AUTOMATIC REVERSE BRAKING SYSTEM

SR.NO.

CONTENT

1.

ABSTRACT

2.

INTRODUCTION

3.

PROBLEM STATEMENT

4.

OBJECTIVES

5.

SCOPE

6.

METHODOLOGY

7.

LITERATURE REVIEW

8.

CONSTRUCTION DETAILS

9.

ADVANTAGES

10.

APPLICATIONS

11.

CONCLUSION

12.

REFERENCES

PAGE NO.

ABSTRACT
An ultrasonic car braking system includes; an ultrasonic wave emitter provided in a front
or reverse portion of an automatic braking car producing and emitting ultrasonic waves
frontward in a predetermined distance in front of the car. Ultrasonic receiver also formed
in a front portion of the car operatively receiving a reflective ultrasonic wave signal as
reflected by obstacles positioned within the pre-determined distance in front of the
automatic braking car. The reflected wave (detection pulse) was measured to get the
distance between the vehicle and the obstacle. Then 8051 micro-controller is used to
control DC motor based on detection pulse information to stop the robot hence will be
used to brake the car intermittently for automatically braking the car for a safe braking
purpose.

CHAPTER 1
INTRODUCTION
Driving is a compulsory activity for most people. People use their car to move from one
place to other place. The number of vehicle is increasing day by day. It is produced
tacked tightly and risk to accident. Nowadays, the numbers of accident is so high and
uncertainly. Accident will occurs every time and everywhere and cause worst damage,
serious injury and dead. These accidents are mostly cause by delay of the driver to hit the
brake.
This project is designed to develop a new system that can solve this problem where
drivers may not brake manually but the vehicles can stop automatically due to obstacles.
This project is about a system that can control braking system for safety. Using ultrasonic
as a ranging sensor, its function based on ultrasonic wave. After transmit by transmitter,
the wave can reflect when obstacle detected and receive by receiver. The main target for
this project is, car cans automatically braking due to obstacles when the sensor senses the
obstacles. The braking circuit function is to brake the car automatically after received
signal from the sensor.
The traffic accident is increasing as automobile production is increasing. It is important to
prevent accidents so as to protect the driver, pedestrians, and valuable properties when
accidents are occurred. Many technologies have been developed for vehicles to avoid
accidents while moving in forward direction. But when vehicles moves in reverse
direction, loads of problems are faced by drivers. Researches have been made on
automatic braking systems, but we are introducing automatic brakes in reverse path.
Generally a driver faces a difficulty in recognition of objects on reverse path, keeping this
fact in mind here we are introducing a system. The system includes controller logic and
the obstacle sensor to detect the objects.
Therefore, in this project we propose an Automatic Reverse Braking system to prevent
collision by using sensors to detect obstacles. The Automatic Reverse Braking system
will process the sensor data and control the vehicle to prevent accidents caused by
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careless driving or difficulty in detecting objects in reverse path. In this, we designed the
auto-braking system which keeps a distance between the object and vehicle to prevent
accident using sensors and is fabricated using 8051 as a control unit and ultrasonic
sensor. The system includes a novel technology to make vehicles safer and more efficient.
The system is probably the most reliable means of detecting human beings and objects
and, therefore, invaluable in the prevention of injury or fatal accidents. The aim of this
paper is to develop an automatic braking system when the vehicle detects an obstacle in
its reverse path.

1.1 PROBLEM

STATEMENT

The number of vehicles is increasing day by day and proportionally the numbers of
accidents are also increasing. These accidents are mostly caused by the delay of the driver
to hit the brake. To prevent the accidents caused by this delay, ultrasonic braking system
is used in automobiles.
The main target of the ultrasonic braking system is that, cars should automatically brake
when the sensors sense the obstacle. This is a technology for automobiles to sense an
imminent forward collision with another vehicle or an obstacle, and to brake the car
accordingly, which is done by the braking circuit. This system includes two ultrasonic
sensors viz. ultrasonic wave emitter and ultrasonic wave receiver. The ultrasonic wave
emitter provided in front portion of an automatic braking car, producing and emitting
ultrasonic waves in a predetermined distance in front of the car. Ultrasonic wave receiver
is also provided in front portion of the car, receiving the reflected ultrasonic wave signal
from the obstacle. The reflected wave (detection pulse) is measured to get the distance
between vehicle and the obstacle. Then 8051 microcontroller is used to control the DC
motor based on detection pulse information and the servo motor in turn automatically
controls the braking of the car. Thus, this new system is designed to solve the problem
where drivers may not be able to brake manually exactly at the required time, but the
vehicle can still stop automatically by sensing the obstacles to avoid an accident.

