The document discusses Google's driverless car project. It describes how the car uses sensors like LIDAR, radar and cameras to navigate roads autonomously. It summarizes the components of the car including hardware like sensors and software for artificial intelligence. It provides details on how the car was tested, including routes driven and miles completed without accidents. It concludes that fully autonomous vehicles could help reduce accidents and increase mobility.

1. Wireless sensor Networks
GOOGLE Driverless Car
Harshdeep kaur
S.c.d Govt college
harshdeep1641991@gmail.com

2. Google driverless car
Harshdeep kaur
S.c.d govt college Ludhiana
harshdeep1641991@gmail.com
Abstract
objective:- Driver error is the most common cause of traffic accidents India contributes 6 % of the
world's road accident deaths.India contributes 6 % of the world's road accident deaths Cell phones in-car,
entertainment systems, more traffic and more complicated road systems making it more frequent by this
improving technology our car will do the concentrating for us. it will be the engine pulling the industry
forward. Consumers are eager for new mobility alternatives that would allow them to stay connected and
recapture the time and psychic energy they squander in traffic jams and defensive driving
Scope: - It can steer itself while looking out for obstacles. It can accelerate itself to the correct speed
limit. It can stop and go itself based on any traffic condition. Reduction in car accidents by automated
collision avoidance system. it can also avoid human errors. It is fuel efficient and also safe for highways.
Components:- Google Maps, Hardware Sensors, LIDAR ,Video Camere,Position Estimator,
Distance Sensor, Automotive Night Vision, Artificial Intelligence
Conclusion:- the reliability efficiency and cost effectiveness of autonomous vehicle depend mainly
on how judiciously its navigation sensors , perception unit and computer control unit is in corporate. The
driver’s activity is influenced by several factors that depend on driver itself and is environment such as
traffic density, traffic status, time of travel and weather. Thus the driving activity deals with a combined
driver vehicle-environment system. The vehicle is required to blend its environmental perception
capabilities with its intelligent controls in order to affect optimal path-planning strategies and minimize
criteria such as time of travel, fuel consumption, exposure to danger etc. however basic driving functions
consists of lane-keeping, safe distance maintenance, timely lane changing anthese driving tasks is collision
avoidance.

3. Introduction
In the 21 century. so many operates operate automatically which start from food factories to food factories
machines to aeroplane which fly’s on autopilot without the need of human pilots then come missals and
satellite which are programmed and manuring is done automatically to reach the destination there are some
metro train also which run on the command of autonomous software now the new things has come which
was suppose to be looking impossible .that is moving a vehicle on crowed roads but these has been made
possible by Google
From the invention of the car there is a great relation between human and car. Because by the invention of
the car the automobile industry was established, by this car the travelling time from one place to another
place is reduced. The car brings royalty from the invention. As cars are coming on roads at that time there
are so many accidents are occurring due to lack of driving knowledge & drink driving and soon, In that view
only the Google took a great project, i.e. Google Driverless Car in these the Google puts the technology .
The input video camera was fixed beside the front mirror inside the car, A LIDAR sensor was fixed on the
top of the vehicle, RADAR sensor on the front of the vehicle and a position sensor attached to one of the
rear wheels that helps locate the cars position on the map, The Computer, Router, Switch, Fan, Inverter, rear
Monitor, Topcon, Velodyne, Applanix and Battery are kept inside the car.
These all components are connected to computer’s CPU and the monitor is fixed on beside of the driver seat,
these we can observe in that monitor and can operate all the operations. The system combines information
gathered from Google street view with artificial intelligence software that combines input from video
camera inside the car, a LIDAR sensor on the top of the vehicle, RADAR sensors on the front of the vehicle
and a position sensor attached to one of the rear wheel that helps to locate the car position on the map.
At the same time some hardware components are used in the car these are APPIANIX PCS, VELODYNE,
SWITCH,TOPCON, REAR MONITOR, COMPUTER, ROUTER, FAN, INVERTER and BATTERY along
with some software program is installed in it. By all the components combined together to operate the car
without the DRIVER. i.e., the car drives itself only
Google hopes to have fully autonomous vehicles on the road by 2020, taking the driver completely out of
the equation and handing the virtual wheel to its sophisticated combination of software and sensors, which
continue to improve and evolve, “transform people’s lives through mobility,” citing cases of blind and older
drivers who would suddenly have more freedom.
Google's robotic cars have about $150,000 in equipment including a $70,000 LIDAR system. The range
finder mounted on the top is a Velodyne 64-beam laser. This laser allows the vehicle to generate a detailed
3D map of its environment. The car then takes these generated maps and combines them with high-
resolution maps of the world, producing different types of data models that allow it to drive itself.

