Smart car to reduce risk of accident

[SMART CAR TO REDUCE RISKS OF ACCIDENT] December3,2015
Page I
LIST OF CONTENTS
LIST OF CONTENTS.......................................................................................................I
LIST OF TABLES ............................................................................................................I
LIST OF FIGURES.................................................................................................IIIIIIIII
Acknowledgement......................................................................................................IIIIV
Disclaimer
statement……………………………………………………………………….IIIIV
Abstract......................................................................................................................IV
Introduction.................................................................................................................1
Purpose........................................................................................................................1
Specification ....................................................................................................................1
Modules .......................................................................................................................2
Standards /Codes ..........................................................................................................3
Elements and components ................................................................................................4
Aorduino Uno...............................................................................................................4
Ultrasonic Ranging Module ...........................................................................................6
H-Bridge........................................................................... Error! Bookmark not defined.
Motor .............................................................................. Error! Bookmark not defined.
Literature Review.................................................................................................... 12
Methodology .......................................................................................................... 14
Results and analysis ........................................................................................................ 15
Conclusion and future work......................................................................................... 22
Reference....................................................................................................................... 23

Page II
LIST OF TABLES
Table 1: properties of the arduino Uno 4
Table 2: Ultrasonic Ranging Module HC - SR04 6
Table 3:PWM, truth table 9
Table 4: Prototype Main Elements Error! Bookmark not defined.
Table 5: Estimated Prices 15

Page III
LIST OF FIGURES
FIGURE 1: FUNCTIONAL FLOW CHART 2
FIGURE 2: ARDUINO UNO DESIGN 5
FIGURE 3: ALTRASONIC MODULE 6
FIGURE 4:TIMING DIAGRAM 7
FIGURE 5: DATA SHEET OF L293D 9
FIGURE6 : SCHEMATICS OF INPUTS AND OUTPUTS (L293D) 9
FIGURE 7: APPLICATION INFORMATION 9
FIGURE 8: MOTOR RESPONS TO OBSTACLES 11
FIGURE 9: MOTOR CONTROL FLOW CHART 11
FIGURE 10: PICTURE1 13
FIGURE 10: PICTURE2 13
FIGURE 10: PREPARATION OF TRAFFIC ACCIDENTE 14
FIGURE 11: DESIGN A PROJECT USING THE PROTEUS PROGRAM 16

Page IV
Acknowledgement
We extend our sincere thanks and gratitude to all who
contributed and gave us a helping hand to complete the project
from lecturers, colleagues and singled out Dr. Jamal
Kharousheh who has been following the project step by step
and give us tips and guide us to the right path to complete the
project as fully as possible.
Disclaimer statement
This report was written by students at the Electrical
Engineering Department, Faculty of Engineering, An-Najah
National University. It has not been altered or corrected, other
than editorial corrections, as a result of assessment and it may
contain language as well as content errors. The views expressed
in it together with any outcomes and recommendations are
solely those of the students. An-Najah National University
accepts no responsibility or liability for the consequences of
this report being used for a purpose other than the purpose for
which it was commissioned.

Page V
Abstract
We have designed this system to avoid the occurrence of side events
and maintains a constant distance between the front of vehicles.This
systemutilizes ultrasonic sensors, and a LED indication panel.This system
is will take the output of the ultrasonic sensor and then translated by
microcontroller Arduino Uno feature ADC. The microcontroller takes the
data, and selects the closest distance between the car and the obstacle
that should be avoided.If the car needs to move, a signal with the
obstacle location is then transmitted to the other systems .Once the
location signals send out to the motor, it determines which lateral thrust
needs to be applied. At the same time, LED panel tells the driver where
the car is approaching the next obstacle .At this time, the operator has
the option to either allow the Smart Car System to continue to control
the bow thruster. Or to abort the use of the system and avoid the
obstacle themselves .
www.mot.gov.ps

