PSZ 19:16 (Pind. 1/07)
UNIVERSITI TEKNOLOGI MALAYSIA
DECLARATION OF THESIS / UNDERGRADUATE PROJECT REPORT AND COPYRIGHT
Author’s full name : MOHD RIDHUAN BIN SELAMAT
Date of Birth
Title
A BLIND
: 17 MARCH 1991
: A BLIND SPOTSYSTEM
DETECTION
SYSTEMON
BASED
ON ULTRASONIC
SPOT DETECTION
BASED
ULTRASONIC
SENSING
SENSING.
Academic Session : 2013/2014
I declare that this thesis is classified as:
CONFIDENTIAL
(Contains confidential information under the Official
Secret Act 1972)*
RESTRICTED
(Contains restricted information as specified by the
organization where research was done)*
MOHD RIDHUAN BIN SELAMAT
OPEN ACCESS

I agree that my thesis to be published as online open
access (full text)
I acknowledged that Universiti Teknologi Malaysia reserves the right as follows:
1. The thesis is the property of Universiti Teknologi Malaysia
2. The Library of Universiti Teknologi Malaysia has the right to make copies for the
purpose of research only.
3. The Library has the right to make copies of the thesis for academic exchange.
Certified by:
UNIVERSITI TEKNOLOGI MALAYSIA
NOTES:
SIGNATURE
SIGNATURE OF SUPERVISOR
910317-01-5271
DR. HERMAN BIN WAHID
(NEW IC NO/PASSPORT)
NAME OF SUPERVISOR
Date: 19 JUNE 2014
Date: 19 JUNE 2014
*
If the thesis is CONFIDENTAL or RESTRICTED, please attach with the letter from the
organization with period and reasons for confidentiality or restriction.
“I hereby declare that I have read this thesis and in my opinion this thesis is
sufficient in terms of scope and quality for the award of the degree of Bachelor
of Engineering (Electrical – Instrumentation and Control)”
Signature
: ……………………………..
Supervisor
: Dr. Herman Bin Wahid
Date
: 16th June 2014.
A BLIND SPOT DETECTION SYSTEM BASED ON ULTRASONIC SENSING
MOHD RIDHUAN BIN SELAMAT
A thesis submitted in fulfilment of the
requirements for the award of degree Bachelor of
Engineering (Electrical – Instrumentation and Control)
Faculty of Electrical Engineering
Universiti Teknologi Malaysia
JUNE 2014
iii
I declare that this thesis entitled “A Blind Spot Detection System based on Ultrasonic
Sensing” is the result of my own research except as cited in the references. The thesis
has not been accepted for any degree and is not concurrently submitted in
candidature of any other degree.
Signature
:
………………………………
Name
:
Mohd Ridhuan Bin Selamat
Date
:
16 June 2014
iv
Dedicated, in thankful appreciation for support, encouragement and
understanding to my beloved mother, father, sister, brothers and friends
v
ACKNOWLEDGEMENT
Alhamdulillah, Prise to Allah for His guidance and blessings that this project
has finally completed.
Firstly, I would like to express my greatest gratitude to my respected
supervisor Dr Herman Bin Wahid for his humble guidance, encouragement, patient
enthusiasm, invaluable support and motivation through the whole completion of this
project. This project would not be succeeded without her continuous support.
Secondly, I would like to drop my sincere appreciation to thank to my family
who have been tolerant, motivated me and support me all these year in
accomplishing this project. Thanks for their encouragement, love and emotional
supports that they had given to me.
Last but not least, I would like to express my heartiest appreciation to my
friends and SEI member’s batch 2010 and those whom involve directly or indirectly
with this project. There is no such meaningful word than. Thank You So Much.
vi
ABSTRACT
Driving a vehicle in modern traffic conditions is highly risky. In fact, if the
driver is not aware of the presence of a vehicle or obstacle in his blind spot, a crash
can easily occur. The goal of this work is to suggest a solution to improve a driver’s
safety when changing lanes on the highway, which focuses on the low-end vehicle.
The Blind Spot Detection (BSD) system based on wireless detecting technique is
proposed to monitor the blind spot region for the presence of obstacles, automobiles
or other objects, in vehicle application. Two parts of BSD system are mounted nearly
on the left side area at the flat surface body of car. Meanwhile, another two parts are
mounted on the right side at the flat surface body of the vehicle. The detection of cars
in the blind spot region is displayed by warning light indicators. The BSD system
algorithm proposed here is based on a distance calculation between the object. The
ultrasonic sensor is programmed at certain parameter or distance to detect upcoming
vehicle, object or obstacle to activate the warning light indicator circuitry. Upon the
detection, the device triggers the activation of light indicator circuitry for a certain
period of time, at the different alert zones. If the blind spot region of the vehicle can
be minimized, it is expected the accident cases could be reduced significantly.
vii
ABSTRAK
Memandu kenderaan di dalam keadaan trafik moden adalah sangat berisiko.
Malah, kemalangan boleh berlaku jika pemandu tidak sedar akan kehadiran
kenderaan atau halangan di tempat titk buta kenderaan. Matlamat kerja ini ialah
untuk mencadangkan jalan penyelesaian untuk meningkatkan keselamatan pemandu
kenderaan berteknologi rendah apabila menukar lorong di lebuh raya. Sistem
Pengesanan titik buta atau BSD system ini berdasarkan teknik pengesanan tanpa
wayar yang dicadangkan untuk memantau kawasan titik buta kenderaan seperti
kehadiran halangan , kereta atau objek lain. Dua bahagian BSD system dipasang di
cermin hampir sisi pada permukaan rata kenderaan. Sementara itu, dua bahagian lain
dipasang di belakang pada permukaan rata kenderaan. Pengesanan kereta di kawasan
titik buta kenderaan
dipaparkan dengan memberi amaran penunjuk cahaya.
Algoritma sistem BSD dicadangkan di sini adalah berdasarkan pengiraan jarak antara
objek. Penderian
ultrasonik diprogramkan pada jarak tertentu untuk mengesan
kenderaan, objek atau halangan yang akan datang bagi mengaktifkan litar penunjuk
lampu amaran, pada zon-zon yang berbeza. Sekiranya kawasan titik buta kenderaan
dapat dikurangkan, ia dijangka kes kemalangan boleh dikurangkan dengan ketara .
viii
TABLE OF CONTENTS
CHAPTER
1
2
TITLE
PAGE
DECLARATION OF THESIS
ii
DEDICATION
iv
ACKNOWLEDGEMENT
v
ABSTRACT
vi
ABSTRAK
vii
TABLE OF CONTENT
viii
LIST OF TABLES
xi
LIST OF FIGURES
xii
LIST OF ABBREVIATIONS
xv
LIST OF APPENDICES
xvi
INTRODUCTION
1.1
General Introduction
1
1.2
Problem Statement
2
1.3
Project Objectives
4
1.4
Project Scopes
4
1.4
Thesis Outline
5
LITERATURE REVIEW
2.1
Introduction
6
2.2
Blind spot detection system
6
2.3
The invention ideas of BSD system
9
2.3.1
9
A Wireless Sensor-Based Driving
ix
Assistant for Automobiles based on
ultrasonic sensing [8].
2.3.2
Ultrasonic sensor based blind spot
13
accident prevention system [10].
