Smart Braking System

by

MANISH KUMAR SINGH (930ME15)

SWARAJ SINGH (957ME15)
VISHAL VERMA (961ME15)
YAMIN ARORA (962ME15)

Submitted in fulfilment of the requirements of the degree of

Bachelor of Engineering
In
MECHANICAL ENGINEERING

DIVISION OF MANUFACTURING PROCESSES & AUTOMATION ENGINEERING

NETAJI SUBHAS INSTITUTE OF TECHNOLOGY
(Now Upgraded to NETAJI SUBHAS UNIVERSITY OF TECHNOLOGY)
UNIVERSITY OF DELHI

MAY– 2019
 Smart Braking System

MANISH KUMAR SINGH (930ME15)

SWARAJ SINGH (957ME15)
VISHAL VERMA (961ME15)
YAMIN ARORA (962ME15)

DIVISION OF MANUFACTURING PROCESSES & AUTOMATION ENGINEERING

NETAJI SUBHAS INSTITUTE OF TECHNOLOGY
(Now Upgraded to NETAJI SUBHAS UNIVERSITY OF TECHNOLOGY)
UNIVERSITY OF DELHI

MAY– 2019
 CERTIFICATE

The project titled “Smart Braking System” by Manish Kumar Singh

(930/ME/15), Swaraj Singh (957/ME/15), Vishal Verma (961/ME/15) and
Yamin Arora (962/ME/15) is a bona fide work carried out by them, in Netaji
Subhas Institute of Technology, New Delhi, under the supervision and
guidance of Asst. Professor Manish Kumar in partial fulfilment of
requirement for the award of the degree of Bachelor of Engineering in
Mechanical Engineering, University of Delhi in the academic year 2018 -
2019.

Manish Kumar
Assistant Professor
Division of Mechanical Engineering
Netaji Subhas Institute of Technology
New Delhi

i
 CANDIDATES’ DECLARATION

This is to certify that the work which is being hereby presented by us in this project titled
“Smart Braking System” in partial fulfilment of the award of the Bachelor of Engineering
submitted at the Department of Mechanical Engineering , Netaji Subhas Institute of
Technology Delhi, is a genuine account of our work carried out during the period from January
2019 to May 2019 under the guidance of Asst. Professor Manish Kumar, Department of
Mechanical Engineering, Netaji Subhas Institute of Technology, Delhi. The matter embodied
in the project report to the best of our knowledge has not been submitted for the award of any
other degree elsewhere.

Manish Kumar Singh Swaraj Singh Vishal Verma Yamin Arora

This is to certify that the above declaration by the students is true to the best of my knowledge.

Asst. Professor Manish Kumar

ii
 ACKNOWLEDGEMENT

We take this opportunity to express our profound gratitude and deep regards to our guide and
mentor Asst. Professor Manish Kumar for his exemplary guidance, monitoring and constant
encouragement throughout the course of this thesis. He was always found with energy and
enthusiasm to make sure that we were provided everything we needed. No amount of words
can express how thankful we are to him. He was the one who backed us in providing any
assistance we needed during the project work. The blessing, help and guidance given by him
time to time shall carry us a long way in the journey of life on which we are about to embark.

We also take this opportunity to express a deep sense of gratitude to our friends and seniors for
their cordial support, valuable information and guidance, which helped us in completing this
project through various stages.

Lastly, I thank almighty, my parents, brother, sisters and friends for their constant
encouragement without which this assignment would not be possible.
It was a great pleasure and honour to spend our time with all of them and there could be no
better payment for the efforts put into completing this B.E. Project than their valuable presence.
They are all very special to us.

iii
 ABSTRACT
The road accidents are increasing day by day in India. According to a research, 53% of the
accidents happened because of the braking system of the vehicles. Hence, a smart braking system
is the need of the hour. This study aims at designing and fabricating a smart braking system in
which a sensor detects any obstacle in front of the vehicle and by analysing the distance between
the obstacle and the vehicle, the automatic brakes will be applied. The driver has 4 modes namely,
Highway mode, Narrow mode, Traffic Jam mode and Parking mode, to choose from. The critical
distance, deceleration and speed of the vehicle will be different in all the modes and hence the
driver can use this braking system to the fullest. The approximate error of all the modes included
is 4.98% and this model can be installed in conventional passenger cars in Rs.3240. Considering
the cost and error, this model is the requirement of all the vehicles running the roads today.

iv
 Contents
CHAPTER 1: INTRODUCTION ........................................................................................................ 1

CHAPTER 2: LITERATURE REVIEW ............................................................................................ 3

CHAPTER 3: COMPONENTS USED ............................................................................................... 6

3.1 Arduino ........................................................................................................................................ 6

3.2 L298N Module Motor Driver ..................................................................................................... 7
3.3 DC Motor ..................................................................................................................................... 8
3.4 Switches........................................................................................................................................ 9
3.5 Ultrasonic Sensor ........................................................................................................................ 9
3.6 Bluetooth HC-05........................................................................................................................ 11
3.7 Voltage Regulator (VR) ............................................................................................................ 12
3.8 Voltage Diode 1N4007............................................................................................................... 12
3.9 Lead Acid Battery ..................................................................................................................... 13
3.10 Solar Panel ............................................................................................................................... 13
CHAPTER 4: CODING ..................................................................................................................... 14

CHAPTER 5: SCHEMATIC DIAGRAM ........................................................................................ 23

5.1 Solar Panel & Battery Representation .................................................................................... 24

5.2 Wheel Assembly Representation ............................................................................................. 25
5.3 Bluetooth Representation ......................................................................................................... 25
5.4 Ultrasonic Sensor Representation ........................................................................................... 26
5.5 Circuit Diagram ........................................................................................................................ 26
5.5.1 Circuit Description............................................................................................................. 27
5.5.2Working of Circuit .............................................................................................................. 28
CHAPTER 6: MECHANISM FOR CONVENTIONAL CARS ..................................................... 30

CHAPTER 7: WORKING ................................................................................................................. 32

7.1Parking mode ............................................................................................................................. 33

7.2Highway Mode ........................................................................................................................... 33
7.3 Narrow Mode ............................................................................................................................ 33
7.4 Traffic Mode .............................................................................................................................. 34
CHAPTER 8: FUTURE PROSPECTS ............................................................................................. 35

8.1 Hilly mode .................................................................................................................................. 36

8.2 Rainy mode ................................................................................................................................ 37
8.3 Intermixing of modes ................................................................................................................ 38

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CHAPTER 9: COST REPORT ......................................................................................................... 39

CHAPTER 10: RESULTS AND VERIFICATION ......................................................................... 40

10.1 Highway Mode ........................................................................................................................ 41

10.2 Narrow Mode .......................................................................................................................... 42
10.3 Traffic Jam Mode ................................................................................................................... 43
10.4 Parking Mode .......................................................................................................................... 44
CONCLUSIONS ................................................................................................................................. 45

REFERENCES .................................................................................................................................... 46

PLAGIARISM REPORT ................................................................................................................... 47

vi
 LIST OF FIGURES

FIGURES Page No.