Page 1
CHAPTER 1
Introduction
1.1 Purpose
The main aims of an accident avoidance system are to avoid a loss of life
and provide a safety mechanism for the driver.
Avoidance accident is intended to be an installable safety system for
existing cars that can aid the operator in avoiding hidden obstacles. It
will take advantage of three ultrasonic sensors attached to the front
corners of the car and attached at the middle that will scan the surface
of the roads for obstacles such as street and bridge support and
surpassing car. The three sensors will be able to cover a 180 degree area
in front of the car. These sensors will transmit data to a motor
controlling system that will operate a bow thruster in the front of the
car. This thruster motor will be able to steer the front of the car in both
the left and right directions and reducing the speed limit to avoid the
obstacles seen by the sensor. Smart car will also implement an LED
display that will warn the operator of the location of upcoming obstacles
and give them the option to avoid it with his own control.
1.2 Specifications
The Smart car system has a few specifications that make it a valuable
safety systemfor cars. The sensors have a detecting distance from 20cm
to 25ft. This allows a detecting window that will give the system plenty
of time to avoid any obstacles. The sensor to motor reaction time will be
well under a second so that the system can be ready to avoid obstacles
that the car may be approaching at realistic speeds.. Detection to the
sides of the car is not necessary considering this area should be easily
observed by the operator. Since the operator has control of the forward
and backward movement of the car, the only obstacle avoiding
movement that the Smart car system needs is lateral. This is achieved
through the single bow thrusting motor under the front of the car. The
operator will be alerted through their panel of all obstacles that the
system sees as a threat and will then have the opportunity to stop the
system’s response in order to have control without the system’s help.
www.traffictechnologytoday.com/features.php?
BlogID=300

Page 2
But this system is useful when the driver's loss control of the car and
when the weather is fog.
1.3 Modules
Smart car consists of four separate modules that communicate with
each other wirelessly. There are three ultrasonic sensor modules will
connection with microcontroller. There are also two motor module that
are made up of the thruster motor that gives the car lateral movement
to avoid obstacles and an h-bridge motor control circuit that allows the
motor to thrust both directions and control the speed. The last module
is the operator’s panel. The panel has an array of LEDs in a semicircle
arrangement that will illuminate the direction from which an obstacle is
approaching the car. There is also a abort button that the operator can
use if the Smart car system should be reset because the obstacle can be
avoided without the system’s help. Our system’s flow can be shown in
figure 1.3.1 below.
Figure 1.3.1: Functional Flow Chart
Car move right
H- Bridge
Car move left
Car move (Closed
distance)
Motor move left
Motor move right
Motor controlMicrocontroller
www.traffictechnologytoday.com/features.php?
BlogID=300

Page 3
CHAPTER 2
Constraints
Throughoutthe semester, many obstacles would arise. The firstwas
simulation did not work so we changed the code. Second the electronic
component Combustion for any simple reason. Another uncertainty that
the difficulty in finding a small car mimic the realism car
Standards
Some legal materials
*Article (45) the preparation to skip:
May not be the commander of the vehicle over another vehicle or
animal or an attempt to overcome only if the nuclear-weapon-free road
just enough to enable him to override the continuation of travel safely
without hampering the traffic
*Article (49) travel quickly to suit road conditions:
The commander of the vehicle driving the vehicle consistent road
conditions, regulation defines the cases in which the driver of the vehicle
speed relief where.
*Article (55) to give the reference:
The commander of the vehicle to give the necessary reference before
the time is sufficient to alert the pedestrians and secure their vision of
this reference, in the case of the necessary reference gives his hand.
www.mot.gov.ps

Page 4
*Article (186) dangerous driving on pavement:
1. No one may lead the vehicle; animals on the pavement, the conduct
or for have been allocated to the education of a particular type of road
users only for crossing to enter a patio, a garage or exit.
2. From Driving a vehicle-except mechanism bike regular or driving a
tractor or slow vehicle to adhere to the right side of the road and
proceed on their part if necessary to pave the way for vehicles from
behind to cross.
www.mot.gov.ps

