1.

INTRODUCTION:

The word “Auto pilot” mode here refers to the process of implementing the advanced technology in
vehicles which enables it to self-drive in high way roads without the control of the humans. This
process is going to be achieved by the use of Radars, Sensors and Advanced GPS maps. First a
compact path of the place where user wants to go is selected on the GPS map.
When the engine is started, all equipment’s will start to take positioning. The readings are obtained
from the radar every second. It detects the objects at the limit of 180’ angle and continuously feed
the control unit. This control unit is built with a lot of conditions that makes the vehicle to move in
the possible safe directions. Here 50% of the job is done by the radar equipment’s and rest of the
job is done by the advanced GPS mapping to make a safe journey. Separate signals are obtained
from the ground level to detect the speed breakers and conditions of the road. Same set of
equipment’s is fixed on the rear side of the vehicle to avoid other vehicles hit on rear side of the
user’s vehicle.
By implementing this technology in vehicles enables it to self-drive in the highway roads without
the control of the humans. This technology creates a new revolution in the Automobile and
transport field. It helps the user to save their valuable time which is wasted while driving and it is
not necessary for the drivers to be always seated in the driver seat except the places, where the
signals and road counters present. Many accidents are occurred due to the carelessness of the
drivers. This can be avoided by implementing this Autopilot mode technology. In this technology
many advanced equipment’s are going to be used to make a safe journey. This Autopilot mode
technology is going to be created by the combination of various departments in Engineering. But
among these departments of Engineering four departments are going to play a major role.
They are Mechanical, Electronics, Information Technology and Computer science departments.
Mechanical department is going to take care of all the mechanical movements of the vehicle.
Electronics department take care of the fetching of programs made by the programmers in the
controlling unit and for its proper functioning. Information technology and computer science
departments are going to be the back bone of this technology. Programs made by the programmers
are going to be responsible for the working conditions of the control unit. Let us see the
components and working of this technology in following paragraphs. A discussion about this
technology is already made by HONDA UK in 2006 but it has many draw backs and they don’t
explain about the working of this technology. I had created a new way to overcome from this draw
backs and I had explained about this process in detail in the following paragraphs in my own
creation

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 2. HOW IT WORKS?
This technology depends up on the components which are represented above. First the compact map
path to the place where the user wants to go is selected on the GPS maps in the display unit. When
the user starts the engine all the equipment’s will take positioning. The readings are obtained from
the radar every second. It detects the objects at the limit of 180’ angle and continuously feed the
control unit there by moving the vehicle in safe and proper directions. Control unit is built with a lot
of conditions that makes the vehicle to move in the possible safe directions according to the
readings from the radar, sensor and GPS maps.

Fig No. 4.1- Block Diagram of Different Components Present in Autonomous Car

Here 50% of the job is done by the radar equipment’s and rest of the job is done by the advanced
GPS mapping to make a safe journey. Separate signals are obtained from the sensors which are kept
at the bottom of the car straight to the wheel to detect the speed breakers and road damages which
help the vehicle to de-accelerate in the speed breaker and damaged road areas. Advanced GPS
mapping technology makes the car to remain in the Indian rule of “keep left”. It synchronizes the
vehicle and the road. This only helps the vehicle to turn properly during the curves. Same set of the
equipment’s is fixed on the rear side of the vehicle to avoid other vehicles to hit the user’s vehicle
during de-acceleration, curves and overtaking.

2.1 RADARS

Radar is an object detection system that uses electromagnetic waves to identify the range, altitude,
direction, or speed of both moving and fixed objects such as aircraft, ships, motor vehicles, weather
formations, and terrain. The term RADAR is defined as radio detection and ranging. A radar system
has a transmitter that emits radio waves. When they come into contact with an object they are

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scattered in all directions. The signal is thus partly reflected back and it has a slight change of
wavelength (and thus frequency) if the target is moving. The optimal range can be fixed as 50m.The
receiver is usually, in the same location as the transmitter. Although the signal returned is usually
very weak, the signal can be amplified through use of electronic techniques in the receiver and in
the antenna configuration. This enables radar to detect objects at ranges where other emissions from
the target object, such as sound or visible light, would be too weak to detect.

Fig No. 2.1- RADAR of Autonomous Car

Fig No. 2.2- The radar signals are transmitted and readings of the detected object is received
by the reflected signals from it in front of the car.

