Historical philosophical, theoretical, and legal foundations of special and i...
Autonomous
1. SIR VISHVESHWARAIAH INSTITUTE OF SCIENCE & TECHNOLOGY
TECHNICAL PAPER PRESENTATION
TOPIC: EMBEDDED SYSTEMS
SUB: AUTOMATION OF CARS
NAME: GIREESH BABU B AYYAVARU REDDY Y
EMIAL gireesh401b@gmail.com ayyavaru.yogi@gmail.com
3rd ECE 3rd ECE
CELL 9985558054 9014287465
SIR VISHVESHWARIAH INSTITUTE OF SCIENCE AND
TECHNOLOGY, ANGALLU, MADANAPALLE.
2. Abstract: Is autonomous car a myth or
As you go about the affair of reality?
living, you put your life safe and luxurious
There are many paradigm shifts
with all the available resources .Now days we
taking place due to information explosion and
all are entrenched with computers and almost
the concept of autonomous vehicle is one shift.
all depended on them. Devices with
The car, which is embedded, can simulate the
intelligence rule the world. Imbibing
human driver completely and direct the vehicle
intelligence to these devices is through a
on the road. Autonomous vehicle has been the
system
dream of scientists for long. Now their dream
called “EMBEDDED SYSTEM”. Its
has come true as with drastic changes in
applications provide marvelous opportunities
for ingenious use of computer
technology. Almost all every system
introduced into the market is an
example of Embedded System. An
embedded device finds applications
in all segments of industrial and
commercial marketplace. Home
appliances, mobile phones, Personal
Digital Assistants (PDA), cars, tiny
microchips and avionics are all using
embedded technology. technical brilliance and developments in
The current topic different fields with EMBEDDEDSYSTEM
“Automation of car” that we are going as pioneer.
to present is one of the fine examples of
Embedded System.
3. and turn the car on, while we remain seated
carefree on the rear seats. Then its all the job
of the „unknown‟ to drive it on the roads,
bridges, thought the bazaars, past the
crossings to the destination, without getting
challenged even once for traffic rule
Introduction: violations.
A fully computerized car capable
The term embedded system is
of doing almost every thing a car lover would
quite a complex one. Simply it is a
want to. Seems like fantasy but a day is not far
combination of hardware and software that
when almost all automobiles will interact with
forms the component of a larger system, this
computer on dashboards. From ordering pizza
in turn is programmed to perform a range of
to booking tickets at the nearest theatre, things
dedicated functions usually with a minimal
would be as easy as giving orders to your
operator intervention. In embedded systems
servant. As a matter of fact, vehicles all over
the hardware is normally unique to a given
the world are now fitted with intelligent
application, computer chips are embedded
devices that make the vehicles to respond to
into the control electronics to manage the
various factors –be it climate control, sudden
products functionality.
accelerations or braking or even self-repair of
Embedded systems are rapidly
modules.
becoming a catalyst for change in computing
There are trends where the finger
data communications, telecommunications,
print technologies are also have been
industrial control and entertainment sectors.
introduced which gives the following
New innovative applications in these as well
reliabilities You could one day be able to enter
as other areas such as home networking and
and start your car with the touch of a finger.
car infotainment will roll out in the near
And that same touch, with your fingerprint
feature.
acting as a key, would trigger a check of the
mirrors, steering wheel, radio and temperature
The fine art of automation: to ensure that they're the way you like them.
Just imagine. We load the code of The convenience of fingerprint recognition
our destination in the dashboard computer technology comes with heightened security.
4. Unlike personal identification numbers, sensitive actuators simulate a human driver
passwords and keys, each person's unique completely and direct the vehicle on the road.
fingerprints can't be duplicated, lost or The vehicle transmitter broadcasts its position
forgotten. and velocity to other immediate participants
for collision-avoidance and lane changing
manoeuvres. Forward and reverse motions and
Description: u-turns are precisely achieved as per route
Asstated above that a vehicle can guidance requirements. Furthermore, an
run by itself with out the intervention of human accurate steering control is obtained using
beings by the embedded intelligence in it. For Pulse Code Modulation technique and
this purpose Global Positioning System acceleration/braking control is successfully
(G.P.S) using satellites can provide positioning implemented using learning adaptive system.
