1 Electrical and Computer Engineering Team Pishro-Nik and Ni Chris Comack - Simon Tang - Joseph Tochka - Madison Wang Car-to-Car Communication for Accident Avoidance April 16, 2009 Professor Pishro-Nik Advisor, Assistant Professor, ECE Professor Ni Advisor, Assistant Professor, CEE

2 Electrical and Computer Engineering General Overview – Big Picture  There are many different groups at Universities and in Industry across America working on Vehicular Ad-Hoc Network to prevent automobile accidents  Most of these individual groups focus their work on one specific aspect because there are many different aspects to do them all  List of different aspects  Data Processing  Algorithm Formulating  Channel modeling  Modulation and coding  Power control and scalability issues  Medium access control protocols  Multi-channel organization and operation  Communication protocol design  Over 42,000 fatalities in the United States every year.  cost of 230+ Billion dollars per year  Safety and non-safety applications  Vehicle-to-vehicle/roadside/Internet communication  Simulation frameworks  Field operational testing  Network management  Security issues and countermeasures  Privacy issues

3 Electrical and Computer Engineering Project Deliverables  Our system will consist of our project box, a transceiver, an antenna for the GPS, and a connector for OBD-II  The box will contain:  Our integrated system  Gather Data from GPS and OBD-II  Process Data and Calculate Accident Avoidance Algorithm  Provide the vehicle driver with an audio warning if necessary  The Global Positioning System receiver  On Board Diagnostic – II integrated circuit  Communicates with Car’s Engine to obtain useful information  Ethernet Interface Board for Transceiver  Communicates with nearby vehicles over Dedicated Short Range Communication Channel ~ 5.9 GHz spectrum  The antenna’s are attached to the roof of the vehicle

4 Electrical and Computer Engineering Proposed Solution Use of Car to Car Communication Cars 2 & 3 emit audio warning indicating Car 1 is decelerating rapidly. The cars operators now have more time to respond to this dangerous situation, decreasing the risk of collision.

5 Electrical and Computer Engineering Collision Detection Algorithm The model is designed to check to see the distance it takes the lead car to stop is greater than the distance it takes the following car to stop comfortably. x* n-1 = x n-1 (t) – v n-1 (t) 2 /(2b n-1 ) // this equates the final position of the lead car x* n = x n (t) + [v n (t) + v n (t+τ)] τ /2 – v n (t+τ) 2 /(2b n ) // equates the final position of // the car including the distance // traveled during reaction time(τ) So the above equations find the final position of the cars. Our program will compute these final positions and compare them. As described above, the program will warn the driver when the final position of the lead car to stop is less than the final position of the following car. x* n-1 + s n-1 > x* n // s n-1 is the length of the car n-1

6 Electrical and Computer Engineering Flow Diagram

7 Electrical and Computer Engineering Design & Requirements  System must be scalable  Track car’s location with GPS receiver  Use OBD-II (on-board diagnostic connection) to monitor speed, acceleration, and other information from car’s computer Standard on all cars made after 1996 – includes 150 million+ cars on the road in the U.S. today.  Communicate between vehicles using DSRC (Dedicated Short Range Communication) Transceiver

8 Electrical and Computer Engineering Block Level Diagram

9 Electrical and Computer Engineering List of Goals Gather coordinates with GPS Get GPS statistics Communication between transceivers Gather data with OBD-II Integration between GPS and MCU Integration between transceiver and MCU Integration between OBD-II and MCU Coding of main algorithm Design and testing of printed circuit boards Did not achieve complete integration in time for FPR

10 Electrical and Computer Engineering OBD-II

11 Electrical and Computer Engineering OBD-II Codes

12 Electrical and Computer Engineering OBD-II

13 Electrical and Computer Engineering GPS Testing Location

14 Electrical and Computer Engineering GPS Statistics

15 Electrical and Computer Engineering GPS accuracy  ± 1.46 × 10 –5 °N ± 2.43 × 10 –5 °W  At °N ± 1.46 × 10 –5 ° ≈ ± 1.62m ± 2.43 × 10 –5 ° ≈ ± 2.00m

16 Electrical and Computer Engineering GPS Testing Location

17 Electrical and Computer Engineering GPS Statistics

18 Electrical and Computer Engineering GPS accuracy  ± 1.04 × 10 –4 °N ± 9.02 × 10 –5 °W  At °N ± 1.04 × 10 –4 ° ≈ ± 11.55m ± 9.02 × 10 –5 ° ≈ ± 7.43m

19 Electrical and Computer Engineering Transceiver Accomplishments  Transceiver-to-transceiver communication established. Integration of transceiver, Ethernet controller and microcontroller.

20 Electrical and Computer Engineering PCB – Completed Design  Three Printed Circuit Boards completed  Usage of mainly surface mount components for small board size (5”x3”)

21 Electrical and Computer Engineering PCB – Completed Design

22 Electrical and Computer Engineering Multidisciplinary Team Functions  Chris Comack Intelligent Transportation Research  Simon Tang GPS Integration and Statistical Analysis  Joseph Tochka OBD-II Research and Implementation Hardware Debugging  Madison Wang Transceiver Integration Printed Circuit Board

23 Electrical and Computer Engineering Budget NumberManufacturer Part NumberSupplierPackageDescriptionQuantityPriceTotal 1LT1086CT-3.3#PBFDigikeyTO V fixed regulator3412 2LM340T-5.0/NOPBDigikeyTO-2205V fixed regulator ATMEGA128DigikeyTQFP-64Microcontroller ENC28J60-HSparkfun10-dip Ethernet Controller header Jtag connector30 6ELM327 Elm Electronics28-SOIC* OBD to RS232 interpreter TCA1A226M8RDigikey uF cap Magellan A12MagellanGPS130 9Denso TransceiverDensoTransceiver30 10ECJ-2VB1E104KDigikey uF cap FMMT597TADigikeysot-23PNP BJT MMBTA06-7Digikeysot-23NPN BJT ERJ-6GEYJ472VDigikey8054.7k resistor ERJ-6GEYJ473VDigikey80547k resistor ERJ-6GEYJ471VDigikey resistor ERJ-6GEYJ103VDigikey80510k resistor ERJ-6GEYJ223VDigikey80522k resistor ECJ-2VC1H270JDigikey80527pF cap CDSU4148Digikey603diode ERJ-6GEYJ104VDigikey805100k resistor R161DigikeyconnectorDB9 rightangle SN74LVC2G157DCTRDigikeySM82:1 mux MCP2551-I/SNDigikey8-SOICCAN-transceiver MAX232ECSE+D16-SOIC232-TTL ERJ-6GEYJ511VDigikey resistor TrayTerminal Block Atmega128-hSparkfun64 DIPAtmega128 header PCBAdvanced Circuits Shipping170 Total Spent$ Over Budget by($64.56)

24 Electrical and Computer Engineering Resolved Design Problems  GPS testing Lack of satellites necessary in some locations  Old GPS Indoor Cold Start  Microcontroller and Ethernet controller not communicating on PCB Solution: Attachment of Atmega128 header to PCB

25 Electrical and Computer Engineering Demo  Very close to GPS/Transceiver integration  Demo of sending packets and gathering GPS data  We worked really hard to get the system fully functional, but did not get the system fully integrated. We aim to have it functional by SDP Day. Thank you for your time