FABRICATION OF ARDUINO BASED INTELLIGENT

BRAKING SYSTEM
A PROJECT REPORT
Submitted By

NITHISHWARAN K 20232240
PARATHITHASAN R 20232242
PRABU J 20232243
PRAGADEESH P 20232244
PRAKASHRAJ S 20232245
RAJAMUTHUVEL P 20232247

In partial fulfilment of the requirements

For the award of the diploma of

DIPLOMA
In
MECHANICAL ENGINEERING

GUIDED BY
Mr. RAMASUBRAMANIAN M BE.,

DEPARTMENT OF MECHANICAL ENGINEERING

GOVERNMENT POLYTECHNIC COLLEGE
ARANTHANGI – 614616
2021::2022

1
 GOVERNMENT POLYTECHNIC COLLEGE
ARANTHANGI – 614616

BONAFIDE CERTIFICATE

REGISTER NUMBER ____________________________

This is to certify that the Project FABRICATION OF ARDUINO BASED

INTELLIGENT BRAKING SYSTEM is a confide Record done by
Mr. __________________________________in partial fulfilment of the DIPLOMA IN
MECHANICAL ENGINERING during the year 2019-2020.

---------------------------------------- -------------------------------------------
Mr. RAMASUBRAMANIAN M BE., Mr. KESAVAN MME.,
PROJECT GUIDE HEAD OF THE DEPARTMENT

Department of Mechanical Engineering

Government Polytechnic College
Aranthangi – 614616

Submitted for the Project work Examination held at GOVERNMENT

POLYTECHNICCOLLEGE ARANTHANGI – 614616 on ____________________

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 CERTIFICATEOF EVALUATION

NAME OF THE STUDENTS TITLE OF THE PROJECT NAME OF THE GUIDE

NITHISHWARAN K

PARATHITHASAN R FABRICATION OF
Mr. RAMASUBRAMANIAN M BE.,
PRABU J
ARDUINO BASED LECTURER,
INTELLIGENT DEPARTMENT OF MECHANICAL
PRAGADEESH P ENGINEERING
BRAKING SYSTEM
PRAKASHRAJ S

RAJAMUTHUVEL P

The Report of the Project submitted by above students in partial fulfilment for the
diploma in Mechanical Engineering under Directorate of Technical Education was
evaluated and confirmed to be the report of the work done

Certified that the candidates were examined by us in the report work viva – vice examination
held on ______________

……………………………… ………………………………..
INTERNAL EXAMINAR EXTERNAL EXAMINER

3
 ACKNOWLEDGEMENT

At this pleasing moment to having successfully complete our project, we wish to convey

our sincere thanks and gratitude management our college and principal Mr. M. MOHAMED

FAROOK ME., who provide all the facilities to us

We express our gratefulness to the Head of the Department Dr. M KESAVAN ME., for

his inspiring guidance, motivation and encouragement, without which this project could not have

been completed.

We are highly thankful and express our heartiest and gratitude to our project supervisor,
Mr. RAMASUBRAMANIAN M BE., Lecturer, Department of Mechanical Engineering,
Government Polytechnic College, Aranthangi- 614616, for encouraging us throughout the year.
His constructive and encouraging comments and insightful suggestion provide to be
indispensable for the successful completion of this project.

We also express our thanks to other Teaching and Non – Teaching staffs of our

Institution

4
SYNOPSIS

5
 CHAPTER 1

SYNOPSIS

In conventional brake system, the drivers effort is utilized to actuate. The brake shoes expanding
mechanism. When releasing the brake pedal force, the brake shoes will come back by action of retractor
spring, leaving the drum to rotate freely.
In our project, we are using a solenoid, which is connected with the brake shoe actuating
mechanism through suitable linkage. When the electric supply is given the solenoid gets energized and
moves the plunger, which is in turn actuate the brake shoes expanding mechanism. Which can stop the
rotation of wheel.
Sophisticated hand switch control can be adopted in this instead of effort consuming
pedal operation.

6
INTRODUCTION

7
 CHAPTER - 2
INTRODUCTION

Road accidents are a common place in today’s scenario. Accident prevention

has been one of the leading area of research. In indian scenario normally vehicles

are equipped with ABS (ANTI-LOCK BRAKING SYSTEM ),traction control ,

brake assist etc. for driver’s safety. This paper focuses on a system known as

‘AUTOMOBILE BRAKING SYSTEM’(ABS) which employ several sensors to

respond when emergency condition occur. The system includes an infrared wave

emitter provided on the front portion of the car. An infrared receiver is also fitted

to the signal. The reflected wave gives the distance between the obstacle and the

vehicles. then a micro controller and arduino is used to detect the pulses and apply

breaks to the vehicles.

1.2 OVERVIEW
Braking systems of commercial vehicles were always given the highest

importance concerning safety issues and in particular active safety. Inappropriate

braking of these vehicles may cause heavy accidents due to relatively longer

stopping distances and higher energy output of brakes particularly in the case of

vehicle combinations. The traditional medium used for brake system (compressed

air) can be now controlled with the speed and precision offered by modern

electronic abilities.

8
Intelligent Braking System (IBS) introduced in commercial vehicles providing

rapid brake response and release for every single wheel therefore ensuring safety.

