BACHELOR OF TECHNOLOGY

IN
ELECTRICAL AND ELECTRONICS ENGINEERING

Submitted by

ALOK KESHARWANI(1714321007)

Under the Guidance of

Prof. Sulekha Saxena
Prof. Raj Kumar Singh

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

IMS ENGINEERING COLLEGE

NH-24, ADHYATMIK NAGAR, DASNA, GHAZIABAD
 TABLE OF CONTENTS

Page No.

Acknowledgement i
Abstract ii
List of Tables iii
List of Figures iv
List of Symbols & Abbreviations v

CHAPTER 1 : INTRODUCTION
1.1 PURPOSE 1
1.2 OVERVIEW 2
1.2.1 Applications
1.2.2 Adaptive Noise Canceller
1.3 CONTRIBUTIONS & OUTCOME OF THESIS
1.4

CHAPTER 2 :

.CHAPTER : CONCLUSION
CHAPTER : FUTURE ADVANCEMENTS

REFERENCES
 ACKNOWLEDGEMENT

I express my profound sense of gratitude to my mentor, Ms. Sulekha Saxena and Mr. Raj
Kumar Singh, Assistant Professor, Department of Electrical and Electronics Engineering, for their
systematic guidance, valuable advices, encouragement and suggestions were of immense help to me
throughout my seminar.

I would like to express my sincere gratitude to Prof. R K Chauhan, Head of the Department of
Electrical and Electronics Engineering, IMS Engineering College Ghaziabad, for his valuable advices and
help in completion of this seminar.

I would also like to thank all the faculty and staff members of Electrical and Electronics
Engineering Department, who extended full cooperation for completion of this presentation.

I take this opportunity to thank all my friends who helped me through their patient discussions and
suggestion and for their help at various stages in completion of this seminar.

ALOK KESHARWANI

Roll No. 1714321007

 AUTONOMOUS VEHICLE
INTRODUCTION TO AUTONOMOUS CARS

 A self-driving car, also known as an autonomous vehicle (AV), connected and

autonomous vehicle (CAV), driverless car, robo-car, or robotic car,[1][2][3] is
a vehicle that is capable of sensing its environment and moving safely with little or
no human input.[1][4]
 Self-driving cars combine a variety of sensors to perceive their surroundings, such
as radar, lidar, sonar, GPS, odometry and inertial measurement
units.[1] Advanced control systems interpret sensory information to identify appropriate
navigation paths, as well as obstacles and relevant signage.[5][6]
 Long distance trucking is seen as being at the forefront of adopting and implementing the
technology.[7]

 Autonomous vehicle" means a vehicle capable of navigating District roadways and

interpreting traffic-control devices without a driver actively operating any of the vehicle's
control systems. The term "autonomous vehicle" excludes a motor vehicle enabled with
active safety systems or driver- assistance systems, including systems to provide
electronic blind-spot assistance, crash avoidance, emergency braking, parking
assistance, adaptive cruise control, lane-keep assistance, lane-departure warning, or
traffic-jam and queuing assistance, unless the system alone or in combination with other
systems enables the vehicle on which the technology is installed to drive without active
control or monitoring by a human operator.
 HISTORY

The first truly automated car was developed in 1977, by Japan's Tsukuba
Mechanical Engineering Laboratory.

 The vehicle tracked white street markers, which were interpreted by two cameras
on the vehicle.
 The vehicle reached speeds up to 30 kilometres per hour (19 mph), with the
support of an elevated rail.
 In November 2017, Waymo announced that it had begun testing driverless cars
without a safety driver in the driver position however, there was still an employee
in the car. In October 2018, Waymo announced that its test vehicles had traveled
in automated mode for over 10,000,000 miles (16,000,000 km), increasing by
about 1,000,000 miles (1,600,000 kilometres) per month. In December 2018,
Waymo was the first to commercialize a fully autonomous taxi service in the U.S.
 WHY WE NEED THEM ?