From the above picture it has been observed that the radar signals are transmitted and readings of
the detected object is received by the reflected signals from it in front of the car. By the radar

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readings the control unit automatically accelerates and de-accelerates the car. In case object in front
of the car moving slowly means then the control unit will go for the “overtaking” mode.
Before overtaking it is necessary to analyses what might go wrong while overtaking. This mode
will find the possible direction and space to overtake the object in the front to move ahead. How
this process works means; at first the signal from the front radar is obtained that, object is present in
the front of the car. Now the radar will analyze whether it is possible to overtake. If it is possible
means the vehicle will try to overtake.

Fig No. 2.3- To find the possible direction and space to overtake the object in the front to
move ahead

There is a possibility for the vehicle to hit the object while steering left during overtakes. A constant
signal of 90 degree is obtained from the front radar detecting that an object is present in left.

Fig No. 2.4- A constant signal of 90 degree is obtained from the front radar detecting that an
object is present in left.

After the front radar crossed the vehicle, readings will start to come from the rear radar. This will
indicate that the object is still present and now cannot steer left. A constant reading will be taken
from the rear radar as 90 degree. This will not change until the rear radar crosses the object.

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 Fig No. 2.5- A constant reading is being taken from the rear radar as 90 degree

When the back radar crossed the object the angle 90 degree will start to increase. This detects that
the car had crossed the object. A particular degree is denoted in the program, when the vehicle has
to steer. 110 degree is enough to steer the vehicle safely.

Fig No. 2.6-The back radar crossing the object at an angle of 90 degree will start to increase.

Fig No. 2.7-Steering at an angle of 110 degree is enough to steer the vehicle safely

Thus, the overtake mode is achieved successfully. This is how the process is going to work. Radars
cannot detect the road condition as it is kept at the bumper of the car. So, separate sensors are kept
near the wheel to detect the road conditions.

2.2 SENSOR

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A sensor is a device that measures a physical quantity and converts it into a signal which can be
read by an observer or by an instrument. Here sensors are kept near the front wheel there by
focusing the road as shown at an angle of 160 degree.

Fig No. 2.8- SENSOR of Autonomous Car

The terms "sensor" and "transducer" have often been used as synonyms. The American National
Standards Institute (ANSI) standard defines a transducer as "a device which provides a usable
output in response to a specific measurand". An output is defined as an "electrical quantity," and a
measurand is ''a physical quantity, property, or condition which is measured." the ANSI standard
stated that "transducer" was preferred to "sensor." However, the scientific literature has not
generally adopted the ANSI definitions, and thus currently "sensor" is the most commonly used
term.
In order to describe and characterize the performance of a sensor, a large and specific vocabulary is
required. Several excellent references, which provide a basic review of transducer characteristics.
Table No. 2.1- Sensor Characteristics
STATIC DYNAMIC ACCURACY
Dynamic Error Response Distortion Hysteresis
Instability and Drift Minimum Detectable Signal Noise
Nonlinearity Operating Range Selectivity/Specific
Repeatability Sensitivity Step response
Threshold

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Classifying the signal domains in the manner while not precise, demonstrates that understanding the
physics of the application is vital to selecting the appropriate sensor scheme, materials, and design.
It is one method of visualizing the transduction principles involved in sensing.
Table No. 2.0- Sensor Energy Forms
ENERGY FORM EXAMPLE MEASURAND
Length, Area, Volume, All Time Derivation such as
Mechanical Linear/Angular Acceleration, Mass Flow, Force, Torque,
Pressure.
Thermal Temperature, Specific Heat, Entropy, Heat Flow.
Voltage, Current, Charge, Resistance, Inductance, Capacitance,
Electrical Dielectric Constant, Polarization,
Electric Field, Frequency, Dipole Moment
Radiant Intensity, Phase, Wavelength, Polarization, Reflectance,
Transmittance, Reflective Index.
Magnetic Field Intensity, Flux Density, Magnetic Moment, Permeability.

2.3 ADVANCED GPS MAPPING SYSTEMS

Global Positioning System, a system that's changed navigation forever. The Global Positioning
System (GPS) is a worldwide radio-navigation system formed from a constellation of 24 satellites
and their ground stations.
GPS uses these "man-made stars" as reference points to calculate positions accurate to a matter of
meters. In fact, with advanced forms of GPS you can make measurements to better than a
centimeter.
GPS works in five logical steps-
1. The basis of GPS is "triangulation" from satellites.
2. To "triangulate," a GPS receiver measures distance using the travel time of radio signals.
3. To measure travel time, GPS needs very accurate timing which it achieves with some tricks.
4. Along with distance, you need to know exactly where the satellites are in space. High orbits and
careful monitoring are the secret.
5. Finally you must correct for any delays the signal experiences as it travels through the
atmosphere.

