1. TUGS Jason Higuchi && Julia Yefimenko && Raudel mayorga
Traffic Universal Guidance System
TUGS Jason Higuchi && Julia Yefimenko && Raudel mayorga

2. Introduction
The average traveler in Los Angeles experiences 72 hours of traffic delay each year.
A person dies in a car accident every 12 minutes.
Each year car crashes kill 40,000 people

3. Automate highway traffic and ensure safety
TUGS: the goal
Automate highway traffic and ensure safety
Long term point to point navigation on freeway and highway roads
Automatic speed matching with vehicles in close proximity to avoid collisions
Automatic lane change while en route to a preset destination
Vehicle to vehicle communication to mitigate congestion
Emergency protocols in case of an automated system failure

4. Similar Technologies DARPA Grand Challenge 2005 winner, Stanley
Employs Laser Range-finding, optical tracking, GPS, and other features to navigate non-uniform terrain
Highly specialized technology and unique
Toyota/Lexus Lane Keep Assist
Uses Optical tracking to identify lane markings and assists driver to keep the vehicle in the center of selected lane
Uses radar to optimize speed and distance from the vehicle ahead
Commercially available product

5. TUGS LEVEL 0 DFD

6. TUGS Level 1 dfd

7. Test plan Planning system module
Req. No.
Requirement Description
Test Plan
3.1-1
The Planning System shall request permission to activate in a designated driving zone.
Simulation of GPS signals
3.1-2
The Planning System shall activate upon driver’s confirmation.
Simulation of driver signals
3.1-3
The Planning System shall require a preset destination for activation.
Simulation of GPS stored variables
3.1-4
The Planning System shall deactivate upon driver’s request.
3.1-5
The Planning System shall be continuously updated via GPS unit with:
Vehicle’s position
Road specifications
Safe zone locations
Local traffic regulations
Route directions
3.1-6
The Planning System shall maintain the path dictated by GPS unit.
Simulation
3.1-7
The Planning System shall perform lane changes required by the calculated path.
3.1-8
The Planning System shall shift to the left most lane for long term speed travel.
3.1-9
The Planning System shall shift to the right near to the exit.
3.1-10
The Planning System shall send the lane change requests to the Communication module.
Testing

8. Test plan Planning system module
Req. No.
Requirement Description
Test Plan
3.1-11
The Planning System shall receive responses of other vehicles through the Communication module .
Testing
3.1-12
The Planning System shall send a turn signal to the Actuators upon satisfactory response from the Communication module.
3.1-13
The Planning System shall prioritize a directive to change freeway over optimizing for speed.
3.1-14
The Planning System shall keep track of vehicle’s current lane.
3.1-15
The Planning System shall activate turning lights when changing lanes.
Demonstration
3.1-16
The Planning System shall alert the driver of the upcoming exit.
3.1-17
The Planning system shall request the driver to take manual control prior to the planned exit .
3.1-18
The Planning System shall activate Reactive System upon activation.
3.1-19
The Planning System shall deactivate Reactive System upon proper deactivation.
3.1-20
The Planning System shall alert Emergency system upon driver’s failure to take manual control upon request.
3.1-21
The Planning System shall alert Emergency system upon internal failure detection.
3.1-22
The Planning System shall properly deactivate upon driver taking manual control of the vehicle.

9. Test plan Reactive system module
Req. No.
Requirement Description
Test Plan
3.2-1
The Reactive System shall keep safe distance from nearby vehicles
Simulation
3.2-2
The Reactive System shall slow down if:
Weather conditions affect driving stability
Forward vehicles stop/slow
Obstacles appear (e.g. large animals, people)
3.2-3
The Reactive System shall speed up if:
Significantly faster vehicles are behind the vehicle
There is enough distance to the nearest obstacle in front
3.2-4
The Reactive System shall change its vehicle’s path if:
Other vehicles drift in driver’s lane
The driver’s lane is turning
The driver’s vehicle is drifting out of the lane
3.2-5
The Reactive System shall suppress the planning system if:
A lane being changed to has other vehicle in a close proximity
A collision is imminent
White-Box Testing, create planning system signal to reactive system and have proximity sensors signals active
3.2-6
The Reactive System shall prevent any user increases in speed if it still active
Try to change speed while reactive system active
3.2-7
The Reactive System shall prevent any driver changes in direction if it is still active
Try to change direction while reactive system active
Jason

10. Test plan Reactive system module
Req. No.
Requirement Description
Test Plan
3.2-8
The Reactive System shall allow driver to regain vehicle control manually
Testing
3.2-9
The Reactive System shall activate the Emergency System if:
Primary sensors fail
A problem is detected within the reactive system
Testing, Demonstration
3.2-10
The Reactive System shall be suppressed by the Emergency System
3.2-11
The Reactive System shall move the vehicle if:
The Planning System has not completed its path
The Planning System instructs the Reactive System to do so
The Emergency System instructs the Reactive System to do so
Simulation
3.2-12
The Reactive System shall not surpass maximum speed limit
Testing, enforce different speed limits through the reactive system
3.2-13
The Reactive System shall stay within lane boundaries
Jason

11. Test plan Emergency system module
Req. No.
Requirement Description
Test Plan
3.3-1
The Emergency System shall activate upon a failure signal from the Planning System.
Testing
3.3-2
The Emergency System shall activate upon a failure signal from the Reactive System.
3.3-3
The Emergency System shall alert the driver of any error present in the TUGS system.
Demonstration
3.3-4
The Emergency System shall request driver to take manual control.
3.3-5
If the driver fails to respond, the Emergency System shall take control.
3.3-6
If the driver takes manual control, the Emergency System shall deactivate.
3.3-7
The Emergency System shall execute emergency pull over to safe zone procedure.
3.3-8
When approaching highway/freeway exit, the Emergency Module shall assume control if there is no response from driver.
Simulation
3.3-9
The emergency lights shall become active when the Emergency System assumes control.

12. Test plan Emergency system module
Req. No.
Requirement Description
Test Plan
3.3-10
Backup sensors shall be used for maneuvering through neighboring vehicles.
Demonstration
3.3-11
The Emergency System shall broadcast a distress signal to neighboring vehicles.
Testing
3.3-12
The distress signal shall alert neighboring vehicles of the vehicle status.
3.3-13
The Emergency System shall send status updates to proper authorities.
3.3-14
The proper authorities shall receive the following updates:
Driver
Vehicle
Location