A

Major Project Report on

"Design and Fabrication of Intelligent Braking System."

Submitted in partial fulfilment of the requirements for the curriculum of BE

By

Sahil Gurav (2020224)

Siddhi Surve (2020253)

Tejas Sarode (2020266)

Jayesh Borse (2020268)

Under the guidance of

Dr. Bharatbhushan Kale

Department of Mechanical Engineering

Fr. C. Rodrigues Institute of Technology, Vashi

2023-2024

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 Certificate

This is to certify that the project entitled “Design and Fabrication of Intelligent
Braking System” is a bonafide work of Sahil Gurav (2020224), Siddhi Surve
(2020253), Tejas Sarode (2020266), Jayesh Borse (2020268), submitted to the
University of Mumbai in partial fulfilment of the requirement for the award of the
degree of “Bachelor of Engineering” in “Mechanical Engineering”.

Dr. Bharatbhushan Kale

(Guide)

Dr Aqleem Siddiqui Dr. S. M. Khot

(Head of Department) (Principal)

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 Project Report Approval

This Major Project-I report entitled “Design and Fabrication of Intelligent Braking
System” by Sahil Gurav (2020224), Siddhi Surve (2020253), Tejas Sarode
(2020266), Jayesh Borse (2020268) is approved for the degree of BE Sem-VII
Mechanical Engineering during academic year 2023-24.

Examiners

1. _________________________________
2. _________________________________

Date:

Place:

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 Declaration

We declare that this written submission represents our work carried out this
semester in our own words and where others’ ideas or words have been included,
we have adequately cited and referenced the original sources. We also declare that
we have adhered to all principles of academic honesty and integrity and have not
misrepresented or fabricated or falsified any idea/data/fact/source in our submission.
We understand that any violation of the above will cause for disciplinary action by
the Institute and can also evoke penal action from the sources which have thus not
been properly cited or from whom proper permission has not been taken when
needed.

Sahil Gurav Siddhi Surve

(2020224) (2020253)

Tejas Sarode Jayesh Borse

(2020266) (2020268)

Date:

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 Abstract

A vehicle consists of Engine, Cooling System, Braking System and many more. A vehicles
braking system has to be of top quality to ensure proper braking and avoid any fatal
accidents. But in current times a vehicles braking system is affected either by
unconditioned maintenance, improper braking and failure in braking system or human
error. Human error here means not applying brakes on time or sudden tension leads to
pressing accelerator. Because of these errors accidents occur. To reduce the number of
accidents happening Intelligent Braking System is designed. Intelligent braking system is
designed in such a way that if a person fails to apply brakes after seeing an obstacle, then
the braking system detects the obstacle, goes into self-applying mode and depending on the
distance brakes are applied.

The aim of the present study is to design a device which can successfully scan the
surroundings during driving and apply brake to avoid front end collision of the vehicle,
along with extension of bumper. The technology of pneumatics plays a major role in the
field of automation and modern machine shops and space robots. The aim is to design and
develop a control system based automatic braking system. Ultrasonic Sensor provided on
the front end of the vehicle detects the presence of the obstacle. The use of pneumatic
system can prove to be useful in automation due to its simplicity and ease of operation

Keywords – Intelligent Braking System, Ultrasonic Sensor

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 Table of Contents
CERTIFICATE................................................................................................................................................

PROJECT REPORT APPROVAL...............................................................................................................

DECLARATION.............................................................................................................................................

ABSTRACT......................................................................................................................................................

CHAPTER 1.......................................................................................................................................................

INTRODUCTION.............................................................................................................................................

1.1 BACKGROUND....................................................................................................................................

1.2 MOTIVATION.......................................................................................................................................

1.3 AIM..........................................................................................................................................................

1.4 OBJECTIVE...........................................................................................................................................

1.5 PROBLEM DEFINITION....................................................................................................................

1.6 SCOPE OF THE PROJECT.................................................................................................................

1.7 LAYOUT OF THE REPORT...............................................................................................................

CHAPTER 2.......................................................................................................................................................

LITERATURE REVIEW.................................................................................................................................

2.1 INTRODUCTION..................................................................................................................................

2.2 LITERATURE SURVEY......................................................................................................................

2.3 SUMMARY............................................................................................................................................

CHAPTER 3.....................................................................................................................................................

METHODOLOGY AND EXPERIMENTAL SETUP.................................................................................

3.1. THEORETICAL ANALYSIS.............................................................................................................

3.1.1. SELECTION OF SENSOR AND MICROCONTROLLER............................................................

3.2. CAD MODEL AND WORKING OF IBS..........................................................................................

3.2.1. CAD MODEL.......................................................................................................................................

3.2.2. WORKING OF IBS.............................................................................................................................

3.3. CALCULATION..................................................................................................................................

3.4. SELECTION OF COMPONENT AND COST ANALYSIS............................................................

3.4.1. SELECTION OF COMPONENTS....................................................................................................

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3.4.2. COST ANALYSIS................................................................................................................................

3.5. EXPERIMENTAL SETUP.................................................................................................................

3.6. SUMMARY..........................................................................................................................................

CHAPTER 4.....................................................................................................................................................

RESULT AND DISCUSSION........................................................................................................................

4.1. RESULT................................................................................................................................................

4.2. DISCUSSION.......................................................................................................................................

4.3. SUMMARY..........................................................................................................................................

CHAPTER 5.....................................................................................................................................................

CONCLUSION................................................................................................................................................

REFERENCES................................................................................................................................................

APPENDIX......................................................................................................................................................

ACKNOWLEDGEMENT..............................................................................................................................

