Computational Methods and Modelling for Engineering Applications

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Computational Methods and Modelling for Engineering Applications (GENG8030-04-R-2022W)

Project Report

Adaptive Cruise Control Submitted By Project Group 25 Mohd Rizwan

- ID 110073461

Saqib Mohammed

- ID 110076726

Syed Mihad Syed Fakhir - ID 110061860

INSTRUCTOR Professor Roozbeh Razavi-Far

Submission DATE 03/04/2022

Abstract: The automobile industry has come a long way in terms of comfort and endurance of the vehicle, which has led to an increment in the long journey by cars. Due to this, traffic congestion has increased at an alarming rate, and accidents have become more common. One of the ways to tackle both problems is by installing adaptive cruise control in the vehicle. Adaptive cruise control is a method to have a desired speed and gap between the vehicle without any interference from the driver.

In this paper, we have created a prototype of adaptive cruise control with the help of MATLAB. A code was developed and installed in Arduino; 5 buttons were provided for set speed, cancel, adaptive speed, increase speed, and decreased speed, respectively. An LCD is used for the visual interface, and an ultrasonic sensor measures the distance between the vehicles. The user sets the desired speed, and the vehicle enters the normal cruise mode; the vehicle will be in this mode till the sensor detect a forgoing vehicle. When a preceding vehicle is detected, adaptive cruise control comes into action. It adjusts the gap between the vehicle on its own either by decreasing the speed or increasing the speed as required.

With this implementation, drivers are less likely to fatigue, and safety is also increased significantly.

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Table of Contents 1. Introduction: ..................................................................................................................................... 4 2. Objective: ........................................................................................................................................... 4 3. Project Requirements: ...................................................................................................................... 4 3.1 Hardware Requirements: ........................................................................................................... 4 3.1 Technical Requirements:............................................................................................................ 5 4. Description: ....................................................................................................................................... 5 5.Block Diagram.................................................................................................................................... 6 6. Working of Adaptive Cruise Control .............................................................................................. 6 7. Working Flowchart of Adaptive cruise control: ............................................................................ 7 8. Project Implementation Procedure ................................................................................................. 7 8.1 Part 1: Physical Implementation ............................................................................................... 7 8.1.1 Step1: Circuit ......................................................................................................................... 8 8.1.2 Step 2: Connection of Arduino and Display.......................................................................... 8 8.1.3 Step 3: Connection of sensor and Arduino:.......................................................................... 9 8.1.4 Step 4: Connection of Input buttons and Arduino: ............................................................ 10 8.1.5 Step 5: Hardware connection to Arduino:.......................................................................... 10 8.2 ADAPTIVE CRUISE CONTROL CODE:............................................................................. 11 9. Analysis of Result ............................................................................................................................ 13 10.Conclusion ...................................................................................................................................... 13

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Table of Figure FIGURE 1 ADAPTIVE CRUISE CONTROL IN OPERATION [3] ..................................................................................... 4 FIGURE 2 GENERAL BLOCK DIAGRAM OF ADAPTIVE CRUISE CONTROL ................................................................. 6 FIGURE 3 WORKING FLOWCHART OF ADAPTIVE CRUISE CONTROL ....................................................................... 7 FIGURE 4 WOKING CIRCUIT OF ACC ....................................................................................................................... 8 FIGURE 5 HARDWARE CONNECTION TO ARDUINO .............................................................................................. 10

Table of Tables TABLE 1HARDWARE REQUIREMENT_____________________________________________________________ 4 TABLE 2 LCD-ARDUINO CONNECTIONS __________________________________________________________ 9 TABLE 3 ULTRASONIC SENSOR TO ARDUINO ______________________________________________________ 9 TABLE 4 INPUT BUTTONS TO ARDUINO _________________________________________________________ 10

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1. Introduction: Cruise control (CC) is a method to achieve the desired speed without any intervention from the driver. It was developed for the vehicle destined for a long journey, thus helping avoid driver’s fatigue and providing better safety [3].

Adaptive cruise control (ACC) is upgraded to conventional cruise control (CC). Conventional cruise control allowed only to regulation of the speed of the vehicle. In contrast, adaptive cruise control allowed the driver to maintain the desired speed and the gap between the vehicles [2].

Figure 1 Adaptive cruise control in operation [3]

The adaptive Cruise control (ACC) system senses a relative distance and relative speed to the preceding vehicle with a range sensor; this information is then used to generate a proper throttle or break command to achieve the desired speed and gap for the vehicle [1].

