Self-driving car

Abstract

Self-Driving car, a car capable of sensing its surrounding and moving on its own through traffic and other obstacles with minimum or no human input. This is the current upcoming technology in the automobile industry and even though it has been discussed and worked on for a long time, it was successfully manufactured by TESLA. In recent years, these cars began to roll out in foreign markets as private and public vehicles(taxis etc.). Many companies like Waymo, UBER, Nissan, Nvidia are involved in this product development. With this type of car, the whole automotive transportation's safety, security, efficiency is increased and the human errors can be eradicated whilst the drive is made to its best. This project has infused the idea of traffic signal responsing which is absent in the current models and the above mentioned advantages can be achieved with much more ease and at a low cost. This type of system can bring a revolution in transporting for differently abled people and also help blind people travel independently.

Full text

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 380
Abstract--- Self-Driving car, a car capable of sensing its surrounding and moving on its own through traffic and
other obstacles with minimum or no human input. This is the current upcoming technology in the automobile
industry and even though it has been discussed and worked on for a long time, it was successfully manufactured by
TESLA. In recent years, these cars began to roll out in foreign markets as private and public vehicles(taxis etc.).
Many companies like Waymo, UBER, Nissan, Nvidia are involved in this product development. With this type of car,
the whole automotive transportation’s safety, security, efficiency is increased and the human errors can be
eradicated whilst the drive is made to its best. This project has infused the idea of traffic signal responsing which is
absent in the current models and the above mentioned advantages can be achieved with much more ease and at a
low cost. This type of system can bring a revolution in transporting for differently abled people and also help blind
people travel independently.
Keywords--- Self Driving Car, Human Input, Human Error, Traffic Signal Responsing.
I. INTRODUCTION
The concept of self driving car is discussed since 1920s, however first semi auto-mated car was developed by
Japan in 1977.A major landmark self driving car was developed in 1980s with speed limited upto 31 kmph. And
after some developments in 2013 Tesla started their autonomous car project. In 2014 they released Tesla S with
semi-autopilot mode. And further improvements in the autopilot software are released in following models like
Tesla X etc.A survey of opinion from public about self driving cars was conducted by Brandon Schoettle and
Michael Sivak in top three major English speaking countries and intial response from the public is positive about
upcoming technology in automobile industry. [1] But in our country there was no such development, this project
analysed and took this as base. So with in this background we decided to develop a autonomous car at a low cost
that could afforded by many citizens. And with the existing system we included Traffic signal response which is not
present in Tesla and many other companies. With this the transportation quality and safety is improved as human
errors made will be significantly reduced and road safety will be increased. And it also brings revolution in helping
differently abled and blind people to travel independently.
II. EXISTING SYSTEM
After conducting experiments since 1920s, the first truly autonomous cars were developed in 1980s with
Carnegie Mellon University’s Navlab and ALV projects in 1984 and Mercedes-Benz and Bundeswehr university
Munich’s Eureka Prometheus Project in 1987. Following these, many companies like general motors, Nissan,
Toyota, Audi, Volvo, Google, Tesla etc have started working on self driving vehicles project. After many years, in
Dr.T. Manikandan, Dept. of ECE, Rajalakshmi Engineering College, Chennai, India. E-mail: Manikandan.T@rajalakshmi.edu.in
J.S. Jayashwanth , Dept. of ECE, Rajalakshmi Engineering College, Chennai, India. E-mail: j.jaayshwaanth@gmail.com
S. Harish, Dept. of ECE, Rajalakshmi Engineering college, Chennai, India. E-mail: harishsrikanth01@gmail.com
K.N. Harshith Sivatej, Dept. of ECE, Rajalakshmi Engineering College, Chennai, India. E-mail: harshithtej1999@gmail.com
Self Driving Car
Dr.T. Manikandan, J.S. Jayashwanth, S. Harish and
K.N. Harshith Sivatej


International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 381
1991, the United States Congress passed a bill ISTEA Transportation Authorization which stated that USDOT to
demonstrate an automated vehicle and highway system by 1997.The Federal Highway Administration with some
companies close headway platooning intended to operate in segregated traffic and free agent vehicle to operate in
mixed traffic. Following that in 1995 Navlab project completed 3100 miles where 98% was automated. In 2005
world’s first driverless car, Parkshuttle came out. It uses artificial reference points in road to verify its position.
Fig a: Park Shuttle at Netherlands
Three Military projects Demo I, Demo II, Demo III funded by US Government in 2000s is a unmanned vehicle
to navigate long difficult off road terrain. After some years the idea of autonomous car was brought into Grand
Challenges but idea couldn’t be implemented in first attempt but in following events they achieved it.In US partial
automation system(Level2 Systems) is made available by several automobile companies but conditional automation
with some human input was under development(Level3 Systems). [2] The first complete test urban test for the self
driving car was made in 2007. [3] Although many prototypes where introduced by many companies even Google
and Nissan , the revolution was made by TESLA in 2014. They launched first version of Model S equipped with
system capable of lane detection with autonomous steering, braking and speed limit adjustment based on signals
image recognition. But it is made suitable only for limited highway access nit for urban driving.They
accumulatedover 1.2billion miles in Autopilot mode since 2015. [4]
Fig b: Tesla Model S
As of now in 2017 and 2018 Volvo and Audi launched their model of cars wih autopilot. 2017 Waymo One a
self-driving car was launched which was owned by Google once. It was launched as a limited taxi service in
Arizona.

