Project Report 2

INTELLIGENT AUTOMATIC ACCIDENT PREVENTION 2016-2017
CHAPTER 1
INTRODUCTION
The numbers of vehicles are increasing day by day worldwide. It produced high risk to
accidents. Driver error is the most common cause of traffic accidents. With cell phones, in-car
entertainment systems, more traffic and more complicated road systems, the problem seems bigger
than ever. Accident will occur every time and everywhere and cause worst damage, serious injury and
dead. Its always better to prevent it. Prevention can be done by applying automatic brake depending
on situations or obstacle. It works where drivers may not brake manually but the vehicles can stop
automatically due to obstacles. This work is about a system that can control braking system for safety.
Using ultrasonic as a ranging sensor, automatic breaking system is implemented .Even if accident
occurs, by providing quick response, we can save lives. One approach to eliminating the delay
between accident occurrence and first response is to use in-vehicle automatic accident detection and
notification systems, which sense when a traffic accident is likely to occur and immediately notify
emergency occurred. It can automatically detect traffic accidents using accelerometers and
immediately notify a central emergency dispatch server after an accident, using GPS coordinates.
Along with the data it will send the number of the vehicle also. This project uses different sensors and
GPS, GSM module with microcontroller. The autopilot consists of a GPS guidance system controlled
by a 8-bit MCU, in which functions such as GPS guiding, obstacle avoidance and motion control are
integrated. Due to budget limit, we would implement the prototype on a robotic vehicle.
1.1 OBJECTIVES
Our multipurpose project combinationally called an automated transport system can be
classified into three sections
1. Collision avoider: Collision avoider mechanism is a system used to detect obstacles and
stop if any are detected to avoid collisions.
2. Line follower: Line follower is a machine that can follow a path. The path can be visible
like a black line on a white surface or it can be invisible like a magnetic field.
Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 1

3. Mobile controlled : The Android application controlled robot communicates via Bluetooth
of the phone to the Bluetooth module HC-05 present on the robot.
1.2 NECESSITY OF SYSTEM
Today technology is replacing itself every day. A new day begins with some innovative device.
But with this increasing development and growth other problems are also coming to existence.
We have tried and dedicate this project for the betterment of humanity and our mother earth.
Due to errors and poor response of manual systems the need of automation is being felt.
One such feeling is being expressed by us in this project. We have a vision that one day every
transport system will be automatic and pollution free. This project is just the beginning and
giving a base to our vision.
Automation is a huge field in itself and thus not going into deep, here we only mean the
dictionary meaning of it. The safety and reliability demanded by the people can be given with
utmost efficiency using automation.
Road accidents, pollution, violation of traffic norms, rash driving, linearity, fuel
efficiency; these are some of the problems and necessity which can be fulfilled with our
solutions.
Main purpose of this project is to prevent accidents. Accident preventions are taken care
with the help of automatic breaking system using ultrasonic sensor. Using ultrasonic as a ranging
sensor, its function based on ultrasonic wave. After transmit by transmitter, the wave can reflect
when obstacle detected and receive by receiver. The main target for this project is cars can
automatically braking due to obstacles when the sensor senses the obstacles. The braking circuit
function is to brake the car automatically after received signal from the sensor. To prevent these
accidents of vehicles from taking place we are using Automated Emergency Brake Systems and
Ultrasonic Sensors.

1.3 BASIC CONCEPT
1.3.1 Line Follower Robot Circuit
This circuit consists of i)ATmega8 microcontroller, ii) IR sensors(2), iii)motors and iv)motor
driver IC. The line follower robot needs mechanical arrangement of the chassis. Assume a two
wheel robotic vehicle with a castor wheel. The two IR sensors are mounted on the robot facing
towards Earth.
FIG 1.1: DIODE ACTION ON TRANSMISSION
When robot is placed on the fixed path, it follows the path by detecting the line. The robot
direction of motion depends on the two sensors outputs. When the two sensors are on the line of
path, robot moves forward. If the left sensor moves away from the line, robot moves towards
right. Similarly, if right sensor moves away from the path, robot moves towards its left.
Whenever robot moves away from its path it is detected by the IR sensor.

