Development of a microcontroller based car speed controller by Alexander Decker

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Development of a Microcontroller Based Car Speed Controller Jonathan A. Enokela David O. Agbo Department of Electrical and Electronics Engineering, Federal University of Agriculture, P.M.B. 2373, Makurdi, Benue State, Nigeria E-mail of the corresponding author: jonajapeno@gmail.com Abstract Nigeria and many countries of the world have been experiencing an increase in road traffic accidents much of which can be attributed to human errors such as over speeding. The car speed controller discussed in this work is designed to automatically control the speed of a car so that the car’s speed will not exceed the speed limit that has been set for a particular zone by a regulating body such as the Federal Road Safety Commission (FRSC) in Nigeria. The car speed controller operates by taking inputs from a set of three switches that can set speed limits in kilometers per hour of 40, 80, and 120 respectively. Each setting of the switch is compared with the actual speed of the car that is derived from the car’s speedometer. If the speed of the car exceeds the setting, an actuator is called into operation such that the car’s speed is not allowed to exceed the set limit for the zone. A microcontroller was programmed to take inputs from the switches and the speedometer; depending on the settings the microcontroller turns on light emitting diodes (LEDs) and displays appropriate messages on the screen of a liquid crystal display (LCD). In the simulation model a stepper motor was controlled by the microcontroller through a motor driver to represent the adjustment of speed in the real environment. The program for the microcontroller was written using mikroC development environment and hardware simulation was carried out with the aid of Proteus Design Suite Version 8.0. The speed settings for a zone can be altered to suite the choice of a regulatory agency. The installation of the car speed controller in vehicles will not only give early warnings to drivers but will prevent over speeding thus leading to the reduction in cases of road traffic accidents. Keywords: Car Speed Control, Speed Governor, Microcontroller, Road Safety 1. Introduction Nigeria and the generality of the countries in the world lose a great number of their citizens in cases of road traffic accidents every year (Omidiji & Ibitoye 2010). The report by the Federal Road Safety Commission (FRSC) of Nigeria in 2013 shows that as much as 32% of all accidents that occurred that year were attributed to speed related issues (Federal Road Safety Corps 2013). Different types of technologies have been deployed over the past three decades with a view to controlling the speed of automobiles in order to reduce the cases of fatal accidents. Akihiko et al. (1990) patented an automatic car speed controller whose driving circuit is operated by the difference between the actual car speed and the memorized car speed; the difference signal is used to operate an electromagnetic clutch. A similar system is also reported in Akihiko et al. (1992). The systems discussed in Akihiko et al. (1990) and Akihiko et al. (1992) have been rendered obsolete by newer and improved car manufacturing technologies. More modern systems that use electro-hydraulic braking systems and electronic control of throttles are reported by Santoshi et al. (2015), Eswaramoorthy & Araunkumar (2014), and Saivignesh et al. (2015). Bianco et al. (2013) used the notation of the Unified Modeling Language (UML) to theoretically model a car speed regulator. An electronic system to control car speed using two variable resistors for generating speed control signals that are processed and transformed into a digital signal for controlling the driving speed of an electric car is discussed in the work by Byum (1998). A system that uses the Radio Frequency Identification (RFID) for identification of traffic signals on the road and also for infrastructure to vehicle communication is reported by Perez et al. (2010). This elaborate system not only controls the speed of vehicle and shows its location using the global positioning system (GPS) but is also capable of avoiding vehicle to road infrastructure collisions. This system employs many sensors and electronics and this fact will make it to be costly. Other systems that are based on RFID and RF transmitter- receiver pairs are reported in Madhu et al. (2014), Thomas et al. (2014) and Kameswari et al. (2011). These systems require the installations of an extensive road infrastructure in the form of roadside beacons. The most modern autonomous system that uses the GPS for the location of vehicles and control of speed is the Intelligent Speed Adaptation (ISA) (Paine 2008; Carsten & Tate 2005, and Paine et al. 2008). This system uses the GPS within the vehicle to determine its location. A memorized digital map included in the system enables the speed limit of the location to be determined so that the driver can be properly advised to stay within this prescribed speed limit. This complex system will certainly require the availability of the satellite system that forms the GPS, a detailed construction of the digital maps of all the roads in a country where it is deployed as well as the availability and maintenance of good roads. These factors may not always exist in