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 List of Figures
Fig 3.1: Methodology of IBS...............................................................................................
Fig 3.2: Proximity Sensor.....................................................................................................
Fig 3. 3: Ultrasonic Sensor...................................................................................................
Fig 3. 4: Infrared Sensor.......................................................................................................
Fig 3. 5: Arduino Uno..........................................................................................................
Fig 3. 6: MSP 430................................................................................................................
Fig 3. 7: CAD Model of IBS................................................................................................
Fig 3. 8: Ultrasonic Sensor...................................................................................................
Fig 3. 9: DC Stepper Motor..................................................................................................
Fig 3. 10: Pneumatic Cylinder..............................................................................................
Fig 3. 11: Valve....................................................................................................................
Fig 3. 12: Transformer.........................................................................................................
Fig 3. 13:MSP 430...............................................................................................................
Fig 3. 14: Relay....................................................................................................................
Fig 3. 15: LED......................................................................................................................
Fig 3. 16: Buzzer..................................................................................................................
Fig 3. 17: NC/NO Push Button............................................................................................
Fig 3. 18: Polyurethane........................................................................................................
Fig 3. 19: Connecting Wires................................................................................................
Fig 3. 20: Wheels.................................................................................................................
Fig 3. 21: IBS Setup.............................................................................................................

Fig 4. 1: Graph of velocity with braking

distance. ....................................................32

Fig 4. 2: Graph of velocity with safe distance......................................................................

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 List of Tables
Table 3.1: Cost of Components............................................................................................
Table 3.2: Machining cost....................................................................................................

Table 4. 1: Data for Velocity, Braking Distance and Safe Distance..........................32

 Chapter 1

Introduction

In current times here has been rapid increase in accidents because of brake failure or
improper attention on roads while driving. To reduce the number of accidents
happening Intelligent Braking System is designed. Intelligent Braking System will
ensure that if a person fails to apply brake, then the system will make sure that brakes
are applied in the desired braking system.

1.1 Background
The safety of commercial vehicles has long relied on effective braking systems, given
their critical role in preventing accidents. This emphasis on safety, especially active
safety measures, stems from the inherent risks posed by improper braking, such as the
extended stopping distances and the substantial energy exerted by brakes, particularly in
multi-vehicle scenarios. Traditionally, compressed air has been the primary medium for
brake systems in these vehicles. However, advancements in electronic technology now
allow for precise control of this medium, enhancing the overall efficiency and
responsiveness of braking systems.
 This integration of modern electronics has given rise to the Intelligent Braking System
(IBS) in commercial vehicles. The IBS represents a significant leap forward in safety
technology by offering rapid response and release of brakes for each individual wheel.

This level of precision ensures optimal braking performance and mitigates the risk of
accidents. Moreover, the electronic control capabilities enable the system to react
swiftly to changing road conditions and driver inputs, further enhancing safety. One of
the most notable advantages of the IBS is its ability to significantly reduce braking
distances.

By leveraging advanced control algorithms, the system can optimize the operation of
the braking system, thereby shortening the time it takes for the vehicle to come to a
complete stop. This feature is particularly crucial in emergency situations, where every
fraction of a second can make a difference in avoiding a collision. Overall, the
integration of modern electronic control into commercial vehicle braking systems
represents a paradigm shift in safety technology, offering enhanced responsiveness,
precision, and ultimately, safer roadways for all users.

1.2 Motivation
In the present study a model was designed to automatically forecast upcoming
collision and take appropriate action and avoid collision by automatic braking and thus
reduce the damage by automatic bumper circuit and to decrease response time by using
high frequency waves. A safety system was designed to reduce property damage and
passenger injury. All the conventional vehicles are equipped with brakes that are
operated manually. The consequence of collision depends on driver’s reflex to vary the
driving environment. Vehicle accidents might be a consequence of rash driving, driving
under influence, fatigue etc. Most of these can be mapped down to a single cause,
driver’s inability to hit the brakes at right time. If this work is replaced by automatic
means, most of the collision can be controlled.

1.3 Aim

To design and develop Intelligent Braking System for safety of rider

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1.4 Objective
The main Objective is:

• To develop a reliable emergency braking feature that automatically intervenes

in critical situations, applying the appropriate force to bring the vehicle to a
controlled stop and prevent accident.
• To enhance driver safety while driving of vehicle

1.5 Problem Definition

Design and develop an intelligent braking system for car with a focus on enhancing
rider safety and control

1.6 Scope of the Project

The present study delineates its scope to encompass two primary objectives:

1. Fabrication and Testing of an Intelligent Braking System (IBS)

2. Mitigation of Critical Vehicle Damage

1.7 Layout of the Report

In the further report, it consists of

1. Literature Review: in this chapter various research papers are studied and analyzed

2. Methodology and Experimental Setup: in this chapter the process of completion the
project is mentioned.

3. Result and Discussion: in this chapter the results for the project for discussed and
graph for the following parameters

4. Conclusion: In this chapter the project is concluded and learnings are stated.

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 Chapter 2

Literature Review

2.1 Introduction
Many scientists and Engineers worldwide are currently carrying out thorough
studies on Intelligent Braking System. A detailed study of number of journal papers
was performed and based on the conclusion of each of them, the selection of various
required parameters for the current project were made. These are discussed in the
following section.

2.2 Literature Survey

Sidek et al. [1] did a feasible study in the use of DSP-based fuzzy controller for the
implementation of intelligent braking system is investigated in the research work.
The controller is an ideal choice to deal with this system since it is complex in
nature with a lot of uncertainties Furthermore the controller can infuse nicely into
the smart cars since a lot of decisions need to be taken while driving the car.

Gargade [2] did a feasible study was done in which this braking system was
designed and applied on a vehicle for making the driving process safe by inserting
system design. Developed a braking system which is when active can apply Brake
depending on the object sensed by the ultrasonic sensor, a distance of object and
speed of the vehicle

Sreeraman et al. [3] did an analysis of Automatic control of braking system to avoid
accidents. In this technology we used Arduino, Relays, IR transmitter and IR
receiver for effective function of braking control systems. This complete system can
be fitted on to dashboard of a vehicle and effectively used for automatic control of
braking system.

