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1. INTRODUCTION

1.1 INTRODUCTION:

Collision prevention system for electrical vehicles has been originated from the idea for

preventing accidents of cars. It is a prototype of collision prevention for cars.

Implementation of this idea can prevent accidents so that the passengers in the car can

travel safely.

The idea of collision prevention system for electrical vehicles has come from

mere observation of the most common reason for the accidents of cars. i.e., the most

common reason for the accidents of cars is collision. The collision may be between the

cars or between the car and any other hard object.

The main objective of the project is to prevent collision of electrical vehicles.

By scaling the components required for collision prevention, a prototype has been

developed. The idea behind the prototype is to give a basic thought of preventing

accidents in cars.

1.2 PROJECT OVERVIEW:

The collision of car with any hard obstacle causes a major accident to thepassengers in the car causing injuries. However, if the car is stopped from

colliding with any hard obstacle, the accident can be prevented. Hence, if a

collision prevention system is implemented in the car, the car can be stopped

from collision and this way the accident can be prevented

The project is now implemented in electrical system which can be laterimplemented to real world cars later on. This system can not only be used for

preventing collisions when on road but can also be used under some conditions

for parking guidelines as well.

The collision prevention system for electrical vehicles is just a prototype ofcollision prevention for cars. Though the idea of preventing collisions is same for

both, the same components cannot be used in cars as there are many dimensional

differences between the prototype and the car.

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2. BASIC PRINCIPLE OF WORKING

2.1 BASIC PRINCIPLE OF WORKING:

Collision prevention system is basically now implemented in electrical prototype

hence D C motors have been employed to drive the pay load. This system is a very

simple application of an Infrared sensor (GP2D12). Here the sensor is placed in the

front of the vehicle i.e. near the headlights of the actual vehicles which acts like a

human eye checking for collision possibility and proximity detection.

The sensor has got a transmitter and a receiver like any normal sensor

but since we have an application i.e. proximity detection hence to full fill this

application this type of sensor shows the distance between two points i.e. supposed to

be two vehicles or vehicle and wall etc in this project by measuring the time taken by

the receiver to receive the transmitted signal and gives the distance measured display

in the LCD provided in the vehicle.

A microcontroller interface is also provided which is the brain of this

project. The micro controller is programmed in such a way that as the proximity

decreases i.e. as the time taken by the receiver decreases the voltage input to the

motors decreases thereby decreasing the RPM of motors hence slowing down the

vehicle.

There is also a preset distance set in the microcontroller after which

the collision prevention comes into picture and the controller triggers alarm as soon

as the proximity is less than the preset distance and then it gives comparatively high

voltage input to the left motor. Now the RPM of the left motor is greater than righthence turning the vehicle towards right hence protecting the vehicle to collide. This

is a basic principle involved in proximity detection and collision prevention system.

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2.2 CIRCUIT DIAGRAM:

2.3 BLOCK DIAGRAM:

2.4 CIRCUIT FEATURES:

Brief description of operation: Gives out well regulated +5V output, outputcurrent capability of 100 mA.

Circuit protection: Built-in overheating protection shuts down output whenregulator IC gets too hot.

Circuit complexity: Very simple and easy to build. Circuit performance: Very stable +5V output voltage, reliable operation. Design testing: Based on datasheet example circuit, I have used this circuit

successfully as part of many electronics projects.

Applications: Part of electronics devices, small laboratory power supply. Power supply voltage: Unregulated DC 8-18V power supply. Power supply current: Needed output current + 5 mA.

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3. CONSTRUCTION OF COLLISION PREVENTION

SYSTEM

3.1 HARDWARE DESCRIPTION:

The main hardware parts used in this project are listed below

BATTERY REGULATED POWER SUPPLY INFRARED DISTANCE SENSOR AVR MICROCONTROLLER LCD (liquid crystal display) ANALOG TO DIGITAL CONVERTER D C MOTORS

3.1.1 BATTERY: Battery is just like any other power supply where power can be stored

and is portable.The whole efficiency and working of the system cannot be justified until

and unless power supply is constant and stable. To provide this, a battery is provided.