FIG 1.2: CIRCUIT CONNECTIONS FOR LINE FOLLOWER
The IR transmitter continuously transmits the IR rays. When IR transmitter is on the black
surface these rays are absorbed by the surface and when it is on white surface these rays are
reflected. The IR receiver has maximum resistance when no IR rays are received and voltage
from VCC flows through the resistor. At the output pin, voltage is approximately 5v.
As the intensity IR rays received by the receiver increases, resistance value decreases and
reverse break down occurs .Thus voltage through the resistor is grounded. So, at the output pin, it
will produce 0V.
1.3.2 Distance and Obstacle Sensing with Ultrasonic Sensor
Ultrasonic ranging is the technique used by bats. Ultrasonic sensor provides an easy way in for
obstacle and distance measurement. The sensor is perfect for distance measurements between
moving or stationary objects. Distance measurement sensors can determine the dimensions of

objects such as height, width and diameter, using one or more sensors. Ultra Sonic sensors are
widely used for distance measurement purposes. They offer low cost and a precision of less than
1 cm in distance measurements of up to 6m.
FIG 1.3: ULTRASONIC MODULE SPECIFICATIONS

This application is based upon the reflection of sound waves. Sound waves are defined as
longitudinal pressure waves in the medium in which they are travelling. Subjects whose
dimensions are larger than the wavelength of the impinging sound waves reflect them, the
reflected waves are called the echo. A single I/O pin is used to trigger an ultrasonic burst (well
above human hearing) and then "listen" for the echo return pulse.
The sensor measures the time required for the echo return and returns this value to the
microcontroller as a variable-width pulse via the same I/O pin. Ultrasonic sensors have definitely
diversified functions including "detection" of what you cannot see, "measurement" of length,
thickness and amount, and "destruction" of objects.

FIG 1.4 ULTRASONIC MODULE WORKING
Ultrasonic Range Detection Sensor , works by sending an ultrasound pulse at around 40

KHz, It then waits and listens for the pulse to echo back, calculating the time taken in
microseconds. We can trigger a pulse as fast as 20 times a second and it can determine objects up
to 3 meters away and as near as 3cm. The sensor needs a 5V power supply to run.The Timing
diagram is shown in figure3.4. 10uS pulse is required to the trigger input and start the ranging,
and then the module will send out an 8 cycle burst of ultrasound at 40 kHz and raise its echo.
The Echo is a distance object that is pulse width and the range in proportion. Then calculate the
range through the time interval between sending trigger signal and receiving echo signal. We
suggest to use over 60ms measurement cycle, in order to prevent trigger signal to the echo signal.
There are only four connections, +5v, Gnd, trigger and Echo.
FIG 1.5 ULTRASONIC SENSING

1.3.3 MOBILE CONTROL OVERRIDE

The Android application controlled robot communicates via Bluetooth to the Bluetooth module
present on the robot. While pressing each button on the application, corresponding commands
are sent via Bluetooth to the robot. The commands that are sent are in the form of ASCII.
The Arduino on the robot then checks the command received with its previously defined
commands and controls the servo motors depending on the command received to cause it to
move forward, backward, left, right or to stop. Thus allowing us to create an Android controlled
robot. Basic block diagram:
FIG 1.6: FUNCTIONAL BLOCK DIGRAM
FIG 1.7: HARDWARE INTERFACE USING HC-05 MODULE

Since the Bluetooth Module is connected to the RX and TX pins of the Arduino, The
Module should be removed while uploading the code from your PC to the Arduino. The module
should be connected once the upload is complete. The code uses the Arduino servo library and
simple commands. Servo is controlled using commands like:
servo.write (90) -> stops the servo ,
servo.write(180) ->rotates servo clockwise.
servo.write(0)->rotates servo anti-clockwise.
FIG 1.8 SERVO LIBRARY FUNCTION 'write()'

Screenshot of the Arduino code:
FIG 1.9 ARDUINO CODE FOR INTERFACE

CHAPTER 2
BLOCK DIAGRAM AND DESCRIPTION
FIG 2.1: BLOCK DIGRAM OF CIRCUIT

The functional block diagram of circuit is show above ,which consists of following
functional blocks:-
Arduino Uno
Motor Driver IC L298D
Ultrasonic Transmitter And Receiver
IR LEDs And LDRs
DC Motors
Voltage Amplifier
Buffer IC CD4049

EXPLAINATION
2.1 Voltage Amplifier
FIG 2.2 :VOLTAGE AMPLIFIER CIRCUIT
The amplifier's differential inputs consist of a non-inverting input (+) with voltage V+ and an
inverting input () with voltage V; ideally the op-amp amplifies only the difference in voltage
between the two, which is called the differential input voltage. There are two voltage amplifiers
used. The operational amplifier is connected in non-inverting configuration with gain 3 for
transmitter and with gain 4 for receiver for ultrasonic sensors.

