CHAPTER 1 INTRODUCTION

Driving is a compulsory activity for most people. People use cars to move from one place to another. The number of vehicles is increasing day by day. It is produced tacked tightly and risk to accident. In the current scenario the world is plagued by accidents which are primarily due to human errors in judgment and hence thousands of lives are lost. These accidents can be avoided if only there was a mechanism to alert the driver of approaching danger. This can be done by monitoring the distance between nearby cars and alerting the driver whenever the distance becomes too short. In this we propose the use of Bluetooth Technology by which we can check the speed of the car whenever it comes dangerously close to any other vehicle up front, thereby saving very many lives. This technique will make the use of the fact that at a time eight Bluetooth devices can communicate with each other. Bluetooth is a new short-range wireless technology designed to enable wireless communication between diverse devices. It is gaining increasing popularity and acceptance in the world today. There is a growing body of research on the subject, but very few, if any of the

analyses, provide a balanced view of the technology, which describe its pros and cons and implications for businesses. The key features of Bluetooth technology are robustness, low power, and low cost. Now-a-days, the car users expect more and more accessories available in their cars, but these accessories available are

able to control by user manually using different and stand alone controllers. Since Bluetooth devices are capable of communicating with eight other devices simultaneously we can monitor and check the speeds of up to eight cars simultaneously, thus preventing accidents. Thus if we have two Bluetooth enabled devices in two cars the devices automatically communicate with each other when they come in the range of up to 100 meters of each other. The range is dependant on the power class of the product. Power transmission rates vary in many Bluetooth devices depending upon the power saving features available in a particular unit, bandwidth requirements, transmission distance.

In this we use automatic braking system to stop the car when any other car comes near. For this we use mini computers this will send the signal to automatic breaking system

CHAPTER 2 Literature Review

The statistics of road accidents is tremendous and highlights the need for such a system. The following is a statistic on the number of road accidents occurring each year.
ROAD ACCIDENT STATISTICS OF INDIA 1970-2003
Sl.No. Year Total No. of Road Total Accidents (in numbers) No. of Total number of No. Vehicles thousands) (in sper thousand Vehicles of No. Persons ten Killed ten thousand Vehicles 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 1970 1980 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 3 114100 153200 282600 295131 275541 284646 325864 351999 371204 373671 385018 386456 391449 405637 407497 4 14500 24000 54100 56278 60113 60380 64463 70781 74665 76977 79919 81966 78911 80888 84674 5 1401 4521 19152 21374 23507 25505 27660 30295 33786 37332 41368 44875 48857 54991 58924 6 814.42 338.86 147.56 138.08 117.22 111.60 117.81 116.19 109.87 100.09 93.07 86.12 80.12 73.76 69.16 7 103.50 53.09 28.25 26.33 25.57 23.67 23.31 23.36 22.10 20.62 19.32 18.27 16.15 14.71 14.37 per of

Persons Killed (in Registered Motor Accidents numbers)

16

2003

406726

85998

67033

60.68

12.83

450000 400000 350000 300000 PERSON'S 250000 KILLED 200000 150000 100000 50000 0 1 3 5 7 9 11 13 15 YEARS

Series2 Series1

CHAPTER-3 OLD TECHNOLOGY

Everyday the media brings us the horrible news on road accidents. Once a report said that the damaged property and other costs may equal 3 % of the worlds gross domestic product. The concept of assisting driver in longitudinal vehicle control to avoid collisions has been a major focal point of research at many automobile companies and research organizations. The idea of driver assistance was started with the cruise control devices first appeared in 1970s in USA. When switched on, this device takes up the task of the task of accelerating or braking to maintain a constant speed. But it could not consider the other vehicles on the road.

An Adaptive Cruise Control (ACC) system developed as the next generation assisted the driver to keep a safe distance from the vehicle in front. This system is now available only in some luxury cars like Mercedes S-class, Jaguar and Volvo
5

trucks the U.S. Department of transportation and Japans ACAHSR have started developing Intelligent Vehicles that can communicate with each other with the help of a system called Co operative Adaptive Cruise Control .this paper addresses the concept of Adaptive Cruise Control and its improved versions