Figure 1.1: Vehicle with Smart Braking System 2

Figure 3.1: Arduino Nano 6

Figure 3.2: L298N Module Motor Driver 7

Figure 3.3: DC Motor 8

Figure 3.4: Ultrasonic Sensor 10

Figure 3.5: Working of Ultrasonic Sensor (US) 10

Figure 3.6: Bluetooth HC-05(front view) 11

Figure 3.7: Bluetooth HC-05 11

Figure 3.8: Voltage Regulator 12

Figure 3.9: Voltage Diode IN4007 12

Figure 3.10: Lead acid Battery 13

Figure 4.1: Input Voltage with Different 16

Figure 5.1: Schematic diagram of complete model 23

Figure 5.2: Schematic Diagram of solar panel & Battery Representation 24

Figure 5.3: Schematic Diagram of Wheel Assembly Representation 25

Figure 5.4: Schematic Diagram od Bluetooth Representation 25

Figure 5.5: Schematic Diagram of Ultrasonic Sensor Representation 26

vii
Figure 5.6: Electronic Circuit 26

Figure 6.1: Servo Motor 30

Figure 6.2: Schematic of Working in Conventional Vehicles 31

Figure 10.1: Graph showing variation of stopping Distance and Error 40

Figure 10.2: Scale Used for Results and verification 41

Figure 10.3: Observation for Highway Mode 42

Figure 10.4: Observation for Narrow Mode 42

Figure 10.5: Observation for Traffic Jam Mode 43

Figure 10.6: Observation for parking mode 44

viii
 LIST OF TABLES

TABLES Page No.

TABLE 4.1 Representing different mode connected on the pin of Arduino Board 15

TABLE 4.2. Speed selection for mode 1 17

TABLE 4.3. Speed selection for mode 2 21

TABLE 4.4. Speed selection for mode 3 21

TABLE 4.5. Speed selection for mode 4 22

TABLE 9.1. Cost of components 39

ix
 ABBREVIATIONS USED

Symbol Definition

IBS Intelligent Braking System

ECU Electronic Control Unit

VANET Vehicular Ad-hoc NETworks

VR Voltage Regulator

VD Voltage Diode

PWM Pulse Width Modulation

AV Analog Value

AI Adobe Illustrator

x
 CHAPTER 1: INTRODUCTION

A brake or a braking system is a mechanical device that is required in almost all machines
consisting of moving or rotating parts particularly vehicles which is used to absorb the energy
and stop the moving system. The function of the braking system is to retard the speed of the
moving vehicle or bring it to rest in a shortest possible distance whenever require. It usually
does its work by friction between two surfaces and converts the kinetic energy in the form of
heat. Normally brakes have to absorb three times the amount of engine horsepower energy in
its equivalent form. Brakes are generally applied to rotating axles or wheels, but may also take
other forms such as the surface of a moving fluid (flaps deployed into water or air). Some
vehicles use a combination of braking mechanisms, such as drag racing cars with both wheel
brakes and a parachute, or airplanes with both wheel brakes and drag flaps raised into the air
during landing. There are also a variety of different braking mechanisms that are being used in
different places which use advanced technologies consisting of electrical, pneumatic, hydraulic
and even magnetic components. So, braking system is the most important part of any
automobile failing of which leads to accident.

Road safety is a growing concern all over the world and road safety depends almost entirely
on the braking system incorporated in the vehicles. The need for today's road safety points to
the change of manual brakes that is generally used today to 'Smart Braking System’.
Incorporation of a smarter braking system could play a significant role in the reduction of cases
of accidents all over the country. The present work is aimed at innovating, designing and
developing a smart braking system for vehicles.

Vehicles are an inevitable part of our daily lives and with its development and advancement its
safety is also an important task. With the evolution of high-speed vehicles, modernization of
brake is a must. This calls for a smart braking system to be incorporated in the vehicles keeping
in mind the safety issues. In almost all the vehicles, still conventional brakes are being used
which becomes the cause of accidents all over the world. There have been reported several
cases where the accident could have been easily avoided, had there been a smarter braking
system in place. Cases of an accident where driver has a heart attack are heard every few
months. Cases of drunk driving are also prevalent around the world where accidents take place
at high speeds causing huge loss of life. Cases like these where driver loses control or becomes
unconscious could be easily dealt safely with smart braking system.

1
 Figure 1.1: Vehicle with Smart Braking System (SBS) (Source: Google Images)

The main aim of the smart braking system is to apply the brakes when the distance between
the vehicles is so critical and it is impossible to stop the vehicle by manual braking system.
Smart braking system helps the driver to apply the brakes in such a worst condition and prevent
the collision.

In the smart braking system, sensors are used to senses the distance between the vehicles
according to which brake is applied. The working of the system will be in such a way that the
driver would have the convenience to switch ON or OFF the smart braking system. The system
would consist of 4 different modes which are as follows:
1. Parking

2. Highway

3. Narrow

4. Traffic jam

2
 CHAPTER 2: LITERATURE REVIEW

Brakes are an inevitable part of our daily lives and all the vehicles make use of the braking
system in order to inhibit its motion and stop its movement. Generally, brakes make use of the
friction in order to inhibit the vehicles motion by converting it in the form of heat energy and
finally, dissipating.

There are also other types of brakes in which the energy of the vehicle is not converted into
heat but instead it is converted into electrical energy with the alternator and these types of
brakes are known as regenerative brakes. Other types of brakes make use of the kinetic energy
of the vehicles and convert it into useful pressure energy.

Conventionally, the brakes have been of the drum type brakes. Here, as the brake pedal is
pressed, pressure in the master cylinder rises and there is a piston cylinder arrangement through
brake shoe is pressed against the brake drum and wheel stops. This brake was introduced by
Maybach in 1900 and later patented by Louis Renault in 1902. Initially, the braking system
consisted only of mechanical linkages but after mid 1930s the braking system was incorporated
by piston cylinder arrangement.

Then came the disk brakes and here the in place of the drums, the disks are installed which
rotate with the wheels. When the brake pedal is pressed, the brake shoe is pressed against the
disk and wheel starts slowing down and the vehicle comes to a stop. This system was first
introduced by Frederick William Lanchester in 1902. It was initially unsuccessful because of
the limitation of the braking material to be used in in the brake shoe. Initially, copper was used
which wore quickly. From 1940s and 50s onwards, this braking system was used more
frequently.

Advancement of braking system reached new heights when the concept of anti-lock braking
system braking system was introduced. The concept of the anti-lock braking system was
introduced in the 1950s.

In 1920 the French automobile and aircraft pioneer Gabriel Voisin experimented with systems
that modulated the hydraulic braking pressure on his aircraft brakes to reduce the risk of tire
slippage. It was first patented by German engineer Karl Wessel in 1928 but never developed a
working product. The first fully electronic anti-lock system was developed in the late 1960s
for the Concorde aircraft.

3
 Electronic-brake force distribution is a braking technology that ensures appropriate braking
force to all the four wheels in order to prevent any of the wheels from skidding. This is
automated and electronically controlled system which is coupled with anti-lock braking
system. Smart braking system means braking system that provides a safety of vehicle during
various conditions like parking of vehicle in parking area etc. Many times it seems that driver
is unable to judge the obstacle which leads to collision and ultimately damages the vehicle and
the passenger. Smart braking system assist the drivers and apply the brakes automatically.

Work done on the braking system till now:-

1. Intelligent Braking System (IBS) [1]:-

This system basically made for parking only. Sometimes there is chances that driver is not able
to judge the obstacle at the back side of the vehicle during the parking and it collides with the
obstacle. So IBS is introduced to avoid such mis happening.
IBS provide safety and comfort ability to the driver during parking.
Its main objective is to help the driver to park the vehicle properly with minimum time.

Hemalatha B K, et, al., [2], [2016], Paper comprises the use of Infrared sensors for obstacle
detection with help of PIC microcontroller. This based on microcontroller technology for
collecting data related to speed and transmitting it through a transceiver to a base station that
analyses the transmitted data and takes appropriate decisions. Related to speed limit and control
requirements.

