Intelligent Vehicle Systems and Technologies

This assignment delves into the field of Intelligent Vehicle Systems (IVS), encompassing various aspects such as control, motion planning, collision avoidance, and communication technologies. It provides an overview of prominent research works and publications focusing on IVS advancements. The included references cover a range of topics, including smart cars, intelligent transportation systems, mechatronics for off-road vehicles, image processing for collision avoidance, and connected vehicle systems.

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SMART CARS
A Report on Construction By
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Abstract:
In current years, traveling times has highly increased since many people secure many jobs long distance
from where they reside. In most scenario, people reside in the suburban locations hence they use their personal cars
to travel to cities where they work. Some drivers would wish to use their traveling times effectively by playing
games, reading newspapers, doing research through laptop and doing other activities which are not driving activities
done on a car. Therefore a smart car is speculated as one of the best ways to help reduce and in some cases eliminate
driver tasks during traveling. The main aim of this is to write about smart vehicles and how connected vehicles
would be better for better driving decision making by exchanging information between vehicles. Therefore road
traffic control can be effectively managed by the adoption of these smart cars.
Of a great importance is the road accident which may often occur due to congestion of vehicle on the road
is highly reduced if not fully eliminated through Vehicle-to-vehicle communication. The present techniques used in
vehicle –to-infrastructure face some problems like the high additional cost of infrastructure which makes it not
inappropriate. This vehicular is promoted by the higher number of the vehicle in urban areas since with a lot of
vehicle within a small location (congestion) may result to accident hence use of the vehicle –to-vehicle will be
employed to help solve such problem
Introduction
Smart car system will highly resolve many of the complaint traveler faces regarding long distance travel
and the wasted time while driving daily to their daily activities. Intelligent transportation system differs in
technologies used from rudimentary control system like traffic signal management system, car navigation. There are
some technologies which are put in place to help achieve this concept of smart cars.
Wireless communication. Different forms of wireless communication have been anticipated for these smart car
system. Ultra High Frequency and very high frequency are fully adopted for a long and short range within the smart
car systems. Short range communication is of about 350 m and it can be accomplished by the help of dedicated
short Range communications ethics being supported by some societies like Intelligent Transportation Society of
America. For long range wireless communication, it is have been anticipated using infrastructure networks like
WiMAX, 3 G, Global system for mobile communication ( GSM).

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Computational technologies. The current improvements in vehicle electronics have made move headed for many
accomplished computer processors on a car. A prototype car in early years of 2000 had between 20 and 100
individual microcontroller or even PLC (programmable Logic Control) having no real time OS ( operating system).
Sensing technology. (Bluetooth detection, Audio detection and information fusion from several traffic modalities).
Intelligent transportation vehicle system will change and help in several ways in the transportation sector in the
world. Some of this advantage which this smart car will offer are; autonomous driving where the car will be
programmed to enable it to drive by itself in highways, Internet connectivity where the owners of the vehicles are
connected to their own cars can the owners can track their cars in case of theft. With the smart cars, the drivers are
assured of the assisted driving where the camera on the car will show the driver when he or she is drifting out of the
road.
These smart cars are installed with Infotainment System where the drivers are able to connect their cars to their
smart mobile phone and play music and use the internet connectivity for browsing. This Infotainment Systems will
enable the user to use their app on their car’s display like weather apps, streaming apps among other which will
inform and entertain the driver as he drives in the highways. These cars will also help in ensuring the security of the
car. Such cars are installed with Biometrics having devices which allow only the fingerprint of the owner, heartbeat
of the owner, eye-scanner which the owner will employ to enable him or her open the doors of his or car doors.
Having these smart cars makes traveling comfortable and simple, as it can even enable children to be driven to
school alone to schools without being accompanied by their parents.
Using the smart cars traffic accidents will highly be educed as there will be communication between cars
(vehicle –to- vehicle communication). To fully ensure that accidents are fully reduced on the road, the following are
some of the safety applications which are used in conjunction with vehicle-to-to vehicle communication;
 Risky location caution: obstacle detection, accidents reporting.
 Favoring ambulances, police cars and fire trucks
 Cautions on arriving intersections.
 Abrupt stop cautions: forward accident caution, pre-crash sensing or