1.2 OBJECTIVES

The objectives of this project are;

1. To develop a safety car braking system using ultrasonic sensor
2. To design a vehicle with less human attention to the driving
3. To develop a model showing working of ultrasonic sensor based reverse braking
system.
4. To propose a low cost automation system which can be implemented easily in
todays cars to provide safety and accuracy while driving and parking.

1.2 SCOPE OF PROJECT

1. To develop an ultrasonic sensor to detect the obstacle
2. To process the output from the ultrasonic sensor to drive the DC motor as an
actuator.
3. To implement as reverse park assist.
1.3 METHODOLOGY
This project consists of a handheld range finding device using ultrasonic transducer and
an 8051 microcontroller. A two-line LCD display is used to display the measurements.
There is a 40 kHz transmitter and receiver. The 40 kHz-transmission signal is generated
via a square wave outputted from the 8051. The 8051 is then used to calculate the time of
flight (TOF) for the sound wave that is bounced off of distant objects. The return signal is
amplified using two opamp amplifiers. There are three potentiometers that need to be
calibrated for correct operation. One controls the contrast of the LCD display. Another
controls the amplification of the third stage of the amplifier system. The third controls the
voltage offset that connects to the base of a NPN switching transistor. The measurement
range of the device is one to ten feet. Further distances can be measured, but due to
circuit noise erroneous measurements can be obtained for longer distances. The absolute

maximum range that can be measured is about twenty feet. In this research, an adaptive
cruise control system is developed and implemented on an AIT intelligent vehicle.

To develop the adaptive cruise control system, the original throttle system and
braking system of the vehicle have to be modified.

The original throttle valve which is controlled by a cable from the accelerator
pedal is modified to the drive-by-wire system by using a dc motor with a position
control algorithm.

Figure: Block Diagram of the System

Cruise control system has been developed to assist the driver for driving in long distance
on highway. At congested traffic, the conventional cruise control system becomes less
useful. Adaptive cruise control (ACC) system is developed to cope up with this situation.
The conventional cruise control has one mode of control, velocity control. On the other
hand, ACC has two modes of control, velocity and distance control. ACC assists driver in
the congested traffic by acting as a longitudinal control pilot.
The 8051 is the heart of the device. The 8051 drives the transmitter and the LCD display.
When the send key is depressed a 40kHz pulse is transmitted from the device. While the
7

8051 is listening for a response from the receiver it counts the times that it goes through a
loop. Once the signal is received this count is used to calculate the distance from the far
object using the value for the speed of light through air. The count value is a measure of
the time of flight (TOF). Once the distance is calculated it is displayed on the LCD
screen.

CHAPTER 2
LITERATURE SURVEY
Fabrication of Auto-Braking System for Pre-Crash Safety Using Sensor
Eung Soo Kim
The auto-braking system was designed by VHDL and fabricated to keep a distance
between two cars. It provides pre-crash safety system for intelligent car. This module can
detect the distance between front vehicle and drivers vehicle to keep a constant distance
using a sensor and operate the brake system forcibly if the driver does not decrease the
speed of car. The system displays the distance between the two vehicles and the speed of
your vehicle. The performance of the system was good.
Design and Implementation
The fabricated auto-braking system has the sensor part and signal processing part to
prevent an accident. It performed monitoring the environment and sensor signal
processing. The sensor embedded in vehicle will detect the road environment, such as
self-velocity, distance from front vehicle, and surroundings vehicles, using infrared
sensor and ultrasonic sensor. These sensors were operated all the time during driving. The
processing part accepted the signal from sensors and processed the signals and generated
the instructions and transferred the generated instruction to control unit of transmission
and brake of vehicle. There are three cases occurred in real situations. One case is that the
distance between the front car and drivers car is far enough to defend crashing and selfvelocity is the same velocity of front car or slower than that of front car. In this case, the
drivers car is continuously running without changing its velocity. Another case is that the
distance between the front car and drivers car is near and self-velocity is slower than that
of front car. In this case, the drivers car is also continuously running without changing its
velocity. Another case is that the distance between the front car and drivers car is near
and self-velocity is faster than that of front car. In this case, the drivers car is
continuously running only when the driver reduce speed. But if the driver does not reduce