 Today world is running behind the time and the technology improves rapidly along with
the time, so the topic of self-driving cars is introduced. By this we can save the time and
we can do other works (for ex. Office work etc).While travelling without concentrating on
driving the car. Many of us use cars everyday but unlike aero planes which have been
flying on autopilot for decades cars are still driven manually just the way they were driven
100 years ago this talk will introduce the trans-formative concept of a self-driving car.
Self-driving cars are expected to improve the load safety and mobility of those who
currently cannot use conventional vehicles and better comfort to consumer. In this we
discuss the self-driving cars (i.e. autonomous).
 A self-driving car is capable of sensing its environment and navigation without human
input to accomplish this task the vehicle is usually outfitted with a GPS unit, inertial
navigation system and a range of sensor including laser range finder radars and video.
The majority of self-driving cars are capable of making intelligent division by maintaining
on internal map of their world using GPS system.
 history The first truly automated car was developed in 1977, by Japan's Tsukuba
Mechanical Engineering Laboratory.
 The vehicle tracked white street markers, which were interpreted by two cameras on the
vehicle.
 The vehicle reached speeds up to 30 kilometres per hour (19 mph), with the support of
an elevated rail.
 In November 2017, Waymo announced that it had begun testing driverless cars without a
safety driver in the driver position however, there was still an employee in the car. In
October 2018, Waymo announced that its test vehicles had traveled in automated mode
for over 10,000,000 miles (16,000,000 km), increasing by about 1,000,000 miles
(1,600,000 kilometres) per month. In December 2018, Waymo was the first to
commercialize a fully autonomous taxi service in the U.S.
 BASIC INLET AND OUTLET COMPNENTS

Autonomous cars combine a variety of sensors to perceive their surroundings,

• radar
• computer vision
• Lidar
• Sonar
• GPS
• odometery and inertial measurement units.
 RADAR

 Accident prevention system triggers aletrs when they detect something in a blind car’s
blind spot Radar is a detection system that uses radio waves to determine the range,
angle, or velocity of objects. It can be used to detect aircraft, ships, spacecraft, guided
missiles, motor vehicles, weather formations, and terrain. A radar system consists of
a transmitter producing electromagnetic waves in the radio or microwaves domain, a
transmitting antenna, a receiving antenna (often the same antenna is used for
transmitting and receiving) and a receiver and processor to determine properties of the
object(s). Radio waves (pulsed or continuous) from the transmitter reflect off the object
and return to the receiver, giving information about the object's location and speed.

 Radar was developed secretly for military use by several nations in the period before and
during World War II. A key development was the cavity magnetron in the United
Kingdom, which allowed the creation of relatively small systems with sub-meter
resolution. The term RADAR was coined in 1940 by the United States Navy as
an acronym for RAdio Detection And Ranging.[1][2] The term radar has since
entered English and other languages as a common noun, losing all capitalization.The
following derivation was also suggested during RAF RADAR courses in 1954/5: at
Yatesbury Training Camp: Radio Azimuth Direction And Ranging:.The modern uses of
radar are highly diverse, including air and terrestrial traffic control, radar astronomy, air-
defense systems, antimissile systems, marine radars to locate landmarks and other
ships, aircraft anticollision systems, ocean surveillance systems, outer space
surveillance and rendezvous systems, meteorological precipitation monitoring, altimetry
and flight control systems, guided missile target locating systems, and ground-
penetrating radar for geological observations. High tech radar systems
 OPTICS

 A Optics is
the branch of physics that studies the behaviour and properties of light, including its
interactions with matter and the construction of instruments that use or detect it.[1] Optics
usually describes the behaviour of visible, ultraviolet, and infrared light. Because light is
an electromagnetic wave, other forms of electromagnetic radiation such as X-
rays, microwaves, and radio waves exhibit similar properties.[1]
 Most optical phenomena can be accounted for using the classical
electromagnetic description of light. Complete electromagnetic descriptions of light are,
however, often difficult to apply in practice. Practical optics is usually done using
simplified models. The most common of these, geometric optics, treats light as a
collection of rays that travel in straight lines and bend when they pass through or reflect
from surfaces. Physical optics is a more comprehensive model of light, which
includes wave effects such as diffraction and interference that cannot be accounted for in
geometric optics. Historically, the ray-based model of light was developed first, followed
by the wave model of light. Progress in electromagnetic theory in the 19th century led to
the discovery that light waves were in fact electromagnetic radiation.
 Some phenomena depend on the fact that light has both wave-like and particle-like
properties. Explanation of these effects requires quantum mechanics. When considering
light's particle-like properties, the light is modelled as a collection of particles called
"photons". Quantum optics deals with the application of quantum mechanics to optical
systems.
 Optical science is relevant to and studied in many related disciplines
including astronomy, various engineering fields, photography,
and medicine (particularly ophthalmology and optometry). Practical applications of optics
 are found in a variety of technologies and everyday objects,
including mirrors, lenses, telescopes, microscopes, lasers, and fibre optics.

