Overview of CACC2 Software Engineering CSE435 Michigan State University Fall 2013 Team members: Project Manager: Alex Crimin Facilitator: Chengzhu Jin Customer Liason: Joseph Hollopter Configuration Manager: Roy Barnes Security Engineer: Jimmy Mkude Customer: Bill Wilam, Ford Motor Company Instructor: Dr. Betty H.C. Cheng* *Please direct all inquiries to the instructor. 1

Project Overview Motivation for project Assisting the driver in maintaining safe control of the vehicle System provides increased assistance to drivers to avoid upcoming conditions. The system does this by communicating or cooperating with other vehicles that also carry the same system to get information on upcoming road conditions. System provides the same functionality of ACC system, but also adds the functionality of being able to receive information from vehicles in front of it, such as GPS information The main motivation was “to assist the driver in maintaining safe control over the motion of the vehicle in a variety of circumstances...” Our system can do this by communicating with vehicles around it to get more information such as GPS information -- the vehicle’s speed and direction, their performance emplope how fast can that vehicle brake or accelerate. 2

Project Overview Cooperative Adaptive Cruise Control Cruise Control System provides increased assistance to drivers to avoid upcoming conditions. The system does this by communicating or cooperating with other vehicles that also carry the same system to get information on upcoming road conditions. System provides the same functionality of ACC system, but also adds the functionality of being able to receive information from vehicles in front of it, such as GPS information The main motivation was “to assist the driver in maintaining safe control over the motion of the vehicle in a variety of circumstances...” 3

Overview of Features Maintain a constant forward velocity Adjust speed based on objects ahead Form or disband Platoons (Moving from basic cruise control, to ACC, and finally, to full CACC) * 4 slides, main points, then 3 individual 4

Feature 1: CC Maintain a constant forward velocity Maintain a constant forward velocity - Like a basic adaptive cruise control system, CACC must regulate the vehicle’s speed by controlling the throttle and brake system. Assuming there is no object ahead of the vehicle that will interfere, the vehicle must maintain the forward velocity specified by the driver for as long as the CACC system is engaged.

Feature 2: ACC Adjust speed based on objects ahead Emergency action may be required Adjust speed based on objects ahead - If there is a slower vehicle in the same lane up ahead, the CACC system will slow the vehicle to the slower vehicle’s speed. It will then maintain the speed of the vehicle ahead, instead of the speed specified by the driver, for as long as the vehicle ahead is moving slower than the driver’s specified speed, and as long as the CACC system remains on. In the event that there is a stationary or extremely slow-moving object ahead, the CACC system will instead execute emergency actions. This could either be applying as much brake force as possible to mitigate damage, or relinquishing control and notifying the driver, so that the driver may be able to change lanes, depending on the distance to impact. The CACC system does not have the ability to change lanes on its own, which is why control must be relinquished to the driver. *driver always has control

Feature 3: Platoons (CACC) Form or disband Platoons Communication is key Form or disband Platoons - This is what separates the CACC system from a normal ACC system. CACC-equipped vehicles must be able to communicate with other CACC vehicles, in order to be able to form Platoons of up to eight vehicles. All vehicles within a platoon must be able to communicate relevant information, such as GPS positions, and individual velocities. Platoons will increase efficiency and throughput, and can be thought of as forming “trains” out of groups of cars. The CACC system must also be able to disband Platoons, which would occur when a vehicle within the Platoon leaves by changing lanes. *distinctive, not main

Domain Research Investigated Area: DSRC, V2X Project Constraints Enable CACC above 25 mph Emergency situation Brake Platoon size will not exceed eight vehicles. http://www.etsi.org/index.php/technologies-clusters/technologies/intelligent-transport/dsrc www.auto-talks.com/wp-content/uploads/2016/06/Truly_Secure_V2X_Technical_Brief.pdf -------------------- Dedicated Short-Range Communications (DSRC) provide communications between vehicles.DSRC was developed with a primary goal of enabling technologies that support safety applications and communication between vehicle-based devices reduce collisions. Set testing process -> security -> network -> trans, recevi V2X specifications and deployment guidelines were developed to address V2X-specific security challenges. V2X includes comprehensive processes for certificate distribution and management over the lifetime of the vehicular or roadside unit V2X technology allows for communication between vehicles and their surroundings with road safety as the key application. To realize the vision of V2X technology, vehicles must be able to trust the messages arriving from their surroundings. Standard for vehicle message key 8

Part II: Model-based View of System State Diagram : Sensors Radar Camera Receiver Screen Buttons Steering Wheel Buttons turn-on check IDLE ON SENSING turn-off report/return 9

Part II: Model-based View of System State Diagram : Actuators Brakes Throttle Transmitter Dashboard Screen turn-on emergency IDLE ON EMERGENCY turn-off normal 10

Part II: Main Controller check-radar vehicle-on check-speed[s >= 25] /enable OFF ON ENABLED vehicle-off disable cancel DISABLED vehicle-off resume check-radar cancel [obstacle]/check-camera disable OBSTRUCTED [!obstacle]/return [obstacle]/check-camera 11

Part II: Cruise Controller setCruise(cruise + 1) enable accel-pressed OFF ON Accel disable accel-released disable camera(diff) [diff < 0] setCruise(cruise - 1) decel-pressed Decel decel-released disable disable return [diff<=EB]/eBrake disable Obstacle EB [diff>EB && speed>=25]/ brake-off [brake<diff<0]/ setCruise(cruise + diff) [EB<diff<=brake]/ brake(diff) [diff>EB && speed<25]/ disable 12

Part II: Platoon Controller [obstacle]/transmit, receive [!secure] enable [keys > 0]/check OFF ON return Obstacle Security disable [keys>7] disable [secure] Forming Platoon Security [keys<=7] disable check-answer [a=no] Idle Invite answer, receive, transmit [a=yes] [keys > 0]/check [a=cancel] Platoon disable [secure] [!secure] 13

Part III: Demonstration Prototype Part I: Dashboard Prototype http://www.cse.msu.edu/~cse435/Projects/F2016/Groups/CACC2/web/prototype1.php

Part III: Demonstration Prototype Part II: Platoon Demonstration http://www.cse.msu.edu/~cse435/Projects/F2016/Groups/CACC2/Prototype/LatestRelease/index.html

Acknowledgements We gratefully acknowledge and appreciate the participation of our customer, Mr. Bill Wilam from Ford Motor Company.