Page 5
Chapter 3
Elements and component of project
Choosing Components:
Performing this task started by analyzing the system technical
requirements. The following major components need to be purchased:
• Microcontroller (Arduino Uno)
• Ultrasonic Sensor
• H-Bridge
• Motors
• LEDs
3.1 Arduino Uno
Arduino is an open-sourceprototyping platform based on easy-to-use
hardwareand software.
Arduino boards are able to read inputs - light on a sensor, a finger on a
button, or a Twitter message - and turn it into an output - activating a
motor, turning on an LED, publishing something online. You can tell your
board what to do by sending a set of instructions to the microcontroller
on the board. To do so you use the Arduino programming language
(based on Wiring), and the Arduino Software.The properties of the
Arduino Uno can show in the following table 3.1.a
Table 3.1a
ATmega328Microcontroller
5VOperating Voltage
7-12VInput Voltage (recommended)
6-20VInput Voltage (limits)
14 (of which 6 provide PWM output)Digital I/O Pins
6Analog Input Pins
40 mADC Current per I/O Pin
50 mADC Current for 3.3V Pin
32 KB of which 0.5 KB used by
boot loader
Flash Memory
2 KBSRAM
1 KBEEPROM
16 MHzClock Speed
www.arduino.cc

Page 6
Figure3.1a
www.arduino.cc

Page 7
3.2 Ultrasonic Ranging Module HC - SR04
Ultrasonic ranging module HC - SR04 provides 2cm - 400cm non-contact
measurement function, the ranging accuracy can reach to 3mm. The
modules includes ultrasonic transmitters, receiver and control circuit.
3.2.1 The basic principle of work:
(1) Using IO trigger for at least 10us high level signal.
(2) The Module automatically sends eight 40 kHz and detect whether
there is a pulse signal back.
(3) IF the signal back, through high level , time of high output IO duration
is the time from sending ultrasonic to returning. Test distance = (high
level time*velocity of sound (340M/S)/2).
Wire connecting direct as following:
 5V Supply
 Trigger Pulse Input
 Echo PulseOutput
 0V Ground
 3.2.2 Electric Parameter:
Table 3.2a
Figure 3.2a
Working Voltage DC 5 V
Working Current 15mA
Working Frequency 40Hz
Max Range 4m
Min Range 2cm
Measuring Angle 15 degree
Trigger Input Signal 10uS TTL pulse
Echo Output Signal Input TTL lever signal and the range in
proportion
Dimension 45*20*15mm
www.micropik.com/PDF/HCSR04.pdf

Page 8
3.2.3 Timing diagram:
The Timing diagram is shown below in figure 3.2.3a. You only need to
supply a short 10uS pulse to the trigger input to 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 .You can calculate the range through the time
interval between sending trigger signal and receiving echo signal.
Formula: uS / 58 = centimeters or uS / 148 =inch; or:
The range = high level time * velocity (340M/S) / 2
We suggest to use over 60ms measurement cycle, in order to prevent
trigger signal to the echo signal.
Figure 3.2.3a
www.micropik.com/PDF/HCSR04.pdf

Page 9
Attention:
 The module is not suggested to connect directly to electric, if
connected electric, the GND terminal should be connected the
module first, otherwise, it will affect the normal work of the
module.
 When tested objects, the range of area is not less than 0.5 square
meters and the plane requests as smooth as possible, otherwise,it
will affect the results of measuring.
The HC-SR04 Ultrasonic Sensor is a very affordable proximity/distance
sensor that has been used mainly for object avoidance in various smart
car projects.
It essentially gives your Arduino eyes / special awareness and can
prevent your car from crashing or falling off a table.
3.2.1 Description/ordering information
The L293D is designed to provide bidirectional drive currents of up to
600-mA at voltages from 4.5 V to 36 V. Both devices are designed to
drive inductive loads such as relays, solenoids, dc and bipolar stepping
motors, as well as other high-current/high-voltage loads in positive-
supply applications.
All inputs are TTL compatible. Each output is a complete totem-pole
drive circuit, with a Darlington transistor sink and a pseudo- Darlington
source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by
1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is
high, the associated drivers are enabled, and their outputs are active
and in phase with their inputs. When the enable input is low, those
drivers are disabled, and their outputs are off and in the high-impedance
state. With the proper data inputs, each pair of drivers forms a full H (or
bridge) reversible drive suitable for solenoid or motor applications.
The L293D are characterized for operation from
Figure 3.2.1
www.ti.com/lit/ds/symlink/l293.pdf
www.datasheets360.com/l293d

