The document discusses safety precautions for autonomous vehicles including forward collision warning systems (FCW) and adaptive cruise control (ACC) systems. FCW uses radar sensors to detect objects ahead and warn the driver, while ACC uses radar, GPS, and map data to automatically control vehicle speed and braking to maintain a safe distance from the vehicle ahead. Key advantages are convenience and more relaxed driving, while disadvantages include potential issues with sensor visibility and reliance on external systems.

2. CONTENTS
INTRODUCTION
WHAT IS NEED FOR SAFETY PRECAUTIONS
ACAS (Automotive Collision Avoidance System )
FCW (Forward Collision Warning system)
VISION BASED SENSOR
MAP BASED PATH PREDICTION
GPS(GLOBAL POSITIONING SATELLITE)SYSTEM
BRAKE AND THROTLE CONTROL
ADVANTAGES
DISADVANTAGES
CONCLUSIONS

3. All of us would like to drive our car with a mobile held in one
hand, talking to the other person.
But we should be careful, we Don’t know when the car just
before us applies the break and everything is gone.
A serious problem encountered in most of the cities , national
highways , where any mistake may occur in a moments .
There comes the tomorrows technology, HAND FREE DRIVING
car
Utilizing the modern technological approach
in Robotics

4. WHAT IS NEED FOR SAFETY
PRECAUTIONS
All around the world almost 45% of the accidents occur by mistakes of
the driver
In some cases the driver is engaged in some other affair than driving
In USA the highways are so crowded that in some situattional
mistakes on the Part of some one person lead to the serious
accidents.
Most of these accidents are fatal.
This was themain reason behind this project work put forward by
Delhi-Delco Electronic systems anad General Motors Corporation.
It was called as the Automotive Collision
Avoidance Systems(ACAS) field operating system

5. Automotive Collision Avoidance System
(ACAS )
The ACAS program has assembled highly focused
technical activity with the goal of developing a FCW
system that is assembly integrated into the vehicle
infrastructure.
The FCW system incorporates the combined
ACC(Adaptive Cruise Control) & Rear Ends CW
Functionality.
Forward Collision Warning system (fcw)
It was one of the earlier programs done by the DDE
(Delphi-Delco Electronics ) systems.
It included the forward looking radar sensing system
It is high range forward looking radar

6. Forewarn Smart Cruise Control with Headway Alert uses a
mechanically-scanning, 76 GHz, long range radar sensor
to detect objects in the vehicle’s path up to 150 meters or
402 feet ahead
The system helps to reduce the need for drivers to
manually adjust speed or disengage cruise control when
encountering slower traffic.
Driver information displays indicate the cruising speed
and driver-selected gap
Drivers can adjust system sensitivity to their preferred
driving style.

8. forward looking radar
with
camera

9. The overall goal of the Forward Vision Sensor is to facilitate the
development of a robust, real-time forward looking lane tracking
system to enhance the overall forward Path Estimation and
Target Selection algorithms.
The system consists of two components
1. A video camera, mounted behind the windshield of the
vehicle, will acquire images of the roadway ahead of the host
2. A remotely located image processing unit will then
detect and track the position of the lane boundaries in
the images, and will provide a model of the changing
road geometry
n addition GPS Map, to provide more accurate estimates of road
and host state to the Target Selection Module

10. The requirements state that the system should provide host and road
state estimates to within these specified one-sigma accuracy
requirements:
1. Lateral position in lane: < 0.2 meters
2. Lane width: < 0.2 meters
3. Heading: < 0.2
4. Road Geometry: < 0.75 meters at 75 meter range2
The Forward Vision Sensor should produce confidence estimates
(which may be a function of range) for the road-geometry and host
vehicle state
CThe minimum update rate is 10 Hz with an initial maximum
acquisition time of 5 seconds.

11. In the current ACAS program path prediction is achieved by continuously
estimating the location of the vehicle on the road, matching the vehicle location
to a point on a road in the stored roadway map, tracking the path traversed by
the vehicle and extracting the upcoming road geometry from the map
The accuracy in determining the heading and distance is further enhanced by
computing the heading angle and distance relative to the previous position of
the host vehicle
The combination of dead reckoning and DGPS with the map database has been
explored to obtain a map based path prediction system
CDGPS, when used in conjunction with the map database, can provide fairly
accurate path prediction except in situations of GPS signal outages
Within the limited scope of the ACAS-FOT project, AssistWare has been
contracted to aid in the development of maps that are superior to those
commercially available.

12.  The most important part of the ACC system is the Digitized GPS
 Global Positioning Satellite Systems (GPS) are navigation tools which
allow users to determine their location anywhere in the world at any
time of the day
 GPS systems use a network of 24 satellites to establish the position of
individual users
 Originally developed by the military, GPS is now widely utilized by
commercial users and private citizens
 GPS receivers can be integrated with other systems, such as a
transponder or transmitter.

13.  A new Delphi Brake Control System will replace the OEM brake
components on the Prototype and FOT deployment vehicles
 The brake control system includes an anti-lock brake system
(ABS), vehicle stability enhancement, and traction control
features
 For this program, the brake system will be enhanced to respond
to ACC braking commands while maintaining the braking
features and functions that were in the original brake system.
• Throttle Control System
 The throttle control system maintains the vehicle speed in
response to the speed set by the driver or in response to the
speed requested by the ACC function
 The block diagram fig.5 given below shows the ACC system.

14. The primary ACC Subsystem display will be in a head-up display. The
primary ACC display will include the following information:
• a. ACC On/Off
• b. Set Speed
• c. Current Speed
• d. Tracking/Not Tracking a Lead Vehicle
• E. ACC Operational/Failed
The vehicle will provide a forward collision warning capability
The ACC is considered to be active in the Maintain Speed or Maintain
Headway modes

15. Conveniently manages vehicle speed and headway gap
Complements vehicle styling
Makes cruise control more useable in most traffic
conditions resulting in a more relaxed driving experience
Operates under wide range of environmental conditions
(dirt, ice, day, night, rain, or fog)
Low false alarm rate

16. Radar-based sensing for optimal performance
Sensor hidden behind front grille or fascia
Best available detection and tracking performance
Manages vehicle speed and headway gap using throttle control
and limited braking
Automatically notifies driver of a blocked sensor via displayed
message
Excellent following distance and speed control

17. Radar-based sensing for optimal performance
Sensor hidden behind front grille or fascia
Best available detection and tracking performance
Manages vehicle speed and headway gap using throttle control
and limited braking
Automatically notifies driver of a blocked sensor via displayed
message
Excellent following distance and speed control