CHAPTER 1

INTRODUCTION

Industry 4.0 has created a great revolution in technology which

includes IOT, CLOUD COMPUTING etc. A lot of autonomous systems are
developed and recent researches have been implemented in the
automobile sector using Industry 4.0. One of the emerging concepts is
Driverless cars.
Autonomous cars rely on sensors, actuators, complex algorithms,
machine learning systems, and powerful processors to execute
software.
Autonomous cars create and maintain a map of their
surroundings based on a variety of sensors situated in different
parts of the vehicle. Radar sensors monitor the position of nearby
vehicles. Video cameras detect traffic lights, read road signs,
track other vehicles, and look for pedestrians. LIDAR (light
detection and ranging) sensors bounce pulses of light off the car’s
surroundings to measure distances, detect road edges, and
identify lane markings. Ultrasonic sensors in the wheels detect
curbs and other vehicles when parking.
Sophisticated software then processes all this sensory input, plots
a path, and sends instructions to the car’s actuators, which control
acceleration, braking, and steering. Hard-coded rules, obstacle
avoidance algorithms, predictive modeling, and object recognition
help the software follow traffic rules and navigate obstacles.
SCOPE OF THE PROJECT

The main scope of this project is to make a vehicle to detect the

obstacles and to avoid them automatically without any manual
intervention.

OBJECTIVE OF THE PROJECT

Our work is based on vehicle motion using ULTRASONIC

SENSOR that can be associated with AUTOPILOT systems for obstacle
avoidance. In order to ensure comfort travel to passengers a specialized
frame design is proposed in this work. Road conditions in certain areas
may not favor comfortable travel due to unexpected trenches and
speed bumps. This may affect the vehicle as well as the passengers. Our
proposed design is used to encounter these problems and ensures
smooth travel.

REPORT SUMMARY

The project report is organized as follows:

CHAPTER 2: Related work done in autonomous car domain

CHAPTER 3: Design of the project

CHAPTER 4: Methodologies and fabrication in the project

CHAPTER 5: Conclusion of the project

CHAPTER 6: References and appendix

 CHAPTER 2

LITERATURE SURVEY

INTRODUCTION

This section narrates about the several researches done on the

autonomous cars domain

INNOVATION TO AUTONOMOUS CARS

The development of the autopilot airplanes was a big step in

human history towards any type of vehicle automation. This invention
has set the pillars for the innovation of the autonomous cars.

From the year 1920, researchers have been working on solving

the challenge to build driverless autonomous cars. During the year
1926, LIHIRRICAN WONDER used radio antennas to and sent radio
impulses which were further caught by the antennae.

The antennae introduced the signal to circuit breakers which operate

small electric motors that direct every movement of the car. This was
the first step in the innovation of autonomous cars.

SELF-DRIVING CAR TO DEMONSTRATE REAL TIME OBSTACLES & OBJECT

DETECTION
 The proposed method by MAYUR BHANGALE, GAURAV DABHADE,
AKSHAY KHAIRNAR, and MAMTA BHAGAT insists that the concept of
autonomous car had been conducted by The Stanford University.

The Stanford University create autonomous car for Stanford

Racing Team in cooperation with the Volkswagen Electronics Research
Laboratory (ERL). The DARPA Grand Challenge is the second driverless
car competition was done in near the California/Nevada state line in
October 8, 2005. Stanford Racing Team is the winner of this challenge
and won the 2 million dollar prize. The Stanford Racing Team is led by
Professor SEBASTIAN THRUN and Stanford Artificial Intelligence Lab is
the director of it. It is purposely developed for 2004 DARPA Grand
Challenge .Stanley is one of the standard European diesel model
VOLKSWAGEN TOUAREG provided by Volkswagen's ERL for the
competition. Stanley used six low power 1.6 GHz Intel Pentium M based
computers in trunk. On that they processed sensor data and execute
decisions and computers running different Linux versions operating
system. They developed 100000 lines of software to run interpret
sensor data and execute navigation decisions. And Stanley also utilizes
low level modules fed raw data from LIDAR, the camera, GPS sets and
inertial sensor into software programs to control the vehicle’s speed,
direction and decision making.