4.2 Buffer IC CD4049
FIG 2.3 :BUFFER IC PIN DIGRAM
This buffer acts as a driver IC for the sensor. It increases the capability of micro
controller output signal and is then given to the sensor input. In other words the final signal to
the sensor is a stimulated signal value.
The CD4049B provides six inverting buffers with high current output capability suitable
for driving TTL or high capacitive loads. Since input voltages in excess of the buffers supply
voltage are permitted, the buffers may also be used to convert logic levels of up to 15 V to
standard TTL levels.
4049 Applications:-
1)LOCMOS (Local Oxidation CMOS) to DTL/TTL converter
2)HIGH sink current for driving two TTL loads
3)HIGH-to-LOW level logic conversion

4.3 Ultrasonic Transmitter And Receiver
FIG 2.4 :ULTRASONIC TRANSMITTER CONNECTIONS
Ultrasonic transmitter as the name suggests it continuously transmits the frequencies. The
frequencies are in ultrasonic range i.e. greater than 20 kHz. These frequencies can be easily
controlled by the UNO. The transmitter continuously transmits the frequencies of 40 kHz. These
transmitted bursts are detected by the receiver. These detected pulses are mainly the echo pulses
from the obstacles. Thus the pulses detected are mainly echo pulses from the obstacles. The
diagram shows the circuit used to generate ultrasonic frequency using 555 IC. We have obtained
this purpose through the UNO. The detection of these pulses is carried out by the receiver
described below.
FIG 2.5 :ULTRASONIC RECIVER

Receiver receives the echo pulses when the pulses emitted by the transmitter are reflected
from the obstacle. These pulses are received by receiver only if any obstacle is found. The
received pulses are processed by the on chip ADC of the micro controller. For every particular
distance of the obstacle the signal value of the receiver is fixed and can be found using
calibration process. This value can be then taken as a reference value in the program for
controlling the speed of the motor.
4.4 IR SENSOR
FIG 2.6 :IR SENSOR
A Passive Infrared Sensor (PIR) is an electronic sensor that measure Infrared (IR) light radiating
from object in field of view. They are most often used in PIR-based motion detectors. There are
four LEDs used for OBSTACLE DETECTION on the two perpendicular sides and line follower
at the bottom. This is a simple photo optic arrangement in which LED keep emitting light
continuously.
For line follower the color of the line to be followed is white and LED 1, 2 and LDR 1, 2 are
used. By calibration process the reflecting value of the light from white surface which is a fixed
and unique can be determined and kept as a reference. This reference value can then be used to
check if white line is detected and then take proper movement actions according to the line. For
this purpose the line has to be continuously scanned.

For detection of perpendicular obstacles LED 3, 4 and LDR 3, 4 are used. These are
calibrated for white obstacle as the reflection from white surface is highest. This value is taken as
reference, so whenever there is an obstacle for the pre defined range; the reference value and the
input value at that instant become equal and the vehicle stops.
The light dependant resistors are those whose value changes in accordance to the light
incident on it. When the obstacle comes in to the proximity the light is reflected back from it and
its resistance changes leading to change in voltage. This voltage is given on the ADC channel of
microcontroller for comparison with the reference value earlier obtained from calibration. If the
reference value equals to the incoming signal then the BOT stops immediately.
FIG 2.7: IR MODULE CIRCUIT
4.5 DC MOTOR
Motor converts electrical energy into mechanical energy. A DC motor's speed can be
controlled over a wide range, using either a variable supply voltage or by changing the
strength of current in its field windings. The PWM generated by the Micro controller is given
to the pins of 293D which determines the speed of the motor. The main function of the motor
in our ROBOT is for its movement. The speed of the motor is determined by the ON time
and OFF time of the PWM wave.

A Pulse Width Modulation (PWM) Signal is a method for generating an

analog signal using a digital source. A PWM signal consists of two main components that
define its behavior: a duty cycle and a frequency. The duty cycle describes the amount of
time the signal is in a high (on) state as a percentage of the total time of it takes to complete
one cycle. PWM signals are used for a wide variety of control applications. Their main use is
for controlling DC motors but it can also be used to control valves, pumps, hydraulics, and
other mechanical parts.
FIG 2.8 :50% Duty Cycle PWM WAVE
FIG 2.9: DC MOTOR OPRATION

Controlling DC Motor Speed The voltage supplied to a DC motor controls its speed Arduino
cannot supply variable DC output . Arduino lacks a true analog output . Use Pulse-width
modulation (PWM) to simulate a variable DC supply voltage . PWM is a common technique for
supplying variable power levels to slow electrical devices such as resistive loads, LEDs, and
DC motors . Arduino Uno has 6 PWM pins: Digital I/O pins 3, 5, 6, 9,10, and 11
FIG 2.10 DC MOTOR OPRATION CONTROL
4.6 Motor Driver IC L293D
FIG 2.11 :MOTOR DRIVER IC L293D