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developing countries. The system described in this work is a purely advisory type as it does not take any active measures to operate the braking or the throttling of the car; this aspect is however successfully simulated in the work using a dc motor. The system uses visual indicators i.e. light emitting diodes (LED) and writes messages on the screen of a liquid crystal display (LCD) to alert the driver of the necessity to stay within prescribed speed limits. An audible alarm is also triggered when the driver exceeds the speed limit. The system described in this work is simple to operate and is also much cheaper than the other systems that have been earlier described in the literature review. 2. Materials and Methods The block diagram of the system is depicted in figure 1. The inclusion of a microcontroller into the system makes it to be a stand-alone type of system that is capable of taking decisions to keep the system functioning properly. The microcontroller receives input signals from the speed limit switches and the digitized actual car speed. In this work three switches are used to set the speed limits at 40 km/hr, 80 km/hr, and 120 km/hr. These speed limits may be altered as desired. The actual car speed may be measured by using several methods one of which is the detecting of the pulses generated by the ignition system (Linscott, 2001). A more accurate method involves the use of sensors such as the Hall effect based sensor (Perez et al. 2010 & Vehicle Speed Sensors 2003). The system operates by comparing the digitized car speed with the value of the speed limit set by the user. Depending on the result of the comparison a decision is taken to light up the appropriate LED and also to write a message on the screen of the LCD. An audible alarm is sounded if the set speed limit is exceeded by the driver. The flowchart of the program executed by the microcontroller is shown in figure 2. This shows that the microcontroller polls the input sensors and depending on their states an appropriate decision is taken after which the microcontroller goes back to monitoring the sensors in a continuous loop. The circuit used for the simulation of the operations of the car speed controller was built in the environment of Proteus Design Suite Version 8.0 (Labcenter Electronics 2014) and is shown in figure 3. A variable resistor RV2 shown in figure 3 is used to represent the actual speed of the car. One of the transistor switches (Q1-Q3) is used for one of the desired speed limits. The microcontroller is programmed to turn on the green, red, or yellow LED as appropriate and to also write a message on the screen of the LCD. An audible alarm system is turned on by the microcontroller when necessary. LCD Display

Car Speed Sensor

Digitized Speed

LED Indicators

Car

Microcontroller Audible Alarm

Speed Switches

Limit

Figure 1. Block Diagram of Automatic Car Speed Controller System

Innovative Systems Design and Engineering ISSN 2222-1727 (Paper) ISSN 2222-2871 (Online) Vol.6, No.6, 2015

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Sta

Select Desired speed limit (n) and Display selected speed limit on LCD

N o

n=40

N o

n=80

N o

Yes

n=12

Read actual car speed (m) and Display actual car speed on LCD

N o n =

Yes

Display the Information on LCD

Yes

Display the Information on LCD

Green LED

Yellow LED

N o Display the Information on LCD

Red

LED;

Drive Actuator

Figure 2. Flowchart of Program for the Automatic Car Speed Controller

Innovative Systems Design and Engineering ISSN 2222-1727 (Paper) ISSN 2222-2871 (Online) Vol.6, No.6, 2015 +5V

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+5V

+5V OSC1

OSC2 4MHz

R12

120

SW3

SW2

OSC1 OSC2

SW1

RV2

D1 11%

13 14 1 2 3 4 5 6 7

8 9 10 +5V

OSC1/CLKIN OSC2/CLKOUT MCLR/Vpp/THV

RB0/INT RB1 RB2 RB3/PGM RB4 RB5 RB6/PGC RB7/PGD

RA0/AN0 RA1/AN1 RA2/AN2/VREFRA3/AN3/VREF+ RA4/T0CKI RA5/AN4/SS RC0/T1OSO/T1CKI RC1/T1OSI/CCP2 RE0/AN5/RD RC2/CCP1 RE1/AN6/WR RC3/SCK/SCL RE2/AN7/CS RC4/SDI/SDA RC5/SDO RC6/TX/CK RC7/RX/DT

