INDEX

1. INTRODUCTION
2. BLOCK DAIGRAM
3. CONTROL UNIT
4. APPLICATION
5. MERITS DEMERITS
6. FUTURE SCOPE
7. CONCLUSION
8. REFERENCE
 1. INTRODUCTION

The inventions of the integrated circuit and later, the micro computer, were major factors in
the development of electronic control in automobiles. The im-portance of the micro computer
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 micro-computer 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 getting 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
slowdown in snowy or icy conditions. We perform many tasks while driving without even
thinking about it. Completely automating the car is a challenging task and is a long way o ff.
However, advances have been made in the individual systems.
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. As of 2010, Google
has tested several vehicles equipped with the system, driving 140,000 miles (230,000 km)
without any human intervention, the only accident occurring when one of the cars was rear-
ended while stopped at a red light. 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.
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.Theproblem 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 full proof final product. The product
will not be accepted instantly, but over time as the systems become more widely used people
will realize the benefits of it.
 2. BLOCK DIAGRAM

The block diagram of Googles driver less car is shown below. It includes sensor
section, processor section and drive by wire technology.

Block diagram of the system.

The main controller of the vehicle is the microprocessor section. There are twoprocessors,
one is for the general working and one for handling the sensory inputs which is real time.
 3. CONTROL UNITS
the different classification of driverless car:
Level 0: Driver only: the human driver controls everything independently, steering, throttle,
brakes, etc.
Level 1: Assisted driving: assistance systems help during vehicle operation (Cruise Control,
ACC).

Level 2: Partial automation: the operator must monitor the system at all times. At least one
system, such as cruise control and lane centering, is fully automated.

Level 3: Conditional automation: the operator monitors the system and can intervene when
necessary. Safety-critical functions, under certain circumstances, are shifted to the vehicle.

Level 4: High automation: there is no monitoring by the driver required. Vehicles are
designed to operate safety-critical functions and monitor road conditions for an entire trip.
However, the functions do not cover all every driving scenario and are limited to the
operational design of the vehicle.

Level 5: Full automation: operator-free driving.

 The key technology of a self-driving car
The automatic control, architecture, artificial intelligence, computer vision and many other
technologies are integrated into the self-driving car, which is a product of the highly
developed computer science, pattern recognition and intelligent control technology. From a
different viewpoint, the technology of self-driving car represents the level of scientific
research and industrial strength of a country. However, few papers have surveyed the
technology process of a self-driving car due to its complexity. In view of this problem, this
paper proposed a new classification, as shown in for the key technology of self-driving car
according to the function implementation, which will make the description easy and clear.

Compared with manual driving, it is the key characteristic of a self-driving car that using
automation equipment to replace the human driver. Based on this characteristic and functional
requirement on driving and on-board equipment module, the core technology of self-driving
car is classified into four key parts, which are known as car navigation system, path planning,
environment perception and car control.

Car navigation system

During self-driving, two issues, which are the current location of the car and how to go from
the location to the destination, must be resolved. Certainly, the above two issues can be
solved by a human’s own knowledge in human driving. However, in self-driving, the car
must be able to automatically and intelligently locate its position and perform the path
planning to destination. For this objective, the on-board car navigation system is deployed on
the self-driving car.

The structure of car navigation system and its metadata processing model are depicted In the
car navigation system, geographic information system and global positioning system (GPS)
are equipped to receive the location information such as longitude and latitude from the
satellite. These information, together with the road information generated by location system
and digital map database, serve as the source data inputted into the map-matching model,
where the intelligent path planning algorithms (i.e. Dijkstra algorithm, Bellman-Ford
algorithm) are utilized to enable the path planning calculation. After calculation, the self-
driving car can locate itself. With the information of the self-driving car’s location and the
destination, the driving route can also be programmed and calculated by the path planning
model.
Location system

The main purpose of the location system is to determine the vehicle location, which generally
can be classified into relative location, absolute location and hybrid location. For relative
location, the current position of self-driving car is obtained by adding the moving distance
and direction to the prior position. For instance, inertial navigation system (INS) (Farrell and
Barth, 1999) is a common relative location system. In INS, the vehicle angular velocity and
accelerated velocity are obtained by the gyroscope sensor and accelerometer installed in the
car. By integrating these data (i.e. angular velocity, accelerated velocity), the car’s relative
course angle and speed can be calculated. Similarly, the car’s direction and mileage can be
obtained by integrating the course angle and speed once again. Combining with the prior
vehicle location, the current vehicle location can be calculated. However, due to the vehicle
vibration during moving, it is inevitable to lead to the deviation between the calculated
location and actual location.