The extremely rapid response time provided by the electronic control can be used

for crucially shortening the braking distance by introducing advanced control of

braking system operation. Such a complex task imposed to the control of braking

system cannot be based on the driver abilities and need to be done independently

of the driver. An improved IBS braking forces management would certainly enable

to reach the given task.

The advanced strategy for the braking force management, proposed here, is

based on intelligent controlling of the braking forces distribution between the front

and rear axle of power-driven vehicle and/or between towing/trailer combination

and/or between tractor/semi-trailer. Intelligent braking system has a lot of potential

applications especially in developed countries where research on smart vehicle and

intelligent highway are receiving ample attention. The system when integrated with

other subsystems like automatic traction control system, intelligent throttle system,

and auto cruise system, etc. will result in smart vehicle maneuver.

The driver at the end of the day will become the passenger, safety accorded

the highest priority and the journey will be optimized in term of time duration,

cost, efficiency and comfort ability. The impact of such design and development

will cater for the need of contemporary society that aspires quality drive as well as

9
to accommodate the advancement of technology especially in the area of smart

sensor and actuator. The emergence of digital signal processor enhances the

capacity and features of universal microcontroller. The overall system is designed

so that the value of inter-vehicle distance from infrared laser sensor and speed of

follower car from speedometer are fed into the DSP for processing, resulting in the

DSP issuing commands to actuator to function appropriately [1].

The most popular systems like Antilock Braking Systems (ABS), Traction

Control and Stability Control employ different types of sensors to constantly

monitor the conditions of the vehicle, and respond in an emergency situation. An

intelligent mechatronic system includes an ultrasonic wave emitter provided on the

front portion of a car producing and emitting ultrasonic waves frontward in a

predetermined distance. An ultrasonic receiver is also placed on the front portion

of the car operatively receiving a reflective ultrasonic wave signal. The reflected

wave (detected pulse) gives the distance between the obstacle and the vehicle.

Then a microcontroller is used to control the speed of the vehicle based on the

detection pulse information to push the brake pedal and apply brake to the car

stupendously for safety purpose.

10
LITERATURE REVIEW

11
 CHAPTER-3
LITERATURE SURVEY
1. Literature Review is implemented to carry out to acquire knowledge and skills needed
to complete this project. The main sources that led us built this system are previous
projects and various thesis related to this project. And other source is Internet wherein
we referred various international journals. Thus, by referring to previous project, we
can figure out the disadvantages in their project or what we can modify in their
system. Information about various reference papers or previously implemented project
have been used as a reference which is as discussed below:
2. Luciano Alonso et.al., designed an active safety system with the help of ultrasonic
sensor and its merits and demerits are also compared with other types of sensors.
They used adaptive cruise control (ACC) system to the design urban traffic control
system as an example. G.V. Sairam et.al., proposed ultrasonic sensors in safety
systems for controlling the speed of a vehicle. They used ultrasonic sensor to design a
system that automatically controls the speed.
3. Dhivya P. et al, used Fuzzy Logic to design an automatic car braking system. The
developed model is simulated using MATLAB and LabVIEW software and a
satisfactory result is obtained.
4. Automatic pneumatic and bumper and break actuation before collision system is
modelled by Srinivasa Chari.V et.al.,. They developed a prototype to test the proposed
model. In this project they used IR sensor to recognise the obstacle and the vehicle
speed is sensed by proximity sensor.
5. Hemalatha B K et al developed a prototype of intelligent braking system using IR
sensors to avoid collision of vehicles. They also used micro controller with a solenoid,
circular disc associated with a dc motor and sensor in the design to stop the vehicle at
the desired range.
6. A collision avoidance system is proposed and prototype was studied by Anusha c,
et.al., using Ultra sonic and IR sensors. They used a micro controller to continuously
monitor the distance between vehicle and the obstacle to apply brake at proper
distance.
7. S.Ruthara Kumar et al, presented the implementation of a digital driving system for a
semi-autonomous vehicle to improve the efficiency of driver-vehicle interface using
PIC based data acquisition system. The vehicle detects the speed breaker and also

12
 some primary zones before certain limitation by tags using UART module for
introducing the new invention of priority based Intelligent Braking System (IBS).
8. A. H. Ingle et al, experimented on Intelligent braking system that employ many
ultrasonic sensors to detect many parameters to avoid collisions by responding in
emergency conditions of a car.
9. An intelligent braking system is designed and analysed by Tushar Kavatkar et al using
ultrasonic sensors. A microcontroller is used to control the braking of the vehicle
based on the detection pulse information to push the brake pedal and apply brake to
the car stupendously for safety purpose. From the literature review it was understood
that most of the researchers concentrated on different types of sensors for speed
control, but only few developed the braking system using IR sensor.
10. Ultrasonic sensors are used only to control the speed when an obstacle is found at
certain distance. In this project an attempt is made to develop a prototype with
ultrasonic sensors to stop the vehicle at the specified distance when an obstacle is
observed.
11. Braking system with Automatic Pneumatic Bumper. (Thepade,N,et al.,2016) This
journal describes an idea to reduce impact on four wheelers during emergency
conditions where a collision is imminent. The journal suggests that four wheelers
should incorporate an extended bumper to absorb the impact shock. The bumper is
extended using pneumatic system which receives input from an electronic proximity
measuring system.
12. Stability Control of Vehicle during emergency braking. (Chen Q, et al., 2014) The
journal describes the skidding of automobile tires during emergency braking and the
need to apply brakes as in pulses or in a gradually increasing braking force rather than
a sudden press.
13. Research on adaptive cruise control. (Chengwi.S , et al.,2016) The journal describes
sharing information between automobiles while they are in motion in order to reduce
accidents. The communication could be made possible through proximity sensors and
Bluetooth devices. Automobiles when comes within the range of proximity sensors
information regarding their speed and vehicle conditions can be shared with each
other resulting in an efficient travelling with minimal risk of accidents.
14. Brake reactions of distracted drivers to pedestrian forward collision systems.(Nils
L ,2017) This journal describes that an audio and visual warning with an added pulse
is most effective in preventing collisions thereby reducing accident chances. If a

