavita • Improve the ACC algorithm for 2 cars, Getting distance using ping sensor to demonstrate ACC – Anand and Kavita • Implementation of additional agents in TORCS and interfacing with Wiimote controllers – Anand and Aswath
Here is a link to our latest project video