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 Fig No. 2.9- Advanced GPS Mapping Systems of Autonomous Car

GPS SIGNAL IN DETAIL –

 CARRIERS -
The GPS satellites transmit signals on two carrier frequencies.
The L1 carrier is 1575.42 MHz and carries both the status message and a pseudo-random code for
timing.
The L2 carrier is 1227.60 MHz and is used for the more precise military pseudo-random code

 PSEUDO-RANDOM CODES-
There are two types of pseudo-random code (see tutorial for explanation of pseudo random codes in
general).
The first pseudo-random code is called the C/A (Coarse Acquisition) code. It modulates the L1
carrier. It repeats every 1023 bits and modulates at a 1MHz rate. Each satellite has a unique pseudo-
random code. The C/A code is the basis for civilian GPS use.
The second pseudo-random code is called the P (Precise) code. It repeats on a seven-day cycle and
modulates both the L1 and L2 carriers at a 10MHz rate. This code is intended for military users and
can be encrypted. When it's encrypted it's called "Y" code.
Since P code is more complicated than C/A it's more difficult for receivers to acquire. That's why
many military receivers start by acquiring the C/A code first and then move on to P code.

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 NAVIGATION MESSAGE-
There is a low frequency signal added to the L1 codes that gives information about the satellite's
orbits, their clock corrections and other system status.
There are several good reasons for that complexity: First, the complex pattern helps make sure that
the receiver doesn't accidentally sync up to some other signal. The patterns are so complex that it's
highly unlikely that a stray signal will have exactly the same shape. Since each satellite has its own
unique Pseudo-Random Code this complexity also guarantees that the receiver won't accidentally
pick up another satellite's signal.
So, all the satellites can use the same frequency without jamming each other. And it makes it more
difficult for a hostile force to jam the system. In fact, the Pseudo Random Code gives them a way to
control access to the system.

USING GPS FOR TIMING –

We generally think of GPS as a navigation or positioning resource but the fact that every GPS
receiver is synchronized to universal time makes it the most widely available source of precise time.
This opens up a wide range of applications beyond positioning. GPS is being used to synchronize
computer networks, calibrate other navigation systems, and synchronize motion picture equipment
and much more. The secret to perfect timing is to make an extra satellite measurement. That's right,
if three perfect measurements can locate a point in 3-dimensional space, then four imperfect
measurements can do the same thing.

THE PROBLEM-
Remember that GPS receivers use timing signals from at least four satellites to establish a position.
Each of those timing signals is going to have some error or delay depending on what sort of perils
have befallen it on its trips down to us. Since each of the timing signals that go into a position
calculation has some error, that calculation is going to be a compounding of those errors.

 Localization denotes the robot’s ability to determine its own position and orientation (pose) within
a global reference frame. Path planning defines the computation of an adequate sequence of motion
commands to reach the desired destination from the current robot position. Due to its planning
component, path planning is typically done before motion. The planned path is followed by the
robot using feedback control. This controller includes reactive obstacle avoidance as well as global
path preplanning. 
The potential application areas of the autonomous navigation of mobile robots include automatic
driving, guidance for the blind and disabled, exploration of Dangerous regions, transporting objects

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in factory or office environments, collecting geographical information in unknown terrains like
unmanned exploration of a new planetary surface, etc.
This system takes the current position as source and gets the destination point from user. User has
to specify the destination in the map. System finds the shortest path to the destination and extracts
the latitude & longitude coordinates from the graph & sends to the vehicle. Vehicle follows the
coordinate using GPS and compass. If GPS signal not received, inertial navigation system is used to
obtain current coordinate.

2.4 DISPLAY UNIT-

A dashboard (also called dash, instrument panel (IP), or fascia) is a control panel usually located

directly ahead of a vehicle's driver, displaying instrumentation and controls for the vehicle's
operation.

Fig No. 2.10- Working of Display Systems of Autonomous Car

4.5.1 Functions of Display Systems -
(1) A display system shall not present the kind of information that impairs the safety and smooth
flow of road traffic.
(2) It is desirable that a display system be designed, where possible, to comply with an
Internationally agreed standard respecting readability, audibility, icons, symbols, Letters,
abbreviations, and other factors relating to the manner of information display.