An H bridge is an electronic circuit that enables a voltage to be applied across a load in

either direction. The term H bridge is derived from the typical graphical representation of such
a circuit. An H bridge is built with four switches (solid-state or mechanical). When the switches
A and D (according to the first figure) are closed (and B and C are open) a positive voltage will
be applied across the motor. By opening A and D switches and closing B and C switches, this
voltage is reversed, allowing reverse operation of the motor. The switches S1 and S2 should
never be closed at the same time, as this would cause a short circuit on the input voltage source.
FIG 2.12 H BRIDGE
4.7 AT mega328
The ATmega328 is a single-chip microcontroller created by Atmel in the megaAVR family. The
Atmel 8-bit AVR RISC-based microcontroller combines 32 kB ISP flash memory with read-while-write
capabilities, 1 kB EEPROM, 2 kB SRAM, 23 general purpose I/O lines, 32 general purpose
working registers, three flexible timer/counters with compare modes, internal and external interrupts,
serial programmable USART, a byte-oriented 2-wire serial interface, SPI serial port, 6-channel 10-
bit A/D converter (8-channels in TQFP and QFN/MLF packages), programmable watchdog timer with
internal oscillator, and five software selectable power saving modes. The device operates between 1.8-5.5
volts. The device achieves throughput approaching 1 MIPS per MHz's.

FIG 2.13 ATMEGA328 CIRCUIT
4.8 AUDRINO UNO
Arduino / Genuino Uno is a microcontroller board based on the ATmega328P (datasheet). It has
14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz
quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started.. You can tinker with your
UNO without worrying too much about doing something wrong, worst case scenario you can
replace the chip for a few dollars and start over again.
"Uno" means one in Italian and was chosen to mark the release of Arduino Software
(IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE) were the versions of
Arduino, now evolved to newer releases. The Uno board is the first in a series of USB Arduino
boards, and the reference model for the Arduino platform; for an extensive list of current, past or
outdated boards see the Arduino index of boards.

FIG 2.14 -ARDUINO UNO BOARD
CHAPTER 3

IMPLEMENTATION
3.1 ALGORITHM




CHAPTER 4
RESULTS AND CONCLUSION
4.1 ADVANTAGES
It is an automatic system, so need of driver is eliminate but a supervisor is essential.

Human errors can be avoided (accidents are reduced).
Efficient and pollution free.
Transportation system becomes reliable.
Traffic rules are followed.
Safety is assured.
Great and a very wide scope of future expansion.
Can be implemented in present on the BRT tracks.
4.2 DISADVANTAGES.
As everything has two sides so does our project .It has the following limitations:
Sensors can get damaged due to excessive heat.

Skilled personnels are required.
Sensors are costly.
Ultrasonic transmitter requires a constant 40 kHz, 10 volts supply.
Initial cost is high.
Repair and maintenance is hard.
Failure can cause a big chaos on the roads.

4.3 CONCLUSION AND FUTURE REFERENCE
The objective of the project was to design and implement an ultrasonic distance meter. The
device described here can detect the target and calculate the distance of the target. It is a handy
system for non-contact measurement of distance. The device has its application in many fields. It
can be used in car backing system, automation and robotics, detecting the depth of the snow,
water level of the tank, production line. This device will also have its application in civil and
mechanical field for precise and small measurements .The project is Intelligent vehicle accident
Prevention is practically proved by using the IR pairs for sensing the robot, h bridge for the
driving the dc motor, dc motor is used for the movement of the robot with the help of the micro
controller.
In future we can interface different sensors with this work, such as drowsiness detector,
heart rate detector, etc. In terms of these we can really prevent accident and save life. Security
sensors to identify theft can also be added. It can be reprogrammed to switch off vehicle and
track the vehicle in theft. Safety car braking system technology could be further enhanced and
same can be implemented in aircrafts, submarines
Autonomous Rotorcraft Sniper System is an experimental robotic weapons system being

developed by the U.S. Army since 2005.It consists of a remotely operated sniper rifle attached to
an unmanned autonomous helicopter. It is intended for use in urban combat or for several other
missions requiring snipers. Flight tests are scheduled to begin in Summer 2009.
The "Mobile Autonomous Robot Software" is an attempt to develop more advanced

military robots. The program was part of a $26 million Pentagon program to develop software
for autonomous systems.