+5V

LCD

RD0/PSP0 RD1/PSP1 RD2/PSP2 RD3/PSP3 RD4/PSP4 RD5/PSP5 RD6/PSP6 RD7/PSP7

R13

+5V

D0 D1 D2 D3 D4 D5 D6 D7

+5V

R10

19 20 21 22 27 28 29 30

G Y R P1 P2 P3 P4

R14 BUZ1

Red

R11 R

40 80 120

+5V

R15

Green

Alarm

AUTO/MANUAL

+5V

15 16 17 18 23 24 25 26

D4 D5 D6 D7

+5V

RS E D4 D5 D6 D7

PIC16F877

7 8 9 10 11 12 13 14

RS RW E 4 5 6 E

1 2 3

VSS VDD VEE

50%

RVL

33 34 35 36 37 38 39 40

BUZZER

Yellow

R16 Y

R17

Alarm

Figure 3. Schematic Diagram of the Simulation Circuit of the Speed Controller 3. Results and Discussions The program for the microcontroller was written in C language and was then compiled into an executable file using the mikroC IDE Version 6.0 (MikroElektronika 2013). A software simulation was carried out with the simulator built into the mikroC IDE to ensure that the program variables and registers changed as desired. The executable file was next imported into the Proteus Design Suite IDE where the hardware circuit shown in figure 3 was constructed and simulated. The program development in mikroC IDE is shown in figure 4. Figures 5 and 6 show the simulation results for the case where the car speed is less than the set speed limit and another where the car speed is greater than the set speed limit, respectively. Table 1 shows the three possible conditions of the set speed switches and the outputs of the microcontroller. Upon successful completion of the software simulation, the systemâ&#x20AC;&#x2122;s hardware was constructed on a vero board and hardware simulation was further carried using MPLAB ICD 2 In-Circuit debugger (Microchip Technology Inc. 2006). The process is shown in figure 7.

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Figure 4. Program Development using mikroC IDE X1 OSC1

OSC2 4MHz

120

SW3

SW2

OSC1 OSC2

SW1

13 14 1 2 3 4 5 6 7

8 9 10

LCD2

OSC1/CLKIN OSC2/CLKOUT MCLR/Vpp/THV

RB0/INT RB1 RB2 RB3/PGM RB4 RB5 RB6/PGC RB7/PGD

RA0/AN0 RA1/AN1 RA2/AN2/VREFRA3/AN3/VREF+ RA4/T0CKI RA5/AN4/SS RC0/T1OSO/T1CKI RC1/T1OSI/CCP2 RE0/AN5/RD RC2/CCP1 RE1/AN6/W R RC3/SCK/SCL RE2/AN7/CS RC4/SDI/SDA RC5/SDO RC6/TX/CK RC7/RX/DT RD0/PSP0 RD1/PSP1 RD2/PSP2 RD3/PSP3 RD4/PSP4 RD5/PSP5 RD6/PSP6 RD7/PSP7