3.1 ADAPTIVE CRUISE CONTROL (ACC)

3.1.1 PRINCIPLE OF ACC

ACC works by detecting the distance and speed of the vehicles ahead by using either a Lidar system or a Radar system [1, 2].The time taken by the transmission and reception is the key of the distance measurement while the shift in frequency of the reflected beam by Doppler Effect is measured to know the speed. According to this, the brake and throttle controls are done to keep the vehicle the vehicle in a safe position with respect to the other. These systems are characterized by a moderately low level of brake and throttle authority. These are predominantly designed for highway applications with rather homogenous traffic behavior. The second generation of ACC is the Stop and Go Cruise Control (SACC) [2] whose objective is to offer the customer longitudinal support on cruise control at lower speeds down to zero velocity [3]. The SACC can help a driver in situations where all lanes are occupied by vehicles or where it is not possible to set a constant speed or in a frequently stopped and congested traffic [2]. There is a clear distinction

between ACC and SACC with respect to stationary targets. The ACC philosophy is that it will be operated in well structured roads with an orderly traffic flow with speed of vehicles around 40km/hour [3]. While SACC system should be able to deal with stationary targets because within its area of operation the system will encounter such objects very frequently.

3.1.2 CONSTITUENTS OF AN ACC SYSTEM:

1. A sensor (LIDAR or RADAR) usually kept behind the grill of the vehicle to obtain the information regarding the vehicle ahead. The relevant target data may be velocity, distance, angular position and lateral acceleration. 2. Longitudinal controller which receives the sensor data and process it to generate the commands to the actuators of brakes throttle or gear box using Control Area Network (CAN) of the vehicle.

3.2 SENSOR OPTIONS:

Currently four means of object detection are technically feasible and applicable in a vehicle environment .They are 1. RADAR 2. LIDAR 3. VISION SENSORS 4. ULTRASONIC SENSOR

The first ACC system used LIDAR sensor.

3.2.1 LIDAR (Light Detection and Ranging)

The first acc system introduced by Toyota used this method. By measuring the beat frequency difference between a Frequency Modulated Continuous light Wave (FMCW) and its reflection [3].

Fig 3.1.Range estimation using FMCW-LIDAR

A company named Vorad Technologies has developed a system which measured up to one hundred meters. A low powered, high frequency modulated laser diode was used to generate the light signal. Most of the current acc systems are based on 77GHz RADAR sensors. The RADAR systems have the great advantage that the relative velocity can be measured directly, and the performance is not affected by heavy rain and fog. LIDAR system is of low cost and provides good angular resolution although these weather conditions restrict its use within a 30 to 40 meters range.

3.2.2 RADAR (Radio Detection and Ranging):

RADAR is an electromagnetic system for the detection and location of reflecting objects like air crafts, ships, space crafts or vehicles. It is operated by radiating energy into space and detecting the echo signal reflected from an object (target) the reflected energy is not only indicative of the presence but on comparison with the transmitted signal, other information of the target can be obtained. The currently used Pulse Doppler RADAR uses the principle of Doppler effect in determining the velocity of the target [5].

3.2.2.1 PULSE DOPPLER RADAR:

The block diagram of pulse Doppler radar is as shown in figure.2. The continuous wave oscillator produces the signal to be transmitted and it is pulse modulated and power amplified. The duplexer is a switching device which is fastacting to switch the single antenna from transmitter to receiver and back. The

duplexer is a gas-discharge device called TR-switch. The high power pulse from transmitter causes the device to breakdown and to protect the receiver. On reception, duplexer directs the echo signal to the receiver. The detector demodulates the received signal and the Doppler filter removes the noise and outputs the frequency shift fd.

Fig3.2. Block diagram of pulse Doppler radar

3.2.2.3 RADAR ANTENNA SCHEMES:

Radar systems employ a variety of sensing and processing methods to determine the position and speed of vehicles ahead. Two such important schemes are:

1. mechanically steered antenna 2. electronically steered antenna

10

1. Mechanically steered antenna: A parabolic reflector is used as mechanically steered antenna. The parabolic surface is illuminated by the source of energy placed at the focus of the parabola. Rotating about its axis, a circular parabola is formed. A symmetrical beam can

be thus obtained. The rays originating from focus are reflected parallel to the axis of parabola. [fig (3).]

Fig 3.3 Parabolic reflector antenna

2.Electronically steered phased array radar antenna A phased array is a directive antenna made up of a number of individual antennas, or radiating elements. The radiation pattern is determined by the amplitude and phase of current at each of its elements. It has the advantage of being able to have its beam electronically steered in angles by changing phase of current at each element. The beam of a large fixed phased array antenna is therefore can be rapidly steered from one direction to another without mechanical positioning [1, 5].

