TCP/IP Protocol Based Adaptive Cruise Control using Raspberry Pi

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 04 Issue: 06 | June -2017 www.irjet.net p-ISSN: 2395-0072
© 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 322
TCP/IP PROTOCOL BASED ADAPTIVE CRUISE CONTROL USING
RASPBERRY PI
Devaraj.M1, PG Student, Dr. T. Kavitha2, Associate Professor
Nitin Awasthi3, VP Technical Manager, Chandrakanth V4, Embedded Design Engineer
1, 2 Dept. of Electronics and communication, BNM Institute of Technology, Bangalore, Karnataka, India
3, 4 VP Technical Manager and Embedded Design engineer, Apsis solutions, Bangalore, Karnataka, India
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Abstract - This paper gives the idea to develop Adaptive
Cruise Control by using sensors and two Raspberry pi boards.
The proposed system consists of two Raspberry pi, one is slave
and other is master. One Raspberry pi act as slave and is
responsible for detection various parameters like Distance
between the vehicle, Wet weather monitoring, Road slope
detection, Damaged road detection, Temperature monitoring,
Location finding and Speed detection. Both the Raspberry pi,
Slave is connected with master over TCP/IP channel. Here
communication between the Master and Slave is based on the
TCP/IP protocol i.e. sensed values from slavecansendthrough
TCP/IP channel via Ethernet cable (RJ45) to the master.
Sensor values must be predefined as a threshold values are
should be less, if these measured values are more than
threshold values PWM pulses generated within the master.
PWM signal will control the speed of the dc motor. Later LCD
will display the values.
Key Words: TCP/IP protocol, Adaptive Cruise control,
Raspberry pi
1. INTRODUCTION
To reduce number of accidents in roads, to develop a system
like Adaptive Cruise control. It consists of sensors to detect
imminent crashes. When detection occurs, the system takes
action to control automatically without driver inclusion.
In [1] “CAN Based Cruise Control in Traffic Situations”, the
objective of the intelligent vehicle framework is to
decreasing traffic accidents and by expanding the flow. In
proposed have two controllers, one acts as achieve
movement to the forward vehicle and others one has
controls speed of the vehicle. Here utilizing fundamental
processor has ARM11 and lower controller has ARM Cortex
M3. Slave can send the gathered data to the master by using
CAN protocol is communication medium. The sensor values
are fixed has threshold values must be less, if these values
are above than threshold values then master will produces
signals by using those signals can controlled speed of the
motor.
In [2], “Intelligent vehicle system for driver assistance’’. This
proposed framework comprises of two ARM controllers,
sensors and CAN protocol. The one ARM controller acts as
slave which is responsible sensing values from the sensors.
Other ARM controller acts as master which is controllingthe
motor. Here CAN protocol used for sending the values from
the slave module to the master module [3].
In [4], “Adaptive cruise control’’, Adaptive cruise control has
an some type of cruise control system which can controlled
speed of the car automatically in order to achieve keep
distance between the cars and range speed about at 20-
25mph. Car having ACC system is detected the front vehicle,
any object is detected, and system will slow down the speed
and keep distance from the front vehicle set by driver. Once
front car is cleared on the road the ACC system car will
increasing the speed set by its driver and its shown fig 1.
Fig 1: Working principle of ACC
Some of things should be take into consideration in ACC as
follows
 To be realized that the ACC framework can’t work
properly in some natural conditions like heavy condition
are rain and fog, even when the street are smoothness
high. Even in condition like dust or ice covering sensors.