Electronic map (EM)

EM is used for digital map information storage, which mainly includes geographical
characteristics, traffic information, building information, traffic signs, road facilities, etc.
Nowadays, most of the EMs which are used in a self-driving car are the EMs designed for
humans. It is expected that special EMs for self-driving, such as automatic road sign
recognition, car’s driving information interacting among self-driving cars, will be developed
in the future.

Now, the EM for self-driving car named HD map has already shown up. Compared with the
traditional map, on the one hand, the accuracy of absolute coordinates of an HD map is
higher. For example, it is declared that its next generation of drawing applications will be
accurate in centimeters and, on the other hand, the road traffic information elements are richer
and more detailed.
In particular, the HD map is divided into three layers: the active layer, the dynamic layer and
the analytical layer:

1.Active layer, compared to the traditional map, adds HD road-level data (road shape,
slope, curvature, laying, direction, etc.), the data of lane attribute (lane type, lane
width, etc.) and the elevated objects, guardrail, trees, road edge types, roadside
landmarks and other large target data.

2.Dynamic layer will update real-time traffic data from other vehicle sensors and road
sensors. The update and supplement is in real time. This is the second phase of HD
map, namely, network integration-collaborative perception.

3.Analysis layer helps train self-driving car by analyzing the real-time big data of
human driving records. Therefore, the HD map enters the third phase of network
integration-coordinated decision-making and control.

Map matching

Map matching, which is the foundation of the path planning, calculates out the car’s location
by using the geographical information from GPS/INS and the map information from EM.
During the calculation, the advanced fusing technique is employed to fuse the longitude and
attitude or other coordinates information into the EM. From the practical viewpoint, the
output of car location should be accurate and time efficient. In this regard, it is an important
issue to find a good method to fuse the information from GPS and INS. In fact, sometimes the
satellite signal in GPS or the INS could be lost, therefore, a good data fusion method that can
integrate the information from the existing location and route scenario will greatly enhance
the accuracy, robustness and reliability.

Global Path Planning

Global Path Planning is used to determine the optimal driving path between the start point
and end point. Generally, the typical path planning algorithms, such as Dijkstra algorithm,
Bellman-Ford algorithm, Floyd algorithm and heuristic algorithm (Seshan and Maitra, 2014)
are employed to fuse the EM information and calculate the optimal path. Due to the global
path, planning is at mature stage and already implemented commercially on a large scale, so
this paper will not cover this topic.
environment perception

Environment perception is the second module of a self-driving car. To provide necessary

information for a car’s control decision, the car is required to independently perceive
surrounding environment. The major methods of environment perception include laser
navigation, visual navigation and radar navigation.

During environment perception, multi-sensors (i.e. laser sensor, radar sensor) are deployed to
sense the comprehensive information from the environment, which are then fused to perceive
the environment. Among the sensors, the laser sensor is utilized for bridging between the real
world and data world, radar sensor is used for distance perception and visual sensor is for
traffic sign recognition. A typical recognition scheme is shown in Figure 3, the self-driving
car fuses data from laser sensors, radar sensors and visual sensors, and generates the
surrounding environment perception, such as road edge stone, obstacles, road marking and so
on.

Laser perception

Strictly speaking, laser perception system is a kind of radar system. In laser perception, a
continuous laser or laser pulse is launched to the target, and a reflected signal is received at
the transmitter. By measuring the reflection time, reflection signal strength and the shift of the
operation frequency, the cloud data of target point can be generated, then the testing object
information, such as location (distance and angle), shape (size) and state (velocity and
attitude) can be calculated out.

To speed up the process of implementing self-driving car into the market, many other issues,
such as accuracy, cost, are required to be considered. Since laser sensor is the main sensor of
self-driving car in the environment perception, the accuracy and reliability of laser radar is
important, and it represents the degree of maturity of a self-driving car. In addition, the cost is
also an important factor in deploying the laser sensors. For instance, the 3D omnidirectional
laser radar HDL-64E provided by Velodyne company installed on the Google self-driving car
can achieve high accuracy and reliability, however, it cost up to $80,000. Therefore, how to
reduce the price of laser sensor in a self-driving car is another important research topic.
Radar perception

Radar perception is generally used for distance detection, which is achieved by calculating
the return time of millimeter wave transmitted by the radar sensor. As the radar detecting
distance has been relatively matured, this paper will not cover this topic, but will only
introduce some productions.

