VISVESVARAYA TECHNOLOGICAL UNIVERSITY
BELAGAVI
TECHNICAL SEMINAR REPORT
On
“GOOGLE SELF DRIVE CARS”
Submitted by
RAJA
1BI19ME106
Under the guidance of
MR. GIRISH B
Assistant Professor
Department of Mechanical Engineering
Bangalore Institute of Technology
Bangalore-560004
DEPARTMENT OF MECHANICAL ENGINEERING
BANGALORE INSTITUTE OF TECHNOLOGY
K.R. ROAD, V.V. PURA
BANGALORE -560004, KARNATAKA, INDIA
2022-2023
VISVESVARAYA TECHNOLOGICAL UNIVERSITY
Belagavi-590018, Karnataka, India
BANGALORE INSTITUTE OF TECHNOLOGY
DEPARTMENT OF MECHANICAL ENGINEERING
*CERTIFICATE*
This is to certify that the technical seminar report entitled “GOOGLE SELF DRIVE CARS” is
a bonafide work carried out by RAJA (1BI19ME106), Department of Mechanical Engineering,
Bangalore Institute of Technology, Bangalore towards the partial fulfilment of the requirements
for the award of the degree Bachelor of Engineering in Mechanical Engineering of Visvesvaraya
Technological University, Belagavi, during the academic year 2022-2023 under my guidance.
The technical seminar report is not submitted by him elsewhere for the award of any other degree
or diploma and is not the repetition of the work carried out by others
Guide
Mr. Girish B
Dr. T V Sreeramareddy
Assistant Professor
Professor and Head
Department of Mechanical Engineering
Department of Mechanical Engineering
Bangalore Institute of Technology
Bangalore Institute of Technology
Bangalore-560004
Bangalore-560004
ii
* DECLARATION *
I declare that the Technical Seminar report entitled “GOOGLE SELF DRIVE CARS” carried
out independently by me, under the guidance of Mr Girish B, Assistant Professor, Department of
Mechanical Engineering, Bangalore Institute of Technology, Bangalore-560004, during the
academic year 2022-2023. Further, we declare that this technical seminar report either in part or
in full is not submitted by me to any other university to the award of any degree or diploma
Date: 29 /04/2023
Place: Bengaluru
RAJA (1BI19ME106)
iii
ACKNOWLEDGEMENT
The knowledge & satisfaction that accompany the successful completion of any task would be
incomplete without mention of the people who made it possible, whose guidance and
encouragement crowned my effort with success. I would like to thank all and acknowledge the
help I have received to carry out this technical seminar.
I would like to convey my sincere thanks to our college the Bangalore Institute of Technology, Dr.
Aswath M U, Principal, Bangalore Institute of Technology for being kind enough to provide me
this opportunity.
I would also like to thank Dr. T V Sreerama Reddy, Professor and Head of the Department of
Mechanical Engineering, Bangalore Institute of Technology, for his constant encouragement and
for making me believe in myself.
I am most humbled to mention the enthusiastic influence provided by my guide Mr. Girish B,
Assistant Professor, Department of Mechanical Engineering for his ideas, time-to-time suggestions
and cooperation shown during the venture and helping make my technical seminar a success.
I would also like to extend my thanks to our seminar coordinator, Dr. Ravindra K G and Dr.
Praveen Kumar M R, Assistant Professor, Department of Mechanical Engineering for their support
and guidance.
I would also take this opportunity to thank my friends and family for their constant support and
help. I am very much pleased to express my sincere gratitude for the friendly cooperation shown
by all the staff members of the Mechanical Department, BIT
RAJA
(1BI19ME106)
iv
TABLE OF CONTENTS
Chapter 1…………………………………………………………………………………………1
1.1 Introduction………………………………………………………………………………..1
Chapter 2…………………………………………………………………………………………3
2.1 Block diagram……………………………………………………………………………..
Chapter 3…………………………………………………………………………………………
3.1 Control unit………………………………………………………………………………..
3.1.1 Hardware Sensors…………………………………………………………………..
Chapter 4 ………………………………………………………………………………………..
4.1 Algorithm………………………………………………………………………………….
Chapter 5 ………………………………………………………………………………………..
5.1 Applications……………………………………………………………………………….
Chapter 6 ………………………………………………………………………………………..
6.1 Merits and Demerits………………………………………………………………………
Chapter 7…………………………………………………………………………………………
7.1 Future scope……………………………………………………………………………….
Chapter 8…………………………………………………………………………………………
8.1 Conclusion…………………………………………………………………………………
ABSTRACT
The Google self-driving car, also known as the Waymo self-driving car, is an autonomous vehicle
designed and developed by Google's autonomous car project. The self-driving car is equipped with a
range of sensors and cameras that allow it to perceive and interpret its environment, and a
sophisticated software system like machine learning algorithms, and mapping technology that allows
it to make real-time decisions and control its movements, to navigate roads and traffic without human
intervention.