LIDAR


The Light Detection And Ranging (LIDAR) which is mounted on a roof of the vehicle is the most
important device in the autonomous vehicle
 the LIDAR consist of an emitter ,mirror,receiver
 The emitter sends out a laser beam that bounces off a mirror that is rotating along with the
cylinder housing at 10 revolutions per minute

 Lidar (/ˈlaɪdɑːr/, called LIDAR, LiDAR, and LADAR) is a surveying method that
measures distance to a target by illuminating the target with laser light and measuring the
reflected light with a sensor. Differences in laser return times and wavelengths can then
be used to make digital 3-D representations of the target. The name lidar, now used as
an acronym of light detection and ranging[1] (sometimes, light imaging, detection, and
ranging), was originally a portmanteau of light and radar.[2][3] Lidar sometimes is
called 3D laser scanning, a special combination of a 3D scanning and laser scanning. It
has terrestrial, airborne, and mobile applications.
 Lidar is commonly used to make high-resolution maps, with applications
in geodesy, geomatics, archaeology, geography, geology, geomorphology, seismology, f
orestry, atmospheric physics,[4] laser guidance, airborne laser swath mapping (ALSM),
and laser altimetry. The technology is also used in control and navigation for
some autonomous cars.[5]
 GPS

 The Global Positioning System (GPS), originally NAVSTAR GPS,[1] is a satellite-

based radionavigation system owned by the United States government and operated by
the United States Air Force.[2] It is a global navigation satellite system (GNSS) that
provides geolocation and time information to a GPS receiver anywhere on or near the
Earth where there is an unobstructed line of sight to four or more GPS
satellites.[3] Obstacles such as mountains and buildings block the relatively weak GPS
signals.
 The GPS does not require the user to transmit any data, and it operates independently of
any telephonic or internet reception, though these technologies can enhance the
usefulness of the GPS positioning information. The GPS provides critical positioning
capabilities to military, civil, and commercial users around the world. The United States
government created the system, maintains it, and makes it freely accessible to anyone
with a GPS receiver.[4]
 The GPS project was started by the U.S. Department of Defense in 1973, with the first
prototype spacecraft launched in 1978 and the full constellation of 24 satellites
operational in 1993. Originally limited to use by the United States military, civilian use
was allowed from the 1980s. Advances in technology and new demands on the existing
system have now led to efforts to modernize the GPS and implement the next generation
of GPS Block IIIA satellites and Next Generation Operational Control System
(OCX).[5] Announcements from Vice President Al Gore and the White House in 1998
initiated these changes. In 2000, the U.S. Congress authorized the modernization
effort, GPS III. During the 1990s, GPS quality was degraded by the United States
 government in a program called "Selective Availability"; this was discontinued in May
2000 by a law signed by President Bill Clinton.[6]

WHEEL SPEEED SENSOR

Wheel

 Purpose[edit]
 The wheel speed sensor was initially used to replace the mechanical linkage from the
road wheels to the speedometer, eliminating cable breakage and simplifying the gauge
construction (elimination all moving parts except for the needle/spring assembly). With
the advent of automated driving aid, such as electronic ABS, the sensor also provided
wheel speed data to the controllers to assist the operator in maintaining control of the
vehicle. The vehicle Speed sensor is also used for the proper shifting up of gears for
the vehicle maintenance.
 Construction[edit]
 The most common wheel speed sensor system consists of a ferromagnetic toothed
reluctor ring (tone wheel) and a sensor (which can be passive or active).
 The tone wheel is typically made of steel and may be an open-air design, or sealed (as
in the case of unitized bearing assemblies). The number of teeth is chosen as a trade-
off between low-speed sensing/accuracy and high-speed sensing/cost. Greater
numbers of teeth will require more machining operations and (in the case of passive
sensors) produce a higher frequency output signal which may not be as easily
interpreted at the receiving end, but give a better resolution and higher signal update
rate. In more advanced systems, the teeth can be asymmetrically shaped to allow the
sensor to distinguish between forward and reverse rotation of the wheel.
 A variation of the passive sensor does not have a magnet backing it, but rather a tone
wheel which consists of alternating magnetic poles produce the al rather than a
sinusoid, but still increases in magnitude as wheels speed increases.
 .




 TESTING
 FIELDS OF APPLICATION

 In March 2018, Starsky Robotics, the San Francisco-based automated truck company, completed
a 7-mile (11 km) fully driverless trip in Florida without a single human in the truck. Starsky
Robotics became the first player in the self-driving truck game to drive in fully automated mode
on a public road without a person in the cab.

