SAE INDIA 0301036

SAFE CRUISING SYSTEM

Sumit Sarkar
Netaji Subhas Institute of Technology, New Delhi

Abhishek Jain
SGSITS,Indore
Copyright 2003 SAE International

ABSTRACT
SAFE CRUISING SYSTEM is an intelligent and adaptive cruise control gadget based on a technology, which has been devised to reduce the number of road accidents, by manifold. This system ensures automatic, intelligent adaptive control of the vehicle by automatic control of brakes and throttle. In this paper, light is thrown on how electronics and computers can be combined to achieve what will become a bare necessity in the near future. This system would be just an additional gadget that has to be fitted to the car, so no change in the assembly line of a car is required. The system can adapt to any kind of situation while driving (be it crowded roads or highways) and to any kind of condition (be it rain, snow, fog, day or night). This system incorporates a strip of Ultrasonic sensors in conjunction with vision camera, and corresponding controllers and is applicable up to a range of 15 metres. This system deals with automatically controlling all systems, thereby leaving the driver with the job of steering the vehicle, ensuring that he cannot have an accident under any circumstances.

accidents, by manifold. This system ensures automatic, intelligent adaptive control of the vehicle by automatic control of brakes and throttle. In this paper light is thrown on how electronics and computers can be combined to achieve what will become a bare necessity in the near future. All systems are automatically controlled, thereby leaving the driver with the job of steering the vehicle, ensuring that he cannot have an accident under any circumstances. This paper also includes a topic on Future Proposals that will help in improving modern d ay car by leaps and bounds. The future proposals aim at improving various existing facilities in the existing vehicles as well as adding a few gadgets, which will help the driver to have utmost comfort while driving.

MAIN SECTION
PRIME OBJECTIVES: 1. PRIMARY AIM Safety of Vehicles. 2. Adaptive and Intelligent Control System. 3. Automatic Acceleration and Deceleration. Working Procedure: This system incorporates a strip of Ultrasonic sensors, microprocessors and a tachogenerator. The Ultrasonic transducer generates an acoustic wave, which will be reflected upon touching any object whether a stationary object (divider, wall, etc) or moving object (another car, motorcycle, scooter, etc). The ultrasonic distance measurements are based on the determination of time of flight in the real time. The intensity of acoustic waves varies as inverse of the square of the distance from the transducer. For higher frequency the beam divergence angle is small and hence the directivity of the sensor is more. A time gap is maintained between the subsequent generation of waves so that there is no interference. This system will be applicable up to a range of 15 metres. The distance at which the vehicle has to start braking is proportional to the speed of the car. For the purpose of measuring this speed, a Tachogenerator is used. The Tachogenerator is attached to the main engine shaft. The

INTRODUCTION
This system has been made, keeping in mind the current needs of the automobile industry, but the same can be implemented for any other moving object. This project proves to be an effective Anti Collision Device and provides Automatic Control of Acceleration and Brake to produce Accident Free Cars. Today, in this highly competitive automobile industry, vehicles have various provisions for safety, but unfortunately most of these provisions are disposed towards safety after the accident has actually occurred and very few methods are taken to prevent the accident. SAFE CRUISING SYSTEM, is an intelligent and adaptive cruise control gadget based on a technology, which has been devised to reduce the number of road

received pulse from the obstacle is amplified and then time of flight is calculated. Then it is calibrated in terms of voltage using the given circuit and compared with a range of values. This signal is then fed to the microprocessors, which is coded . The output of the microprocessors, using a 2-way switch, taps the signal to the brake or acceleration cables before it reaches the Electronic Control Unit (ECU). The acceleration and brake systems are thus controlled accordingly as per the signal given by the ECU. For convenience, the sensor is first explained with circuit and block diagram. The algorithm used is described by dividing the whole range desired into three zones. ULTRASONIC SENSORS The operating principle is based on the measurement of the Time of Flight (TOF), that is, the time necessary for an ultrasonic wave to travel from the transmitter to the receiver after being reflected from the tar get. The object distance from the transducer D = [C * (TOF)/2], where C is the velocity of Sound, which is approximated at 330 m/s. Pulse-Echo techniques are often used in commercial systems for industrial applications. To achieve accuracy detection of target occurs not only with the amplitude of the signal but also with the number of waves in the received signal. Ultrasonic Sensors used in many applications are piezoelectric ceramic type. The piezoelectric effect causes the crystal to produce an electrical potential when it is subjected to mechanical vibration. The most commonly used piezoelectric materials are Rochelle salt and Quartz. SENSOR FUNCTIONING