 ACC can consume small energy to maintain keep
separation from the front vehicle. Utilizing this
innovation to give more concentration in traffic point,
distance between the vehicle, and path changing in high
ways.
In [5] “Collision Avoidance System in Heavy Traffic”, this
paper gives the working guidelines ofultrasonic sensor.This
sensor comprising of 4 pins like trigger, echo, vcc and
ground. Trigger pin is consistently transmits the signals,
once object is detected that trigger signal is reflectedback to
the echo pin. The sensor will transmit the signal about 40
kHz which will travel in air is range about 1130 feet/sec. the
pulse width can measure the twice the gap between the
sensor and object. The calculation of distance between
vehicle formulas as following
D=0.5 * C * (T1-T0)………………………………………………..1.1
Where, D= Distance to the object
C= Speed of sound
T0= Time at which sonic wave is transmitted
T1= Time at which sonic wave is received
2. PROPOSED METHODOLOGY
This paper gives the thought to create Adaptive cruise
control by utilizing sensors and two Raspberry Pi boards.
The proposed framework comprises two Raspberry pi, one
acts as slave module and another one acts as master. This
slave module can be used to recognition different
parameters like Distance between vehicle by utilizing
Ultrasonic sensor, Wet weather monitoring by utilizing
Humidity sensor, Road slope detection by utilizing
Accelerometer, Damaged road detection by utilizing
Vibration sensor, Temperature monitoring by utilizing
Temperature sensor,Locationfinding byutilizingGPS,Speed
detection by utilizing RPM meter and master is responsible
for controlling dc motor. Here both Raspberry pi, slave is
associated with master through TCP/IP protocol. This
TCP/IP protocol is used for exchange the information
between salve module and master module. Salve sensor
values must be defined as threshold values should be less, if
those measured value are more than threshold values then
master will produces PWM signals. By using PWM signals
master will controlling speed of the dc motor and lastly
values are displayed on LCD.
The proposed system consists of
a) Obstacle Detection: Ultrasonic sensorutilizedforfinding
the obstacle in front of the vehicle. Sensor having four pins
are Trigger, echo, vcc, and ground. Trigger is input which
continuously transmits the signal, in case any obstacle find
signal get reflated back to the echo pin. Slave will gather the
information from the sensor to the master block through
TCP/IP protocol. By utilizing PWM signal master will
controlled dc motor.
b) Wet Weather Monitoring: Itwill checkingthewetnessof
the vehicle close to the wheel by utilizing the humidity
sensor and also furthermore gives the climate condition. In
case hot air close tire which contain more dampness
prompts to accidents by utilizing this sensor can be
decreased.
Fig 2: Block Diagram of Proposed System
c ) Temperature Monitoring: Temperature sensor utilized
for checking temperature close to the wheel of the vehicle
and similar like wet weather monitoring.
d) Road slope Detection: This will recognize humps onthe
road and also detect the craving of the road by utilizing
accelerometer. Additionally measure the acceleration of
Humidity
Sensor
Vibration
Sensor
Ultrasonic
Sensor
Power
Supply
Accelero
meter
GPS
Module
Raspberry
pi
Slave
Temperature
Sensor
Using
TCP/IP
Protocol
LCD
DC
Motor
U
A
R
T
ADC
RPM
Meter
Raspberry
Pi master
PWM

vehicle. The sensor having three outputs are analog hence
need to convert into digital by using ADC. Then converted
data send to slave through master via TCP/IP protocol and
lastly master will controlled dc motor by usingPWMsignals.
e) Damaged road detection: It will detect identify the
harmed street by utilizing vibration sensor.Theoperationof
the sensor like road slope detection.
f) Location Finding: It will finding the area of the vehicle
position in longitude and latitude by Global positioning
system (GPS).
h)Speed Detection: It will measures the quantity of pivot of
vehicle wheel by utilizing revolution per minute (RPM).
3. IMPLEMENTATION
Fig 3: Flow chart of proposed system
In figure 3 consists of following steps
Step 1: Initialize all ports of Slave Raspberry pi GPIO pin to
particular sensors like Ultrasonic, Temperature, Vibration,
Humidity, accelerometer, RMP and GPS
Step 2: Sense values from the each sensor send to the slave
module
Step3: In salve module, the sensed values then transfer to
the master Raspberry pi via TCP/IP protocol
Step 4: Master will made decision according to thethreshold
values
Step 5: If in case sensed values are between the threshold
values, adjust the speed set by its driver
Step 6: If in case sensed values are higher than or lower than
the threshold values, set the speed according to the
programed written.
Step7: At lastly the values should be displayed on LCD
Software used
In this venture we are using Raspbian working Linux.
Raspbian is a free working OS in light of Debian progressed
for Raspberry pi equipment.
Now a days Python is a most utilizing programing languages
in world. Python has basic language in which can easily read
out and express the syntax can also easy provides write
different languages like java, c, c++ and furthermore gives
composing code in small as well as large scale. There are
some features like memory management, and also supports
to objected oriented problems, multi programing,functional
programing, and lastly procedural structures. Python is
supporting all OS system which can run Varity codes in the
system. IDLE is a promote window to enter python
commands and results are viewed in the figure 4.
Fig 4: Python IDLE window
Between
the
Threshold
Set the speed to
the Programed
Speed/Or Lowest
of the speeds
among the
sensorsThe data is displayed
in LCD
Adjust the
speed to
achieve Set
speed
Read the sensor value
Start
Initiate the ports
of Slave GPIO
pins to sensors
Send the data Via TCP/IP Port to
Master Raspberry pi
Receive Data via TCP/IP Port at Master
Raspberry pi
If the data is
above, between,
Below Both
threshold values
Upper
Threshold
and Above
Lower
Threshold
and
Below