11

Consider the following figure with N elements placed (equally separated) with a distanced apart. Suppose they have uniform response to signals from all directions. Element 1 is taken as reference with zero phase.

Fig 3.4 Phased array elements (example: reception of the beams)

From simple geometry, we can get difference between path lengths of beam1 and that of beam2 is x = d sin, where is the angle of incidence of the beams. This gives phase difference between adjacent elements as = 2 (d sin)/ , where is the wave length of the signal. But if the current through a ferro electric element is changed, the dielectric constant is changed since electron density is changed, and for an electromagnetic radiation, = 2x /
12

=2xf/v, here the velocity v = f = 1/ ( ) Hence =2xf ( ).

So if is changed also changes and inserting N phase shifting elements to steer the beam, we can obtain an electronically steered beam. Regardless of the scanning mechanism the radars typically operate in the millimeter wave region at 76-77 GHz. The system should be mounted inside the front grille of the car as shown in figure (5). So its size is to be small. A typical radar produced by Delphi-Delco Electronic systems is having the size of two stacked paper back books(14x7x10 cm)[1].

CHAPTER 4
13

NEW TECHNOLOGY

4.1 Bluetooth:
Bluetooth was originally developed by mobile phone company Ericsson in 1994. Looking for a unique name for the technology, they settled on "Bluetooth" after a tenth century Viking king called Harald "Bluetooth" Blatand. During his reign, he united Denmark and Norway and was well known for his ability to help people communicate. Presumably,Ericsson's hope was that Bluetooth technology could do the same. Bluetooth wireless technology is a short range radio communication system designed for communication of devices like mobile phones, PDAs, notebooks, PCs, printers and headsets. It should be cheap and low power consumption for easy implantation into mobile devices. First it should mainly replace cables, now this is forming complex system for communication which is able to create pico-networks not only based on packet data transfer (ACL) but also for voice services (SCO). Bluetooth technology operates in the unlicensed Industrial, Scientific and Medical (ISM) band at 2.420- 2.485 GHz, using a spread spectrum, frequency hopping, full-duplex signal at a nominal rate of 1600 hops sec-1. Bluetooth technologys Adaptive Frequency Hopping (AFH) capability was designed to reduce interference between wireless technologies sharing the 2.4 GHz spectrum.

AFH works within the spectrum to take advantage of the available frequency. This is done by detecting other devices in the spectrum and avoiding the frequencies they are using. This adaptive hopping allows for more efficient transmission within the spectrum, providing users with greater performance even if using other technologies along with Bluetooth technology.

14

The signal hops among 79 frequencies at 1 MHz intervals to give a high degree of interference immunity.

The Open Systems Interconnection (OSI) Reference Model was developed by the International Standard Organization (ISO). It presents a generic proto Communications. The open systems component refers to its suitability for wired or wireless network architecture. This standard is excessive in many respects, but it provides a good comparison to the Bluetooth Protocol stack. The heart of the Bluetooth specification is the Bluetooth protocol stack. By providing well layers of functionality, the Bluetooth specification ensures interoperability of Bluetooth devices and encourages adoption of Bluetooth technology. The radio layer defines the requirement for a Bluetooth transceiver operating in the 2.4 GHz band. 4.2BLUE TOOTH NETWORKS

In bluetooth, a Piconet is a collection of up to 8 devices that frequency hop together. Each Piconet has one master usually a device that initiated establishment of the Piconet, and up to 7 slave devices. Masters Blue tooth address is used for definition of the frequency hopping sequence. Slave devices use the masters clock to synchronize their clocks to be able to hop simultaneously

4.2.1 A Piconet

15

Fig4.1 A piconet system

When a device wants to establish a Piconet it has to perform inquiry to discover other Blue tooth devices in the range. Inquiry procedure is defined in such a way to ensure that two devices will after some time, visit the same frequency same time when that happens, required information is exchanged and devices can use paging procedure to establish connection. When more than 7 devices needs to communicate, there are two options. The first one is to put one or more devices into the park state. Blue tooth defines three low power modes sniff, hold and park. When a device is in the park mode then it disassociates from and Piconet, but still maintains timing synchronization with it. The master of the Piconet periodically broadcasts beacons (Warning) to invite the slave to rejoin the Piconet or to allow the slave to
16

