Advanced Driver Assistance System using Vehicle to Vehicle Communication

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 519
Advanced Driver Assistance System using Vehicle to Vehicle
Communication
Sheetal Shivaji Pawar1, Prof. S. N. Kore2
1Department Of Electronics Engineering, Walchand College Of Engineering,
Sangli, Maharashtra, India,
2Associate Professor, Department Of Electronics Engineering, Walchand College Of Engineering
Sangli, Maharashtra, India,
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Abstract - Increasing numbers of vehicles on the road are
adding to the problems associated with road traffic.
Efficient monitoring of vehicles is need of time for smooth
traffic flow. Safety system for Vehicle collision avoidance is
prime challenge to be met. Many technologies are in action
for collision free traffic. Pertaining to this, Intelligent
Collision Avoidance (ICWA) system based on V2V (Vehicle to
vehicle) Communication is proposed which addresses the
issue of collision avoidance. ICWA is one of the leading
research feature of advanced driver assistance system
(ADAS). In this paper optimized algorithm is developed for
collision avoidance, safety zones are created for each
vehicle. Overlapping of these safety zones found by this
algorithm. It establishes Vehicle to Vehicle communication
through wireless protocol Wi-Fi. In this frames Contain
vehicular parameters (speed, location of car, turn signal
etc.). Each car can transmit and receive the frames from
other cars which are within the communication range. This
information is takes as input to collision avoidance warning
system algorithm. If there is accidental situation, system
gives warning to the driver. Apart from this, Android
application is developed to make the system more secure
and user friendly. The system is implemented on Virtual car
environment with street map and gives the warning based
on the accidental situation predicted by the algorithm using
vehicular information of all cars within the range of
communication.
Key Words: Vehicle to vehicle communication, Android
application, Virtual car environment, intelligent
collision avoidance warning system, Wi-Fi.
1. INTRODUCTION
Invention of automobiles was one of the greatest
commercial achievements of mankind in the past century
and has contributed lot in different ways to the growth of
a nation. Perhaps, we can’t ignore the fact that many of
people lose their life or suffer life changing accidents due
to vehicular collisions every year. Causalities in traffic
accidents are mainly caused by collision between vehicles
due to the inability of the drivers to gauge the perimeter of
their vehicles. This is particularly accentuated in large
vehicles like trucks where there are many blind spots.
Therefore Advanced Driver Assistance system (ADAS)
comes in to picture.
ADAS helps drivers in driving process for safe driving.
ADAS has received widespread attention with active work
being carried out for over four decades. ADAS consists of
lots of adaptive cruise control, adaptive light control,
Automatic parking, automotive night vision etc. The
research is going on the key feature of ADAS that is
collision avoidance warning system.
A vehicle collision avoidance system based on wireless
communication and GPS can eliminate the drawbacks of
the optical based technology even under high speeds or
under near-zero visibility [1].
In this thesis, we are introducing to Intelligent Collision
Avoidance Warning System using Vehicle to Vehicle (V2V)
Communication, and it basically employs with the help of
wireless communication protocol. We are transferring as
well as receiving the vehicular parameters like speed,
location of vehicle, turn signal information etc. through
protocol frames within its range. Unlike current radar,
camera, and other sensors, it can know what oncoming
vehicles are doing-or even those around corners and out
of sight. The idea is to use this information to help
electronic safety systems work more smoothly and safely.
Apart from this we have provided extra security to avoid
cyber-attack by developing android application for log in
to the system. Also this is provided as if anyone don’t want
to use this warning system because if he gets irritated then
he/she can make it off, still there vehicle can transmits the
vehicular information.
2. Related work
Vehicle collision avoidance warning system (CAWS) are of
two types. In the start the work is focused on systems
where a vehicle would gauge obstacles in its path through
camera, radar, and ultrasonic sensors etc. [2]. Recently to
detect potential accidents vehicular communication
networking is using as the vehicles are not in sight. Most of
research is going on in this field. Inter vehicular
communication uses different protocols like Wi-Fi, zigbee
or DSRC (Dedicated short range communication protocol).
The paper [3] shows inter vehicular communication by
using 802.11.Thus these collision warning system based