speed, the auto-braking system may forcibly reduce the speed of drivers car to protect an
accident. The reason is that if the driver does not reduce speed, the accident will be
occurred and the driver will be hurt.
The auto-braking system was designed by VHDL and fabricated using FPGA to prevent
accident. The system was mounted on a miniature car and tested. When the distance was
getting closer, the auto-braking system was working and the speed will slow down if a
driver does not reduce the speed of automobile. We also fabricated the auto-braking
system using Labview. We will replace an ultrasonic sensor with a radar sensor as the
auto-braking system is mounted on a real automobile.
Collision Warning System using Ultrasonic Sensors and Automatic Brake System
Niveditha.P.R1 and S.Gowri2
Vehicle technology has increased rapidly in recent years, particularly in relation to
braking system and sensing system. In parallel to the development of braking
technologies, sensors have been developed that are capable of detecting physical
obstacles, other vehicles or pedestrians around the vehicle. This development prevents
accidents of vehicles using Stereo Multi-Purpose cameras, Automated Emergency
Braking Systems and Ultrasonic Sensors. The stereo multi-purpose camera provides
spatial intelligence of up to 50 metres in front of the vehicle and there is an environment
recognition of 500 metres. Cars can automatically brake due to obstacles or any
hindrance when the sensor senses the obstacles. The braking circuit function is to brake
the car automatically after receiving signal from the sensors. All cars are competent in
applying brakes automatically to a maximum extent of deceleration of 0.4g. Integrated
safety systems are based on three principles. They are: collision avoidance, collision
mitigation braking systems and forward collision warning.
The framework of the proposed system is developed for a safety car braking system using
ultrasonic sensor and to design a vehicle with less human attention to the driving. This
technology could be further enhanced.

10

The same can be implemented in aircrafts, submarines. But automatic brakes cannot be
used always. So it can be replaced by action of automatic diversion with the help of
various sensors such as radar sensors, distance sensors, etc. The stereo multiple camera
has a kind of approach which also enables an assist to further develop the system to be
able to detect slowly moving object in a very disturbed environment. There are
experiments which are being conducted with challenging on-road datasets. The results
displayed are that of a combined approach which outperforms than a feature-based
approach in a disturbed environment.
Intelligent Mechatronic Braking System
G.V. Sairam1, B. Suresh2, CH. Sai Hemanth3, K. Krishna sai4
Currently, vehicles are often equipped with active safety systems to reduce the risk of
accidents, many of which occur in the urban environments. The most popular include
Antilock Braking Systems (ABS), Traction Control and Stability Control. All these
systems employ different types of sensors to constantly monitor the conditions of the
vehicle, and respond in an emergency situation. In this paper the use of ultrasonic sensors
in safety systems for controlling the speed of a vehicle is proposed. 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.
PRINCIPAL COMPONENTS OF ULTRASONIC SENSOR
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