4. OBTANED RESULTS
Fig 5: Interfacing sensors with Salve module
In figure 5 shows the interfacing all sensors like Ultrasonic,
Humidity, Vibration, Temperature, Accelerometer and GPS
module with Raspberry pi salve module.
Fig 6: Interfacing sensors with Master module
In figure 6 represents the interfacing DC motor with
Raspberry pi master module.
Fig 7: Sensor values
In figure 7 shows that all sensor values after interfacing.
Sensors like Accelerometer, Temperature, Humidity, and
Vibration values in python IDLE window.
Fig 8: GPS values
In figure 8 shows that GPS values in Python IDLE window.

5. CONCLUSION
Driver action is affected by various factorsthatarerelatedto
the vehicle, the environment andthroughtraverseofdriving.
Watching and perceiving the driver’s movement to ensure
road security has basic in light of the way that road
mischance happen. In this way it is indispensable to catch
driver exercises which will control roadmischancesbecause
driver have lot of concentration setting one position,
laziness, sleepiness, liquorand alsopoorweatherconditions
like fog , wetness of the road, some turning points.
The Proposed device was tested under various conditionsof
the sensors. And the results were observed to be
satisfactory. The information index of driving excursions
assembled amid this investigation was analyzed regarding
general driving time and opendoorforACCuse,asmeasured
by the quantity of occasions when the motor was going at
various paces. In coming days, the framework can be
improved by adding some more futures by decreasing the
overload of the driver and diminish the cost of the usage.
REFERENCES
[1] M. Divya and G. Bhaskar Phani Ram, “Controller Area
Network Based Cruise Control in Traffic Situations”,
International Journal ofCurrentEngineeringandTechnology
©2015 INPRESSCO®, Vol.5, No.4 (Aug 2015)
[2] Ashutosh U. Jadhav, N.M. Wagdarikar,“Intelligentvehicle
system for driver assistance”, International Journal of
Advanced Research in Electrical, Electronics and
Instrumentation Engineering, vol.4, Issue 7, July 2015
[3] Ms. Divya K .S, Ms. K. A Drishya, Mr. Sakthiprasad .K .M ,
“Vehicle Speed Control System using CAN”, IJSTE -
International Journal of Science Technology & Engineering |
Volume 1 | Issue 10 | April 2015
[4] Prof. D. S. Vidhya, Miss Delicia Perlin Rebelo, Miss Cecilia
Jane D’Silva, Mr. Linford William Fernandes, “Adaptive
Cruise Control”, IJIRST International Journal forInnovative
Research in Science & Technology|Volume3|Issue01|June
2016
[5] Babu Varghese, Renju Thomas Jacob, Fajas Kamar and
Rizwan Ali Saifudeen, “Collision Avoidance System in Heavy
Traffic and Blind Spot Assist Using Ultrasonic Sensor”,
international journal of computer science and Engineering
communication-IJCSEC. Volume 2, Issue.1, February 2014

TCP/IP Protocol Based Adaptive Cruise Control using Raspberry Pi

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TCP/IP Protocol Based Adaptive Cruise Control using Raspberry Pi