Professional Documents
Culture Documents
ABSTRACT
The future promises an Intelligent Transportation System where it is predicted that all vehicles will be connected by 2030. In
the transformation of the today’s system to an autonomous environment, the autonomous and connected vehicles will have to
cooperate and co-exist. Cooperative Intelligent transportation can reduce traffic congestion, fuel consumption and ease the
task of driving. In this regard a platooning concept where a flock of vehicles are set to follow a leader vehicle, adopting its
vehicle dynamics is one of the most researched area. The need for proper understanding of the different scenarios that can
occur in the real world is a crucial part of the research as these directly affects the safety of all those on the roads. A prototype
test bed, due to low cost and scalability proved to be more efficient in evaluating these scenarios and is hence used for this
work.
Keywords:- Cooperative, Platooning, Connected Vehicles
B. Advantages
The aim is to develop a prototype robot for evaluating E. Working of a line follower
various platoon scenarios and pedestrian and traffic light
detection Line Follower Robot track a line, black line with the help of
two IR sensor placed at the front of the robot pointing
downwards. This sensor has an IR Transmitter and IR
receiver. The IR transmitter transmits the light and the
Receiver waits for the transmitted light to return back. An
IR light will return back only if it is reflect by a surface. All
surfaces do not reflect an IR light, only white the color
surface can completely reflect the IR light and black color
surface will completely absorb the light.
Fig. 2 Platooning
A. Hardware Requirements
Raspberry Pi Model 3 B+ Fig. 2 Line follower
Camera Module
IR sensor The 2 IR sensors checks weather the robot is in track with
Motor Driver the line and two motors to correct the robot if its moves out
Line Follower Robot Kit of the track. These motors require high current and should
be bi-directional; hence we use a motor driver module like
L293D. Also a computational device like Raspberry Pi to
B. Software Requirments
instruct the motors based on the values from the IR sensor.
Rasbian OS The two IR sensors are placed on the front of the robot, one
Filmora on either side of the line. If none of the sensors are detecting
LabelImg a black line them they PI instructs the motors to move
Tensor Flow forward.
Anaconda
If left IR sensor comes on black line then the PI instructs the
robot to turn left by rotating the right wheel alone. Else if
C. Line following robot right sensor comes on black line then the PI instructs the
A line following robot is a robot which will follow a certain robot to turn right by rotating the left wheel alone. If both
path which is controlled by a feedback mechanism. sensors comes on black line, robot stops.
As a lightweight communication method like MQTT is [5] Chang, K., Hedrick, J., Zhang, W., Varaiya, P.,
used, there is a delay of approximately 1.5 seconds in Tomizuka, M., and Shladover, S., 1993. “Automated
message passing. In real life scenario, it is a big deal. The Highway System Experiments in the PATH Program”.
prototyping was done using a line following robot. So it has In IVHS Journal, Vol. 1, pp. 63–87.
limitation in processing power and some of the scenarios [6] Tsugawa, S., Kato, S., Tokuda, K., Matsui, T., and
cannot be tested completely. The model was able to detect
Fujii, H., 2001. “A Co-operative Driving System Wih
the obstacle that comes in front of it and made decision
according to it. But there is a delay of almost 1-2 seconds Automated Vehicles and Inter- Vehicle
due the communication delay. As line following robots are Communications in Demo 2000”. In IEEE Intelligent
used, the variation of speed cannot be judged accurately. Transportation Systems Conference Proc, pp. 918–923.
Also merging and splitting of lanes as it follows a single [7] Hanson,M.,1966. Project METRAN : AnIntegrated,
line.
EvolutionaryTransportation System for Urban Areas.
REFERENCES Tech. rep., Cambridge, MA.