IoT in Smart Traffic Management

This report discusses the application of IoT in smart traffic management and its role in building smart cities. It explores the benefits of using IoT in traffic management systems and addresses the challenges associated with its implementation.

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Introduction:
Internet of Things or the IoT is considered as the network of the physical connected
devices that can communicate between themselves and can exchange the data. The IoT is a
very much important concept for the development of smart city. In the aspects of the smart
city the IoT plays a vital role for the development of the smart traffic control which is one of
the essential part of the smart city. For a city truly be a smart city must maintain a good
traffic flow and need to be free from the traffic jams. In this aspects the IoT can help to build
the smart city by effectively providing various of data to the peoples of the city. IoT can help
in the sense by connecting different drivers at the same network so that most efficient route
can be found for the drivers. For building a smart city various of areas need to be covered
which includes water management, public safety, reducing energy waste and creating an
effective traffic flow. In this report specific discussion will be done on the IoT in smart traffic
management.
Problem Domain and Research Question:
With the current growth rate of the population cities are becoming larger and with that
the traffic size of the city also becoming larger. Due to the fact congestion on the road is
increasing and the number of death and injuries regarding the road accidents is also
increasing due to the fact of increased number of traffic. Ambulances and the other
emergency cars is also facing problem due to the contestation on the road as they are failing
to reach to the destination within time. In this aspect the IoT can make the difference. IoT is
able to effectively manage the traffic so that it can move freely within the city. Thus it will be
able to minimise the contestation on the road. Also the IoT can help in this aspect to reduce
the total number of injuries and deaths regarding road accidents. This study is mainly focused

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on development of the smart city by implementing the smart city facility by using the IoT.
Thus in this aspect he main research question are:
 How the IoT is applicable in the automotive industry?
 How IoT can help to achieve smart traffic management system?
 Is the autonomous vehicles are optimal solution for a smaet traffic management?
Background and Objective:
Literature Review:
Article 1:
As per the authors Pawłowicz, Salach and Trybus (2018), smart city has become very
much popular concept in the present generation for managing the urban cities and areas
perfectly. In this concept of smart city the network of 5G plays an important role. It has been
assessed that with the prior advantages of 5G network the cloud infrastructure and the RFID
transponders can effectively create a traffic monitoring system for the urban cities. The main
aim of this type of system is helping the drivers to reach their destinations within an optimal
time. This traffic monitoring system will assist the driver to stick in a specific route so that
the drivers can avoid the traffic jams. Thus this system will also minimise the overall fuel
consumption and will improve the overall environmental conditions. For the electrical
vehicles this system will improve the level of battery power and will also improve the battery
consumption level by the vehicles. In this paper the authors has presented this traffic
management system. For the evaluation of this traffic management system the authors has
described various aspects of the system which includes parking space monitoring based on
the RFID, 5G communication services and the cloud services for an ultimate control over the
network monitoring system. Also, the machine learning has been characterised in this case.
Article 2:

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According to Levinson et al. (2011), autonomous driving is one of the most important
concept in the present scenario and currently several of organization are working on this topic
to invent an industry ready autonomous driving car. To achieve a vehicle which can perform
autonomous actions considering the urban situations like unpredictable traffic, several of real
time systems need to be incorporated. This includes environmental perception, planning,
localization and control. With this other factors need to be considered which includes a robust
vehicle platform with having some computational hardware, appropriate sensors, software
infrastructures and networking system. A reference can be taken from the 2007 DARPA
Urban Challenge which was a closed course race competition. Inciting and historic progress
has been seen on the race course regarding the autonomous vehicle operations, but this
cannot be taken as a full representation of the real world situation regarding the autonomous
driving. The authors has presented a summary of their recent researches aiming towards the
goal of developing autonomous cars for the realistic situations with that this autonomous
system needs safe enough to be executing in the real world situations.
The authors has assessed that a trio of unsupervised algorithms is able to calibrate 64-
beam rotating LIDAR with an accuracy comparable with the hand measurements. From this
the authors has generated some high resolution maps of the environment. This map has been
used for online localization purpose with having accuracy near centimetres. The algorithms
of recognition and an improved perception helps to classify and track obstacles. This
obstacles are assumed as pedestrians, vehicles and cyclist by this autonomous car driving
system. In this system the traffic light is also considered. The new planning system utilizes
the incoming data for generating many new candidate trajectories per second. Through this
optimal path has been chosen dynamically. The improved controller also plays an important
role in this case. In this section the improved controller continuously selects brake, throttle

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and the steering actuations which are able to maximise the comfort and able to minimise the
errors regarding trajectory.

