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Abstract: It is anticipated that a variety of cars with uses the conventional control law. This paper is divided
diversified features that include anti-lock braking system into three main parts. The lint part will detail the structure
(ABS), traction control system (TCS), antiskid Steering, of the system. The nexl part will explain the Uniqueness and
collision warning system (CWS) will be more the differences between conventional controllex and fuzzy
commercially produced to satis@the consumer needs in the controller. Finally, the last part will show some of the
near future. This is parallel to the trend of current simulation results.
technology of manufhcturing smart cars and the &sires of
people who always want to have comfortable and safe ride 2. Braking System Structure
in their vehicles. M o w e r this type of vehicles can fit Fig. 1 depcts the system block diagram, which consists of
much better into the intelligent highway that Malaysian sensors, actuator and fuzzy controller. The system inpm
government is planning to have in the near future. are derived from the cars' velocities, where the
-
Consequently, there is a need to modify the current speedometer will measure the velocity of the car under
conventional braking system so as to make it work control and laser sensor will be used to measure the front
automatically. This paper considers the use of intelligent car velocity. This Sormation will be used to calculate the
controller to achieve the above objective. To ensure high distance between two cars and also their coxresponding safe
speed of system response, the DSP controller TMS320C24x distance. The inpm for the fuzzy controller are the m r
with fuzzy algorithm is used in the Merence between the current distance and the saved one
implementation of this new device. Results of simulation and the rate of change of the error Werence. The fuzzy
studies using the MATLAB have demonstrated the controller processes the inputs from the sensors and issues
feasibility of this new system under investigation. an appropiate command in order to actuate the braking
system via auzriliary hydraulic module hnphtedbefore the
Key words bralang system.
Intelligent bralang system, smart cars, neuro-fuzzy
controller, DSP processor. 2.1 Sensor
Sensors are vital and play important roles in this
1. Introduction application, hence they need to be wisely dishpished and
Research works in the area of smart cars production and selected.Theirtaskin this system is to measure the distance
development of intelligent highway system have increased between two cars and their speed. In the realm of distance
recently. For example the research group, under the or range sensor, there are several types of sensors with
comprehensive plan called Intelligent Vehicle Highway distinctive features and cba"m ' 'a. Each of them has
System (IVHS) [l], has reported the development of a their own strengths and weaknesses and is being used in
braking system that is automated along the guidance of the differemt domains. For example in brake appltcation,
cars. The use of control laws helps them in implementing ultrasonic sensor is not very good since it is sensitive to
this system. draAs and high fresuency ambient noise that come from the
A feasible study in the use of DSP-based fuzzy controller radiator. The same also applies to infrared sensor and in
for the implementation of intelligent braking system is addition, its &ectivenes is reduced at high ambient
investigated in this paper. The controller is an ideal choice temperature. As discussed in [4], the diflFuse refIective
to deal with this system since it is complex in nature with a photoelectric sensor is suitably used in the collision
lot of ll"m * 'a. Furthemore the controller can infuse avoidance system since it can be integrated in brake system;
nicely into the smart cars since a lot ofdecisions need to be the modulated infrared light source provides immunity to
taken while driving the car. The fuzzy controller uses the ambient li&
combination of fuzzy Conoept and neural network In this Another pctical choice is microwave sensor, which has
paper, data h m the experts have been collected before the been widely used in the police radar. It can detect objects in
IF-THEN reasoning set of rules is programmed in the the great distance\depending on the target size, microwave
controller. Using heuristic trial and error, the rule is tuued power available, thepition of the target in the aerial beam
to confirm the data from the expert experience. To further and the antenna apdnhty [SI.From mass production point
increase its robustness the rules are presented in neural of view, they are not that cost effective. In this paper the
network form so that it can compromise the changing use of laser radar to measure distance and relative velocity
parameter of the system when it is online-& The of the two cars is considered. As far as cost and accuracy
simulation of the system in the block diagram shown in Fig. are concerned, laser radar seems to be the best sensor for
1 has been done using MATLAEI via its special fuzzy logic this application Its sensing range is typically 150+ meter
toolbox and the fesult obtained is compared to the one that and it is not very expensive. It has a comparatively small
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0-7803-6355-8/00/ $10.00 0 2000 IEEE
size of approximately 50" X 100" and the response V A is measured from the speedometer in the car under
time is fast [5]. In addition its directionality is high and can control whde VB is calculated from
be of order 1 degree. Table 1 shows the relation between VB=VA+VBIA 9
...................... (3)
the disQnce and the width covered by the laser radar. From where VB/Ais the relative velocity of VB with respect to VA.