13
 distracted driver does not see a pedestrian beep sounds along with red warning lights
are shown to the driver reminding him to look for the pedestrian and apply brakes.
15. Distance measuring by Ultrasonic sensor. (Koval.L , et al.,2016) The journal
describes active and passive ultrasonic sounds and the use of passive ultrasonic for
distance measurement. It is seen that ultrasonic sensor has good accuracy. Ultrasonic
sensor performs well under rainy and humid conditions unlike other proximity
sensors.

14
METHODOLOGY

15
 CHAPTER -4

METHODOLOGY
3.1 METHODOLOGY
An intelligent mechatronic system includes an ultrasonic wave emitter
provided on the front portion of a car producing and emitting ultrasonic waves
frontward in a predetermined distance. An ultrasonic receiver is also placed on
the front portion of the car operatively receiving a reflective ultrasonic wave
signal. The reflected wave (detected pulse) gives the distance between the
obstacle and the vehicle.

The microcontroller is used to control the speed of the vehicle based on

the detection pulse information to push the brake pedal and apply brake to the
car stupendously for safety purpose.

The extremely rapid response time provided by the electronic control can
be used for crucially shortening the braking distance by introducing advanced
control of braking system operation. The control of commercial vehicle’s
braking system operation is related not only to vehicle speed but also to lateral
acceleration together with the yaw moment control and significantly reducing
the possibilities of the vehicle rolling over.

Obviously, such a complex task imposed to the control of braking system

cannot be based on the driver abilities and need to be done operated
independently of the driver.

• Development of an idea
• Detail study of literature
• System survey

16
• Drawbacks in existing approach
• Cost estimation and specification for standard parts
• Load distribution analysis
• Braking force and pressure analysis
• Experimentation
• Results and discussion

Ultrasonic ranging and detecting devices make use of high-frequency

sound waves to detect the presence of an object and its range. These systems
either measure the echo reflection of the sound waves from objects or detect the
interruption of the sound beam as the objects pass between the transmitter and
receiver. An ultrasonic sensor typically utilizes a transducer that produces an
electrical output pulse in response to the received ultrasonic energy. In such
case, the horizontal aperture angle must be at least 8 degrees for an inter-vehicle
distance of 75 meter. The vertical aperture is fixed to be 1 degree and is
positioned in such a way to avoid fault reading due to the road conditions.

17
 3.1. BLOCK DIAGRAM

3.1.1. LAYOUT DIAGRAM

CONTROL
POWER
UNIT
SUPPLY

ULTRASONIC CHAIN
SENSOR DRAIVE

MOTOR BRAKE
ARRANGEMENT

3.1.2. BLOCK DIAGRAM FOR CIRCUIT

IR
SENSORS RELAY DRIVER
ARDUINO SECTION
CONTROLLER

BUZZER

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ASSEMBLY DIAGRAM

19
DESCRIPTION OF PARTS

20
 CHAPTER - 5
DESCRIPTION OF PARTS

1. MODEL CAR OF CHASSIS ASSEMBLY

Model chassis is made up of mild steel. The assembly of mechanism that

makes up the major operating part of the vehicle. Usually assumed to include
everything except the car body.

2. SENSOR SECTION:
An ultrasonic sensor is an electronic device that measures the distance of a target
object by emitting ultrasonic sound waves, and converts the reflected sound into an electrical
signal. Ultrasonic waves travel faster than the speed of audible sound (i.e. the sound that
humans can hear). Ultrasonic sensors emit short, high-frequency sound pulses at regular
intervals. These propagate in the air at the velocity of sound. If they strike an object, then
they are reflected back as echo signals to the sensor, which itself computes the distance to the
target based on the time-span between emitting the signal and receiving the echo.
For ultrasonic sensing, the most widely used range is 40 to 70 kHz. The frequency
determines range and resolution; the lower frequencies produce the greatest sensing range.
At 58 kHz, a commonly used frequency, the measurement resolution is one centimeter (cm),
and range is up to 11 meters.
Human Presence Detection with Ultrasonic Sensors. MaxBotix ultrasonic
sensors solve the common problem of sensing human presence. Our ultrasonic
sensors offer the ability to detect people over a wide range of distances with a high read rate
and excellent reading to reading stability.
Ultrasonic sensors can measure the distance to a wide range of objects regardless of
shape, color or surface texture. They are also able to measure an approaching or receding
object.