2.4
The concept of ultrasonic sensor
14
2.5
Advantages of ultrasonic sensing compare to
15
another system sensing in BSD system
3
METHODOLOGY
3.1
Project workflow
18
3.2
BSD system development
19
3.3
Hardware Development
19
3.3.1
20
Block diagram and Flowchart of BSD
system
3.3.2
Circuit design of BSD system
21
3.3.3
Main components in circuitry
23
3.3.4
Main components in the circuitry of
27
warning light indicator
3.3.5
Structure design and installation of BSD
31
system
3.4
Software implementation
33
3.4.1
34
Arduino UNO and Arduino Promini
Programming
3.5
System integration: interfacing hardware and
34
software BSD system
4
RESULTS AND DISCUSSION
4.1
Introduction
35
4.2
BSD position experiment
36
4.3
Activation of BSD system one the left side sensor
37
of small car.
4.4
Activation of BSD system on the right side sensor
of small car
39
x
4.5
5
6
Discussion
42
CONCLUSION AND RECOMMENDATION
5.1
Conclusion
43
5.2
Recommendation for Future Work
44
PROJECT MANAGEMENT
6.1
Introduction
46
6.2
Project Schedule
46
6.3
Cost Estimation
47
REFERENCES
51
APPENDIX A
53
APPENDIX B
55
xi
LIST OF TABLES
TABLE NO.
TITLE
PAGE
NO.
3.1
The specifications of HC-SRO4 ultrasonic sensor.
24
3.2
The Arduino Uno Specifications.
29
6.1
The Project Gantt chart for semester one
46
6.2
The Project Gantt chart for semester two.
47
6.3
The cost estimation for assembling the circuitry of
48
wireless ultrasonic sensor
6.4
The cost estimation for assembling the circuitry of
49
warning light indicator
6.5
The total cost estimation for BSD system.
50
xii
LIST OF FIGURES
FIGURE
TITLE
PAGE NO.
NO.
1.1
The blind spot definition
2
1.2
The ford car with Blind Spot Information System
3
(BLIS)
2.1
The model of BMW (5series) having BLIS system
8
2.2
The volvo model having BLIS system
8
2.3
The layout of the driving assistant
10
2.4
The responses of indicators in various scenarios
11
2.5
The placement of sensor.
12
2.6
The LED meter of this driving assistant
13
2.7
The basic concepts of „ping‟ and „pong‟
14
3.1
The flowchart of the project workflow.
18
3.2
The system setup block diagram of BSD system of
20
circuitry for warning light indicator
3.3
The system setup block diagram of BSD system of
circuitry for wireless ultrasonic sensor.
20
xiii
3.4
The flow chart of BSD system
21
3.5
The schematic diagram of the circuitry of warning
22
light indicator.
3.6
The Arduino Promini
23
3.7
The HC-SRO4 ultrasonic sensor
24
3.8
The block diagram of NRF24L01 transceiver.
25
3.9
The NRF24L01 transceiver module (Transmitter).
25
3.10
The battery supply 9v
26
3.11
The hardware development of BSD system of the
27
circuitry of wireless ultrasonic sensor
3.12
The Arduino UNO
28
3.13
The NRF24L01 transceiver module (Receiver).
29
3.14
The LED
30
3.15
The buzzer
30
3.16
The hardware development of BSD system of the
30
circuitry of warning light indicator
3.17
The drawing of installation BSD system on the car.
31
3.18
The prototype model of installation BSD system on
32
small car.
3.19
The prototype model of installation BSD system on
32
small car.
4.1
The installation of BSD system on prototype car.
36
4.2
The GREEN LED on the left side of the warning light
37
xiv
indicator was activated .
4.3
The rear left side sensor of BSD system was activated
38
4.4
The front left side sensor of BSD system was
38
activated.
4.5
The GREEN LED on the right side of the warning
39
light indicator was activated.
4.6
The rear right side sensor of BSD system was
40
activated.
4.7
The front right side sensor of BSD system was
40
activated.
4.8
The completed result of BSD system experiment.
41
5.1
XL-MaxSonar-EZL1Sensor.
44
xv
LIST OF ABBREVIATIONS
LED
Light Emitter Diode
BLIS
Blind information system
BSD
Blind spot detection
BSR
Blind spot region
CPU
central processing unit
PCB
printed circuit board
PWM
Pulse Width Modulation
AVR
Advanced Virtual RISC
USB
Universal Serial Bus
AC
Alternating Current
DC
Direct Current
I/O
Input/Output
CSN
Chip Select Not
xvi
LIST OF APPENDICES
APPENDIX
TITLE
PAGE
A
DATASHEET OF COMPONENTS
53
B
BSD SYSTEM CODING
55
CHAPTER 1
INTRODUCTION
1.1
General introduction
Driving a vehicle in modern traffic conditions is highly risky. The high risk
could occur if the driver watching the oncoming road hazards and at the same time
look backward in highways driving. It is essential to look both sideway and
backward before safely change the lanes. A problem that often concerned by the
driver is the areas cannot be seen by side view and rear view mirrors, which is called
as blind spot region of vehicle. In several accident cases it is happened because of a
driver’s inability to monitor the blind spots region well.
In Figure 1.1, the area almost commonly called to blind spot is the rear
quarter blind spots, area towards the back of the vehicle on both sides. Vehicles in
the adjacent lanes of the road may fall into these blind spots, and a driver may be
unable to see adjacent vehicle using only the car's mirrors. Other areas that are
sometimes called blind spots are those that are too low to see behind and in front of a
vehicle. Also, in cases where side vision is hindered, areas to the left or right can
become blind spots as well [1].
2
Figure 1.1: Blind spot definition
1.2
Problem Statement
Nowadays, technology in vehicles has been rapidly increasing to reduce the
risk of accident while driving vehicle. There are many research proposed based on
the driving assistance system focusing on the blind spot region [16]-[20]. The
modern technology based on sensors like camera, laser, ultrasonic and radar are most
likely applies in high-end and high-tech vehicle to monitor blind spot region. Volvo
vehicle was first introduced BLIS system that produced alert system if there any
vehicle enter blind spot region. Volvo vehicle implement two door mounted lenses to
check the blind spot area and functionally for driver to change lanes. After a decade,
Volvo vehicle improve their BLIS system by using radar-based detector to monitor
in blind spot region. Which the LED light on A-pillar will glow to detect the
presence entity vehicle [2][3].
3
Ford vehicle also implement the same BLIS system that Volvo developed. As
shown in Figure 1.2, Ford vehicle places radar-based detectors near the rear of the
car, but the light that flashes to warn driver of hidden vehicle is on the outside rear
view mirror. Audi vehicle also introduced Audi Side Assist that will detect cars
coming up from as far as 150 feet (45.7 meters) behind in adjoining lanes and flash a
light in external rear view mirror [3].
Figure 1.2: The ford car with Blind Spot Information System (BLIS)
All of the high-end and high-tech cars are most likely to have embedded
system of blind-spot detection and these active blind spot detection systems are not
available for low-end vehicle. This blind spot detection system in high-end vehicle is
also remade act as driving assistance system for driver and implement into low-end
vehicles. However, the high product price and installation cost and the capability of
the product functional are the some of the factor which do not attract the low end
users to use BLIS system. The driving assistance of blind spot detection or
monitoring system for vehicles is highly desirable to low-end vehicles to monitor
4
blind spot region. So the research of blind spot detection system with high ratio of
capability and more affordable price for low-end vehicle is an important task to
reduce collision among vehicle.
1.3
Project Objectives
The objectives of this project are:
1.
To design a portable and wirelessly controlled BSD system for low-end
vehicle
2.
To design suitable algorithm to calculate distance for detecting object when
vehicle enter the blind spot region.
3.
To design a hardware system for producing visible alert when a vehicle enter
the blind spot region.
1.4
Project Scopes
They a several scopes of work have been determined are as follows:
•
BSD system that focusing quarter blind spot region vehicle.