this table, it is observed that the laser sensor is good in In fact VWAcan be estimated from the rate of change of rear
ol- study of the system as the width covered is vehicle distance during a short time interval. That is,
usually within that of a lane. It is also interesting to know YS/A = (di - dd/At ........................
that some companies such as Leica, Fiat, Ma24 Mitsubishi (4)
where d, = distance measured one step before
etc have reported the use of this technology on their test and &=distance measuredat present time
some of the commercialized products.
To date, there are four existing techniques for measuring At = measurement time interval
The uncertainty measurement for the relative velocity
distance using this type of sensor [5,6]. The lkst method
comes from [q
uses pulse tuning. The other three methods are phase 1;;1
comparison, Doppler methods and interferometry. The VL
pulse timing technique is used in this work since it is AVBIA=- M .........................
widely used and it can be integrated easily into the system
At
controller. The idea behind the technique stems from its where Ad is the uncertainty of the measured distance.
name, which involves measurement of time of flight ("OF). Assuming that Ad as 1.5 meter (corresponding to the
TOF is the time for the laser pulse to be t " i t t e d from smallest resolution for the counter method) and At equals to
the laser diode to the reflective surfixe of the object and A be 10.6ds (381an/hr). On the other
O.Zsec, then A V ~ will
return back to the photo detector. The schematic of the laser hand, using the integration method the uncertainty will be
radar using this technique is shown in Fig. 2. The middle reduced to 0.265ds (lkmh). Thus using the integration
block of this figure works as a dirtdetecting part. The lights method for calculating the pulse return time improves the
from the LED will supply the photo diode the necessary accuracy in the laser radar system.
information about the condition of contamiaation on the
front surface of the laser radar unit so that the necessary 2.2 Auxiliary Hydraulic Module
intensity of the laser pulse can be driven accordingly. A A set of module must be integrated into the conventional
novel method to measure the distance and the relative brake system in order to implement a computer controlled
velocity using the pulse timing technique in laser radar braiang system. The performance of the Auxiliary
technology has been suggested and experimented in [7l. Hydraulic Module (AHM), shown in Fig. 4, has been
This method results in better accuracy as compared to the thoroughly studied and implemented in [9]. Results of
previous methodthat uses a counter. In the counter method, analysis show that the actuator is not a very fast brake
manufacturers always use 50Mhz counter and adopt actuation as compared to the one using solenoid to conttol
simultaneous counting updown edge in order to improve the valves. However this technique has a nice feature for
resolution up to 1OOMHz. Since distance is calculated from providmg driver override with minimal change in the
conventional brake design. In fact, it fits the objective of
distance =-A t x c .............. systematically introducing this system slowly so that public
2 can readily accept it. Basidly the function of AHM is to
where At is time delay and c is the speed of light, it follows provide controlled input force to a vacuum booster in the
that a resolution 1.5m is attainable with this method. A new brake system through actuator and brake pedal. It will take
method that has been introduced in [Ais called integration the inpt from microcontroller, which has been
method; see Fig. 3. In this method, instead of counting the programmed using fuzzy algorithm in the Pulse Width
distance directly, the signal from the flip-flop circuit is Modulation (PWM) form. The signal is used to generate
directed through a low pass filter to form the integrated pressure in the actuator by controlling the opening and the
voltage. The voltage is proportionalto the time delay and closing of the valves. PWM is a square wave signal of fked
this can be used to measure the distance. To pedorm the frequency but with varying duty cycles. The varying duty
calculation in the microprocessor, the ADC is used to cycles can indeed be utilized to determine the brake line
convert the analog signal into a digital form. In this case the pressure. If a constaut amount of fluid is pumped through
resolution of this new method depends on the resolution of the valves, which is always opened by hydraulic pump, no
the ADC. For example a commercial 124it ADC will have pressure in the actuator will be developed. But if the valves
a resolution of 0.25nsec, which is equivalence to 3.7 are closed completely and suddenly, the sudden rise of
centimeter ifthe maximum range At of 1p sec is assumed, pressure canbe observed, As amatter of fact. switchmg the
From the leading and following vehicle velocities, VAand valves at high fiquency as 100 Hz and maintaining the
VBw l y , the formula of safe distance is as follows: duty cycles as 50% of the period can develop an average
1?2 172 amount of pressure. "%us, varying the duty cycles of the
d-d =(t, xVA)+---" A " B ..............