A battery is a type of linear power supply that offers benefits that traditional line-

operated power supplies lack: mobility, portability and reliability.

A battery consists of multiple electrochemical cells connected to provide

the voltage desire. The power supply used in our project is a lead acid type 12 volts

battery. This type of battery needs 36 hours of charging and discharges in 10 hours. The

figure below shows a lead acid type battery which provides a voltage of 12 volts and

current of 5 amps.

3.1.2 REGULATED POWER SUPPLY: A variable regulated power supply, also

called a variable bench power supply, is one where we can continuously adjust the output

voltage to your requirements. Varying the output of the power supply is the

recommended way to test a project after having double checked parts placement against

circuit drawings and the parts placement guide.

This type of regulation is ideal for having a simple variable bench

power supply. Actually this is quite important because one of the first projects a hobbyist

should undertake is the construction of a variable regulated power supply. While a

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dedicated supply is quite handy e.g. 5V or 12V, it's much handier to have a variable

supply on hand, especially for testing.

Most digital logic circuits and processors need a 5 volt power

supply. To use these parts we need to build a regulated 5 volt source. Usually you start

with an unregulated power supply ranging from 9 volts to 24 volts DC (A 12 volt power

supply is included with the Beginner Kit and the Microcontroller Beginner Kit.). To

make a 5 volt power supply, we use a LM7805 voltage regulator IC (Integrated Circuit).

The IC is shown below.

The LM7805 is simple to use. Connect the positive lead of the

unregulated DC power supply (anything from 9VDC to 24VDC) to the Input pin,

connect the negative lead to the Common pin and then turn on the power, we get a 5 volt

supply from the output pin.

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3.2 MICRO CONTROLLER INTERFACING:

VCC

2

VCC

1000

uf/35v

PB7(SCK)

10K

VCC

PB6(MISO)

GND

RS

GND

10KPULLUPS

123456789

CR1

R2

R3

R4

R5

R6

R7

R8

GND

RESET

PC.7

4.7K

VCC

123456789

1011121314

GNDVCCVEERSRWEND0D1D2D3D4D5D6D7

gnd

GND

BRIDGE RECTIFIER

VCC

-

+

1

4

3

2

VCC

GND

VCC

VCC

XTAL1

1 2

3 45 67 89 10

+ ++ ++ ++ ++ +

PC.4

GND

22pf

EN

gnd

D7

gnd

0

.1UF

1 2

16Mhz

XTAL2

L

C

D

DISPLAY

VCC

D5

XTAL1

L293D

2

7 10

15

1

9

3

6 11

14

16

8

4

5

13

12

IN1

IN2 IN3

IN4

EN1

EN2

OUT1

OUT2 OUT3

OUT4

VSS

VS

GND

GND

GND

GND

I

1 3V IN V OU T

gnd

VCC

GP2D12

VCC

10K PULLUPS

123456789

CR1

R2

R3

R4

R5

R6

R7

R8

T1

TRANSFORMER

1 5

4 8

220

OHMS

GND

VCC

VCC

PC.3

PC.5

DC MOTOR 1

5K

gnd

A

1 1Saturday, June 25, 2011

Title

Size Document Number Rev

Date: Sheet of

OC1A

1 2

PD.4(OC1B)

PB5(MOSI)

VCC

RST

RESET

PC.1

22pf

P

D4

GND

GND

PC.6

33pf

XTAL2

7805

led

gnd

S

D6

104pf

DC MOTOR 2

10KPULLUPS

123456789

CR1

R2

R3

R4

R5

R6

R7

R8

ATMEGA8535

19

2930

22

16

23

3940

38373635

343332

9101112131415

18

20 21

24

2625

2728

234567

8

17

31

1

PD5(OC1A)

PC7(TOSC2)AVCC

PC0(SCL)

PD2(INT0)

PC1(SDA)

PA1(ADC1)PA0(ADC0)

PA2(ADC2)PA3(ADC3)PA4(ADC4)PA5(ADC5)PA6(ADC6)PA7(ADC7)