•
BSD system is suitable apply for car, van and small lorry.
The proposed system will use ultrasonic technology, hence some
limitations are expected such as:
5
•
The detection angle is only 15deg, thus the sensor need to be located
properly to cover the region of interest (BSR). Therefore a special tool
needs to be designed to fix the position of the sensors at certain angle.
•
The sensitivity of the sensors needs to be analyzed, as it may cause
some delay in the detection process. Hence, an algorithm will be used
to
compensate this delay.
1.5
Thesis Outline
This project involves six chapters. Chapter 1 consists of the introduction of
the project that explains the project in general. The problem statement will be
discussed based on some issues and problems that related to this project.
The
objectives of the project will be discussed and scope of the project is explained.
Chapter 2 contains literature review that related with this project. The explanation is
based on gathered information from the journal, thesis, internet, reference books and
relevant article. Chapter 3 contains research methodology that explains in detail the
overall project flow of BSD system. Chapter 4 contains hardware and software
implementation and in Chapter 5 the results and analysis are discussed. Finally,
Chapter 6 contains the conclusion and recommendation of the project.
CHAPTER 2
LITERATURE REVIEW
2.1
Introduction
Literature review was carried out throughout the whole project to gain
knowledge and improve skills needed to complete this project. The main sources for
this project are previous related projects, research thesis, books, journals and articles
which are mostly obtained from online databases provided by UTM and UTM
library. This chapter focuses on the basic concepts and all fundamental theories
which related to this project.
2.2
Blind spot detection system
Blind spot detection system is device that really essential to monitor blind
spot region while driving vehicle in modern traffic condition. Collision among
vehicle can often occur if the driver did not properly well check the blind spot region
during changing the lane. The surrounding area of the driver and the condition
7
current of situation for potential hazard need to be considered as driver want to
change the lanes. Situation awareness (SA) in the perception and recognition phases
is important when a person has time on hand such as when changing lanes. SA can
be classified into three levels [4][5]:
Level 1: Perception of elements in the environment
Level 2: Comprehension of current situation
Level 3: Projection of future status
Hence, approximately 75% of the accident during lane changes is due to
driver Situation Awareness failure [4][6]. Blind spot monitoring system is essential
to improve visibility and reduce the blind zone in order to implement safety driving.
Nowadays, blind spot monitoring system is implemented in several vehicles.
Normally, high-end and high-tech vehicle using embedded system of blind spot
monitoring. Meanwhile, low-end vehicle need driving assistance of blind spot
monitoring system. Either embedded system or driving assistance the aim is only one
to improve safety while driving a vehicle. For example, BMW (5series) model have
the active blind spot detection to alert driver if there any upcoming potential hazard
in blind spot zone.
From Figure 2.1, active blind spot detection system of BMW (5series) model
help to eliminate blind spots and actually allows drivers to avoid collisions when
changing lanes, literally keeping your gaze straight ahead. Using radar sensing to
detect entity vehicle and placed at the rear of the vehicle. This system alerts drivers if
a vehicle is in their blind spot region vehicle. The light display on their side-view
mirror housings begins to flash and also steering wheel vibrate [7].
8
Figure 2.1: Model of BMW (5series) having BLIS system
From Figure 2.2, another example of implementation of blind spot
monitoring system. The Volvo vehicle use based on radar sensing that informs the
driver about vehicles in the blind spots on both sides of the car. It is also detect and
alerts the driver to rapidly approaching vehicles up to 70 meter behind the car [2].
Figure 2.2: The Volvo model having BLIS system
9
2.3
The invention ideas of BSD system
The main purpose of invention ideas of BSD system is to understand method
used in previous research of blind spot monitoring system before applying to this
project. There are several ideas of invention that related to blind spot information
system:
2.3.1
A Wireless Sensor-Based Driving Assistant for Automobiles based on
ultrasonic sensing [8].
In this research paper, the system acts as a driving assistant for vehicles that
detects the obstacle or object within the monitored area and alert the driver via
tactile, audio and visual signal. This driving assistant is based on ultrasonic sensing
approach.
The system contains five separate components: four of them are the sensor
modules and the fifth one is the controller. The nodes are connected in the sequel that
attached to body of the car. Meanwhile, controller responsible for coordinating the
operation of the nodes and then process the data for presenting alerts to the driver.
The two front corners on both sides of the vehicle are covered by sensor modules.
While the blind spot areas are the most likely ones to be neglected by drivers, the two
front corners are found to produce the highest accident rates [8][9]. As shown in
Figure 2.3, it shows the correlation among the system components. All five modules
are makes around the same processing unit consisting of a microcontroller and radio
transceiver. The sensor modules consist of ultrasonic sensors in the same time the
controller connected to three types of indicators such as LEDs panel, buzzer, and the
vibrators mounted on the steering wheel [10].
10
Figure 2.3: Layout of the driving assistant
(adapted from: http://www.suurland.com/blueprints_archive.php)
Related to this research, there are four crucial parts need to be considered.
There are sensor, indicator, wireless communication and modules. The driving
assistant detect the object or obstacle via ultrasonic proximity sensor (PING))) TM
Ultrasonic Sensor, Parallax Inc). Another alternative for detection the object is via
infrared sensor but infrared sensors lack the accuracy of their ultrasonic counterparts
due to the ambient noise and infrared radiation [8].
According to Table 2.4, the indicator will be functional and alerts the driver if
object enter the blind spot region zone. Vehicle is classified safe and the all the
indicators deactivated if there are no obstacles or object are present in zone 1 and
11
zone 2. Meanwhile, LED indicators are turned on to provided alert to driver if the
objects enter in zone 1 and will be considered as “mildly threatened”. Hence, when
object enter zone 2, the vehicle is classified “threatened”. LED indicators, either the
vibrators or the buzzer are turned on [8].
Table 2.4: The responses of indicators in various conditions [10].
Sensor Number
0
1
2
3
Zone
Activated Indicator
0
None
1
LED 0
2
LED ),Left Vibrator
0
None
1
LED 1
2
LED1, Right Vibrator
0
None
1
LED 2
2
LED 2, Buzzer
0
None
1
LED 3
2
LED 3, Buzzer
The wireless communication is connected between the sensor and the
ultrasonic sensor. Advantage of using wireless connection is the easy installation. It
also did not need more space for wiring the blind spot detection system.
12
2.3.2
Ultrasonic sensor based blind spot accident prevention system [10].
In this research paper, the system based on proximity detection device is
using radio frequency waves for detecting object. It includes three parts:
I.
Front sensor, left sensor and right sensor.
The front sensor is functional to detect seasonal black spots. This sensor will
monitor presence of any entity and warn the driver about the upcoming risk in cases
of temporary blind spot. In Figure 2.5, it shows the placement of sensor attach on
body of the car. The left and right sensor will cover the blind spot at rear of car.
Figure 2.5: The placement of sensor.
13
II
LED meter
As shown in Figure 2.6, the LED meter functional based on the sensor to alert
the driver about entity object or possible risk. The LED meter was divided into three
part activation. If the left sensor detect the object the left hand side LED meter will
be activated. While, if right sensor detect the object the right hand side LED meter
will be triggered. Hence, the front hand side LED meter indicate risk of front sensor.
Figure 2.6: The LED meter of this driving assistant
2.4
The concept of ultrasonic sensor
Ultrasonic signals are like audible sound waves, except the frequencies are
much higher. The ultrasonic transducers have piezoelectric crystals which resonate to
a preferred frequency and convert electric energy into acoustic energy and vice versa
[11][12].