2. Intelligent Reverse Braking System [3]

In this paper author proposed that, distance of the obstacle is determined and the speed of the
vehicle is controlled according to the predetermined distance. An ultrasonic sensor is used to
determine the distance between vehicle and the obstacle. The relative speed of the vehicle with
respect to the obstacle is estimated using consecutive samples of the distance calculated. These
two quantities are used and control system used these quantities to calculate the actions on both
the accelerator and also the brake, thus to adjust the speed in order to maintain a safe distance
to prevent accidents.

4
3. Comparison of brake reaction time in younger and older drivers[4]
Authors suggested that aging is also an important factor in reaction time (tr) as age progresses
response time of the vehicle increases. This increase in response time leads to the reduction in
effectiveness of the braking system cause an accident to happen.

4. Smart IBS to eliminate human perception and reaction time using VANET[5]
In this paper author suggested that sometime road accident causes due to driver could not take
decision of braking at right time so to improve this author used a new technology called
VANET. VANET is the craft of innovation which exchanges message between the automobiles
freely and makes the correspondence easier and less complex between the automobiles
especially during decisive circumstances. VANET involves numerous methods for information
exchange innovation for example Wi-Fi and Bluetooth, where there is no need of mandated
towers for its connection establishment. Wi-Fi VANET technology collaborates hybrid
communicate onto send large data with very high speed at very low cost in an effective manner.

5
 CHAPTER 3: COMPONENTS USED

The components used in the model are mechanical, electronic and electrical components. They
are as follows:

3.1 Arduino

We have use Arduino - nano in this model. It is the main controlling unit of our project whose
function is to take input signals from the Ultrasonic Sensor and Bluetooth, take power from the
battery and give signals to the module to work properly. It is basically an electronic circuit
board which provides easy way to connect all components together like Bluetooth, sensor,
motor controller etc. The functions that user wants Arduino to perform are fed into it using a
software. It has following sub components embedded on it.
• 14 digital input output pins
• 6 Analog pins
• Data transfer port
• Power jack
• 16 MHz ceramic resonator
• Reset button

Figure 3.1: Arduino Nano (Source: Google Images)

14 input output pins (1-14) are used in the project to connect various components like
Bluetooth, battery, Motor driver module, etc. and the analog pins(A0-A5) are used to connect
switches which are used to select different modes installed in the vehicle.

6
3.2 L298N Module Motor Driver
It is a component whose main function is to control the DC motors as per the signal input given
by Arduino. It is the intermediate component which connects DC motors and the Arduino. It
has sub components like input pins, output pins, heat sink, Integrated circuit, diodes etc. It can
control the direction of spinning of motors. Sometime it is use for driving bipolar motors or
stepped motors. It gives the directional stability to the motors and provides the simplest and
cheapest way to control generally all the type of DC motors. For its working it requires high
voltage and high current to take standard TTL logic signal input to runs its basic components
like drive inductor, relays, solenoids and motors. At least two input signals are required to make
its circuit active. An additional Supply input is provided so that the logic works at a lower
voltage.

Figure 3.2: L298N Module Motor Driver (Source: Google Images)

A module can connect 2 motors at a time and in all has 7 pins. 4 pins are used to connect motors
and the remaining 3 pins are Motor VCC 5V – 35V, Ground and +5V In/Out. The module has
a 5V regulator installed which can be enabled or disabled by using a jumper. If the motor supply
voltage is between 0V and 12V, we will enable the 5V regulator and the 5V pin can be used as
output, but if the motor voltage exceeds 12V, then we have to disconnect the jumper as it will
damage the 5V regulator installed. This IC makes a voltage drop of 2V. The logic control units
which are installed in the IC controls the rotation of tires which are connected to the motors.

7
 3.3 DC Motor
A DC motor is a type electrical device that converts electrical energy into mechanical energy.
The working of DC motors depends upon the forces produced by magnetic fields rotating inside
the rotor of the Motor.
The different types of DC motors used are as follows:
• Permanent magnet DC Motors
• Series DC Motors
• Shunt DC Motors
• Compound DC Motors

Figure 3.3: DC Motor (Source: Google Images)

The DC Motors that we used in our project are Permanent Magnet DC Motors which are
mounted on the rear axle of the vehicle. PMDC (Permanent Magnet DC Motors) is a type of
DC motor in which a permanent magnet is used to create magnetic field which works on the
principal of current carrying coil, experience forces. As its poles are made up of permanent
magnet, it is called as permanent magnet dc motor. In this type of motor, permanent magnet,
they are arranged circumferentially around the steel cylindrical stator which produces strong
radial magnetic field when DC current passes through the armature coil which is mounted on
the rotor it experiences force and motor starts rotating. The Permanent Magnet DC motor can
be operated by taking 6V, 9V, 12V and 24V from the battery or the rectifier.

8
 3.4 Switches
It is an electrical component whose main function is to just open or close the electrical circuit
manually or automatically. Switches are of different types on the basis of ON/OFF mechanism.
In our project we are using simple type of switches to activate different modes as per the
requirement. The two types of switches generally used are:
1. Mechanical switches
Mechanical switches are those switches which we have to operate manually.
2. Electrical switches
In this type of switches there is no human intervention required and it performs its function
under the action of semiconductors.
The modes are so configured in the project as when a switch (button) is pressed, a mode will
be selected and the critical distance specified in the code will be maintained.

3.5 Ultrasonic Sensor

An ultrasonic sensor is an instrument that measures the distance to an object using
ultrasonic sound waves. It resonates at a frequency above the human range and it also has
a transducer which has two parts namely, receiver and transmitter. Transmitter sends 8 pulses
of 40KHz per second which will be received by the receiver, and hence by calculating the time
lapses between the transmission and the receiving of the pulses will be used for detecting the
obstacle at a particular distance as per the range accuracy of the sensor. It provides good results
up to the distance of 2cm - 400cm without any significant error.
It can be kept in dark or light and can be moved as per requirement but the speed of the vehicle
on which it is mounted should not be too large. Ultrasonic sensors are much better than infrared
sensors. The only problem with ultrasonic sensors is that when the pulses are sent to a softer
material which does not reflect the pulses. Hence a softer material cannot be detected by this
sensor.
The sensor used in our project is HC-SR04. It has a power supply of 5V DC and working
current of 15mA with an effectual angle of less than 15º and a measuring angle of 30 º.

9
 Figure 3.4: Ultrasonic Sensor (Source: Google Images)

Figure 3.5: Working of Ultrasonic Sensor (US) (Source: Google Images)

This sensor doesn’t use any mechanical energy and doesn’t have any mechanical movement
and hence it is also called non-contacting sensor. These sensors are generally installed to
measure the presence, level, position and distance. Light, smoke, dust, colour, material etc does
not have any effect on the sensor’s results and working. The applications of Ultrasonic Sensor
includes Ultrasonic Distance Measurement, Ultrasonic water level detection and Ultrasonic
Obstacle Detection.

10
3.6 Bluetooth HC-05

Bluetooth HC-05 module is an electronic device that allows the designer to connect the
electronially designed system to another system by means of bluetooth. It is installed for
various purposes like wireless mouse, game controllers, etc. It has a range of 50 metres within
which our blueooth connection would be stable. The range of bluetooth device depends upon
geographical and climate conditions as well.

Figure 3.6: Bluetooth HC-05(front view) (Source: Google Images)

It has 6 pins onboard namely, STATE, RXD, TXD, GND, VCC and EN as shown in the figure.