2a 2 p P W M can control the pressure in the actuator piston. If the
duty cycle is 100% of the period (maximum duty cycle),
where a,fl are vehicle's decelerations, &, is dree running then the valve is always opened and thus no pressure is
time and last two terms in the4knula represent the front developed. The mapping of duty cycles to brake-line
and the rear vehicle braking distances. pressure has also been investigated in [9] and interested
readers can refer to this for more details.
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2.3 Controller system that has a lot of uncertainty and high complexity. It
The choice of the controller depends on the behavior of the is an alternative to conventional control method in working
system under study. Here, the braking system exhibits with guantitatve aspect of human reasoning and decision-
nonlinearity where factors such as friction between road making process. The &sign of this controller depends on
and tires and any mechanical delay will &finitelyaf€ect its two factors, namely the availability of human experts and
performance. To develop a mathematical model that will technique to acquire knowledge as well as to transform
take all such factors into considerationwill defhitely pose a them into rules and membership function. In this paper, the
lot of diffculties. Hence the choice of fuzzy controller for design of the controller is initiated by collecting data from
this system is suitable. Another reason that leads to the the expea on how the brake system is controlled.The data
decision of using fuzzy controller is the superiority of this are then processed to form a set of rules. The use of fuzzy
technology that enables it to transform linguistic terms into controller to a " 1 the same system has been reported in
numerical values so that experiences from the experts can [ 131 however the inferenceengine used is slightly different.
be utilized. The detail of this controller will be discussed in In this paper, the fuzzy inference engine has two inputs and
this paper an output. The inplts are the errof (difference between
actual inter-vehicle spacing and their respective safe
3. Conventional controlling technique distance) and the rate of change of the error. The output is
The analysis of bralang system has been thoroughly in the form of force that is to be exerted on the brake pedal
investigated and reported in [2,3]. Their simulation studies while the vehicle is on motion. A set of governing rules has
is basedon [10,111, the following form:
4. Controller
Fuzzy control starts to gain recognition &er witnesing a
wide range of commercial products being marketed around
the globe. The ability to mimic human amtml mechanism
by transformiug human linguistic set of rules, which ..,.....
.I....
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The antecedent part of the rules, Rn is the order
polynomial (i.e. pnx + qm + m). Here pn, cpo and m are the
constauts and, x andy are current mputs. Since the error has
six membership functions and d(error)/& has five, the total
number of d e s turn out to be thuty.
Fig. 6 shows the output control surface of the braking
system with the algebraic product as the t-norm operator,
the maximum as the tconorm operator and the weighted
average ( 8) as dekification method,
z=-
CV, ...... ... ......... ...... .........
c 21
(8)
References
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Highways", EEE Spectrum,Apnl 1994.
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3. Raza H., Xu Z. and Ioannou P., "Experimental
Evaluation of Cooperative Driving System", Report 97-7-
Inter-vehicle spacing: 90 meter 01,July 1997.
i
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4. Solomon S, "Sensors Handbook", McGmw-Hill , New Trans.C)n Control System Technology, Vol. 5, No.5, May
York,1999. 1997.
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AVCSS Long Coll Avoid#PRINCIPAL ,27 February Research Report UCB-ITS-PRR-89-3
2000 11. Sheikholeslam S. ami Desoer C. A, "Longitudinal
6. Unnamed Author, "Range Find~ng Devices", Control of a Platoon of Vehicle 2: First and Second Order
http://www.geocitieS.com/SiliconValley/Ci81S/ali/de Derivatives of Distance Deviations, PATH Research Report
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Method for Distance and Relative Velocity Measurement in and soft Computing, Prentice Hall 1997.
Rear-End Collision Warning System", Society of 13. Kosko B.,"Fuzzy Engineering", Prentice Hall 1997
Automotive Engineer, Inc 1996. 14. Wang L.W, " Adaptive Fuzzy Systems and Control:
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Wesley, 1990 15. T. L. Chin and George Lee C. S., "A Neuro-Fuzzy
9. Raza H., Xu 2. ami Ioannou P, "Modelling and Control Synergism to Intelligent Systems", Prentice Hall 19%.
Design for a Computer-Cdmlled Brake System", lEEE 16. Personal reference
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