14
The illustration in Figure 2.7 shows how sound waves, transmitted in the
shape of a cone, are reflected from a target back to the transducer. An output signal is
produced to perform some kind of indicating or control function. A minimum
distance from the sensor is required to provide a time delay so that the "echoes" can
be interpreted. Variables which can affect the operation of ultrasonic sensing include:
target surface angle, reflective surface roughness or changes in temperature or
humidity. The target can have any kind of reflective form - even round objects.
Figure 2.7: Basic concepts of „ping‟ and „pong‟
15
2.5
Advantages of ultrasonic sensing compare to another system sensing in
BSD system.
Several system sensing can be applied for monitoring blind spot region. For
example, there are three types of sensor systems onboard vehicle for lateral object
detection [13]:
I.
Ultrasonic sensor system
II.
Doppler radar system
III.
Vision system
The ultrasonic technique has unique advantages over conventional sensors
such as infrared or reverse sensor when used for sensing functions (Larson, 1960)
[12]:

Discrete distances to moving objects can be detected and measured.

Less affected by target materials and surfaces, and not affected by
color. Solid state units have virtually unlimited, maintenance free life.
Have ability to detect small objects over long operating distances.

Have resistance to external disturbances such as vibration, infrared
radiation, ambient noise, and EMI radiation
As reported by [13] ultrasonic sensor system offers the following advantages:

It is less expensive and will be suitable for general vehicle
applications.

It can easily obtain distance information immediate objects without
complex computation detection.

It has wide surface measurement, not just single point
16
For the Doppler radar systems, the system involved high manufacturing cost
and limited for high-end cars only [8]. Radar system is normally has blind spots and
a smaller view. The range of blind spots depends on the number of the installed
radars. Besides, due to the limited detection distance for radar system, it is difficult
for radars to detect an object moving in a large area [14].
Furthermore, radar sensor is complicated to use, because of the need of CPUintensive image processing techniques. In addition, the high of project cost need a
more complex processing platform, which would also increase the cost of their
encasing sensor modules [8].
In the vision system, there are several problems need to be considered. The
cost involved much computation time to extract useful information. Real-time
performance is a challenge issue for vision-based systems. At night, it would be
difficult to use because of lighting condition will also influence the image acquisition
[15].
`
Based on these three systems sensor, the ultrasonic sensor is better rather than
using Doppler radar system or vision system to apply in BSD system. It is because of
the cost to build this system sensing is much less expensive and it can easily obtain
the distance of the object without complex computation of detection process.
CHAPTER 3
METHODOLOGY
This chapter explains the methodology applied in this project to ensure the
successfulness of the project objectives. Starting from the overall workflow of the
project and followed by Hardware and Software development of BSD system. The
hardware and software system integration and testing will be described at the end of
this chapter
18
3.1
Project workflow
The overall workflow of the project is illustrated in Figure 3.1. Each stage of
the workflow is described below.
Figure 3.1: Flowchart of the project workflow.
19
3.2
BSD system development
BSD system is developed based on imitation and some improvements of
previous works done. Hardware and software development are two crucial parts
needs to be considered in this BSD system. The hardware development is more on
the components used, the designation of circuit and the real shape of BSD system.
Meanwhile, the software development is based on how to program the brain (i.e.
central processor) of the circuitry of wireless ultrasonic sensor and the circuitry of
warning light indicator
3.3
Hardware development
The project continues with the hardware development of BSD system. There
are two major parts in this hardware development of BSD system which are the
circuitry of wireless ultrasonic sensor and the circuitry of warning light indicator.
20
3.3.1
Block diagram and flowchart of BSD system
Figure 3.2: System setup block diagram of BSD system of circuitry of warning light
indicator.
Figure 3.3: System setup block diagram of BSD system for wireless ultrasonic
sensor circuit.
21
Figure 3.4: Flow chart of BSD detection system
3.3.2
Circuit design of BSD system
Designing the circuit is the crucial part for this project. This is important due
to the functional performance of the sensor depends on the quality of the designed.
The Frizing and Eagle software have been used to design the circuit of circuitry for
wireless ultrasonic sensor and circuitry for warning light indicator. As shown in
Figure 3.5, it is the schematic diagram of the circuitry of warning light indicator,
designed using Eagle software. After the design had been completed, the circuit is
then tested on proto-board. Proto-board is used to implement the components that
had been designed in circuit design step before implementing it on the PCB or donut
22
board for soldering the components. This is important to know whether the sensor
will be functioning as well as follow to the desired output of BSD system or not.
In this project, I had implemented the circuitry of wireless ultrasonic sensor
and the circuitry of warning light indicator first on the proto-board to test the
functionality of both circuits. The circuitry of wireless ultrasonic sensor will detect
the object or obstacles. After that, warning light indicator will respond the signal
from the circuitry of wireless ultrasonic sensor and activated the LED or buzzer
inside the warning light indicator. The programming will be discussed more on the
software implementation and in APPENDIX B.
Figure 3.5: The schematic diagram for the circuitry of warning light indicator.
23
3.3.3
Main components in the circuitry of wireless ultrasonic sensor
Figure 3.6 shows the hardware development of BSD system for the circuitry
of wireless ultrasonic sensor. It contains of four main components which are:
1. Arduino Promini
2. Ultrasonic sensor
3. NRF24L01 Transceiver module
4. Power supply 9v
In this project, Arduino Promini was chosen to act as a brain for the circuitry
of wireless ultrasonic sensor. It is because of its compact size dimension and also
more economic as compared to another microcontroller. Besides, the functionality of
input and output pins are the same with Arduino UNO. The Arduino Promini is
shown in Figure 3.6.
Figure 3.6: The Arduino Promini
Figure 3.7 shows the HC-SR04 ultrasonic sensor which is the main sensor
used in this project. The HC-SR04 ultrasonic sensor uses sonar to determine distance
to an object like bats or dolphins do. It offers excellent non-contact range detection
24
with high accuracy and stable readings. The sensor operation is also not effected by
sunlight. The detail of this sensor had been attached in the APPENDIX A.
Figure 3.7: HC-SRO4 ultrasonic sensor
The specifications of this HC-SR04 ultrasonic sensor are shown in Table 3.1.
It is described the principle of this sensor, the working current needed to operate this
sensor, the validation angle detected and the ranging distance to detect object.
Table 3.1: The specifications of HC-SRO4 ultrasonic sensor.
Power Supply
5 V DC
Quiescent Current
<2mA
Working Currnt
<15°
Effectual Angle:
15deg
Ranging Distance
2cm – 400 cm/1" - 13ft
Resolution
0.3 cm
Measuring Angle:
30 degree
Trigger Input Pulse width
10uS
Dimension:
45mm x 20mm x 15mm
25
The third element is NRF24L01 transceiver transmitter module. This element
functions by transferring the signal from the circuitry of wireless ultrasonic sensor to
the circuitry of warning light indicator. This element is important in this project due
to the BSD system circuit connection is based on wireless connection. Figure 3.8 and
Figure 3.9 illustrate NRF24L01 transceiver module and the block diagram of
NRF24L01 transceiver respectively. The details of this component had been attached
at the APPENDIX A.
Figure 3.8: The block diagram of NRF24L01 transceiver.
Figure 3.9: The NRF24L01 transceiver module (Transmitter).
26
Figure 3.10 shows the battery supply 9v that had been chosen for supply the
current and voltage in order to operate components in the circuitry of wireless
ultrasonic sensor.
Figure 3.10: The battery supply 9v
Figure 3.11 shows the complete hardware development of BSD system for
circuitry of wireless ultrasonic sensor. It consists of four circuitry of wireless
ultrasonic sensor and needs to be installed at certain of area vehicle’s body.