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This sensor requires "no code" to get up and running. It's very easy to use. With the
Polaroid Sensor, first you have tell the polaroid sensor to send out a sonar pulse, then you
have to WAIT and keep track of the time very carefully until the sonar pulse comes back.
This wastes processor time and is only as accurate as your code.
The sound that emanates from a piezoelectric transducer does not originate from a
point, but instead originates from most of the surface of the piezoelectric element. Round
transducers are often referred to as piston source transducers because the sound field
resembles a cylindrical mass in front of the transducer. The sound field from a typical
piezoelectric transducer is shown below. The intensity of the sound is indicated by color, with
lighter colors indicating higher intensity.
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22
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MERGEFORMATINET
Since the ultrasound originates from a number of points along the transducer face, the
ultrasound intensity along the beam is affected by constructive and destructive wave
interference as discussed in a previous page on wave interference. These are sometimes also
referred to as diffraction effects in the NDT world. This wave interference leads to extensive
fluctuations in the sound intensity near the source, known as the near field. Because of
acoustic variations within a near field, it can be extremely difficult to accurately evaluate
flaws in materials when they are positioned within this area.
The pressure waves combine to form a relatively uniform front at the end of the near
field. The area beyond the near field where the ultrasonic beam is more uniform is called the
far field. In the far field, the beam spreads out in a pattern originating from the center of the
transducer. The transition between the near field and the far field occurs at a distance, N, and
is sometimes referred to as the "natural focus" of a flat ( or unfocused ) transducer. The
near/far field distance, N, is significant because amplitude variations that characterize the
near field change to a smoothly declining amplitude at this point. The area just beyond the
near field is where the sound wave is well behaved and at its maximum strength. Therefore,
optimal detection results will be obtained when flaws occur in this area.

23
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 For a piston source transducer of radius (a), frequency (f), and velocity (V) of a liquid or
solid medium, the applet below allows the calculation of the near/far field transition point.

Spherical or cylindrical focusing changes the structure of a transducer field by

"pulling" the N point nearer the transducer, to the focal point of the transducer. It is also
important to note that the driving excitation normally used in NDT applications are either
spike or rectangular pulsars, not single frequency. They can significantly alter the
performance of a transducer. Nonetheless, the supporting analysis is widely used because it
represents a reasonable approximation and a good starting point.
Single sound ultrasonic sound generation

24
Ultrasonic transducer inner view:

The effect of backing on ultrasonic transducers

1. Reduce pulse length in the time domain
2. Increase bandwidth
3. Reduce centre frequency

5.4.3. ULTRASONIC TRANSMITTER AND RECEIVER:

Ultrasonic refers to any study or application of sound waves that are higher frequency
than the human hearable vary. Music and customary sounds that we tend to contemplate
pleasant ar usually twelve kilocycles per second or less, whereas some humans will hear
frequencies up to twenty kilocycles per second. inaudible waves incorporates frequencies
larger than twenty kilocycle per second and exist in far more than twenty five Mc. inaudible
waves ar employed in several applications together with plastic fastening, medicine,
jewellery cleansing, and nondestructive check. at intervals nondestructive check, inaudible
waves offer North American country the power to “see through” solid/opaque material

25
Associate in Nursing find surface or internal flaws while not touching the fabric in an adverse
manner.
5.4.4. BUZZER:
Buzzer A buzzer or electronic device may be a device, sometimes electronic,
generally employed in cars, manages appliances like a microwave, or game shows. It
comprises of variety of switches or sensors connects to a sway unit that determines and if that
button was pushed or a planned time has non church going, and typically illuminates a light-
weight on the specified button or instrument panel, and sounds a warning within the style of
endless or intermittent noisy or beeping sound. At the start this device was supported AN
mechanical device system that was clone of an electrical bell while not the metal gong (which
makes the ringing noise).

3. CONTROL UNIT
The control unit(CU)is a component of acomputer’s centralprocessing
unit(CPU)that directs theoperationofthe processor. It tells the computer’s
memory, arithmetic/logic unit and input and output devices how to respond to a
program instruction’s. In thisproject we have used Arduino Uno as a control
unit. Arduino Uno is a microcontrollerboard based on
theATmega328P.Ithas14digitalinput/outputpins (of which 6 can be used as
PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a
power jack, an ICSP header and a reset button.It containseverythingneeded to
support the microcontroller.

26
MOTORDRIVER:

A motor driver is a little current amplifier; the function of motor drivers

is to take a low-current control signal and then turn it into a higher-current
signal that can drive a motor. In this project we have used L293D motor driver
circuit. L293D is a typical Motor driver or Motor Driver IC which allows DC
motor to drive on either direction.

27
FABRICATION OF PARTS

28
 CHAPTER - 6
FABRICATION OF PARTS

ATMega-arduino Description

Arduino Uno is a microcontroller board based on the ATmega328P.

It has 14 digital input/output pins (of which 6 can be used as PWM

outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection,

a power jack, an ICSP header and a reset button. It contains

everything needed to support the microcontroller; simply connect it to

a computer with a USB cable or power it with a AC-to-DC adapter or

battery to get started.. You can tinker with your UNO without

worring too much about doing something wrong, worst case scenario

you can replace the chip for a few dollars and start over again.