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Traffic efficiency employs the scenarios of those which are set to advance the efficiency of the conveyance network
by giving info to the drivers of the vehicles. The vehicle gives information on;
 Viable speed limit
 Intelligent inspections
 Promotes Route Navigation and Guidance
 Merging Assistance.
In the diagram below shows coordination of vehicle while moving on the road,
Fig 1: coordination of vehicle while moving on the road. (Yaobin C, 2015)
RELATED WORK
In recent years, some companies and industries have tried to develop smart cars having vehicle-to-vehicle
communication but they haven’t exhausted the technology to enable them attain higher efficiency. In the US, smart

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cars are already being worked on by an engineer known as Daimler Chrysler due to the cost of gas which is
relatively high. But in many parts of Europe, these cars are already in place. The cars are big in the economy but
small in stature. The concept of the smart car (vehicle-to-vehicle communication) was developed by Hayek. He
wanted to come up with a small car which is environmentally friendly, easy to pack, to reduce accident and to
reduce traffic congestion. The actual development of this smart car began in the year 1994, but it was first revealed
in 1997 at Frankfurt Motor show by a company known as Micro compact Car, popularly known as MCC. This
company made a full concept of the vehicle –to- vehicle communication which is the backbone of this car’s
operation. The car-to-car or sometimes known as vehicle –to- vehicle has a good communication between a car and
car just as the name shows.
This is achieved by fully adopting telecommunication concepts and also by the use of services like the
WLAN, LAN, GMS among others. Countries are highly adopting the use of the smart cars and in the few years,
most countries will fully adopt the use of the smart cars. Micro compact Car Company made a good use of handheld
devices like tablets and smartphone by synchronizing them to these smart cars which then enables them to control
the management of their cars. This Micro compact Car Company heavily give weight to the communication which is
between the car and a car to enable reduce several accidents which occur on the road. These accidents always occur
because of miscommunication that exists between the cars. But with these communication features installed in these
cars, a car can communicate effectively with another car, the car will also ensure that it keeps on its track, this is
aided by the installed camera on each smart car so that if the car wants to overtake at unsuitable position then the
driver will not be allowed to do such things, therefore, reduces the chances of accidents.
Wireless communication is the core operation of the smart cars, the well-known wireless networks employed by
smart car are UMTS, LAN, and WLAN Peer-to-peer provides a communication between two nodes (between a car
and a car) which are in a single loop. In peer-to-peer network traffic is of a great importance that the Micro compact
Car looked into keenly as it helps to reduce this problematic scenario. For the peer-to-peer, the company ensures that
for the two cars which are peered are installed with wireless communication components to make the
communication possible between the cars. In some cases, these smart cars can peer to every car around where the
car will be able to receive the ``heartbeat`` message of the car which is next to it. Even if the two cars are not in the
vicinity the drivers will be receiving information of each other car’s information. With these messages received on

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the car dashboard, the driver will be aware of the availability of the car around and he or she will be notified of the
car size and the speed on which is moving.
The shared messages are referred to as ``heartbeat`` messages because the messages being received are
consistently being exchanged with the vehicles which are nearby. These periodic `` heartbeat`` messages shared
between vehicles will provide very vital information of the vehicle between the nearby vehicles, this information
includes;
 Time
 Longitude
 Latitude
 Temporary ID
 Heading
 Vehicle size
 Steering Wheel Angle
 Transmission and speed
 Positional Accuracy
 Size of the vehicle
 The vehicle’s acceleration
 Elevation
Other very vital messages which are shared between vehicles nearby may include;
 Message Common safety request. This is employed when a vehicle is partaking to the interchange of the
straightforward message which makes a particular request to other vehicles for additional details needed by
safety application.
 The message of vehicle data. Such message has status details regarding the vehicle to activate its
applications scrutinize the commuting condition on road sections.
 Messages of generic transfer. This gives a basic platform or means to interchange information or data
across vehicle –to-infrastructure interface.

