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
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
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
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
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
Test Bed Implement VHAS in a smaller environment Simulates highway Simulates road side infrastructure
Components of Test Bed E-puck TelosB mote IpaQ USB Hub
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
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
Real Scenario of VHAS Implementation
Sensing Layer Present in both the e-puck and the TelosB mote Senses events of interest using the sensors. Collects sensory data.
Regulation Layer Only present in the e-puck. Regulates the properties of e-puck. Properties Speed Turn Angle Stop Start Reverse
Communication Layer Present in both e-puck and the TelosB mote. Provides Communication
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.
Query Layer Present in both the e-puck and TelosB mote. Queries the information from e-pucks and motes.
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
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
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
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
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
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
Future Work Traffic Surveillance Priority reservation of path Extending to multi lane highway
Acknowledgements Dr. Gurdip Singh Dr. Masaaki Mizuno Dr. Daniel Andresen