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(3) The luminous intensity, contrast, colors and other display conditions of a display system shall be
important.
Presentation of Auditory Information -
(1) A display system shall be equipped with a means of controlling auditory information, but not
including alarms, for the checking time who may find auditory information distracting.
(2) A display system shall not be capable of generating an uncontrollable volume of Sound that may
cancel out alarms sounded from inside or outside of the vehicle.
Display System Operation While Vehicle in Motion -
Importantly, while operating the display systems of their vehicles, display systems in response to
displayed information must be confined within the time allowance given by confronting traffic
situations. Furthermore, display system is slow, even though the surrounding situation demands full
attention to driving.
For these reasons, the following requirements should be fulfilled with a view to enabling
(1) The operation of a display system shall not result in a marked obstruction of forward field
visibility.
(2) Preferably, the visual information to be displayed is sufficiently small in volume or is presented
in portions so that the display system can be operated in separate steps.
(3) Preferably, a display system is so designed that its display of information can be discontinued
by the system.
(4) Preferably, when its display of information is discontinued, a display system is capable of
resuming the display from the point of discontinuation or a point enabling the understanding of
the displayed information as a whole.
(5) Information, such as the reporting of system state and operation that is displayed in response to
the data inputted by the system shall be quickly and easily comprehensible
Map Display Function-
Maps to be displayed for navigation purposes shall not show minor roads in urban areas However,
if the indication of such roads causes the system neither to gaze continuously at nor to look for
shortcut routes on the screen, minor roads in urban areas may be shown in navigation maps on the
following conditions:
a. Those minor roads deemed important in the entire network of roads may be shown.
b. In maps more detailed than a 1:20,000 scale, minor roads may be shown only while running on
narrow roads. However, when the map on the screen is manually scrolled (including improved
and simplified scrolling operations), minor roads shall not be shown
c. In maps of a 1:5,000 or more detailed scale, minor roads may be shown while the vehicle is in
motion. However, when the map on the screen is manually scrolled (including improved and
simplified scrolling operations), minor roads shall not be shown

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3. ADVANTAGES & DISADVANTAGES OF AUTO PILOT VEHICLES

3.1 ADVANTAGES OF AUTO PILOT VEHICLES

    1. Travelers would be able to journey overnight and sleep for the duration.
2. Traffic could be coordinated more easily in urban areas to prevent long tailbacks at busy
times. Commute times could be reduced drastically.
   3. Reduced or non-existent fatigue from driving, plus arguments over directions and navigation
would be a thing of the past.
    4. Sensory technology could potentially perceive the environment better than human senses,
seeing farther ahead, better in poor visibility, detecting smaller and more subtle obstacles, more
reasons   for less traffic accidents
5. Without the need for a driver, cars could become mini-leisure rooms. There would be
more space and no need for everyone to face forwards. Entertainment technology, such as video
screens, could be used to lighten long journeys without the concern of distracting the driver.
    6. Over 80% of car crashes in the USA are caused by driver error. There would be no bad
drivers and less mistakes on the roads, if all vehicles became driverless. Drunk and drugged
drivers would also be a thing of the past.
    7. Speed limits could be increased to reflect the safer driving, shortening journey times.
    8. Parking the vehicle and difficult maneuvering would be less stressful and require no special
skills. The car could even just drop you off and then go and park itself.
   9. People who historically have difficulties with driving, such as disabled people and older
citizens, as well as the very young, would be able to experience the freedom of car travel.
There would be no need for drivers' licenses or driving tests.
   10. Autonomous vehicles could bring about a massive reduction in insurance premiums for
car owners.
   11. Efficient travel also means fuel savings, cutting costs.
   12. Passengers should experience a smoother riding experience.
   13. Self-aware cars would lead to a reduction in car theft.

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3.2 DISADVANTAGES OF AUTO PILOT VEHICLES

1. A computer malfunction, even just a minor glitch, could cause worse crashes than anything 
that human error might bring about.
2. If the car crashes, without a driver, who's fault is it: Google/the software designer, or the owner
of the vehicle?
3. The cars would rely on the collection of location and user information, creating major privacy
concerns.
4. Hackers getting into the vehicle's software and controlling or affecting its operation would be a
major security worry.
5. Driverless cars would likely be out of the price range of most ordinary people when generally
introduced, likely costing over $100,000.
6. Truck drivers and taxi drivers will lose their jobs, as autonomous vehicles take over.
7. As drivers become more and more used to not driving, their proficiency and experience
will diminish. Should they then need to drive under certain circumstances, there may be problems.
8. The road system and infrastructure would likely need major upgrades for driverless vehicles
to operate on them. Traffic and street lights, for instance, would likely all need be altering.
9. Self-driving cars would be great news for terrorists, as they could be loaded with explosives and
used as moving bombs.
10.There are problems currently with autonomous vehicles operating in certain types of weather.       
11. Heavy rain interferes with roof-mounted laser sensors, and snow can interfere with its cameras.
12. Reading human road signs is challenging for a robot.

4. CONCLUSION

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By implementing this Autopilot mode technology will surely reduce the occurrences of road
accidents by a considerable value. In the future, the wide acceptance of my technology will create
an “Accident free world”.

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