A

MINI PORJECT REPORT

ON

“DENSITY BASED TRAFFIC CONTROL

SYSTEM”
FOR PARTIAL FULFILLMENT
OF THE REQUIREMENTS FOR THE
EMPLOYABILITY SKILLS ANS MINI PROJECT SUBJECT
OF T.E. E&TC – 2015 COURSE, SPPU, PUNE

By
SONAWANE ANIKET PRADIP Exam No.-T150053284
VASEKAR PRATHAMESH R. Exam No.-T150053219

GUIDE:
Prof. L.P.PATIL

DEPARTMENT OF
ELECTRONICS AND TELECOMMUNICATION ENGINEERING
PUNE INSTITUTE OF COMPUTER TECHNOLOGY
PUNE – 43

ACADEMIC YEAR: 2020 - 2021

1 | P a g e Density based traffic control system,2021

 ABSTRACT

Traffic is the major problem which every country faces because

of the increase in number of vehicles throughout the world,
particularly in large urban areas. As the problem of urban traffic
congestion spreads & occurrence of road accidents increase,
there is a pressing need for the introduction of advanced
technology and equipment to improve the traffic control
algorithms to better accommodate this increasing demand. The
simplest way for controlling a traffic light is using timer for
each phase. Another way is to use electronic sensors in order to
detect vehicles and produce signal that cycles. In this paper we
propose a system for controlling the traffic light by image
processing. The system will detect vehicles through images
instead of using electronic sensors embedded in the pavement. A
camera will be installed alongside the traffic light. It will capture
image sequences. The image sequence will then be analyzed
using digital image processing for vehicle detection, and
according to traffic conditions on the road, traffic light can be
controlled.

Sonawane Aniket Pradip

Vasekar Prathamesh R.

2 | P a g e Density based traffic control system,2021

List of figures:
Figure number Figure caption Page no.
2.2.1 Block Diagram of System 15
2.3.1 Flow Chart 16
3.1.1 MATLAB Circuit 19
3.1.2 Proteus Circuit 20
4.1.1 GUI of System 24

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 Abbreviations

Symbol/word meaning Remark

%match Calculate Percentage match of test

Image and reference image.

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 CONTENTS

Abstract 1
List of Figures 2
List of Tables 3
Abbreviations 4

1 Introduction
1.1 Background and Context 6
1.2 Relevance 7
1.3 Literature Survey 9
1.4 Motivation 12
1.5 Aim of the Project 13
1.6 Scope and Objectives 13

2 Block Diagram
2.1 Technical Approach 14
2.2 Block diagram 15
2.3 Flow chart 16
2.4 Hardware / software resources 18
3 System Design
3.1 Circuit Diagram 19
3.2 Design Calculation 22
4 Implementation, Testing
4.1 Implementation 24
4.2 Testing and debugging 25
5 Results and conclusion
5.1 Results 27
5.2 Conclusion 27
5.3 Future scope 28
References 29

CHAPTER 1
Introduction
5 | P a g e Density based traffic control system,2021
1.1 Background: -
Nowadays traffic jams and congestion are a common issue because of the
day-by-day increment of numerous vehicles. A smart traffic control
system can be one of the solutions to the above problem. This can be
done by measuring the vehicular density on that road wherein real time
image and video processing techniques will be used. The main aim is to
coordinate the traffic by keeping a check of its density from all the sides
and thereby controlling the traffic signal intelligently. This paper will
present an algorithm so as to determine the number of vehicles on that
road. This density counting algorithm will work by the comparison
between one frame of the live video (real time) and the reference image
followed by looking for the vehicles in the desired region. The 0traffic
signal will be controlled smartly by comparing the vehicle density and the
direction of the traffic.