11

utilizes a transducer that produces an electrical output pulse in response to the received
ultrasonic energy.
The normal frequency range for hearing of humans is roughly around 20 to 20,000 hertz.
Ultrasonic sound waves are the sound waves that are above the range of human hearing
capability and, so have a frequency above 20,000 hertz. Any frequency which is above
20,000 hertz may be considered as ultrasonic. Most of the industrial processes, including
almost all the sources of friction, create some ultrasonic noise. The ultrasonic transducer
produces ultrasonic signals. These signals propagate through a sensing medium and the
same transducer can be used to detect the returning signals. Ultrasonic sensors usually
have a piezoelectric ceramic transducer that converts an excitation electrical signal into
ultrasonic energy bursts. These energy bursts travel from the ultrasonic sensor, bounce off
objects, and are returned towards the sensor as echoes. Transducers are the devices that
convert electrical energy to mechanical energy, or vice versa. The transducer converts the
received echoes into analog electrical signals that are outputs from the transducer.
The piezoelectric effect refers to the voltage produced between surfaces of a solid
dielectric (no conducting substance) when some mechanical stress is applied to it. On the
other hand when a voltage is applied across certain surfaces of a solid that exhibits the
piezoelectric effect, the solid undergoes a mechanical distortion. Such type of solids
typically resonates within narrow frequency ranges. Piezoelectric materials are generally
used in transducers. For example, they are used in phonograph cartridges, strain gauges,
and microphones that produce an electrical output from a mechanical input. Also, they
are used in earphones and ultrasonic transmitters that produce a mechanical output from
an electrical input.
A Review on Implementation of FPGA for Automatic Reverse Braking System
Divya Thakur1, A. P. Thakare2 1
In this world automation of various systems have been designed just to reduce the time
and human error. Vehicles, particularly four wheelers are very difficult to drive in the
reverse direction. As personally one is very careful about, otherwise damage being caused

12

to the vehicle. In view of this to provide a proper guidance to the vehicle in reverse
direction, means are provided. Presently the vehicle has alarm system for maintaining the
safe distance between vehicle and object while moving in reverse direction. When the
vehicle gets too close to the object, the alarm is triggered this warns the driver about an
object. But this feature has many problems and is prone to human error. We have
enhanced the facility by using the same system but we have altered it so that the car
brakes are applied automatically when an obstacle is close by. Our aim is to design the
Automatic Reverse Braking System using FPGA( Field Programmable Gate
Array)which can avoid the accident in reversing the heavy loaded vehicles like trucks,
buses and all the vehicles consisting of braking system. For this purpose we have
developed a model which consists of FPGA, obstacle sensors, sensing circuit which
serves as the complete mechanism of automated braking system while reversing the
vehicles to prevent collision between the vehicle and objects. If there is object in reverse
path, the sensor senses the object and the break is applied automatically. In this, FPGA is
used as a control unit to which the devices and sensors are interfaced. This system is
suitable for commercial vehicles such as car, emergency services vehicles, trucks and
buses.
The whole system works only while reversing the vehicle. When the sensor senses any
obstacle behind the vehicle, it sends signal to the control unit (FPGA). FPGA which act
as a controller logic is designed with the help of FSM, which will sense the object
according to the digital input and action will be taken accordingly. Thus we have
developed an AUTOMATIC REVERSE BRAKING SYSTEM to prevent collision by
using sensors to detect obstacles. The Automatic Reverse Braking system is processing
the sensor data and controlling the vehicle to prevent accidents caused by careless driving
or difficulty in detecting objects in reverse path. The system is probably the most reliable
means of detecting human beings and objects and, therefore, invaluable in the prevention
of injury or fatal accidents.
A Design & Implementation of Collision Avoidance System (CAS) for Automobiles
using Embedded System

13

Rajarajan.R1, Abdul Rahuman.S2, Harish Bharath.M.A3

The industry strategy for automotive safety systems has been evolving over the last 20
years. Initially, individual passive devices and features such as seatbelts, airbags, knee
bolsters, crush zones, etc. was developed for saving lives and minimizing injuries when
an accident occurs. Later, preventive measures such as improving visibility, headlights,
windshield wipers, tire traction, etc. were deployed to reduce the probability of getting
into an accident. Now we are at the stage of actively avoiding accidents as well as
providing maximum protection to the vehicle occupants and even pedestrians. Systems
that are on the threshold of being deployed or under intense development include
collision avoidance systems. In this dissertation, advanced ideas such as pre-crash
sensing, ultrasonic sensor is used to sense the object in front of the vehicle and gives the
signal to the micro controller unit. Based on the signal received from the ultrasonic
sensor, the micro controller unit sends a signal to the braking unit for applying the brake
automatically as per braking & throttle control logic fed in to the micro controller unit. To
avoid the collision between the vehicles during the period of running conditions and
automatically applying the brake by means of actuators, Distance measuring sensors &
Electronic control module.
Collision avoidance systems are especially useful in bad weather conditions. The sensors
in the car would be capable of detecting the poor conditions and would inform the driver
on how to drive in them. For example, because fog affects visibility, the sensors would
recognize this and alert the driver of any dangers that lie ahead, like a windy turn or
another car, giving the driver enough time to slow down, allowing him to escape from
what could have been a bad accident.