4. HISTORY
The Sebastian Thrun was invented the Google driverless car. He was director of
the Stanford Artificial Intelligence laboratory. Sebastian friends were killed in car accident, so that he
decided there should not be any accidents on the road by car. By that decision only the Google Driverless
car was invented.
”Our goal is to help prevent traffic accidents, free up people’s time and reduce carbon emission by
fundamentally changing car use”-Sebastian Thrun
The Google Driverless car was tested in the year 2010; Google has tested several vehicles equipped with
the system, driving 1,609 kilometers (1,000 mi) without any human intervention, in addition to 225,308
kilometers (140,000 mi) with occasional human intervention. Google expects that the increased accuracy of
its automated driving system could help reduce the number of traffic-related injuries and deaths, while using
energy and space on roadways more efficiently. It was introduced in oct-2010 and it becomes legal in
Nevada at June 2011, August 2012- Accident.
The project team has equipped a test fleet of at least eight vehicles, consisting of six Toyota Prius, an Audi
TT, and a Lexus RX450h, each accompanied in the driver's seat by one of a dozen drivers with unblemished
driving records and in the passenger seat by one of Google's engineers. The car has traversed San
Francisco's Lombard Street, famed for its steep hairpin turns and through city traffic. The vehicles have
driven over the Golden Gate Bridge and on the Pacific Coast Highway, and have circled Lake Tahoe. The
system drives at the speed limit it has stored on its maps and maintains its distance from other vehicles using
its system of sensors. The system provides an override that allows a human driver to take control of the car
by stepping on the brake or turning the wheel, similar to cruise control systems already in cars.
Components
Google Map:
Google Maps is a Google service offering powerful, user-friendly mapping technology
and local business information-including business locations, contact information, and
driving directions.

5. Google Street View:
Google Street View (GSV) has rapidly expanded to provide street-level images of entire cities all around the
world. The number and density of geo-positioned images available make this service truly unprecedented. A
Street View user can wander through city streets, enabling a wide range of uses such as scouting a
neighborhood, or finding specific items such as bike racks or mail boxes.
LIDAR Sensor:
Light Detection and Ranging is an optical remote sensing technology that can measure the distance to, or
other properties of a target by illuminating the target with light, often using pulses from a laser. LIDAR uses
ultraviolet, visible, or near infrared light to image objects and can be used with a wide range of targets,
including non-metallic objects, rocks, rain, chemical compounds, aerosols, clouds and even single
molecules. A narrow laser beam can be used to map physical features with very high resolution.
The LIDAR (Light detection and Ranging) sensor is a scanner. It will rotate in the circle. It is fixed on the
top of the car. In the scanner contains the 64 lasers that are send surroundings of the car through the air.
These the laser is hits objects around the car and again comes back to it. By these known How far that
objects are from the car and also it calculates the time to reach that object. These are can see in monitor in a
3D object with the map. The monitor is fixed in front seat. “The heart of the system generates a detailed 3D
map of environment (velodyne 64- beam laser). The map accessed from the GPRS connection.