Figure 3.7: Bluetooth HC-05 (Source: Google Images)

While configuring Bluetooth, we assign certain numbers to actions, for example, 1 is assigned
to forward movement, etc. and we assign these numbers in our Arduino IDE coding to those
actions. To operate this Bluetooth HC-05 module, we need to install an application called
Bluetooth Terminal in our Smartphone and connect the module to our phones.

11
3.7 Voltage Regulator (VR)
As we have installed a 12V Lead acid battery, it will provide us with 12V supply but the
Arduino nano needs only 5V supply to run all the components connected to it. In order to run
the motors, a Voltage Regulator 7805 is installed to ensure that whether 12V is the output or
5V, the voltage regulator will allow only 5V to pass through it.

Figure 3.8: Voltage Regulator (Source: Google Images)

3.8 Voltage Diode 1N4007

A voltage diode is installed after the solar panel in the electronic circuit which acts as a
protection band in the night. As the solar panel will damage the circuit at night so as to restrict
the current movement, it will protect the components from getting damage.

Figure 3.9: Voltage Diode IN4007 (Source: Google Images)

12
3.9 Lead Acid Battery
Lead Acid battery is a kind of battery which converts chemical energy into electrical energy.
The battery we used in our project is rechargeable. It gives the electrical energy to the Arduino
in order to run all the electronic and electrical components of the circuit. We used three, 4V
batteries in series to make it a 12V battery and then it is attached to a voltage regulator to give
a constant 5V voltage.

Figure 3.10: Lead acid Battery (Source: Phone Camera)

3.10 Solar Panel

A Solar Panel is a device that absorbs sun’s rays and converts that heat energy into electrical
energy. A solar panel is installed and connected to the battery in the circuit to recharge it. The
dimensions of the solar panel used are 6’’ x 8’’. It has several photovoltaic modules or cells
that do the conversion of energy and they are mounted on a solid frame which is supported by
a silver lining as well. The photovoltaic cells are made of silicon crystalline cells which are
arranged in a grid like pattern. When it comes to maintenance and depreciation of solar panels,
they are very economical and feasible as they only depreciate to around 1-2% annually and
maintenance cost is 5-7% annually. The few limitations of the solar panels are that it comes
with a heavy initial cost and they are active only for a part of the day.

13
 CHAPTER 4: CODING

Here, the pins that are assigned the output are 11, 2, 3, 12, A5, 6, 7, 8, 9 and the pins that are
assigned the input are A0, A1, A2, A3.

Now, the input pins A0, A1, A2, A3 each control one mode of the vehicle and the brakes that
are being applied will vary each according to the critical distances specific to each different
mode.

Pins 6, 7, 8, 9 are connected to the motor driver and the pins 2, 3, 12, A5 are the pins connected
to the LEDs.

Critical distances for each mode have been defined in the coding itself.

The below code is given which is the starting code and the void setup which defines the basic
code and runs for only one time.

const int trigPin = 4;

const int echoPin = 5;
char r;
int x=0;
void setup() {

analogReference(DEFAULT);
Serial.begin(9600);
pinMode(11, OUTPUT);
analogWrite(11, 0); //enable

pinMode(2,OUTPUT);
digitalWrite(2,LOW);
pinMode(3,OUTPUT);
digitalWrite(3,LOW);
pinMode(12,OUTPUT);
digitalWrite(12,LOW);
pinMode(A5,OUTPUT);
digitalWrite(A5,LOW);

14
 pinMode(6,OUTPUT);
digitalWrite(6,LOW);
pinMode(7,OUTPUT);
digitalWrite(7,LOW);
pinMode(8,OUTPUT);
digitalWrite(8,LOW);
pinMode(9,OUTPUT);
digitalWrite(9,LOW);
pinMode(A0,INPUT);
digitalWrite(A0,HIGH);
pinMode(A1,INPUT);
digitalWrite(A1,HIGH);
pinMode(A2,INPUT);
digitalWrite(A2,HIGH);
pinMode(A3,INPUT);
digitalWrite(A3,HIGH);
}

The below code is for the void loop which runs for the entire process and runs in loop. Here
variables taken are duration, inches, cm.

The code initiates with mode selection which is done by the input pins A0, A1, A2, A3. The
corresponding modes for these pins are –

Table 4.1: Representing different mode connected on the pin of Arduino Board

Pins Modes

A0 Mode 1

A1 Mode 2

A2 Mode 3

A4 Mode 4

15
4.1 Pulse Width Modulation (PWM)

Pulse width modulation is a technique of getting analog outputs with digital means. Here, pulse
width modulation has been used in order to get a varying voltage from a fixed step voltage
means of 5V.

It works with the help of variation in duty cycle of the pulse wave. If the wave is sent for 100%
of the duty cycle then the output voltage would be 100% that is 5V. Analog value here is on a
scale of 0-255. Analog value of 255 means 100% duty cycle and 5V and 0 means 0% duty
cycle and 0V.
In order to calculate the voltage given from the analog value given, it is given by the formula-
Voltage = Analog Value×100/255 (Volts)

Figure 4.1: Input Voltage with Different duty cycle (Source: Google Images)

Now, the speed of the motor will vary as it approaches the specific distance ranges. The code
below is given only for Mode 1. The specific distances and the voltage given to the motor are
shown in following table.

16
Mode 1
Table 4.2: Speed selection for mode 1
Distances (cm) Analog Value (PMW wave) Voltage (AV/255×5) (V)

>125 255 5

100-125 200 3.92

50-100 180 3.52

20-50 100 1.96

10-20 50 0.98

<10 0 0

void loop() {

long duration, inches, cm;

pinMode(trigPin, OUTPUT);
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);

pinMode(echoPin, INPUT);
duration = pulseIn(echoPin, HIGH);

inches = microsecondsToInches(duration);
cm = microsecondsToCentimeters(duration);

if(digitalRead(A0)==0)

17
 {
digitalWrite(2, HIGH);
Here, as switches are connected to the pins A0, A1, A2, A3, when switch one is pressed, the
LED connected to the pin 2 glows as it is assigned high value as switch 1 is pressed.
Here, as the sensor senses the distance between the object from the vehicle, if it is greater than
125cm, pins 6 and 8 are assigned high values as these are the positive terminals connected to
the motor driver. Pins 6, 7, 8, 9 are the pins that are connected to the motor driver. The analog
value given to it is 255 which is the maximum value that can be given it will be equivalent to
5V.

if(cm>125 && cm<900)

{

digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
analogWrite(11, 255);

}
If the distance sensed by the ultrasonic sensor senses the distance to be between 100 and 125
cm. Then, the pins 6 and 8 are assigned high value and the analog value given to it 200. It will
be equivalent to 3.92V.
if(cm>100 && cm<=125)
{
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
analogWrite(11, 200);
}
If the distance sensed by the ultrasonic sensor senses the distance to be between 50 and 100
cm. Then, the pins 6 and 8 are assigned high value and the analog value given to it 180. It will
be equivalent to 3.52V.
18
 if(cm>50 && cm<=100)
{
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
analogWrite(11, 180);
}
If the distance sensed by the ultrasonic sensor senses the distance to be between 20 and 50 cm.
Then, the pins 6 and 8 are assigned high value and the analog value given to it 100. It will be
equivalent to 1.96V.

if(cm>20 && cm<=50)

{
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
analogWrite(11, 100);
}
If the distance sensed by the ultrasonic sensor senses the distance to be between 10 and 20 cm.
Then, the pins 6 and 8 are assigned high value and the analog value given to it 50. It will be
equivalent to 0.98V.

if(cm<=20 && cm>10)

{
digitalWrite(6,HIGH);
digitalWrite(7,LOW);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
analogWrite(11, 50);

19
If the distance sensed by the ultrasonic sensor senses the distance to be between 100 and 125
cm. Then, all the pins 6, 7, 8, 9 are assigned low value and the vehicle ultimately stops and the
analog value given to it 0. It will be equivalent to 0V.

if(cm<=10 || cm>3000)
{

analogWrite(11, 0); //stop

digitalWrite(6,LOW);
digitalWrite(7,LOW);
digitalWrite(8,LOW);
digitalWrite(9,LOW);
}
}
}
}

long microsecondsToInches(long microseconds)

{
// According to Parallax’s datasheet for the PING))), there are
// 73.746 microseconds per inch (i.e. sound travels at 1130 feet per
// second). This gives the distance travelled by the ping, outbound
// and return, so we divide by 2 to get the distance of the obstacle.

