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AutonomousCar|SeminarReport,PPT,PDFforMechanical

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Abstract
Therearemanyparadigmshiftstakingplaceduetoinformationexplosionandtheconceptofautonomousvehicleisoneshift.
Thecar,whichisembedded,cansimulatethehumandrivercompletelyanddirectthevehicleontheroad.Autonomousvehicleis
thedrasticchangeintechnicalbrillianceanddevelopmentsindifferentfieldswithEMBEDDEDSYSTEMaspioneer.

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Thefineartofautomation
A fully computerized car capable of doing almost everything a car lover would want to. Almost all automobiles will interact with
computerondashboards.Fromorderingpizzatobookingticketsatthenearesttheatre,thingswouldbeaseasyasgivingorders
to your servant. As a matter of fact, vehicles all over the world are now fitted with intelligent devices that make the vehicles to
respondtovariousfactorsbeitclimatecontrol,suddenaccelerationsorbrakingorevenselfrepairofmodules.
Thefingerprinttechnologieshavebeenintroducedtoenterandstartyourcarwiththetouchofafinger.Thefingerprint,whichis
actingasakey,wouldtriggeracheckofthemirrors,steeringwheel,radioandtemperaturetoensurethatthey'rethewayyou
like them. The convenience of fingerprint recognition technology comes with heightened security. Unlike personal identification
numbers,passwordsandkeys,eachperson'suniquefingerprintscan'tbeduplicated,lostorforgotten
ThemodelsforGPSalsoincludeaidingsensors,e.g.deadreckoning,radarandcamera.Acomputerissimplyrequiredtofeed
destinationintoadashboardcomputer.Highlysensitiveactuatorssimulateahumandrivercompletelyanddirectthevehicleon
theroad.Thevehicletransmitterbroadcastsitspositionandvelocitytootherimmediateparticipantsforcollisionavoidanceand
lane changing manoeuvres. Forward and reverse motions and uturns are precisely achieved as per route guidance
requirements. Furthermore, an accurate steering control is obtained using Pulse Code Modulation technique and
acceleration/brakingcontrolissuccessfullyimplementedusinglearningadaptivesystem

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The reliability, efficiency and cost effectiveness of an autonomous vehicle depend mainly on how judiciously its navigation
sensors,perceptionunitandcomputercontrolisincorporated.

Thedriver'sactivityisinfluencedbyseveralfactorsthatdependondriveritselfandisenvironmentsuchastrafficdensity,traffic
status,timeoftravelandweather.Thusthedrivingactivitydealswithacombineddrivervehicleenvironmentsystem
Thevehicleisrequiredtoblenditsenvironmentalperceptioncapabilitieswithitsintelligentcontrolsinordertoaffectoptimalpath
planningstrategiesthatnotonlyavoidobstaclesbutalsominimizecriteriasuchastimeoftravel,fuelconsumption,exposureto
pollution/danger,etc.howeverbasicdrivingfunctionsconsistsoflanekeeping,safedistancemaintenance,timelylanechanging
andovertaking.Thekeytoallthesedrivingtasksiscollisionavoidance.
Multicore,hetrogeneouscomputingLabVIEWapplicationsontwoHPdualquadcoreserversperformedsensordataandimage
processingandrandecisionmakingandplanningmodules.CompactRIOmanagedthelowerlevelvehicleinterface.AnNItouch
panel in the dashboard helped switch between autonomous and manual operation modes. Heterogeneous computing systems
refertoelectronicsystemsthatuseavarietyofdifferenttypesofcomputationalunits.
A computational unit could be a generalpurpose processor (GPP), a specialpurpose processor (i.e. digital signal processor
(DSP) or graphics processing unit (GPU)), a coprocessor, or custom acceleration logic (applicationspecific integrated circuit
(ASIC)orfieldDept.ECE,CEMPROBOTICCAR15programmablegatearray(FPGA)).Ingeneral,aheterogeneouscomputing
platform consists of processors with different instruction set architectures (ISAs). A multicore processor is a single computing
componentwithtwoormoreindependentactualprocessors(called"cores"),whicharetheunitsthatreadandexecuteprogram
instructions.Thedataintheinstructiontellstheprocessorwhattodo.
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Theinstructionsareverybasicthingslikereadingdatafrommemoryorsendingdatatotheuserdisplay,buttheyareprocessed
sorapidlythathumanperceptionexperiencestheresultsasthesmoothoperationofaprogram.Manufacturerstypicallyintegrate
the cores onto a single integrated circuit die (known as a chip multiprocessor or CMP), or onto multiple dies in a single chip

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packageSensor data acqisition Sensor data acqisition and processingLabVIEW applications running on multicore servers with
Linux and Windows OSs processed and analyzed data from three IBEO ALASCA multiplanar LIDARs, four SICK LMS LIDARs,
twoIEEE1394cameras,andoneNovAtelGPS/INS.Ethernetcablesactedastheinterfaceforallsensors.
sensordataacqisitionmeansgatheringofthedatathatthesensorsareprovidingwhichcollectedfromthecurrentenviornment,
then the collected data is processed here. JAUS interoperable communications LabVIEW helped develop and deploy a set of
tools for JAUS, an autonomous ground vehicle standard for passing messages and status information among various vehicle
subsystems.ThisSAEAS4JAUSinteroperablearchitecturewasdesignedforuseinotherautonomousapplicationsaswell.
DrivebywiresystemDrivebywire,technologyintheautomotiveindustryreplacesthetraditionalmechanicalcontrolsystemswith
electronic control systems using electromechanical actuators and human machine interfaces such as pedal and steering feel
emulators.Hence,thetraditionalcomponentssuchasthesteeringcolumn,intermediateshafts,pumps,hoses,belts,coolersand
vacuumservosandmastercylindersareeliminatedfromthevehicle.

CHALLENGES
Theequipmentsandtechnologiesusedarecostlythemainequipmentsusedinthistechnologyareradar,lidar,positionsensor,
gps module,Multicore, hetrogeneous processor, JAUS interoperable communication systems, high resolution cameras are very
costlynow
Complex artificial intelligence software the brain of the robotic car is its intelligent real time decision making software te design
andimplimentationofthispartofthesystemismuchmorecomplicated
Presentroadconditionsmayvaryandwhichwillaffectthedecisionsmadebythesoftwaresinceoursystemismainlybasedon
pure artificial intelligence, the non ideal conditions and decisions made by other human drivers may vary. This may affect the
idealoperationoftheroboticcar
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