2023 2nd International Conference on Vision Towards Emerging Trends in Communication and Networking Technologies (ViTECoN) | 979-8-3503-4798-2/23/$31.
00 ©2023 IEEE | DOI: 10.1109/VITECON58111.2023.10157414
Accident Prevention For Autonomous Vehicle
Muralidhar P, Sai Prashanth A, Pavan Kumar K, Rani C, Rajesh Kumar M
Vellore Institute of Technology, Vellore, India
murali15102002@gmail.com, akuthotaprashanth2003@gmail.com, pavan.kusetty4567@gmail.com, crani@vit.ac.in,
mrajeshkumar@vit.ac.in
Abstract-Autonomous vehicles, also known as self-driving cars,
are a rapidly developing technology that promises to
revolutionize the way we travel. These vehicles use a
combination of sensors, cameras, and machine learning
algorithms to perform navigation, obstacle avoidance, and
decision-making tasks. This advanced technology allows
vehicles to operate without human intervention, making them a
safer and more efficient alternative to traditional vehicles. One
of the key benefits of autonomous vehicles is their potential to
reduce the number of accidents caused by human error.
According to statistics, the majority of car accidents are caused
by factors such as distracted driving, driving under the
influence, and speeding. Autonomous vehicles have the potential
to eliminate these human errors, making the roads safe for
everyone. In addition to improving road safety, autonomous
vehicles can also improve traffic flow. By eliminating the need
for human drivers, autonomous vehicles can reduce congestion,
improve travel times, and reduce emissions. This can have a
significant impact on the environment and the economy, as
people will be able to travel more efficiently and get to their
destinations faster. Autonomous vehicles can also provide
increased mobility to people who cannot drive, such as the
elderly and people with disabilities. This can improve their
quality of life and give them greater independence. However,
there are also challenges associated with the deployment of
autonomous vehicles. These include technical issues such as
ensuring that the technology is safe and reliable, regulatory
issues such as obtaining government approval, and societal
issues such as public acceptance and trust. This model works
when the vehicle is in traffic and also while parking.
Keywords- Autonomous vehicle, Ultrasonic sensor, IR sensor,
Arduino, Accident prevention.
I. INTRODUCTION
The use of autonomous vehicles has skyrocketed in the
modern period. From the past few years, automation had
created and utilized in a wide range of industries. Many
industry tasks do not require human help; therefore,
automating these tasks will save a significant amount of time
and human effort. This self-driving vehicle will save time and
it also reduces human effort and human labor. However,
autonomous vehicles face challenges such as avoiding
collisions with obstacles and course planning. These two
concerns must be addressed in order to make our autonomous
vehicle function properly. Autonomous vehicles can travel
from one location to another without the need for human
effort. These vehicles should have three distinct
characteristics, one is the obstacle avoidance feature, which
prevents the robot from collisions with obstacles, the other is
the lane detection feature, and the last is the traffic sign
detection feature [10]. Whenever an obstacle appears in front
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of the vehicle, it will avoid collision with the obstacle and
continues its journey. Whenever the robot detects the lane, it
will move away from it. Lanes are treated as boundaries by
the vehicle and it always travels within these boundaries [4].
So, these lanes act as a guided path for the vehicle. Different
sensors should be used to achieve these features. To avoid a