Distance Measurement of an Object or Obstacle by Ultrasound Sensors using

P89C51RD2

14

A. K. Shrivastava, A. Verma, and S. P. Singh

Distance measurement of an object in the path of a person, equipment, or a vehicle,
stationary or moving is used in a large number of applications such as robotic movement
control, vehicle control, blind mans walking stick, medical applications, etc.
Measurement using ultrasonic sensors is one of the cheapest among various options. In
this paper distance measurement of an obstacle by using separate ultrasonic transmitter,
receiver and a microcontroller is presented. The experimental setup and results are
described and explained.
The observed errors in the measured distance are due to many factors. One important
factor is the inclusion of generation and processing times of the burst pulse signals. These
are as follows: 1. Time period between the starting of the timer1 and actual time of the
transmission of the first pulse of the burst pulse train by the ultrasonic transmitter. This
happens due to two delays, first the time taken by the microcontroller to start generating
the burst pulses and second the time delay introduced by the amplifier. 2. The reflected
signal received by the ultrasonic receiver sensor is passed on to the receiver amplifier,
which amplifies it and generates the interrupt signal INT2. This is applied to the
microcontroller. The above time periods are also included in the measured travel time.
Hence these time periods have been calculated and their sum deducted from the measured
travel time. This has been shown as corrected travel time in Table II, which shows the
corrected experimental results.
The results show that the results for measured distance is satisfying for use in the sewer
inspection system being developed. It can also be used for other devices requiring
distance measurement of an object or obstacle. As shown, the system is implementable in
the robotic sewer blockage detection system. The distance of the blockage from a
specified entry point in the sewer pipeline can be calculated by adding travelled distance
by the robotic vehicle and the distance of the blockage from the robotic vehicle. The
accuracy of distance of blockage will be sufficient for normal practical uses. The system
can be easily implemented in other devices and systems requiring the measurement of

15

distance of an object or an obstacle from stationary or moving observation point where

the ultrasonic sensor will be located.

CHAPTER 3
CONSTRUCTION DETAILS
16

Fig: Block Diagram of Proposed System

PRINCIPAL COMPONENTS OF ULTRASONIC BRAKING SYSTEM

A. SENSOR

17

A sensor is an electrical device that maps an environmental attribute to a quantitative

measurement. Each sensor is based on transduction principle which is conversion of
energy from one form to another form. There are two important terms related to any
sensor
Target Angle This term refers to the tilt response limitations of a given sensor. Since
the ultrasonic waves reflect off the target object, target angles indicate acceptable
amounts of tilt for a given sensor.
Beam Spread This term refers to the maximum angular spread of the ultrasonic waves
as they leave the transducer.
B. TRANSDUCER
A transducer is an energy conversion device which converts one form of energy into
another. In the ultrasonic sensors they are used to convert electrical energy into ultrasonic
energy and vice-versa. In this system piezoelectric transducers are used, which create
ultrasonic vibration through use of piezoelectric materials such as certain forms of
crystals or ceramic polymers. Their working is based on the piezoelectric effect. This
effect refers to the voltage produced between surfaces of a solid, (non conducting
substance) when a mechanical stress is applied to it. Conversely, when a voltage is
applied across surfaces of a solid that exhibits piezoelectric effect, the solid undergoes
mechanical distortion.
C. ULTRASONIC SENSOR
Ultrasonic ranging and detecting devices use high frequency sound waves called
ultrasonic waves to detect presence of an object and its range. Normal frequency range of
human ear is roughly 20Hz to 20,000Hz. Ultrasonic sound waves are sound waves that
are above the range of human ear, and thus have frequency above 20,000Hz. An
ultrasonic sensor necessarily consists of a transducer for conversion of one form of
energy to another, a housing enclosing the ultrasonic transducer and an electrical
connection. These sensors are of two types:

18

 Ultrasonic Transmitter Before transmitting the ultrasonic wave, transducer is used to

generate the ultrasonic waves. The transducer is given a signal to intermittently produce
ultrasonic waves. After that the ultrasonic transmitter sends the waves at a predetermined
distance frontward. The maximum range for which obstacle can be detected depends on
the range of ultrasonic sensors used.
Ultrasonic Receiver If the ultrasonic wave detects the obstacle, it will produce a
reflected wave. An ultrasonic receiver is used for receiving the ultrasonic waves reflected
from the obstacle. The received ultrasonic wave is converted into a reception signal with
the help of a transducer. The signal is amplified by an amplifier (operational amplifier).
The amplified signal is compared with the reference signal, to detect components in
amplified signal due to obstacles on the road.

Fig. ultrasonic sensor

D. OPERATIONAL AMPLIFIER AND ADC
An operational amplifier, usually referred to as op-amp, is a high gain voltage amplifier
with differential inputs and a single output. The amplifiers differential inputs consist of
an inverting input and a non-inverting input. The op-amp amplifies only the difference in
the voltage between the two inputs called the differential input voltage. The output
voltage of the op-amp is controlled by feeding a fraction of output signal back to the
inverting input. This is known as negative feedback. Due to the amplifiers high gain, the
output voltage for any given input is only controlled by the negative feedback [8].
The amplified signal is a square pulse which is given to the ADC. ADC (Analog to
Digital Converter) converts input analog signal to corresponding digital signal. The
digital signal is given to the microcontroller.

19

HARDWARE
3.1 Power supply
Power supply is a reference to a source of electrical power. A device or system
that supplies electrical or other types of energy to an output load or group of loads is
called a power supply unit or PSU. The term is most commonly applied to electrical
energy supplies, less often to mechanical ones, and rarely to others.
The term "power supply" is sometimes restricted to those devices that convert
some other form of energy into electricity (such as solar power and fuel cells and
generators). A more accurate term for devices that convert one form of electric power
into another form (such as transformers and linear regulators) is power converter. The
most common conversion is from AC to DC.
AQ regulated power supply or stabilized power supply is one that includes
circuitry t

Ao tightly control the output voltage and/or current to a specific value.

The specific value is closely maintained despite variations in the load presented to the
power supply's output, or any reasonable voltage variation at the power supply's input.

Fig 3.1 Power Supply Block diagram

The micro controller and other devices get power supply from AC to DC adapter
through voltage regulator. The adapter output voltage will be 12V DC non-regulated. The
7805/7812 voltage regulators are used to convert 12V to 5VDC.

20

AT89S52 MICROCONTROLLER
MICROCONTROLLERS:
Microprocessors and microcontrollers are widely used in embedded
systems products. Microcontroller is a programmable device. A microcontroller has a
CPU in addition to a fixed amount of RAM, ROM, I/O ports and a timer embedded all on
a single chip. The fixed amount of on-chip ROM, RAM and number of I/O ports in
microcontrollers makes them ideal for many applications in which cost and space are
critical.
The Intel 8052 is Harvard architecture, single chip microcontroller (C) which
was developed by Intel in 1980 for use in embedded systems. It was popular in the 1980s
and early 1990s, but today it has largely been superseded by a vast range of enhanced
devices with 8052-compatible processor cores that are manufactured by more than 20
independent manufacturers including Atmel, Infineon Technologies and Maxim
Integrated Products.
8052 is an 8-bit processor, meaning that the CPU can work on only 8 bits of data
at a time. Data larger than 8 bits has to be broken into 8-bit pieces to be processed by the
CPU. 8052 is available in different memory types such as UV-EPROM, Flash and NVRAM.
The present project is implemented on Keil uVision. In order to program the
device, proload tool has been used to burn the program onto the microcontroller.
The features, pin description of the microcontroller and the software tools used
are discussed in the following sections.