Kiran et al. [4] proposed an intelligent mechatronic system that uses a pneumatic
brake system which includes an ultrasonic wave emitter provided on the front
portion of the prototype producing and emitting ultrasonic waves frontward in a
predetermined distance.

Kavatkar et al [5] performed a study for the traditional medium used for brake
system (compressed air) can be now controlled with the speed and precision offered
by modern electronic abilities. Intelligent Braking System (IBS) introduced in
commercial vehicles providing rapid brake response and release for every single
wheel therefore ensuring safety. The extremely rapid response time provided by the
electronic control can be used for crucially shortening the braking distance by
introducing advanced control of braking system

Chari et al. [6] did a formulated study where the technology of pneumatics plays a
major role in the field of automation and modern machine shops and space robots.
The aim is to design and develop a control system based intelligent electronically
controlled automotive bumper activation and automatic braking system is called
“Automatic Pneumatic Bumper and Break Actuation Before Collision”. This project
consists of IR transmitter and Receiver circuit, Control Unit, Pneumatic bumper
system and pneumatic braking system.

Wang [7] performed a formulated structure for an extendable and retractable bumper
(E/R bumper) is presented in this study. The E/R bumper is intended to
automatically extend in situations in which there is a high risk of frontal impact to
prepare the vehicle for crash and retract when the risk subsides. A functional
demonstration vehicle and two experimental vehicles were built with the E/R
bumper. Analytical and nonlinear finite element models were used to aid in the

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design of these vehicles, and to predict their crash performance in full, offset and
oblique impact tests.

Yousuf et.al. [8] performed a study on how the compressed air enters into the
cylinder the piston moves forward and bushes moves inward direction which leads
to the application of disc brake. When the relay sends signal to the solenoid valve to
open the flow of compressed air it also send signal to the DC motor to stop rotation
and the DC motor stopped .When the obstacle clear its way from the vehicle then the
photoelectric sensor again send signal to the relay and it gives command to the
solenoid valve and stop the flow of compressed air and released the disc brake and
the compressed air from double acting cylinder get released from the other end of
cylinder through the urethane tube.

Girovský et al [9] did a study for fuzzy controller which is used to improve the
braking performance of the vehicle, particularly in critical situations, for example,
when braking a vehicle on wet road. The fuzzy controller was used to improve the
braking performance of the vehicle, particularly in critical situations, for example,
when braking a vehicle on wet road. The controller for the ABS was designed in the
MATLAB/Simulink program. The designed controller was simulated on a medium-
size vehicle model. During testing, three braking systems were simulated on the
vehicle model. We compared the performance of a braking system without an ABS,
a system with a threshold-based conventional ABS, and a braking system with the
proposed ABS with a fuzzy controller. These three braking systems were simulation
tested during braking the vehicle on a dry straight road and on a road with combined
road adhesion. A maneuverability test was conducted, where the vehicle had to
avoid an obstacle while braking.

Kumar et al. [10] performed a studied analysis project consisting of Ultrasonic

Transmitter and Receiver circuit, Control Unit, pneumatic braking system. The
Ultrasonic Transmitter generates (0.020-20) KHZ frequency signal. The ultrasonic
receiver is used to receive the reflected wave present in front of the vehicle, then the
reflected waves is given to the ultrasonic wave generator unit in which the incoming
wave is amplified and compared with reference signals to maintain a constant ratio
and this signal is given to microcontroller and through which the working of which
results in application of brakes. The ultrasonic sensor senses the obstacle. There is

6
any obstacle closer to the vehicle (within 3-4 feet/100cm), the control signal is given
to the pneumatic braking system simultaneously. This braking activation system is
only activated the vehicle speed above 30-40 km per hour. This vehicle speed is
sensed by the proximity sensor and this signal is given to the control unit and
braking activation system.

Shinde et.al [11] did a formulated study for the system consisting of two
mechanisms i.e. automatic braking system and pneumatic bumper system.
Automatic braking system use the infrared sensor (IR), which is used to Sense the
vehicle coming from front of the vehicle and which is responsible for accident Then
sensor sends feedback signal to engine through the relay control to stop the working
of engine During the working of Automatic braking system simultaneously the
driver also tries to stop the vehicle by applying brake pedal. Limit switch is placed
below the brake pedal which activates the pneumatic bumper system and brake to
reduce the damage to vehicle which occurs in accidents. This system provides pre-
crash safety to the vehicle. As well as it improves the response time of vehicle
braking o keep sale distance between the vehicles. By using this System, we can
obtain control over the speed of vehicle in short distance.

Koli et.al [12] did an analysis in which it is necessary to control brakes

automatically through electronics devices to minimize the accident problems. Here
is a proposed an effective methodology for automatic control of braking system to
avoid accidents. In this technology we used Arduino, relays, IR transmitter and IR
receiver for effective function of braking control system. This complete system can
be fitted on to dashboard of a vehicle and effectively used for automatic control of
braking system.

Venkataratnam et.al [13] performed a formulated study for Ultrasonic sensor and IR
sensors placed in the car, where IR sensor is used to detect the lane and avoid
accident in significant manner. The vehicle state information is obtained using
Ultrasonic sensor, which will continuously track for any obstacle from front side. If
the obstacle is detected then microcontroller will continuously compare the distance
given by Ultrasonic sensor. If the obstacle is closer to the car, then the
microcontroller will start applying the brake within the safe limit. The GSM
provides warning message when the safety distance is reduced than safety limit. The

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overall system is controlled by ARM 7and information is displayed on LCD

Choudhary et.al [14] did a detailed and formulated study of designing and dealing of
automatic emergency braking system using the various fundamental of mechanical
and electronic engineering popularly mentioned to as ‘Mechatronics’ during this
technique ultrasonic sensor with combine use of stereo cameras will detect the
obstacle before of the vehicle and it’ll use relative distance between the obstacle and
also the vehicle. The ECU will then judge if an accident is perhaps visiting happen
or not and also the brakes are going to be applied automatically under this technique.