2. Objective: The project aims to develop a prototype of adaptive cruise control using MATLAB to allow the driver to pre-set a desired speed and gap from the preceding car. When the gap increases between the vehicles, the host car increases the speed on its own, and when the gap is decreased, the host car should decrease the speed without the driver's involvement. In this project, the adaptive cruise control system operates at speeds ranging from 40 and above.

3. Project Requirements: 3.1 Hardware Requirements: Serial Number

Component

Quantity

1

Buttons

5

2

Arduino UNO

1

3

Jump Wires

29

4

Breadboard

1

5

1

6

Laptop with MATLAB installed Ultrasonic Sensor

7

10 KΩ Potentiometer

5

8

220 Ω resistor

1

1

Table 1Hardware Requirement

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3.1 Technical Requirements: In order to develop the model for adaptive cruise control in the MATLAB Simulink environment, we must first install multiple add-ons that offer various blocks required in the model. These add-ons may be installed from the MATLAB home tab by choosing the add-ons choices. These add-ons aid in the linking of hardware and software by assigning hardware connections to the blocks provided in these packages. The following add-ons were utilized to construct the adaptive cruise control: 1. MATLAB Support Package for Arduino Hardware.

2. Arduino Engineering Kit Hardware Support.

3. MATLAB Support Package library for Arduino Liquid Crystal Display.

4. Description: Cruise control is an electronic system that regulates the speed of a vehicle without needing the driver to keep his or her foot on the accelerator.

Modern cruise control systems are integrated into a car's electronics and are commonly used in conjunction with additional features such as lane departure warnings and blind-spot sensors.

You must first select cruise mode via a switch, then accelerate to your target speed and set that speed with a button on the steering wheel or a lever on the steering column.

When adaptive cruise control (ACC) is turned on in a car, you can set your target speed, and the vehicle will accelerate to meet it. These systems use radar or a combination of the two to retain laser sensors. They use laser sensors to maintain a set distance between themselves and the vehicle in front of them, which they may modify as needed. To disengage cruise control and restore the throttle control, press a button. However, one crucial safety feature that all of these systems must have is the ability to deactivate the system quickly if the car's brakes are applied. Pressing the clutch pedal in a car with a manual transmission has the same effect; however, not all autos operate simultaneously. After hitting the brakes, most cars have a memory mechanism that allows you to restore your prior speed.[4]

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5.Block Diagram

Figure 2 General block Diagram of Adaptive Cruise Control

6. Working of Adaptive Cruise Control This project aims to create a vehicle adaptive cruise control system. When a vehicle is traveling with an active cruise control system, the adaptive cruise control system automatically adjusts the vehicle's speed to maintain a safe distance from the car ahead. 1) Increase speed, 2) Decrease speed, 3) Adaptive speed, 4) Set speed, and cancel the five buttons on the adaptive cruise system.

The most important button for activating cruise mode is the set-speed button. The speed and decrease buttons are used to increase and reduce the speed, respectively. The cruise mode is deactivated when the cancel button is hit, the increase speed button is used to increase the speed, and the decrease speed button is used to decrease the speed. However, the speed does not remain consistent without pushing the set button. When the adaptive speed button is hit, the car's speed remains constant until a vehicle approaches the front of an object, at which point it automatically slows down. When the road is cleared again, the speed limit is restored. In adaptive cruise mode, neither the increase nor decrease buttons operate. The display features a steady blink to distinguish it from the typical cruise mode in adaptive mode. The increase and decrease buttons are still functional when the speed is set in typical cruise mode.

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7. Working Flowchart of Adaptive cruise control:

Figure 3 Working Flowchart of Adaptive cruise control

8. Project Implementation Procedure 8.1 Part 1: Physical Implementation In part one of implementation, we made all the physical connections necessary for the project.

This will include circuit drawings, connecting all the hardware components to the breadboard, and assigning all the necessary pins.

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8.1.1 Step1: Circuit

Figure 4 Woking Circuit of ACC

8.1.2 Step 2: Connection of Arduino and Display This step will need the following components • • • • • • •

Arduino UNO Breadboard USB cable Display screen Potentiometer Resistors Jump wires

Here we will use a 16 x 2 LCD. The LCD has a parallel interface to command the display, and the microcontroller can control multiple pin interfaces at once. Each character is a matrix of tiny dots and is set off by default.