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Article 3:
As per the author Fernandes et al. (2014), intelligent robotic cars has become very
much popular in the current time considering its applications. Thus to demonstrate intelligent
robotic cars in a perfect way the author has presented development of two outdoor intelligent
platform regarding vehicles which is named CaRINA I and there is another one which is
named as CaRINA II. Also, their control modules, simulation tools and system architecture
has been developed in this case. Here the author has also described development regarding
intelligent control system modules. This actually allows the vehicles and the mobile robots to
autonomously navigate in a controlled situation within urban environment. In this aspects
various of research work has been done regarding the tele-operation, autonomous navigation
system and driver assistance system and for this experiment and validation vehicles has been
chosen as the platform. The authors has also used a robotic platform which was related with
the development of the embedded software architecture with mechanical adaptions. In this
paper the author has also discussed about the sensing, design and the decision making process
of current platforms and algorithms. With that, acting infrastructure and many more other
experimental test has been also done in this case for the evaluation purpose of both the
proposed algorithms and the platforms. The main part of this study which has made this
enriched is the proposed architecture of it. In this case the proposed architecture by the author
is very much flexible and modular which allows it to be instantiated into different types of
robotic applications and platform. Here the aspects regarding security and commination is
also investigated deeply by the authors.
Article 4:
The authors Bente, Szeghalmy and Fazekas (2018), has observed that safety regarding
roads is one of the biggest factor in present situation as there was a large number of accidents

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has been happened in last few decades. Due to this reason peoples now waiting computer
assisted vehicles which will effectively reduce the number of accidents which happens every
year. Thus the authors has discussed about a system which is a combination of cars and
computers which actually aims make the driving safer and more efficient. As per the authors
there are numerous number of systems which can effectively warn the drivers about several
types of dangers. This danger includes possibility of collision, lane departure and different
types of traffic signs. Though there is different types of dangers the authors has observed the
opportunity of development as there is various rising technologies which can effectively
support the development such as Internet of Things and Artificial Intelligence.
Article 5:
As per the authors Alonso et al. (2011), total number accidents due to the vehicles, is
increasing gradually day by day and trend will continue until there is a proper system
regarding controlling of the vehicles. From their assessment the authors have realised that
autonomous vehicle control system can help in this case for creating a safe crossroads for the
pedestrians. Demonstrating the system the authors has presented a cooperative manoeuvres
within three dual mode vehicles. This vehicles are actually equipped with actuators and
various sensors. This model vehicles of the authors can be controlled either autonomously or
it can be controlled manually by the drivers. In this project there is two vehicles and among
them one is controlled manually and the other one is driven autonomously. This test of two
cars has been initiated by the authors for testing two decision algorithms which can be used
for priority conflict resolution at the point of intersection so that the vehicles which are
driving autonomously can take their own decisions regarding crossing of an intersection with
respective of the cars that are driven manually without any type of modifications to the
infrastructure. It has been assessed that for performing this the developed system needs to
speeds, position and the turning intentions of the other cars that are involved in the same

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manoeuvre. This information of the other cars is collected effectively by a proper
communication, but the other methods are also viable in this case which includes the artificial
vision.
Article 6:
The authors Katrakazas et al. (2015), has described that autonomous self-driving cars
are very much important considering the current context. From the assessment of the present
situation the author successful assessed that currently the autonomous cars are concept level
and mainly resides within industry related research. A vast area of research has been
concerned with the factors of self-driving cars as this provides various of multi-faceted
advantages including reduced congestion, improved safety greater mobility and lower
emission. Here, as per the author, software is the key factor which controls and provide
autonomy functions to the vehicles. In this aspect it is also understood by the author that
algorithm plays a very important role as in this case the algorithm are responsible for the
process regarding decisions making which is having a very much significant process. For
both of the transportation of the goods and the passengers the vehicles have a prior
destination. Here it has been assessed that the methods regarding motion planning
incorporates a path searching which need to be followed, obstacle avoidance and generation
of the optimal trajectory for ensuring comfort, safety and the efficiency. In this literature the
authors has provided several types of planning approach.
Analysis and Specification of Project Requirement:
This is one of the most important aspect of a project which need to be considered and
it is considered after setting the goals of the project. As per the requirement and need of the
client minor and major requirement which are very much important for the project is
determined. As in this case IoT is needed for successfully managing the traffic of the smart

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city some basic requirement regarding this are the Sensors and mBot Educational Robotic Kit
and these are hardware needs for the software part C programming is needed.