"Uno" means one in Italian and was chosen to mark the release of

Arduino Software (IDE) 1.0. The Uno board and version 1.0 of

Arduino Software (IDE) were the reference versions of Arduino, now

evolved to newer releases. The Uno board is the first in a series of

USB Arduino boards, and the reference model for the Arduino

platform; for an extensive list of current, past or outdated boards see

the Arduino index of boards.

29
Summary Microcontroller ATmega328 Operating Voltage 5V Input

Voltage (recommended) 7-12V Input Voltage (limits) 6-20V Digital I/O

Pins 14 (of which 6 provide PWM output) Analog Input Pins 6 DC Current

per I/O Pin 40 mA DC Current for 3.3V Pin 50 mA Flash Memory 32 KB

(ATmega328) of which 0.5 KB used by bootloader SRAM 2 KB

(ATmega328) EEPROM 1 KB (ATmega328) Clock Speed 16 MHz

Power The Arduino Uno can be powered via the USB connection or with an

external power supply. The power source is selected automatically. External

(non-USB) power can come either from an AC-to-DC adapter (wall-wart) or

battery. The adapter can be connected by plugging a 2.1mm center-positive plug

into the board's power jack. Leads from a battery can be inserted in the Gnd and

Vin pin headers of the POWER connector. The board can operate on an external

supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may

supply less than five volts and the board may be unstable. If using more than

12V, the voltage regulator may overheat and damage the board. The

recommended range is 7 to 12 volts. The power pins are as follows: VIN. The

input voltage to the Arduino board when it's using an external power source (as

opposed to 5 volts from the USB connection or other regulated power source).

You can supply voltage through this pin, or, if supplying voltage via the power

jack, access it through this pin. 5V.This pin outputs a regulated 5V from the

regulator on the board. The board can be supplied with power either from the

DC power jack (7 - 12V), the USB connector (5V), or the VIN pin of the board

30
(7-12V). Supplying voltage via the 5V or 3.3V pins bypasses the regulator, and

can damage your board. We don't advise it. 3V3. A 3.3 volt supply generated

by the on-board regulator. Maximum current draw is 50 mA. GND. Ground

pins.

Input and Output Each of the 14 digital pins on the Uno can be used as an input

or output, using pinMode(), digitalWrite(), and digitalRead() functions. They

operate at 5 volts. Each pin can provide or receive a maximum of 40 mA and

has an internal pull-up resistor (disconnected by default) of 20-50 kOhms. In

addition, some pins have specialized functions: Serial: 0 (RX) and 1 (TX).

Used to receive (RX) and transmit (TX) TTL serial data. These pins are

connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial

chip. External Interrupts: 2 and 3. These pins can be configured to trigger an

interrupt on a low value, a rising or falling edge, or a change in value. See the

attachInterrupt() function for details. PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit

PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI

communication using the SPI library. LED: 13. There is a built-in LED

connected to digital pin 13. When the pin is HIGH value, the LED is on, when

the pin is LOW, it's off. The Uno has 6 analog inputs, labeled A0 through A5,

31
each of which provide 10 bits of resolution (i.e. 1024 different values). By

default they measure from ground to 5 volts, though is it possible to change the

upper end of their range using the AREF pin and the analogReference()

function. Additionally, some pins have specialized functionality:

TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using

the Wire library. There are a couple of other pins on the board: AREF.

Reference voltage for the analog inputs. Used with analogReference(). Reset.

Bring this line LOW to reset the microcontroller. Typically used to add a reset

button to shields which block the one on the board. See also the mapping

between Arduino pins and ATmega328 ports. The mapping for the Atmega8,

168, and 328 is identical.

Communication The Arduino Uno has a number of facilities for communicating

with a computer, another Arduino, or other microcontrollers. The ATmega328

provides UART TTL (5V) serial communication, which is available on digital

pins 0 (RX) and 1 (TX). An ATmega16U2 on the board channels this serial

communication over USB and appears as a virtual com port to software on the

computer. The '16U2 firmware uses the standard USB COM drivers, and no

external driver is needed. However, on Windows, a .inf file is required. The

Arduino software includes a serial monitor which allows simple textual data to

be sent to and from the Arduino board. The RX and TX LEDs on the board will

flash when data is being transmitted via the USB-to-serial chip and USB

32
connection to the computer (but not for serial communication on pins 0 and 1).

A SoftwareSerial library allows for serial communication on any of the Uno's

digital pins. The ATmega328 also supports I2C (TWI) and SPI communication.

The Arduino software includes a Wire library to simplify use of the I2C bus; see

the documentation for details. For SPI communication, use the SPI library.

Programming The Arduino Uno can be programmed with the Arduino

software (download). Select "Arduino Uno from the Tools > Board menu

(according to the microcontroller on your board). For details, see the reference

and tutorials. The

ATmega328 on the Arduino Uno comes preburned with a bootloader that

allows you to upload new code to it without the use of an external hardware

programmer. It communicates using the original STK500 protocol (reference, C

header files). You can also bypass the bootloader and program the

microcontroller through the ICSP (In-Circuit Serial Programming) header; see

these instructions for details. The ATmega16U2 (or 8U2 in the rev1 and rev2

boards) firmware source code is available . The ATmega16U2/8U2 is loaded

with a DFU bootloader, which can be activated by: On Rev1 boards:

connecting the solder jumper on the back of the board (near the map of Italy)

and then resetting the 8U2. On Rev2 or later boards: there is a resistor that

pulling the 8U2/16U2 HWB line to ground, making it easier to put into DFU

mode.

