Technical Seminar Report
Technical Seminar Report
Technical Seminar Report
Belagavi-590018
Submitted in partial fulfillment as per VTU curriculum for VIII semester for the
award of degree of
Bachelor of Engineering
In
Electronics and Communication Engineering
by
SAHANA M
1EP16EC080
CERTIFICATE
This is to certify that the Technical Seminar report entitled “GOOGLE
DRIVERLESS CAR” is a bonafide work carried out by SAHANA M bearing USN:
1EP16EC080 in partial fulfillment of the requirements for the eighth semester for the award
of degree of Bachelor of Engineering in Electronics and Communication Engineering of
Visvesvaraya Technological University, Belagavi, during the academic year 2020-2021.
The Technical seminar report has been approved as it satisfies the academic requirements
prescribed by the university.
Behind every achievement there lies a profound sea of gratitude to those who actuated it,
without whom it would never have come to existence. To them my praise of gratitude imprinted
not just on the paper but deep in our heart.
Last but not the least, I would like to utilize this opportunity to express love and sense
of gratitude to my beloved family and to my dearest friends for their support, strength.
ABSTRACT
Googles dramatic ascent and subsequent domination in the past fifteen
years of the technology and information industries has financially enabled
Google to explore seemingly unrelated projects ranging from Google Mail
to the Google Car. In particular, Google has invested a significant amount
of resources in the Google Car, mnkjan integrated system that allows for
the driverless operation of a vehicle. While initial reports indicate that the
Google Car driverless automobile will be more kh;safe and efficient than
current vehicles, the Google Car is not without its critics. In particular, the
existential threat that the car presents to several large industries, including
the insurance, health care and construction industries, creates an additional
challenge to the success of the Google Car well beyond the standard
competitive threats from other established car manufacturers in the
automobile industry, which begs the question, Can the Google Car be
successful, With so many challenges above and beyond the competitive
forces typically threatening long- term profitability, will the Google Car be
able to create and sustain a competitive advantage for Google in the
driverless car space.
TABLE OF CONTENTS
CONTENTS PAGE
SL.NO. NO.
1 INTRODUCTION 1
2 BLOCK DIAGRAM 4
3 COMPONENTS 6
5 ALOGRITHM 18
7 APPLICATION 26
9 CONCLUSION 32
10 FUTURE SCOPE 33
REFERENCES
LIST OF FIGURES
Figure1.1Google Car ..................................................................................................................... 2
Figure2.1Block diagram of the system ......................................................................................... 4
Figure2.2Google Car ..................................................................................................................... 4
Figure 3.1.1 Radar Sensor ............................................................................................................. 6
Figure 3.1.2 Lidar .......................................................................................................................... 8
Figure 3.1.2.1 : 3-D map of car surroundings ............................................................................. 10
Figure3.1.3.1 Google Map........................................................................................................... 10
Figure 3.1.5.1 Street View camera system. ................................................................................. 12
Figure3.2.1 Google Street View .................................................................................................. 13
Figure3.2.2 Hardware assembly of the system ........................................................................... 14
3.3 PROCESSOR UNIT ........................................................................................................ 15
Figure 4.1 Robotic car design ...................................................................................................... 16
5.1.1 INTERACTIVE ALGORITHM: .............................................................................. 19
5.1.1 Interactive algorithms ....................................................................................................... 19
6.1 Drive-by-wire ........................................................................................................................ 21
Figure 6.1Drive by wire technology ........................................................................................... 22
6.2 STEER BY WIRE ................................................................................................................. 22
Figure 6.2 Electronic power steering .......................................................................................... 23
6.3 BRAKE BY WIRE ................................................................................................................ 24
Figure 6.3 Brake by wire technology .......................................................................................... 25
6.4 THROTTLE BY WIRE ......................................................................................................... 26
GOOGLE DRIVERLESS CAR 2020-2021
CHAPTER 1
INTRODUCTION
Figure1.1Google Car
CHAPTER 2
BLOCK DIAGRAM
2.1 BACKGROUND:
The block diagram of Googles driver less car is shown below. It includes
sensor section, processor section and drive by wire technology.
Figure2.2Google Car
There are two coprocessors for handling the steering and the brake.