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Bibliography:
[1] Pawłowicz, Bartosz, Mateusz Salach, and Bartosz Trybus. "Smart city traffic monitoring
system based on 5G cellular network, RFID and machine learning." In KKIO Software
Engineering Conference, pp. 151-165. Springer, Cham, 2018.
[2] Levinson, Jesse, Jake Askeland, Jan Becker, Jennifer Dolson, David Held, Soeren
Kammel, J. Zico Kolter et al. "Towards fully autonomous driving: Systems and algorithms."
In 2011 IEEE Intelligent Vehicles Symposium (IV), pp. 163-168. IEEE, 2011.
[3] Fernandes, Leandro C., Jefferson R. Souza, Gustavo Pessin, Patrick Y. Shinzato, Daniel
Sales, Caio Mendes, Marcos Prado et al. "CaRINA intelligent robotic car: architectural
design and applications." Journal of Systems Architecture 60, no. 4 (2014): 372-392.
[4] Bente, Tamás Ferencz, Szilvia Szeghalmy, and Attila Fazekas. "Detection of lanes and
traffic signs painted on road using on-board camera." In 2018 IEEE International Conference
on Future IoT Technologies (Future IoT), pp. 1-7. IEEE, 2018.
[5] Alonso, Javier, Vicente Milanés, Joshué Pérez, Enrique Onieva, Carlos González, and
Teresa De Pedro. "Autonomous vehicle control systems for safe crossroads." Transportation
research part C: emerging technologies 19, no. 6 (2011): 1095-1110.
[6] Katrakazas, Christos, Mohammed Quddus, Wen-Hua Chen, and Lipika Deka. "Real-time
motion planning methods for autonomous on-road driving: State-of-the-art and future
research directions." Transportation Research Part C: Emerging Technologies 60 (2015):
416-442.

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Appendix:
Appendix regarding literature review. In this literature review all the selected
literature review are less than 10 years old.
The first article discus about the architecture of a smart city traffic monitoring system
and from that it has been assessed that the core of this system is its cloud service. In this
architecture the cloud is responsible for gathering the data which has been emitted from the
vehicles. After gathering this data from the vehicle this data will be processed within the
proposed system and the processed results will be delivered back to the vehicle. The cloud
also plays another important role in this aspect. Here in this proposed system the cloud
services takes update about the city traffic on a real time basis for a quick calculation of
perfect route for a particular vehicle. The 5G cellular network will be used in this case for a
perfect communication with the cloud services and in the road infrastructure measurement
points are located using the RFID technology. Due to the RFID technology the GPS
technology is ignored for the localization purpose. In this case the RFID is having advantages
compared with the GPS as the RFID will be still functional in the areas where the GPS is
inaccessible. The optimal path for a particular vehicle is determined by the routing algorithm
which is developed by using the machine learning algorithm of AI. The presented system will
also use the traffic signs, traffic lights and road information panels for controlling the flow of
the car efficiently. As per the usability of this proposed system this concept has been tested in
a laboratory prototype with some limited traffic data. The testing was successful in this case
but it was not enough to conclude that the proposed system will work on real world
flawlessly.
From the second article it has been understood that all the discussed algorithm within
the article are functional during rain or sun and during night or day times. With all the