33
Automatic reset

Rather than requiring a physical press of the reset button before an upload, the

Arduino Uno is designed in a way that allows it to be reset by software running

on a connected computer. One of the hardware flow control lines (DTR) of the

ATmega8U2/16U2 is connected to the reset line of the ATmega328 via a 100

nanofarad capacitor. When this line is asserted (taken low), the reset line drops

long enough to reset the chip. The Arduino software uses this capability to

allow you to upload code by simply pressing the upload button in the Arduino

environment. This means that the bootloader can have a shorter timeout, as the

lowering of DTR can be well-coordinated with the start of the upload. This

setup has other implications. When the Uno is connected to either a computer

running Mac OS X or Linux, it resets each time a connection is made to it from

software (via USB). For the following halfsecond or so, the bootloader is

running on the Uno. While it is programmed to ignore malformed data (i.e.

anything besides an upload of new code), it will intercept the first few bytes of

data sent to the board after a connection is opened. If a sketch running on the

board receives one-time configuration or other data when it first starts, make

sure that the software with which it communicates waits a second after opening

the connection and before sending this data. The Uno contains a trace that can

be cut to disable the auto-reset. The pads on either side of the trace can be

soldered together to re-enable it. It's labeled "RESET-EN". You may also be

able to disable the auto-reset by connecting a 110 ohm resistor from 5V to the

34
reset line; see this forum thread for details. USB Overcurrent Protection The

Arduino Uno has a resettable polyfuse that protects your computer's USB ports

from shorts and overcurrent. Although most computers provide their own

internal protection, the fuse provides an extra layer of protection. If more than

500 mA is applied to the USB port, the fuse will automatically break the

connection until the short or overload is removed. Physical Characteristics The

maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively,

with the USB connector and power jack extending beyond the former

dimension. Four screw holes allow the board to be attached to a surface or case.

Note that the distance between digital pins 7 and 8 is 160 mil (0.16"), not an

even multiple of the 100 mil spacing of the other pins.

35
SOFTWARE FOR THE PROJECT
SOFTWARE IMPLEMENTATION
.equ p2,0a0h ;
.equ p1,90h ;
.equ p3,0b0h ;
call
.org 0000h
mov sp,#50h ; Intialise the stack
mov p2,#00h ; clear all bits
lcall dly
lcall bz ; buzzer on for startup
srt lcall dly
mov a,p1 ;
cjne a,#07h,srt_chk
ajmp srt
srt_chk lcall dly ; recheck
mov a,p1
cjne a,#07h,ok_chk
ajmp srt
ok_chk mov a,p1
cjne a,#00h,ok_chk1
ajmp srt
ok_chk1 lcall dly
mov a,p1
mov r0,a
cjne a,#00h,ok_chk2
ajmp srt
ok_chk2 lcall bz1
mov a,p1

36
 mov r0,a
ck1 cjne r0,#02h,ck2 ; no2
ck2 cjne r0,#04h,ck3 ; no4
ck3 ajmp srt
lcall bz
mov a,p1
cpl a
anl a,#07fh
mov r0,a
rck1 cjne r0,#02h,rck2 ; no2
rck2 cjne r0,#04h,rck3 ; no4
rck3 ajmp srt
mov r4,#0ah
ba1 lcall dly
djnz r4,ba1
lcall bz
chk_1 lcall dly
lcall dly
jnb p3.4,chk_2 ; checking for IR int
lcall dly1
jnb p3.4,chk_2
lcall bz
lcall bz
ajmp chk_1
chk_2 jnb p3.5,chk_3 ;
lcall dly1
jnb p3.5,chk_3
lcall bz
ajmp chk_1

37
chk_3 jnb p3.6,chk_4 ;
mov p2,#88h ; bz
mov r4,#0ah
ba2 lcall dly
djnz r4,ba2
mov p2,#00h ; bz off
lcall dly
ajmp chk_3
chk_5 ajmp chk_1

dly: mov r2,#0ffh ; delay program

dl1 mov r3,#0ffh
dl0 djnz r3,dl0
djnz r2,dl1
ret

dly1: mov r2,#4fh

dl3 mov r3,#0ffh
dl2 djnz r3,dl2
djnz r2,dl3
ret

bz: setb p2.7 ; buzzer on

lcall dly
clr p2.7 ; buzzer off
ret

bz1: setb p2.7 ; buzzer on

38
 lcall dly1
clr p2.7 ; buzzer off
ret
.end
; **********************************************************
; SUB WRITES A COMMAND WORD TO THE LCD
; COMMAND MUST BE PLACED IN R4 BY CALLING PROGRAM
; **********************************************************

