Dinesh Kumar Challa

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24 Νοε 2013 (πριν από 4 χρόνια και 1 μήνα)

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MASTER THESIS REPORT

MAJOR PROF: DR. GURDIP SINGH

KANSAS STATE UNIVERSITY
Dinesh Kumar Challa



Overview


Introduction


Implementation


System Architecture


Interfaces


Performance Analysis


Conclusion


Future Work


Demo


Questions


Acknowledgements

Introduction


This

thesis

work

proposes

a

Vehicle

Highway

Automation

System

(VHAS)

for

automating

traffic

information

gathering

and

decision

making

in

a

vehicle
.


Cost

effective


Near

to

real

life

implementation


Types of VHAS


Technology that is entirely
contained within the vehicle

Autonomous
VHAS


Combinations of in
-
vehicle and
infrastructure technologies
outside the vehicle



Co
-
Operative
VHAS

Autonomous VHAS


Advantages


Cost effective


Vehicle Automation


Collision Avoidance


Disadvantages


No Highway Information System


No Route Guidance


No Vehicle Tracking


No Traffic Surveillance


No Collision Prevention




Co
-
Operative VHAS


Advantages


Increase in throughput


More predictable and reduced trip times


Increase in safety


Vehicle automation


Collision avoidance and Prevention


Highway information system


Route guidance


Traffic surveillance and vehicle tracking



Disadvantages


Not easy to implement


Implementation Costs more than Autonomous VHAS



Implementation


Wireless Sensor networks (WSN) for road side
infrastructure.


Advantages of WSN


Economical


Can be implemented on existing Highways


Not Difficult to Implement


Reliable


Consumes Less Space


Have Several Sensors


Wireless communication


Test Bed


Implement VHAS in a smaller environment


Simulates highway


Simulates road side infrastructure




Components of Test Bed


E
-
puck


TelosB mote


IpaQ


USB Hub

E
-
puck


Small differential wheeled mobile robot


Simulates car on a highway


Several Sensors


8 proximity sensors


Camera


3 Floor sensors


Light sensor


Vibration sensor


Accelerometer


Communication


Radio Communication


Bluetooth Communication


Infrared Communication



TelosB Mote


Sensor node in WSN


Used in road side infrastructure


Several Sensors


PIR sensor


Light sensor


Temperature sensor


Humidity sensor


More sensors can be added


Communication


Radio Communication

Real Scenario of VHAS Implementation

VHAS Architecture

Sensing Layer


Present in both the e
-
puck and the TelosB mote


Senses events of interest using the sensors.


Collects sensory data.

Regulation Layer


Only present in the e
-
puck.


Regulates the properties of e
-
puck.


Properties


Speed


Turn Angle


Stop


Start


Reverse


Communication Layer


Present in both e
-
puck and the TelosB mote.


Provides Communication


Update Layer


Present only in the TelosB mote.


Updates the status of itself


Updates the status of other nodes.


Propagate the status of the node.

Query Layer


Present in both the e
-
puck and TelosB mote.


Queries the information from e
-
pucks and motes.


Control Layer


Present in both the e
-
puck and the Telosb mote


Controls the whole system


Decision Making System


Messages are routed through this system


Responsible for making decisions


Planning and Co
-
ordination System


Plans the sequence of actions


Co
-
ordinates the communication


Safety Control System


Ensures safety


VHAS Interfaces

Sensing Layer Interfaces

Get_Camera_Capture_Data(
Char
Cam_Data[2*40*40])

Get_Calibrated_Proximity_Sensor(
int
Prox_id
)

Read_Floor_Sensor(
int floor_id)

Read_PIR_Sensor( )

Control Layer Interfaces

Obstacle_Avoidance( )

Lane_Following( )

Detect_epuck ( )

Get_Shortest_Path (
int src_address, int dest_address
)

Reserve_node (
int node_address
)

Reserve_NextNode (
int dest_node_address
)

Reserve_Path (i
nt dest_address
)

Reserve_Available_Path (
int dest_address
)

goto_dest_NextNode (
int dest_address
)

goto_dest_Path(
int dest_address
)

goto_dest_AvailablePath(
int dest_address)

Update Layer Interfaces

Send_Update(
TOS_MSG
Msg
)

Receive_Update(
TOS_MSG
Msg
)

Query Layer Interfaces

Query_Next_Node (
int
next_node_address
)

Query_Node (
int
dest_node_address
)


