SPEED BREAKER DETECTION FOR A GROUND VEHICLE & SPEED CONTROL

Guide D.Muralidar, Asst.Professor, TIFAC, VIT University.

By Mahesh(11MEA0040)

Abstract
The main objective of this project is camera based identification and detecting the speed breaker, where camera system acts as a sensor to track and detect the speed breaker. It alert the driver about approaching speed breaker towards the vehicle and automatically controls the speed of the vehicle to avoid the accident. We adopt the vision technology because of its large detecting range and abundant information when compared to other kinds of sensors. Thus here it improves driving safety for drivers.

Introduction
This project is to detect the speed breakers that lie along the roads and to intimate the driver and it automatically reduce the speed of the vehicle. A Video Camera is fixed to the front portion of the vehicle to detect the speed breaker Through image processing speed breaker gets detected and it send a signal to controller. Controller sends signal to driver circuit and it intimate the driver. Driver circuit reduce the speed of vehicle.

PROCESS
MATLAB Simulation Program Camera Installation Lens Focusing Speed Breaker Detection Speed Control

Software Tools Used MATLAB 2010a Micro C

Hardware Used PIC Microcontroller Driver circuit L293d Prototype car with two motors

Literature Survey
Research into the effectiveness of engineering solutions to reduce vehicle speeds began in the 1970s at the Transport Research Laboratory. Initial research comprised a comprehensive track trial of different hump heights and lengths in the direction of travel. Numerous designs of hump varying from 50mm long by 12mm high to 3.6 meters long by 150mm high were tested.

 Various types of vehicle, including goods vehicles, a moped and a bus, were driven over the humps at a range of speeds. Both comfort levels of vehicle occupants and peak vertical accelerations were also assessed. As a result of this research, the initial "standard" design hump was developed. This comprised a circular profile hump, 3.6 meters long by 100mm high. This type of hump was installed in 9 trial sites that were subsequently evaluated.

 The history of road humps can be traced through the Regulations governing their dimensions and positioning. Their usage as a speed reduction measure was permitted. speed humps are the most effective in reducing both mean and 85th percentile speeds. The conclusions from the research were that average annual accident frequency had fallen by about 60%. There was a 6.2% reduction in accidents for each 1mph reduction in vehicle speed.

Implementation
Video from camera Image processing
RS-232 Serial communication

PIC Microcontroller

Driver Circuit

Prototype car

Video from Camera

The Camera mounted on the front end of the vehicle it will continuously take video of the road. The video is given as input to image processing. The used camera is about 5 megapixels. By using high resolution cameras it will detect even in large range. The preferable camera for these operations is Sony TRV 950.

Image Processing
Image processing is done through MATLAB software. The given video is converted into number of images and finding corners of that image using Curvature Scale Space algorithm.

 All the true corners should be detected.

No false corners should be detected. Corner points should be well localized. Corner detector should be robust with respect to noise.
Corner detector should be efficient.

Adaptive local Threshold

This is the case of rounded corners, and fortunately we can remove them by using an adaptive local curvature threshold. In principle, we set the threshold for a candidate according to its neighborhood regions curvature. The local maxima whose absolute curvatures are under its local threshold are eliminated.

The mean value K, is used to represent the curvature of a neighborhood region. The region of surface (ROS) is defined as from one of the neighboring local curvature minima to the next, where the curvature is strictly decreasing from the candidate point to both ends.

 Where u is the position of corner candidate in the curve, L1 and L2 are sizes of the ROS, and C is a coefficient. It should be noted that if C is set to 1, no corner is removed, and for the purpose of retaining a corner whose curvature function waveform is a standard triangle, the boundary value of C is 2.

 By observation, the round corner has a convex waveform in absolute curvature function, and is not sharper than a triangle. So, theoretically C should be greater than 1 and less than 2. A median value of 1.5 is chosen for the proposed method, and it works well for almost all images.

Angle of Corner
corner should have a relatively sharp angle. As argued in , if we know the angle of each point on a curve, it would be easy to differentiate true corners from false corners.

 It represent maximal local curvature values and can be regarded as corner candidates. If a small ROS is adopted, they all are true corners. If a larger ROS is considered, corners 2, 3, 4 may be regarded as false corners.

Serial Communication
If the Speed Breaker is Identified it will send a signal through Serial port using RS-232 cable by setting a Com Port in the Hyper terminal. A Standard Serial Interface RS232 for PC uses voltage levels in a range between -12 v to +12v. For the serial signals used by this Standard, a voltage ranging between -3v to -12 v stands for logic 1. Where as a voltage in a range between +3 v to +12v stands for logic 0.

MAX 232
The MAX 232 board features a built-in circuit MAX 232 used to perform necessary adjustment. This circuit is powered with a single 5V voltage. It is used to convert a serial signal from TTL to RS-232 Standard and vice versa by means of a built-in voltage generator

Steps
Flowcontrol Baud rate Parity Data bits Fopen Fwrite Fclose

PIC-Microcontroller
Whenever the Speed Breaker is detected it sends a signal through Serial port to the Microcontroller. Once the Microcontroller receives the data it intimates to the driver circuit to perform its operations.

Driver circuit
L293D is a dual motor driver integrated circuit (IC). Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors. In its common mode of operation, two DC motors can be driven simultaneously, both in forward and reverse direction. The motor operations of two motors can be controlled by input logic at pins 2 & 7 and 10 & 15. Input logic 00 or 11 will stop the corresponding motor. Logic 01 and 10 will rotate it in clockwise and anticlockwise directions, respectively.

References
[1]Curvature Scale Space Corner Detector with Adaptive Threshold and Dynamic Region of Support X.C. He and N.H.C. Yung Department of Electrical and Electronic Engineering. The University of Hong Kong, Pokfulam Road, Hong Kong [2] C. Harris. Determination of ego-motion from matched points. In Proc. Alvey Vision Conf., Cambridge, UK, 1987

[3] L.Kitchen and A. Rosenfeld. Gray level corner detection. Pattern Recognition Letters, pp. 95-102, 1982
[4] S.Smith and J. Brady. SUSANA new approach to low-level image processing. International Journal of Computer Vision, 23(1):45-48, 1997. [5] A. Rattarangsi and R. T. Chin, Scale-based detection of corners of planar Curves, IEEE Trans on Pattern Analysis and Machine Intelligence, 14(4): 430-449. 1992

Thank you