COMSATS University Islamabad(Sahiwal)

Department of Electrical Engineering

ELECTRONICS-II
PROJECT (Proposal)
Collision avoiding autonomous car
Group members
I. Yasir Abbas (FA16-BEE-045)
II. Muhammad Amir (FA16-BEE-048)
III. Zainab Zulfiqar (FA16-BEE-036)

Instructor
Mr. Asad khan

Supervised by
Dr. Jehangir Arshad
Preface
My project provides complete information on topic “Collision avoiding autonomus car” and
maximum efforts has been taken to make this project more comprehensive and lucid to
understand. My project covers a verity of sub topics like its working, setup, uses in life and
different aspects of collision avoiding autonomus car . One may notice a perceptible change in
written in an easy dialogue style engaging the readers constantly and included with more
informatics comments. I assure you to go through this project thoroughly to know a bit more and
facts about the “Collision avoiding autonomus car”.

Objective
The purpose for setting this project is to stimulate the outgoing changing in the real world. This
is better way to convince the interested audience towards its inimitable competitive advantage.
This project creates a windows of opportunity for us as for this we have a knowledge, know-how
and the skills for this setting this up so by this project we can achieve the maximum output as we
can.

Description
Emergency scenarios may necessitate autonomous vehicle maneuvers up to their handling limits
in order to avoid collisions. In these scenarios, vehicle stabilization becomes important to ensure
that the vehicle does not lose control. However, stabilization actions may conflict with those
necessary for collision avoidance, potentially leading to a collision. This paper presents a new
control structure that integrates path tracking, vehicle stabilization, and collision avoidance and
mediates among these sometimes conflicting objectives by prioritizing collision avoidance. It can
even temporarily violate vehicle stabilization criteria if needed to avoid a collision. The
framework is implemented using model predictive and feedback controllers. Incorporating tire
nonlinearities into the model allows the controller to use all of the vehicle's performance
capability to meet the objectives. A prediction horizon comprised of variable length time steps
integrates the different time scales associated with stabilization and collision avoidance.
Experimental data from an autonomous vehicle demonstrate the controller safely driving at the
vehicle's handling limits and avoiding an obstacle suddenly introduced in the middle of a turn.
Components:
1.Motor 300rpm

Specification:

o Weight: 125 gm(Approx.)

o RPM: 300
o Operating Voltage: 12V DC
o Gearbox: Attached Plastic (spur)Gearbox
o Shaft diameter: 6mm
o Shaft Length: 21 mm
o Torque: As per RPM
o No-load current = 60 mA(Max)
o Load current = 300 mA(Max).
o Dimensions: Body Diameter: 38mm; Motor Length with shaft: 77 mm;
o Same size motor available in various RPMs
2. Arduino Uno

Description
The Arduino Uno is a micro controller board which is based on the ATmega328. Arduino
Uno have 14 digital input or output pins(where 6 can be used as PWM outputs), 6 analog inputs,
a 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header and a reset
button. It have everything needed to support the microcontroller, you need to simply connect it to
a computer with a USB cable or power it with a AC-to-DC adapter or battery to get started.

3.Ultrasonic Module 
Description:

Working Voltage : 5V(DC)

Static Current: Less than 2mA.
Output Signal: Electric frequency signal, high level 5V, low level 0V.
Sensor Angle: Not more than 15 degrees.
Detection Distance: 2cm-450cm.
High Precision: Up to 0.3cm
Input Trigger Signal: 10us TTL impulse
Echo Signal : output TTL PWL signal
Mode of connection:
VCC
trig(T)
echo(R)
GND

4.Tyre

Description
68 mm Diameter
2 cm Width
Hole Diameter 6 mm
Screw for fastening on motor shaft
Made from virgin plastic.
5. Bread Board

Description:

Tie-point 840
Solderless breadboard (GL-12)
Wire size: Suitabe for 29-20 AWG wires
Size: About 16.5*5.6*1cm
6.L293d Motor Driver IC Chip

Description
Part No:L293D
Pin No: 16 pins
Package included:
1 x L293D Driver IC