Return microseconds / 74 / 2;
}

long microsecondsToCentimeters(long microseconds)

{
// The speed of sound is 340 m/s or 29 microseconds per centimeter.
// The ping travels out and back, so to find the distance of the
// object we take half of the distance travelled.

20
 Return microseconds / 29 / 2;
}
For the other Modes, the ranges of critical distances are given as under in the following
tables-

Mode 2

Table 4.3: Speed selection for mode 2

Distances (cm) Analog Value (PWM wave) Voltage (AV/255×5) (V)

900-125 255 5

100-125 200 3.92

50-100 180 3.52

30-50 100 1.96

20-30 50 0.98

<20 0 0

Mode 3

Table 4.4: Speed selection for mode 3

Distances (cm) Analog Value (PWM wave) Voltage (AV/255×5) (V)

900-125 255 5

100-125 200 3.92

50-100 180 3.52

40-50 100 1.96

30-40 50 0.98

<30 0 0

21
Mode 4

Table 4.5: Speed selection for mode 4

Distances (cm) Analog Value (PWM wave) Voltage (AV/255×5) (V)

125-900 255 5

100-125 200 3.92

60-100 180 3.52

50-60 100 1.96

40-50 50 0.98

<40 0 0

22
 CHAPTER 5: SCHEMATIC DIAGRAM

Solar
Battery Panel

L298N
module

DC Sensor
Motors

Wheel

Arduino

Bluetooth

Figure 5.1: Schematic diagram of complete model (Source: Adobe Illustrator Drawing)

This is the schematic diagram of the project. In the schematic diagram shown above, the
following components have been shown:

(a) Arduino Nano

(b) Battery
(c) Solar Panel
(d) Ultrasonic Sensor
(e) HC-05 Bluetooth
(f) L298N Module
(g) DC Motors
(h) Wheels
23
There are in all, 4 components attached to the arduino which is the controlling unit of the model,
namely Battery, Ultrasonic Sensor, Bluetooth and L298N Module. The wheels are connected
to the arduino with the help of motor driver module, Bluetooth and sensor are directly
connected to the arduino and a solar panel is also installed to recharge the battery and hence
give power to the arduino. The motors are installed only on the rear wheels of the car and front
wheels will rotate due to friction. Everything in the model will be controlled by a phone
application called, Bluetooth Terminal, and by using it, we can control the acceleration, brakes
and directions of the project car.

The project is a big network of electronic circuits and within the model, there are 4 different
electronic circuits which help in the proper and planned working of the project. These are as
follows:

1. Solar Panel & Battery Circuit

2. Wheel Assembly Circuit
3. Bluetooth Circuit
4. Ultrasonic Sensor Circuit

5.1 Solar Panel & Battery Representation

Figure 5.2: Schematic Diagram of Solar panel Representation (Source: AI Drawing)

The Solar panel is directly connected to a 12V battery which is in-turn connected to the arduino.
While the day time, the solar panel will get charged and will store the electrical energy in the
battery connected to the arduino to run the motors and analyse the results of the ultrasonic
sensor.
24
5.2 Wheel Assembly Representation

Figure 5.3: Schematic Diagram of Wheel Assembly Representation (Source: AI Drawing)

There are 4 wheels in the project car and 2 out of 4 have motors installed to them to drive. The
rear wheels have motors installed and the front wheels will rotate due to friction. The rear DC
Motors are connected to a L298N module which is the motor driver and it is connected to the
arduino to get the required signals. The module’s working will depend on the signals that we
will send via Bluetooth terminal application.

5.3 Bluetooth Representation

Figure 5.4: Schematic Diagram of Bluetooth Representation (Source: AI Drawing)

An HC-05 Bluetooth is installed in the model which is connected to Arduino. The Bluetooth
will be connected to the phone of the user and the user will be able to control the project by
using a phone application known as Bluetooth Terminal. The user can accelerate, apply brakes
and turn he vehicle. The Bluetooth guides the arduino to drive the vehicle.

25
5.4 Ultrasonic Sensor Representation

Figure 5.5: Schematic Diagram of Ultrasonic Sensor Representation (Source: AI Drawing)

The Ultrasonic Sensor is installed on the front side of the vehicle. The Ultrasonic sensor is
directly connected to the arduino as it will tell that there is an obstacle detected in front of the
vehicle and at what distance so that arduino will send appropriate signals to the modu

5.5 Circuit Diagram

Figure 5.6: Electronic Circuit (Source: AI Drawing)

26
5.5.1 Circuit Description

Solar panel is of 6W power and its one end is connected to the ground and the other end is
connected to the p-side of the diode. The n-side of the diode is connected to the positive of the
battery. Here, three batteries are connected in series and the negative of the third battery is
connected to the ground. The positive of the first battery is also connected to the Arduino nano
through a voltage regulator.

The Voltage regulator supplies 5V of power supply to the Arduino nano. The positive of the
voltage regulator is connected to the Arduino and the negative to the battery. Switches are also
connected to the Arduino nano with positive end and the negative end of the switches are
connected to the ground.

Two terminals of Bluetooth are connected to the RX and TX terminals of the Arduino nano.
One end (positive terminal) of the Bluetooth is connected to the 5V power supply and the
negative end is grounded.

LEDs are also connected to the Arduino nano for indication of which mode is selected. Its
positive end is connected to the Arduino nano and negative end is grounded. Pins 2, 3, 12 and
A5 are the pins that LEDs are connected to, in the Arduino nano.

Motor driver is connected to the Arduino nano through four terminals. Two of the pair of each
for each motor. For each pair, one end is kept at low and the other is connected to the terminals
in which voltage is varied by the Arduino nano.

Four further terminals go to the motor, each of the two pair and the voltage here is amplified.
For each pair, one end is connected to the positive of the motor and other to the negative of the
motor. Two terminals of the ultrasonic sensor are connected to the Arduino nano. One end of
the ultrasonic sensor is connected to the pin 4 of the Arduino nano and is the trig pin. The other
end is connected to the pin 5 of the Arduino nano and is the Echo pin. This is used to sense the
object in front of the vehicle.

27
5.5.2 Working of Circuit
Several components have been used in the present project which consists of electronic as well
as electrical components. Firstly, the solar panel gets charged from light and sends this energy
to the battery through protector band 1N4007.

Here, the battery actually consists of three individual lead acid batteries connected in series.
The batteries are of 4V each connected in series making up the total potential of the battery as
12V.

This battery then sends this energy to a voltage regulator through a diode for protection. This
voltage regulator is used to generate a constant voltage of 5V irrespective of the voltage that is
being supplied to it. Between the voltage range of 6 to 35V, the voltage output of this voltage
regulator is 5V.