level should be set in such a level so that when signal to noise ratio is 2:1, the minimum for the detection occurs. The signal conditioner makes this output compatible with the micro controller by removing the DC signal. An Echo signal will be treated as an echo from the target object when it will contain 4 cycles of waves. The Time of flight between the transmitted and received pulse is measured using a 16-bit timer. SENSOR CIRCUIT

Theory of Operation The transmitter emits an ultrasonic signal at 40kHz. The 555-timer of the transmitter provides the driving 40kHz frequency . Every time the reset pin (Pin4) of the 555-timer goes high, a resulting signal of 40kHz on pin 3 is used to drive the ultrasonic transducer. The receiver simply listens for the echo. The small echo signal, when detected, is amplified 1000 times using a standard operational amplifier (LM741 op-amp). The signal is then fed into a tone decoder (LM567) set to lock onto a 40kHz signal. The output of the tone decoder is high when no echo is present and swings low when an echo is detected. The output from the tone decoder can now be fed into a micro controller or some other type of IC to detect the echo.

The transmitter has to be excited with a 40 KHz square wave signal of atleast 9 Vrms. A pulse contains 16 cycles of 40 KHz signal, as the time period is 25 sec so 16 cycles take 0.4 ms. To generate such pulse micro controller is the best solution. The echo signal received from target is the information about the distance of the object. The receiver receives most part of this noise signal having a frequency of 40KHz. This gives an amplification of about 5000. According to a standard the comparator

SYSTEM OPERATION MODE

zone, when the obstacle enters this region full brakes are applied. Yellow belt This is the region extending from end of red belt to starting of green belt. Its length is variable, that is, its length is dependent on the speed of car. It varies linearly with speed of car. In this region if an obstacle enters, proportional braking is applied, braking is proportional to distance of obstacle from car. Proportional braking makes sure that there is no jerk involved while braking and that it is the most efficient braking. Length of this belt is varied with speed because the braking time required to retard is more when speed is high. Green belt This is the region in front of the yellow belt till the range desired. This is the region of proportional acceleration. Depending on the distance of the obstacle fr om the car (or the yellow belt) proportional acceleration is applied. Thus when the obstacle is about to enter the yellow belt, already acceleration applied is minimum. Thus it is a kind of autopilot for vehicles. Not only does it eliminate the need of skill required during driving, it has almost a full proof safety mechanism. This application requires automatic transmission, so that the electronic gadget takes over the control, leaving the driver with the job of steering the vehicle as per his needs. Incase of manual transmission, visual as well as voice messages are incorporated to control the functioning of the car. Alert messages are displayed when an obstacle enters the danger limit. This is in accordance with the Global Version as well as the regional version as per countries market requirements.

Once distance of the obstacle is calibrated in terms of voltage which corresponds to the intensity of the wave received, the algorithm is improvised using a microcontroller, which gives output to acceleration and break line. According to the relative distance of the next obstacle in front of the vehicle, the system generates electrical signals using ICs, which are then tapped onto the Accelerator and Break cables using a two-way switch. This helps the driver by easing his stresses and thereby automatically controlling the speed of the car. REAL TIME IMPLICATION 1. Red Zone Safety Limit. 2. Yellow Zone Proportional Braking. 3. Green Zone Proportional Acceleration.