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 382
Fig c: Waymo One
Most of the models mentioned above are not fully autonomous since fully autonomous car are not made legal in
US. So as of now, Tesla is yet to release their fully autonomous car which is expected in 2019 or in following years.
But in India there is no development of autonomous car models. Still they have partial features of self driving like
starting from cruise control, self-parking, automatic emergency brakes, lane change assist.
III. PROPOSED SYSTEM
This project plans to planning to provide a self driving car with a system that can navigate between two places
on the map, detect any obstacles, lane detection [5], accident avoidance and emergency services. And our project’s
uniqueness is we are implementing traffic signal responsing which is not present in Tesla and other companies car.
Above figure is the basic block diagram of this project.

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 383
Components used in this project :
Raspberry Pi
The below shown image is Raspberry Pi .It enables people of all ages to explore computing, and to learn how to
program in languages like Scratch and Python.
Specifications
 Broadcom BCM2711, Quad core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz
 1GB, 2GB or 4GB LPDDR4-3200 SDRAM (depending on model)
 2.4 GHz and 5.0 GHz IEEE 802.11ac wireless, Bluetooth 5.0, BLE
 Gigabit Ethernet
 2 USB 3.0 ports; 2 USB 2.0 ports.
 2 × micro-HDMI ports (up to 4kp60 supported)
 OpenGL ES 3.0 graphics
Fig d: Raspberry pi
Ultrasonic Sensor
The figure given below is Ultrasonic sensors. It measure distance by using ultrasonic waves. The sensor
heademitsan ultrasonic wave and receives the wave reflected back from thetarget.
Fig e: Ultrasonic Sensor
LDR Sensor

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 384
The figure given below is LDR Sensor. It is basically a photocell that works on the principle of
photoconductivity.
Fig f: LDR Sensor
Vibration Sensor
The Fig(g) is Vibration Sensor. It is a piezoelectric accelerometer that sense vibration. They are used for
measuring fluctuating accelerations or speeds or for normal vibration measurement.
Fig g: Vibration Sensor
Camera
 Logitech c270
 For lane and vehicle detection
Technical Support
 Max Resolution: 720p/30fps
 Focus type: fixed focus
 Lens technology: standard
 Built-in mic: mono
 FoV: 60°
 Universal clip fits laptops, LCD or monitors

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 385
Fig h: Logitech c270
GPS
A GPS navigation system is a GPS receiver designed for a specific purpose such as a car-based or hand-held
device or a smartphone app. The global positioning system (GPS) is a 24-satellite navigation system that uses
multiple satellite signals to find a receiver’s position on earth.
Gyroscope
A device used for measuring or maintaining orientation and angular velocity.
Fig i: Gyroscope Sensor
Motor Drivers
The figure given below is Motor drives.It is used for motor interfacing. These drive circuits can be easily
interfaced with the motor and their selection depends upon the type of motor being used and their ratings(Current,
Voltage).
Fig j: Motor Driver Circuit

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 386
DC Motor
The figure given below is DC Motor.It is used for speed and direction.
Fig k: DC Motor
Network(IOT Application)
Internet of Things(IoT) describes the large and growing set of digital devices – now numbering in the billions –
that operate across networks of potentially global scale. As opposed to the regular Internet (of people), the IoT is
comprised only of smart sensors and other devices. Its gathers operational data from remote sensors for collecting
and controlling.
IV. RESULT
The below figure is the output for Lane Detection from running the python code for our model in Compiler. The
YELLOW LINES indicate the detection of lanes.
Fig l: Lane Detection Output
The below figure in the picture captured via camera integrated in the model where the blue strip indicates lane
and green line indicates the lane detection.

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 387
Fig m: Output from Camera Mounted in Model
The below figure is the output for Traffic signal responding from running the python code for our model in
Compiler. With Hough gradient, the colour of the light from signal is indicated whether it is red or yellow or green.
Fig n: Output fot Traffic Signal Responding
The below figure is the complete model of self-driving car.With all the above mentioned components integrated
and connected with chassis.
Fig o: Self Driving Car Model
V. CONCLUSION
Since Self Driving Car is the major upgradation in automatable industry in future, this project focuses on bring
changes in road safety and commuting and significantly reduce accidents and human errors through continuous
learning by the system. This project will be a revolution in transporting differently abled people and blind people
can drive independently. With our product as base mobile applications can be developed where owner summon the
vehicle via the app and produce a fully autonomous car on passing the law (Fully autonomous cars are still illegal,
but will be the future mode of transport).

International Journal of Psychosocial Rehabilitation, Vol. 24, Issue 05, 2020
ISSN: 1475-7192
DOI: 10.37200/IJPR/V24I5/PR201704
Received: 07 Feb 2020 | Revised: 01 Mar 2020 | Accepted: 18 Mar 2020 388
REFERENCES
[1] M. S. Brandon Schoettle, "A SURVEY OF PUBLIC OPINION ABOUT AUTONOMOUS AND SELF-
DRIVING VEHICLES IN U.,S., U.K., AUSTRALIA," 2014.
[2] S. M. M. T. Mike Daily, "Self-Driving Cars," 2017.
[3] A. S. I. R. Jean-Francois Bonnefon, "The social dilemma of autonomous vehicles," 2015.
[4] U. o. M. Centre for Sustainable Systems, "Autonomous Vehicles Factsheets," 2018.
[5] N. Corporation, "End to End Learning of Self-Driving Cars," 2016.