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Listed below are the pins allocation and their functions: Pin Number Function Connects to: 1 VSS GND 2 VDD 5V 3 V0 Potentiometer Input 4 RS Arduino Digital pin 12 5 RW GND 6 EN Arduino Digital Pin 11 7 D0 No Connection 8 D1 No Connection 9 D2 No Connection 10 D3 No Connection 11 D4 Arduino Digital Pin 5 12 D5 Arduino Digital Pin 4 13 D6 Arduino Digital Pin 3 14 D7 Arduino Digital Pin 2 15 A 5V 16 K GND Table 2 LCD-Arduino connections

V0- Display Contrast Pin RS (Register Select)-We can use the data register when we need to hold the data and use the instruction register as to what to do next.

RW (Read or Write)-Used for selecting either reading or writing modes.

EN (Enable Pin): Smooth the way for Writing to the register D O-7 (Data Pins)- Use to store the data for registering.

8.1.3 Step 3: Connection of sensor and Arduino: Here we have used an ultrasonic sensor. The ultrasonic sensors send sound waves from the transmitter, which reflect and are received by the receiver when it hits an object. With the help of this, we can determine the distance between the vehicles.

Components required in this step: • Ultrasonic Sensor • Arduino UNO • Breadboard Listed below are the pins allocation and their functions: Pin Number Function Connects to 1 VSS 5V 2 TRIG Arduino Digital Pin 9 3 ECHO Arduino Digital Pin 10 4 GND GND Table 3 Ultrasonic sensor to Arduino

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8.1.4 Step 4: Connection of Input buttons and Arduino: Components required in this step: • • • •

Push Buttons Arduino UNO Resistors Jump wires

Listed below are the button allocation and their functions: Button Number Function Connects to 1 Cancel Button Arduino Digital Pin 6 2 Set Button Arduino Digital Pin 7 3 Increase Speed Button Arduino Digital Pin 13 4 Decrease speed Button Arduino Digital Pin 8 5 Adaptive Cruise Button Arduino Digital Pin 3 Table 4 Input buttons to Arduino

8.1.5 Step 5: Hardware connection to Arduino:

Figure 5 hardware connection to Arduino

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8.2 ADAPTIVE CRUISE CONTROL CODE: %% Arduino Setup clear all a=arduino('COM7','uno','Libraries',{'Ultrasonic','ExampleLCD/LCDAddOn'} ,'ForceBuildOn',true); lcd=addon(a,"ExampleLCD/LCDAddon",'RegisterSelectPin','D7','EnablePin', 'D6','DataPins',{'D5','D4','D3','D2'}); % LCD Object initializeLCD(lcd); % Initializing LCD sensor = ultrasonic(a,'D12','D8'); % Ultra sonic Sensor Object counter = 0; % Speed counter printLCD(lcd, char("Speed: " + counter + " km/h")); % Printing on LCD %% Button Definitions and Pins attached % increase_speed :- D13 % decrease_speed - A2 % cruise_control - A1 % Adaptive_cruise_control - D9 % cancel - D11 %% Variable Creation input = 0; % checking which is button pressed cruiseControl = 0; % Cruise Control ON/OFF adaptiveCC = 0; % Adaptive Cruise Control ON/OFF CCspeed = 0; % Cruise Control Speed ACCspeed = 0; % Adaptive Cruise Control Speed %% Logic Implementation while true % Continuous Loop until program is cancelled while true % Continuous Loop until button is presses and input variable is set increaseBtn = readDigitalPin(a, 'D13'); % Reading increase Button pin - DIGITAL PIN decreaseBtn = readVoltage(a, 'A2'); % Reading decrese Button pin - ANALOG PIN cruiseControlBtn = readVoltage(a, 'A1'); % Reading Cruise Control Button pin - ANALOG PIN adaptiveCCBtn = readDigitalPin(a, 'D9'); % Reading Adaptive Cruise Control Button pin - DIGITAL PIN cancelBtn = readDigitalPin(a, 'D11'); % Reading Cancel Button pin - DIGITAL PIN if(increaseBtn == 1) input = 1; break; elseif(decreaseBtn > 4) input = 2; break; elseif(cruiseControlBtn > 4) cruiseControl = 1; CCspeed = counter; current Speed break; elseif(adaptiveCCBtn == 1) Pressed adaptiveCC = 1; ACCspeed = counter; to Current Speed(Counter) break; elseif(cancelBtn == 1)