Khandoker et.al. [15] did a study for the purpose of present Automobiles which are
being developed by more of electrical parts for efficient operation. The braking
system was designed and applied on a car to make the driving process safety using
embedded system design. So, in this project work braking system is developed such
that when it is active it can apply brake depending upon the object sensed by the
ultrasonic sensor. The ultrasonic sensor receives the reflected ultrasonic signal. The
reflected wave (detected pulse) gives the distance between the obstacle and the
vehicle and speed of vehicle. The microcontroller is used to control the braking of
the vehicle based on the detection pulse information and apply brake to the car for
safety purpose. A prototype was created and the structural analysis of the prototype
was performed.

Dhivya et.al [16] did a formulated study and has provided an efficient way to design
an automatic car braking system using Fuzzy Logic. The system could avoid
accidents caused by the delays in driver reaction times at critical situations. The
proposed Fuzzy Logic Controller is able to brake a car when the car approaches for
an obstacle in the very near range. Collision avoidance is achieved by steering the
car if the obstacle is in the tolerable range and hence there is no necessity to apply
the brakes. Another FLC (which is cascaded with the first FLC for collision
avoidance) implements the Anti-lock Braking capability during heavy braking
condition. Thus, the system is made intelligent since it could take decisions
automatically depending upon the inputs from ultrasonic sensors.

Song et.al. [17] did a study for the self-optimizing control to the control strategy of
anti-lock braking system (ABS) and adds the braking pressure feedback to the

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 system. The slipping rate change is thus controlled by way of controlling wheel
speed and the double circuit of braking pressure. Simulation results prove that the
approach to control is not only simple in algorithm but also able to recognize
automatically the road surface change so as to provide the most suitable braking
torque that serves the function intellectual braking.

Shah et.al. [18] did a detailed study on how to employ several sensors to respond
when emergency conditions occur. The system includes an ultrasonic sensor wave
emitter provided on the front portion of the vehicle. An ultrasonic receiver is also
fitted to receive the signal. The reflected wave gives the distance between the
obstacle and the vehicle. Then a microcontroller is used to detect the pulses and
apply brakes to the vehicle without driver’s input and hence it can increase safety

Glasner et.al. [19] did a detailed study and research in design of an autonomous car
control system that can reduce the rate of traffic accident. Car prototype is designed
by using Fuzzy Logic Control. Fuzzy logic is as main component of artificial
intelligence has significantly influenced the design-controlled system. Fuzzy logic
system is integrated with the Arduino Mega 2560 microcontroller as the central
control car prototype. In this paper, the Fuzzy logic used Mamdani method and 28
rule bases. The fuzzy system was made based on fuzzy mechanism which are
fuzzification, inference and defuzzification. Fuzzy logic has a variable input and
output variables. Input variables used in this research is the distance between car and
obstacle; the speed of car prototype and the output variable is the brake angle.

Matharou et.al [20] did a detailed study to combat with the existing braking issues of
the present vehicle, a unique braking mechanism has been introduced to reduce the
reaction time of the driver and stop the vehicle in case no braking efforts are being
applied by the driver. The ultrasonic sensor technology has been employed for
assessing the distance between the vehicle and the obstruction. Depending on the
detecting pulse information, a microcontroller is used to regulate the speed of the
vehicle, causing the driver to press the brake pedal and apply tremendous force to
the brakes of the vehicle for safety reasons.

2.3 Summary
The literature review synthesized from the mentioned research papers provides

9
valuable insights into the utilization of various technologies and control methods for
obstacle detection and braking systems in vehicles. Here's an elaboration on the key
points:

The research underscores the effectiveness of ultrasonic sensors in accurately

gauging the distance between the vehicle and any obstacles in its path. This
technology relies on sound waves to detect objects, offering a reliable means of
assessing proximity and enabling timely response to potential hazards on the road.
The incorporation of pulse tuning techniques with ultrasonic sensors is emphasized
as a widely employed and easily implementable approach. Pulse tuning enhances the
sensor's performance by optimizing its signal processing capabilities, thereby
improving accuracy and reliability in obstacle detection. This integration streamlines
the system's functionality while enhancing its effectiveness in real-world scenarios.
The literature suggests the applicability of fuzzy controllers in managing the
vehicle's response to changing environmental conditions. Fuzzy logic-based control
systems are noted for their adaptability and robustness in handling uncertainties and
variations in the surroundings. This adaptability is particularly valuable in dynamic
driving environments where obstacles and road conditions may vary unpredictably,
allowing for more responsive and reliable braking actions. In summary, the
synthesized literature review underscores the significance of employing ultrasonic
sensors for obstacle detection, pneumatic systems for brake application, pulse tuning
for sensor optimization, and fuzzy controllers for adaptive control in vehicle safety
systems. These findings provide valuable insights into the design and
implementation of effective and reliable technologies for enhancing vehicle safety
and mitigating collision risks on the road.

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 Chapter 3

Methodology and Experimental Setup

The methodology outlined for the project serves as a structured framework that
delineates the sequence of actions and tasks to be undertaken at each stage of the
project. The methodology is mentioned in Fig 3.1 Here's an elaboration on each step:

1. Selection of Sensor and Microcontroller: This initial phase involves researching and
identifying the most suitable sensor and microcontroller for the project's requirements.
Factors such as accuracy, reliability, compatibility, and cost are considered in the selection
process to ensure that the chosen components align with the project's objectives and
constraints.
2. Program Code: Following the selection of the sensor and microcontroller, the next
step involves writing and implementing the program code necessary to operate the
intelligent braking system. This includes programming the microcontroller to interpret data
from the sensor, make decisions based on predefined criteria, and control the braking
system accordingly.
3. CAD Model: Concurrently with programming, the creation of a Computer-Aided

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Design (CAD) model allows for the visualization and conceptualization of the physical
components and layout of the braking system. This step aids in the planning and design of
the system's structure and integration into the vehicle.
4. Calculation: Calculation involves determining the specific parameters and
requirements for the intelligent braking system, such as braking force, response time, and
energy consumption. This step ensures that the system's design and operation align with
safety standards and performance expectations