1.2 Relevance: -
Many types of traffic control systems have been introduced in order to

6 | P a g e Density based traffic control system,2021

find the density of vehicles on road. A system in which the total size of
the traffic can be calculated using image processing methods is discussed
in.
Another similar system proposed controls traffic lights using image
processing techniques which can be implemented in real time.
A web camera is used at each stage of the traffic light to record images
of the traffic lane we have selected. These captured images are then
compared to a reference image of the empty road by image matching
process. Canny edge detection method is used to determine the
boundaries of the images. Here, the traffic is controlled depending on the
percentage of match between the images. There are many papers based on
edge detection methods.
Another system uses a video camera to capture images of the road and
make use of that data to control traffic signals.
Instead of finding the total number of vehicles, they determine the traffic
density corresponding to the total area occupied by vehicles on the road
with respect to the total amount of pixels in one video frame.
In , a similar approach for traffic control system is also proposed. Manual
controlling refers to controlling traffic with the help of manpower. Traffic
police are allotted to a specified area to control traffic. Controlling traffic
signals using timers and electrical sensors is known as automatic
controlling. In this method, a constant numerical value is uploaded into
the timer at each phase of the traffic light. According to the changes in
the timer value, the traffic lights automatically become ON or OFF. The
electrical sensors check for the presence of vehicles on the road and
provide appropriate signals at each phase, which controls the automatic
switching off lights. The manual controlling system requires tremendous
manpower for implementation. Since the number of traffic police is
limited and making them do this sort of work in the hot tropical areas is

7 | P a g e Density based traffic control system,2021

cruel. We need to find a better method to control traffic in the cities. In
automatic traffic controlling system, the traffic light is controlled by
timers at every stage or by using electronic sensors to detect the presence
of vehicles. But in these methods, time could be wasted in showing a
green signal when there are no vehicles at all. We can get over these
limitations by controlling traffic lights with the help of image processing
techniques. Our proposed system controls traffic lights using image
processing techniques. Here, the vehicles are detected by considering the
captured images instead of using timers or electronic sensors which are
placed on the pavement. A web camera is placed at the traffic light which
captures images of the road through which the vehicle count is estimated
and traffic is controlled. Using image processing in traffic control is
found to be a better technique than the existing methods. It helps decrease
traffic congestion without any wastage of time caused by showing green
signal on an empty road without any vehicles. It is a better way to
determine the presence of vehicles since it makes use of real-time images
which makes it better than systems depending on the vehicle’s metal
content only.

1.3 Literature Survey: -

TRAFFIC LIGHT SYSTEMS: -

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A traffic light system is an electronic device that assigns right of way at
an intersection or crossing or street crossing by means of displaying the
standard red, yellow and green colored indications. A traffic light, also
known as traffic signal, stop light, stop-and-go lights, is a signaling
device positioned at a road intersection, pedestrian crossing, or other
location in order to indicate when it is safe to drive, ride, or walk using a
universal color code (and a precise sequence, for that are colors blind).

Nowadays, a red light meant traffic in all directions had to

stop. A yellow light meant cross-town traffic would have to slow and a
green light would to go or proceed. The development of an intelligent
control structure ensures an optimal solution for all participants in the
transportation and road traffic system. There are different ways
controlling road intersections. In the simplest cases the right-hand rule or
if the traffic is higher, a roundabout or the signal of a policeman can help
steer the traffic. However, especially in big cities, in the complicated
cases when the roads in the intersection have several lanes, the use of
traffic lights cannot be avoided. An additional issue arises when in the
intersection not only roads but also railroad tracks take part, what often
occurs in suburban traffic situations. The most common way to handle
this type of intersection is the conventional cyclic lights control. In more
enhanced control, the traffic in different directions is monitored by
sensors and the signals thus obtained control the traffic lights. In this
method the control is adapting to the traffic. The general problem is the
huge number of variables and the need for large computing efforts. To
simplify this problem a possible way is the use of fuzzy techniques. In the
last couple of years, a lot of simulations were done, and also practical
control systems were built based on simple fuzzy rules. However, in the
most complicated cases where the numbers of lanes are large and maybe

9 | P a g e Density based traffic control system,2021

not only one but more road intersections and railroad take part, it does
make sense to use fuzzy methods containing hierarchy and apply
interpolation to decrease the complexity.

Benefit of Traffic Light Controller:

I. Provide orderly movement of traffic.

II. Minimize completing movement.

III. Coordinated for continuous movement.

This belief has led to traffic control signals being installed at many
locations where they are not needed, adversely affecting the safety and
efficiency of vehicular, bicycle, and pedestrian traffic. Traffic control
signals, even when justified by traffic and roadway conditions, can be ill-
designed, ineffectively placed, improperly operated, or poorly
maintained. While traffic signals can help in locations where they are
justified and installed properly, they also have disadvantages. There will
always be some disadvantages even if the signal is justified.

