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Designing an Automated Vehicle System

Hybrid Specifications Can Be Converted Into Real-time Software And Tested: Token ... Automated cars. Unmanned air vehicles. Technologies. Wireless network ...

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Designing an Automated Vehicle System

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    Slide 1:Designing an Automated Vehicle System

    Raja Sengupta Assistant Professor Civil and Environment Engineering University of California, Berkeley

    Slide 2:The System

    http://www.path.berkeley.edu/CCIT_BART_Symposium/demo_97.wmv Click URL Below to View Media Clip

    Slide 3:How does it work? Control

    Distributed control Linear function of leader acceleration, speed, front vehicle position, acceleration, speed String Stable Cite: Hedrick, Swaroop etal

    Slide 4:How does it work? Hardware

    Slide 5:How does networking work? Our Wireless Token Ring Protocol

    T Data T Data T Data A B C PS (A) = C NS (A) = B PS (C) = B NS (C) = A PS (B) = A NS (B) = C A Wireless Token Ring Protocol for Intelligent Transportation Systems. IEEE ITSC, August 25-29, 2001. Implemented on 802.11b WiFi

    Slide 6:How does it work?

    Feedback control design Methodology for an adaptive cruise control study using the SHIFT/Smart-AHS framework. IEEE SMC 1998. A method for design and specification of longitudinal controllers for vehicle automation, ITS America. 1998 Rear-end crash mitigation benefits of an automated highway system. SAE FTT’98. Supervisory logic and maneuver coordination design Distributed hybrid controls for automated vehicle lane changes. IEEE CDC 1998. Design of emergency manoeuvres for automated highway system: obstacle avoidance problem. IEEE CDC 1997 Monitoring system design Fault diagnosis for intra-platoon communications. IEEE CDC 1999. A methodology for the integration of vehicle failure diagnostics. ITS America 1998. Wireless Network design Tools for the design of fault management systems. IEEE ITSC 1997 Tools for safety analysis of vehicle automation systems. ACC 1997

    Slide 7:Our Design Process

    Prove the elements and their integration are correct whenever possible Correct: safe/fair/stable/optimal Usually done in models that leave out a lot of real world detail Simulate to learn more Use models that are closer to the real world Calibrated/validated. Experimental testing to learn still more Produce real-time software, put it on the hardware Ideally prototype production process should preserve all the properties Those proven, established by simulation, established experimentally This is difficult: Mars Rover, Three mile island, …. Established Techniques: Fault tree, root locus, hatley-pirby diagrams, ….. Research Techniques: Hybrid specification, analysis, code generation,…

    Slide 8:Proving Correctness: The box example

    Slide 10:Proving Correctness: The Box Example

    Slide 11:Similar Correctness Proofs can be generated for cars: Automated Merge Example

    Slide 12:The Logic And The Continuous Dynamics Are Brought Together In Hybrid Specifications

    Slide 13:Proving Correctness of Hybrid Specifications

    Typically safety is proved in a simplified generalization of the real world

    Slide 14:Hybrid Specifications Can be Simulated: Does our control design reduce shockwaves?

    The head vehicle A in the merge-in lane broadcasts a message to all main lane vehicles The Irrelevant vehicle B ignores the message The relevant vehicle C in the main lane brakes upon receipt of the message, making a proper gap in advance Vehicle A merges in after t seconds if he sees a “good” gap in the main lane, otherwise waits at merge-in point If the main lane traffic is dense, a queue is formed in the merge-in lane A B C Merge-in Point

    Slide 15:Trajectories of Main Lane Vehicles:

    ACC CACC

    Slide 16:Hybrid Specifications Can Be Converted Into Real-time Software And Tested: Token Ring Protocol

    Top level Teja Spec of the Token Ring Protocol

    Rotation number Token Rotation Time 3 FTP Flow

    Slide 17:Token Ring Protocol: Test Data

    Slide 18:Integrating Proofs, Simulation, and Software in the Prototype Development Process

    Precision about these helps preserve proven, simulated, and tested properties in the prototype Syntax Semantics Environment (car, computer, …) Proofs/ mathematical meaning Code generation/ Compilation/ for Testing/ Simulation Approximates

    Slide 19:An Example of Syntax and Semantics for Hybrid Specifications

    Slide 21:Precision Enables Tools To Be Used To Maintain The Integrity Of Prototype Production

    Syntax Semantics Environment (desktop computer) KRONOS, VeriSHIFT, Isabelle, MATLAB SHIFT, MATLAB

    Slide 22:Precision Enables Tools To Be Used To Maintain The Integrity Of Prototype Production

    Syntax Semantics Environment KRONOS, VeriSHIFT, Isabelle, MATLAB Teja, Real-time Workshop

    Slide 23:Conclusions

    Research in networked multi-vehicle systems Automated cars Unmanned air vehicles Technologies Wireless network design Distributed control design System safety and capacity design Use of design tools Hybrid specification, proofs, simulation, code generation Teaching CE 290I Control and Information Management Design and development of distributed real-time systems Study some part of BART?

    Slide 24:Conclusions

    Technical Advisor to ASTM Committee for Dedicated Short Range Communications on Vehicle-Vehicle Communications Current partnerships FHWA PATH/CALTRANS Daimler-Chrysler Research General Motors Research Honeywell National Science Foundation Office of Naval Research DARPA

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