Selection of Sensor
Cost Analysis Experimental Setup
and Micro controller

Program Code for Selection of

Testing
Ultrasonic Sensor Components

Calculation for Total

Stopping Distance
CAD Model for IBS
and Impact Force
Calculation

Fig 3. 1: Methodology of IBS

5. Selection of Components: With the system requirements and parameters defined, the
selection of individual components, such as actuators, valves, and mechanical parts, is
undertaken. This step involves considering factors such as durability, compatibility, and
cost-effectiveness to ensure the optimal functioning of the braking system.
6. Cost Analysis: A comprehensive cost analysis is conducted to evaluate the financial
feasibility of the project. This includes estimating the costs associated with component
procurement, fabrication, assembly, testing, and any other expenses incurred throughout
the project lifecycle.
7. Experimental Setup: Finally, an experimental setup is established to test and validate
the performance of the intelligent braking system. This involves assembling the

12
components according to the CAD model, calibrating the system, and conducting
controlled experiments to assess its functionality, reliability, and effectiveness in real-
world conditions.

By adhering to this methodological framework, the project aims to systematically

progress through each phase, from component selection to experimental validation,
ensuring the successful development and implementation of the intelligent braking
system.

3.1. Theoretical Analysis

3.1.1. Selection of sensor and microcontroller

Sensor is an input device which provides an output (signal) with respect to a specific
physical quantity (input). Depending on the usage of sensors for distance calculation
they are classified as:

• Proximity Sensor

A Proximity Sensor is a non-contact type sensor as shown in Fig 3.2 that detects the
presence of an object. Proximity Sensors can be implemented using different techniques
like Optical (like Infrared or Laser), Sound (Ultrasonic), Magnetic (Hall Effect),
Capacitive, etc. Some of the applications of Proximity Sensors are Mobile Phones, Cars
(Parking Sensors). The Range for proximity sensor is 2 meters.

Fig 3.2: Proximity Sensor

• Ultrasonic Sensor

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 An Ultrasonic Sensor is a non-contact type device as shown in Fig 3.3 that can be used
to measure distance as well as velocity of an object. Using the time of flight of the
sound wave, an Ultrasonic Sensor can measure the distance of the object (similar to
SONAR). The Doppler Shift property of the sound wave is used to measure the
velocity of an object. Arduino based Range Finder is a simple project using Ultrasonic
Sensor: portable ultrasonic range meter. The Range for ultrasonic sensor is 4 meters.

Fig 3. 3: Ultrasonic Sensor

• Infrared Sensor

IR Sensors or Infrared Sensor are light based sensor as shown in Fig 3.4 that are used in
various applications like Proximity and Object Detection. IR Sensors are used as
proximity sensors in almost all mobile phones. There are two types of Infrared or IR
Sensors: Transmissive Type and Reflective Type. In Transmissive Type IR Sensor, the
IR Transmitter (usually an IR LED) and the IR Detector (usually a Photo Diode) are
positioned facing each other so that when an object passes between them, the sensor
detects the object. The other type of IR Sensor is a Reflective Type IR Sensor.

Fig 3. 4: Infrared Sensor

14
 In this, the transmitter and the detector are positioned adjacent to each other facing the
object. When an object comes in front of the sensor, the infrared light from the IR
Transmitter is reflected from the object and is detected by the IR Receiver and thus the
sensor detects the object. The range for Infrared sensor is 15 to 20 cm.

Based on the range and accuracy of the sensors mentioned above, it is decided that
Ultrasonic Sensor will be used.

A microcontroller is a specialized type of integrated circuit (IC) that serves as the brain
of an embedded system, which is a computer system designed for a specific task within
a larger device or machine. Unlike general-purpose computers, microcontrollers are
optimized for controlling.

Typically, a microcontroller consists of several key components integrated onto a single

chip. These components include a central processing unit (CPU), which executes
instructions and performs calculations; memory, which stores program instructions and
data temporarily; and input/output (I/O) peripherals, which allow the microcontroller to
communicate with external devices and sensors.

Microcontrollers are also known as embedded controllers or microcontroller units

(MCUs). They are extensively used in a wide range of applications, spanning from
automotive systems like engine control units (ECUs) in vehicles, to industrial robots,
office equipment such as printers and scanners, medical devices like insulin pumps,
communication devices such as mobile radio transceivers, vending machines, and
various home appliances like washing machines and microwave ovens.

One of the distinguishing features of microcontrollers is their simplicity compared to

traditional personal computers (PCs). While PCs typically run complex operating
systems (OS) like Windows or macOS, microcontrollers operate without a sophisticated
front-end OS. Instead, they execute a single dedicated program, often referred to as
firmware, which is tailored to the specific task they are designed to perform. This
streamlined design allows microcontrollers to be highly efficient, cost-effective, and
reliable for controlling small features or subsystems within larger devices or systems.

 Arduino Uno
The Arduino Uno as shown in Fig 3.5. It is an open-source microcontroller board based on
the Microchip ATmega328P microcontroller (MCU) and developed by Arduino.cc and

15
initially released in 2010. The microcontroller board is equipped with sets of digital and
analog input/output (I/O) pins that may be interfaced to various expansion boards (shields)
and other circuits The board has 14 digital I/O pins (six capable of PWM output), 6 analog
I/O pins, and is programmable with the Arduino IDE (Integrated Development
Environment), via a type B USB cable. It can be powered by a USB cable or a barrel
connector that accepts voltages between 7 and 20 volts, such as a rectangular 9-volt battery.