information and proves to be a versatile all- The simplest form of vehicle
time. For still higher accuracy wide area navigation employs a heading sensor, velocity
differential GPS is used, which offers a robust sensor and a processor. Typically a navigation
system that readily deals with selective system requires an input of initial position and it
availability errors and satellite clock errors. self-initializes the heading sensor with respect to
An error level of north. The processor then integrates the velocity
decimeter/centimeter is guaranteed by sensor output to determine distance traveled and
WADGPS. Which satisfies the ground vehicle resolves the heading sensor data to calculate a
control algorithm. Human intervention is new position. This reckoning navigation
completely eliminated by using of reliable requires additional vision sensors, route
sensors and actuators. Making the overall guidance and map-matching algorithms for
performance of transporting system both making the driving tasks fully automatic.
congestion-free and collision incorporate the The remarkable advances in microelectronics
concept of WADGPS they‟re –free, besides and data processing technology have made
making it cost effective. possible the miniaturization of sensors the
The models for GPS also include integration and combination of data from a
aiding sensors, e.g. dead reckoning, radar and number of sensors. Television cameras, charge
camera. A computer is simply required to feed coupled device (CCD) type sensors, laser radar
destination into a dashboard computer. Highly and infrared sensors ma be used.
5. The reliability, efficiency and cost and overtaking. The key to all these driving
effectiveness of an autonomous vehicle depend tasks is collision avoidance.
mainly on how judiciously its navigation The Master Control Station
sensors, perception unit and computer control (MCS) receives the positioning information
is incorporated and how well their
performance meets today‟s
transportation needs. Quite of ten a
human driver is forced to maintain
attention for long periods of time
and commit to unpredictable
contingencies on the free ways
together with traffic jams. All this
leads to fatigue and hypovigiliance
at the wheel and consequently to
more frequent collisions and congestion. from the satellite by employing WADGPS
The drivers activity is influenced by concept. The MCS is linked to GPS
several factors that depend on driver itself and instrumented position location systems (PLS)
is environment such as traffic density, traffic installed on the autonomous vehicles through a
status, time of travel and weather. Thus the data link sub system (DLS). The DLS can
driving activity deals with a combined driver either use VHF or UHF or L-band,
vehicle-environment system shown in figure incorporating time division multiple access
The vehicle is required to blend protocol to handle on the roads. A block
its environmental perception capabilities with forward error correction code is employed to
its intelligent controls in order to affect optimal protect and maintain the message integrity.
path-planning strategies that not only avoid The vehicle route guidance systems
obstacles but also minimize criteria such as gave maturity to the point of practical usefulness
time of travel, fuel consumption, exposure to as well as cost effectiveness. Such a system is
pollution/danger, etc. however basic driving responsible for selecting optimal routes in a
functions consists of lane-keeping, safe given road network and for providing digitized
distance maintenance, timely lane changing directions to a human driver and or an
autonomous system, emphasizing the path of
6. least resistance with consumption of minimum of the autonomous vehicle embedded system.
fuel or minimum exposure to pollution /danger The digital road maps, available on CD-
criteria ROM‟s have substantially increased safety of
Figure below shows a series of interconnected automobiles. These maps along with GPS
functional subsystems of hardware by software navigation provide a feasible solution to
components autonomous vehicle system. The expert system
technologies are
integrated with
digital maps
along with the
CCD camera
images, magnetic
compass, and the
GPS system, for
obtaining a real
time intelligent
The desired destination and decision support navigation package. The
starting position of the vehicle together with integration of GPS and communication
the time of travel, manifest an optimal route on suggests an efficient transportation system for
the road network. Once the vehicle commences increasing the road traffic safety smooth
he journey the sensors continuously keep track driving without traffic jams and a comfortable
of the direction and displacement of the driving environment. Further more the
vehicle initial calibration is a little crucial for autonomous vehicle relies on such intelligent
dead reckoning performance; how ever a feed system integration that leads to complete
back calibration indicated in fig 2 suggested to collision free in time of real time situation.