on inter vehicular communication involves the broadcast
of the vehicle coordinates and other useful information
like speed, direction of the vehicle.
Several work has propose different wireless
technologies for vehicle communications based on existing
wireless technologies that are standardized. In 2004,
European Telecommunications Standards Institute (ETSI)
has produced standards to utilize DSRC in 5.8 GHz band
for Electronic Toll Collection [4]. Similarly, Federal
Communications Commission (FCC) has released the
standard for DSRC in 5.9 GHz band to protect the safety of
the traveling public, and also for commercial use [5]. IEEE
802.11p is a draft amendment to IEEE 802.11 to evolve
the wireless transmission in 5.9 GHz band to support
vehicles of speed less than 200 km/hr and in
communication range of 1 km [6], and the framework and
application for vehicle communication are defined in IEEE
P1609 Wireless Access in the Vehicular Environment
(WAVE) [7].
3. Proposed System
Proposed scheme uses V2V communication and Android
app to develop an Intelligent Collision Avoidance warning
System.
3.1 System Methodology
 Design and develop the android application to
avoid cyber-attacks.
 Development of virtual car environment using QT
to provide real time traffic scenario to test our
algorithm.
 Communication establishment of virtual cars to
share the vehicular information to predict the
accidental situation.
 Development of optimized intelligent collision
avoidance algorithm to give the warning to the
driver if there is any accidental situation.
Fig -1: ICAW system
3.1 System flowchart
The following flowchart shows the overview of the entire
system:
Fig -2: Flowchart of system
4. Implementation of System
Intelligent collision avoidance warning system is dived in
to four parts as described below
4.1 Android application development
This application is created to authenticate the user to
avoid cyber-attack. Now a days cyber-attacks are
increasing day by day. In vehicle to vehicle
communication, we are transferring frames of essential
data. So to avoid congestion made by cyber attackers,
android app will help. As one has to first of all register to
the system and log in to the system to access the
Intelligent Collision Avoidance system.
Another advantage is that if users don’t want the
warning system then he/she can make it off through
android application their car can still communicate with
car; just that car that has made system off can’t access the
warning system.
 Registration activity
 Log in activity
 Features activity

Results are as shown below:
Fig -3: Ford safety application on Home screen
Fig -4: Register activity
Fig -5: Log in activity
Fig -6: Features activity
4.2 Virtual car environment
Virtual car environment is the platform for the developing
the intelligent collision avoidance warning algorithm. It is
developed such that it provides the real traffic scenario.
Here the real time physics is applied to achieve the real
scenario. So that achieve the testing up to the mark.
This virtual car environment contains the cars with street
map. Car having steering, gears, turn indicators. From this
we get the location coordinates of the vehicle, vehicle size
of the vehicle.
Virtual car environment developed in QT. This car is
operated with the help of keyboard keys and mouse.
Table -1: Car movement functionalities
Car movement keys and functions
Keys Functions
8 Forward
2 Reverse
4 Left turn
6 Right turn
7 Left turn indicator
9 Right turn indicator
+ Speed increase
- Speed decrease
Results are as shown below:

Fig -7: Virtual car environment
4.3 Creation of safety zones
We have created safety zone by considering:
 Size of vehicle(S)
 Distance covered due to human reaction time
(D1)
 Distance travelled by the car after applying brake
as per current speed.(D2)
Safe Zone width = S + D1 + D2
Fig -8: Safe zone of car
The width of safety zone changes with the speed of the car.
If the speed increases safety zone width increases and vice
versa.
Fig -9: Safe zone of car
4.4 Communication of virtual cars
Communication of car is done through UDP socket
programing. UDP frame of 22 bytes is developed.
UDP frame is as shown below.
Fig -10: Frame format
Communication result
Fig -10: Connection to other car
Fig -11: Blue car environment
Fig -12: Frame sending from blue car to red car