The 5V that is generated by the voltage regulator is then supplied to the Arduino nano. Now,
most of the components used here run on 5V and so, this 5V power can be obtained from the
Arduino board wherever required using different pins.

Ultrasonic sensor is connected to pins 4 and 5. Pin 4 is the trigger pin and the pin 5 is the echo
pin. The trigger pin sends a signal in the forward direction of the vehicle. When this signal
comes back, it is sensed by the ultrasonic sensor and the output of this is given to the Arduino
via Eco pin.

One end of the Bluetooth is connected to 5V and the other end to 0V. The end that is connected
to 5V is Rx and the end that is connected to 0V is connected to the pin Tx. Bluetooth device
used here is basically used to drive the vehicle wirelessly. This Bluetooth is wirelessly
connected to Arduino. Bluetooth send the signal to Arduino and according to it the Arduino
detects it and takes action accordingly.

LEDs are also connected to the Arduino nano and has the purpose of indicating which mode
has been selected. LEDs are connected to the pins 2, 3, 12, A5 of the Arduino nano. When the
switches, to which mode selection takes place, are pressed, It is detected by the Arduino nano
and then, Led are given power to glow indicating which mode is selected.

Motors are first connected to motor driver which is basically used to drive the motor. Firstly,
the motor driver that is L298N module is connected to the Arduino nano and takes the input of
5V from there. The other terminals of the motor driver are connected to the two batteries and
the voltage given to the two motors are 12V. It is basically used to drive and control the motors
28
and input that is required to control the motors, it takes from the Arduino nano which acts as
the brain of the circuit.

Four switches are also connected to the Arduino which performs the main function of the
project. These switched basically detect the mode that has been selected. One end of each of
the four switches are connected to the ground and the other ends of each of the switches are
connected to the four input pins of the Arduino nano. When the switches are pressed, the circuit
gets complete and the Arduino nano senses the mode that has been selected through the input
pins.

Now, The Solar panel first generate power required for operation. This power is then given to
the 12V battery through a diode, which is placed for protection. Through the battery, 12V
power supply is given to Arduino nano via a voltage regulator. Voltage regulator gives an
output voltage of 5V to the Arduino nano. Now, the Arduino nano is charged with 5V power
supply and all the components takes this 5V power supply from here. Now, here when any of
the switches is pressed, one of the modes is selected and this is sensed by the Arduino nano.
Now, through the Bluetooth device, command for forward motion is given and that is sensed
by the Bluetooth which is connected to the Arduino. When this is sensed by the Arduino nano,
it sends power supply to the motors through the motor drivers. Here, the ultrasonic sensor keeps
sending the signal to the Arduino of how much distance, the object in the front is at. Now
according to the distance, the object is at, the Arduino varies the voltage being sent to the motor
driver accordingly. This happens as per the code in the Arduino nano. As the distance becomes
smaller and smaller, voltage sent by the Arduino to the motor driver goes on decreasing and
ultimately, the vehicle comes to a stop

29
 CHAPTER 6: MECHANISM FOR CONVENTIONAL CARS

In general conventional passenger cars, the braking system is completely manual and hence
risky if the driver is not attentive or the brakes pedal is not timely pressed. To solve this
problem, Smart Braking System should be introduced in these cars. For its installation we need
a following sets of electrical and mechanical equipment:

1. Battery
2. Servo Motor
3. Cylinder – Piston arrangement
4. ECU
A battery will be connected to an electronic control unit which will be connected to the
ultrasonic sensors installed in all the directions in the car. The ECU is analogous to arduino in
our small-scale demonstration project. The ECU is connected to a battery and to a motor driver
module. The module will be connected to a servo motor. The speciality of servo motor is that
it can produce large torque and can be rotated to a specific and desired amount. The high torque
of servo motor will be further amplified to produce enormous force which can easily press the
master cylinder piston.

Figure 6.1: Servo Motor (Source: Google Images)

The mechanical linkage which amplified the force will be linked with the master cylinder
piston. When the ultrasonic sensors will detect any obstacle in the vehicle’s path, it will send
electronic signals to the ECU and it will guide the servo motor to rotate to a specific amount to
press the master cylinder piston. The amount of rotation of the servo motor will depend on the
distance between the obstacle and the vehicle. This will also determine the deceleration and
distance relationship of the smart braking system installed. The schematic diagram for the
30
working of Smart Braking System in conventional cars can be shown diagrammatically like
the figure shown below.

Figure 6.2: Schematic of Working in Conventional Vehicles (Source: AI Drawing)

The ECU will also be connected to the brake pedal because, whenever the driver wants to
apply brakes, the rotation of the servo motor will be allowed by the motor driver as the piston
rod of master cylinder is same for both the mechanisms.

31
 CHAPTER 7: WORKING

The working of the complete system is based on an electronic system and motors. The
components of the system are:

1. Arduino
2. L298N module IC
3. Bluetooth HC-05
4. DC motor
5. Ultrasonic Sensor
6. Battery

The ultrasonic sensor will be installed at the front end of the vehicle and the wheels will be
connected to the motor. The main controlling unit of the complete circuit is the Arduino used.
The motors used with the wheels are connected to the L298N module IC used which in turn is
connected to the Arduino. The Arduino is also connected to the battery. The battery can be
charged with solar energy as the solar panel will be installed on the top of the vehicle to make
the most of the solar energy available to the vehicle. A HC-05 Bluetooth is installed and
connected to the Arduino which helps us to drive the vehicle with the use of our mobile phones
using an app called "Bluetooth Terminal". A panel consisting of buttons for the 4 modes used
is also connected to the Arduino namely:

1. Parking Mode
2. Narrow Mode
3. Highway Mode
4. Traffic Jam Mode

The distance between the obstacle and the sensor after which the sensor will send electronic
signals to stop the power supply of the motor is known as the CRITICAL DISTANCE. The
difference between these 4 modes is critical distance which is least for traffic mode followed
by parking mode then narrow mode and finally highway mode.

When the vehicle is running, the ultrasonic sensor will be active according to the mode selected
by the driver. The sensor's transmitter will transmit 8 pulses per second in the forward direction
the sensor's receiver will wait for the pulses to return. When an obstacle comes in front of the
vehicle, the pulses will return to the receiver of the sensor and if the time between transmission
and receiving the pulses is less than time corresponding to the critical distance of that particular
32
mode then it will detect the obstacle in front. When the sensor detects the obstacle, it will send
electronic signals to the Arduino to stop the power supply of the motor. The L298N module
IC will act as a mediator between motor and the Arduino. Hence, when the power supply from
the battery stops, the brakes will be applied and the vehicle will be stopped. Each mode would
consist of its well-defined conditions and different codes will act upon selection of different
modes.

7.1Parking mode
Parking Mode will usually consist of slow speeds and the vehicle has to move among other
vehicle within close proximities and so, in order to facilitate easy parking, the critical distance
in this case is kept very small and also the application of the brakes is sudden. As the speeds
of the vehicle is already slow, the sudden application of brakes is not an issue and the comfort
of the vehicle is not compromised.

7.2Highway Mode
Highway mode will consist of high speeds and the application of the brakes cannot be sudden
in this case. In this case, the braking system has to be actuated in case of other vehicles in front
the vehicle slowing down or stopping completely. In case the vehicle is changing lane, the
brakes should be gradually applied and vehicle has to be slowed down order to facilitate smooth
and easy manoeuvres. So, in this case the critical distance can be kept moderate to high but
problem of skidding should be taken into account and thus, the braking action of the smart
braking system should be very gradual in this case.