Types of Traffic Signals Components and Operations:

Nowadays most traffic signals will have the following components or

part:

I. Main display with red, yellow and green lights.

II. Traffic signal cabinet containing the traffic signal controller and
Vehicle Detection Systems

III. Inductive loops or sensors in the many cities, traffic signals

mainly operate in three modes:

I. Fixed-time mode: Under this mode, there are no detections for any
approach. The signal continuously cycles regardless of actual

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 traffic demand. Pedestrians walk signals are automatic and will
cycle concurrently with the vehicular signal indication.

II. Semi-Actuated mode: Under this mode, the detection system is

present only on a minor cross-street. When detection is activated,
the green light on a major street is interrupted to allow the minor
street traffic and pedestrians to safely enter the intersection.
Pedestrians walk signals for crossing a minor street are automatic,
while those for crossing a major street are not. Pedestrians crossing
a major street must push the “pedestrian push button” to get the
walk signal.

III. Actuated mode: Under this mode, there are detections for all
approaches. The traffic signal is set to provide the green light “on
demand” or only in the presence of vehicles.

1.4 Motivation:
Traffic is the major problem which every country faces because of

11 | P a g e Density based traffic control system,2021

the increase in number of vehicles throughout the world, particularly in
large urban areas. As the problem of urban traffic congestion spreads &
occurrence of road accidents increase, there is a pressing need for the
introduction of advanced technology and equipment to improve the traffic
control algorithms to better accommodate this increasing demand. The
simplest way for controlling a traffic light is using timer for each phase.
Another way is to use electronic sensors in order to detect vehicles, and
produce signal that cycles. In this paper we propose a system for
controlling the traffic light by image processing. The system will detect
vehicles through images instead of using electronic sensors embedded in
the pavement. A camera will be installed alongside the traffic light. It will
capture image sequences. The image sequence will then be analyzed
using digital image processing for vehicle detection, and according to
traffic conditions on the road, traffic light can be controlled.

1.5 Aim of the Project:

To overcome from the major traffic issues that we are facing in
our day-to-day life. To reduce the manpower in traffic scenarios.
12 | P a g e Density based traffic control system,2021
1.6 Scope and Objectives:
General Objectives:
The general objectives of this project are:
To develop an integrated traffic light control system based on
image processing to calculate the density of vehicle on the road and
set the timer.
Specific Objectives:
i. To select the appropriate image enhancement and edge detection
techniques useful for the vehicle detection & density computation
ii. To implement the image processing techniques & simulate the result
iii. To integrate the image processing part with the traffic light system

CHAPTER 2
Description of Project

13 | P a g e Density based traffic control system,2021

2.1 Technical Approach: -
1)We went to find the best tools to detect images and process them so we
preferred Matlab environment.

2) Among the key features of an image i.e., edges, lines, and points. We
have used edge in our present work which can be detected from the
abrupt change in the gray level. An edge essentially demarcates between
two distinctly different regions, which means that an edge is the border
between two different regions i.e., the edge of the cars in our case. Edge
detection methods locate the pixels in the image that correspond to the
edges of the objects (cars) seen in the image.

The result is a binary image with the detected edge pixels. Common
algorithms used are Sobel Edge Detection Technique, Perwitt Edge
Detection, Roberts Edge Detection Technique, Zero cross Threshold
Edge Detection Technique and Canny Edge Detection Technique.

In our project we used Canny Edge Detection Technique because of its

various advantages over other edge detection techniques. Canny edge
detection gives better result as compared to others with some positive
points. It is less sensitive to noise, adaptive in nature, resolved the
problem of streaking, provides good localization, and detects sharper
edges as compared to others. It is considered as optimal edge detection
technique hence lot of work and improvement on

this algorithm has been done and also further improvements are possible.

3) Edge based matching is the process in which two representatives

(edge) of the same objects are paired together. Any edge or its
representation on one image is compared.

and evaluated against all the edges on the other image. Edge detection of
reference and the real time images has been done using canny edge
detection technique. Then this edge detected images are matched and
accordingly the traffic light durations can be set.