 TRANSPORT SYSTEMS

 The alliance between French companies THALES and Valeo (provider of the first self-parking car
system that equips Audi and Mercedes premi) is testing its own system. New Zealand is planning
to use automated vehicles for public transport in Tauranga and Christchurch.
 In China, Baidu and King Long produce automated minibus, a vehicle with 14 seats, but without
driving seat. With 100 vehicles produced, 2018 will be the first year with commercial automated
service in China. Those minibuses should be at level 4, that is driverless in closed roads.

POTENTIAL ADVANTAGES

• SAFETY

• WELFARE

• TRAFFIC

• LOWER COSTS

• ENERGY AND ENVIRONMENTAL IMPACTS

• PARKING

• POTENTIAL CHANGES FOR DIFFERENT INDUSTRIES

*TAXIS

*HEALTHCARE,CAR REPAIR AND CAR INSURANCE

*RESCUE

*ENTERTAINMENT

*TELECOMMUNICATION

*RESTAURANT,HOTELS and airlines

*elderly,disabled and children

EXAMPLES OF AUTONOMOUS CARS

Volvo bizarre autonomous car

Toyota ai-powered autonomous car

 ADVANTAGE S OF AUTONOMOUS CARS

1. REDUCED ACCIDENTS
According to the USDOT website: "With 94 percent of fatal vehicle crashes attributable
to human error, the potential of autonomous vehicle technologies to reduce deaths
and injuries on our roads urges us to action."

Self-driving cars are projected to reduce traffic deaths by

90 percent, saving 30,000 lives a year
"Self-driving cars have the potential in the future to reduce deaths and injuries from car
crashes, particularly those that result from driver distraction," said House Energy and
Commerce Committee Ranking Member Frank Pallone, Jr. (D-NJ).

The House Energy and Commerce Committee website clarifies: "Self-driving cars are
projected to reduce traffic deaths by 90%, saving 30,000 lives a year."

2. REDUCED TRAFFIC CONGESTION

Americans currently spend more than 6.9 billion hours a year sitting in traffic,
according to the American Society of Civil Engineers.

“Our experiments show that with as few as 5 percent of vehicles being automated and
carefully controlled, we can eliminate stop-and-go waves caused by human driving
behavior,” said Daniel B. Work, assistant professor at the University of Illinois at
Urbana-Champaign, a lead researcher in the traffic congestion study.

Under normal circumstances, human drivers naturally create stop-and-go traffic, even
in the absence of bottlenecks, lane changes, merges or other disruptions. This
phenomenon is called the "phantom traffic jam." U of Illinois researchers found that by
controlling the pace of the autonomous car in the study, they were able to smooth out
the traffic flow for all the cars.

"Even decreasing the number of accidents could reduce congestion, because up to 25%
of congestion is caused by traffic incidents," according to Study of the Potential Energy
Consumption Impacts of Connected and Automated Vehicles, a report by the US Energy
Information Administration (EIA).

3. REDUCED CO2 EMISSIONS

The reduction in congestion will most likely result in a reduction of CO2 emissions as
well.
In addition, the Future of Driving report from Ohio University states: "Since software
will drive the car, the modern vehicle can now be programmed to reduce emissions to
the maximum extent possible. The transition to the new-age cars is expected to
contribute to a 60% fall in emissions."

4. INCREASED LANE CAPACITY

Research from the State Smart Transportation Initiative (SSTI) shows potential for
autonomous vehicles could increase highway capacity by 100 percent and increase
expressway travel speeds by more than 20 percent.

Eric Sundquist, Managing Director of SSTI adds, "An even more aggressive estimate,
taking into account the possibility of AVs platooning in a 'hypothetical continuous
train,' could raise capacity even further, to an astronomical (by today’s standards)
8,000 vehicles per hour at 60 mph, or 10,000 vehicles per hour at 80 mph."

P l at ooni ng of AVs c oul d increase lane capacity by up to 500

percent
Autonomous Vehicle Technology: A Guide for Policy Makers, a report from Rand Corporation,
states: "While AVs might lead to an increase in overall vehicle travel, they could also
support higher vehicle throughput rates on existing roads. To begin with, the ability to
constantly monitor surrounding traffic and respond with finely tuned braking and
acceleration adjustments should enable AVs to travel safely at higher speeds and with
reduced headway (space) between each vehicle. Research indicates that the platooning
of AVs could increase lane capacity (vehicles per lane per hour) by up to 500 percent."