27
Figure 3.11: The hardware development of BSD system for the circuitry of
wireless ultrasonic sensor.
3.3.4
Main components in the circuitry of warning light indicator
The hardware development of BSD system for the circuitry of warning light
indicator contains of four main components which are:
a. Arduino UNO
b. NRF module for receiver
c. LED
d. Buzzer
Microcontroller acts as the main brain of this project. Without it, the system
cannot function as we expected. Arduino Uno was chosen for this project to act as a
brain of circuitry for warning light indicator as it is a single-board microcontroller for
28
multipurpose project discipline. As shown in Figure 3.12, Arduino UNO board
consists of an ATmega328 which is 28-bit AVR microcontroller with
complementary components to facilitate programming and incorporated into other
circuit.
It has 14 digital input and output pins of which 6 can be used as PWM
outputs, and 6 analogue inputs. For this project, I used digital and analogue pin as an
output which are three digital pins to make LED red activated, three analogue pins to
make LED orange activated, two digital pins to make LED green activated and five
digital pins to activate NRF24l01 module receiver.
Figure 3.12: The Arduino UNO.
The Arduino UNO can be powered by the universal serial bus (USB)
connection or with an external power supply such as battery, power band and AC-toDC adapter. In this project, I chose to use USB because as it is easily to make my
system portable and easily to power up it in the vehicle and during system test. Table
3.2 shows the Arduino UNO basic specifications
29
Table 3.2: Arduino Uno Specifications.
Microcontroller
Atmel ATmega328
Operating Voltage (logic level)
5V
Input Voltage (recommended)
7-12 V
Input Voltage (limits)
6-20 V
Digital I/O Pins
14 (of which 6 provide PWM
output)
Analog Input Pins
6
DC Current per I/O Pin
40 mA
Flash Memory
33 KB
SRAM
2 KB
EEPROM
1 KB
Clock Speed
16 MHz
Figure 3.13 shows the element called as NRF24L01 transceiver receiver
module. It is functioned by receiving the signal from the circuitry of wireless
ultrasonic sensor. This element is important in this project to make the LED and
buzzer in the circuitry of warning light indicator activated.
Figure 3.13: The NRF24L01 transceiver module (Receiver).
30
Figure 3.14 and Figure 3.15 are shows the output of the circuitry of warning
light indicator. It will be functioned depending on the instruction which is
programmed in the circuitry of warning light indicator. The programming instruction
had been described more detail in APPENDIX B.
Figure 3.14: LEDs
Figure 3.15: Buzzer
Figure 3.16 shows the completed hardware development of BSD system for the
circuitry of warning light indicator.
Figure 3.16: Hardware development of BSD system for circuitry of warning
light indicator
31
3.3.5
Structure design and installation of BSD system
This part will mention about the installation of BSD system on the car. The
Figure 3.17 shows the drawing of installation of BSD system on the car. Two parts of
the circuitry of wireless ultrasonic sensor are mounted on the left side at the flat
surface of the car. Meanwhile, another two parts are mounted on the right side at the
flat surface of the car. The detection of cars in the blind spot region is displayed by
warning light indicators that had been put on the dashboard of car.
Figure 3.17: The drawing of installation BSD system on the car.
32
Figure 3.18: BSD system.
As illustrates in Figure 3.19, it is the prototype model of installation BSD system on
a miniature (small) car.
Figure 3.19: Prototype model of installation BSD system on miniature (small) car.
33
3.4
Software implementation
The next step is software implementation which is designing the suitable
algorithm to calculate distance for detecting object when vehicle enter blind spot
region. To program the code of this BSD system, it must uses the Arduino software
version 1.5.4. It is the latest version that released by the Arduino company. The code
which is used in Aduino programming is based on C++ programming in Java.
3.4.1
Arduino UNO and Arduino Promini Programming
Arduino is an open-source physical computing platform based on a simple
input/output (I/O) board and development environment that implements the
processing/wiring language.
Both of Arduino UNO and Arduino Promini
programming are the same. This is one of the advantages when using the Arduino as
microcontroller.
To program and upload the code into the Arduino UNO and Arduino Promini
microcontroller, it must be connected to the computer with a USB A/B cable. USB
cable acts as a program connector between Arduino and computer. In Arduino
Promini
microcontroller used in the circuitry of wireless ultrasonic sensor, the
digital pin D6 and D7 have been set as the input of Ultrasonic sensor. Then, the
digital pin D9 to D13 for activate NRF24L01 transmitter. The set of program code
for the circuitry of wireless ultrasonic sensor was repeated for the preparation of
another three sets. For the Arduino UNO microcontroller used in the circuitry of
warning light indicator, the digital pin D8 to D13 had been set to activate NRF24L01
receiver and the digital pin D3to D7 and analogue pin A0 to A3 as the output to
activate LED and BUZZER. Based on the programmed codes, the digital pin D6 and
D7 will be activated to detect the object from detection range. The NRF24L01
34
transmitter will transmit the signal or data from the distance read by the ultrasonic
sensor. The NRF24L01 receiver will react to receive the signal or data from the
NRF24L01 transmitter. The LED and BUZZER will be activated to show the
warning alert. The overall programming codes are attached in APPENDIX B.
3.5
System integration: interfacing hardware and software BSD system
Next, the project continues by interfacing hardware and software BSD
system. The testing of hardware and software BSD system is carried on until the
desired BSD system is obtained.
CHAPTER 4
RESULTS AND DISCUSSION
4.1
Introduction
This chapter discuss regarding the experiments carried out to monitor blind
spot region. The experiments carried out is BSD system positioning. In this BSD
system positioning experiment, there are three zone needs to be considered which are
the objects behind, left and right of the sensor, the objects next to the rear left and
right of the sensor, and the object next to the front left and right of the sensor. The
rear left and right of the sensor were activated by triggering ON the GREEN LED in
the warning light indicator to indicate NO objects entered the blind spot area. Then,
the rear left and right of the sensor were activated by triggering the blinked GREEN
LED in the warning light indicator to indicate objects entered the first zone of blind
spot area. This situation is called as first alert zone. The front left and right of the
sensor will be activated by triggering ON the RED LED and ORANGE LED in the
warning light indicator to show objects entered the second zone of blind spot area.
36
4.2
BSD position experiment
Figure 4.1 demonstrates the installation of BSD system on the prototype car.
Two circuitry of wireless ultrasonic sensor were installed on the rear and front left
side of small car. Meanwhile, another circuitry of wireless ultrasonic sensor was
installed on rear and front the right side of small car. The circuitry of warning light
indicator was put at the dashboard of small car.
Figure 4.1: The installation of BSD system on prototype car.
37
4.3
Activation of BSD system on the left side sensor of small car.
As shown in Figure 4.2, the GREEN LED on left side of warning light
indicator was activated to show there is NO object entered at the rear left blind spot
region. This situation is called safe zone on the left side area.
Figure 4.2: The GREEN LED on the left side of the warning light indicator was
activated.
The Figure 4.3 shows the rear left side sensor of BSD system was activated.
It is activated when the object enter the rear blind spot region of small car. The
GREEN LEDs in the warning light indicator was blinked for a second to show the
first upcoming potential hazard on the left blind spot area. At the same time,
BUZZER was triggered on follow the blink of GREEN LED. This situation is called
first alert zone on the left blind spot area.
38
Figure 4.3: The rear left side sensor of BSD system was activated.
When the object keep moving as shown in the Figure 4.4, the front left side
sensor of BSD system was activated due to the object enter the front blind spot
region of small car. Three of RED LEDs in the warning light indicator was triggered
ON and triggered OFF until the object moving out of left blind spot area.