The major global suppliers of automotive millimeter wave radar are traditional enterprises
with advantage of automotive electronic, such as Bosch, Continental, Hella, Fujitsu Ten,
DENSO, TRW, Delphi, Autoliv and Valeo and so on. Among them, the core product of Bosch
is a long-range millimeter wave radar, which is mainly used in the ACC system. The latest
product LRR4 can detect vehicles 250 meters away, as currently it is the only wave radar with
farthest detection range of millimeter and has the highest market share. However, the
customers of Bosch mainly concentrate on Audi and Volkswagen. Continental has a wide
range of customers and a complete product line. The main products are 24 GHz millimeter
wave radar, which has a high market share in the field of Stop & Go ACC. Hella has the
widest range of customers in the 24GHz-ISM field. Ten million 4 GHz millimeter wave radar
has been off the assembly line, 6.5 million have been shipped; therefore, the market share of
Hella is first in the world. The fourth-generation 24 GHz radar sensor will be ready for global
production in 2017. Fujitsu and Denso dominate the Japanese market, where Fujitsu has a
slightly better market share. Fujitsu, Panasonic and Denso will be strong competitors in the
79 GHz radar market in the future.

Visual perception

Visual perception is necessary for a self-driving car, i.e. it is necessary to identify the traffic
signals. Nowadays, most traffic signals are designed for the human vision; therefore, it is
necessary to recognize the traffic signal. Besides, the machine vision is also used for location,
navigation, to judge the motion and so on. However, it is complex that environment
perception use vision due to the large amount of information and inefficient algorithms.
Specifically, the most complex visual perception is how to ensure the reliability and
robustness of the algorithm (Ben-Afia et al., 2014).
Vehicle control
Vehicle control mainly includes vehicle speed and direction control. Generally, the
functionalities of vehicle control are the vehicle’s status perception and the development of
vehicle’s control method. To achieve vehicle speed and direction calculation, the EM
information including environment perception, vehicle status, driving target, traffic
regulations and driving knowledge are fed as input into the perception module, then the
vehicle control algorithm performs the calculation of the control target, which is then passed
into the vehicle control system. Finally, the vehicle control system executes those instructions
to control the vehicle’s direction, speed, light, horn and so on.
 4. APPLICATIONS
Intelligent transporting

Intelligent transport systems vary in technologies applied from basic

management systems such as car navigation traffic signal, control systems,
container management systems, variable message signs, automatic number plate
recognition or s p e e d c a m e r a s t o m o n i t o r a p p l i c a t i o n s s u c h a s s e c u r i t y
C C T V s y s t e m s a n d t o more advanced applications that integrate live data and
feedback from a number of other sources such as parking guidance and
information systems, weather information bridge deicing systems and the like
Additionally, predictive techniques are being developed to allow advanced modeling
and comparison with historical baseline data this technology will be a
revolutionary step in intelligent transporta tion.

Military applications

Automated navigation system with real time decision making capability of the system makes
it more applicable in war fields and other military applications.

Transportation in hazardous places

The complete real time decision making capability and sensor guided navigation will leads
to replace the human drivers in hazardous place transportation.

Shipping

Autonomous vehicles will have a huge impact on the land shipping industry. One way to
transport goods on land is by freight trucks.There are thousands of freight trucks
on the road everyday driving for multiple days to reach their destination. A l l o f
t h e s e t r u c k s a r e d r i v e n b y a p a i d e m p l o y e e o f a t r u c k i n g c o m p a n y. I f t h e
trucks were able to drive on their own, a person to move the vehicle from one
point to another is no longer needed. The truck is also able to drive to their
destination w i t h o u t h a v i n g t o s t o p , s l e e p , e a t o r a n y t h i n g b e s i d e s
m o r e f u e l . A l l t h a t i s necessary is someone to load the vehicle and someone
to unload the vehicle.This would save trucking companies a very large amount of
money, but it would also p u t t h o u s a n d s o f p e o p l e o u t o f j o b s . T h e s e p e o p l e
would have to find and learn a new profession as driving a freight truck
i s a f u l l t i m e j o b w i t h l i t t l e t i m e s p e n t at home to learn how to do another
profession.This is potentially life ruining form any employees in this industry.

