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1 Development of All-Speed Intelligent Cruise Control System Adaptive Cruise Control Fuzzy Control (77 GHz) (40kph )(ACC) (24GHz) (40kph ) Stop&Go This combination of advanced sensing and automatic control is a tendency for recent vehicle technology and application, aiming at assisting the driver and improving vehicle safety. To date, adaptive cruise controllers (ACC) incorporating radar (77GHz), engine management and electronic hydraulic have been proven effective for highway environments with required speed up to 40 km per hour. Having been successfully examined and tested in laboratory environments, such ACC are now becoming mass products, which can be installed on several kinds of commercial vehicles. Be shown suitable for low-speed urban environments with the speed less than 40 km per hour, stop & go controllers integrating with image recognition or short-ranging radar may become next main-streaming products in automobile electronics market. On the basis of the real-time relative distance (between the 1

2 preceding vehicle and the host vehicle) and the present speed of the host vehicle, such ACC and stop & go controllers aim at providing the host vehicle appropriate power outputs and braking to maintain a safe and desired distance of car-following with the preceding vehicle. All these two controllers achieve automatic driving in the longitudinal direction at normal conditions, but give alarms to ask driver s intervention to steer the host vehicle in case of emergency that the controllers are in the danger of insufficient braking to avoid car collision. 95 ( :0~120kph) ACC Stop&Go (EMS) ABS SUV ABS 2 PWM Simulink ACC Stop&Go 2 2

( 30kph 140kph ) (Adaptive Cruise Control, ACC) ACC Audio(2004 A8)BMW(2003-2004

XLR)Infinite(2003-2004 Q45 and FX) Jaguar(2003-2004 XKR) Lexus(2001-2004 LS430)

2006 5 Camry 3500cc ACC 77GHz () ECU (EMS) (DSC) Mercedes-Benz S500 BMW 745 ACC

3 ( 30kph 140kph ) (Adaptive Cruise Control, ACC) ACC Audio(2004 A8)BMW( seriess and series)general Motors( Cadillac XLR)Infinite( Q45 and FX) Jaguar( XKR) Lexus( LS430) Mercedes-Benz( S-Class and CL-Class E-Class and SL-Class) Camry 3500cc ACC 77GHz () ECU (EMS) (DSC) Mercedes-Benz S500 BMW 745 ACC Mercedes-Benz S500 BMW 745 [1] ISO [2] (time gape) time gape BMW km/hr

4 ISO 0.3g 0.2g ACC (m) (km/hr) Mercedes-Benz S500 BMW 745 ACC BMW 745 ACC 30km/hr 30km/hr ACC Mercedes-Benz S500 40km/hr 30km/hr ISO ACC 20km/hr 2 (1) (2) Mercedes-Benz S500 ECU 0.2 ACC (3) ISO ACC R=125M250M500M 4 4

5 () () () 爲 5km/hr 爲 5

6 EMS DSC EMS DSC PWM A PWM PWM 90% B 1 sampling time 90% C 90% PWM 2 6

7 B C A GN A C B 12V 7

8 duty 100 duty 90 duty 80 duty 70 duty 60 duty 50 PWM duty 100 duty 90 duty 80 duty 70 duty 60 duty 50 PWM 8

9 (MMW Radar) SICK 1KHz 100 HONDA CRV ABS (TPS) dspace Simulink imc 8 9

10 TPS ABS A Imc RS-232 B dspace PWM 10

11 Stop&Go ACC 2 90 () ( v) ( d) (a)~(c)(d)~(f) = Time gap + ( v) = ( d) = (a) (b) (c) = Time gap + ( v) = ( d) = (d) (e) (f) v d (Fuzzy control) PID PID 2 2 () () if and if then u 11

12 1. 2. ( < 90 m ) A=100m (Time Gap) B ( A, B) ACC ( d) ( v) ACC 12

13 (Time Gap) ( d) ( v) ACC u u>0 u<0 u thr u thr 13

14 µ µ NL NM ZE PM PL NL NM ZE PM PL e (k ) kph Distance Error e (k) m ( d) m e (k ) kph ( v) kph ( v) ( d) NL NM ZE PM PL NL NL NL NM NM ZE NM NL NM NM ZE PM ZE NM NM ZE PM PM PM NM ZE PM PM PL PL ZE PM PM PL PL µ NL NM ZE PM PL e (k ) kph Brake Pedal Command Gas Pedal Command Output Duty Cycle (%) Duty Cycle (%) 14

15 trial and error Carsim (Time Gap) ( d) ( v) ACC u u>0 u<0 u thr u thr 15

16 ACC Stop&Go Stop&Go ACC Stop&Go (a) (b)(c) 50kph Stop&Go (a) 2 (b) 2 16

17 (c)(d) ACC (a)(b) 2 (c)(d) Stop&Go (a) ~(d) 17

18 (a) (b) (c) 18

19 (a) (b) (c) (d) Stop&Go 19

20 (a) (b) (c) (d) ACC 20

21 (a) (b) (c) (d) Stop&Go 1. Stop&Go ACC Stop&Go ( 0.3 ) ACC 2. ACC Stop&Go 3. Stop&Go ACC () 24GHz 21

22 4. 95 ACC Stop&Go [1],,,No.CB ,2004. [2] ISO 15622: Transport information and control systems-adaptive Cruise Control systems-performance requirements and test procedures, [3] SAE J2399: Adaptive Cruise Control (ACC) Operating Characteristics and User Interface, [4] J.E. Naranjo, C. Gonzalez, J. Reviejo, R. Garcia, and T. de Pedro, Adaptive Fuzzy Control for Inter-Vehicle Gap Keeping, IEEE, vol. 4, no.3, pp , Sept [5] M. Person, F. Botling, E. Hesslow and R. Johnsson, Stop & go controller for adaptive cruise control, IEEE International Conference, pp , Aug , [6] C. T. Chen, Novel System Design and Implementation of An All-Speed Fuzzy Adaptive Cruise Controller, MS thesis, Department of Electrical Engineering, National Chung Hsing University, [7] P. H. Shi, Design and implementation of an FPGA-based Intelligent Cruise Control System, MS thesis, Department of Electrical and Control Engineering, National Chiao Tung University, [8] J. W. Chen, Fuzzy Neural Networks based Adaptive Cruise Control, MS thesis, Department of Electrical and Control Engineering, National Chiao Tung University, [9] F. Sanchez, M. Seguer, A. Freixa, P. Andreas, K. Sochaski and R. Holze, From Adaptive Cruise Control to Active Safety Systems, SAE Technical Paper, no , [10] Adaptive Cruise Control, 22

Microsoft Word - KSAE06-S0262.doc

Microsoft Word - KSAE06-S0262.doc Stereo Vision based Forward Collision Warning and Avoidance System Yunhee LeeByungjoo KimHogi JungPaljoo Yoon Central R&D Center, MANDO Corporation, 413-5, Gomae-Ri, Gibeung-Eub, Youngin-Si, Kyonggi-Do,