The goal of the project is to create a safe and reliable self-driving car that can operate in a variety of
driving environments and conditions, and provide a convenient and efficient transportation option for
individuals and communities. The project has undergone extensive testing and development, and has
already completed millions of miles of autonomous driving on public roads.
The self-driving car has the potential to revolutionize the way we think about transportation, reducing
the number of accidents caused by human error, improving mobility for those who are unable to
drive, and reducing traffic congestion and emissions.
CHAPTER 1
1.1 INTODUCTION
The inventions of the integrated circuit and later, the microcomputer, were
major factors in the development of electronic control in automobiles. The importance of the microcomputer cannot be overemphasized as it is the brain that
controls many systems in todays cars. For example, in a cruise control system, the
driver sets the desired speed and enables the system by pushing a button. A microcomputer then monitors the actual speed of the vehicle using data from velocity
sensors. The actual speed is compared to the desired speed and the controller
adjusts the throttle as necessary.
A completely autonomous vehicle is one in which a computer performs all the
tasks that the human driver normally would. Ultimately, this would mean get- ting
in a car, entering the destination into a computer, and enabling the system. From
there, the car would take over and drive to the destination with no human input.
The car would be able to sense its environment and make steering and speed
changes as necessary. This scenario would require all of the automotive
technologies mentioned above: lane detection to aid in passing slower vehicles or
exiting a highway; obstacle detection to locate other cars, pedestrians, animals,
etc.; adaptive cruise control to maintain a safe speed; collision avoidance to avoid
hitting obstacles in the road way; and lateral control to maintain the cars position
on the roadway.
In addition, sensors would be needed to alert the car to road or weather conditions to ensure safe traveling speeds. For example, the car would need to slow
down in snowy or icy conditions.
Figure 1.1
Googles robotic car is a fully autonomous vehicle which is equipped with radar
and LIDAR and such can take in much more information, process it much more
quickly and reliably, make a correct decision about a complex situation, and then
implement that decision far better than a human can. Google anticipates that the
increased accuracy of its automated driving system could help reduce the number of
traffic-related injuries and deaths.
The Google car system combines information gathered for Google
Street View with artificial intelligence software that combines input from video
cameras inside the car, a LIDAR sensor on top of the vehicle, radar sensors on
the front of the vehicle and a position sensor attached to one of the rear wheels
that helps locate the car’s position on the map.
Google anticipates that the increased accuracy of its automated driving system
could help reduce the number of traffic-related injuries and deaths, while using
energy and space on roadways more efficiently.
Chapter 2
2.1 BLOCK DIAGRAM
The block diagram of Google driver less car is shown below. It includes sensor
section, processor section and drive by wire technology.
Figure2.1 Block diagram of the system
The main controller of the vehicle is the microprocessor section. There are two
processors; one is for the general working and one for handling the sensory inputs.
There are two coprocessors for handling the steering and the brake. Acceler- ator
is directly controlled by the general purpose processor. The sensory inputs include
inputs from the lidar, radar, position estimator and street view images. Lidar
creates a 3-D images platform for mounting the obstacles and map. The camera
visuals are used for detecting the colour of the traffic signal based on which the
vehicle moves on the road.
CHAPTER 3
3.1 CONTROL UNIT
3.1.1 Hardware sensors
(i)
RADAR :
Radar is an object-detection system which uses electromagnetic waves
specifically radio waves - to determine the range, altitude, direction, or
speed of both moving and fixed objects such as aircraft, ships, spacecraft,
guided missiles, motor vehicles, weather formations, and terrain. A radar
system has a transmitter that emits radio waves called radar signals
inpredetermined directions. When these come into contact with an object
they are usually reflected and/or scattered in many directions.
(ii)
LIDAR :
LIDAR (Light Detection And Ranging also LADAR) is an optical
remote sensing technology that can measure the distance to, or other
properties of a target by illuminating the target with light, often using
pulses from a laser. LIDAR technology has application in geometrics,
archaeology, geography, geology, geo- morphology, seismology, forestry,
remote sensing and atmospheric physics.
(iii)
GPS :
The Global Positioning System (GPS) is a space-based global navigation
satellite System (GNSS) that provides location and time information in
all weather, anywhere on or near the Earth, where there is an unobstructed
position by precisely timing the signals sent by GPS satellites high
above the Earth.
(iv)
POSITION SENSORS :
A position sensor is any device that permits position measurement Here we use a
rotator encoder also called a shaft encoder, is an electro-mechanical device that
converts the angular position or motion of a shaft or axle to an analog or digital
code. The output of incremental encoders provides information about the motion of
the shaft which is typically further processed elsewhere into information such as
speed, distance, RPM and position.
CHAPTER 4
4.1 ALGORITHM
Algorithms for path following involve direct communication with external sources such as
receiving navigation data from the leader or consulting GPS coordinates.
it involves receiving and interpreting position data, orientation data, and steering
angle data from a leader vehicle.
The objective is to mimic these three navigational properties in order to ac- curately follow the path set by
the leader. As orientation and steering angle are associated with GPS positional data, the following
vehicle can update its naviga- tional state to match that of the leader vehicle at the appropriate moment in
time.
