PRESENTED BY
ROHINI R

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AUTO DRIVE SYSTEM
INTRODUCTION
AutoDrive is a system for automatic driving or cars and commercial vehicles on highway
It is a completely automated highway driving system which uses GPS positioning, radars and  inter vehicle signaling to aid driving
By 2030 all major interstates in the US are expected to support "AutoDrive lanes" with completely automated car and commercial vehicle driving
Any car updated for AutoDrive can enter these lanes and enjoy speed limits of around 130 mph. 
System design
features
GPS based position determination
Inter Vehicle Signaling (IVS)
Radar feed
Map updates
Weather feed
Construction and road closure detection
GPS Based Position Determination
A GPS receiver is fitted in all vehicles retrofitted with the AutoDrive system
GPS receiver used in the AutoDrive system has the accuracy of 1 cm.
The current GPS position is constantly compared with the map coordinates to determine the exact location of the vehicle.
Since the GPS position is accurate to 1 cm level, it is also used to steer the vehicle so that it stays in the center of its lane.
Inter Vehicle Signaling (IVS)
IVS is used to adjust to speed changes and lane changes of the neighboring vehicles.
The vehicles determine their neighboring vehicles by keeping track of these broadcasts from vehicles that are within 100 feet
When a vehicle needs to change its lane, it sends a lane change request message containing the direction
IVS supports priority routing of emergency vehicles.
If a vehicle fails on the road, it broadcasts a speed of value zero
Radar Feed
An AutoDrive vehicle has a radar installed
The radar monitors the presence of obstructions other than vehicles like human beings, animals
The radar feed is used to take appropriate lane and speed change actions to steer clear off the obstructions.
Map Updates
Before the start of a journey, an AutoDrive vehicle downloads from the internet, the map of the complete path from source to destination
This map has details up to the level of number of lanes, their curvature etc.
Weather Feed
Weather updates about the path are constantly received during the journey
If extreme weather conditions are detected, appropriate rerouting is carried out
Weather feed is also used to adjust driving parameters like braking distance, wheel grip and radar visibility.
Construction and Road Closures
If a lane is closed for construction, an IVS transmitter is located at its center which broadcasts its GPS position, width of the lane, the length of closure  and a speed value of zero
REQUIREMENTS
1.AutoDrive General Requirements
Any vehicle produced in the last 10 years shall be upgradeable to the AutoDrive system.
Installation of the AutoDrive system should not take more than 2 hours.
Impact of a software failure in the system shall be less than 500 ms.
A complete failure of the AutoDrive system shall result in the vehicle automatically moving out of traveled AutoDrive lanes to the shoulder
2.Position Determination Requirements
AutoDrive system shall use GPS (Global Positioning System) for position determination of the vehicle.
AutoDrive system should support GPS repeater when a vehicle enters a tunnel or has no access to the GPS satellites.
3.Inter Vehicle Signaling Requirements
The AutoDrive system shall broadcast its GPS position of its center, its vehicle type, its speed and its dimensions in terms of length and width at all times
The AutoDrive system should continuously change the frequency of the broadcasts
The AutoDrive system shall keep track of broadcasts received from vehicles that are within 100 feet radius.
The AutoDrive system shall inform all the neighboring vehicles whenever it wishes to change the lane.
The AutoDrive system shall inform all the neighboring vehicles whenever it wishes to perform braking action.
The AutoDrive system shall support priority routing of emergency vehicles.
The Inter Vehicle Signaling shall support construction and road closure indications.
When a vehicle enters an AutoDrive lane, it shall automatically move to driving via the AutoDrive system
4.Radar Scanning Requirements
The radar shall be able to detect all non-vehicle obstructions that are at least 3 cm in height.
The radar shall complete a 360 degree scan in less than 500 ms.
The radar shall be able to detect the obstructions that are within 1 mile distance from the AutoDrive system
5.Map Analysis Requirements
The AutoDrive system should download the map of the complete path from source to destination at journey start.
Maps used in the AutoDrive system shall contain exact locations of all highway lanes to the accuracy of 1 cm.
Current location of the vehicle may be displayed on the screen visible to the occupants of the vehicle.
6.Weather Feed Requirements
The AutoDrive system shall receive weather updates about the path during the journey.
The AutoDrive system shall perform appropriate rerouting if extreme weather conditions are encountered.
7.Construction and Road Closure Requirements
The AutoDrive system shall perform lane changes or rerouting as the case may be due to construction and road closures.
Closed lanes should be represented by IVS transmitters that specify the exact size of the closure.
ARCHITECTURE
SUB SYSTEMS
Automatic Driving Subsystem
Obstruction Detection Subsystem
Position Mapping Subsystem
Inter Vehicle Signaling Subsystem
Automatic Driving Subsystem
Inputs
Lane and speed change requests from the IVS Subsystem. This information will be used to control the brakes, steering and accelerator to implement the request.
Obstruction List is obtained from the Obstruction Detection Subsystem. This information is used to steer clear off any unexpected obstructions on the highway.
Travel path and plan obtained from the Position Mapping Subsystem. This information will be used to keep the vehicle in the center of its lane while traveling towards the destination. Lane changes will also be made to exit or enter highways.
Outputs
Accelerator (Gas Paddle) is instructed to speed the vehicle
Brakes are applied to slow down or stop the vehicle
Steering is used to change vehicle direction
Dashboard is kept updated with AutoDrive actions. This is to keep the passengers posted about the functioning of the AutoDrive system.
Inter Vehicle Signaling Subsystem
Inputs
Inter Vehicle Signaling information obtained from other vehicles
Current GPS position is obtained from the Position Mapping Subsystem to keep track of neighboring vehicles
Lane and speed change requests from the Automatic Driving Subsystem for transmission to other vehicles
Outputs
Neighboring vehicle information is passed to the Obstruction Detection Subsystem.
Lane and speed change requests to other vehicles
The following outputs are passed to Automatic Driving Subsystem:
Neighboring vehicle information
Lane and speed change requests from other vehicles
Obstruction Detection Subsystem
Inputs
Radar feed is obtained from the vehicle radar. This information corresponds to the 360 degree sweep around the vehicle.
Current GPS position is obtained from the Position Mapping Subsystem to keep track of neighboring obstructions
Neighboring vehicle information is obtained from the Inter Vehicle Signaling Subsystem. This information is used to filter out IVS vehicles from the obstruction list sent to Automatic Driving Subsystem. This way the system will never confuse a vehicle with an obstruction.
Outputs
Current obstruction list is passed to the Automatic Driving Subsystem.
Position Mapping Subsystem
Inputs
Current GPS position is obtained from the GPS Receiver
Map updates and weather feeds are obtained over the internet. Mapping information is used to compute a path for the vehicle. This is done by plotting the current position on the map and following the detailed lane level map
Outputs
Current GPS information is made available to the IVS and Obstruction Detection Subsystems
Travel path and plan with complete information about direction changes, speed changes etc. is passed to Automatic Driving Subsystem