SAE Level 2 ADAS - Controller Design for UW EcoCAR

Abstract

This work focuses on building a supervisory controller for the UW EcoCAR to incorporate SAE level 2 autonomy features. It comprises Adaptive Cruise Control (ACC), Automatic Emergency Braking (AEB) and Steering Assistance. It uses a separate controller for Velocity Tracking and Distance Tracking. A switching algorithm is used to intelligently shift between the Conventional Cruise Control (CCC) and ‘Stop & Go’ Adaptive Cruise Control (S&G ACC). Complete control algorithm has been verified in simulation using Model-In-the-Loop (MIL) testing on MATLAB/Simulink. Further, real-time Hardware-In-the-Loop (HIL) testing has been done using MicroAutoBox II (MABx) and dSPACE Simulator using Controller Area Network (CAN) Communication. The main goal is to improve vehicle safety and performance, considering the constraints on acceleration, deceleration and jerk related to passenger comfort.