We have used an approach of comparing a reference image with the real

time image pixel by pixel. Though there are some disadvantages related
to pixel-based matching but it is one of the best techniques for the
algorithm which is used in the project for decision making. Real image is
stored in matric in memory and the real time image is also converted in
the desired matric. For images to be same their pixel values in matrix
must be same. This is the simplest fact used in pixel matching. If there is
14 | P a g e Density based traffic control system,2021
any mismatch in pixel value it adds on to the counter used to calculate
number of pixel mismatches. Finally, percentage of matching is
expressed as

% match=No. of pixels matched successfully/ total no. of pixels

4)Next thing was to design the interface to display vehicle density on

different lanes and its calculated match with respective timing for which
we had options of choosing between graphical user interface and circuit
simulation as hardware implementation of this was not possible due to
covid, and serial communication between hardware circuit and Matlab
was not so efficient we made graphical user interface for our project.

2.2 Block diagram:-

Fig. 2.2.1. Block Diagram

1) 8051 is processor used to input from Matlab as well as output the

results to traffic lights by controlling the lights as required.

15 | P a g e Density based traffic control system,2021

2) Power supply drives the microcontroller.

3) Matlab is main software used to detect and process images as well as

used for decision making it inputs camera images and processes for every
lane and determines which lane has highest traffic and determines its
signal duration which then is given to 8051 which uses Matlab result to
drive the traffic lights accordingly.

2.3 Flow chart: -

Fig. 2.3.1Flow Chart

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 Following are the generalized main steps involved in the image
processing: -

1] Image acquisition

2] RGB to gray conversion

3] Image enhancement

4] Image matching using edge detection

Explanation: -

1) Lane without any car is taken as reference image.

2) Live image is captured/provided to the software.

3) Reference image and captured image are process in sequence first

converted into gray image then image enhanced and edge detection is
performed on each image from that both images are compared.

4) Compared images percentage calculated and accordingly signal timing

is allocated.

5) Above process is done for all the four lanes/or any other numbers of
lanes. And lane with most traffic is given preference for clearance.

2.4 Hardware / software resources

Software: -

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 1. Matlab.
2. Proteus 8.
3. Keil M vision 5.

Libraries: -

1. Canny algorithm.
2. Image Processing toolbox.
3. Graphical user interface (Guide)
Hardware: -
1. INTEL 8051 MICROCONTROLLER.

2. 7-SEGMENT DISPLAY

3. TRAFFIC LIGHTS

4. PULL UP RESISTORS

CHAPTER 3
System Design

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3.1 Circuit diagram: -

Fig. 3.1.1 (Matlab circuit)

19 | P a g e Density based traffic control system,2021

 Fig. 3.1.2 (proteus circuit)

1)Image Acquisition: -
The first stage of any image processing operation is the image acquisition
stage. After the image has been obtained, various methods of processing
can be applied to the image to perform the many different tasks required
today. However, if the image has not been acquired satisfactorily then the
intended tasks may not be achievable, even with the aid of some form of
image enhancement. Digital image acquisition is the creation of digital
images, typically from a physical scene. The term is often assumed to
imply or include the processing, compression, storage, printing, and
display of such images. The most usual method is by digital photography
with a digital camera but

other methods are also employed.

2)RGB to Gray Conversion: -

In photography and computing, a grayscale or grayscale digital image is

an image in which the value of each pixel is a single sample, that is, it

20 | P a g e Density based traffic control system,2021

carries only intensity information. Images of this sort, also known as
black-and-white, are composed exclusively of shades of gray, varying
from black at the weakest intensity to white at the strongest. Grayscale
images are distinct from one-bit bi-tonal black and-white images, which
in the context of computer imaging are images with only the two colors,
black, and white (also called bi-level or binary images). Grayscale images
have many shades of gray in between. Grayscale images are

also called monochromatic, denoting the presence of only one (mono)

color (chrome).

3)Edge Detection: -

Edge detection is a fundamental tool in image processing and computer

vision, particularly in the areas of feature detection and feature extraction,
which aim at identifying points in a digital image at which the image
brightness changes sharply or, more formally, has discontinuities. The
same problem of finding discontinuities in 1D signal is known as step
detection. The purpose of detecting sharp changes in image brightness is
to capture important events and changes in properties of the world. It can
be shown that under rather general assumptions for an image formation
model, discontinuities in image brightness are likely to correspond to,
Discontinuities in depth, Discontinuities in surface orientation, Changes
in material properties and Variations in scene illumination.