Fig -13: Frame received to blue car from red car
Fig -14: Red car environment
4.5 Intelligent collision avoidance algorithm
Accidental situations are
 Lane change collision
 Front end collision
 Rear end collision
 Intersection collision
To give the accidental warning to the driver the
intelligent collision warning algorithm is developed as
below.
Fig -15: Safe zone intersection of cars
Safe zone intersection flowchart:
Fig -16: Safe zone intersection finding flowchart
Algorithm to find the overlapping of safety zone:
Fig -17: Safe zone intersect inside
Area (ABCD) = A (1) + A (2) + A (3) + A (4)
Fig -18: Safe zone intersect on edge

Area (ABCD) = A (1) + A (2) + A (3) + A (4)
Fig -19: Safe zone not intersected
Area (ABCD) < A (1) + A (2) + A (3) + A (4)
Algorithm steps for the ICAW system.
 Find out area of the safe zone of car1.
Safe zone Area = Safe zone width X Safe zone
height
 Find out distance RA, RB, RC and RD.
 Find out area of RAB, RBC, RCD and RAD.
 Add these areas and store as
Covered Area = Area (RAB) + Area (RBC)
+ Area (RCD) + Area (RAD)
 If Covered Area = Safe zone Area
Then R on the edge of safe zone or inside
the safe zone of car. Warning to the driver.
Else R is outside the safe zone of car1.
Results of the ICAW system.
 Lane change collision warning
Fig -20: Lane change collision warning
 Rear end collision warning
Fig -21: Rear end collision warning
 Intersection collision warning
Fig -21: Intersection collision warning
5 CONCLUSION
In this way the ICAW system is developed, which
provides 360o view to the driver so that accidents are
minimized. Addition to this android application
provides cyber-attack security to avoid congestion of
frames and to work system smoothly. It becomes easy
and minimizes the time required to identify the
accidental situation due to the safety zones overlap
algorithm. It provides all the warnings like lane
change collision, rear end collision, front end collision
and intersection collision with the help of this
algorithm.
REFERENCES
[1] Y.Morioka, T.Sota, M.Nakagawa, “An Anti-Car-Collision
System Using DGPS and 5.8GHz Inter-Vehicle
Communication at an off- sight Intersection,” Technical
Report of IEICE ITS2000-4, 2000, pp.19-24.
[2] Han-ShueTan and JihuaHuang, "DGPS-Based Vehicle-
to-Vehicle Cooperative Collision Warning: Engineering
Feasibility Viewpoints", IEEE Transactions on
Intelligent Transportation Systems, vol.7, no.4,
December 2006, pp. 415 – 428.
[3] Samer Ammoun, Fawzi Nashashibi, Claude Laurgeau
"Real-time crash avoidance system on crossroads

based on 802.11 devices and GPS receivers", in
proceedings of the IEEE ITSC 2006, IEEE Intelligent
Transportation Systems Conference Toronto, Canada,
September 2006.
[4] ETSI EN 300 674 V1.1.1 (1999-02): Electromagnetic
Compatibility and Radio Spectrum Matters (ERM);
Road Transport and Traffic Telematics (RTTT);
Technical characteristics and test methods for
Dedicated Short Range Communication (DSRC)
transmission equipment (500 kbit/s / 250 kbit/s)
operating in the 5,8 GHz Industrial, Scientific and
Medical (ISM) band.
[5] Federal Communications Commission (FCC) Website,
Dedicated Short Range Communications (DSRC)
Service,http://wireless.fcc.gov/services/index.htm?jo
b=service_home&id=dedicated_src
[6] IEEE 802.11p Standard for Amendment to Standard
[for] Information Technology – Telecommunications
and information exchange between systems – Local
and Metropolitan networks – specific requirements –
Part II: Wireless LAN Medium Access Control (MAC)
and Physical Layer (PHY) specifications: Wireless
Access in Vehicular Environments.
[7] IEEE 1609 Family Standard of Wireless Access in
Vehicular Environments (WAVE).

Advanced Driver Assistance System using Vehicle to Vehicle Communication

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