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Automated Pedestrian Collision Avoidance System (APCAS-3)

Automated Pedestrian Collision Avoidance System (APCAS-3). Team ARBY members: Brandon Waterloo – Project Manager Anthony Donofrio – Project Facilitator Raymond Heldt – Customer Liaison Yevgeny Khessin – Artifacts Manager.

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Automated Pedestrian Collision Avoidance System (APCAS-3)

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  1. Automated Pedestrian Collision Avoidance System (APCAS-3) • Team ARBY members: • Brandon Waterloo – Project Manager • Anthony Donofrio – Project Facilitator • Raymond Heldt – Customer Liaison • Yevgeny Khessin – Artifacts Manager Any questions/concerns regarding this project should be directed to the course instructor, Dr. Betty H.C. Cheng (chengb at cse dot msu dot edu).

  2. What is APCAS? • Safety system embedded in a car which avoids hitting pedestrians. • Auto-brakes when collision is imminent. • Autonomous cruise velocity when road is clear.

  3. Motivation • Human drivers crash • Can get distracted while driving • Talking on phone • Might be asleep • Slower reaction time than computers • Can’t calculate trajectories in less than 1/10 of a second

  4. Motivation • Slamming on brakes isn’t always optimal • Loses time • Blocks traffic from behind • Can cause rear-end collisions • Ideal APCAS only brakes enough to avoid collision

  5. APCAS – Main Goals • Safety • Automatically brakes to avoid collision with pedestrians • Efficiency • Doesn’t brake more than what is necessary to avoid collision

  6. Project Constraints • Doesn’t have auto-steering • Can’t overcome hardware failures • Auto-shuts off in the event of improperly functioning hardware • Sensor breaks down • Camera lens obstructed • Driver is notified

  7. Security • Can’t be hacked by outside source • Only accepted input is from the car’s sensor and the car itself (velocity) • Information sent is hard-wired, not wireless

  8. What does it look like? Pedestrian Vehicle APCAS controller Camera/Sensor Brake-by-wire actuator

  9. How does it work? Pedestrian’s info: location, velocity Sensor gets information about nearby pedestrians every 100 milliseconds (ms) APCAS controller takes that information to calculate possibility of collision every 100 ms Vehicle’s info: current speed in kilometers per hour (kph) Brake-by-wire actuator gets messages to brake when necessary

  10. Requirement Specifications (drawings not to scale) Vehicle Specs Acceleration to get up to speed: 0.25g • (g = 9.8 m/s2) Normal cruising speed: 50 kph Vehicle has width of 2 meters (m) Maximum braking force: 0.85g

  11. Requirement Specifications Pedestrian Specs (drawings not to scale) Pedestrian is considered a circle with size 0.5m diameter Pedestrian’s speed: 0 or 10 kph (Margin of error: +/- 0.2 kph) 0.5m Pedestrian’s direction of movement: at a right angle relative to the car’s path (Margin of error: +/- 5 degrees)

  12. Requirement Specifications (drawings not to scale) Pedestrian Specs Margin of error in pedestrian’s location: +/- 0.5m

  13. Use-Case Diagram

  14. Demonstration of Prototype http://www.cse.msu.edu/~cse435/Projects/F2012/APCAS-3/Prototype/

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