The Optimized Auto-Pilot System of Autonomous Car
Focused on Safety by Combining Ultrasonic Sensors and
INTRODUCTION
Because human errors caused many car accidents (Fig. 1), autonomous
car is becoming a popular option for mobile transportation. In the field of
autopilot system, there are several kinds of autonomous car systems that
combine sensor technology with the algorithm. In this project, we are
proposing a system, that combines ultrasonic sensors with sorting
algorithm, for a unique self-driving car that focuses on safety.
This combination has been tested in robotics area [1], however it has not
been implemented in autopilot field. Since accidents that are caused by
autonomous cars are increasing rapidly, our project is focusing on
improving the safety and solving problems that occurred in the previous
research. Our proposed system is using a combination of Seeed
Ultrasonic sensor, that has the longest sensing range, and the selection
sorting, that has a light and fast mechanism [2][4].
Figure 1. Percentage of Car Accidents caused by human error [8]
METHODOLOGY
DETECTING OBSTACLES
Figure 2. How Ultrasonic Sensor Works
An ultrasonic sensor (Fig. 2) is a device that sends electromagnetic
waves to measure the distance of objects. To avoid accidents or crashes,
the autonomous car should be able to detect obstacles to operate
smoothly and efficiently. The distance of the obstacles from the
autonomous cars should also be measured. It calculates the distances of
objects within a radius of 200 cm in real time [3]. In our project, we will
improve the range of obstacle detection by using the Seeed Ultrasonic
Sensors which can measure up to 400 cm of distance[4].
Selection Sorting Algorithms
Kyohyeon Koo | kkoo4@masonlive.gmu.edu
Sittipong Ruangsang | sruangsa@masonlive.gmu.edu
Department of Computer Science & Electrical and Computer Engineering | George Mason University
AVOIDING OBSTACLES
Figure 3. How Sorting Algorithm Works
Sorting algorithm (Fig. 3) is simpler and faster than other algorithms [2].
So, this algorithm is best option for operating autopilot system. Selection
sorting use measured data based on the ultrasonic sensors. First step is
making a new heap sort from the raw data. Second step is to process the
data and provide proper commands to cars quickly and accurately [1].
COMBINING ULTRASONIC SENSORS AND SELECTION
SORTING ALGORITHMS
Based on the previous experiments, it demonstrates that the combination
of ultrasonic sensor and sorting algorithm on mobile robot, gives
capabilities for the robot to move around, detect and avoid obstacles
efficiently [5]. Moreover, it can precisely measure the distance of its
surroundings and its exact position and orientation in its workspace [6].
The experiments that are conducted on mobile robot, have fully
demonstrated the possibility of implementing the ultrasonic sensor and
sorting algorithm on autonomous car [7]. So, we're trying to incorporate
these researchers' work on robots into self-driving systems.
HOW THE PROPOSED SYSTEM WORKS
Fig. 4 depicts our proposed system in a flowchart. The system begins with
the autopilot start operating, then the ultrasonic sensors send
electromagnetic waves to detect and measure the distance of obstacles.
After that, the autopilot system use selection sorting algorithm to avoid the
obstacles. The autonomous car changes to another lane and repeats the
same process until the car stops.
Autopilot system
operating
During the system is
operating
Obstacles detected Find and change to
by ultrasonic sensors another lane or way
Computing by
selection sorting
algorithm Avoid obstacles
Still Obstacle
detected
Figure 4. System Flowchart
Conclusion
The primary purpose of this proposal is to determine the most optimal
auto-pilot system that utilizes ultrasonic sensor technology and selection
sorting algorithms for safety driving. We hope the high performance of the
auto-pilot system in the autonomous car will change the car accident by
almost 0 percent. Our suggestion for future research is to optimize the
autopilot to make it react faster. Moreover, the optimization can prevent
leaking memories and control the usage of CPU memory reasonably.
References
[1] RadarMAC: Mitigating Radar Interference in Self-Driving Cars, 2016, IEEE. Joud Khoury, Ram Ramanathan, Dan
McCloskey, Russell Smith, Timothy Campbell
[2] Md. Azharul Islam and Shawkh Ibne Rashid, “Algorithm for Ethical Decision Making at Times of Accidents for
Autonomous Vehicles”, IEEE Conference 2018
[3] A. Iqbal, S. Ahmed, M. Tauqeer, A. Sultan, and S. Abbas,
“Design of multifunctional autonomous car using ultrasonic and infrared sensors”, IEEE Conference Publication.
[4] Seeed Ultrasonic Sensor. (2019). www.robotshop.com.
[5] F. Aulian and J. Agung “Mapping algorithm using ultrasonic and compass sensor on autonomous mobile robot”
[6] C. Beakauk “Mobile robot position control algorithm based on multiple ultrasonic distance sensors”
[7] Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform
[8] Autonomous Cars Infographic group work.(2019) www.infograph.venngage.com