Figure 4.4: The front left side sensor of BSD system was activated.
39
4.4
Activation of BSD system on the right side sensor of small car.
As illustrated in Figure 4.5, the GREEN LED on right side of warning light
indicator was activated to show there is NO object entered in the right blind spot
region. This situation is called safe zone on the right side area.
Figure 4.5: The GREEN LED on the right side of the warning light indicator was
activated.
Figure 4.6 shows the rear right side sensor of BSD system was activated. It is
activated when the object enter the rear blind spot region of small car. The GREEN
LED in the warning light indicator was blinked for a second to show the first
upcoming potential hazard on the right blind spot area. At the same time, BUZZER
was triggered on follow the blink of GREEN LED. This situation is called first alert
zone on the right blind spot area.
40
Figure 4.6: The rear right side sensor of BSD system was activated.
Figure 4.7, the front right side sensor of BSD system was activated because
of the object entered the front right blind spot region of small car. Three of
ORANGE LEDs in the warning light indicator was triggered ON and triggered OFF
until the object moving out of right blind spot area.
Figure 4.7: The front right side sensor of BSD system was activated.
41
Figure 4.8: The complete results of BSD system experiment.
42
4.5
Discussion
This section will discuss on the problems encountered during the process of
completing this project. There are a lot of errors during development of hardware and
programming of BSD system. The first problem, it is hard to interface between the
circuitry of wireless ultrasonic sensor and the circuitry of warning light indicator.
The ultrasonic sensor detected object but the warning light indicator did not receive
the signal from the ultrasonic sensor. To overcome this problem, I had troubleshot
the circuit connection of BSD system using multi meter. The problem was
determined due to the misconnection between trigger pin of ultrasonic sensor and
CSN pin of the NRF240L01. The problem was solved and the BSD system functions
as expected which follows the desired output of BSD system.
Another problem is the performance of BSD system installed at the small car
is not stable. Sometimes, the BSD system was activated while at certain time, the
BSD sensor was not activated properly. This problem occurred due to the no enough
current supplied to operate Arduino Promini in the circuitry of wireless ultrasonic
sensor. To overcome this problem, I had changed the battery supply that consists of
high current to operate the Arduino Promini . As result, the performance of BSD
system was become stable.
CHAPTER 5
CONCLUSION AND RECOMMENDATION
5.1
Conclusion
The prototype of the BSD system has been successfully developed to achieve
the three objectives:
1
To design a portable and wirelessly controlled BSD system for lowend vehicle.
2.
To design suitable algorithm to calculate distance for detecting object
when vehicle enter blind spot region.
3
To design a hardware system for producing visible alert when a
vehicle enter the blind spot region.
Literature review on BSD system was successfully done by referring to
previous projects conducted by others. The hardware of BSD system and software of
BSD system were created at the end of this project. The system integration between
the hardware and software of BSD system were successfully done. Through this
project, a reliable and effective system is achieved to detect and monitor blind spot
region of vehicle. It has been successfully tested, and the BSD system work well for
the small scale of car.
44
5.2
Recommendation for future works
For long range monitoring distance object, it is suggested to use the
XL-MaxSonar-EZL1 Sensor instead of HC-SR04 Ultrasonic sensor. The
XL-MaxSonar-EZL1 Sensor has many advantages which are:

Can detect small object.

Sensor small in size

Maximum range of detecting object is1068cm (420 inches).

Operating voltage from 3.3v to5.5v.

Resolution 1cm

Real time noise rejection algorithm

Read from three sensor outputs: Analoq voltage, Serial and Pulse Width
Figure 5.1: XL-MaxSonar-EZL1Sensor.
CHAPTER 6
PROJECT MANAGEMENT
6.1
Introduction
The objective of project management is to achieve all project goals with
effective project, planning, organizing and controlling resource within a specified
time period [15]. The primary constraints in this project are research scope, research
time and research budget to perform required activity to achieve the required
specifications. In this process, based on stated constraints, project schedule had been
tabulated on Gantt chart. Next, cost estimation on the components is performed to
ensure minimal project cost while keeping project to achieve the desired
requirement.
6.2
Project schedule
Table 6.1 shows project Gantt chart for semester one. The majority of the
work done in the first part of the project was focused on proposing and
46
understanding of the project through literature review. In addition, much effort was
spent to understand the blind spot detection system (BSD system) by referring to the
previous work. Besides that, some effort also has been spent to understand the
concept of the interconnected BSD system. Then, the work proceeds with the list of
components design and model the BSD system. The important task of the first part of
the project was the preparation for presentation as well as writing the first part of the
project report.
Table 6.1: Project Gantt chart for semester one
Week
Activities
2 3 4 5 6 7 8 9
1
11
12 13 14 15
16
0
1.Brief Idea FYP
2.Literature and
3.Study blind spot
detector of vehicle
4. Study the journal,
thesis and article related
Semester Break
theoretical study
system.
5. Submit Proposal
6. List the components
and model hardware
configuration of blind
spot detection system
7. Draw flowchart and
block diagram of blind
spot detection system.
8.Report preparation
9.Presentation
Study Week
to blind spot detection
47
Table 6.2 shows project Gantt chart for semester two which describes the
possible task for the second part of the project with the estimated time that will be
spent for each task. Firstly, the hardware implementation will be conducted. After
completion of that part, the works continue by applying that software implementation
and verify the performance of BSD system.
Table 6.2: Project Gantt chart for semester two.
Week
1 2 3 4 5 6 7 8 9
10
11 12 13 14 15
16
Activities
Study
Week
1.Hardware
implementation
3. Testing the
product
4. Verify
specification/
analysis
Semester Break
2. Software
implementation
5.Presentation
6.Thesis
preparation
6.3
Cost estimation
Table 6.3 demonstrates the cost estimation for assembling the circuitry of
wireless ultrasonic sensor. The most expensive components in this board is Arduino
Promini. As the circuitry of wireless ultrasonic sensor is designed in rather small
dimension, so the small microcontroller is really needed. As far as stock availability
48
on closest warehouse and price concern, hence the Arduino Promini was selected in
this project to act as a brain for the circuitry of wireless for ultrasonic sensor.
Table 6.3: The cost estimation for assembling the circuitry of wireless ultrasonic
sensor
No
Materials
Quantity
.
Price
Price
per unit
(RM)
(RM)
1
Ultrasonic sensor
4
22.00
88.88
2
NRF240L01 module transmitter
4
15.00
60.00
3
Arduino Pro mini
4
30.00
120.00
4
Battery supply 9v
4
05.00
20.00
5
PCB connector 10 ways
2
01.00
02.00
6
Donut board
2
03.00
06.00
7
Resistor 0.25W 5% (330R)
9
00.05
00.60
8
Acrylic 2mm
1
10.00
20.00
9
PCB connector 4 ways
4
00.40
01.60
10
PCB connector 3 ways
8
00.30
02.40
11
Wire rainbow 1.5mm
0.5m
02.00
02.00
12
PCB connector 2 ways
4
00.20
00.80
13
Wire 1.5mm single core
1m
01.00
01.00
14
Battery holder
4
03.00
12.00
15
Voltage regulator LM 3.3V
4
05.00
20.00
Subtotal
336.48
16
17
Next, table 6.4 demonstrates the cost estimation for assembling the circuitry
of warning light indicator. The most expensive components in this board is Arduino
UNO. Although, the price quick expensive, the Arduino UNO was selected in this
project to act as a brain for the circuitry of warning light indicator.
49
Table 6.4: The cost estimation for assembling the circuitry of warning light
indicator
No
Materials
Quantity
.