Page 10
3.2.2 Schematics of inputs and outputs (L293D)
Figure 3.2.2a
3.2.3 Application information
Figure 3.2.3a Figure 3.2.3b
www.datasheets360.com/l293d

Page 11
3.3 Motor Microcontroller and Logic
As stated above, the motor microcontroller is used to generate
the PWM and direction signals for the h-bridge. We determined
for simplicities sake that we would not change the PWM duty and
therefore the motor speed. This still works well for our application
because we really only need the motor to turn on in the right
direction. Our circuit board for the motor control can be seen in
Figure 3.2.3a .The logic that passes the PWM to the different
drivers based on the desired direction is shown in truth table form
in Figure 3.2.3b. The microcontroller code works through the flow
chart in Figure 3.3.2.4. This shows that depending on the position
that a sensor is in when it is detecting a threatening obstacle and
which sensor is detecting the obstacle, the motor can work in
different directions to move the car away from the approaching
obstacle. Figure 3.3.2.5 shows a simple graphical diagram of the
motor’s response to different obstacles seen by the sensors to
help clarify the motor control flow chart
www.adafruit.com/product/1500

Page 12
Control speed
center
www.adafruit.com/product/1500

Page 13
CHAPTER 4
Literature Review
Fifty years after inventing the seatbelt, Volvo cars is still dedicating
millions of research dollars with the aim to savelives and reduce injury.
While the seatbelt still remains a massivelife-saving device, its driver
assistancetechnologies area lot more intelligent.
The aim is that tomorrow’s cars should quitesimply be able to avoid
accidents. Many of today’s cars arealready so intelligent that they alert
the driver or even step in and brake the car to avoid an accident.
Drowsy drivers causemany accidents on roads the world over.
Sometimes it may be difficult to ascertain if it is a tired driver who has
caused an accident, so the true extent of the problem is largely hidden.
What is clear, however, is that drowsy drivers area large – and global –
traffic safety problem.
Cars that predict accidents BEFORE they happen: Volvo system plots
‘escape routes’ to avoid crashes
 Volvo claims its next-generation cars will be equipped with computers
that have a 360-degreeview of surroundings
 If an accident is likely, the car can find an alternative route, brakeor
steer
 The technology also plans movements up to five seconds in advance
 Volvo said it hopes to eliminate all road fatalities in its cars by 2020
 Tesla today announced its lastest sedan will havea safety feature that
will move car over a lane when the driver uses turn signal
Air bags, mirrors and sensors can only do so much to preventdeaths as a
result of a dangerous driving.
Now Volvo has developed a technology that, it claims, could eliminate
road fatalities in its cars by 2020.
he Swedish group claims that by the end of the decade, its next-
generation cars will be equipped with computers that have a 360-degree
view of their surroundings.
-http://www.dailymail.co.uk/sciencetech/article
-volvo-happen-accidents-predict-2787992/cars
crashes.html-avoid-routes-escape-plots

Page 14
Volvo claims that in a few years, its new cars will be equipped with
computers that have a 360-degreeview of their surroundings. Ifan
accident is likely, the systemwill allow the car to find an ‘escape route’,
brakeautomatically or steer the car to avoid a crash. The firm aims to
end driving fatalities fromVolvo cars by 2020
The technology pictured was developed by Volvo’s four-year Non-HitCar
and Truck Project
-http://www.dailymail.co.uk/sciencetech/article
-volvo-happen-accidents-predict-2787992/cars
crashes.html-avoid-routes-escape-plots