AREFRESETVCCGNDXTAL2XTAL1PD0(RXD)PD1(TXD)

PD4(OC1B)

PD6(ICP) PD7(OC2)

PC2(TCK)

PC4(TD0)PC3(TMS)

PC5(TD1)PC6(TOSC1)

PB1(T1)PB2(INT2/AIN0)PB3(OC0/AIN1)PB4(SS)PB5(MOSI)PB6(MIS0)PB7(SCK)

PD3(INT1)

GND

XCK(T0)PB0

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3.3 INFRARED DISTANCE SENSOR (GP2D12): With the introduction of

the GP2D12 line of Sharp detectors, a new approach is developed that not only gives

object detection at a longer range, but also offers range information. These new rangers

offer much better immunity to ambient lighting conditions because of the new method of

ranging.

These new rangers all use triangulation and a small linear CCD array to

compute the distance and/or the presence of objects in the field of view. The basic idea is

this: a pulse of IR light is emitted by the emitter. This light travels out in the field of

view and either hits an object or just keeps on going. In the case of no object, the light is

never reflected and the reading shows no object. If the light reflects off an object, it

returns to the detector and creates a triangle between the point of reflection, the emitter,

and the detector.

The angles in this triangle vary based on the distance to the object.

The receiver portion of these new detectors is actually a precision lens that transmits

the reflected light onto various portions of the enclosed linear CCD array based on

the angle of the triangle described above. The CCD array can then determine what

angle the reflected light came back at and therefore, it can calculate the distance to

the object.

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executed in one clock cycle. The resulting architecture is more code efficient while

achieving throughputs up to ten times faster than conventional CISC microcontrollers.

A DISPLAY OF AVR MICRO CONTROLLER: The ATmega8535 provides the

following features: 32K bytes of In-System Programmable Flash Program memory with

Read-While-Write capabilities, 1024 bytes EEPROM, 2K byte SRAM, 32 general

purpose I/O lines, 32 general purpose working registers, a JTAG interface for Boundary

scan, On-chip Debugging support and programming, three flexible Timer/Counters with

compare modes, Internal and External Interrupts, a serial programmable USART, a byte

oriented Two-wire Serial Interface, an 8-channel, 10-bit ADC with optional differential

input stage with programmable gain (TQFP package only), a programmable Watchdog

Timer with Internal Oscillator, an SPI serial port, and six software selectable power

saving modes.

The Idle mode stops the CPU while allowing the USART, Two-wire

interface, A/D Converter, SRAM, Timer/Counters, SPI port, and interrupt system to

continue functioning. The Power-down mode saves the register contents but freezes the

Oscillator, disabling all other chip functions until the next External Interrupt or Hardware

Reset. In Power-save mode, the Asynchronous Timer continues to run, allowing the user

to maintain a timer base while the rest of the device is sleeping.

The ADC Noise Reduction mode stops the CPU and all I/O modules

except Asynchronous Timer and ADC, to minimize switching noise during ADC

conversions. In Standby mode, the crystal/resonator Oscillator is running while the rest

of the device is sleeping. This allows very fast start-up combined with low-power

consumption. In Extended Standby mode, both the main Oscillator and the

Asynchronous Timer continue to run.

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FEATURES:

High-performance, Low-power AVR 8-bit Microcontroller Advanced RISC Architecture

131 Powerful InstructionsMost Single-clock Cycle Execution 32 x 8 General Purpose Working Registers Fully Static Operation

Up to 16 MIPS Throughput at 16 MHz

On-chip 2-cycle Multiplier High Endurance Non-volatile Memory segments

32K Bytes of In-System Self-programmable Flash program memory 1024 Bytes EEPROM

2K Byte Internal SRAM

Write/Erase Cycles: 10,000 Flash/100,000 EEPROM Data retention: 20 years at 85C/100 years at 25C(1) Optional Boot Code Section with Independent Lock Bits In-System Programming by On-chip Boot Program True Read-While-Write

Operation

Programming Lock for Software Security JTAG (IEEE std. 1149.1 Compliant) Interface

Boundary-scan Capabilities According to the JTAG Standard Extensive On-chip Debug Support Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG

Interface.