WRLCDCOM4:
MOV A, R4 ; PUT DATA BYTE IN ACC
MOV C, ACC.4 ; LOAD HIGH NIBBLE ON DATA BUS
MOV LCD_DB4, C ; ONE BIT AT A TIME USING...
MOV C, ACC.5 ; BIT MOVE OPERATOINS
MOV LCD_DB5, C
MOV C, ACC.6
MOV LCD_DB6, C
MOV C, ACC.7
MOV LCD_DB7, C
SETB LCD_E ; PULSE THE ENABLE LINE
CLR LCD_E
MOV C, ACC.0 ; SIMILARLY, LOAD LOW NIBBLE
MOV LCD_DB4, C
MOV C, ACC.1
MOV LCD_DB5, C
MOV C, ACC.2
MOV LCD_DB6, C
MOV C, ACC.3
MOV LCD_DB7, C

39
 LCALL PULSEEWAIT4; PULSE THE ENABLE LINE...
; AND WAIT FOR BUSY FLAG TO CLEAR
RET

; **********************************************************
; SUB TO WRITE A DATA WORD TO THE LCD
; DATA MUST BE PLACED IN R4 BY CALLING PROGRAM
; **********************************************************

WRLCDDATA:
SETB LCD_RS ; SELECT SEND DATA
PUSH ACC ; SAVE ACCUMULATOR
MOV A, R4 ; PUT DATA BYTE IN ACC
MOV C, ACC.4 ; LOAD HIGH NIBBLE ON DATA BUS
MOV LCD_DB4, C ; ONE BIT AT A TIME USING...
MOV C, ACC.5 ; BIT MOVE OPERATOINS
MOV LCD_DB5, C
MOV C, ACC.6
MOV LCD_DB6, C
MOV C, ACC.7
MOV LCD_DB7, C
SETB LCD_E ; PULSE THE ENABLE LINE
CLR LCD_E
MOV C, ACC.0 ; SIMILARLY, LOAD LOW NIBBLE
MOV LCD_DB4, C
MOV C, ACC.1
MOV LCD_DB5, C
MOV C, ACC.2
MOV LCD_DB6, C

40
 MOV C, ACC.3
MOV LCD_DB7, C
LCALL PULSEEWAIT4; PULSE THE ENABLE LINE...
; AND WAIT FOR BUSY FLAG TO CLEAR
RET

; **********************************************************
; GENERATES A POSITIVE PULSE ON THE LCD ENABLE LINE.
; WAITS FOR THE BUSY FLAG TO CLEAR BEFORE RETURNING.
; **********************************************************

PULSEEWAIT4:
CLR LCD_E
SETB LCD_E ; PULSE THE ENABLE LINE
CLR LCD_E
SETB LCD_RW ; PREPARE R/W FOR READ OPERATION
PUSH ACC ; SAVE ACCUMULATOR CONTENTS
PEW:
SETB LCD_E ; START THE ENABLE PULSE
MOV A, LCD_DATA; READ STATUS NIBBLE
CLR LCD_E ; END ENABLE PULSE
SETB LCD_E ; PRETEND READING STATUS LOW NIBBLE
CLR LCD_E
JB ACC.7, PEW ; LOOP WHILE BUSY FLAG IS SET
POP ACC ; RESTORE ACCUMULATOR
RET

; **********************************************************

41
; SUB TAKES THE STRING IMMEDIATELY FOLLOWING THE CALL
AND
; DISPLAYS ON THE LCD. STRING MUST BE TERMINATED WITH A
; NULL (0).
; **********************************************************

PRTLCD4:
POP DPH ; POP RETURN ADDRESS INTO DPTR
POP DPL
PRTNEXT:
CLR A ; SET OFFSET = 0
MOVC A, @A+DPTR ; GET CHR FROM CODE MEMORY
CJNE A, #0, CHROK; IF CHR = 0 THEN RETURN
SJMP RETPRTLCD
CHROK:
MOV R4, A
LCALL WRLCDDATA ; SEND CHARACTER
INC DPTR ; POINT AT NEXT CHARACTER
LJMP PRTNEXT ; LOOP TILL END OF STRING
RETPRTLCD:
MOV A, #1H ; POINT TO INSTRUCTION AFTER STRING
JMP @A+DPTR ; RETURN WITH A JUMP INSTRUCTION

42
; **********************************************************
; SUB SETS THE CURSOR POSITION.
; **********************************************************
PLACECUR4:
DEC ACC ; ACC=0 FOR LINE=1
JNZ LINE2 ; IF ACC=0 THEN FIRST LINE
MOV A, B
ADD A, #080H ; CONSTRUCT CONTROL WORD FOR LINE 1
SJMP SETCUR
LINE2:
MOV A, B
ADD A, #0C0H ; CONSTRUCT CONTROL WORD FOR LINE 2
SETCUR:
MOV R4, A ; PLACE CONTROL WORD
LCALL WRLCDCOM4 ; ISSUE COMMAND
RET

43
Power supply Section

The ac voltage, typically 220V rms, is connected to a transformer, which

steps that ac voltage down to the level of the desired dc output. A diode rectifier
then provides a full-wave rectified voltage that is initially filtered by a simple
capacitor filter to produce a dc voltage. This resulting dc voltage usually has
some ripple or ac voltage variation.