R15

LM041L

15 16 17 18 23 24 25 26

PW M2 PW M1

40 80 120

19 20 21 22 27 28 29 30

R16

G Y R

P1 P2 P3 P4

RS E D4 D5 D6 D7

ON/OFF

+5V

R10

+12V

R12 16

33 34 35 36 37 38 39 40

PIC16F877

13 D6

VEE

6 E

VSS

VDD

RVL 50%

RV2

D1 80

R14

15%

P1 P2 PWM1

2 7 1

IN1 IN2 EN1

VSS

8 VS

OUT1 OUT2

3 6

0.00 GREEN

R9 G

YELLOW

R11 Y

RED

R13

PWM2 P3 P4

9 10 15

EN2 IN3 IN4

GND

OUT3 GND OUT4

11 14

R L293D

Figure 5. Simulation Result for Car speed less than the set speed limit

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X1 OSC1

OSC2 4MHz

R14

120

SW3

SW2

OSC1 OSC2

SW1

13 14 1 2 3 4 5 6 7

8 9 10

LCD2

RV2

D1 17%

OSC1/CLKIN OSC2/CLKOUT MCLR/Vpp/THV

RB0/INT RB1 RB2 RB3/PGM RB4 RB5 RB6/PGC RB7/PGD

RA0/AN0 RA1/AN1 RA2/AN2/VREFRA3/AN3/VREF+ RA4/T0CKI RA5/AN4/SS RC0/T1OSO/T1CKI RC1/T1OSI/CCP2 RE0/AN5/RD RC2/CCP1 RE1/AN6/WR RC3/SCK/SCL RE2/AN7/CS RC4/SDI/SDA RC5/SDO RC6/TX/CK RC7/RX/DT RD0/PSP0 RD1/PSP1 RD2/PSP2 RD3/PSP3 RD4/PSP4 RD5/PSP5 RD6/PSP6 RD7/PSP7

R15

LM041L

PWM2 PWM1

40 80 120

19 20 21 22 27 28 29 30

R16

G Y R

P1 P2 P3 P4

15 16 17 18 23 24 25 26

ON/OFF

+5V

R10

+12V

R12 16

RS E D4 D5 D6 D7

PIC16F877

VEE

VDD

6 E

VSS

50%

RVL

33 34 35 36 37 38 39 40

P1 P2 PWM1

2 7 1

IN1 IN2 EN1

VSS

8 VS

3 6

OUT1 OUT2

0.00 GREEN

R9 G

YELLOW

R11 Y

RED

R13

PWM2 P3 P4

9 10 15

EN2 IN3 IN4

GND

11 14

OUT3 GND OUT4

R L293D

Figure 6. Simulation Result for Car speed greater than the set speed limit

Figure 7. Programming the microcontroller and Hardware Debugging Process

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Table 1. Set Speed Switches Conditions and Microcontroller Decisions Switches Conditions S1 S2 S3 H

Set Car Speed Limit 40 km/h

Microcontroller Output

Any of Green, Yellow, or Red LED may be turned on depending on actual car speed; Appropriate message is displayed on LCD; Alarm is on and stepper Motor turns 90̊ when car speed is greater than set speed. H L H 80 km/h Any of Green, Yellow, or Red LED may be turned on depending on actual car speed; Appropriate message is displayed on LCD; Alarm is on and stepper Motor turns 180̊ when car speed is greater than set speed. L H H 120 km/h Any of Green, Yellow, or Red LED may be turned on depending on actual car speed; Appropriate message is displayed on LCD; Alarm is on and stepper Motor turns 270̊ when car speed is greater than set speed. Note that in table 1; L = Low Logic Level Signal and H = High Logic Level Signal. 4. Conclusions The automatic car speed controller system has been designed and implemented using a microcontroller. Due to the few number of components used the system has a high degree of reliability. This fact also makes the system to be low cost thus making it suitable for deployment in developing countries. The system has been designed to be purely advisory to the driver since the control of the throttle or the braking system has not been physically implemented. The successful simulation of this aspect using a dc motor, however, shows the feasibility of its implementation. References Omidiji, A.A. & Ibitoye, S.A. (2010), “Crime and Road Crashes Prevention in Public Transportation System in Nigeria: the Case Study of Kwara, Kogi and Ekiti States”, 24th ARRB Conference- Building on 50 years of Road and Transport Research, Melbourne, Australia. Federal Road Safety Corps, Federal Republic of Nigeria Annual Report (2013), “Road Crash Statistics”, [Online] Available: http://frsc.gov.ng/2013%FRSC%20Annual%20Report.pdf (February 10, 2015) Akihiko, T., Iwaoka, T., Yamaguchi, Y. & Danzaki, T. (1990), “Automatic Car Speed Controller with Detection of Abnormality of the Electromagnetic Clutch”, United States Patent Number 5014201. [Online] Available: http://www.patents.com/us-5014201.html (December 10, 2014). Akihiko, T., Iwaoka, T., Yamaguchi, Y. & Danzaki, T. (1992), “Automatic Car Speed Controller”, United States Patent Number 5107947. [Online] Available: http://www.freepatentsonline.com/5107947.pdf (December 10, 2014). Santoshi, G.V.L., Hima, B.N. & Uma, R.K. (2015), “Intelligent Vehicle Control Based on Identification of Road and Traffic Signal Operated RFID Transponders”, International Journal of Engineering Research and Applications, National Conference on Developments, Advances, and Trends in Engineering Sciences (NCDATES). pp. 40-45. [Online] Available: http://www.ijera.com/special_issue/NCDATES/ECE/PART-5/ECE%20120-4045.pdf (February 13, 2015). Eswaramoorthy, P. & Arunkumar, M. (2014), “Intelligent Vehicle Control Based on Identification of Road Signs by Solar Powered RFID Transponders”, International Journal of Research in Engineering and Technology, 3, 85-89. Saivignesh, H., Mohamed, SM., Nagaraj, M., Sharmila, B. & Nagaraja, P.M. (2015), “RF Based Automatic Vehicle Speed Limiter by Controlling Throttle Valve”, International Journal of Innovative Research in Science, Engineering and Technology, 4, 18722-18728. del Bianco, V., Luigi, L. & Marco, M. (2013), “An Application of the DESS Modeling Approach: the Car Speed Regulator”, [Online] Available: http://www.researchgate.net/publication/2403852_An_application_of_the_DESS_modeling_approach _The_Car_Speed_Regulator (November 15, 2014). Byum, L.S. (1998), “Speed Control Apparatus and Method for Electric Car”, United States Patent Number 5726544. [Online] Available: http://www.patents.com/us-5726544.html (November 24, 2014). Perez, J., Seco, F., Milanes, V., Antonio, J., Diaz, J.C. & de Pedro, T. (2010), “An RFID-Based Intelligent Vehicle Speed Controller using Active Traffic Signals”, Sensors, 10, 5872-5887. [Online] Available: www.mdpi.com/journal/sensors (January 15, 2015). Madhu, Adhaulya, R., Singh, S., Sambhavi, & Chauhan, A. (2014), “An Advanced Robotic Car for Accidental Preventions”, International Journal of Engineering Research and Management Technology, 1, 263-267. 15