Taxi services

Another business that would be strongly affected is taxi services.It is based

solely on driving someone around who does not have a car or does not want to
drive.Then a n e m p l o y e e i s d i s p a t c h e d t o g o a n d p i c k u p t h e p e r s o n a n d
bring them to their destination.This type of service could lower the
number of vehicles on the road because not everyone would have to
o w n a c a r, p e o p l e c o u l d c a l l t o r e q u e s t a n a u t o n o m o u s c a r t o b r i n g t h e m
a r o u n d . Ta x i s a l s o d r i v e a r o u n d c i t i e s a n d w a i t i n b u s y a r e a s f o r p e o p l e
to request a cab.A taxi service comprised completely of a u t o n o m o u s
vehicles could be started. A person can call in and request to be
picked up and then be brought to their destination for a fee.
T h e r e c o u l d b e autonomous taxis waiting in designated areas for
p e o p l e t o c o m e a n d u s e t h e m . Many taxi drivers need the job because they
are unable to perform other jobs for various reasons. The need for a human in the
service goes away almost completely. This is another example of a large amount
of people being removed from their jobs b e c a u s e o f a u t o n o m o u s v e h i c l e s
being able to perform the task without the need of an extra person.

Public transportation

Various forms of public transportation are controlled by a human operator. Whether i t i s o n

a b u s , i n a t r a i n , s u b w a y, s t r e e t c a r, o r s h u t t l e , t h e r e i s a p e r s o n s i t t i n g
in the drivers seat and they are controlling what the vehicle is doing.
For trains and other rail based transportation, it is a simpler process
m o r e i n v o l v e d w i t h accelerating and decelerating the train from and into stops
with no concern over keeping in a lane. However, on a bus or shuttle, a person
must follow rules, watch t h e a c t i o n s o f o t h e r d r i v e r s a n d p e d e s t r i a n s , k e e p
the bus in lane, and make sure they stop at every bus station.These are
many tasks that one person must be able to handle and react to and
c o n t r o l a t t h e s a m e t i m e . I n t h e e a r l y s t a g e s o f implementation, it would
most likely keep the driver behind the wheel as a safe-guard in case there is a
problem with the system.The driver would also be needed i n t h e b e g i n n i n g i n
o r d e r f o r t h e g e n e r a l p u b l i c t o t r u s t i t a t fi r s t . A s t h e l i f e o f the
autonomous vehicle systems progresses, bus drivers would no longer be needed
as the system would be able to perform all of the required tasks.
I t i s a s i m p l e job of following a specific route and stopping at designated points.The
problems w o u l d a r i s e f r o m a c t i o n s o f o t h e r v e h i c l e s i n t h e a r e a . T h e m o s t
ideal situationis when the autonomous vehicle systems have matured to
the point that nearly every vehicle on the road is autonomous.
 5. MERITS AND DEMERITS
MERITS:
1) Safety
Safety issues have the most serious impact on daily life out of all the
transportation problems. Traffic accidents have colossal negative effects on economy.
Travelling b y t h e c a r i s c u r r e n t l y t h e m o s t d e a d l y f o r m o f t r a n s p o r t a t i o n
w i t h o v e r a m i l l i o n deaths annually worldwide. For this reason, the majority of the
research projects in the transportation sector concentrate on developing safety systems.
Implementation of autonomous vehicles can greatly reduce the number of crashes,
since 90 percent of the traffic accidents are caused by human error. Intelligent
safety systems that are currently in use have already proven their success in
helping drivers avoid accidents. According to EUROSTAT data, the number of
road fatalities in the EU has been reduced from 56,027 to 28,849 people per year
between the years of 1991 and 2010. This data indicates a reduction of about 30
percent, which reflects the better safety performance of recent vehicles when
compared to previous vehicle generations.

2) Impacts on Traffic
With the introduction of a fully autonomous vehicle, traffic flow would rastically c h a n g e .
Tr a f f i c i s c u r r e n t l y a n u i s a n c e t o d r i v e r s a l l o v e r t h e w o r l d . I n t h e e a r l y
stages of implementation to the highway system there would be a
c o m b i n a t i o n of autonomously driven vehicles and human controlled vehicles.
This could cause some confusion and problems concerning the reaction of
motorists to the driverless vehicles and how well the autonomous vehicles can
integrate into traffic flow. The autonomous vehicles would be following all
traffic laws while human drivers have the choice to break the law. As time
progresses and the autonomous car becomes a more commonly used vehicle on the
road, traffic would become far less congested. Cars would be able to seamlessly merge into
moving traffic and then exit the highway just as easily. With the reduction of traffic, there is
a chance that there could be economic improvements. Also, with less stop and go traffic,
average fuel economy would be improved. Vehicles are also following each other consistently
which would help with fuel usage as well.
3) Fuel economy
Autonomous vehicles will eliminate ineffective speeding up and braking, operating at an
optimum performance level in order to achieve best possible fuel efficiency. Even if the fuel
efficiency achieved by the autonomous vehicles were 1 percent better, this would result in
billions of dollars of savings in the US alone. It is possible to obtain superior fuel efficiency
as a result of the implementation of autonomous safety systems. Total savings that can be
achieved by the increased fuel efficiency can be calculated by making some assumptions such
as 10% as a result of more efficient driving. 5% as a result of cars being 300 pounds lighter
on average. 10% as a result of more efficient traffic flow. According to the assumptions made
above, the implementation autonomous vehicles will result into fuel savings of 25 percent,
which is rough estimate.

