Proposal adaptive cruise control design using carsim

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING PROPOSAL ADAPTIVE CRUISE CONTROL DESIGN USING CARSIM DU THÀNH VINH Student ID: 20145020 VÕ NGỌC KHÔI NGUYÊN Student ID: 20145015 VĂN HƯNG THỊNH Student ID: 20145624 BÙI QUỐC VINH Student ID: 20145446 Major: AUTOMOTIVE ENGINEERING Advisor: NGUYỄN TRUNG HIẾU, MSc Ho Chi Minh City, May 05th, 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING PROPOSAL ADAPTIVE CRUISE CONTROL DESIGN USING CARSIM DU THÀNH VINH Student ID: 20145020 VÕ NGỌC KHÔI NGUYÊN Student ID: 20145015 VĂN HƯNG THỊNH Student ID: 20145624 BÙI QUỐC VINH Student ID: 20145446 Major: AUTOMOTIVE ENGINEERING Advisor: NGUYỄN TRUNG HIẾU, MSc Ho Chi Minh City, May 05th, 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, May 05th, 2023 GRADUATION PROJECT ASSIGNMENT Student name: _ Student ID: _ Student name: Student ID: _ Student name: Student ID: _ Major: Class: Advisor: Phone number: _ Date of assignment: _ Date of submission: _ Project title: _ Initial materials provided by the advisor: _ Content of the project: _ Final product: CHAIR OF THE PROGRAM (Sign with full name) ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, May 05th, 2023 ADVISOR’S EVALUATION SHEET Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Advisor: EVALUATION Content of the project: Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, May 05th, 2023 ADVISOR (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, May 05th, 2023 PRE-DEFENSE EVALUATION SHEET Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Name of Reviewer: EVALUATION Content and workload of the project Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, May 05th, 2023 REVIEWER (Sign with full name) THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: Student ID: Student name: Student ID: Student name: Student ID: Major: Project title: Name of Defense Committee Member: EVALUATION Content and workload of the project Strengths: Weaknesses: Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, May 05th, 2023 COMMITTEE MEMBER (Sign with full name) Acknowledgement We would like to express our deepest gratitude to everyone who has supported us throughout our learning journey and contributed to the completion of this project First and foremost, we would like to thank the group's advisor, MSc Nguyen Trung Hieu, for his invaluable guidance, support, and expertise throughout the process His encouragement, constructive criticism, and insightful suggestions were instrumental in shaping the group's ideas and improving the quality of this project We are also grateful to the lecturers and staff of the Faculty of Vehicle and Energy Engineering, whose knowledge, expertise, and dedication are essential in shaping the academic and personal development of each member Their support and encouragement are invaluable in our pursuit of knowledge and academic excellence We would like to acknowledge the help of our friends who have supported and encouraged us throughout the process Their valuable insights, feedback, and constructive criticism helped us refine our ideas and improve the quality of this project Most of all, we would like to express our sincere gratitude to the family for their unwavering love, support, and encouragement throughout our learning journey Their sacrifice, patience, and understanding are our constant source of inspiration and motivation Finally, we are extremely grateful to everyone who contributed to the completion of this project Without their support, guidance, and encouragement, this achievement would not have been possible i Abstract The development of the Ho Chi Minh City, March 2023 PP Group automotive market brings many negative aspects that need to be serious consideration of the Du Thành Vinh automotive industry The first problem is that internal combustion engines have contributed to increased environmental pollution In addition, rising fuel prices have pushed engine manufacturers to adopt new technology, optimize efficiency and reduce pollution One of the new technologies is the Adaptive Cruise Control (ACC) system widely used in modern vehicles, helping to improve the performance of the vehicle The ACC system helps maintain a stable vehicle speed in any environmental conditions, including wind or bad road conditions It also helps maintain a safe distance from the vehicle in front The results of simulation of ACC cruise control based on longitudinal dynamics for cars using Carsim software show that the PID controller meets the system requirements well The goal of the project is to have a deep understanding of the ACC system, using Simulink and Carsim to design control algorithms and simulate working modes and case studies for the 2021 Mazda CX-5 The project aims to optimize the vehicle's speed based on control parameters in different road types and estimate simulation models and results by modeling