collision between the vehicle and the obstacle, the vehicle
must first recognize the obstruction. We can do this by using
an ultrasonic sensor that can detect any barrier in front of it.
We can utilize infrared sensors to detect lanes or boundaries
or we can use Image Processing [12]. IR sensors can detect
white lanes on roads which helps the vehicle to be on road
without getting off the road [13]. These IR sensors also detect
obstacles coming from sideways of the vehicle. This design
helps us to travel from one place to another place in a single-
lane road and helps us in preventing accidents [9]. For
vehicles traveling from one location to another location, we
can use GPS based navigation system [11]. Lin explained that
traffic signs and signals can be identified using an algorithm
based on improved YOLOv4[1]. IR sensors can be used to
detect the white lanes on black roads as IR sensors can
differentiate black and white colors. But these IR sensors
cannot be used for lane detection during the night times.
During those times lanes and changing and collision
avoidance simulations can be used [14]. This project only
deals with accident prevention from collisions/crashes using
Ultrasonic and IR sensors.
II. PROPOSED SYSTEM
This design is very simple to implement in vehicles and
also costs less. Our project “Accident prevention for
autonomous vehicle” is one of the simplest ways to prevent
accidents. This project has been made using Ultrasonic sensor
and IR sensors. There are two IR sensors placed on the right
and left side of the vehicle and an Ultrasonic sensor is placed
in the front. IR sensors detect objects from the sides and the
ultrasonic sensor detects objects from the front [2]. These
sensors work together which helps the vehicle in which way
the vehicle should travel. The ultrasonic sensor used was HC-
SR04. It has four pins VCC, GND, TRIG and ECHO. VCC
is responsible for powering the sensor. GND of this is
connected to the GND of Arduino and other sensors. TRIG is
an input pin and it transmits Ultrasonic waves. ECHO is an
output pin that receives Ultrasonic waves. The sensor
calculates the time taken by the Ultrasonic wave to return to
the ECHO pin. This calculated time can be used to measure
how far is the object from the sensor. The working principle
of the IR sensor is also the same. IR sensor emits IR rays and
can detect an object.
 This model works accurately when the vehicle moves
slowly i.e., this can be used when the vehicle is moving
slowly (0-10KmpH). We have to use industrial-level sensors
using the same circuitry to prevent crashes at high speeds. To
avoid a collision between the mobile vehicle and the obstacle,
the vehicle must first recognize the obstruction. [5] Vairavan,
R explained us how an ultrasonic sensor can detect any
barrier in front of it. In this method, the vehicle will avoid
collision with the obstacle by turning on either side and
continues its journey [14]. Whenever the vehicle detects the
lane, it will move away from it. Lanes are treated as
boundaries by our vehicle and they will always travel within
these boundaries. So, these lanes act as a guided path for the
vehicle. Different sensors should be used to achieve these
features. The distance between the vehicle and the obstacle
will be determined using an Ultrasonic sensor. We can utilize
infrared sensors for detecting vehicles/objects which are on
the sides ways of our vehicle. [3] Sushmita M and S.K Apte
explained about IR sensors calculating the distance using IR
sensors.[6] Latif, A., Widodo, H. A., Rahim, R., & Kunal, K
explained how sensors are used to follow the lines, hence we
can use the same sensors to detect and avoid the lines. Here
we used four motors for demonstration purpose, but the actual
vehicle works on BLDC motors or PMSM motors (used in
Electric Vehicles).

