Smart Distance Keeping: Modeling and Perspectives for Embedded Diagnosis

Abstract

This paper presents a detailed description of an advanced Adaptive Cruise Control (ACC) system implemented on a Renault-Volvo Trucks vehicle. One of the main differences between this new system, which is called the Smart Distance Keeping (SDK), and the classical ACC is the choice of the safe distance. This later is the distance between the vehicle (with the ACC or the SDK system) and the front obstacle (which may be a vehicle). It is supposed fix in the case of the ACC, while variable in the case of the SDK. The variation of this distance (in the case of SDK) depends essentially on the relative velocity between the vehicle and the front obstacle. The choice of this distance influences the velocity regulation. The main contribution of this work is on the SDK system architecture, the design of its environment model, and the proposition of a detection and isolation strategy for some of the possible faults that may be produced on the system.

State-Driven Priority Scheduling Mechanisms for Driverless Vehicles Approaching Intersections

“…In addition, vehicles on the same lane must travel in sequence and with a safe distance between them as prescribed by assistant systems [29], which have been also modeled as car-following models in traffic simulators [30]. Hence, competitions mainly exist among vehicles on different lanes.…”

Model-based decentralized embedded diagnosis inside vehicles: Application to Smart Distance Keeping function

“…the part of the vehicle required to close the loop, is necessary to perform diagnosis (see figure 2). So, by applying the laws of dynamics, a simplified model of the diesel engine has been developed (see [5] and [6] for more details). It permits to identify the angular velocities of the six wheels and the crank shaft angular velocity in response to an action (on braking system or accelerator pedal or gearbox).…”