AUTONOMOUS VEHICLES: LEVELS, TECHNOLOGIES, IMPACTS AND

CONCERNS

This proposed work by MOHSIN RAZA insists the technology of

autonomous cars had been created by Apple using YOLO algorithm.
 Apple is also developing its self-driving car project “Titan”.

The concept of electric cars is already in practical use. Tesla and

General Motors have successfully launched their respect electric cars in
the market and are available to the consumers. But the autonomous
vehicles [4] are still in research but cars with some levels of autonomy
are available like Tesla autopilot and GM super cruise control.

An MIT spin-off called ISEE is developing and testing autonomous

driving system using artificial intelligence. Also, an object detection
system called YOLO (you only look once) developed by JOSEPH
REDMON is being used in driverless vehicle concept.

Component maker FAURECIA has envisioned the cockpit for the

autonomous car. When autonomous mode is selected, the steering
wheel folds away and the screen behind it slide to the center of the
dashboard.

WAYMO, the subsidiary of parent company of GOOGLE is a self-

driving technology company which is successfully testing its concept
car. WAYMO has also announced to launch self-driving trucks for
delivering goods.

Companies are launching concept cars like Aston Martin launched

its concept car LAGONDA Vision Concept, which is a luxurious electric,
level 4 autonomy car. Renault has launched its autonomous concept
car called SYMBIOZ which drives in manual or level 4 autonomous
modes.

SELF-DRIVING AND DRIVER RELAXING VEHICLE

 This work was proposed by QUDSIA MEMON, MUZAMIL AHMED,
SHAHZEB ALI, AZAM RAFIQUE MEMON, and WAJIHA SHAH. In this work
the authors had indicated the autonomous car motion through GPS so
that it can reach the destination by receiving signals from previous
vehicle leading to same destination.

In the mid-2000s, the Defense Advanced Research Projects

Agency (DARPA) sorted out the Grand Challenges where groups
assembled to contend with autonomous vehicles. In 2009, Google
began the self-driving car venture, including colleagues who had
effectively devoted years to the innovation. By 2012 the Google car hits
the road for testing. By the passing years, the car is developed and
equipped with multiple sensors, radars, lasers, Global Positioning
System (GPS), it uses heavily detailed maps, and many other things to
safely drive and navigate itself with no human interaction. The car can
not only drive automatically but also it can be parked on its own, it can
go on freeways, Cameras are used to find and detect objects that are
then processed by the computer within the car [5]. In May 2014,
Google presented a new concept for their driverless car that had
neither a steering wheel nor pedals and unveiled a fully functioning
prototype in December of that year that they planned to test in
2015[6]. In summer 2015, Google launched and tested some different
features where each prototypes speed is capped at a neighborhood-
friendly 25mph, and during this phase safety drivers aboard with a
removable steering wheel, accelerator pedal, and brake pedal that
allow them to take over driving if needed [7]. After many successful
roads testing of Google car has made to believe in some years roads
will be safely occupied with self-driven cars.
 CHAPTER 3

DESIGN OF THE PROJECT

INTRODUCTION

In this chapter the design of the project had been narrated. The
project design is fully based on the use of ARDUNIO UNO board. The
various components have been attached to the ARDUNIO UNO which
commands the signal for the vehicle to proceed in its direction of
motion.

DESIGN OF THE PROJECT

The project design is based on the following block diagram:

The design of the system uses ARDUNIO UNO board. It is the

major functional block for commanding the vehicle movements. A
motor driver is attached to the ARDUNIO UNO board which acts as a
microcontroller for the vehicle. Then the ultrasonic sensor is used in
front of the vehicle to detect the obstacles during its path and to avoid
them in order to ensure automatic control. The motors are connected
to the driver for the smooth motion of the vehicle. The servo motor is
used to control the ultrasonic sensor which tends the motion of the
sensor to scan the obstacles in its path during motion.