A regulator circuit removes the ripples and also remains the same dc
value even if the input dc voltage varies, or the load connected to the output dc
voltage changes. This voltage regulation is usually obtained using one of the
popular voltage regulator IC units.

TRANSFORMER RECTIFIER FILTER IC REGULATOR LOAD

 For alarm circuit, op-amp, relay circuits ---------- 12 volts

44
RELAY

A relay is an electrical switch that opens and closes under control of

another electrical circuit. In the original form, the switch is operated by an
electromagnet to open or close one or many sets of contacts. It was invented by
Joseph Henry in 1835. Because a relay is able to control an output circuit of
higher power than the input circuit, it can be considered, in a broad sense, to be
a form of electrical amplifier.

These contacts can be either Normally Open (NO), Normally Closed

(NC), or change-over contacts.

 Normally-open contacts connect the circuit when the relay is activated;

the circuit is disconnected when the relay is inactive. It is also called
Form A contact or "make" contact. Form A contact is ideal for
applications that require to switch a high-current power source from a
remote device.
 Normally-closed contacts disconnect the circuit when the relay is
activated; the circuit is connected when the relay is inactive. It is also
called Form B contact or "break" contact. Form B contact is ideal for
applications that require the circuit to remain closed until the relay is
activated.

+ 12V + 12V
12V/100OHMS
12V/100OHMS

RELAY
RELAY

IN4007
IN4007

1K
1K

4.7K 4.7K BC 547

BC 547
10K
10K

45
WOKING PRINCIPLE

46
 WORKING OPERATION

Proposed arrangement used for intelligent braking system has a lot of potential
applications especially in developed countries where research on smart vehicle and intelligent
highway are receiving ample attention. We can use this system in the four wheeler vehicle
and can reduce the number of accidents taking place on road. The system when integrated
with other subsystems like automatic traction control system, intelligent throttle system, and
auto cruise system, etc. will result in smart vehicle manoeuvre. In modern industries also for
material handling trolley and machinery it requires and it is industries need.

Our projects working on following two conditions or cases: If there is no obstacle in

front of vehicle then the sensor output remains unchanged that means LOW and so that motor
If there is obstacle detects by the Ultrasonic sensor in front of our vehicle then sensor outputs
the motor stops running as its value will be LOW and our vehicle will be stops.

47
APPLICATIONS

48
 APPLICATIONS

This system “Automatic sensor operated braking System” can be

applied in the following vehicles.

 Cars

 Jeeps

 Auto rickshaws

 Lorries

 Busses

 Train

 Material handling equipments and vehicles in process industries.

 For automobile application

 Industrial application

LIMITATIONS

1. Set up cost is more

2. Air compressor (or) battery must be provided for the system.

49
ADVANTAGES

50
 ADVANTAGES

1. Simple in construction

2. Accidents are avoided and the damages to vehicle of human lives be

avoided.

3. This system should not work at the time of forward running of the vehicle

since some other vehicles can follow it in holds.

4. Efficiency of the engine cannot be affected.

5. Distance between the obstacle and vehicle can be varied time to time.

6. The conventional braking system of the vehicle cannot be affected at the

time of forward movement.

51
BILL OF MATERIALS

52
 BILL OF MATERIALS

Sl.
Description of Parts Material No.off
No.
1 Model chassis M.S. 1
2 Chain drive Hss 1set

3 Wheels Fiber 4

4 DC motor (for E-vehicle Elect. 1

running)
5 Electronic circuit for Elect. 1
braking
6 Ultrasonic sensor M.S. 1set

7 Joints and bolt nuts - Req.

53
COST OF ESTIMATION

54
 COST OF ESTIMATION

Sl. Rate
Description of Parts No.off
No. (Rs.)
1 Model chassis 1 1200

2 Chain set 1set 940

3 Wheels 4 640

4 DC motor (for E-vehicle running) 1 1800

5 Electronic circuit for braking 1 460

6 Ultrasonic sensor 1set 650

7 Joints and bolt nuts Req. 100

8 Microcontroller programming - 1500

9 Miscellenious - 800

Total 8090

55
SCOPE FOR FURTHER WORK

56
 SCOPE FOR FURTHER WORK

In our Project “Braking system” or vehicles while reversing we used a

pneumatic system consist of motor and 5/2 solenoid valve for applying the

break automatically when the sensor senses any obstacles. Electrical system is

required for the pneumatic system and is supplied for the air compressor in the

vehicle itself.

57
CONCLUSION

58
 CONCLUSION

By doing a design and fabrication project we learnt many more about the
design of parts, Purchasing of parts Machinery of parts, assembling of parts,
Testing of parts, rectifications of technical problems and completion of the
project successfully.

Our Project “ARDUINO INTELLIGENT BRAKING SYSTEM” for

vehicles while reversing is a very essential system to all four (or) three
wheelers. Automatic breaking in our project is applied in a model chassis and
it’s performance is very good and more satisfactory. By this result we had a
conclusion that we can implement it in all the four (or) three wheelers by
slightly modifying the system. We have full confidence that this system will be
more useful for the drivers of such scope for further work.

59
REFERENCES

60
 REFERENCES

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[9] Wikipedia,Intelligent Braking system,Automaticbrakes, Optical Sensors,
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63
PHOTOGRAPHY

64