Fig 3. 5: Arduino Uno

 MSP 430
MSP430 is a family of microcontrollers designed and manufactured by Texas
Instruments as Shown in Fig 3.6. The main focus in the MSP430 devices is the ultra-
low-power consumption. There is a huge portfolio of these 16-bit RISC core devices
(different peripherals, memory organization, power, temperature ranges, etc.).
MSP430 devices can run up to 25Mhz and the active power consumption of the most
capable MSP430 chip is less than 500µA per. This makes them perfect for portable
and hand-held devices. It also has very low power consumption.

Fig 3. 6: MSP 430

16
To make the process easy and efficient MSP 430 is recommended to use, as it is
easy to program and can handle heavy code and requires low power consumption.

3.2. CAD Model and working of IBS

3.2.1. CAD Model

CAD Modelling of any system is the initial stage of the design procedure. Before the
actual experimental setup is fabricated, a computer aided designed model is prepared
with a view of validating and analyzing the errors or limitations that practical model
might face. CAD Model of IBS Setup is shown in Fig 3.7

Frame

Sensor
Mounting
Area

Wheels

Fig 3. 7: CAD Model of IBS

Material for frame: Mild Steel

Mild steel is widely used in machinery and automobile manufacturing. It is cheap,

suitable for different cutting and coating methods and has good weldability while
providing good enough physical properties. These attributes make it useful for
producing frames, panels, etc.

Dimension of Frame: 50 cm x 50 cm x 19 cm (length x breadth x height)

17
3.2.2. Working of IBS

The following points describes the operation of a braking system used for obstacle
detection in a rotating wheel scenario. Here's an elaboration:

1. Constant RPM Operation: Initially, the wheel rotates at a constant speed without any
disruption in its revolutions per minute (rpm). This suggests normal operation without any
obstacles.

2. Obstacle Detection and Signal Transmission: Once an obstacle is detected by the

sensor or sensing unit, a signal is promptly sent to the microcontroller. This indicates a
disruption in the smooth rotation of the wheel due to the obstacle's presence.

3. Microcontroller and Electronic Control Unit (ECU): The microcontroller receives

the signal and relays it to the electronic control unit. The ECU then activates the necessary
components to initiate the braking process.

4. Flow Control Valve Activation: Upon receiving the signal, the electronic valve within
the system opens, allowing controlled airflow. This airflow is crucial for activating the
braking mechanism.

5. Brake Application: The compressed air enters a piston, which in turn pushes a brake
lever. This action applies the brakes, effectively halting the rotation of the wheel to avoid
the obstacle.

6. Release and Resuming Rotation: After the obstacle is avoided, the piston rod retracts,
releasing the brake pads from the wheel. With the brakes disengaged, the wheel can
resume its rotation as usual.

7. Fallback to Electrical System: In case of mechanical system failure, an electrical

system serves as a backup. When the piston rod extends, it activates a switch button,
cutting off power to the motor. This action halts the vehicle to ensure safety in case of
system malfunction

18
 3.3. Calculation
The design of an intelligent braking system is of paramount importance when it comes to
ensuring safe braking in vehicles. This system employs advanced technology to enhance
braking efficiency and reduce the risk of accidents.

One critical aspect of an intelligent braking system is its ability to anticipate and react to
potential obstacles on the road. By utilizing sensors and other detection mechanisms, the
system can accurately determine the distance between the vehicle and any obstacles in its
path. This distance is predetermined based on various factors such as vehicle speed, road
conditions, and environmental variables.

By having a predetermined distance for the sensor to detect obstacles, the intelligent
braking system can significantly reduce the likelihood of accidents occurring. This
proactive approach allows the system to initiate braking maneuvers well in advance, giving
the vehicle sufficient time to come to a complete stop or reduce speed safely.

The calculation of braking distance is a key component of the intelligent braking system.
This calculation takes into account factors such as the vehicle's speed, its braking
capability, and the distance required to bring the vehicle to a stop. By accurately
calculating the braking distance, the system can optimize braking performance and ensure
that the vehicle stops within a safe distance from the obstacle.

Overall, the design of an intelligent braking system plays a crucial role in enhancing
vehicle safety and preventing accidents on the road. By leveraging advanced technology
and precise calculations, these systems provide drivers with added confidence and peace of
mind knowing that their vehicle is equipped to respond effectively to potential hazards.

Total Stopping Distance = Human perception distance +Human Reaction Distance +

Braking Distance
2
v
Braking Distance (D) =
2× g × u

v = Velocity of Vehicle before applying brakes = 15 km/hr = 4.167 m/s

µ= coefficient of friction = 0.7

19
g = acceleration due to gravity = 9.81 m/s2

Therefore, the braking distance is calculated

2 2
v 4.167
D= = =1.26 m
2 × g ×u 2 ×0.7 × 9.81

The human perception distance and human reaction distance will be “Zero” since the system
is automated.

Therefore, the total stopping distance for the vehicle 1.26m

Mass of vehicle = 15 kg

Velocity of vehicle (u) = 15 km/h = 4.167 m/sec

Braking distance (s) = 1.26 m

Using motion equation:

2𝑎𝑠 = 𝑣2 − 𝑢2

2 × 𝑎 × 1.26 = 02 − 4.1672

We get a = -6.89 m/sec2 Therefore F=Mass × acceleration

F = 15 × 6.89

F = 103.35 N

3.4. Selection of Component and Cost Analysis

3.4.1. Selection of Components

The components are selected based on the required parameters for the system. Each
component is very important as it is very crucial for the working of the system to run
smoothly.

The list of components are as follows

• Ultrasonic Sensor

An ultrasonic sensor as shown in Fig 3.8. It is an instrument that measures the distance
to an object using ultrasonic sound waves. Uses a transducer to send and receive
ultrasonic pulses that relay back information about an object’s proximity. Ultrasonic
ranging module HC - SR04 provides 2cm - 400cm non-contact measurement function, the

20
ranging accuracy can reach to 3mm.The modules include ultrasonic transmitters, receiver
and control circuit. The basic principle of work:

(1) Using IO trigger for at least 10us high level signal

(2) The Module automatically sends eight 40 kHz and detect whether there is a pulse
signal.