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Peripheral Features Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture

Mode

Real Time Counter with Separate Oscillator Four PWM Channels 8-channel, 10-bit ADC 2 Differential Channels with Programmable Gain at 1x, 10x, or 200x Byte-oriented Two-wire Serial Interface Programmable Serial USART Master/Slave SPI Serial Interface Programmable Watchdog Timer with Separate On-chip Oscillator

Special Microcontroller Features Power-on Reset and Programmable Brown-out Detection Internal Calibrated RC Oscillator External and Internal Interrupt Sources Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down,

Standby and - --Extended Standby

I/O and Packages 32 Programmable I/O Lines 40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF

Operating Voltages 2.7 - 5.5V for ATmega8535L 4.5 - 5.5V for ATmega8535

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Speed Grades 0 - 8 MHz for ATmega8535L 0 - 16 MHz for ATmega8535

3.5 BLOCK DIAGRAM OF ATMEGA 88535:

3.6 LCD (LIQUID CRYSTAL DISPLAY): Liquid crystal display a type of

display used in digital watches and many portable computers. LCD displays utilize two

sheets of polarizing material with a liquid crystal solution between them. An electric

current passed through the liquid causes the crystals to align so that light cannot pass

through them. Each crystal, therefore, is like a shutter, either allowing light to pass

through or blocking the light.

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LCDs have become very popular over recent years for information

display in many smart appliances. They are usually controlled by microcontrollers. They

make complicated equipment easier to operate. LCDs come in many shapes and sizes but

the most common is the 20 character x 4 line display with no backlight. It requires only

11 connectionseight bits for data (which can be reduced to four if necessary) and three

control lines (we have only used two here). It runs off a 5V DC supply and only needs

about 1mA of current. The display contrast can be varied by changing the voltage into

pin 3 of the display, usually with a trim pot.

LCD adds a lot to our application in terms of providing a useful

interface for the user, debugging an application or just giving it a "Professional" look.

The most common type of LCD controller is the Hitachi 44780, which provides a

relatively simple interface between a processor and an LCD.

DESCRIPTION FOR INTERFACING OF LCD:To get the display working requires

eight bits of data, a register select line (RS) and a strobe line (E). A third input, R/W, is

used to read or write data to/from the LCD. The eight bits of data are supplied from the

controller port data lines and two controller port control lines are used for RS (auto)

and E (strobe). Basically the LCD has two registers, a data register and a command

register. Data is written into the command register when RS is low and into the data

register when RS is high. Data is latched into the LCD register on the falling edge of

Enable.

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Pin Description of LCD:

From this description, the interface is a parallel bus, allowing simple

and fast reading/writing of data to and from the LCD. This waveform will write an

ASCII Byte out to the LCD's screen. The ASCII code to be displayed is eight bits long

and is sent to the LCD either four or eight bits at a time. If four bit mode is used, two

"nibbles" of data (Sent high four bits and then low four bits with an "E" Clock pulse with

each nibble) are sent to make up a full eight bit transfer. The "E" Clock is used to initiate

the data transfer within the LCD.

Eight-bit mode is best used when speed is required in an application

and at least ten I/O pins are available. Four bit mode requires a minimum of six bits. To

wire a microcontroller to an LCD in four bit mode, just the top four bits (DB4-7) are

written to. The "R/S" bit is used to select whether data or an instruction is being

transferred between the microcontroller and the LCD. If the Bit is set, then the byte at the

current LCD "Cursor" Position can be reader written. When the Bit is reset, either an

instruction is being sent to the LCD or the execution status of the last instruction is read

back (whether or not it has completed).