21

FEATURES
8K Bytes of In-System Programmable (ISP) Flash Memory
4.0V to 5.5V Operating Range
Fully Static Operation: 0 Hz to 33 MHz
256 x 8-bit Internal RAM
32 Programmable I/O Lines
Three 16-bit Timer/Counters
Full Duplex UART Serial Channel
Low-power Idle and Power-down Modes
Interrupt Recovery from Power-down Mode
Watchdog Timer
Dual Data Pointer
Power-off Flag

22

CHAPTER 4
ADVANTAGES AND APPLICATIONS

Advantages
1. Quick and accurate.
2. Use of mechatronic system makes safe and reliable.
3. Can be used for both obstacle detection and distance calculation which is needed
while parking and driving.
4. User can check the results on LCD so no need to turn back.

Applications
1. Intelligent parking or reverse brake system
2. Industrial applications
3. In automatic system
4. Audio can be propagated by modulated ultrasound.
5. In Marine Applications (sonar etc.).

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CHAPTER 5
CONCLUSION
This project presents the implementation of an Ultrasonic Automatic Braking System for
Collision Avoidance, intended to use in vehicles where the drivers may not brake
manually, but the speed of the vehicle can be reduced automatically due to the sensing of
the obstacles. The ultrasonic sensors are cheaper and the system comprises of a less
demanding hardware. The relative speed of the vehicle with respect to the obstacle is
estimated using consecutive samples of the distance calculated. It is used by the control
system to calculate the action on the brakes, to adjust the speed in order to maintain a safe
distance to prevent accidents. This factor, coupled with the fact of lower cost and power
consumption of ultrasonic sensors, could facilitate the application and mounting of the
system in many low-end vehicles, thus helping to improve safety and offer a hassle free
driving experience at a reduced cost. With this future study and research, we hope to
develop the system into an even more advanced speed control system for automobile
safety, while realizing that this certainly requires tons of work and learning, like the
programming and operation of microcontrollers and the automobile structure. We believe
that the incorporation of the accelerator pedal disengagement mechanism will maximize
safety and also give such system a bigger market space and a competitive edge in the
market.

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CHAPTER 6
REFERENCES
[1] Kim, Eung Soo, et al. "Fabrication of auto-braking system for pre-crash safety using
sensor." Future Generation Communication and Networking Symposia, 2008. FGCNS'08.
Second International Conference on. Vol. 4. IEEE, 2008.
[2] Sairam, G. V., et al. "Intelligent mechatronic braking system." International Journal
of Emerging Technology and Advanced Engineering,(ISSN 2250-2459, ISO 9001: 2008
Certified Journal, Volume 3, Issue 4 (2013).
[3]Thakur, Divya, and A. P. Thakare. "A Review on Implementation of FPGA for
Automatic Reverse Braking System."
[4] Correia, Anderson Pereira, et al. "A Control Design Approach for Controlling an
Autonomous Vehicle with FPGAs." Journal of Computers 5.3 (2010): 360-371.
[5] Shrivastava, A. K., A. Verma, and S. P. Singh. "Distance Measurement of an Object or
Obstacleby Ultrasound Sensors using P89C51RD2." International Journal of Computer
Theory and Engineering 2.1 (2010): 64.
[6] Y. Jang, S. Shin, J. W. Lee, and S. Kim, A preliminary study for portable walking
distance measurement system using ultrasonic sensors, Proceedings of the 29th Annual
IEEE International Conference of the EMBS, France, Aug. 2007, pp. 5290-5293.
[7] C. C. Chang, C. Y. Chang, and Y. T. Cheng, Distance measurement technology
development at remotely teleoperated robotic manipulator system for underwater
constructions, IEEE International Symposium on Underwater Technology, Apr. 2004,
pp. 333-338.
[8] D. Webster, A pulsed ultrasonic distance measurement system based upon phase
digitizing, IEEE Transaction on Instrumentation and Measurement, Vol. 43, No. 4, Aug.
1994, pp. 578-582.

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