Autonomous emergency braking system

using linear electric actuators

Cite as: AIP Conference Proceedings 2516, 140005 (2022); https://doi.org/10.1063/5.0109144
Published Online: 30 November 2022

P. S. Ramaprabha, C. Anuradha, S. Vijayalakshmi, et al.

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AIP Conference Proceedings 2516, 140005 (2022); https://doi.org/10.1063/5.0109144 2516, 140005

© 2022 Author(s).
 Autonomous Emergency Braking System Using Linear
Electric Actuators
P.S. Ramaprabha1,a) , C.Anuradha2) , S.Vijayalakshmi2) and R. Senthil Kumar2)
1
Panimalar Institute of Technology, Chennai, India
2
SRMIST, Chennai, India
a)
Corresponding author: [email protected]

Abstract. In recent year Automobile industries increase developing automation in vehicles. Especially in related with
vehicle braking systems and sensing systems. This work relate with Autonomous Emergency Braking Systems which
stops down the vehicle if any sudden obstacle is detected and speed above 60km/hr. This braking system employs
Ultrasonic and IR sharp sensors to monitor the vehicles in front and when it detects the sudden obstacle it first gives
Audio and Optical warnings to the driver to take corrective action for avoid the collision and if the driver does not
respond to it then emergency braking is automatically applied by using linear electric actuators to avoid the collision
or at least to mitigate its effect. Most of the Road accidents are caused by drivers who apply inadequately, delayed or
no brakes at all in order to overcome this effect an Autonomous Emergency Braking system can be used in future
vehicles.

INTRODUCTION
Over the recent years, motorized vehicle safety has gain an mounting quantity of attention from the wide-ranging
Public, Government, and the Automobile Industry. Accident study shows that prior to rear-end crashes most drivers
do not apply the footbrake pedal strongly sufficient or they do not apply the brakes at all.
This project designed to develop an effective braking system that can solve front end collision due to
improper or delayed braking. Distance ranging sensor ultrasonic is used for its purpose based on ultrasonic (sound)
waves.
After pass on ultrasonic sound waves by transmitter, the gesture gets reflected when barrier is detected and
then received by receiver and transferred to controller to take action accordingly.

The Autonomous Emergency Braking System function is to first warn the driver about collision and if no
response from the driver then it stops the vehicle automatically after receiving control signal from the
controller. Controller sends the control signal to actuators for autonomous braking after receiving the alert signal
from ultrasonic sensor.

In such a way, the collision can be avoided, or the vehicle velocity be able to as a minimum exist abridged as
much as possible prior to impact and in critical driving state of affairs, these systems caution and vigorously prop
up the driver and, if essential, intercede robotically in an effort to let alone a smash or to alleviate the penalty of the
misfortune.

The Autonomous disaster Braking System becomes active only when the speed of the reaches above
60km/hr, and it supports the driver both by day and by night. This braking system can diminish the hazard of

2nd International Conference on Mathematical Techniques and Applications

AIP Conf. Proc. 2516, 140005-1–140005-9; https://doi.org/10.1063/5.0109144
Published by AIP Publishing. 978-0-7354-4234-4/$30.00

140005-1
somber hurt to an absolute minimum. This operational technique has been establish very successful in the
enlargement of Driver Assistance Systems which enable safe, relaxed driving.

The remaining part of this document is prearranged as follows: preceding connected effort is on hand in section
2, even as, section 3 presens Methodology of the system. System working procedure is discussed in section 4,
Prototype presented in section 5, system working flowchart in section 6 and lastly conclusion in section7.

PREVIOUS RELATED WORK

In order to diminish the impending and prospect of an mishap in automobile systems the collision avoidance
system is introduced. The collision avoidance systems are Germinated in excess of instance on or after the Block
headed toward recent smart systems for procedure as well as explore. They uses the latest Electronics technology
with sensors and occasionally camera sensors are used to detect an imminent crash. After detecting imminent crash ,
these systems neither gives the alert to the driver nor action taken autonomously without concern of driver [7].

Also, [8] presence the idea of crash prevention using laser beam. Foremost , the structure calculates location
in which they will projects for one second onto the road surface by laser beams. Actually lasers are valuable and
uninterrupted operation will demand good power supply, this may not possible to implement in normal economical
cars and utility cars.

In [10],[11],[12]presence the methods of Robotics, Image processing, signal processing and AI (Artifial
Intelligence ) to reach its prepared behavior, such as direction-finding and controlling the velocity circuit and crash
recognition arrangement. The arrangement is merely obtainable for gear-less two wheelers and the track device
involves work of art two pallid floor covering along the period of the road where it move

In [13] obstacles or objects are detected by sonar sensors which make the echo waves and receive the
influence reflect backside from the obstruction, mutually by means of evading algorithms as essential
impulsive accident prevention scheme. The systems restraint as shown in the accomplishment is the antenna
reliability.