6. Radar sensor:
The three RADAR sensors were fixed in front of the bumper and one in the rear bumper. These will
measures the distance to various obstacles and allow the system to reduce the speed of the car. The back side
of sensor will locates the position of the car on the map. Radar (Radio Detection And Ranging) is an object-
detection system which uses radio waves to determine the range, altitude, direction, or speed of objects. It
can be used to detect aircraft, ships, spacecraft, guided missiles, motor vehicles, weather formations, and
terrain. The radar dish or antenna transmits pulses of radio waves or microwaves which bounce off any
object in their path. The object returns a tiny part of the wave’s energy to a dish or antenna which is usually
located at the same site as the transmitter.
For example, when the car was travelling on the road then RADAR sensor was projected on road from front
and back side of the car.
Position Sensor:
This device provides the latitude, longitude and altitude together with the corresponding standard deviation
and the standard NMEA messages with a frequency of 5 Hz. When geostationary satellites providing the
GPS drift correction are visible from the car, the unit enters the differential GPS mode (high precision GPS).
When no correction signal is available, the device outputs standard precision GPS. This sensor is mounted
on left rear wheel measure lateral movement and determines cars position on map
Video camera: The video camera was fixed near the rear view mirror. That will detect traffic lights
and any moving objects front of the car. For example if any vehicle or traffic detected then the car will be
slow down automatically, these all will be done by the artificial intelligence software only.
Position estimator: A sensor mounted on the left rear wheel. By these sensor only measures
small movements made by the car and helps to accurately locate its position on the map. The position of the
car can be seen on the monitor performing much the same function as amildy interested human motorist the
camera reads road signs, detect traffics lights, and keep out for pedestrians , cyclist , other motorist and
similar obstacles

7. Computer: information from various sensors is fed into the car’s central computer. here the data is
analysed and steering acieration and brakes adjusted accordingly. Importantly , the computer needs yo
understand not only the traffic laws but also the unspoken assumption of road users
Automative night vision: automotive night vision comes in two flavors near and far
infrared .the near infrared technology detects the portion of the ir band nearest to visible light. Special bulbs
mounted next to the headlights are aimed straight ahead like a car’s high beam, the NIR system is
illuminate the surroundings with infrared light in the wavelength of 800 to 900 nm.
How the car work’s
Google’s driverless car tech uses an array of detection technologies including sonar devices, stereo cameras,
lasers, and radar. All these components have different ranges and fields of view, but each serves a particular
purpose according to the patent filings Google has made on its driverless cars. Anyone who has ever seen an
image of Google’s self-driving Prius has probably noticed one of these systems poking up above the vehicle
— the LIDAR laser remote sensing system. According to Google engineers, this is at the heart of object
detection
The LIDAR system bolted to the top of Google’s self-driving car is crucially important for several reasons.
First, it’s highly accurate up to a range of 100 meters. There are a few detection technologies on the car that
work at greater distances, but not with the kind of accuracy you get from a laser. It simply bounces a beam
off surfaces and measures the reflection to determine distance. The device used by Google — a Velodyne
64-beam laser — can also rotate 360-degrees and take up to 1.3 million readings per second, making it the
most versatile sensor on the car. Mounting it on top of the car ensures its view isn’t obstructed.
Google mounts regular cameras around the exterior of the car in pairs with a small separation between them.
The overlapping fields of view create a parallax not unlike your own eyes that allow the system to track an
object’s distance in real time. As long as it has been spotted by more than one camera, the car knows where
it is. These stereo cameras have a 50-degree field of view, but they’re only accurate up to about 30 meters.
Google’s LIDAR system is great for generating an accurate map of the car’s surroundings, but it’s not ideal
for monitoring the speed of other cars in real time. That’s why the front and back bumper of the driverless
car includes radar. This is one of the few technologies Google employs in its driverless car that you can
already get in mainstream vehicles. Conventional vehicles use radar to warn you of an impending impact or
even apply the brakes to prevent one, but the Google car uses radar to adjust the throttle and brakes
continuously. It’s essentially adaptive cruise control that always takes into account the movement of cars
around you.
The radar system is probably paired with sonar in at least some of Google’s test cars. While radar works up
to 200 meters away, sonar is only good for 6 meters. They both have a narrow field of view, so the car
knows things are about to get messy if another vehicle crosses the radar and sonar beams. This signal could
be used to swerve, apply the brakes, or pre-tension the seatbelts.