5. LOWER FUEL CONSUMPTION

"AV technology can improve fuel economy, improving it by 4–10 percent by
accelerating and decelerating more smoothly than a human driver. Further
improvements could be had from reducing distance between vehicles and increasing
roadway capacity. A platoon of closely spaced AVs that stops or slows down less often
resembles a train, enabling lower peak speeds (improving fuel economy) but higher
effective speeds (improving travel time). Over time, as the frequency of crashes is
reduced, cars and trucks could be made much lighter. This would increase fuel
economy even more," states Rand Corporation's Autonomous Vehicle Technology: A Guide for
Policy Makers.
U of Illinois researchers demonstrated experimentally in 2017 that even a small
percentage of autonomous vehicles on the road can reduce the total fuel consumption

by up to 40 percent.

6. LAST MILE SERVICES

"Autonomous vehicles are well-positioned to provide first/last-mile services to connect
commuters to public transportation. Larger cities have the problem of providing
adequate public transportation. Many lack the appropriate infrastructure to support the
needs of their residents, a void that could partially be filled by self-driving cars. AVs
could potentially supplement public transport, solving the first-mile-last-mile problem,"
according to a report from KPMG:

7. TRANSPORTATION ACCESSIBILITY
The USDOT website states: "Many seniors and people with disabilities cannot currently
drive, even with vehicle modifications that help others drive safely. Autonomous
vehicles could provide many more Americans access to the open road and to
independence."

The US House Energy and Commerce Committee website adds: "With self-driving cars,
tasks like commuting to work, going to the doctor, and visiting family across town
could become easier for seniors and those with disabilities."

“The aging of the population converging with autonomous vehicles might close the
coming mobility gap for an aging society,” said Joseph Coughlin, the director of the
Massachusetts Institute for Technology AgeLab in Cambridge, quoted in an article in
the New York Times.

8. REDUCED TRAVEL TIME AND TRANSPORTATION COSTS

AVs may cut travel time by up to 40 percent, recover up to

80 billion hours lost to commuting and congestion, and
reduce fuel consumption by up to 40 percent
"AVs may cut travel time by up to 40 percent, recover up to 80 billion hours lost to
commuting and congestion, and reduce fuel consumption by up to 40 percent. These
cost/time-saving benefits are expected to be worth about US$1.3 trillion in the
country. Other potential cost-saving domains include reduced manpower — drivers and
law enforcers," according to a report from KPMG.

9. MORE EFFECTIVE AND AFFORDABLE TAXIS

The Future of Driving report from Ohio University states that with autonomous taxis,
"The waiting time for a cab will come down from the average five minutes today to just
36 seconds. The cost of a ride too will come down to just $0.5 per mile in a driverless
car."

10. MORE EFFICIENT PARKING

"AVs remove commuters' demands for street and lot parking. Some cities devote a
third of their land to parking and AVs could free up significant real estate for other
uses, from parks to residences to office space. For personal AVs, commuters may be
dropped at a location and the vehicle would park itself away from the destination,
where space is available. Cutting back on the land used for parking might even reduce
real estate costs, " according to a report from KPMG
The Future of Driving report from Ohio University says a significant "impact of
driverless cars is that such cars can be parked in 15% less space. Currently, cars need
to be parked with enough space between them for the driver to exit after parking and
enter when removing the car from the parking space. With self-driving cars, vehicles
can be stacked right next to each other. Urban areas facing acute space shortage will
gain from the transition to driverless cars."

Disadvantages of Self-Driving Cars

 Jobless Drivers– Many trucks, as well as taxi drivers, will become jobless, as
autonomous vehicles take over.

 The price of the self-driving cars- Self-driving cars would probably cost more than
$100,000. Many ordinary people cannot afford them to buy such kind of cars.

 The possibility of even worst crashes- As is known self-driving vehicles are leading by
computer devices. Even a minor computer malfunction, may cause even worse crashes
than the crashes occurring because of human error.

 No one is guilty– If the car without driver crashes, who will be guilty? Who should
compensate for the damage?

 Privacy concerns – driverless cars would function using your place as well as user
information by creating major privacy issues.

 Security worries – the other disadvantage of driverless cars is the factor of hackers.
Hackers may get into the car’s software and affect or control its operation. This is a big
security concern.

 Problems related to weather– Here are weather-related concerns: heavy rain interferes
with roof-mounted laser sensors. In its turn snow can interfere with its cameras. It is
really challenging for a robot to read human road signs.

 Reduction of driving experience – Since drivers become used not to driving, their
experience and proficiency will reduce. And if they will need to drive under certain
conditions, many problems may arise.
 Change of Road System -The road system should be changed in order to be adjusted
to new driverless vehicles. For example, traffic and street lights should be altered.

 The threat of terrorists – terrorists will use self-driving cars to load them with explosives
and used as moving bombs.

 The difficulty of understanding human behavior– human behavior such as hand

signals are really difficult for the computer to understand.