RED ZONE YELLOW ZONE GREEN ZONE

CALCULATION OF YELLOW REGION The length of the yellow belt is variable and it depends on the speed of the vehicle. The tachogenerator attached to the engine shaft gives the current speed of the vehicle by calculating the engine revolutions. The yellow region is varied, as while traveling at greater speed the braking time required for the vehicle to decelerate is more than that in the case of a slow moving vehicle. This ensures optimum braking without skidding. This system gives greater fuel efficiency. The yellow belt starts after the red belt, which has been given a limit of one metre. Green belt begins from the point of termination of the yellow belt and extends till the range of the sensor. For example, when the speed of the vehicle is 40 Km/hr, the length of the yellow belt is 4 metres, and the green belt is 10 metres. In general, the following formula relating the length of the yellow belt and the speed of the car may be given: where, Y Length of yellow belt (Metres). X Speed of the vehicle detected by the tachogenerator (Km/hr). It will be clearer from the following table: -

The space in front of the car bumper is divided into 3 regions: Red belt This is the region adjacent to the car bumper, and its length is one metre. It is the danger

SPEED Vs LENGTH OF YELLOW BELT S.No. Speed of the vehicle (Km/hr) [X] Length of Yellow Belt (Metres)[Y] 0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0

obstacle. The car comes to a halt and ensures that the passengers sitting inside are safe and reduces any kind of jerk that could have been produced by manual application of brakes. ADVANTAGES 1. Ensures Safe Driving, even on crowded roads. 2. Increases Fuel Efficiency. 3. Less Chances of Human Error. 4. Comfort Driving. 5. Lane Driving within Optimum Limits. 6. Attains the Desired Top Speed. 7. The System comes at an affordable price keeping the consumer in mind. The system comes at a very affordable price, keeping the consumer in mind. The top speed desired while driving in different conditions may also be varied and automatically acceleration may be increased or decreased by the system. For example, cars run at high speeds on highways and slow down on crowded roads. The top speed can be varied as the driver can input his desired top speed. LIMITATIONS The major drawback of this system is that in case of a T junction or a Four way crossing, the obstacle cannot be detected, that is coming perpendicular to the car and the car can only be detected at the last minute and therefore chances of collision remain in the system.

1. 2. 3. 4. 5. 6. 7. 8. 9. 10.

0 10 20 30 40 50 60 70 80 90

11. 100 10.0 The utility of the variable belt can be understood with the help of following examples: 1.Incase Of Moving Obstacle: Supposing a car is driven at a speed of 40 km/hr and another car in front is at a speed of 30 km/h and distance between the two vehicles is about 5 m and there is a traffic signal showing red light some distance ahead. The first car starts applying the brakes. Meanwhile, the car in front has entered the yellow zone. After some time when the distance between the two cars reduces to 1 m as the car in front has stopped at the traffic signal, the first car applies full brakes. Now the distance remaining between the two cars is the length of the red zone. When the car in front has gone ahead by a sufficient distance, the first car again starts accelerating proportionally. This is when the green zone comes into picture. The first car keeps on accelerating till top speed is reached as desired by the car driver, say 100 km/hr. Again when the car in front is in the vicinity of, say, about 15 m, this time the brakes are applied at a distance of 11 m from that car. Note how the length of the yellow belt has changed. 2.Incase Of Static Obstacle: Consider another case, when driving on a highway at a speed of 100 km/hr, there is an obstacle at about 15 m. Right now this obstacle is in the green zone and the acceleration is reduced by lifting the throttle. But as soon as the distance between the divider and the car reduces to 11 m, the yellow zone starts functioning and brakes are applied. This process of proportional braking is continued until there is just about 1 m to go between the car and the