Query_Path_toNode (
int
dest_node_address
)

Regulation Layer Interfaces

Move(
float Speed, float Distance
)

Move_Time(
float Speed, float
Time
)

SetSpeed(
float Speed
)

Left_Turn (
float Speed, int Stop
)

Right_Turn (
float Speed, int Stop
)

Turn (
float Speed, float Angle,
float Distance)

Communication Layer Interfaces

Send(
int dest_id, int
Size_Of_Message, MSG
)

Receive (
TOS_MSG MSG
)

SendPacket (
char
destinationgroup, int
destinationaddress, char* packet,
int packetsize
)

IsPacketReady (
char* packet, int*
packetSize
)

Sensing Layer Interfaces


E
-
puck


Get_Camera_Capture_Data(
Char Cam_Data[2*40*40])


Get_Calibrated_Proximity_Sensor(
int Prox_id
)


Read_Floor_Sensor(
int floor_id)


TelosB Mote


Read_PIR_Sensor( )

Regulation Layer Interfaces


E
-
puck


Move(
float Speed, float Distance
)


Move_Time(
float Speed, float Time
)


SetSpeed(
float Speed
)


Left_Turn (
float Speed, int Stop
)


Right_Turn (
float Speed, int Stop
)


Turn (
float Speed, float Angle, float Distance)


Communication layer Interfaces


E
-
puck


SendPacket (
char destinationgroup, int
destinationaddress, char* packet, int packetsize
)


IsPacketReady (
char* packet, int* packetSize
)


TelosB Mote


Send(
int dest_id, int Size_Of_Message, MSG
)


Receive (
TOS_MSG MSG
)



Update Layer Interfaces


TelosB Mote


Send_Update(
TOS_MSG Msg
)


Receive_Update(
TOS_MSG Msg
)


Query Layer Interfaces


TelosB Mote


Query_Next_Node (
int next_node_address
)


Query_Node (
int dest_node_address
)



Query_Path_toNode (
int dest_node_address
)


Control Layer Interfaces


E
-
puck


Obstacle_Avoidance( )


Lane_Following( )


goto_dest_NextNode (
int dest_address
)


goto_dest_Path(
int dest_address
)


goto_dest_AvailablePath(
int dest_address)


TelosB Mote


Detect_epuck ( )


Get_Shortest_Path (
int src_address, int dest_address
)


Reserve_node (
int node_address
)


Reserve_NextNode (
int dest_node_address
)


Reserve_Path (i
nt dest_address
)


Reserve_Available_Path (
int dest_address
)



Algorithms


Obstacle Avoidance Algorithm


Avoids Obstacle


Line Following Algorithm


Follows Black Line


Next Node Algorithm


Automates the e
-
puck reach the desired destination by reserving
one node at a time


Whole Path Algorithm


Automates the e
-
puck reach the desired destination by reserving
whole path at a time


Available Path Algorithm


Automates the e
-
puck reach the desired destination by reserving
all the available nodes in a path at a time

Algorithm Explanation

Performance Analysis


To check the efficiency of the system.


To check the accuracy of the system.


To check the safety of the system.


To compare the performances of three algorithms
.


Next Node Algorithm


Whole Path Algorithm


Available Path Algorithm


Performance is analyzed for different scenarios


Performance is analyzed with different number of boards

Analysis With Four Boards


Scenario 1


E
-
pucks moving to one common destination with different starting points


Scenario 2


E
-
pucks moving perpendicular to each other with different destination and
starting points

Scenario 1

Scenario 1

Scenario 2

Scenario 2

Test With Two Boards


Scenario 1


E
-
pucks moving to one common destination with different starting points


Scenario 2


E
-
pucks moving perpendicular to each other with different destination and
starting points


Scenario 1

Scenario 1

Scenario 2

Scenario 2

Conclusion


This thesis work introduced Vehicle Highway Automation System
for automating traffic information gathering and decision making
in a vehicle on a highway.


Test bed is created to implement and test VHAS in a smaller
environment


Characteristics of VHAS are successfully implemented.


Performance of VHAS implementation is analyzed.


Achieved full automation of vehicle effectively


System ensured safety


Available path algorithm was proven better



Future Work


Traffic Surveillance


Priority reservation of path


Extending to multi lane highway

Acknowledgements


Dr. Gurdip Singh


Dr. Masaaki Mizuno


Dr. Daniel Andresen