Accelerator is directly controlled by the general purpose processor. The
sensory inputs include inputs from the lidar, radar, position estimator
and street view images. Lidar creates a 3-D images platform for
mounting the obstacles and map. The camera visuals are used for
detecting the colour of the traffic signal based on which the vehicle
moves on the road. The general purpose processor is constantly
communicating with the engine control unit.
CHAPTER 3
COMPONENTS
HARDWARE SENSORS
3.1.1 RADAR Sensor
Radar is an object-detection system which uses electromagnetic
waves specifically radio waves - to determine the range, altitude,
direction, or speed of both moving and fixed objects such as aircraft,
ships, spacecraft, guided missiles, motor vehicles, weather formations,
and terrain.
A radar system has a transmitter that emits radio waves called radar
signals in predetermined directions. When these come into contact
with an object they are usually reflected and/or scattered in many
can be provided by rear mounted sensors with 1.8 m range that can
detect small objects in front of large objects and measure direction of
3.1.2 Lidar
nm) are used to suit the target. Typically light is reflected via back
scattering. There are several major components to a LIDAR system.
1. Laser 6001000 nm lasers are most common for non-scientific
applications. They are inexpensive but since they can be focused and
easily absorbed by the eye the maximum power is limited by the need
to make them eye-safe.
Each satellite continually transmits messages that include 1) The time the
message was transmitted precise orbital information (the ephemeris)
The general system health and rough orbits of all GPS satellites The
receiver uses the messages it receives to determine the transit time of
each message and computes the distance to each satellite. These distances
along with the satellites’ locations are used with the possible aid of
trilateration, depending on which algorithm is used, to compute the
position of the receiver.
3.1.5 Cameras
Google has used three types of car-mounted cameras in the past
to take Street View photographs. Generations 13 were used to take
photographs in the United States. The first generation was quickly
superseded and images were replaced with images taken with 2nd and
3rd generation cameras. Second generation cameras were used to take
photographs in Australia.
1)Steering
2)Brake
The ARM Cortex-A9 MPCore is a 32-bit multicore processor
providing up to 4 cache-coherent Cortex-A9 cores, each implementing
the ARM v7 instruction set architecture. They are high performance
ARM processor with 1-4 cores version. It work on AXI high-speed
Advanced Microprocessor Bus architecture. Its main feature is the
increased peak performance for most demanding applications.
CHAPTER 4
ROBOTIC CAR DESIGN
The data in the instruction tells the processor what to do. The
instructions are very basic things like reading data from memory or
sending data to the user dis- play, but they are processed so rapidly
that human perception experiences the results as the smooth operation
of a program. Manufacturers typically integrate the cores onto a single
integrated circuit die (known as a chip multiprocessor or CMP), or
onto multiple dies in a single chip package.
CHAPTER 5
ALGORITHM
CHAPTER 6
DRIVE BY WIRE TECHNOLOGY
The working of the system can be explained by using the integration of
drive by wire technology and processors using the artificial
intelligence and the algorithm. We need to control only three driving
parts.
1. Steering
2. Brake
3. Throttle
6.1 Drive-by-wire
Drive-by-wire, DbW, by-wire, or x-by-wire technology in the
automotive industry replaces the traditional mechanical control systems
with electronic control systems using electromechanical actuators and
human-machine interfaces such as pedal and steering feel emulators.
Hence, the traditional components such as the steering column,
intermediate shafts, pumps, hoses, belts, coolers and vacuum servos
and master cylinders are eliminated from the vehicle. Examples
include electronic throttle control and brake-by-wire.
Safety can be improved by providing computer controlled intervention
of vehicle controls with systems such as Electronic Stability Control
(ESC), adaptive cruise control and Lane Assist Systems. Ergonomics
can be improved by the amount of force and range of movement
required by the driver and by greater flexibility in the location of
controls. This flexibility also significantly expands the number of
options for the vehicle’s design.
The cost of DbW systems is often greater than conventional
systems. The extra costs stem from greater complexity, development
costs and the redundant elements needed to make the system safe.