7.3 Narrow Mode

Narrow mode will consist of slow to medium speeds and in this case the most important
problem will be an event of an object coming in front of the vehicle and this calls for an efficient
sudden braking system which could actuate the brake to stop the vehicle in the least braking
distance so as to avoid skidding as well as stopping the vehicle. In this case brakes are also
required to actuate automatically when the vehicles are moving with close proximity to other
vehicles. Here, the critical distance can be kept low at slow speeds. At moderate speeds, the
vehicle should be stopped gradually and not suddenly and the critical distance can low her as
well.

33
7.4 Traffic Mode

Traffic jam mode will consist of very low speeds and the vehicle has to move with close
proximities to other vehicles and in this case the braking effort can be sudden as it mostly
consist of slow speed and the critical distance should be kept lowest. The smart braking system
can provide the better comfort to the driver in this case as oppose to the case of manual braking
system.

34
 CHAPTER 8: FUTURE PROSPECTS
The smart braking system that has been presented in the project can have enormous future.
Considering the need for a smarter braking system in the present world where there are a
number of cases of accidents seen and heard every day, its importance is immense.

In the present work the number of selection modes that the driver can choose from are limited
to only four. The number of modes that are presented in the project can be extended to a large
extent. The modes that are can be installed in the vehicle can vary widely depending on the
types of roads or the type of the vehicle that is being used or it can even be adjusted as per the
need and comfort of the driver too.

Moreover, a more advanced technology could even incorporate a system for auto detection of
the mode as per the need for the driver. Auto detection of the different modes of the smart
braking system could be implemented by further installing different electronic equipment in
order to automatically detect the suitable mode of the system.

Auto detection of the mode for the smart braking system could be done by using different
sensors installed on the periphery of the vehicles so, that it could detect the type of vehicles
around and the distance of this vehicle from other vehicles. In this way, overall situation of the
road and traffic could be known which could be used to automatically detect the suitable mode
of the braking system.

Another way of auto detection for the mode of the smart braking system could be by means of
software. A software already installed in the circuit could be used to detect and compare the
present situation with past data in order to determine the mode for the smart braking system.
Auto detection of the mode for the smart braking system could also be done by the use of
machine learning. Machine learning software could be installed in the electronic circuits in
order to accurately detect the type of present situation and select the suitable mode for braking
system.

Instead of detection of a particular mode already present on the panel, it could also be possible
with advanced technology to only detect the present situation including the distances of the
vehicle from the other nearby vehicles and also the type of roads and the type of nearby vehicles
to custom make the mode of the braking system. The mode of the braking system would not
be pre-set according to a particular situation and instead it would act according to the present
situation and according to the requirement.

35
Another important future prospect of the ongoing project would be incorporation of new and
advanced modes in the braking system. Different modes would be essential as there are
different kinds of vehicles all over the place and there are different kinds of places which
require different kinds of modes for the smart braking system. Different places and vehicles
and type of roads offer different situation in which the requirement for the automatic braking
would be varying.

In order to take care of the different situations in which the types of roads, the type of vehicles
and places vary, different modes can be designed in the required way. Some of the different
useful modes could be Hilly mode, Rainy mode and in the case where there aren’t proper roads.

8.1 Hilly mode

In the hilly terrain, the safety aspect comes first and first consideration while designing a
vehicle for hilly road should be the braking system that is incorporated in the vehicle design.
In the hilly terrain, the type of vehicles that are present are mostly heavy vehicles and the type
of roads that are present also depends from place to place. In the hilly terrain, there are a lot of
turns around the corners and the vehicle in place has to manoeuvre smoothly which raise the
stakes even more. In order to take care of the said reasons, the vehicle brakes should be
designed as per the requirement ensuring full safety.

Here in this case, the speed of the vehicle remains about moderate and at about every corner
while manoeuvring, the speed of the vehicle should be reduced to a minimum certain value in
order to facilitate smooth handling. And also, in this case, the speed of the vehicle should also
be reduced while crossing another vehicle in path. In case of number of vehicles being more,
when the vehicles are moving in close proximities, the speed of the vehicle should be slowed
down according to other vehicles.

Here, with the speeds of vehicle being from slow to moderate, the braking action should happen
when critical distance is very less as the vehicles are moving in close proximities and the
application of the brakes should be gradual. In hilly terrain, as the safety stakes are higher, the
brakes should start actuating from a larger distance before hand and the braking distance
becomes larger so that the vehicle should stop gradually and not suddenly. In this type of
terrain, a sudden stop of the vehicle because of the braking action could prove to be fatal.

36
8.2 Rainy mode
Rainy season proves damaging to all kinds of roads no matter how well it has been built. In
this case, the roads also become slippery which could be prove fatal for all kinds of vehicle at
high speeds. Safety and security of vehicle becomes a major concern in this kind of situation.
In this case, the part of braking system becomes most important. This calls for an efficient and
smarter braking system which could deal with this kind of situation in an automatic and more
advanced way. Specially, at higher speeds when braking action is performed with mere manual
control, the vehicle can go off tracks but with a smart and semi-automatic braking system with
assistance to manual brakes, the job can be done efficiently.

In the rainy season with wet and slippery roads, the speed of the vehicle should be from slow
to moderate in case of narrow roads and high in case of highways. The vehicle should slow
down in case of crossing other vehicles in order to facilitate smooth motion. In case of turns
on the roads, great precaution should be taken and here the speed of the vehicle should slow
down gradually. While changing lanes on the highway or other roads as well, the speed should
slow down and these are the situations where the smart braking system should play its part. In
this case, another important aspect, in terms of braking system, of the rainy season is that here
skidding is also another big problem so, smart braking system should also incorporate sensors
in order to track the skidding of the tires. In order to take note of the skidding of tires, sensors
can give the required input to the braking system and the system can actuate the required
braking action to stop the tires from skidding.

Here, with the speeds of the vehicle being from slow to moderate on small roads, the critical
distance here can be set with close proximities. Moreover, the braking action should be gradual
to sudden range for smooth control of the vehicle. In case of high speeds on the highways, the
braking action should be strictly gradual in order to prevent any skidding of the vehicle. While
turning the vehicle, the speed of the vehicle should be set constant and low in order to facilitate
easy and smooth manoeuvring. In case of some object getting in front of the vehicle at high
speed, the braking action should take into account skidding of the vehicle in order to stop it in
the least braking system. In order to do so, critical distance set in this type of scenario should
be kept low but it should be set in synchronization with deceleration with which the vehicle
will start skidding.

37
8.3 Intermixing of modes

A little flexibility in a system is always beneficial to the user. It makes handling the system,
easier, reliable and secure. To make the Smart Braking System more reliable and user friendly,
we will introduce the concept of intermixing of modes. Intermixing of nodes is essentially
revolves around producing a hybrid of two or more than two modes. For example, driving on
hill or a highway on a rainy day. With the use of MATLAB, the electronic control unit will be
trained so as to identify the actual meaning of a mode and carefully identify the requirements
of the vehicle. The work assigned to ECU will not only be limited to analyze the code
written, but also, to understand the requirements, limitations and effective measures that can
be taken to avoid the problem and allow the driver to drive the vehicle with maximum comfort
and safety of the fellow passengers and himself. For example, if the vehicle is running on a
highway on a rainy day, the ECU will detect that the two modes
namely ‘highway’ and ‘rainy’ should be activated and the conditions of both the modes should
be applied on the control unit to drive the vehicle properly. By doing so, it will care of the
possible vehicle slippage due to low coefficient of friction on wet roads and also of the gradual
deceleration required on the highway.