the system on the Carsim app In addition, the project aims to analyze the pros and cons of the ACC system in order to renew it later The project can contribute to saving energy and solving fuel consumption problems efficiently, helping users save fuel purchase costs The project can also prevent drivers from making mistakes on the road due to speeding A literature review included sources from Vietnam and other countries, demonstrating the benefits of the ACC system and how it works, and simulation results with PID controllers that meet the system requirements to maintain a constant vehicle speed The process of modeling an automotive tracking system involves simulating the host car and tracking the vehicle using CarSim, converting the simulation block to Simulink, and adjusting the values using the Simulink block Laplace and the differential equation are then concluded into the block to control speed through the throttle and brake systems, with the distance between the two vehicles calculated using a specific equation Finally, case studies are conducted to simulate road conditions in CarSim ii Table of Content iii s Acknowledgement i Abstract ii Chapter 1: OVERVIEW 1.1 Introduction 1.2 Literature review 1.2.1 In Viet Nam .4 1.2.2 Abroad 1.3 The urgency of topic 1.4 Objectives 10 1.5 Topic Limitation 10 1.6 Expected Outcome .10 1.7 Gantt Chart 11 Chapter 2: SYSTEM MODELING .12 2.1 Introduction 12 2.2 Dynamical System 13 2.3 State-space equation 13 2.4 Transfer function .14 2.5 Cruise Control System .14 2.6 Model the Cruise Control System on Simulink .16 2.7 Model the Adaptive Cruise Control System on Simulink .17 Chapter 3: EXPERIMENT AND RESULTS .19 3.1 Setup the technical parameters on Carsim 19 3.1.1 Set the specifications of car 19 3.1.3 Set the road condition 21 3.1.4 Building the Adaptive Cruise Control Model 22 3.2 Experiment - Simulate the Adaptive Cruise Control System on Carsim .25 Chapter 4: CONCLUSION 27 4.1 Conclusion 27 4.2 Limitation 27 4.3 Development proposal .28 Bibliography 29 Fig 2.2 Cruise Control System Modeling In this case, we consider a simple model of the vehicle dynamics, shown in freebody-diagram (FBD) above, consists: - Vehicle - Mass (m) - Force (f) - Resistive force (bv) System equation of the CCS is considered as: (2-8) m v˙ +bv=u The output equation: (2-9) y=v We can find the Modeled Object H(s) by Laplace transform according to the vehicle dynamic above: f (t)bv (t)=ma f (t )=m xă +b x ⇒ F (s )=m s x +bsx=sx (ms+b) ⇒ H ( s)= V (s) m/ s = ( ) F (s) ms+b N (2-10) 15 2.6 Model the Cruise Control System on Simulink Fig 2.3 Blocks represent the Cruise Control without PID Fig 2.4 Graphs represent the data of Cruise Control without PID In the case without PID controller, it is clearly to realize that the line in graphs increase or decrease sharply and this phenomenon does not appear in practical Fig 2.5 Blocks represent the Cruise Control with PID 16 Fig 2.6 Graphs represent the data of Cruise Control with PID Contrary to the former case, the CCS with PID controller illustrates the signal smoother than the above simulation according to the desired values and this effect much more similar to real data 2.7 Model the Adaptive Cruise Control System on Simulink Fig 2.7 Block represent the Adaptive Cruise Control System Fig 2.8 Active Cruise Controller block 17 Fig 2.9 Radar Sensor block 18 Chapter 3: EXPERIMENT AND RESULTS 3.1 Setup the technical parameters on Carsim 3.1.1 Set the specifications of car Technical specification Value Unit 4550-1840-1680 mm Wheelbase 2700 mm Clearance 200 mm Sprung mass 1550 kg Weight 2000 kg Distance from center to front axle 1040 mm Length-Width-Height Tires 255/55R19 Fig 3.1 Mazda cx5 2021 specification In this simulation, we choose Mazda-CX5 2021 as the base model, then set all the parameters in the Simulated Test Specifications Fig 3.2 Set the Simulated Test Specifications 19 Fig 3.3 The parameters of Mazda-CX5 2021 3.1.2 Set the driving mode Fig 3.4 Set the Procedure 20 Fig 3.5 Adjust the parameters inside the Procedure We set the car running constantly at the velocity of 110 km/h, as the velocity of the highway, the simulation duration is 60s The car is equipped with the automatic transmission and has the path follower system 3.1.3 Set the road condition Fig 3.6 Set the Miscellaneous Data: 3D Road 21 Fig 3.7 Adjust the Geometry and Friction We set the car run in the 4-land road with the coefficient of friction of 0.85 to avoid slipping 3.1.4 Building the Adaptive Cruise Control Model Fig 3.8 Set the Miscellaneous Data: Generic Group 22 Fig 3.9 Adjust the data inside the Generic Group Fig 3.10 Adjust the target forward speed (km/h) of Lead car on each time (s) 23 Fig 3.11 Setup the Sensor detection - Radar Fig 3.12 The following car uses radar to detect the lead car 24 3.2 Experiment - Simulate the Adaptive Cruise Control System on Carsim Fig 3.13 The lead car and following