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Automated Vehicles For Physically and Visually

ChallengedL.Srinivasavaradhan, G.Chandramouli

Abstract - Of late road traffic becomes congested

and unmanageable. Notwithstanding the fact that

Government takes all steps to reduce congestion, in

view of increasing two wheelers, four wheelers not to

speak of autos, all important roads are abound with

vehicles. Further, many persons do not drive with

diligent- neither they think of themselves nor of

others. In the circumstances, it is of dire need that

with the available infrastructure we should do

something for the benefit of the society as a whole. In this

context we have developed a mechanism of fuzzy logic

which reduces the accidents and also helps for

physically/visually challenged persons. The proposedsystem will reduce the accidents by neighboring

vehicle detection, obstacle detection, controlling the

vehicle speed, traffic light detection and signboard

detections. All these above mentioned facilities are

automated (i.e.) with out any human interventions. One

of the main advantages of our system is that we dont

need to replace the existing vehicles, placing the

circuit in speedometer is enough. Another main

advantage is that the same circuit that we have designed

can also be extended to DEFENCE, SPACE

RESEARCH, WHEEL CHAIRS etc..

Keywords FuzzyLogic, Automation,

Physically/visually challenged, MULTI PURPOSEROBOT.

I.INTRODUCTION

The world today demands people to be independent,

irrespective of their challenges, mentally or physically.

Visually/Physically impaired people have to rely on

someone for fulfilling even the minor needs. The

probability for them to go to outside world is very minimal.

The wheel chairs for physically challenged and voice

guidance system for Visually Impaired are really complicated

and unreliable when comes to usage in densely populated

outside world. Thus to make them move freely in outside

world we have come up with an idea E-DRIVE whichneeds circuit addition in the existing Automobiles. Our

proposed system can also be used by the common man.

Usage of this will decrease the road accidents and also lead

to tense free driving.

II.EXISTING SYSTEM:

There are many system developed for the free

movement of Physically and Visually Impaired. There are

wheel chairs for Physically challenged. There is much

advancement in the technology of wheelchairs. Today there

are automatic wheel chairs but all are restricted to small

distance. There are also many systems for helping

Visually Challenged. Advanced walking sticks were come

into market which consist of sensors for detecting the pits,

stones and other obstacles and inform the same to the

user. These can be effective only for walkable distances.

To make these Physically and Visually Impaired to drive

vehicles with out others help we have implemented a

device which when kept in the existing vehicles will

create drastic changes in the history of automobiles.

III.METHODS BASED ON COMPENSATION

ACCELEROMETERS WITH ADC

Method comprises enhancing the discreteness of the output

information of the compensation accelerometer provided with

the analogue-digital converter [3] by means of additionalinput comparators of the converter this voltage proportional to

the ratio of the number of additional comparator to the total

number of the comparators. The defect of this method is that

there is a significant mistake caused by calibration error due

to irregularity of additional comparators execution leveling.

There is known an optimized solution that eliminates

irregularity above by using more advanced algorithm of

calibration [4]. The output frequency in the calibration regime

is divided by the total number of comparators. The averaged

period of the value is then measured during the calibration,

and the value obtained is divided by the same number.

Another approach that allow to measure low accelerations

is based on using frequency dependent feedback current

divider [5]. Before measuring low accelerations, the capacitor

of the divider is disconnected. After the disconnection, the

capacitor of the divider is charged by the input current of the

analogue-digital converter up to the value equal to the charge

in the measuring regime. After the completion of charging,

the capacitor is connected again.

III.PROPOSED SYSTEM

In our proposed system we have made the vehicle to

move automatically by detecting the obstacles thus

avoiding the need of a driver. We have used

microcontroller 89c51 for automatic motion and the

avoiding colloidance with the neighbouring vehicles are

being made by using fuzzy logic. The distance between

neighbouring vehicles is a very important input for the

fuzzy system. This is calculated by the usage of sensors.

Here we employ ultrasonic sensors for this purpose. It is

able to measure distances from 0 to 255 centimeters with a

precision of +/- 3 cm. The Ultrasonic Sensor uses the same

scientific principle as bats: it measures distance by

calculating the time it takes for a sound wave to hit an

object and return just like an echo. Large sized objects with

hard surfaces return the best readings which is the need of

the hour.

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IV.FUZZY LOGIC

The automatic motion is been carried out by

microcontroller and the accidents from neighbouring

vehicle is controlled by using fuzzy logic. The basic

steps in designing FLC are as follows.

Identifying the input and output variables. Partitioning the interval of each input and output

into number of fuzzy subsets, assigning each a

linguistic label.

Determining a membership function for each fuzzysubset.

Assigning the fuzzy relationship between theinput fuzzy subsets on one hand and the output

fuzzy subsets on the other hand, thus forming

the Rule-Base.

Interpreting the rules using fuzzy ANDOR, operators. In fuzzy systems more than one

rule may fire at the same time, but with varied

strengths.

Translating the processed fuzzy data into thecrisp datd suitable for real world applications. Thisis the reverse of fuzzification.

IV.I.FUZZIFICATION

There are three inputs and the output the manipulator

movement based on the three inputs. In each of these inputs

there are five subsets.

Input 1: Distance-Distance between another vehicle and

sensor

Input 2: Rate of Change of Distance.

