1. Dinesh Kumar Challa

2. Overview  Introduction  Implementation  System Architecture  Interfaces  Performance Analysis  Conclusion  Future Work  Demo  Questions  Acknowledgements

3. Introduction  This thesis work proposes a Vehicle Highway Automation System (VHAS) for automating traffic information gathering and decision making in a vehicle.  Cost effective  Near to real life implementation

4. Types of VHAS Technology that is entirely contained within the vehicle Autonomous VHAS Combinations of in-vehicle and infrastructure technologies outside the vehicle Co-Operative VHAS

5. Autonomous VHAS  Advantages Cost effective Vehicle Automation Collision Avoidance  Disadvantages No Highway Information System No Route Guidance No Vehicle Tracking No Traffic Surveillance No Collision Prevention

6. Co-Operative VHAS  Advantages Increase in throughput More predictable and reduced trip times Increase in safety Vehicle automation Collision avoidance and Prevention Highway information system Route guidance Traffic surveillance and vehicle tracking  Disadvantages Not easy to implement Implementation Costs more than Autonomous VHAS

7. Implementation  Wireless Sensor networks (WSN) for road side infrastructure.  Advantages of WSN Economical Can be implemented on existing Highways Not Difficult to Implement Reliable Consumes Less Space Have Several Sensors Wireless communication

8. Test Bed  Implement VHAS in a smaller environment  Simulates highway  Simulates road side infrastructure

9. Components of Test Bed  E-puck  TelosB mote  IpaQ  USB Hub

10. E-puck  Small differential wheeled mobile robot  Simulates car on a highway  Several Sensors 8 proximity sensors Camera 3 Floor sensors Light sensor Vibration sensor Accelerometer  Communication Radio Communication Bluetooth Communication Infrared Communication

11. TelosB Mote  Sensor node in WSN  Used in road side infrastructure  Several Sensors PIR sensor Light sensor Temperature sensor Humidity sensor More sensors can be added  Communication Radio Communication

12. Real Scenario of VHAS Implementation

13. VHAS Architecture

14. Sensing Layer  Present in both the e-puck and the TelosB mote  Senses events of interest using the sensors.  Collects sensory data.

15. Regulation Layer  Only present in the e-puck.  Regulates the properties of e-puck.  Properties Speed Turn Angle Stop Start Reverse

16. Communication Layer  Present in both e-puck and the TelosB mote.  Provides Communication

17. Update Layer  Present only in the TelosB mote.  Updates the status of itself  Updates the status of other nodes.  Propagate the status of the node.

18. Query Layer  Present in both the e-puck and TelosB mote.  Queries the information from e-pucks and motes.

19. Control Layer  Present in both the e-puck and the Telosb mote  Controls the whole system  Decision Making System Messages are routed through this system Responsible for making decisions  Planning and Co-ordination System Plans the sequence of actions Co-ordinates the communication  Safety Control System Ensures safety

20. VHAS Interfaces Sensing Layer Interfaces Get_Camera_Capture_Data(Char Cam_Data[2*40*40]) Get_Calibrated_Proximity_Sensor( int Prox_id ) Read_Floor_Sensor( int floor_id) Read_PIR_Sensor( ) Control Layer Interfaces Obstacle_Avoidance( ) Lane_Following( ) Detect_epuck ( ) Get_Shortest_Path (int src_address, int dest_address) Reserve_node ( int node_address) Reserve_NextNode (int dest_node_address) Reserve_Path (int dest_address) Reserve_Available_Path (int dest_address) goto_dest_NextNode (int dest_address) goto_dest_Path(int dest_address) goto_dest_AvailablePath(int dest_address) Update Layer Interfaces Send_Update(TOS_MSG Msg) Receive_Update(TOS_MSG Msg) Query Layer Interfaces Query_Next_Node ( int next_node_address) Query_Node (int dest_node_address) Query_Path_toNode (int dest_node_address) Regulation Layer Interfaces Move( float Speed, float Distance) Move_Time( float Speed, float Time) SetSpeed( float Speed) Left_Turn (float Speed, int Stop) Right_Turn ( float Speed, int Stop) Turn ( float Speed, float Angle, float Distance) Communication Layer Interfaces Send( int dest_id, int Size_Of_Message, MSG) Receive (TOS_MSG MSG) SendPacket (char destinationgroup, int destinationaddress, char* packet, int packetsize) IsPacketReady ( char* packet, int* packetSize)