car start to move At this time, the following car is moving in CCS mode at 110 km/h Fig 3.14 The following car detects the lead car and deaccelerates Next, when the following car observes the ahead car in the range of radar about 50m, then the ACC system will be activated 25 Fig 3.15 The lead car continues to move and the following car keeps on moving Finally, when the lead car speed up again, the following car will move continuously in CCS mode at 110km/h Fig 3.16 The graphs of lead and following car used ACC system 26 Chapter 4: CONCLUSION 4.1 Conclusion In this paper, the controller design and the process in simulating Adaptive Cruise Control System on Carsim was described in detail, this consists of the reasons why to choose PID controller to illustrate ACC System (conduct distance and velocity control) Furthermore, the outcome has met almost the requirements that expected: - Research ACC system clearly and have a systematical knowledge to apply it into practical - Get more knowledge with Power train and the convert of the real condition into simulation as well as mathematics to find out the transfer function - Model the ACC system by Carsim: + The car can run constantly at the cruise control mode (follow the path) + The controller of ACC system works well (the car can adapt to the front vehicles) 4.2 Limitation Though the report got the requirements as supposed at the expected outcome, there still has some limitations: - Do not have enough time to design the ACC system on Simulink well - The conflicts and crashes between data in Carsim prevent from simulating different kinds of roads - Cannot estimate the level of saving fuel as well as money when the car activates Adaptive Cruise Control System Nevertheless, this is only a simulation with the absolute conditions Compared to the actual conditions, there so many factors below that affect to the ACC: 27 Road condition: Using cruise control on hilly or winding roads, where vehicle speed can change abruptly due to changes in terrain and road conditions, can be hazardous as the vehicle may travel too quickly or too slowly This means that the use of cruise control may not be appropriate in such conditions Similarly, in densely populated areas such as regions of Vietnam where roads are narrow, rough, and congested with traffic, the application of cruise control is limited to only highway or railway Cruise control systems are unable to react to unforeseen changes in traffic conditions such as the need to slow down or stop suddenly due to obstacles or hazards on the road In such situations, it is up to the driver to disable the cruise control manually and take control of the vehicle Weather condition: Cruise control systems rely on electronic components and sensors to operate effectively, which can increase their susceptibility to malfunctions and errors Therefore, Adaptive Cruise Control (ACC) may not work effectively in certain weather conditions, such as heavy rain, snow, or fog… In such situations, the radar system used in ACC may fail, resulting in erratic or unexpected vehicle behavior, which can pose a significant risk to safety 4.3 Development proposal Upgrade the Adaptive Cruise Control System to educated tool in University Add this technology into curriculum for students have a broaden knowledge about the development on Automotive Experiment in practice and evaluate the overall of the system about saving fuel, money and its efficiency 28 Bibliography [1] [2] Illya Verpraet - “The history of Adaptive Cruise Control” Cite: https://www.autonomousvehicleinternational.com/features/adas-3.html Dean Gibson - “Cruise control and adaptive cruise control: the complete guide” Kris Kobylinski - “What is Adaptive Cruise Control and how does it work” [3] Cite:https://www.tomtom.com/newsroom/explainers-and-insights/what-isadaptive-cruise-control/ [4] [5] Sanggyum Kim - “Design of the Adaptive Cruise Control Systems: An Optimal Control Approach” PGS.TS Đỗ Văn Dũng (TP.HCM - 2007) - “Hệ thống điện thân xe điều khiển tự động ô tô” Lưu Kim Thành, Trần Anh Dũng, Đào Quang Khanh, Trường Đại học Hàng hải [6] Việt Nam, luukimthanh@gmail.com, Trường Cao đẳng Công nghệ Viettronics “Nghiên cứu hệ điều khiển hành trình có thích nghi - ACC cho xe ô tô công cụ Matlab Simulink” [7] PhD YUN CHENJIANG - ID: 20566438 - Supervisor: LILONG CAI - “Modeling and simulation of Adaptive Cruise Control System” Guo, Q.; Yu, W.; Hao, F.; Zhou, Y.; Liu, Y “Modelling and Analysis of Adaptive [8] Cruise Control System Based on Synchronization Theory of Petri Nets” Electronics 2022, 11, 3632 Nassaree Benalie, Worrawut Pananurak, Somphong Thanok, and Manukid [9] Parnichkun Asian Institute of Technology, Klongluang, Pathumthani, Thailand “Improvement of Adaptive Cruise Control System based on Speed Characteristics and Time Headway” [10] MsC Nguyen Trung Hieu - “Vehicle Automatic Control - Lecture 3: System Modeling” 29