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systems are operating together hundreds of miles regarding autonomous operations has been
achieved in various of real life conditions. In the area of autonomous driving there several
challenges that has been faced by the authors. One of the main challenges in this case is the
narrow roads as the navigation becomes tougher and the chances of accident also increases.
The other important challenges which has been faced in this segment are the road intersection
which is governed by the traffic lights and crosswalks. Due to this reason it is very much
important that a safety driver will always present in the car.
From the third article it has been assessed that the self-driving cars is having a deep
impact over the current society. The main goals of this type of technology is actually very
much beneficial for the overall society. Here the main aims are improving the efficiency of
freight transportation, traffic flow in the mega cities, reducing the usage of fuel and reducing
the total number car injuries and death which happens in every year. Here the authors has
also discussed about some innovative idea about the transportation which includes providing
transportation to the adults and the children who are unable to drive due to the fact they are
visually impaired or physically challenged. The authors has also proposed to use this
technology of driver less car in other areas which is directly related with the mobility such as
applications of mining and agriculture. In this paper the most of the focus of the authors was
on software and hardware architecture of the vehicles which has been used for the
experimental tests regarding the under development CaRINA project at the LRM Lab.
Authors briefly described the electrical and mechanical modifications and with that the
software modules for planning, purpose and control has been evaluated.
From the fourth article deep understanding has been gained about new modern
technologies that can effectively help the mankind to develop a much more efficient system
for driving purpose. Here the authors has observed that there is plenty of room in the
improvements of detection which can provide various advantages in different types of

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situations, which includes road quality, different types of light conditions and many more.
Having all of these factors in mind the authors has presented plans regarding a driver
assistance system. As per the authors this system will be capable of painted traffic sign
detection and lane detection. For detecting the lane and road signs this system will use on
board camera of the car. Also, this system is integrated within a network which connects
different drivers also within this same network so that optimal and efficient direction can be
for driving for each of the drivers. The current version of this system is capable of painted
traffic sign and lane detection and with that this system is also capable of warn the drivers
regarding possible departure of lanes on the captured video in daylight condition with
medium type of quality road markings. Hough transformation is used by the authors for
developing the lane detection method and for the painted traffic sign detection contour
detection method has been used. The developed system is the first attempt of the authors in
the smart driving technology and considering the facts they are quite successful. From this
current developed system the authors are also looking to develop a more advanced driving
assistance system for the future. As per the planning of the authors this projected system will
be capable of recognising pedestrian crossing and different types of traffic signs. However
through this project the ultimate aim of the authors is implementing the power of internet
services in vehicles which is actually a big potential. Thus the main target of the authors is
creation of intelligent system which will be able to communicate with other vehicles through
internet services.
From the fifth article it has been assessed that the main idea of this project is adjusting
the vehicles that are driven manually to forcefully create a situation in which all the three cars
will come at the point of intersection at the same time. Here the author has effectively tested
the problem at an intersection point when several of cars approach to this junction altogether.
Regarding this issue the author has successfully founded two method of resolution. It has

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been assessed that both of the designed method is general for a two-way road. The author
also intended to make this system is such a way so that it can handle unlimited number of
vehicle which are approaching at the intersection point. As per the authors, in the first method
priority table has been used and all the possible situations which involves the multiple car
need to be associated and encoded with the actions that must be performed. Here the
encoding must be meticulous. In the second method priority level is assigned to the cars in a
dynamic way. It has been assessed that programming of the second method is very much
complex as it does not only holds the database and queries but also priority level is assigned
to each of the vehicles that are involved in this process.
From the sixth article it has been understood that this paper is giving review about the
existing approach of the motion planning and it has also the aim of contrasting and
comparing different types of methods that has been used for the motion planning regarding
autonomous driving on the roads of real world. In this aspect the motion planning method
consisting finding a particular path, finding the safest manoeuvre and determination of most
feasible trajectory. In this aspects methods developed by the researchers in each of the three
level has been discussed which is based on performance and complexity security. In this case
the critical review has been performed for the existing methods and with that the research
challenges has been evaluated for addressing current limitations. With this future research
directions has been also evaluated for enhancing the algorithm of performance planning at all
of the three levels. Here the authors has also focused on some important areas which can
provide the facility of vehicular communications has been discussed. The technique of
incorporation of the aspects of transport engineering is very much important for improving
the look ahead horizon regarding current sensing technologies. This actually very much
important in the aspect of driverless car technology as it can effectively reduce the total cost
of manufacturing a driverless vehicle. The author has presented some critical review

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regarding planning techniques with some association discussion on the limitations and
constraints. This actually helps the researcher to accelerate the development progress in this
emerging technology field of autonomous vehicle driving system.