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 The message of emergency vehicle alert. This message helps to broadcast all dangers which surround the
vehicle at or beyond the vicinity of the drivers.
 The message of A la carte. This message constitutes elements obtained by sender and allowing for flexible
exchange of data.
The diagram below shows clearly how this peer-to-peer communication operates. This is what the Micro
compact Car Company fully based their concept on the operation of their smart cars.
Fig 2:Peer-to-peer communication (Rajaman R ,2013)
Even though Micro compact Car Company identified several advantages of these smart cars but they face
some challenges still. The wireless services are very expensive to buy, install and service in these smart cars.
The cost may greatly hinder the full adoption of these smart cars. Also, the controllers which are used here
(model view controller (MVPs)) are not easy to service. There is also fear that the smart cars may be hacked
since they are computerized.

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PROBLEM FORMULATION
The smart vehicles have wireless devices like WLAN, GPS others which enable them to communicate with
each other by passing data within the nearby vehicles to help avoid accidence which may occur if there is
miscommunication within the drivers. Vehicle-to-vehicle are designed to communicate between the car and
car and also car and other objects in real time The information received help the drivers on security information
like accidents and theft warnings
CHALLENGES IN SOLVING THE COORDINATION PROBLEM
There are some challenges which these smart cars face, these challenges are discussed below;
a) Control Challenges
The smart cars are designed to communicate effectively with the nearby car through what is
known as Vehicle- to-vehicle communication or in some cases V2V. But in some cases there
may be problems developed in the system which will hence interfere with smooth
communication between the nearby vehicles. Therefore, there must be some control measure
put to ensure that these challenges are dealt with to ensure the effective operation of the smart
cars.
The below diagram below illustrates the communication network for the vehicle-to-vehicle communication.

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Formula 1: Formula for calculating communication network for the vehicle-to-vehicle communication.
(David, 2014)
Where; Dw = window’s distance ( the whole distance between the nearby vehicles ), V = Velocity of moving
vehicle , a= Acceleration of the moving car ,L= Length of the moving vehicle, Ds = window’s distance (the
shortest distance between the nearby vehicle
The most vehicle to vehicle control for communication challenges is:
Congestion vs awareness control. This basically is composed of the congestion control and awareness control
which may involve the car while on the road. This control measure is further explained below.
i. Congestion control: This control is put in place for the smart vehicles to ensure that there is a stable
operation of this vehicle while on the road. When this control is put on the smart cars, the car will
respond effectively to the congestion and if possible avoid the route which has the congestion.
ii. Awareness Control. This control type is put on the smart cars to aim at proficiently making sure that
each and every vehicle’s ability to detect and also to communicate to the appropriate cars in their
local neighborhood.

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b) Communication Challenges
Communication between vehicles in the road has a very important positive effect. This communication
has promoted safety and elimination of the too much cost of traffic collision which in most cases results in
a road accident causing the death of people. According to World Health Organization, road accident has
been killing about 1.2 million of people per year. This car to car communication will also help to manage
the speed of vehicles since the police officers will be able to notice the speed of the public service vehicle
hence further reduce the deaths on road. Car to car communication will also enable the drivers to fathom if
there are car hijacker around from the information shared like the Temporary ID, Heading, and Vehicle size
among which will help every driver to know who is around them. However, car to car has some serious
positive effects but it has some negative effects as well. These cars are highly affected to advance weather
conditions for instance´, the laser sensors put on the roof of the cars cannot when they are rained on. These
cars are likely to be hacked since they are basically operating on software.
c) Sensing Challenges
These smart cars greatly operate on the software which are having laser sensors on top of their roof, these
sensors help them to enable communication by passing information to nearby cars. So if these sensors are installed
in a car, there will be effective transfer and exchange of information between nearby cars. Sensing the availability of
another car, its speed among its other features has greatly helped to reduce road accidents, this is true since the
driver can obtain the information of the nearby vehicles therefore they can avoid the high speed vehicles. A smart
car without sensor will not be able to detect and pass information between it and another nearby car, the nearby car
with the sensor is able to obtain its information
Vehicles with sensors have some advantages like reduced traffic collision which may result in the accident.
These collisions are highly reduced because the vehicle is able to communicate with one another and this has highly
reduced the accident in places where they are employed. But these cars with sensors face some problems as well,
these cars cannot operate if the sensor is rained on, therefore it highly affected by advanced weather conditions like
rainfall. Those smart cars without sensors face disadvantages, for example, they can be highly affected by the traffic
congestion which may result in traffic collision and accidents. But even if they are faced with such disadvantages