% Increse Button pressed % Decrese Button Pressed % Cruise Control Button Pressed % Setting cruiseControl % Setting cruiseControl Speed to % Adaptive Cruise Control Button % Setting Adaptive Cruise Control % Setting Adaptive Cruise Control % Cancel Button Pressed Page 11

cruiseControl = 0; adaptiveCC = 0;

% Cancel Cruise Control Mode % Cancel Adaptive Cruise Control

ACCspeed = 0;

% Set Adaptive Cruise Control Speed

CCspeed = 0; break;

% Set Cruise Control Speed to 0

input = 0;

% If none of the button will be

Mode to 0 else pressed break; end end switch input

% Swtch-Case

case 1 % if Input will be 1 (Increase Speed) counter = counter + 1; % Increse counter by 1 case 2 % if Input will be 2 (Decrease Speed) if (counter > 0) % checking is speed is greater than 0 counter = counter - 1; % Decrease counter by 1 end otherwise % If Input will be 0 if(counter > 0 && cruiseControl == 0 && adaptiveCC == 0) % If cruise Control and adaptive cruise control mode are not set counter = counter - 1; % Decrease counter by 1 elseif(adaptiveCC == 1) % If Adaptive Cruise Control mode is ON sensorValue = readDistance(sensor); % Read Sensor Value if(sensorValue < 0.5 && counter > 0) % Object is detected in ultrasonic sensor counter = counter - 1;% Decrease counter by 1 elseif(counter < ACCspeed) % If object is removed in front of ultrasonic sensor counter = counter + 1;% increse counter by 1 end printLCD(lcd, char("ACC"));% Print on LCD pause(0.5); % Pause for 0.5 seconds end end printLCD(lcd, char("Speed: " + counter + " km/h")); Print on LCD pause(0.5); Pause for 0.5 seconds end

% %

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9. Analysis of Result The speed is raised when we press the increase Speed button. And by pressing the Decrease Speed button, we can reduce the speed. If we do not press the Set Speed button, the speed does not remain constant and gradually decreases. When we hit the Set speed button, the system enters cruise control mode, keeping the speed constant. The increase speed button and the decrease speed button are still functional in this mode and may be used to modify these speeds.

If we hit the Cancel button, the system exits the cruise control mode, in which the speed gradually lowers. When we hit the Adaptive cruise control speed button, the speed is set and remains constant until a vehicle appears in front of it or an item is identified in front, at which point the speed automatically drops. When the road becomes clear, the speed is increased to the predetermined level. Again. The display shows ACC in adaptive cruise control mode to distinguish it from cruising mode. The Increase and Decrease speed buttons are inactive in this mode. However, the Cancel button can still be used to exit the adaptive cruise mode. When we push the Cancel button, the car slows down and returns to zero if no button is pressed.

10.Conclusion In this project, we developed and implemented a prototype of adaptive cruise control, when the increase speed button is pressed the speed increase and when the decrease speed button is pressed the speed decreases. When the set button is pressed the system enters a cruising mood where the speed is constant and cannot be changed even by using the speed adjusting buttons.

When the adaptive speed button is pressed the system successfully maintains the constant speed until another vehicle is detected in front, then the system changes its speed to maintain the required gap.

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References: [1]

W. Pananurak, S. Thanok, and M. Parnichkun, “Adaptive cruise control for an intelligent vehicle,” in 2008 IEEE International Conference on Robotics and Biomimetics, 2009, pp. 1794–1799.

[2]

A. Chandratre, A. Bhatjire, and P. Chaudhary, “Study of cruise control system used vehicle,” Ijarse.com. [Online]. Available: http://www.ijarse.com/images/fullpdf/1459175279_248N.pdf. [Accessed: 26-Feb2022].

K. Maloney and J. R. James, “Scholars portal: Beyond simple metasearch,” in Proceedings of the 2004 joint ACM/IEEE conference on Digital libraries - JCDL ’04, 2004.

[3]

[4]

D.Gibson , “Cruise control and adaptive cruise control:the complete guide,” autoexpress.co [Online].Available: https://www.autoexpress.co.uk/cartech/98225/cruise-control-and-adaptive- cruise-control-the-complete-guide.

[Accessed: 4-April-2022]

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