21. Sensing Layer Interfaces  E-puck Get_Camera_Capture_Data(Char Cam_Data[2*40*40]) Get_Calibrated_Proximity_Sensor( int Prox_id ) Read_Floor_Sensor( int floor_id)  TelosB Mote Read_PIR_Sensor( )

22. Regulation Layer Interfaces  E-puck Move( float Speed, float Distance) Move_Time( float Speed, float Time) SetSpeed( float Speed) Left_Turn (float Speed, int Stop) Right_Turn ( float Speed, int Stop) Turn ( float Speed, float Angle, float Distance)

23. Communication layer Interfaces  E-puck SendPacket (char destinationgroup, int destinationaddress, char* packet, int packetsize) IsPacketReady ( char* packet, int* packetSize)  TelosB Mote Send( int dest_id, int Size_Of_Message, MSG) Receive (TOS_MSG MSG)

24. Update Layer Interfaces  TelosB Mote Send_Update(TOS_MSG Msg) Receive_Update(TOS_MSG Msg)

25. Query Layer Interfaces  TelosB Mote Query_Next_Node ( int next_node_address) Query_Node (int dest_node_address) Query_Path_toNode (int dest_node_address)

26. Control Layer Interfaces  E-puck Obstacle_Avoidance( ) Lane_Following( ) goto_dest_NextNode (int dest_address) goto_dest_Path(int dest_address) goto_dest_AvailablePath(int dest_address)  TelosB Mote Detect_epuck ( ) Get_Shortest_Path (int src_address, int dest_address) Reserve_node ( int node_address) Reserve_NextNode (int dest_node_address) Reserve_Path (int dest_address) Reserve_Available_Path (int dest_address)

27. Algorithms  Obstacle Avoidance Algorithm Avoids Obstacle  Line Following Algorithm Follows Black Line  Next Node Algorithm Automates the e-puck reach the desired destination by reserving one node at a time  Whole Path Algorithm Automates the e-puck reach the desired destination by reserving whole path at a time  Available Path Algorithm Automates the e-puck reach the desired destination by reserving all the available nodes in a path at a time

28. Algorithm Explanation

29. Performance Analysis  To check the efficiency of the system.  To check the accuracy of the system.  To check the safety of the system.  To compare the performances of three algorithms. Next Node Algorithm Whole Path Algorithm Available Path Algorithm  Performance is analyzed for different scenarios  Performance is analyzed with different number of boards

30. Analysis With Four Boards  Scenario 1 E-pucks moving to one common destination with different starting points  Scenario 2 E-pucks moving perpendicular to each other with different destination and starting points

31. Scenario 1

33. Scenario 2

35. Test With Two Boards  Scenario 1 E-pucks moving to one common destination with different starting points  Scenario 2 E-pucks moving perpendicular to each other with different destination and starting points

36. Scenario 1

38. Scenario 2

40. Conclusion  This thesis work introduced Vehicle Highway Automation System for automating traffic information gathering and decision making in a vehicle on a highway.  Test bed is created to implement and test VHAS in a smaller environment  Characteristics of VHAS are successfully implemented.  Performance of VHAS implementation is analyzed. Achieved full automation of vehicle effectively System ensured safety Available path algorithm was proven better

41. Future Work  Traffic Surveillance  Priority reservation of path  Extending to multi lane highway

43. Acknowledgements  Dr. Gurdip Singh  Dr. Masaaki Mizuno  Dr. Daniel Andresen