request to rejoin. The slave can rejoin the Piconet only if there are less than seven slaves already in the Piconet. If not so, the master has to park one of the active slaves first. All these actions cause delay and for some applications it can be unacceptable for eg: process control applications that requires immediate response from the command centre (central control room).
Radio communication is subjected to noise and interference, as the 2.4 GHz frequency is shared between the all devices in piconet. The Bluetooth specification has solved this problem by employing what is called as spectrum spreading, in which the Bluetooth radio hops among different frequencies very quickly. There are 79 hops starting at 2.402 GHz and stopping at 2.480 GHz, each of which is displaced by 1 MHz. The Bluetooth avoids interference by hoping around these 79 frequencies 1600 times per second. So in order to avoid it we use bluetooth equipped car, in which each car have bluetooth transmitter and receiver. And every car should have mini computer to monitor the relative position of the car with the other car.

Figure 4.2- shows the how does the pc card receives the signal

17

4.3 OPERATION: The Bluetooth radio is a short distance, low power radio operating in the unlicensed spectrum of 2.4 GHz and using a nominal antenna power of 20 dB. The modulation used in bluetooth is Gaussian frequency shift keying, in which zeros are represented by low frequency and ones are represented by high frequency as shown in the figure 2.

DATA

CARRIER

FREQUENCY SHIFTED SIGNAL

Figure 4.3-shows the Gaussian frequency shift keying

18

At the 10 dB level, the range is 100 meters, meaning the equipment must be within 100 meters to each other (about 328 feet) to communicate using the Bluetooth standard. With the help of this technology, we can send data to seven devices(cars). The group of eight devices is known as Piconet. Figure 4 shows the screen of the computer inside our car. Our car will monitor seven other cars which are closest to us. Based on the distance the tabulation is plotted.

19

BLUETOOTH DEVICE NAME CAR1 CAR 2 CAR 3 CAR 4 CAR 5 CAR6 CAR 7

DISTANCE CAR 3 6m 20m 60m 10m 40m 30m 50m CAR 2 CAR 4 CAR 1 CAR 6 CAR 5

CAR 8

CAR 5

60m

CAR 7

CAR 7

Figure 4.4 shows the screen of the mini computer inside the car
70m

CAR 3

90m

20

If a car comes within 10m, it is indicated by a red colour (warning signal) in the computer and then it will send braking signal to the corresponding car. If there are more than 8 cars means, piconet extends to scaternet.
CAR NEEDS SERVICE

CAR TO BE OVERTAKEN

Figure 4.5 - shows problem during overtaking and the solution

There is a problem during overtaking. This can be solved as follows. In the figure 5 the red car wants to overtake the blue car. The red car driver just touches the car in the computer that he wants to overtake.After receiving the signal, the blue car driver allows the red car to go, after the acknowledgement signal is given by the blue car to the red car.

When any car comes close together, Bluetooth device sends warning signal to the car. Based on the type of warning signal received, the computer sends
21

signal to the brake control system to slow down the speed of the car. There are various types of control signals. One type of signal controls the speed of the car and the other type of control signal is to overtake the car which is moving forward. 4.4AUTOMATIC BRAKE SYSTEM: The automatic brake system is the next generation braking system for controlling the speed of the car. On receiving the control signal from the traveling car, the computer inside the car manipulates the signal and gives control signal to the braking system. There are four main components to an automatic braking system:

speed sensors pump valves controller

(I) Speed Sensor The speed sensor is used to determine the acceleration or deceleration of the wheel. A picture of this sensor is shown .

22

Figure 4.6 Speed Sensor in an ABS

These sensors use a magnet and a coil of wire to generate a signal. The rotation of the wheel or differential induces a magnetic field around the sensor. The fluctuations of this magnetic field generate a voltage into the sensor.The ABS controller interprets this signal. Since the voltage inducted on the sensor is a result of the rotating wheel, this sensor can become inaccurate at slow speeds. The slower rotation of the wheel can cause inaccurate fluctuations in the magnetic field and thus cause inaccurate readings to the controller.

(II) Valves The valves within an ABS serve three distinct functions. The first function of the valves is to open and allow the hydraulic fluid from the brake pedal or the pump to reach the braking system. The second function of the
23

valves is to maintain the current pressure provided to the braking system. This is accomplished by closing the valve to resist further pressure from the brake pedal. The third function of these valves is to reduce the amount of hydraulic pressure at the braking system. This is accomplished by opening the valves to allow the hydraulic fluid to be released from the braking system. The majority of problems with the valve system occur due to clogged valves. When a valve is clogged it is unable to open, close, or change position. An inoperable valve will prevent the system from modulating the valves and controlling pressure supplied to the brakes.