Fig.2 Flowchart showing the work process

Note- Boundaries are lanes on road.

The scenario of obstacle avoidance can be achieved using

Fig.1 Block Diagram
III. METHODOLOGY
The four wheels of the vehicle are connected to the motors
which are integrated into a motor driver. Here we are using
the L293D motor driver and which is connected to the
Arduino. This motor driver controls the Motors based on the
code given to the Arduino.
an Ultrasonic sensor, Servo Motor, IR sensors, and Arduino.
The Servo motor is a rotary actuator that allows us to control
the angular position of the shaft. Arduino is a microcontroller
to which we can connect different sensors and electrical
elements to it and we can control them using firmware
programming. The Ultrasonic sensor is attached to the shaft
of the Servo Motor, and the ultrasonic sensor and the Servo
Motor are then connected to the Arduino using wires. This
ultrasonic sensor is attached to the shaft of the Servo Motor
when the server motor rotates, the ultrasonic sensor also
rotates. As a result, whenever an ultrasonic sensor detects an
obstacle in the detectable range, it sends a signal to the
Arduino, which instructs the robot to stop moving forward.
The Servo Motor then rotates left and right. Along with the
servo motor, the ultrasonic sensor also rotates in which the
servo motor is rotating.

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 IV. RESULT ANALYSIS

The vehicle can navigate from one location to another

location using GPS-guided systems for autonomous vehicles
[7],[8]. And also, in this way, all vehicles can navigate in a
systematic order by following all the traffic rules using a sign
and lane detection system[10]. This saves time for everyone
instead of getting delayed in traffic and this system also helps
in preventing accidents. The two scenarios discussed in the
methodology can be classified into five cases:
A. Case(1):
This is the case where both boundaries are far from the
robot. Now the vehicle has the chance to move to the left
side or right side. At first, the vehicle moves forward and
when it encounters an obstacle, it checks the left side and
right side and chooses the path which has no obstacles. Now
robot turns towards that side, and then after taking a turn,
the vehicle again aligns to the straight path and continues
moving forward.

Fig.3 Hardware setup

The scenario of dealing with lane detection, which can be

accomplished using infrared sensors. An infrared sensor is
one that generates and detects infrared radiation. When a
black line is present, the intensity of light reflected back is
low, however, when a white line is present, the intensity of Fig.4 Detecting obstacles in its path
light reflected back is high. So, the system determines
whether the line is black or white, based on the intensity of We can observe that the vehicle has stopped because the
reflected light [15]. ultrasonic sensor detected an obstacle in its way. Then the
sensor looked towards left and right and choose the path
Two infrared sensors are mounted on either side of the which has no obstacle and continued to move forward.
robot and connected to the Arduino as shown in Fig.1. The
white lines are viewed as boundaries, and these boundaries B. Case(2);
indicate the Robot's guided path. When both IR sensors detect If a vehicle is to the right then the right IR sensor will
white lines (dividing lines on roads) on a black road, i.e., detect that vehicle and moves toward the left side to avoid
boundaries, the Robot is fully within this boundary. When collisions.
just one IR sensor detects lines and the other does not, the
Robot is on the edge of one of the boundaries and should
proceed to the other side. When neither IR sensor detects a
line, the robot's borders are far away so the robot can move
freely. These IR sensors can also detect objects coming from
sideways. If a vehicle is coming sideways then our
autonomous vehicle will tend to move in the opposite
direction to avoid collision with the incoming vehicle, at the
same time our vehicle will not go out of the boundary. For
example, if a vehicle coming from the left is detected by the
left IR sensor, then the vehicle will turn toward the right.
Later on, while going to the right, the right IR sensor detects
the lane which helps the vehicle to stay within the boundaries.
Fig.5 Vehicle turning towards left (TL)

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 C. Case(3);
If a vehicle/obstacle is to the left then the left IR sensor
will detect it and moves toward the right side to avoid the
collision.
Fig.6 Vehicle turning towards the right (TR)
We can understand that the vehicle had an obstacle
towards its left side and then it started to move towards the
right.
D. Case(4);
If the vehicle has obstacles on both sides, it continues to
move in the forward direction as it cannot turn left or right.
Fig.7 Obstacles on both sides
E. Case(5):
If the vehicle was covered with vehicles/obstacles in the
front, right, and left then the vehicle will stop as it has no
option to move. Now, the ultrasonic sensor checks for a way
that has no obstacles with the help of a servo motor. The
vehicle being in traffic is the best example for this case.
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Fig.8 Vehicle stopped
V. CONCLUSION
The accident prevention concept in an autonomous
vehicle is developed here. This is done using Ultrasonic and
IR sensors which are useful for obstacle avoidance and lane
detection function. These kinds of features will undoubtedly
be useful in vehicles lowering human effort and saving time.
Moreover, We can add a GPS sensor to this and make it move
from one location to another location. We can make a vehicle
work on solar power which can charge the battery of the
vehicle. We can add a traffic sign detection system to follow
the traffic rules.
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