Output: Manipulator Movement (The distance maintained

between the manipulator and another vehicle before taking

diversion in order to avoid collision).

IV.I.I.SUBSETS FORINPUTS

Input1: ExtremelyClose, VeryClose, Close, Far, Very Far.

Input2: VerySmall, Small, Medium, Large, Very Large.

IV.I.II.FUZZY SETS FORDIFFERENT MOTIONS

Each input and output is partitioned into five fuzzy sets, and

represented by triangular membership functions.

IV.I.III.THE FUZZY RULE BASE AND INFERENCE

ENGINE

The number of rules used in controlling the system using

fuzzy control is represented by

where, R- Number of rules M- Number of membership

functions (fuzzy sets) N- Number of input variables.In our application m=5 and n=2 hence, R=25. Therefore

25 rules have to be evaluated.

IV.I.IV.FUZZY MATRIX

The Fuzzy IF THENRules1) IF Distance is extremely close EC &change in

distance is very small VS, THEN manipulator movement

is Soft Stop and Divert (SS)

2) IF distance is Very Close VC & change in distance is

Very Small VS, THEN manipulator movement is Short

Forward and Divert (SF)

Similarly it is possible to frame 25 rules and it is being

represented in a matrix form below. Fuzzy Matrix is the

matrix representation of which is the input to the fuzzy

logic control system and called as the fuzzy sets.

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The fuzzy Logic Control System which PERFORMS the

entire operation starting from Fuzzification and ending

with manipulator movement as output is as below.

Figure1. Fuzzy Logic Control System

IV.II.DEFUZZIFICATION

It is the process of taking a fuzzy value and converting it

into a numerical value called Crisp value. It is required for

generating a real world output. Some of the popular methods

are

1) Max membership principle

2) Centroid method

3) Weighted average method

4) Mean-max membership

The Centroid method is the most prevalent and of all the

defuzzification methods and hence used.

V.ULTRASONIC SENSORS

The system of Distance measurement using ultrasonic

sound waves made use of sound energy that lies beyond

the range of human hearing (20Hz to 20 KHz).

Ultrasonic waves behave the same as audible sound waves

except that they are inaudible. The transmitting transducer

sends a pulse towards a target and a resulting echo is

detected by the receiver. The elapsed time between initialtransmission and echo detection is proportional to the

distance to the target. The pulse is emitted with a beam

angle .Only the first echo coming from the nearest target

within the beam is detected. To measure the distance

with ultrasonic range sensors, the speed of wave propagation

in the air should be known and is given by

Where Y = Speed at 0c, = Temperature in C

The transducer is nothing but a piezoelectric crystal

head. When highfrequency voltage applied, the crystal

head vibrates at an ultrasonic frequency.

VI.IMPLEMENTATION:

The major parts are a sender, a receiver, a

counter with display, time reference section,

electronic components and motors. The

transduction element bursts pulses at a frequency

which is identical with the resonance frequency

of the sender and receiver. As soon as the first

burst is emitted, the unit is switched to reception.

The echoes are processed by the receiver. The

sensitivity of the receiver is a function of time.

Figure2. Ultrasonic Sensor System

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The working prototype of our proposed model is as shown

below.

VII.PROS AND CONS No re-modeling of existing vehicles is needed. Physically/visually challenged persons can ride the

vehicle with out others help.

Our system reduces the number of accidents to agreat extent.

The proposed system may create problems in therural areas.

The speed of the vehicle is camparitively less.VIII.EXTENDED APPLICTIONS

We have implemented the circuit that we have designed

in AUTOMOBILES. In addition to that the same circuit can

also be implemented in

DEFENCE SPACE RESEARCH WHEEL CHAIRS

IX.FUTURE ENHANCEMENT

Our future aim is to make the speed of thevehicles equal to that of existing vehicles.

To extend the same circuit to all other possibleapplications as mentioned in extended applications.

X.CONCLUSION:

The proposed system is aimed towards the welfare ofPhysically and Visually impaired people. The Physically

and Visually impaired have an exposure to all the latest

equipments made especially for them, but none has

attempted a better research over this issue.

Hence, E-DRIVE is sure to create a revolution in its own

field and ensure complete support from people of

different societies. E-DRIVE helps the Physically and

Visually impaired to interact with the outer world with

maximum Probability.

REFERENCES

[1]FLC http:\\wolframresearch/Fuzzy Logic Control.htm.[2] Neural network and Fuzzy Systems by Bart Kosta.

[3] Fuzzy sets and fuzzy logic theory and applications

by George J Klir.

[4] Fuzzy Logic with Engineering Applications by

Timothy J.Ross (1997).

[5] Ultrasonic distance measuring and imaging systems for

robots by Pomeroy Dixon H.J. (1995)

[6] Neuro-Fuzzy and Soft Computing by J.S.R Jang, C.T

Sun, E.Mizutani- ISBN 81-297-0324-6

[7]Fuzzy Logic, Intelligence, Control and Information by

John Yen &Reza Langari (1999)

[8] Industrial use of Ultrasonic ranging Sensors in

Robotics by Guichard & Renalt.A (1986)[9] Control for Mobile Robots in the presence of moving

objects by Norman C.Grisworld &J.Eem.(1990)