Price
Price (RM)
per
unit (RM)
1
Arduino Uno
1
50.00
50.00
2
NRF240L01 module receiver
1
15.00
15.00
3
Donut board
1
03.00
03.00
4
LED 234 green
2
00.10
00.20
5
LED 234 orange
3
00.10
00.30
6
LED 234 red
3
00.10
00.30
7
Resistor 0.25W 5% (330R)
9
00.05
00.45
8
Buzzer
1
03.00
03.00
9
Wire rainbow 1.5mm
0.5m
02.00
02.00
10
PCB connector 10 ways
2
01.00
02.00
11
PCB connector 4 ways
2
0.40
00.80
12
PCB connector 2 ways
4
00.20
00.80
13
Wire 1.5mm single core
1m
01.00
01.00
Subtotal
76.85
14
15
50
Table 6.5 shows the total cost estimation for BSD system. The complete BSD
system consists of the circuitry of wireless ultrasonic sensor board and the circuitry
of warning light indicator board. The cost to build up this BSD system is about
RM413.33.
Table 6.5: The total cost estimation for BSD system.
Components
Subtotal
The circuitry of wireless ultrasonic sensor
RM336.48
The circuitry of warning light indicator
RM76.85
Total
RM413.33
51
REFERENCES
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vision using equi-angular pixel cameras, Citeseer.
2. Volvo
cars.com.
(2013).Blind
spot
Information
system.
[Online].Available:http://www.volvocars.com/us/top/about/conceptcarsfuture
vehicles/pages/default.aspx92013
3. Auto.howstuffworks.com (2013). Safety regulatory devices. [Online].
Available:
http://auto.howstuffworks.com/car-driving-safety/safety
regulatory-devices/cars-making-blind-spot-less-dangerous1.htm
4. Kuwana, J., M. Itoh, et al. (2013). Dynamic side-view mirror: Assisting
situation awareness in blind spots. Intelligent Vehicles Symposium (IV),
2013 IEEE, IEEE.
5. M. R. Endsley, (1995). Toward a theory of situation awareness in dynamic
systems .Human Factors, vol. 37, no. 1, pp. 32–64.
6. R. R. Kinpling, (1993). IVHS technologies applied to collision avoidance.
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Annual Meeting of IVHS America, Surface Transportation: Mobility,
Technology, and Society, pp. 249–259.
7. bmwusa.com (2013). Model highlights 528i sedan. [online]. Available:
http://www.bmwusa.com/Standard/Content/Vehicles/2014/5/528iSedan/
ModelHighlights/528iSedanSafety.aspx?Id=377
8. Yu, F., B. Kaminska, et al. (2008). "A Wireless Sensor-Based Driving
Assistant for Automobiles." ICGST-ACSE Journal, ISSN: 1687-4811.
9. Institute of Communications and Computer Systems (2005). Integrated
Drivers’ Lateral Support System: The Lateral Safe Project [Online].
Available:
52
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%20papers/2683.pdf
10. Mahapatra, R., K. V. Kumar, et al. (2008). Ultra sonic sensor based blind spot
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2008. ICACTE'08. International Conference on, IEEE.
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actuators." Sensors and Actuators A: Physical 152(2): 219-233.
12. Tabib, M. and M. Tajudin (2008). Smart system of ultrasonic car parking,
Universiti Malaysia Pahang.
13. Song, K.-T., C.-H. Chen, et al. (2004). Design and experimental study of an
ultrasonic sensor system for lateral collision avoidance at low speeds.
Intelligent Vehicles Symposium, 2004 IEEE, IEEE.
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Blind Spot Warning System." World Academy of Science, Engineering and
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scheduling, and controlling. John Wiley & Sons, 2013.
16. R.P. Mahapatra, K.V. Kumar, G. Khurana, and R. Mahajan, "Ultra Sonic
Sensor Based Blind Spot Accident Prevention System," in International
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2008.
17. Diaz, E. Ros, S. Mota, G. Botella, A. Canas, S. Sabatini, "Optical Flow For
Cars Overtaking Monitor: The Rear Mirror Blind Spot Problem," in IEEE
Intelligent Vehicles Symposium, pp.50-57, Las Vegas, 2005.
18. A. Techmer, "Real-time motion analysis for monitoring the rear and lateral
road," in Proc. IEEE Intel. Vehicles Symp., Parma, Italy, pp.704-709, 2004.
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pp. 544-548, 2004.
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Using Projective Invariant and Vanishing Lines.
53
APPENDIX A
DATASHEET OF COMPONENTS
54
55
APPENDIX B
BSD SYSTEM CODING
1.
Programming of circuitry for wireless ultrasonic sensor REAR LEFT
SIDE.
#include <NewPing.h>
#define TRIGGER_PIN 5
#define ECHO_PIN 4
#define MAX_DISTANCE 300.
#include <SPI.h>
#include <nRF24L01.h>
char mypacket[3]; //int sendingByte;
NewPing sonar_LB (TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
void setup()
{
Serial.begin(115200);
Serial.begin(9600);
Mirf.spi = &MirfHardwareSpi;
Mirf.csnPin = 8;
// define CSN pin
Mirf.cePin = 9;
// define CE pin
Mirf.init();
Mirf.setRADDR((byte *)"00010"); // receiving address
Mirf.setTADDR((byte *)"00010"); // transmitting address
Mirf.payload = sizeof(mypacket); // up to 32 byte only
Mirf.channel = 50;
// pipeline channel
Mirf.config();
}
void loop() {
delay(50)
unsigned int uS_LB = sonar_LB.ping();
Serial.print("\n Ping: ");
Serial.print(uS_LB / US_ROUNDTRIP_CM);
Serial.println("cm");
if((uS_LB / US_ROUNDTRIP_CM) > 10)
{
mypacket[0]='L';
mypacket[1]='B';
mypacket[2]='O';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending LB detected");
//delay (100);
}
56
else if((uS_LB / US_ROUNDTRIP_CM) >0 && (uS_LB /
US_ROUNDTRIP_CM) < 10)
{
mypacket[0]='L';
mypacket[1]='B';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending LB not detected");
delay (100);
}
2.
Programming of circuitry for wireless ultrasonic sensor FRONT LEFT
SIDE.
---------------------------------------------------------#include <NewPing.h>
#define TRIGGER_PIN 6
#define ECHO_PIN 5
#define MAX_DISTANCE 300
#include <SPI.h>
#include <nRF24L01.h>
---------------------------------------------------------char mypacket[3];
//int sendingByte;
NewPing sonar_LB(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
void setup()
{
Serial.begin(115200);
Serial.begin(9600);
Mirf.spi = &MirfHardwareSpi;
Mirf.csnPin = 8;
// define CSN pin
Mirf.cePin = 9;
// define CE pin
Mirf.init();
Mirf.setRADDR((byte *)"00010"); // receiving address
Mirf.setTADDR((byte *)"00010"); // transmitting address
Mirf.payload = sizeof(mypacket); // up to 32 byte only
Mirf.channel = 50;
// pipeline channel
Mirf.config();
}
void loop() {
delay(50);
unsigned int uS_LB = sonar_LB.ping();
Serial.print("\n Ping: ");
Serial.print(uS_LB / US_ROUNDTRIP_CM);
Serial.println("cm");
57
-------------------------------------------------------------------------if((uS_LB / US_ROUNDTRIP_CM) > 10)
{
mypacket[0]='R';
mypacket[1]='B';
mypacket[2]='O';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending RB detected");
//delay (100);
}
else if((uS_LB / US_ROUNDTRIP_CM) > 0 && (uS_LB /
US_ROUNDTRIP_CM) < 10)
{
mypacket[0]='R';
mypacket[1]='B';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending RB not detected");
delay (100);
}
}
3.