CHAPTER 5
5.1 APPLICATIONS
Driverless cars, also known as autonomous vehicles, have a wide range of potential applications across
different industries and areas of society. Some of the most significant applications of driverless cars include:
i)
Personal transportation: Driverless cars have the potential to revolutionize personal transportation,
providing a convenient, safe, and efficient mode of transportation for individuals and families.
ii)
Ride-sharing and taxi services: Driverless cars can be used to provide ride-sharing and taxi
services, offering a more cost-effective and efficient mode of transportation for passengers.
iii)
Public transportation: Autonomous vehicles can be used for public transportation, offering a more
efficient and environmentally friendly option for commuters.
iv)
Delivery services: Self-driving vehicles can be used for delivery services, reducing the need for
human drivers and increasing efficiency.
v)
Industrial applications: Autonomous vehicles can be used in industrial applications, such as
mining, farming, and construction, where they can operate in hazardous environments or perform
repetitive tasks.
vi)
Emergency services: Driverless cars can be used for emergency services, such as ambulance
services
and firefighting, where they can be used to transport patients or equipment quickly and
safely.
vii)
Military and defense applications: Autonomous vehicles can be used for military and defense
applications, such as reconnaissance and logistics.
Overall, driverless cars have the potential to transform transportation and various industries, making them more
efficient, safe, and environmentally friendly.
CHAPTER 6
6.1 MERITS AND DEMERITS
Merits:
a) Increased safety: One of the main benefits of driverless cars is that they have the potential to
greatly reduce the number of accidents on the road. Driver error is a major factor in many
accidents, and autonomous vehicles eliminate this risk.
b) Reduced traffic congestion: Autonomous vehicles can communicate with each other and
adjust their speed and route in real-time, which can help to reduce traffic congestion and
improve the flow of traffic.
c) Increased accessibility: Driverless cars can provide transportation for people who are unable
to drive, such as the elderly or people with disabilities, which can greatly increase their
mobility and independence.
d) Improved efficiency: Autonomous vehicles can optimize their speed and route to minimize
fuel consumption, which can help to reduce greenhouse gas emissions and improve air quality.
Demerits:
a) Cost: Driverless cars are currently very expensive to produce, and this cost is likely to be
passed on to consumers, which could make them inaccessible for many people.
b) Job loss: The widespread adoption of driverless cars could lead to significant job losses in the
transportation industry, including taxi drivers, truck drivers, and delivery drivers.
c) Cybersecurity risks: Autonomous vehicles rely on complex software and sensors to function,
and they are vulnerable to hacking and cyber attacks. A cyber attack on a fleet of autonomous
vehicles could have catastrophic consequences.
d) Legal and regulatory challenges: There are many legal and regulatory issues that need to be
addressed before autonomous vehicles can be widely adopted, including liability in the event
of an accident, data privacy concerns, and the need for new traffic laws and regulations.
Overall, driverless cars have the potential to bring many benefits, but there are also significant
challenges that must be addressed before they can be widely adopted.
CHAPTER 7
7.1 FUTURE SCOPES
The transition to an automated transportation structure will greatly prevent many
problems caused by the traffic. Implementation of autonomous cars will allow the
vehicles to be able to use the roads more efficiently, thus saving space and
time.With having automated cars, narrow lanes will no longer be a problem and
most traffic problems will be avoided to a great extent by the help of this new
technology.Research indicates that the traffic patterns will be more predictable
and less problematic with the integration of autonomous cars.
Smooth traffic flow is at the top of the wish list for countless transportation officials. Car manufacturers are already using various driver assist systems in their
high-end models and this trend is becoming more and more common. As a result
of this trend, the early co- pilot systems are expected to gradually evolve to autopilots.All developments show that one day the intelligent vehicles will be a part
of our daily lives, but it is hard to predict when. The most important factor is
whether the public sector will be proactive in taking advantage of this capability
or not. The Public Sector will determine if the benefits will come sooner rather
than later.
Since these assist systems are very similar with the systems that are used in au- tonomous car
prototypes, they are regarded as the transition elements on the wayto the implementation fully
autonomous vehicles.
CHAPTER 8
8.1 CONCLUSION
Currently, there are many different technologies available that can assist in
creating autonomous vehicle systems. Items such as GPS, automated cruise control,and lane keeping assistance are available to consumers on some luxury vehicles. The combination of these technologies and other systems such as video based
lane analysis, steering and brake actuation systems, and the programs necessary to
control all of the components will become a fully autonomous system. The
problem is winning the trust of the people to allow a computer to drive a vehicle
for them,because of this, there must be research and testing done over and over
again to assure a near fool proof final product. The product will not be accepted
instantly, but overtime as the systems become more widely used people will realize the benefits of it. The implementation of autonomous vehicles will bring up
the problem of replacing humans with computers that can do the work for them.
There will not be an instant change in society, but it will become more apparent
over time as they are integrated into society.
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technology has application in geometrics, archaeology, geography, geology,
geo- morphology, seismology, forestry, remote sensing and atmospheric physics,