REFERENCES
[1] Monika S. Tayde, Aruna P. Phatale, " Intelligent Automatic Vehicle Accident Prevention and
Detection System" International Journal of Advanced Research in Electrical,( Electronics and
Instrumentation Engineering Vol. 5, Issue 5, May ).
[2] Abid Khan, Ravi Mishra ,"GPS and GSM Based Tracking System", International Journal of
Engineering Trends and Technology,( Volume3, Issue2, Pp: 161-169, 2012).
[3] S.P. Bhumkar, V.V. Deotare, R.V.Babar ,"Intelligent Car System for Accident Prevention
Using ARM-7", International Journal of Emerging Technology and Advanced
Engineering(Volume 2, Issue 4, Pp: 56-78, 2012).
[4] R.Mohanapriya ,L.K.Hema "Driverless Intelligent Vehicle for Future Public Transport Based
On GPS", in Electrical International Journal of Advanced Research, (Electronics and
Instrumentation Engineering, Vol. 3, Special Issue 3, April 2014).
[5] Ritika Pahuja, Narender Kumar ,"Android Mobile Phone Controlled Bluetooth Robot Using 8051
Microcontroller", International Journal of Scientific Engineering and Research,( Volume 2
Issue 7, July 2014).
[6] N. Anju Latha, B. Rama Murthy, K. Bharat Kumar ,"Distance Sensing with Ultrasonic
Sensor and Arduino", Latha Anju N et al., International Journal of Advance Research,
Ideas and Innovations in Technology,( ISSN: 2454-132X Impact factor: 4.295 ,Volume2,
Issue5)
.
[7] Ritika Pahuja, Narender Kumar ,"Android Mobile Phone Controlled Bluetooth Robot using
8051",International Journal of Scientific Engineering and Research Microcontroller",(IJSER,
,Volume 2 Issue 7, July 2014).

[8] Aniket R. Yeole, Sapana M. Bramhankar, Monali D. Wani, Mukesh P. Mahajan, " Smart
Phone Controlled Robot Using ATMEGA328 Microcontroller", International Journal of
Innovative Research in Computer and Communication Engineering (An ISO 3297: 2007
Certified Organization, Vol. 3, Issue 1, January 2015).

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INTELLIGENT AUTOMATIC ACCIDENT PREVENTION 2016-2017

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 1

1.2 NECESSITY OF SYSTEM

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 2

1.3 BASIC CONCEPT

1.3.1 Line Follower Robot Circuit

FIG 1.1: DIODE ACTION ON TRANSMISSION

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 3

FIG 1.2: CIRCUIT CONNECTIONS FOR LINE FOLLOWER

1.3.2 Distance and Obstacle Sensing with Ultrasonic Sensor

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 4

FIG 1.3: ULTRASONIC MODULE SPECIFICATIONS

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 5

FIG 1.4 ULTRASONIC MODULE WORKING

Ultrasonic Range Detection Sensor , works by sending an ultrasound pulse at around 40

FIG 1.5 ULTRASONIC SENSING

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 6

1.3.3 MOBILE CONTROL OVERRIDE

FIG 1.6: FUNCTIONAL BLOCK DIGRAM

FIG 1.7: HARDWARE INTERFACE USING HC-05 MODULE

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 7

FIG 1.8 SERVO LIBRARY FUNCTION 'write()'

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 8

Screenshot of the Arduino code:

FIG 1.9 ARDUINO CODE FOR INTERFACE

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 9

FIG 2.1: BLOCK DIGRAM OF CIRCUIT

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 10

2.1 Voltage Amplifier

FIG 2.2 :VOLTAGE AMPLIFIER CIRCUIT

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4.2 Buffer IC CD4049

FIG 2.3 :BUFFER IC PIN DIGRAM

2)HIGH sink current for driving two TTL loads

3)HIGH-to-LOW level logic conversion

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 12

4.3 Ultrasonic Transmitter And Receiver

FIG 2.4 :ULTRASONIC TRANSMITTER CONNECTIONS

FIG 2.5 :ULTRASONIC RECIVER

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FIG 2.6 :IR SENSOR

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FIG 2.7: IR MODULE CIRCUIT

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 15

A Pulse Width Modulation (PWM) Signal is a method for generating an

FIG 2.8 :50% Duty Cycle PWM WAVE

FIG 2.9: DC MOTOR OPRATION

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 16

FIG 2.10 DC MOTOR OPRATION CONTROL

4.6 Motor Driver IC L293D

FIG 2.11 :MOTOR DRIVER IC L293D

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An H bridge is an electronic circuit that enables a voltage to be applied across a load in

FIG 2.12 H BRIDGE

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FIG 2.13 ATMEGA328 CIRCUIT

4.8 AUDRINO UNO

outdated boards see the Arduino index of boards.

Department of Electronics and Communication Engineering, Dr. AIT, Bengaluru-56 19