obtain distance accuracy better than 99.9 The vehicle transmitting system
percent. continuously provides information about its
The new generation position and velocity to its participants. A safe
microprocessors promises further increase in distance with respect to its immediate
system capabilities while simultaneously surroundings is maintained by
shrinking both volume and power consumption acceleration/brakes and steering controls. The
7. internal platform and rate gyro and autonomous vehicle embedded software
accelerometer package keeps the vehicles mission finally yields the estimates for throttle
central processing unit (CPU) well informed and heading angle increments for a safe and
about the incremental changes in the vehicles accident free Manoeuvre. The following figure
parameters. The wheel odometers provide the gives an indication of all the technologies used
vehicle traveling distances by multiplying the in a car
number of electronically generated pulses by a
constant, depending upon wheels perimeter
As the actual tyre size is influenced by vehicles . hybrid automobile is envisaged
speed, tyre pressure play load and atmospheric at the juncture, which has heat engine
conditions, appropriate corrections are maid by propulsion (options for switching over to
the CPU. The atmospheric data system keeps electric devices with intelligent brakes and
continuous record of outside atmospheric acceleration) And computer for optimal route
temperature, pressure and differential pressure. selection, map matching and collision-
The information concerning avoidance. The reduced cost of GPS augmented
deviation from the road center is obtained by vehicles using the off-the-shelf equipment
magnetic as well as optical sensors, and fed to would lead to an intelligent transportation
the CPU. The GPS receiver updates the system with substantial share of electronically
vehicles position and velocity to controlled next generation vehicles. It is hoped
centimeter/decimeter levels as required for the that hybrid electric vehicles shall be readily
lateral or longitudinal control actions. The accepted by our information-based society.
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8. s and comforts: set to the nearest police station and the owner
informing them about the thief.
1. The adoptive cruise control ACC
4. Some designs now include so-called "pre-
technology used in the cars from automobile
safe" systems, which sense possible collisions
makers keeps advancing to new levels of
in advance based on emergency braking,
safety. In microwave radar unit there is a laser
skidding, and sudden evasive maneuvers. They
transceiver, fixed on the front of the car to
will prepare a car by automatically moving the
determine the distance and relative speed of
front seat either backward or forward for the
any vehicle in its path, which keeps safe
safest distance from the instrument panel,
distances from other vehicles on the busy
adjusting the seat belt for the correct tension,
roads. The driver can set the speed of his car
and even closing the sunroof in case of a
and the distance between his and other cars.
potential rollover. The idea is to "cradle" the
When traffic slows down vehicle speed is
car's occupants for maximum safety.
altered using moderate braking to maintain a
constant distance between his and other cars.
2. In advanced systems just in the case the Indian efforts in embedded
driver over speeds or suddenly falls over and system development: -
guides the car to a safe halt. And if you have
Our India too entered into the field of embedded
programmed it right, the GPS in the car would
systems and had great developments in this
take you to your destination .so, right from
field. It got marvelous results in the field of
brakes to automatic traction control to air bags
“Telematics” which is a part of technology used
and fuel-air mixture control, the intelligence
in cars. The description about it was discussed
takes over
Total telematics experience is what
3. A few advanced car prototypes with they are looking for simply put telematics is the
embedded systems have been tried and tested vehicles capability to communicate with the
where even if a smart thief has managed to outside world and or the vehicle operator. It is a
break in through the car, the car doesn‟t start combination of telecommunication and
up even if it does the computer I the car would computing
lock the steering wheel and cutoff the fuel Imagine when you are busy
injection supply … in the mean time a signal is negotiating through rush hour traffic, you get a
9. call on your mobile. You know the call is from hears the voice of the speaker without any
your office but can‟t attend to it. out side interference.
Conclusion:
“How nice it would have been if somebody
would answer your phone call and at the same
With the heights of the technology
time guide you systematically through the
autonomous car is no more a myth. It‟s a
traffic?”
reality!
We would like topresent that there must be
Mistral software, which was
further developments in this technology to make
developed in India, has text-to-speech and
autonomous car more common all over the
speech recognition technologies to give the car
world.This can be happened by making the
occupants the ultimate comfort. So whenever
autonomous easy to operate for the user and the
there is a call on your mobile. You need not
designers should concentrate more in producing
get jump at the very onset of the call. Relax the
autonomous cars, which should not cost a lot,
computer in the cars dashboard would do the
they should in the vicinity of customers budget.
job for you.
With this type of vehicles there will be great
advantages in the coming feature. Due to speed
GPS navigation guides you through the traffic.
control technique, accident free driving is
The GPS interface in the car pinpoints your
possible and fuel savage is also made possible
exact location on a map. In case the GPS signal
by the technique, which will make the car to
cant be received due to high density of tall
travel through shortest path. In the near future,
buildings or other magnetic interface, the „dead
autonomous car become more common all over
reckoning „ technique, which works for short
the world. Indian efforts in the embedded
durations guides you effectively. The system is
technology can assure that these autonomous
also loaded with GSM/CDMA protocol
cars will become cheaper and may evolve with
standards further modified on the CANBUS
many more advantages. So that we could find
standard t give uninterrupted information.
ourselves using these autonomous cars in the
Another device called the array
near feature.
microphone cuts off the surrounding noise
and allows the speaker to communicate
effectively. The person at the other end