Programming of circuitry for wireless ultrasonic sensor REAR RIGHT
SIDE.
// -------------------------------------------------------------------#include <NewPing.h>
#define TRIGGER_PIN 6
#define ECHO_PIN 5
#define MAX_DISTANCE 400
#include <SPI.h>
#include <nRF24L01.h>
----------------------------------------------------------------------char mypacket[3];
//int sendingByte;
NewPing sonar_LB(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
void setup()
{
Serial.begin(115200);
Serial.begin(9600);
Mirf.spi = &MirfHardwareSpi;
Mirf.csnPin = 8;
// define CSN pin
58
Mirf.cePin = 9;
// define CE pin
Mirf.init();
Mirf.setRADDR((byte *)"00010"); // receiving address
Mirf.setTADDR((byte *)"00010"); // transmitting address
Mirf.payload = sizeof(mypacket); // up to 32 byte only
Mirf.channel = 50;
// pipeline channel
Mirf.config();
}
void loop() {
delay(50);
unsigned int uS_LB = sonar_LB.ping();
Serial.print("\n Ping: ");
Serial.print(uS_LB / US_ROUNDTRIP_CM);
Serial.println("cm");
---------------------------------------------------------------------if((uS_LB / US_ROUNDTRIP_CM) > 0 && (uS_LB /
US_ROUNDTRIP_CM) < 10 )
{
mypacket[0]='F';
mypacket[1]='1';
mypacket[2]='O';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 detected");
}
else if((uS_LB / US_ROUNDTRIP_CM) > 10)
{
mypacket[0]='F';
mypacket[1]='1';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 not detected");
//delay (100);
}
else if((uS_LB / US_ROUNDTRIP_CM) == 0)
{
mypacket[0]='F';
mypacket[1]='1';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 not detected");
}
}
59
4.
Programming of circuitry for wireless ultrasonic sensor FRONT RIGHT
SIDE.
// -------------------------------------------------------------------#include <NewPing.h>
#define TRIGGER_PIN 6
#define ECHO_PIN 5
#define MAX_DISTANCE 400
#include <SPI.h>
#include <nRF24L01.h>
----------------------------------------------------------------------char mypacket[3];
//int sendingByte;
NewPing sonar_LB(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
void setup()
{
Serial.begin(115200);
Serial.begin(9600);
Mirf.spi = &MirfHardwareSpi;
Mirf.csnPin = 8;
// define CSN pin
Mirf.cePin = 9;
// define CE pin
Mirf.init();
Mirf.setRADDR((byte *)"00010"); // receiving address
Mirf.setTADDR((byte *)"00010"); // transmitting address
Mirf.payload = sizeof(mypacket); // up to 32 byte only
Mirf.channel = 50;
// pipeline channel
Mirf.config();
}
void loop() {
delay(50);
unsigned int uS_LB = sonar_LB.ping();
Serial.print("\n Ping: ");
Serial.print(uS_LB / US_ROUNDTRIP_CM);
Serial.println("cm");
---------------------------------------------------------------------if((uS_LB / US_ROUNDTRIP_CM) > 0 && (uS_LB /
US_ROUNDTRIP_CM) < 10 )
{
mypacket[0]='F';
mypacket[1]='2';
mypacket[2]='O';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 detected");
60
}
else if((uS_LB / US_ROUNDTRIP_CM) > 10)
{
mypacket[0]='F';
mypacket[1]='2';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 not detected");
//delay (100);
}
else if((uS_LB / US_ROUNDTRIP_CM) == 0)
{
mypacket[0]='F';
mypacket[1]='2';
mypacket[2]='F';
Mirf.send((byte *) &mypacket);
while(Mirf.isSending()){}
Serial.print("\n sending F1 not detected");
}
5.
}
Programming of circuitry for warning light indicator
----------------------------------------------------------------#include <SPI.h>
#include <nRF24L01.h>
char mypacket[3];
int led = 4;
int led_1 =7;
int led_2 = 6;
int led_3 = 5;
int led_4 = A1;
int led_5 = A2;
int led_6 = A0;
int led_7 = 2;
int BUZZ = A5;
------------------------------------------------------------------void setup() {
// initialize the digital pin as an output.
pinMode(led, OUTPUT);
pinMode(led_1, OUTPUT);
pinMode(led_2, OUTPUT);
pinMode(led_3, OUTPUT);
pinMode(led_4, OUTPUT);
pinMode(led_5, OUTPUT);
pinMode(led_6, OUTPUT);
pinMode(led_7, OUTPUT);
pinMode (BUZZ, OUTPUT);
Serial.begin(9600);
61
Mirf.spi = &MirfHardwareSpi;
Mirf.csnPin = 9;
// define CSN pin
Mirf.cePin = 8;
// define CE pin
Mirf.init();
Mirf.setRADDR((byte *)"00010"); // receiving address
Mirf.setTADDR((byte *)"00010"); // transmitting address
Mirf.payload = sizeof(mypacket); // up to 32 byte only
Mirf.channel = 50;
// pipeline channel
Mirf.config();
}
----------------------------------------------------------------void loop()
{
Mirf.getData((byte *) &mypacket);
-----------------------------------------------------------------if(mypacket[0]=='L')
{
if(mypacket[1]=='B')
{
if(mypacket[2]=='O')
{
digitalWrite(led, HIGH);
Serial.print("\n receive LB detected");
}
else if(mypacket[2]=='F')
{
digitalWrite(led, HIGH); // turn the LED on (HIGH is the voltage level)
digitalWrite(BUZZ, HIGH);
delay(250);
digitalWrite(led, LOW);
digitalWrite(BUZZ, LOW);
delay(250);
Serial.print("\n receive LB not detected");
}
}
}
----------------------------------------------------------------------if(mypacket[0]=='F')
{
if(mypacket[1]=='1')
{
if(mypacket[2]=='O')
{
digitalWrite(led_1, HIGH);
digitalWrite(led_2, HIGH);
digitalWrite(led_3, HIGH);
Serial.print("\n receive F1 detected");
62
}
else if(mypacket[2]=='F')
{
digitalWrite(led_1, LOW
digitalWrite(led_2, LOW);
digitalWrite(led_3, LOW);
Serial.print("\n receive F1 not detected");
//delay (100);
}
}
}
-------------------------------------------------------------------if(mypacket[0]=='R')
{
if(mypacket[1]=='B')
{
if(mypacket[2]=='O')
{
digitalWrite(led_7, HIGH);
Serial.print("\n receive RB detected");
}
else if(mypacket[2]=='F')
{
digitalWrite(led_7, HIGH
digitalWrite(BUZZ, HIGH);
delay(250);
digitalWrite(led_7, LOW);
digitalWrite(BUZZ, LOW);
delay(250); // turn the LED on (HIGH is the voltage level)
Serial.print("\n receive RB not detected");
}
}
}
----------------------------------------------------------------------------if(mypacket[0]=='F')
{
if(mypacket[1]=='2')
{
if(mypacket[2]=='O')
{
digitalWrite(led_4, HIGH);
digitalWrite(led_5, HIGH);
digitalWrite(led_6, HIGH);
Serial.print("\n receive F2 detected");
}
else if(mypacket[2]=='F')
{
digitalWrite(led_4, LOW);
digitalWrite(led_5, LOW);
digitalWrite(led_6, LOW);
63
Serial.print("\n receive F2 not detected");
//delay (100);
}
}
}
}
.-----------------------------------------------------------------------------------------------