Minimum Cost Implementation of Autonomous Vehicle
Minimum Cost Implementation of Autonomous Vehicle
Minimum Cost Implementation of Autonomous Vehicle
M.E. Student, Electronics and Telecommunication Department, Deogiri Institute of Engineering and Management
Science, Maharashtra, India
2
Guide, Electronics and Telecommunication Department, Deogiri Institute of Engineering and Management Science,
Maharashtra, India
Abstract
In order to increase driving comfort, transportation efficiency, vehicles are made artificially intelligent. Autonomous vehicles or
driverless vehicles or making the vehicle drive on its own like humans do is the aim of automobile industry these days. An
autonomous vehicle is a vehicle that drives its self without any human or robotic operators help and has the potential to notice the
obstacles in its path and navigate through it. For vehicle to drive itself, it should have human perception of driving. This
understanding of path to traverse and overcome obstacles in its way is done with the help of computer, microcontroller and
sensors. In this paper, ARM-7 MCU is the main part that makes system driverless. This paper attempts to illustrate an effort
towards low cost atomizing of vehicle. Developed project vehicle can be used as load carrier in industrial areas where path of
location to destination is simple with minimum amount of obstacles.
2. SYSTEM DEVELOPMENT
2.1 Electrical and Mechanical Components
The designed project consists of chair mounted on chassis of
wheels. Project vehicle is a four wheeler with single person
sitting capability. Electrical subsystem consists of two leadacid electrolyte batteries of 12V and 34 A/Hr each are
connected in series, four double pole double throw relays
of 40 Amperes each; having coil input 12 V & 1Ampere, 6
mm2 multithreaded cable for dc power transmission are
used. Two permanent magnet DC series motors are placed
on left and right side and having specification of 24 Volt and
9 Ampere (on no load condition) are used to drive the
vehicle. The vehicle dimensions are 0.7m*0.6m*1.21m and
it weighs about 140 kg along with battery weight.
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Volume: 05 Issue: 02 | Feb-2016, Available @ http://www.ijret.org
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LCD display with back Light ,L293D relay driver IC. Slave
unit traverse the path given by master unit.
Enter password in
login form
Password correct
(a)
Password wrong
Select map
XBee Rx/Tx
LCD display
Submit map
Ultrasonic sensor
1 (right)
32-bit Microcontroller
Ultrasonic sensor
(front)
If obstacle is detected in
path
Motor Driver IC
Ultrasonic sensor
2 (left)
stop
Motor
Power supply
24 V, 34 A/hour
Relay
If obstacle
present at left
side
Motor
(b)
Take right
turn
Move forward
Stop
3. SYSTEM OPERATION
3.1 Starting the autonomous vehicle
To start the vehicle user need to enter correct password in a
window that flashes on the screen. The program of this login
window form is coded in Matlab7.6.0 software. In Fig-2
login form window is shown that will appear to enter
password for starting up the car. Password acts like a key to
vehicle. If correct key is put in then only the vehicle starts.
Stop at
destination
If obstacle
present at
right side
Take left
turn
Move
forward
Stop at
destination
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Volume: 05 Issue: 02 | Feb-2016, Available @ http://www.ijret.org
114
which only right side motor will run for 1Second, then again
vehicle will move straight for 20 Feet, take right turn for
which left motor will run for 1Second, again vehicle moves
10 Feet straight, takes left turn, moves 20 Feet straight, takes
right turn, moves 20 Feet straight, takes left turn and moves
5Feet straight and stops. All these calculation of distances
are just made approximately by looking at the map. In the
past years, some researchers have presented GPS
applications for vehicle control design. In [4] the researchers
were successful to use GPS receiver and digital compass to
find exact angle of direction to destination. Path to the
destination was preprogrammed. The servo motor was used
to control steering wheel angle. The deviation in angle
calculated by compass would lead to lowering of car speed.
Servo deviation and motor speed were controlled by
Arduino. Reflective photo interrupter has been used for
sensing motion of the wheels, GPS and magnetic compass
for guiding direction to vehicle has be illustrated in[5].
3.4 Indication
Motion of the vehicle like forward, reverse, right and left, is
displayed forward, reverse, right, left respectively
on the LCD. Work of indication is done by LCD. As
destination is attended by vehicle, LCD displays stop.
4. RESULT
Table-1: Voltage and current readings of main components
used in system
Sr. Quantity of Components
Practical readings
no component used in project
.
s
Output Output I
V
1.
3
Ultrasonic
5.04V 15mA
sensor
2.
Microcontrolle
r
unit(LPC2148
Development
board)
Zigbee module
board
3.33V
145mA
3.
3.36V
60mA
4.
Relay
9.86 V
70mA
5.
Motors
6.
Battery
11.53
V
12.26
V
48A
(Torque =
240Kgcm
)
600mA
4086.6m
A
5. CONCLUSION
Proposed system has the provision for moving in small
peripheral areas where the traffic signals does not
participate. The designed vehicle autonomously performs
basic functions of driving according to map, obstacle
avoidance and attaining the destination safely. It is very
helpful in reducing the number of accidents. Sensor system
is costly which can affect production of driverless vehicles.
But mass production of such vehicle can reduce the adverse
effect on production. Driverless system can be advantageous
to the people with disabilities such as blindness, amputated
legs, deafness etc, would no longer be dependable for
travelling. The autonomous vehicle can be made customized
by applying image processing system for obstacle detection
and audio system for obstacle announcement. As this car is
made to run on electric battery, air pollution caused by it
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Volume: 05 Issue: 02 | Feb-2016, Available @ http://www.ijret.org
115
REFERENCES
[1]. http://www.mechanicalengineeringblog.com/tag/googl
e-driverless-car/
[2]. http://archive.darpa.mil/grandchallenge
[3]. https://airandspace.si.edu/exhibitions/uav/
[4]. Wan Rahiman and Zafariq Zainal, An Overview of
Development GPS Navigation for Autonomous Car.
2013 IEEE 8th Conference on Industrial Electronics
and Applications (ICIEA).pp.1112-1118, 2013
[5]. Ray-Shine Run, Jui-Cheng Yen ,Cheng-Yu Tsai, A
Low Cost Implementation of GPS Guided Driverless
Car 5th IEEE Conference on Industrial Electronics
and Applicationsis, pp. 1610-1614,2010.
[6]. Yi Jincong, Zhang Xiuping, Ning Zhengyuan, Huang
Quanzhen, Intelligent Robot Obstacle Avoidance
System based on Fuzzy control . 1st International
Conference on Information Science and Engineering
(ICISE). pp. 3812-3815, 2009.
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Volume: 05 Issue: 02 | Feb-2016, Available @ http://www.ijret.org
116