<p>Much functionality of today's vehicles runs as software on embedded computer systems. This includes, for example, automatic climate control and engine control.</p><p>As the processors necessarily are located in diffent physical locations inside the vehicle wires must be drawn between processors that need to communicate. Therefore, it is typical to have one or several buses connecting the processors in an embedded computer network, thus creating a distributed system. As some parts of the system in the car have real-time properties, it is necessary to validate that the real-time properties are upheld in the distributed system.</p><p>This thesis presents the design and implementation of an adaptive cruise controller (ACC), which is a cruise controller that also keeps a minimum distance to the closest vehicle in front. Further, the performance of the ACC has been evaluated using an existing system-level simulator for distributed real-time systems together with metrics for Quality-of-Control (QoC).</p><p>The ACC has then been simulated under different scenarios. The scenarios include outside conditions, for example the slope of the road, the behaviour of the vehicle in front, and the desired velocity, as well as internal conditions as adding different amounts of extra load on the processors and the bus.</p><p>The results show that the functionality of the ACC starts deteriorating when the extra load on the nodes reaches high levels. When the extra load reaches very high levels, the ACC stops functioning completely. The results also show that the extra load on the bus has very little effect on the performance of the ACC.</p>

Much functionality of today's vehicles runs as software on embedded computer systems. This includes, for example, automatic climate control and engine control. As the processors necessarily are located in diffent physical locations inside the vehicle wires must be drawn between processors that need to communicate. Therefore, it is typical to have one or several buses connecting the processors in an embedded computer network, thus creating a distributed system. As some parts of the system in the car have real-time properties, it is necessary to validate that the real-time properties are upheld in the distributed system. This thesis presents the design and implementation of an adaptive cruise controller (ACC), which is a cruise controller that also keeps a minimum distance to the closest vehicle in front. Further, the performance of the ACC has been evaluated using an existing system-level simulator for distributed real-time systems together with metrics for Quality-of-Control (QoC). The ACC has then been simulated under different scenarios. The scenarios include outside conditions, for example the slope of the road, the behaviour of the vehicle in front, and the desired velocity, as well as internal conditions as adding different amounts of extra load on the processors and the bus. The results show that the functionality of the ACC starts deteriorating when the extra load on the nodes reaches high levels. When the extra load reaches very high levels, the ACC stops functioning completely. The results also show that the extra load on the bus has very little effect on the performance of the ACC.

Over the past decades, congestion and emission problems has increased remarkablywhich escalates the demands on vehicles. The advancements withinthe eld of information and communication systems gives the opportunity todeal with the aforementioned problems. The concept of platooning shows tobe an attractive way of reducing both congestion and emissions by having ashort inter-vehicle spacing. The ndings in studies show that fuel reductionpotentials of 5-20 % are viable as a result of the lowered air drag by drivingin platoon. This thesis investigates the state of the art within the areaof intelligent transport systems (ITS) along with advanced driver assistancesystems (ADAS). Furthermore, the prosecuted work results in a proposedcontrol design for a longitudinal control in a platoon of vehicles. The platoonconsists of two homogeneous radio controlled vehicles (RCV) which aremodelled by taking advantage of system identication methods. The identi-ed plant models are implemented into a Simulink model where the controlsystem is developed. Moreover, the developed control system is implementedinto a real-time demonstrator for experimental evaluation. The results showsthat the modelled dynamics corresponds reasonably well with the real dynamicsof the system. The developed control system proves to work well andagree with the expectations of its performance obtained from simulations.The performance of the proposed controller has been evaluated by means ofsimulations and real experiments. The resulting control system consists ofPID controllers for both speed and spacing control. / Under de senaste decennierna har mangden trakstockningar och problemmed utslapp okat - darmed aven kraven pa vara fordon. Samtidigt skaparframstegen inom informations- och kommunikationssystem mojligheter foratt hantera ovannamnda problem. Kolonnkorning, eller platooning har visatsig vara en eektiv metod for att minska saval trakstockningar som utslappsom en foljd av kortare avstand mellan fordon. Resultat fran studier visarhur en branslereduktion runt 5-20 % ar mojlig till foljd av det sankta luftmotstandet vid kolonnkorning. Avhandlingen undersoker teknikens standpunktinom intelligenta transportsystem (ITS) tillsammans med avancerade drivhjalpsystem(ADAS). Vidare resulterar arbetet i ett forslag till regleringsdesignfor en longitudinell kontroll i en kolonn av fordon. Kolonnen bestar av tvahomogena radiostyrda fordon (RCV) som modelleras genom att utnyttjametoder for systemidentiering. De identierade systemmodellerna implementerasi en Simulink-modell dar styrsystemet utvecklas. Dessutom implementerasdet utvecklade styrsystemet i en realtids-demonstration for experimentellutvardering. Resultaten visar att den modellerade dynamikenstammer bra overens med systemets verkliga dynamik. Det utvecklade styrsystemetvisar sig fungera bra och overensstammer med forvantningarna pa dessprestanda som erhallits genom simuleringar. Den foreslagna regulatorns prestandahar utvarderats med hjalp av simuleringar och verkliga experiment.Det resulterande styrsystemet bestar av PID regulatorer for bade hastighetsochavstandskontroll.