Architectural design of integrated external speed adaptation with collision avoidance system for intelligent trucks

Abstract

In this paper, the design and development cycle for integrated systems architecture for External Speed Adaptation (ESA) and Collision Avoidance Systems (CAS) is presented. It subsequently presents a new method of modelling the integrated system architecture based on structured analysis. Moreover, a vehicle kinematics model is developed and used as the basis for designing the systems decision logic. A description of an experimental hardware and CAN software simulation show the potential of the systems integration. In the experimental system, the speed limiter (vehicle throttle control and ECU) is a mechatronic sub-system and the collision avoidance system that deactivates the acceleration of the truck and controls the speed of the truck to a preset speed limit to avoid collision. This is based on communication between a roadside sensor and the vehicle and an interface between the collision avoidance and speed adaptation systems.