8. Google’s software integrates all the data from these remote sensing systems (as much as 1GB per second) to
build a map of the car’s position. Other cars are rendered as rough blocks with shifting, amorphous edges. It
doesn’t have to be perfect — it’s not like the Google car needs to get close enough to test the accuracy of the
borders. GPS is only accurate to within a few meters, so it’s remarkable the car can even stay in the right
lane, let alone avoid collisions.
Testing
The project team has equipped a test group of at least ten cars, including six Toyota Prius, an Audi TT, and
three Lexus RX450h, each accompanied in the driver's seat by one of a dozen drivers with unblemished
driving records and in the passenger seat by one of Google's engineers. The car has traversed San
Francisco's Lombard Street, famed for its steep hairpin turns, and through city traffic. The vehicles have
driven over the Golden Gate Bridge and around Lake Tahoe. The system drives at the speed limit it has
stored on its maps and maintains its distance from other vehicles using its system of sensors. The system
provides an override that allows a human driver to take control of the car by stepping on the brake or turning
the wheel, similar to cruise control systems already found in many cars today.
On March 28, 2012, Google posted a YouTube video showing Steve Mahan, a resident of Morgan Hill,
California, being taken on a ride in Google's self-driving Toyota Prius. In the video, Mahan states "Ninety-
five percent of my vision is gone, I'm well past legally blind". In the description of the YouTube video, it is
noted that the carefully programmed route takes him from his home to a drive-through restaurant, then to the
dry cleaning shop, and finally back home.
In August 2012, the team announced that they have completed over 300,000 autonomous-driving miles
(500,000 km) accident-free, typically have about a dozen cars on the road at any given time, and are starting
to test them with single drivers instead of in pairs. Four U.S. states have passed laws permitting autonomous
cars as of December 2013: Nevada, Florida, California, and Michigan. A law proposed in Texas would
establish criteria for allowing "autonomous motor vehicles".
In April 2014, the team announced that their vehicles have now logged nearly 700,000 autonomous miles
(1.1 million km). In late May, Google revealed a new prototype of its driverless car, which had no steering
wheel, gas pedal, or brake pedal, being 100% autonomous.

9. Vehicle communication system
Individual vehicles may benefit from information obtained from other vehicles in the vicinity, especially
information relating to traffic congestion and safety hazards. Vehicular communication systems use vehicles
and roadside units as the communicating nodes in a peer-to-peer network, providing each other with
information. As a cooperative approach, vehicular communication systems can allow all cooperating
vehicles to be more effective. According to a 2010 study by the National Highway Traffic Safety
Administration, vehicular communication systems could help avoid up to 81 percent of all traffic accidents.[
In 2012, computer scientists at the University of Texas in Austin began developing smart intersections
designed for autonomous cars. The intersections will have no traffic lights and no stop signs, instead using
computer programs that will communicate directly with each car on the road.
Through the implementation of Global Positioning System (GPS), navigation of the autonomous vehicles is
simplified. The location of the vehicle can also be acquired by the longitude and latitude obtained by the
Google
Inside the car:‘The car will pick you up, take you where you want to go and then can go off and do
errands like pick up your dry-cleaning, freeing you to do other things,
you step inside and sink into soft Hermes orange leather seats. It is surprisingly spacious, uncluttered by the
normal ‘car’ things like pedals, a steering wheel and handbrake. Instead there are two buttons – green for Go
and red for Stop.
There is an oblong flat screen in front of you which shows the time, date, temperature and a computer-
generated image of the road ahead. Beneath the high-tech screen is a storage bay for luggage.
Hit the Go button and take off. The electric engine purrs into life, taking me to a top speed of 25mph.
Security Concerns
The widespread implementation of driverless cars, as safe as they are designed to be, indeed has some
chance in posing as a threat to a passenger. Buyers will essentially have to make a personal decision as to
which is safer: the machine’s calculated decision versus a human’s natural intuition z At times, airplanes and
traffic control systems fail due to such technological anomalies. The buyer must then weigh the benefits
with such a concern. What makes the driverless car vulnerable to this risk?