Fig 3. 8: Ultrasonic Sensor

• DC Stepper Motor

Stepper motors as shown in Fig 3.9. DC motors move in discrete steps. They have
multiple coils that are organized in groups called "phases". By energizing each phase in
sequence, the motor will rotate, one step at a time. With a computer controlled stepping
you can achieve very precise positioning and/or speed control. For this reason, stepper
motors are the motor of choice for many precision motion control applications. Stepper
motors come in many different sizes and styles and electrical characteristics.

Fig 3. 9: DC Stepper Motor

• Pneumatic Cylinder
A pneumatic cylinder as shown in Fig 3.10. It is a mechanical device that utilizes
compressed air to produce linear motion or force. It consists of a cylindrical chamber,

21
known as the barrel, with a piston that moves back and forth inside it. When compressed
air is supplied to one side of the piston, it creates pressure, causing the piston to move in
the desired direction. The motion of the piston can be used to perform various mechanical
tasks, such as pushing, pulling, lifting, or rotating objects.

Fig 3. 10: Pneumatic Cylinder

• Valves

A valve as shown in Fig 3.11. It is a mechanical device used to control the flow of fluids,
gases, or slurries within a system. They consist of a movable element, such as a disc or
plug, which can be positioned to regulate the flow by opening, closing, or partially
obstructing the passage. Valves play a crucial role in various industries, including oil and
gas, water treatment, chemical processing, and manufacturing. They come in a wide range
of types, including gate valves, ball valves, butterfly valves, and globe valves, each
designed for specific applications and operating conditions. Valves are essential
components for controlling fluid flow, pressure, and direction within piping systems.

Fig 3. 11: Valve

• Transformer (0-12 V)

A transformer with a 0-12V output range as shown Fig 3.12 It is a type of electrical

22
device used to step up or step-down voltage levels. It typically consists of two coils of
wire, known as the primary and secondary winding, wound around a magnetic core.
When an alternating current (AC) voltage is applied to the primary winding, it induces a
magnetic field in the core, which in turn, induces a voltage in the secondary winding.
By varying the number of turns in each winding, transformers can step up or step-down
voltage levels while maintaining electrical isolation between the input and output
circuits.

Fig 3. 12: Transformer

• MSP 430 Microcontroller

MSP 430 as shown in Fig 3.13. These are specifically marketed as low-power MCUs
for precision sensing and measurement applications. For the embedded designer, these
components are a great option for collecting measurements and data from various
sensors and peripheral components.

Fig 3. 13:MSP 430

The MSP430 microcontroller is a family of low-power, high-performance

microcontrollers developed by Texas Instruments. Known for their ultra-low power

23
consumption, MSP430 devices are widely used in battery-powered applications such
as wearables, sensors, and IoT devices. They feature a rich set of peripherals,
including analog-to-digital converters, timers, and communication interfaces, making
them versatile for a wide range of applications. With their efficient architecture and
extensive development tools, MSP430 microcontrollers offer a robust platform for
embedded system designers seeking energy-efficient solutions. At the heart of the
MSP430 architecture lies an innovative mix of features designed to minimize power
consumption while maximizing processing capabilities.

• Relay

Relays as shown in Fig 3.14. It is used where it is necessary to control a circuit by

an independent low-power signal, or where several circuits must be controlled by
one signal. Relays were first used in long-distance telegraph circuits as signal
repeaters: they refresh the signal coming in from one circuit by transmitting it on
another circuit. Relays were used extensively in telephone exchanges and early
computers to perform logical operations.

Fig 3. 14: Relay

• LED
A light-emitting diode as shown in Fig 3.15 is a semiconductor device that emits
light when current flows through it. is a semiconductor device that emits light when
current flows through it. Electrons in the semiconductor recombine with electron
holes, releasing energy in the form of photons. The color of the light (corresponding
to the energy of the photons) is determined by the energy required for electrons to
cross the band gap of the semiconductor. White light is obtained by using multiple
semiconductors or a layer of light-emitting phosphor on the semiconductor device.

24
 Fig 3. 15: LED

• Buzzer

A buzzer is a simple yet versatile electromechanical device as shown in Fig 3.16. It

produces sound when an electrical current is applied. It consists of a coil of wire
wrapped around a magnetic core, with a thin vibrating diaphragm or plate attached to
the core. When an alternating current (AC) or direct current (DC) passes through the
coil, it creates a magnetic field that causes the diaphragm to vibrate rapidly,
producing sound waves. Buzzer devices are commonly used in electronic circuits,
alarms, timers, and notification systems to generate audible alerts or signals. A

buzzer or beeper is an audio signaling device, which may be mechanical,

electromechanical, or piezoelectric (piezo for short). Typical uses of buzzers and
beepers include alarm devices, timers, train and confirmation of user input such as a
mouse click or keystroke.

Fig 3. 16: Buzzer

• NC/NO Push Button

Push button switches can be classified as being normally open (NO) or normally
closed (NC). Normally open (“OFF” position) switches complete the circuit when
actuated, while normally closed (“ON” position) switches break the circuit when

25
 actuated. Within this classification, the functionality of push button switches can
further be defined in terms of the switching circuit they utilize. With a NC/NO
switch as shown in Fig 3.17. There are two output types: one switching and
another non- switching. This double function is interesting in many applications.

Fig 3. 17: NC/NO Push Button

• Polyurethane tube
Polyurethane tubes as shown in Fig 3.18 are flexible and durable tubing products
made from polyurethane polymers. These tubes offer excellent resistance to abrasion,
chemicals, and weathering, making them suitable for a wide range of industrial
applications. They are commonly used for pneumatic systems, fluid transfer, and
hydraulic applications due to their flexibility, lightweight, and high tensile strength.
Polyurethane tubes come in various sizes, colors, and hardness levels to meet
specific requirements. They provide reliable performance in harsh environments and
are often preferred over other tubing materials for their excellent mechanical
properties and long service life.