(III) Pump The pump in the ABS is used to restore the pressure to the hydraulic brakes after the valves have released it. A signal from the controller will release the valve at the detection of wheel slip. After a valve release the pressure supplied from the user, the pump is used to restore a desired amount of pressure to the braking system. The controller will modulate the pumps status in order to provide the desire amount of pressure and reduce slipping. A picture of the pumping system is shown in Figure 5.

24

Figure 4.7. ABS Valves and Pumping System

Similar to the valves, the major limitation or mode of failure is due to blockage within the pump. A blockage within the pump will prevent the pump from supplying the correct pressure to the pumping system.

(IV) Controller The entire system is observed and manipulated by the ABS controller.

25

The computer constantly monitors the distance between each of these cars and when it senses that the car is getting too close it moves the hydraulic valves to increase the pressure on the braking circuit, effectively increasing the braking force on the wheels. If the distance between two vehicle is within the 100m the Bluetooth devices get enabled and if the distance come closer within 10m the automatic braking system takes the control. After the speed of the car is reduced and distance increased the hydraulic valves decreases the pressure on the braking circuit, thus effectively decrease the braking force on the wheels. The following steps show the various functions of the hydraulic valves:

in position one, the valve is open; pressure from the master cylinder is passed right through to the brake.

in position two, the valve blocks the line, isolating that brake from the master cylinder. This prevents the pressure from rising further should the driver push the brake pedal harder.

in position three, the valve releases some of the pressure from the brake.

26

ELECTRICAL SIGNAL FROM THE COMPUTER

ELECTROMAGNET
SPRING

STEEL PLATE

FORCE APPLIED BY THE DRIVER

LEVER MECHANISM

ANTI-LOCK BRAKING SYSTEM

TO BRAKING SHOES

Figure 4.8 -Block diagram of automatic braking system

The processed signal from the computer is given to the electromagnet and it gets magnetised and moves the spring downwards,the other end of the spring is attached to the steel plate. The movement of steel plate is nothing but a force and it will add with the force applied by the driver. The signal is then given to the anti-lock braking system and it takes the control is shown in the figure 9.

In the figure 7 when car A and car B come within the range of 100m both the Bluetooth devices get enabled and if any one of the car comes too fast
27

then the bluetooth device sends a warning signal to the other car and it processes the signal and gives it to the automatic braking system.
Sends warning signal Receives signal and control the speed of car

Within 10m

CONCLUSION

28

The Bluetooth technology is being widely adopted by the Industry leaders. The possibility for new applications is very exciting with this Versatile technology. It provides a simple, logical answer to all the Problems-which is built a single common radio into every mobile computer, then neither do companies have to worry about WAN, nor do communication companies need to worry about building external cables. The Bluetooth communication device will thus be a small, low powered radio in a chip that will talk to other Bluetooth enabled products. Bluetooth has been designed to solve a number of connectivity problems experienced by the mobile workers & consumers. Thus, this technology helps make the electronic devices more user friendly and helps address various other problems like accidents. This study involves design a new system to decrease the hot temperature inside a car that affecting the health of the car driver and the car driver is able to control some of the car accessories by using mobile phone. Once the car is equipped with the Bluetooth module and control system, the car accessories is able to connect with microcontroller and control by the mobile application. By using this system, car driver is able to use their existing mobile device to control car accessories such as power window instead buy a new controller to control the system.

The Java MIDlet program can install in most of the mobile phone or Personal Digital Assistant even laptop. Hence, the mobile device can used to control the
29

car accessories rather than buying different standalone controller to control different accessories. The controller is a flexible controller, where the controllable accessories are easy to manage. The controllable accessories are set depending on users demand because the mobile application is not hard wired and able to change.

BIBLIOGRAPHY

30

 http://technology.newscientist.com
www.webopedia.com

www.Globus.org Howstuffworks .com/Bluetooth http://en.wikipedia.org/wiki/Anti-lock_braking_system. Theodore S. Rappaport, wireless communication Principles. Jean-Paul J\1.G.Linnartz, wireless communication,1993, 1995

31