1 / 47

Automated Pedestrian Collision Avoidance System (APCAS-3)

Automated Pedestrian Collision Avoidance System (APCAS-3). Team ARBY members: Brandon Waterloo – Project Manager Anthony Donofrio – Project Facilitator Raymond Heldt – Customer Liaison Yevgeny Khessin – Artifacts Manager.

eldora
Download Presentation

Automated Pedestrian Collision Avoidance System (APCAS-3)

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Automated Pedestrian Collision Avoidance System (APCAS-3) • Team ARBY members: • Brandon Waterloo – Project Manager • Anthony Donofrio – Project Facilitator • Raymond Heldt – Customer Liaison • Yevgeny Khessin – Artifacts Manager Any questions/concerns regarding this project should be directed to the course instructor, Dr. Betty H.C. Cheng (chengb at cse dot msu dot edu).

  2. What is APCAS? • Safety system embedded in a car which avoids hitting pedestrians. • Auto-brakes when collision is imminent. • Autonomous cruise velocity when road is clear.

  3. Motivation • Human drivers crash • Can get distracted while driving • Talking on phone • Might be asleep • Slower reaction time than computers • Can’t calculate trajectories in less than 1/10 of a second

  4. Motivation • Slamming on brakes isn’t always optimal • Loses time • Blocks traffic from behind • Can cause rear-end collisions • Ideal APCAS only brakes enough to avoid collision

  5. APCAS – Main Goals • Safety • Automatically brakes to avoid collision with pedestrians • Efficiency • Doesn’t brake more than what is necessary to avoid collision

  6. Project Constraints • Doesn’t have auto-steering • Can’t overcome hardware failures • Auto-shuts off in the event of improperly functioning hardware • Sensor breaks down • Camera lens obstructed • Driver is notified

  7. Security • Can’t be hacked by outside source • Only accepted input is from the car’s sensor and the car itself (velocity) • Information sent is hard-wired, not wireless

  8. What does it look like? Pedestrian Vehicle APCAS controller Camera/Sensor Brake-by-wire actuator

  9. How does it work? Pedestrian’s info: location, velocity Sensor gets information about nearby pedestrians every 100 milliseconds (ms) APCAS controller takes that information to calculate possibility of collision every 100 ms Vehicle’s info: current speed in kilometers per hour (kph) Brake-by-wire actuator gets messages to brake when necessary

  10. Requirement Specifications (drawings not to scale) Vehicle Specs Acceleration to get up to speed: 0.25g • (g = 9.8 m/s2) Normal cruising speed: 50 kph Vehicle has width of 2 meters (m) Maximum braking force: 0.85g

  11. Requirement Specifications Pedestrian Specs (drawings not to scale) Pedestrian is considered a circle with size 0.5m diameter Pedestrian’s speed: 0 or 10 kph (Margin of error: +/- 0.2 kph) 0.5m Pedestrian’s direction of movement: at a right angle relative to the car’s path (Margin of error: +/- 5 degrees)

  12. Requirement Specifications (drawings not to scale) Pedestrian Specs Margin of error in pedestrian’s location: +/- 0.5m

  13. Use-Case Diagram

  14. Demonstration of Prototype http://www.cse.msu.edu/~cse435/Projects/F2012/APCAS-3/Prototype/

  15. Class Diagram

  16. Key classes used in APCAS • Sensor • Calculates location and velocity of sensed pedestrians. • Car • The vehicle being driven. • BBWSystem • The autonomous braking system used by this system. Gets messages from Car to apply brakes when necessary. • APCAController • Core of APCAS. Takes all info generated and calculates collision state, as well as what action to take.

  17. Key functions • Car::GetCarVelocity() • Returns as output the car’s current speed (kph) • APCAController::HandlePacket() • Accepts as input a packet of data about nearby pedestrians generated in the past 100ms • Uses this info and the Car’s velocity to calculate possibility of collision. • Tells Car to brake or accelerate if necessary

  18. Sequence Diagrams Collision Imminent

  19. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car

  20. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor

  21. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car

  22. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity

  23. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is imminent

  24. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is imminent • APCAController gets Car’s velocity again

  25. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is imminent • APCAController gets Car’s velocity again • APCAController tells Car to brake by a certain amount(hard brake – more than 0.25g)

  26. Sequence Diagram Collision ImminentSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is imminent • APCAController gets Car’s velocity again • APCAController tells Car to brake by a certain amount(hard brake – more than 0.25g) • Car tells BBWSystem to apply brakes by that same amount

  27. Sequence Diagram Collision Possible

  28. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car

  29. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor

  30. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car

  31. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity

  32. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is possible

  33. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is possible • APCAController gets Car’s velocity again

  34. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is possible • APCAController gets Car’s velocity again • APCAController gets Car’s initial velocity

  35. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is possible • APCAController gets Car’s velocity again • APCAController gets Car’s initial velocity • APCAController tells Car to brake by a certain amount(soft brake – no more than 0.25g)

  36. Sequence Diagram Collision PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision is possible • APCAController gets Car’s velocity again • APCAController gets Car’s initial velocity • APCAController tells Car to brake by a certain amount(hard brake – more than 0.25g) • Car tells BBWSystem to apply brakes by that same amount

  37. Sequence Diagram Collision Not Possible

  38. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car

  39. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor

  40. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car

  41. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity

  42. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision Not Possible

  43. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision Not Possible • APCAController tells Car to Resume Initial Velocity(50 kph)

  44. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision Not Possible • APCAController tells Car to Resume Initial Velocity(50 kph) • Car tells BBWSystem to apply no brakes

  45. Sequence Diagram Collision Not PossibleSequence of Events: • Driver starts Car • Car gets latest packet of pedestrians from Sensor • APCAController gets this packet from Car • APCAController gets Car’s velocity • APCAController calculates Collision Not Possible • APCAController tells Car to Resume Initial Velocity(50 kph) • Car tells BBWSystem to apply no brakes • Car accelerates to get up to 50 kph

  46. State Diagram

  47. State Diagram • State of the system is based on the current collision state • Can switch from any state to any other state (including itself)

More Related