Page 15
Chapter 5:
Methodology
Incidents have becometraffic represents a worrying and concern
for all members of society,and became one of the most important
problems that drain material resources and human potential and
target communities in the mostimportant elements of life and
which is the human element, in addition to the loss of social
problems and psychologicaland huge material losses,which has
become necessaryto work on finding solutions and suggestions
and implemented to reduce these incidents or at least their causes
and mitigate its negative effects.We at the outset a search for the
most important causes of accidents and the most dangerous to
discoverthat lost control of the vehicle driver leads to more
incidents, the following chart illustrates the preparation of traffic
accidents on the roads as the governorate during 2014
It is in this section we decided to address the problem through the
creation of the design helps us to control the vehicle in the case of
the driver lost control of the vehicle, we have found the design
simulates this command and then we started research and
analysis of the parts needed to its styles of work and
proportionality of the performance of its functions, to sure that we
can obtain them, and then we started the work of the design of the
Chamber order through the Brutus program we also write code
using arduio program and not remain only apply in practice.
www.mot.gov.ps

Page 16
so we boughtfter that we have the application of practical designA
install the vehicle andnd after that weathe necessaryparts
We have experienced manyof the problems we have.processed
been able to overcome them.
Chapter 6:
Results and analysis
After hard studying, the following main elements for smart car will
be used in the hardware prototype:
RopotCar -
Motors DC Motor
Microcontroller Arduino auno
Batteres 12V
Altra sonic sensor HCS04
H-Bridge L293
Table 6.a: Prototype MainElements
The important part should be studied is the economic part, to have
a vision about the market.
Estimated prices:
Description Estimated price
RopotCar 30 $
Two Motors 10 $
Batteres 5 $
Altra sonic sensor 20 $
H-Bridge 20 $
Microcontroller 15 $
Other equipment 10 $
Total expected price 110 $
Table 6.b: EstimatedPrices

Page 17
We also got to work designing a projectusing the proteus program,
figure 6.1 shown our design:
Figure6.1
Writing the code by using Arduino program, as show in below:
#include <NewPing.h>
#define TRIGGER_PIN 12 // Arduinopintiedto trigger pinon the
ultrasonic sensor.
#define ECHO_PIN 11 // Arduinopintiedto echopin on the
ultrasonic sensor.
#define MAX_DISTANCE200 //Maximumdistance we want toping for
(in centimeters). Maximumsensor distanceis ratedat 400cm-500cm.
// motor one
int enA =4;
int MC1 =6;
int MC2 =7;
// motor two
www.matni.com
Book: Get startedwith Arduino
brutus.en.softonic.com

Page 18
int enB = 5;
int in3 = 2;
int in4 =3;
double lift;
double right;
double center;
#define SONAR_NUM 3 // Number of sensors.
#define MAX_DISTANCE400 //Maximumdistance (incm) to ping.
#define PING_INTERVAL 33 //Millisecondsbetweensensor pings
(29ms is about the min to avoid cross-sensor echo).
unsignedlong pingTimer[SONAR_NUM];//Holds the times whenthe
next ping should happen for eachsensor.
unsignedint cm[SONAR_NUM]; // Where the ping distances are
stored.
uint8_t currentSensor =0; // Keeps track of which sensor is active.
NewPing sonar[SONAR_NUM]={ // Sensor object array.
NewPing(8, 9, MAX_DISTANCE), //Each sensor's trigger pin, echopin,
and max distance toping.
NewPing(11, 10, MAX_DISTANCE),
NewPing(12, 13, MAX_DISTANCE)
};
int val=0;

Page 19
int velocity=5;
void forward(int rate)
{
digitalWrite(enA,LOW);
digitalWrite(MC1,HIGH);
digitalWrite(MC2,LOW);
analogWrite(enA,rate);
}
void reverse(int rate)
{
digitalWrite(MC2,HIGH);
analogWrite(enA,rate);
}
void brake()
{
digitalWrite(enA,HIGH);
}
void setup() {
www.arduino.cc