In the ideal case, the result of applying an edge detector to an image may
lead to a set of connected curves that indicate the boundaries of objects,
the boundaries of surface markings as well as curves that correspond to
discontinuities in surface orientation. Thus, applying an edge detection
algorithm to an image may significantly reduce the amount of data to be

processed and may therefore filter out information that may be regarded
as less relevant, while preserving the important structural properties of an
image. If the edge detection step is successful, the subsequent task of
interpreting the information contents in the original image may therefore
be substantially simplified. However, it is not always possible to obtain
such ideal edges from real life images of moderate complexity. Edges
extracted from non-trivial images are often hampered by fragmentation,
meaning that the edge curves are not connected, missing edge segments
as well as false edges not corresponding to interesting phenomena in the
image

– thus, complicating the subsequent task of interpreting the image data.

21 | P a g e Density based traffic control system,2021

4)Image Matching: -

Edge based matching is the process in which two representatives of the

same objects are paired together. Any edge or its representation on one
image is compared and evaluated against all the edges on the other image.
Edge detection of reference and the real time images has been done using
Prewitt operator. Then this edge detected images are matched and

accordingly, the traffic light durations can be set.

3.2 Design calculation:

Image matching:
Edge based matching is the process in which two representatives
(edge) of the same objects are paired together. Any edge or its
representation on one image is compared 14 and evaluated against
all the edges on the other image. Edge detection of reference and
the real time images has been done using canny edge detection
technique. Then this edge detected images are matched and
accordingly the traffic light durations can be set. We have used an
approach of comparing a reference image with the real time image
pixel by pixel. Though there are some disadvantages related to
pixel-based matching but it is one of the best techniques for the
algorithm which is used in the project for decision making. Real
image is stored in matric in memory and the real time image is also
converted in the desired matric. For images to be same their pixel
values in matrix must be same. This is the simplest fact used in
pixel matching. If there is any mismatch in pixel value it adds on to
22 | P a g e Density based traffic control system,2021
 the counter used to calculate number of pixel mismatches. Finally,
percentage of matching is expressed as

%match = No. of pixels matched successfully

total no. of pixels

After edge detection procedure both reference and real time

images are matched and traffic lights can be controlled based on
percentage of matching.: -
I. If the matching is between 0 to 5% - green light is on for
100 seconds.
II. If the matching is between 5 to 10% - green light is on for 95
seconds.
III. If the matching is between 10 to 15% - green light is on for
90 seconds.
IV. If the matching is between 15 to 20% - green light is on for
85 seconds.
V. If the matching is between 20 to 25% - green light is on for
80 seconds.
VI. If the matching is between 25 to 30% - green light is on for
75 seconds.
VII. If the matching is between 30 to 35% - green light is on for
70 seconds.
VIII. If the matching is between 35 to 40% - green light is on for
65 seconds.
IX. If the matching is between 40 to 45% - green light is on for
60 seconds.

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 X. If the matching is between 45 to 50% - green light is on for
55 seconds.
XI. If the matching is between 50 to 55% - green light is on for
50 seconds.
XII. If the matching is between 55 to 60% - green light is on for
45 seconds.
XIII. If the matching is between 60 to 65% - green light is on for
40 seconds.
XIV. If the matching is between 65 to 70% - green light is on for
35 seconds.
XV. If the matching is between 70 to 75% - green light is on for
30 seconds.
XVI. If the matching is between 75 to 80% - green light is on for
25 seconds.
XVII. If the matching is between 80 to 85% - green light is on for
20 seconds.
XVIII. If the matching is between 85 to 90% - green light is on for
15 seconds.
XIX. If the matching is between 90 to 95% - green light is on for
10 seconds.
XX. If the matching is between 95 to 100% - green light is on for
5 seconds.

CHAPTER 4
Implementation and Testing
24 | P a g e Density based traffic control system,2021
4.1 Implementation:

Fig.4.1.1 UI for Image Processing

Above is a user interface for image Processing in which each image is

compared with the reference image and we get the percentage match. It
also shows the green light duration for each lane required. It also displays
the precedence of clearance of road means which lane would go first.

4.2 Testing and debugging

Problems:

25 | P a g e Density based traffic control system,2021

1) While giving inputs of images through gui it did not accept the images
from 9 onwards it did not accepted those images and some other random
images from 0-9 were uploaded.