This intermixing of modes concept will take the Smart Braking System to a next level. For
proper working of this concept, years of data should be used to properly train the MATLAB
fussy network so that it can ensure that the conditions applied are correct and cater to the needs
of the vehicle.

It requires different sets of sensors which will determine the speed of the vehicle, angle of
elevation of vehicle in all the directions, temperature, etc. The results of these sensors should
be processed and then analyzed so that it can be used in ECU to monitor the complete braking
process and work efficiently. However, use of so multiple sensors, processing unit, large
sample data to train the fussy network will require time and capital. Installation of Intermixing
of modes concept can be an expensive deal but with the passage of time, the sample data set
will grow larger and hence the special requirements of the processing unit and ECU will
decrease. Thus, there will be reduction in cost, but only after a due course of time. Though the
Intermixing of Modes concept might seem an expensive deal in the beginning, it will offer
great comfort, security, safety and reliability to the driver and the fellow passengers.

38
 CHAPTER 9: COST REPORT

The economic feasibility of a model is one of the most important factors of its survival in the
day to day practical world. The cost analysis of the project will tell us the profit against the
investment. Here the profit is not monetary and quantitative but is qualitative. The profit can
be referred to as security and reliability. Hence, the cost and quantity used of all the components
used in the project are mentioned and the total cost of the complete project is calculated which
is found out to be Rs. 3240.

Table 9.1: cost of component

Component Quantity Used Cost per Piece Total Cost

Arduino 1 300 300
L298N Module 1 150 150
Bluetooth HC - 05 1 230 230
Battery 1 340 340
Ultrasonic Sensor 1 400 400
Solar Panel 1 800 800
DC Motor 2 200 400
Wires Pack 1 80 80
Voltage Regulator 7805 1 90 90
Voltage Diode 1N4007 1 20 20
LEDs 5 5 25
Switches 4 10 40
Wheels 4 30 120
Clamps 5 5 25
PCB 1 20 20
Frame ( Chassis Material ) 1 300 300
Glue Gun 1 180 180

GRAND TOTAL 3520

By looking at the figures above, we estimated the cost of Smart Braking System in passenger
cars which comes out to be Rs. 5,000 – 6,000. This will include an Electronic control unit,
Motors, linkages, heavy ultrasonic sensors, etc.

Such a low cost of this demonstrated project indicates that the proposed “Smart Braking
System” concept can be efficiently and effectively used in general conventional passenger cars.
The customers will have to pay a small amount to get a secured and reliable braking system
which will protect the lives of several families.

39
 CHAPTER 10: RESULTS AND VERIFICATION

Every project which is made is subjected to several checks and verifications. In this model also,
we need to check the working of the vehicle and also to verify if the results are consistent with
the expectations. Hence, first the working of the vehicle will be checked that working of all the
modes, Bluetooth, solar panel, Arduino and motors and then the results will be verified.

The vehicle was tested by running it on different surfaces and different environmental
conditions. All the modes and the stability of the vehicle were checked. The error occurred in
the project as the pulses of the ultrasonic sensor diverge as they go in forward direction.

Figure 10.1: Graph showing variation of stopping Distance and Error (Source: Adraxx
Manual)

The results were verified by setting up an experimental setup. The setup includes an obstacle,
a scale and a marker. By driving the vehicle in different modes, the distance between the vehicle
and the obstacle after the vehicle stopped was observed. Using this, the error and accuracy were
calculated.

𝐶𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 − 𝐴𝑐𝑡𝑢𝑎𝑙 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝐸𝑟𝑟𝑜𝑟 𝑃𝑒𝑟𝑐𝑒𝑛𝑡𝑎𝑔𝑒 = × 100
𝐶𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒

Equation 1: Error Equation

𝐴𝑐𝑡𝑢𝑎𝑙 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝐴𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = × 100
𝐶𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒

Equation 2: Accuracy Equation

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The experimental setup is as shown:

Figure 10.2: Experimental Setup (Source: Phone Camera)

10.1 Highway Mode

The car stopped at a distance of 37.5 centimetres from the obstacle shown in the figure. The
error and accuracies can be calculated using equations 1 and 2.

40 − 37.5 2.5
𝐸𝑟𝑟𝑜𝑟 = × 100 = × 100 = 6.25%
40 40

37.5
𝐴𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = × 100 = 93.75%
40

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 Figure 10.3: Observation for Highway Mode (Source: Phone Camera)

10.2 Narrow Mode

The car stopped at a distance of 28 centimetres from the obstacle shown in the figure. The error
and accuracies can be calculated using equations 1 and 2.

Figure 10.4: Observation for Narrow Mode (Source: Phone Camera)

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 30 − 28.3 1.7
𝐸𝑟𝑟𝑜𝑟 = × 100 = × 100 = 5.67%
30 30

28.3
𝐴𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = × 100 = 94.33%
40

10.3 Traffic Jam Mode

The car stopped at a distance of 19 centimetres from the obstacle shown in the figure. The error
and accuracies can be calculated using equations 1 and 2.

20 − 19 1
𝐸𝑟𝑟𝑜𝑟 = × 100 = × 100 = 5%
20 20

19
𝐴𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = × 100 = 95%
20

Figure 10.5: Observation for Traffic Jam Mode (Source: Phone Camera)

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10.4 Parking Mode

The car stopped at a distance of 9.7 centimetres from the obstacle shown in the figure. The
error and accuracies can be calculated using equations 1 and 2.
10 − 9.7 0.3
𝐸𝑟𝑟𝑜𝑟 = × 100 = × 100 = 3%
10 10

0.3
𝐴𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = × 100 = 97%
10

Figure 10.6: Observation for Parking Mode (Source: Phone Camera)

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 CONCLUSIONS

In this project an attempt has been made to design and fabricate a smart braking system which
could provide an assistance to the existing manual braking system. The basic idea is to develop
a semi-automatic braking system in which driver could select a particular mode to suit a
particular situation he's driving in, in order to do away with manual brakes. The four modes
that have been depicted in this project are parking mode, highway mode, traffic jam mode and
narrow mode. The deceleration rate for all the four modes have been chosen to be parabolic
with respect to distance. In this project, a small model has been made in order to demonstrate
its principle. The system consists of various electronic equipment coupled together to form the
circuit used for the braking system. The complete electronic system has been depicted and also
the code fed to the Arduino. Further, future prospects of this system have also been highlighted
like installation of number of modes for specific purposes and auto detection. The total cost of
the project came out to be Rs.3520. Error analysis has been done for each mode for it's critical
at which the vehicle stops. For parking mode error in critical distance is 6.25%. For subsequent
modes i.e. highway, traffic and narrow, the corresponding errors are 5.67%, 5%, 3%
respectively.

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 REFERENCES

1. Ashwin Francis1, Abel Antoo2, Jerald John3, Augustin Sagar4, Sreejith K5.
INTELLIGENT BRAKING SYSTEM FOR AUTOMOBILES(IRJET) march-2018
2. Hemalatha B K. INTELLIGENT BRAKING SYSTEM march-2018
3. Jadhav Amol D.1, Chavhan Tushar V.2, Sonawane Ravindra F.3, Thombre AmolV. 4
Aher Sandip S INTELLIGENT REVERSE BRAKING SYSTEM (IRJET) Feb 2018
4. J.Ashok, V.Suganthi, I.Vijayalakshmi Comparison of brake reaction time in younger and
older drivers”
5. Dr. P. Gokulakrishnan1 Mr. N. V. Vijaya Ragavan 2 Mr. K. Suresh 3. SIBS: Smart
Intelligent Braking System to Eliminate Human Perception and Reaction Time using
VANET 2018

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PLAGIARISM REPORT

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