4) Time Costs
The phrase time is money is true for most situations in modern life and the monetary value of
time is increasing every day. Using automated cars could save considerable amount of time in
a persons life, especially if the person resides in a busy city. Even if the time savings were not
considered as having monetary value, having more time for leisure activities would raise our
life standards. Lowering the amount of time lost will also enable people to be on time and
more dynamic, resulting in a significant improvement in work efficiency. One of the biggest
advantages of this technology will be the elimination of traffic problems in cities, which are
at the top of the most frustrating problems list for most people. By enabling a smoother traffic
flow, the new system will be saving a lot of time which can be used for work or leisure.
DEMERITS:

1) The equipments and technologies used are costly, the main equipments used in
t h i s t e c h n o l o g y a r e r a d a r, l i d a r, p o s i t i o n s e n s o r, g p s m o d u l e , M u l t i c o r e
h e t e r o geneous processor, JAUS interoperable communication systems, high
resolution cameras are very costly now.

2) Complex artificial intelligence software the brain of the robotic car is its intelligent real
time decision making software, the design and implementation of this part of the system is
much more complicated.

3) Present road conditions may vary and which will affect the decisions made by
the software since our system is mainly based on pure artificial
i n t e l l i g e n c e , t h e non ideal conditions and decisions made by other human
drivers may vary. This may affect the ideal operation of the robotic car.

4) Professional drivers will be jobless.

 6. FUTURE SCOPE

The transition to an automated transportation structure will greatly prevent m a n y

problems caused by the traffic. Implementation of autonomous cars will
a l l o w t h e v e h i c l e s t o b e a b l e t o u s e t h e r o a d s m o r e e f f i c i e n t l y, t h u s
s a v i n g s p a c e a n d t i m e . Wi t h h a v i n g a u t o m a t e d c a r s , n a r r o w l a n e s w i l l
n o l o n g e r b e a p r o b l e m and most trffc problems will be avoided to a great
extent by the help of this new t e c h n o l o g y. R e s e a r c h i n d i c a t e s t h a t t h e
t r a f f i c p a t t e r n s w i l l b e m o r e p r e d i c t a b l e and less problematic with the
integration of autonomous cars. S m o o t h t r a f f i c fl o w i s a t t h e t o p o f t h e
w i s h l i s t f o r c o u n t l e s s t r a n s p o r t a t i o n o f f i cials. 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 o f o u r d a i l y l i v e s , b u t
i t i s h a r d t o p r e d i c t w h e n T h e m o s t i m p o r t a n t f a c t o r i s whether the public
sector will be proactive in taking advantage of this capability o r n o t . T h e
P u b l i c S e c t o r w i l l d e t e r m i n e i f t h e b e n e fi t s w i l l c o m e s o o n e r r a t h e r than
later. S i n c e t h e s e a s s i s t s y s t e m s a r e v e r y s i m i l a r w i t h t h e s y s t e m s t h a t
a r e u s e d i n a u tonomous car prototypes, they are regarded as the transition
elements on the way to the implementation fully autonomous vehicles.
 7. CONCLUSION

C u r r e n t l y, t h e r e a r e m a n y different technologies available that can

a s s i s t i n 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 t o c o n t r o l a l l o f t h e c o m p o n e n t w i l l b e c o m e a
f u l l y a u t o n o m o u s s y s t e m . T h e 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
n e a r f u l l p r o o f fi n a l p r o d u c t . T h e p r o d u c t w i l l n o t b e a c c e p t e d i n s t a n t l y,
but overtime as the systems become more widely used people will
r e alize 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.
 8. REFERENCE

1. https://www.youtube.com/watch?v=s7aJxSoXb7A

2.https://www.sensorsmag.com/components/three-sensor-types-drive-
autonomous-vehicles

3.https://auto.howstuffworks.com/under-the-hood/trends-innovations/
driverless-car.htm

4.https://www.wired.com/story/tesla-autopilot-self-driving-crash-
california/