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4. ANALOG TO DIGITAL CONVERTER

4.1 FEATURES:

Input Channels 7 Differential Input Channels10-bit Resolution 0.5 LSB Integral Non-linearity 2 LSB Absolute Accuracy 13 - 260 s Conversion Time Up to 15 kSPS at Maximum Resolution 8 Multiplexed Single Ended 2 Differential Input Channels with Optional Gain of 10x and 200x Optional Left adjustment for ADC Result Readout 0 - VCC ADC Input Voltage Range Selectable 2.56V ADC Reference Voltage Free Running or Single Conversion Mode ADC Start Conversion by Auto Triggering on Interrupt Sources Interrupt on ADC Conversion Complete Sleep Mode Noise Canceller

The ADC contains a Sample and Hold circuit which ensures that the

input voltage to the ADC is held at a constant level during conversion. The ADC has a

separate analog supply voltage pin, AVCC. AVCC must not differ more than 0.3 V

from VCC.

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4.2 ADC BLOCK DIAGRAM:

4.3 OPERATION: The ADC converts an analog input voltage to a 10-bit digital

value through successive approximation. The minimum value represents GND and themaximum value represents the voltage on the AREF pin minus 1 LSB. Optionally,

AVCC or an internal 2.56V reference voltage may be connected to the AREF pin by

writing to the REFS n bits in the ADMUX Register. The internal voltage reference may

thus be decoupled by an external capacitor at the AREF pin to improve noise immunity.

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ADC NOISE CANCELLER:

The ADC features a noise canceller that enables conversion during sleep mode to reduce

noise induced from the CPU core and other I/O peripherals. The noise canceller can be

used with ADC Noise Reduction and Idle mode. To make use of this feature, the

following procedure should be used:

1. Make sure that the ADC is enabled and is not busy converting. Single Conversion

Mode must be selected and the ADC conversion complete interrupt must be enabled.

2. Enter ADC Noise Reduction mode (or idle mode). The ADC will start a conversion

once the CPU has been halted.

3. If no other interrupts occur before the ADC conversion completes, the ADC interrupt

will wake up the CPU and execute the ADC Conversion Complete interrupt routine. Ifanother interrupt wakes up the CPU before the ADC conversion is complete, that

interrupt will be executed, and an ADC Conversion Complete interrupt request will be

generated when the ADC conversion completes.

The CPU will remain in active mode until a new sleep command is

executed. Note that the ADC will not be automatically turned off when entering other

sleep modes than idle mode and ADC Noise Reduction mode. The user is advised to

write zero to ADEN before entering such sleep modes to avoid excessive power

consumption.

4.4 D C MOTORS: Industrial applications use dc motors because the speed-torque

relationship can be varied to almost any useful form -- for both dc motor and

regeneration applications in either direction of rotation. Continuous operation of dc

motors is commonly available over a speed range of 8:1. Infinite range (smooth control

down to zero speed) for short durations or reduced load is also common.

Dc motors feature a speed, which can be controlled smoothly down to zero,

immediately followed by acceleration in the opposite direction -- without power circuit

switching. And dc motors respond quickly to changes in control signals due to the dc

motor's high ratio of torque to inertia.

Let's start by looking at a simple 2-pole DC electric motor (here red

represents a magnet or winding with a "North" polarization, while green represents amagnet or winding with a "South" polarization).

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In real life, though, DC motors will always have more than two poles

(three is a very common number). In particular, this avoids "dead spots" in the

commutator. You can imagine how with our example two-pole motor, if the rotor is

exactly at the middle of its rotation (perfectly aligned with the field magnets), it will get

"stuck" there. Meanwhile, with a two-pole motor, there is a moment where the

commutator shorts out the power supply (i.e., both brushes touch both commutator

contacts simultaneously).

This would be bad for the power supply, waste energy, and damage

motor components as well. Yet another disadvantage of such a simple motor is that it

would exhibit a high amount oftorque"ripple" (the amount oftorqueit could produce is

cyclic with the position of the rotor).

There's probably no better way to see how an averageDCmotor is put

together, than by just opening one up. Unfortunately this is tedious work, as well as

requiring the destruction of a perfectly good motor.