Figure.1: Allocation of crash for GIDAS, NASS-CDS Volvo

In [14] back ending collisions three databases from three diverse countries are second-hand as the source for
the predicament classification to locate type of collision. In Sweden Volvo’s vehicle Analysis tells that improvement
price tag owing to an misfortune cross the precise level as of now SEK 45000. The database, which carry the in turn
about the smash into, the vehicle and the occupants including injuries if any, is further explained. The GIDAS
database (German In -Depth Accident study is the Second database used in this study

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 Statistical misfortune Databases

Traffic misfortune surrounded by Hanover and Dresden and the rural areas nearby these cities are investigated
according to a statistical sampling process. As a complement to the European data, NASS/CDS (National
Automotive Sampling System Crashworthiness Data System) is also used. CDS provide in-depth crash investigation
of a spokesperson mock-up of police-reported tow-away SandeepS.Thorat Automatic Emergency Braking System
(AEBS)

Figure .2: Accidents with casualties by kind of accident

I st scheme: Proposed vehicle strategies a stopped up standard other motor vehicle at 45mph (72.5kph).
The scheme necessity to give a caution 2.7s former to collision.

IInd scheme: Proposed motor vehicle follows code other vehicle at 45mph (72.5kph).
The other vehicle starts braking. The system must give a warning 2.4s former to collision.

IIrd scheme: Proposed motor vehicle at 45mph (72.5kph) encounter a slower principle other vehicle
with speed 20mph (32.2kph). The system must give a counsel at 2.1s former to impact.

METHODOLOGY
This Autonomous braking system has been divided into two phases

Phase 1 Obstacle warning (Audio and VisualWarnings)

Phase 2 braking system (Automatic BrakingEngaged)

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 Figure.3: Detailed description of the Phase1 and Phase2

A. OBSTACLE WARNING SYSTEM (PHASE1)

In obstacle warning system ultrasonic sensor detects the presence of obstacle and send alert signal to the
arduino. Then operates the visual and audio warnings only when the speed range is above 60km/hr to alert the driver
about the presence of obstacle and to take corrective measures to avoid the collision along with this
controller(Arduino) also indicate the approaching vehicles brake light. Fig. 4 manifest the block diagram of
obstacle warning system.

Figure.4 Block diagram of obstacle warning

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 1) Ultrasonic Sensor

It is used for obstacle detection and it gets triggered when the system is in active state and sends the
ultrasonic sound waves to monitor the obstacle if obstacle is found a head echo receives ultrasonic waves
reflected by the obstacle sends an alert signal to arduino.

2) Visual Warning:

This includes the Led lights with visuals will be glowing on the dash board of the vehicles to indicate
status visually.

3) Vibration Alert:

This vibration alert system is turned after the control signal received from Arduino with the help of this
vibrator is warned at the early stage itself.

BRAKING CIRCUIT (PHASE2)

In this braking circuit Arduino operates the Linear Electric Actuators (LEA) for autonomous braking through
relay and ARS after receiving the signal from IR sharp sensor about the presence of obstacle and reached phase1 and
approaching phase
2 addition to this emergency indicator is activated before the linear electric actuators (LEA) to indicate the
upcoming vehicles. Fig. 5 shows the block diagram of Braking system.

Figure.5. Block diagram of braking circuit

1) Linear Electric Actuator:

It stops down the vehicle by pushing and pulling the (clutch,brake,accelerator) pedals according to the
control signal of arduino when obstacle is detected. Fig. 6 shows the outline sketch of linear electric act uator.

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 Figure.6: outline sketch of linear electric actuator

2) IR Sharp Sensor:

IR sharp sensor is a reserve measure sensor element, self-possessed of an incorporated mishmash of

PSD (position sensitive detector), IRED (infrared emitting diode) and signal dispensation circuit. The production
of this sensor is given to controller (arduino) has an input. Fig.7 shows circuit diagram of IR sharp sensor.

Figure.7: circuit diagram of IR sharp sensor.

SYSTEM WORKING PROCEDURE

The Ultrasonic Sensor continuously senses the objects which present in front of the vehicle and also
instantaneously gives the production while on go, in this point if any obstacle comes in facade of the vehicle get in
touch with with the sensor it will give output to the processor.
Thus, it alerts the driver by turning on audio and visual warnings so that the interruption chapter of Driver
(inactive though Driving, Use of Mobile, rumor or responsibility some other commotion) will approach to
close and the person will take manage of the circumstances and additional hurt can be prohibited.
If Driver does not respond to audio and visual warnings it mean that there is no exploit is taken to
discontinue the vehicle then phase 2 stage is activated according to the status of the IR sharp sensor and speed
sensor if still the obstacle is found Arduino will send the signal to braking circuit.
Thus, Linear Electric Actuator is operated it first reduce the acceleration by pulling it up and then it
pushes down the clutch pedal for braking and then at last it pushes down brake pedal to stop the vehicle before
collision occur and ensure the safety of the vehicle and passengers.
The system is turned on to active state only when the speed is above 60 km/hr.

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 PROTOTYPE

Figure.8 Front view of prototype

Figure.9 Side view of prototype

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 Figure.10 outline of prototype

SYSTEM WORKING FLOWCHART

Figure.11 system working in detailed flowchart

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 CONCLUSION
This project represents design and implementation of an Autonomous Emergency Braking system based
on obstacle detection methodology using ultrasonic sensor and IR sharp sensor has an obstacle detector .This
system first inform the driver about the presence of obstacle on the way through Audio and visual indications if
there is no response from the driver then braking is done to protect the vehicle from crash and this system plays a
major role in development of driver assistance system in future vehicles. This Autonomous Braking System can
be implemented in future vehicles to reduce no of accidents occurring due to improper braking.

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