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Thomas, L., James, S.A., Joseph, S., Arya, K.B., Narah, T. & Pangu, O. (2014), “Automatic Speed Control of Vehicles using RFID”, International Journal of Engineering and Innovative Technology, 3, 118-120. Kameswari, U.J., Satwik, M., Lokesh, A. & Reddy, G.V. (2011), “A Design Model for Automatic Vehicle Speed Controller”, International Journal of Computer Applications, 35, 19-24. Paine M. (2008), “Comments on Draft Protocol for Speed-Limitation Devices”, [Online] Available: http://www.mpainesyd.com/idisk/Public/ANCAP%20speed%20limiter%20comments%20mar08.pdf (February 25, 2015). Carsten, O. & Tate, F. (2005), “Intelligent Speed Adaptation: The Best Collision Avoidance System?”, Proceedings of the 17th Conference on the Enhanced Safety of Vehicles, Netherlands. [Online] Available: http://tinyurl.com/26cfod (February 25, 2015). Paine, M., Paine, D., Griffiths, M. & Germanos, G. (2008), “In-Vehicle Intelligent Speed Advisory Systems”, [Online] Available: http://www-nrd.nhsta.dot.gov/pdf/nrd-01/esv/esv20/07-0247-w-pdf (January 25, 2015). Linscott, R. (2001), “Automotive Speed Indicator”, [Online] Available: http://www.circuitdb.com/?p=398 (January 25, 2015). Vehicle Speed Sensors (2003), [Online] Available: www.jagsthatrun.com/v8-chapters/v8-tpi-speed-sensors.pdf (August 21, 2014). Labcenter Electronics (2014), Proteus Design Suite Version 8.0. [Online] Available: http://www.labcenter.com/ (October 21, 2014). Mikroelektronika (2013), mikroC. [Online] Available: www.mikroe.com (October 21, 2014). Microchip Technology Inc. (2006), MPLAB ICD 2 In-Circuit Debugger. [Online] Available: http://www.microchip.com/DevelopmentTools/ProductDetails.aspx?PartNO=dv164005 (July 19, 2010).

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