Collision at this site as both cars sense each other at the last second only

Path of Car 1

Path of Car 2

FUTURE PROPOSALS As far as the reliability of the system is considered, it is a very safe and sound system, which ensures safe driving and almost 100% accuracy. This system stops the driver from smashing his car into a static or moving obstacle but

still provides the car with certain functions, which might be the future for the Automobile Industry. These functions would ensure even more safety and a time would come when two cars would actually communicate between themselves to avoid a collision. The proposals listed below are in line with the upcoming automation in the car industry, which is an influx of mechanical and electronics, giving the ultimate motor driving gadgets. 1. Multi Modal : - This includes a camera to be fitted along with the array of sensors which would act as an added functionality and would go a long way in ensuring 100% safety in car driving. This system would be based on the principles of Image Processing, which would check for the pixel density of the image it captures. As the pixel density would go on increasing, this would indicate the closeness of the object in front and according to this either the brakes or acceleration would be applied. This system would assist sensor based system and would go a long way in making it a full proofsystem. 2. Crash Bags: - Crash bags are proposed to be used in front of the radiator which would be incorporated in the Red Zone of the Car. These bags would be inflated when any object comes perilously close to the front bumper of the car. These crash bags would prevent an accident rather than being implemented after the accident has taken place. This is what the current safety features in a car are based on but the emphasis is on preventing an accident rather than applying features after the accident has taken place. This way the damage is minimized and safety is ensured up to great limits. 3. Global Positioning System: - or GPS system as it is famously known has a great role to play in the future of any Automobile Industry. The GPS system would help a car industry in taking giant strides towards ensuring communication between two cars. The GPS system would be fitted on the underbody of every car and would transmit their longitude and latitude through satellite communication. This would help each car in determining the exact position of the car in front of it, this would provide a two way communication between two cars, thereby reducing the chances of an accident taking place to a bare negligible amount. 4. Image Processing for Red Lights and Speed Breakers: - This is a feature, which would be provided in every car along with Adaptive Cruise Control gadget. This is based on the principle of Image Processing, which would compare the images the Red Lights and Speed Breakers and would help in slowing down the car as per the desired needs. Contour matching is used to match red lights junctions as well as speed

breakers. When the red light image is captured the driver gets a signal asking him to confirm the image captured by the high focal length camera. As per the confirmation given by the driver the gadget acts accordingly. The above-mentioned features can be used together in conjunction to achieve a higher degree of accuracy and safety.

CONCLUSION
I am currently working on a project known as Safe Cruising System, an Adaptive Cruise Control System, which is a concept entirely developed by me and would help in reducing car accidents to a great extent, by removing the human element in car driving and thereby reducing human error. This system ensures maximum safety and will aid the human comfort while driving by automatic control of Throttle and Brake.

ACKNOWLEDGMENTS
We are highly indebted to all those who have extended their kind support and guidance for the successful accomplishment of this paper. Their vast practical knowledge and expertise in the industry helped us in giving this idea a realistic touch. We would like to express our heartfelt gratitude to our Head of Department, Manufacturing Process and Automation Engineering, Prof M.K.Muju, whose experience at IIT Kanpur helped us in understanding the practical implementations of this project. We would also like to thank Dr. S.K.Sinha , who has helped us at every stage of development of this concept.

REFERENCES
Books: 1. D.Marioli, C.Narduzzi, C Offelli, Digital Time of Flight Measurement for Ultrasonic Sensor in IEEE transaction on instrumentation and measurement. VOL. 41. NO. 1, February 1992. 2. C.Cai and Paul P.L.Regtein. Accurate Digital Time of Flight Measurement using Self-Interference in IEEE transaction on instrumentation and measurement. VOL. 42. NO.6, December 1993. 3. Survey on Ultrasonic Sensors by Richard Kendall Miller. Websites: 1. 2. 3. www.spkecl.com/htdoc/electret.htm http://robios.me.wisc.edu/Courses/me601/sonar/son ar.html http://robios.me.wisc.edu/Courses/me601/sonar/son ar.html

4. 5. 6.

http://www.acroname.com/robotics/parts/R116500.html http://store.yahoo.com/webtronics/lm567.html http://www.ee.nmt.edu/~thomas/ee322_s01/labs/ton e_decoder.html

CONTACT
SUMIT SARKAR, J-1897, CHITTRANJAN PARK, NEW DELHI 110019

EMAIL:- sumitsakar82@yahoo.com, sumitsarkar72@hotmail.com