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still they possess some special advantages over those with sensors, these cars cannot be affected by advanced
weather like heavy rainfall.
SOLVING THE COORDINATION PROBLEM
a) RULE BASE SOLUTION
For the smart cars, the Rule base is set of rules which control what should and what should not pass
through the firewall installed in this car. This rule operates in two different ways, one of the most common ways
is this rule can presume that all traffic is allowed unless there is a rule set aside to avoid this. The other way is
to presume that there is no traffic to be allowed to flow via it unless there is an explicit rule to allow it happen.
This rule entails the specific time communication which is very useful in smart car operation. This kind of
communication enables manipulation and store of knowledge to enables interpretation in a very crucial way.
The communication content here is the nature of the traffic on the road and this is secured by the use of the
firewalls installed on these vehicles. The common response for the car drivers in this is basically the presence of
the traffic which will make the driver avoid such routes and choose another traffic congestion free routes. Rule
base makes an appropriate decision for the car by itself since they contain some artificial Intelligent.
b) OPTIMIZATION BASED SOLUTION
Routing of the vehicle and its scheduling with time window constraints is expressed as an integer which is
mixed with some programs and optimization based solution that is related to route second algorithm. These
algorithms will enable the vehicle to make some crucial decision during its movements. The vehicle will be able
to detect the obstacle and even traffic congestion and avoids them. For the algorithms the intelligent transport
system there is a diversified application for the dynamic vehicle routing problems of the vehicle. Dynamic
vehicle routing problems are expressed as .
Dynamic vehicle routing =
Where; Ns is given by {n0, n1,n3, ………..nn}, this shows the set of nodes.
Cs = { (Ni, NJ ), ni, nj Ɛ Ns where I ≠ j ) this shows the set of connection
Cm= Cm(I,j) (ni,nj) ƐCs this shows the communication cost matrix.

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The total user time can be calculated, the model basically constitutes two sections. The information user time
model is as below;
Formula 2: For calculating total user time (Wang. F, 2013 )
Where; K= Average time of pedestrian as compared to a passenger car, V (i) =Vehicle adjusted volume in group i
lane, Dv (i) = Relative delay per passenger car in group i lane, Nv = Relative car occupancy per passenger car,
Dp(m) = Relative delay per pedestrian in the crossing direction, TDp= total pedestrian delay in the analysis time,
UT= Total user time in the analysis period, T= Time taken for the analysis period
Strategies for flexible coordination for vehicles enables communication of vehicle the use of the
algorithms. These strategies enable the car to effectively communicate with both infrastructure and other vehicles.
In order to link vehicles the flexibility in demand Side management is highly crucial. These are achieved by
strategies highlighted below.
Flint MTA (Metropolitan Transportation Authority)
Metropolitan Transportation Authority provides an effective communication. This strategy ensures pedestrian’s
movements easily without being knocked by the congested moving vehicles. The service is synchronized to the
general public service.
Coalition Building
This strategy put around the commuting issues in a very efficient issue way to enable avoiding the coalitions which
may occur between the vehicles and the building. The algorithm is installed in the smart cars to fully execute this
operation.

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Michigan – Nontraditional Vanpool Program
This strategy gives insight into the approaches which have promoted the coordination of transportation of vehicles
on the road, be it for passengers or for the one carrying luggage. This coordination will hence ensure that there is an
effective communication by the help of the algorithm to reduce as much as possible the collision of these vehicles on
the road.
Conclusion
Smart cars will highly change and improve the transport sector by managing effective communication
between vehicle to vehicle and also a vehicle to infrastructure. This effective communication will ensure that
collision of vehicles on the road are highly reduced hence reducing the chances of accidents which may occur due to
the collision. The sharing of information between the nearby vehicles helps the drivers to access the information of
each other’s vehicle thus boosting the security and reducing the occurrences of accidence on the road

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Bibliography