The components used in this project are:

1. ARDUNIO UNO BOARD

2. ULTRASONIC SENSOR

3. MOTOR DRIVER MODULE

4. SERVO MOTOR

5. BATTERY

6. SWITCH

7. DC MOTORS

ARDUNIO UNO:

The ARDUINO UNO is an open-source microcontroller

board based on the Microchip ATmega328P microcontroller and
developed by Arduino.cc and initially released in 2010. The board
is equipped with sets of digital and analog input/output (I/O) pins
that may be interfaced to various expansion boards (shields) and
other circuits. The board has 14 digital I/O pins (six capable
of PWM output), 6 analog I/O pins, and is programmable with
the ARDUNIO IDE (Integrated Development Environment), via a
type B USB cable. It can be powered by the USB cable or by an
external 9-volt battery, though it accepts voltages between 7 and
20 volts.

ULTRASONIC SENSOR:

An ultrasonic sensor is an electronic device that measures

the distance of a target object by emitting ultrasonic sound waves,
and converts the reflected sound into an electrical signal.
Ultrasonic waves travel faster than the speed of audible sound
(i.e. the sound that humans can hear). Ultrasonic sensors have
two main components: the transmitter (which emits the sound
using piezoelectric crystals) and the receiver (which encounters
the sound after it has travelled to and from the target).

In order to calculate the distance between the sensor and the

object, the sensor measures the time it takes between the
emission of the sound by the transmitter to its contact with the
receiver. The formula for this calculation is D = ½ T x C (where D
is the distance, T is the time, and C is the speed of sound ~ 343
meters/second). For example, if a scientist set up an ultrasonic
sensor aimed at a box and it took 0.025 seconds for the sound to
bounce back, the distance between the ultrasonic sensor and the
box would be:

D = 0.5 x 0.025 x 343

or about 4.2875 meters.

MOTOR DRIVER MODULE:

The L293D is a dual-channel H-Bridge motor driver that can

control two DC motors or a single stepper motor. Because the
shield includes two such motor drivers, it can control up to four
DC motors or two stepper motors. The 74HC595 shift register, on
the other hand, extends the ARDUINO’s four digital pins to the
eight direction control pins of two L293D chips. The shield
supports a motor voltage range of 4.5 to 25 volts. This power can
be shared with the ARDUINO or used separately. In order to
choose between the two, a special jumper labeled PWR is
provided near the two-terminal power connector. When the
jumper is in place, power is supplied to the motors via the
ARDUINO DC power jack. In this case, the motors and ARDUINO
are not physically isolated from each other. When the jumper is
removed, the motor power is disconnected from the ARDUINO,
allowing the motors to be physically isolated from the ARDUINO.

SERVO MOTOR:

A servo motor is a type of motor that can rotate with great

precision. Normally this type of motor consists of a control circuit
that provides feedback on the current position of the motor shaft;
this feedback allows the servo motors to rotate with great
precision. If you want to rotate an object at some specific angles
or distance, then you use a servo motor. It is just made up of a
simple motor which runs through a servo mechanism. If motor is
powered by a DC power supply then it is called DC servo motor,
and if it is AC-powered motor then it is called AC servo motor.

It consists of three parts:

1. Controlled device
2. Output sensor
3. Feedback system

It is a closed-loop system where it uses a positive feedback

system to control motion and the final position of the shaft. Here
the device is controlled by a feedback signal generated by
comparing output signal and reference input signal.
 CHAPTER 4

METHODOLOGIES AND FABRICATION

INTRODUCTION:

In this chapter we can see about the methodologies and

fabrication of the obstacle detection vehicle. The methodologies
may include algorithm and coding used in the working of the
vehicle.