Page 20
// put your setupcode here, torun once:
pinMode(MC1,OUTPUT);
pinMode(MC2,OUTPUT);
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
Serial.begin(115200);
pingTimer[0]= millis() +75; // First ping starts at 75ms, gives time
for the Arduinoto chill before starting.
for (uint8_t i = 1;i < SONAR_NUM;i++) // Set the starting time for each
sensor.
pingTimer[i]= pingTimer[i - 1] + PING_INTERVAL;
}
void loop() {
for (uint8_t i = 0;i < SONAR_NUM;i++) { // Loop throughall the
sensors.
if (millis() >=pingTimer[i]) { // Is it this sensor's time toping?
pingTimer[i]+= PING_INTERVAL * SONAR_NUM; //Set next time this
sensor will be pinged.
if (i==0 && currentSensor==SONAR_NUM- 1) oneSensorCycle();//
Sensor ping cycle complete, dosomething withthe results.
sonar[currentSensor].timer_stop(); // Make sure previous timer is
canceled before starting anew ping (insurance).
currentSensor =i; // Sensor being accessed.

Page 21
cm[currentSensor]=0; // Make distance zeroincase
there's noping echofor this sensor.
sonar[currentSensor].ping_timer(echoCheck);//Do the ping
(processing continues, interrupt will call echoCheck tolook for echo).
}
}
}
void echoCheck() { // If ping received, setthe sensor distance toarray.
if (sonar[currentSensor].check_timer())
cm[currentSensor]=sonar[currentSensor].ping_result /
US_ROUNDTRIP_CM;
}
void oneSensorCycle() {
lift=cm[0];
right=cm[1];
center=cm[2];
if(lift<200 &&right<200 &&center<200 )
brake();
else if (lift>right){
if(right<200){
reverse(velocity);

Page 22
}
}
else if (right>lift){
if(lift<200){
forward(velocity);
}
}
else if(center<200){
for(int velocity =255 ; velocity >= 0; velocity -=5){
analogWrite(enB,velocity );
delay(5);
}
}
Serial.println();
}

Page 23
In the latter part of the project,the stage of the work of the model
:simulates the reality of the projectas shown in the attached image
This model has achieved the desired objectives ofthe project so
that the vehicle had been able to avoid the obstacles side and
reduce speed front Obstacle.

Page 24
Chapter 7:
CONCLUSION AND FUTURE WORK
Reduce accidents is a global goal that every country seeks to
achieve. So we design smart car, we sought through design to
reduce the most dangerous and the most frequent accidents! So
we tried to underestimate the impact of two types of accidents, first
when vehicle deviation from the road and the other case when lack
of vision on the road. The probability of success of the system in
the return of the vehicle back on track, depend on the vehicle
speed and the speed of system response ,therefore, the system
will help reduce accidents or reduce the impact of the incident ,
finally the system got a high efficiency.

Page 25
References
 Ministry of Transport and Communications - the Supreme Council for
passage. Traffic accidents on roads in the West Bank in 2014
- Palestine Ramallah.
All correspondence should be addressed to:
Ministry of transportation
PO Box 399, Ramallah Palestine
Telefax: (970/972) 2241 3844
Website: www.mot.gov.ps
E-mail: thc@mot.gov.ps
 https://www.arduino.cc/
 Tech Support: services@elecfreaks.com
 www.Elecfreaks.com
 International Journal of Scientific and ResearchPublications, Volume 3,
Issue 7, July 2013
ISSN 2250-3153
 American Journal of Engineering Research(AJER) e-ISSN : 2320-0847
p-ISSN : 2320-0936 Volume-02, Issue-10, pp-92-99
 http://www.traffictechnologytoday.com/features.php?BlogID=300
 http://www.dailymail.co.uk/sciencetech/article-2787992/cars-predict-
accidents-happen-volvo-plots-escape-routes-avoid-crashes.html

Smart car to reduce risk of accident

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