Failures in the control system could theoretically cause a runaway
vehicle, although this is no different from the throttle return spring
snapping on a traditional mechanical throttle vehicle. Another
disadvantage is that manufacturers often reduce throttle sensitivity in
DEPT. OF ECE, EPCET Page 21
GOOGLE DRIVERLESS CAR 2020-2021
There are four forms of EPS, based on the position of the assist
motor. They are the column assist type (C-EPS), the pinion assist type
(P- EPS), the direct drive type (D-EPS) and the rack assist type (R-
EPS). The D-EPS system has low inertia and friction because the
steering gear and assist unit are a single unit. The R-EPS type has the
assist unit connected to the steering gear. R-EPS systems can be used
on mid- to full-sized vehicles due to their very relatively low inertia
from high reduction gear ratios. These systems can be tuned by simply
modifying the software controlling the ECU. This provides a unique
and cost effective opportunity to adjust the steering “feel” to suit the
The brake pedal sensor input is calculated using the radar and
lidar using the algorithm .It is dependent on the distance to the object
and braking emergency .The sensory input makes the driver free from
applying brakes.
APPLICATIONS
The various applications of the technology are
1. 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 speed cameras to
monitor applications, such as security CCTV systems; and to more
advanced applications that integrate live data and feedback from a
number of other sources, such as parking guidance and information
systems; weather in- formation bridge deicing systems; and the like.
Additionally, predictivetechniques are being developed to allow
advanced modeling and comparison with historical baseline data this
technology will be a revolutionary step in intelligent transportation.
2. 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.
3. 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.
4. 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. All of these trucks
are driven by a paid employee of a trucking company. If the 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 without having tos op to sleep, eat, or
anything besides more fuel. All that is 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 put thousands of people out of jobs. These people would have
to find and learn a new profession as driving afreight truck is a full
time job with little time spent at home to learn how to do another
profession. This is potentially life ruining for many employees in this
industry
5. 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 an employee is
dispatched to go and pick up the person and bring them to their
destination. This type of service could lower the number of
vehicles on the road because not everyone would have to own a
car, people could call to request an autonomous car to bring them
around. Taxis also drive around cities and wait in busy areas for
people to request a cab. A taxi service comprised completely of
autonomous 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. There could be autonomous taxis waiting in designated
areas for people to come and use them. 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 a way almost
completely. This is another example of a large amount of people
being removed from their jobs because of autonomous vehicles
being able to perform the task without the need of an extra person
6. Public transportation
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 the actions of other drivers and pedestrians, keep the bus
in lane, and make sure they stop at every bus station. These are many
at the same time. In the early stages of 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 in the
beginning in order for the general public to trust it at first. As the life
of 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. It is a simple job of following a specific route and
stopping at designated points. The problems would arise from actions
of other vehicles in the area. The most ideal situation is when the
autonomous vehicle systems have matured to the point that nearly
every vehicle on the road is autonomously driven.
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. Traveling by car is currently the most deadly form of
transportation, with over a million 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 to28,849 people per
year between the years of 1991and 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
improvements. Also, with less stop and go traffic, average fuel economy
would be improved.
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: o10%
as a result of more efficient driving. o5% as a result of cars being 300
pounds lighter on average. o10% 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
DEMERITS:
CONCLUSION
Currently, there are many different technologies available that can
assist in 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 to control all of
the components will become a fully autonomous system. The 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 near fool proof final product. The product will not
be accepted instantly, but overtime as the systems become more widely
used people will realize 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.
FUTURESCOPE
The transition to an automated transportation structure will
greatly prevent many problems caused by the traffic. Implementation of
autonomous cars will allow the vehicles to be able to use the roads more
efficiently, thus saving space and time. With having automated cars,
narrow lanes will no longer be a problem and most traffic problems will
be avoided to a great extent by the help of this new technology. Research
indicates that the traffic patterns will be more predictable and less
problematic with the integration of autonomous cars.
Smooth traffic flow is at the top of the wish list for countless
transportation officials. 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 of our daily lives,
but it is hard to predict when. The most important factor is whether the
public sector will be proactive in taking advantage of this capability or
not. The Public Sector will determine if the benefits will come sooner
rather than later.
Since these assist systems are very similar with the systems that
are used in autonomous car prototypes, they are regarded as the transition
elements on the way to the implementation fully autonomous vehicles.
REFERENCES
[1] Thorsten Luettel, Michael Himmelsbach, and Hans-Joachim
Wuensche, Autonomous Ground Vehicles-Concepts and a Path to
the Future, Vol. 100, May 13th, Proceedings of the IEEE,2012