10. ADVANTAGES
1) Self-driving cars would save lives: This is the most obvious one. In the United States from automobile
crashes . And roughly 40 percent of fatal accidents are caused by alcohol, distraction, drugs, or fatigue, all of
which go away once you take human off the wheel. Letting robots take the wheel would save lives.
2) Commutes would become quicker and less stressful: Research shows that long commutes increase the
risk of obesity, divorce, stress, sleeplessness, and neck pain
3) Driverless cars will be more fuel-efficient:. What's more, cars would no longer need to be so big and
hulking — since their users don't need to fear crashing as much. That all boosts fuel efficiency.
4) Driverless cars will waste less fuel on things like looking for parking. study found that in congested
urban areas, drivers waste an absurd amount of gasoline circling the blocks looking for parking. Intelligent
self-driving cars could presumably improve on this — particularly if they could communicate with each
other.
5) More and more people will be able to drive. There are plenty of people who are not allowed to drive
right now. Everyone under 16 . The elderly . The disabled . People who are intoxicated or on medication.
People who are sleeping. All of those people would now be able to get around in driverless cars.
6) Driverless cars could make car-sharing more popular. we spend a lot of money for cars that sit in the
parking lot most of the time. In theory, self-driving cars could be used more productively — say, through
car-sharing services. That might mean fewer cars overall.
8) Self-driving cars could make the transition to electric vehicles easier. As Google consultant Brad
Templeton self-driving cars will allow car manufacturers to radically change their designs. And that could
have big implications for electric vehicles.
DISADVANTAGE
1) Safety and regulatory concerns. This is one of the big hurdles self-driving cars will have to
surmount before catching on — since self-driving cars will likely have to meet more rigorous standards
than regular cars. "The first accident that's caused by a computer malfunction will freak everyone out far
beyond the thousands of car accidents caused by humans,".
WHO IS LIABLE IF A SELF-DRIVING CAR CRASHES? THE MANUFACTURER? THE
PASSENGER?
2) Legal challenges. Even if self-driving vehicles are safer, they'll likely never be crash-free. What
happens if a pedestrian suddenly jumps out in front of a car? Who would be at fault if the self-driving
vehicle hits something or someone? The manufacture ? The person sitting in the car ?

11. 3) Big disruptions in the labor market. In theory, many of those jobs could be replaced by self-driving
cars, which would create plenty of dislocation and hardship (as well as possible opposition to the
technology).
4) More driving overall and higher energy use. Yes, self-driving cars could be more fuel efficient. But it's
also entirely possible that people will end up driving them more, especially if it's cheaper and more
convenient. The end result could conceivably be an increase in fuel use or planet-warming greenhouse-gas
emissions. (The technical term for this is the "rebound effect.")
5) Suburban sprawl could expand. Right now, there's a serious limit to how sprawled-out a city can get —
as a rule, people tend to prefer to keep their commutes under an hour. But if self-driving cars can offer
quick, efficient transportation, then we could see more people spread out to the suburbs. It's not clear if this
is a problem, but it could be one unexpected side effect.
6) Privacy issues. There are lots of possible issues here. Many of the benefits from self-driving cars come
from the vehicles being able to communicate and share data with each other. Likewise, crash data will
almost certainly be stored for use by manufacturers and to sort out liability But how much data will be
stored? And how will it be shared?
In Conclusion
In conclusion, upon addressing the mechanics of the driverless car as well as its benefits and potential
issues, it is quite interesting to see how the world will actually become by the year 2040. Is IEEE correct?
Will the rite of passage of attaining one’s driver license cease to exist? It is truly in the reader’s discretion to
determine and weigh the impacts that the driverless car will have on society in the future. Until then, it is
fascinating to see the effects this creation will have on the states in which it is legalized as well as on the
people that have chosen to experiment with it.
Work cited
www.google.com
www.slideshare.com
www.vox.com
www.theneweconomy.com
en.wikipedia.org
sites.google.com