1. 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

2. 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

3. 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

4. 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

5. 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.

6. 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

7. 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

8. Domain Research Investigated Area: DSRC, V2X Project Constraints
Enable CACC above 25 mph
Emergency situation Brake
Platoon size will not exceed eight vehicles.
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

9. 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

10. 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

11. 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

12. 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

13. 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

14. Part III: Demonstration
Prototype Part I: Dashboard Prototype

15. Part III: Demonstration
Prototype Part II: Platoon Demonstration

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