Presented by Eric Puccio

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ICoRS
Intelligent Collision Response System
Week 6 A Conceptual Approach to ICoRS Simulation

• Presented by Eric Puccio
• 03-05-07
• Group 2

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Overview

• Requirements
• Format
• Algorithms
• Display

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Requirements

• Programmer
• Data Intensive
• Accurate
• Scalable
• User
• Interactive
• Understandable
• Visually Appealing

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MATLAB

• Programmer
• Array Based
• .1ms Increment
• Concatenation
• User
• User Prompt
• 2D 3D Graphs
• Colors Animation

• Programmer
• Data Intensive
• Accurate
• Scalable
• User
• Interactive
• Understandable
• Visually Appealing

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Format

• Initial Conditions, 0 t lt 10
• Threat Occurs, t 10
• ICoRS Responds, t gt 10

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Format

• 2 arrays
• t1 0-10
• t2 10-20
• Concatenation
• t t1 t2 0-20
• Reasons
• Scalability
• Easy to modulate in parts

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Initial Conditions

• Adjacent Lanes
• x1 t x2 t
• y1 2 y2 0
• ICoRS Trailing
• x1 t x2 tc
• y1 0 y2 0

• ICoRS Leading
• x1 t x2 t-c
• y1 0 y2 0
• ICoRS Trailing Over 1 Lane
• x1 t x2 tc
• y1 2 y2 0

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Moment of Threat

• Slow Down
• x kt
• klt1
• Speed Up
• x kt
• kgt1
• Swerve
• y yT(?,v)

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Response

• Compare trajectories
• If less than allowed parameters
• Then activate response
• Add to Motion Array

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Control Algorithm

• Factor Denominator
• Partial Fraction Expansion
• Solve For Numerators
• Inverse Laplace
• Plot Response

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Control Algorithm

• Roots roots(A B C D)
• Partial Fraction Expansion
• Solve For Numerators
• Inverse Laplace
• Plot Response

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Control Algorithm

• Roots roots(A B C D)
• Da -Roots(1)
• Db -Roots(2)
• Dc -Roots(3)
• Solve For Numerators
• Inverse Laplace
• Plot Response

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Control Algorithm

• Roots roots(A B C D)
• Da -Roots(1)
• Db -Roots(2)
• Dc -Roots(3)
• Na Num/(Db-Da)(Dc-Da)
• Nb Num/(Da-Db)(Dc-Db)
• Nc Num/(Da-Dc)(Db-Dc)
• Inverse Laplace
• Plot Response

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Control Algorithm

• Roots roots(A B C D)
• Da -Roots(1)
• Db -Roots(2)
• Dc -Roots(3)
• Na Num/(Db-Da)(Dc-Da)
• Nb Num/(Da-Db)(Dc-Db)
• Nc Num/(Da-Dc)(Db-Dc)
• y (Naexp(-Dat)) (Nbexp(-Dbt))
  (Ncexp(-Dct))
• Plot Response

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Control Algorithm

• Roots roots(A B C D)
• Da -Roots(1)
• Db -Roots(2)
• Dc -Roots(3)
• Na Num/(Db-Da)(Dc-Da)
• Nb Num/(Da-Db)(Dc-Db)
• Nc Num/(Da-Dc)(Db-Dc)
• y (Naexp(-Dat)) (Nbexp(-Dbt))
  (Ncexp(-Dct))
• plot(t,y)

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Control Algorithm
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Emergent Side Note

• We found a better motor
• Armature Controlled
• Rise Time lt 1s
• Overshoot 0
• Steady State Error 0

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Display

• Screen Division
• Parametric Graph
• Time-Space Graph
• Animate()

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Screen Division

• Opens 2 Figures Side-by-Side

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Parametric Graph

• Overhead View
• Maps Vehicles XY Displacement
• Problem Intersections
• Do They Both Intersect?

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Parametric Graph

• Overhead View
• Maps Vehicles XY Displacement
• Problem Intersections
• Do They Both Intersect? No!!!

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Time-Space Graph

• XYT Plane
• No Intersection Uncertainties
• Previous Graph

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Animate()

• Graph 1 Dot at a Time
• Pause() between Plots
• Creates Animation

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Simulation Time

• Cut to MATLAB

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Next Week

• Deceleration Algorithm
• Turning Algorithm
• Delay Algorithms
• More Scenarios

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ICoRS
Intelligent Collision Response System
when seconds matter as much as your passengers.