Modes and Automation

SAE Levels Implemented

SAE_0

• Full manual control
• Steering and speed from Xbox controller
• Driver responsible for all driving tasks

SAE_1_LKAS

• Lateral assist only (Lane Keeping Assist System)
• System controls steering based on lane detection
• Speed remains under manual control via Xbox
• Driver monitors environment and controls speed

SAE_1_ACC

• Longitudinal assist only (Adaptive Cruise Control)
• System controls speed/throttle based on:
  • Set cruise speed
  • Distance to leading vehicle
• Steering remains under manual control via Xbox
• Driver monitors environment and controls steering

SAE_2 (Planned)

• Partial automation
• Will combine LKAS and ACC functionality
• Will require ≥2 lanes to enable safe maneuvers

SAE_3

• Conditional automation
• System handles both steering and speed in nominal conditions
• Lane following with default trajectory (no trajectory adjustments)

SAE_4

• High automation
• System handles both steering and speed in various conditions
• Capable of adjusting trajectory to avoid obstacles
• Enhanced obstacle avoidance capabilities

Critical Control Behaviors

Emergency Braking

• Activates when obstacles detected in planned trajectory
• Object detector identifies non-road segments or objects intersecting path
• Overrides current speed command with immediate braking

Traffic Signs Response

• Stop signs: Full stop, wait period, then proceed if clear
• Yield signs: Speed reduction
• Speed limit signs: Adaptation of maximum allowed speed
• Crosswalks: Speed reduction

Traffic Light Response

• Red: Full stop until light changes
• Yellow: Controlled deceleration to stop
• Green: Proceed at planned speed

Adaptive Cruise Control (ACC)

• Maintains safe following distance from leading vehicle
• Adapts speed based on relative velocity estimation

Lane Keeping Assist (LKAS)

• Maintains vehicle position within detected lane segments
• Uses the difference between lane position and the center of the frame as input to the steering controller