Solution-By changing names of images which was not excepted by

Matlab

Eg : traffic10.jpg was not accepted which was later changed to

traffica.jpg

2) Unable to use global variables for inside different call back functions.

Solution- use global a; inside every function and that variable will be
accessible inside that function.

CHAPTER 5
Results and conclusion
5.1 Results: -
26 | P a g e Density based traffic control system,2021
As we can see the output of GUI given above clearly indicates the
implemented results of the algorithm designed. The matching gives a
good result in every cases. It displays the timing for the

4 junctions accordingly. It showed matching depending on the percentage

of the edge detected.

1) Matched percentage of each detected images is displayed

2) From this percentage we can determine that the lane having least
matched percentage with reference image (clear lane) have the highest
traffic density.

3) From the matched percentage further, green light time is allocated for
each lane according to percentage match.

4) And accordingly, all lanes are cleared without much time wasted.

5.2 Conclusion: -

Traffic control using image processing” technique that we propose

overcomes the limitations of the earlier (in use) techniques used for
controlling the traffic. Earlier in automatic traffic control use of timer had
a drawback that the time is being wasted by green light on the empty. The
technique we proposed avoids this problem. Upon comparison of various
edge detection algorithms, it was inferred that Canny Edge Detector
technique is the most efficient one. The project demonstrates that image
processing is a far more efficient method of traffic control as compared to
traditional techniques. Also, it is more effective than the density-based
system based on since it is cost effective and less prone to error. The use
of our technique removes the need for extra hardware such as sound
sensors & magnetic loop embedded in pavements. The major advantage
is the variation in signal time which control appropriate traffic density
using Image matching. The accuracy in calculation of time due to single
moving camera depends on the registration position while facing road
every time. Output of GUI clearly indicated some expected results. It
showed matching in almost every interval that were decided as
boundaries like 10%, 35%, 68% etc. The study showed that image
processing is a better technique to control the state change of the traffic
light. It shows that it can reduce the traffic congestion and avoids the time

27 | P a g e Density based traffic control system,2021

being wasted by a green light on an empty road. It is also more consistent
in detecting vehicle presence because it uses actual traffic images. It
visualizes the reality so it functions much better than those systems that
rely on the detection of the vehicles’ metal content. Overall, the system is
good but it still needs improvement to achieve a hundred percent
accuracy. The hardware implementation would enable the project to be
used in real-time practical conditions. In addition, we propose a system to
identify the vehicles as they pass by, giving preference to emergency
vehicles and assisting in surveillance on a large scale. The handling of
emergency with the help of assigning priority has an advantage since
safety human is maintained.

5.2.1 Future Scope:

 Now as we are only monitoring the number of vehicles present at
the signal, we can also use this method to monitor the number plate of
the vehicle to detect the vehicles which disobey the traffic laws.
 We can also monitor the traffic at night since no patrol team would
be required and the vehicles can run smoothly.

References

[1] Kastrinaki, M. Zervakis, and K. Kalaitzakis, "A survey of

video processing techniques for traffic applications, “Image
and Vision Computing, vol. 21, pp. 359-381, Apr 1 2003.
[2] Choudekar P, Banerjee S, Muju M.K, “Implementation of

28 | P a g e Density based traffic control system,2021

 image processing in real time traffic light control”
International Conference on Electronics Computer
Technology, vol.2, pp.94 -98, 2011.
[3] Digital image processing by Rafael C. Gonzalez and
Richard E. Wo
[4] Ms.PromilaSinhmar, “Intelligent Traffic Light and Density
Control using IR Sensors and Microcontroller”, International
Journal of Advanced Technology & Engineering Research
(IJATER) ISSN NO: 2250-3536 VOLUME 2, ISSUE 2,
March 2012.
[5] Ahmed S. Salama, Bahaa K. Saleh, Mohamad M. Eassa,
“Intelligent Cross Road Traffic Management System
(ICRTMS),” 2nd Int. Conf. on Computer Technology and
Development, Cairo, Nov 2010, pp. 27-31
[6] N. J. Ferrier, S. M. Rowe, A. Blake, “Real-time traffic
monitoring,” Proceedings of the Second IEEE Workshop on
Applications of Computer Vision, pp.81 -88, 1994.

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