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5. PROGRAMME CODING

The programme dumped in our microcontroller is shown below

#include #include #include

//PORT that is connected to the LCD#define LCD PORTC#define buzzer PORTB.0

// Selecting the internal voltage reference 2.56 volts#define ADC_VREF_TYPE 0xC0#define VREF 5.0

//intialization of the lcd

void init_lcd(void);//function used to send the command to LCDvoid cmd_lcd(unsigned char);//function used to send the data byte to LCDvoid data_lcd(unsigned char);//function used to send the a string to LCDvoid disp_str(unsigned char *);

//fiunction to read the result of the adc after the conversionunsigned int read_adc(unsigned char);void disp_num(int);void disp_float(float);

unsigned int adc_data; // to hold the adc result

void main(){int i;float res;PORTA=0x00;DDRA=0x00;DDRC = 0xFF;

DDRB=0x01;

DDRC = 0xFF;

PORTD=0x00;DDRD=0x30;

TCCR1A=0xA1;TCCR1B=0x0C;TCNT1H=0x00;TCNT1L=0x00;ICR1H=0x00;ICR1L=0x00;OCR1AH=0x00;OCR1AL=0x00;OCR1BH=0x00;OCR1BL=0x00;

buzzer=1;init_lcd();

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cmd_lcd(0x80);disp_str("COLLISION PREVENTION ");cmd_lcd(0xC0);disp_str("SYSTEM FOR ELECTRICAL VECHILE");delay_ms(5000);cmd_lcd(0x01);

OCR1A =0;OCR1B =0; buzzer=1;while(1){cmd_lcd(0x80);disp_str("FRONT MOTOR ");// getting the digital equalent of the temperaturei = read_adc(0);cmd_lcd(0xC0);disp_str("DISTANCE =");// mutiply digital data with VREF//res = i * VREF;//res = res/10;

///////////////////////////////////res=((i*2.5)/1024)*100;res=100-res;if(res

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//disp_str("FRONT MOTOR ");}

if(res

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}delay_ms(100);}}

// ADC interrupt service routine

interrupt [ADC_INT] void adc_isr(void){// update the adc_data after the conversionadc_data=ADCW;}

void init_lcd(void){

cmd_lcd(0x28);cmd_lcd(0x28);cmd_lcd(0x28);cmd_lcd(0x0c);cmd_lcd(0x06);

cmd_lcd(0x01);}void cmd_lcd(unsigned char c){unsigned char temp;temp=c>>4;LCD=temp

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// Function to display the float value on to the LCD

void disp_float(float l){

unsigned char ch;

//displaying the integer part

disp_num((int)l);data_lcd('.');//displaying the Fraction part

l = l - (int)l;l = l * 100;ch = (int)l;data_lcd((ch/10) + 0x30);data_lcd((ch%10) + 0x30);

}

// function to read the result of the adc conversionunsigned int read_adc(unsigned char adc_input){// selecting the channel and the referance typeADMUX=ADC_VREF_TYPE;ADCSRA=0x8E;SFIOR&=0xEF;SFIOR|=0x10;

ADMUX=adc_input|ADC_VREF_TYPE;// starting the adcADCSRA = ADCSRA | 0x40;

// enable the sleep modeMCUCR = 0x10;sleep_enable();idle();// in to normal mode after the conversion of the ADCreturn adc_data;

}

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6. CONCLUSION AND LIMITATIONS

RESULT: Collision prevention and proximity detection system has been practically

implemented and studied. The working of the project has been analyzed and its pros and

cons have been identified.

LIMITATIONS:

This system proves to be very efficient in electrically controlled vehicles as controlling motors

with the help of microcontroller interface is easy. But mechanically implementing this project is

lot tougher. However as the trend of using eco friendly electrical cars are speeding up this system

might provide efficient accident prevention in the near future.

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7. BIBLIOGRAPHY

TEXT BOOKS REFFERED:

The AVR Microcontroller and Embedded Systems By Muhammad AliMazidi and Janice Gillispie Mazidi. Pearson Education.

ATMEL AVR Data sheets Hand book for Digital ICs from Analogic Devices

WEBSITES VIEWED:

www.bluetooth.com www.beyondlogic.org www.dallassemiconductors.com www.wireless-communication.org/bluetooth/ Bluetooth -

Connect without Cables Jennifer Bray and Charles F

Sturman (Prentice Hall)

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