Fig 3. 18: Polyurethane

• Connecting Wires

26
 Connecting Wires as shown in Fig 3.19. They are used to connect two electrical
components together. seamlessly linking devices and circuits to enable
communication and power flow. These slender conduits of electricity facilitate
everything from lighting up a room to powering complex electronic systems. Their
simplicity belies their importance, acting as the silent backbone of modern
technology. From the intricacies of circuit boards to the grandeur of power grids,
connecting wires ensure the smooth transmission of energy and information.

Fig 3. 19: Connecting Wires

• Wheels
Wheels as shown in Fig 3.20. Rubber wheels being less common than their rubber
counterparts, offer unique advantages in certain applications. Lightweight and durable,
they excel in environments where corrosion resistance and low maintenance are
paramount. While not suitable for all situations, plastic wheels offer a cost-effective
and practical alternative in specific contexts where their properties align with the
demands of the task at hand.

Fig 3. 20: Wheels

27
3.4.2. Cost Analysis

Components Costing

The component costing is done based on the requirement of the components for the
system. Each component is selected based on its features. As shown in table 3.1 the
component costing is done. Component costing entails a careful analysis of the
specifications for every component in the Intelligent Braking System (IBS) Setup. This
calls for a thorough examination of the features and capabilities provided by each
component.

Table 3.1: Cost of Components

Sr. Component Qty Cost

No.
1 Ultrasonic Sensor HC- 1 Rs. 400
SR04
2 DC Stepper Motor 4 Rs. 1100
3 Pneumatic Cylinder 1 Rs. 2500
4 Valves 2 Rs. 600
5 Transformer 2 Rs. 600
6 MSP 430 Microcontroller 1 Rs. 1000
7 Relay 1 Rs. 20
8 LED 1 Rs. 10
9 Buzzer 1 Rs. 30
10 NC/NO Push Button 1 Rs. 440
11 Polyurethane tube 1 Rs. 100
12 Connecting Wires - Rs. 50
13 Wheels 4 Rs. 400
Total Cost in Rs. Rs. 7,250/-

Fabrication and Machining Costing

A thorough evaluation of the time needed to complete particular steps involved in

fabrication and machining operations is part of the computation of fabrication and
machining cost. Table 3.2, which offers information to calculate the total cost of
fabrication and machining by carefully examining the amount of time required for every
step of the process, including shaping, cutting, and finishing.

28
 Table 3.2: Machining cost

Operation Cost
Cutting Rs. 250
Drilling Rs. 150
Welding Rs. 450
Grinding Rs. 150
Color Charges Rs. 175
Frame Charges Rs. 1000
Gas Cutter Rs. 150
Total Cost in Rs. Rs.2325

Total Cost = Components Cost + Machining cost = Rs 9575/- only

3.5. Experimental Setup

Based on the above research regarding components, structure, calculations, cost analysis a
setup has been made for the same.

The operation of an Intelligent Braking System as shown in Fig 3.21 and additional safety
features in response to obstacle detection in front of a vehicle.

29
 Fig 3. 21: IBS Setup

1. Compressed Air Flow: It starts by the flow of compressed air through the system. It
begins with compressed air entering the valve via a polyurethane tube. From there, it
continues into the pneumatic cylinder, which is a crucial component for brake
activation.

2. Obstacle Detection and Signal Transmission: When the sensor detects an obstacle
ahead of the vehicle, it sends a signal to the MSP 430, which likely serves as a
microcontroller or processing unit. This signal triggers a relay, which interrupts the
current to the motor, effectively halting its operation. This action is essential for
initiating the braking process to avoid the obstacle.

3. Additional Safety System: In addition to the primary braking system, an extra safety
system is described. Upon obstacle detection, a similar process occurs as before.
However, this time, the piston within the system is activated. It presses a normally
closed/normally open (NC/NO) button, which directly cuts the power supply at the
transformer. This redundant safety measure ensures that power to the motor is
completely shut off, further enhancing safety in the event of an obstacle.

4. Visual and Audible Indicators: To alert the driver and surrounding individuals of
the obstacle detection, the system includes visual and audible indicators. When an
obstacle is detected, a buzzer turns on providing an audible warning. Additionally, an

30
LED turns on, serving as a visual indicator of the obstacle detection. These indicators
help ensure that the obstacle is promptly acknowledged and appropriate action is taken.

3.6. Summary
In this chapter the following information is regarding the theoretical analysis of IBS
regarding what sensor to be selected and also microcontroller. Furthermore, it is also
mentioned about the CAD Model and Working of IBS. Next it is mentioned about the
calculation required for working of IBS. Finally, there is Experimental Setup in which
the above information is implemented to create the structure.

31
 Chapter 4

Result and Discussion

4.1. Result
The model demonstrates that at different speeds, there are corresponding braking distances,
all of which fall below the predetermined safe braking threshold. This indicates the
successful development of a secure and intelligent braking system. Furthermore, an
observed trend reveals that as braking distance escalates, so does braking time, showcasing
a direct correlation between these two variables. These outcomes are meticulously
presented in Table 4.1 for clear reference and analysis.

Formula for Braking Distance is given as

2
v
Braking Distance (D) =
2× g × u
From the above gathered data, we get the following results
 Table 4. 1: Data for Velocity, Braking Distance and Safe Distance

V (Km/hr) Braking Distance (m) Safe Distance (m)

5 0.14 0.15
10 0.56 0.62
15 1.26 1.39
20 2.20 2.47
30 5.06 5.57

Fig 4.1 and fig 4.2 the graphs are shown with the relation of velocity with braking distance
and safe distance respectively. The data presented in Table 4.1, Fig 4.1, and Fig 4.2
collectively indicate a specific speed range within which the system operates reliably. To
illustrate, between speeds of 15 to 20 km/hr, the system demonstrates a consistent level of
reliability. However, beyond this range, particularly at higher speeds, the system's
performance diminishes slightly. While the system does engage the brakes at higher
speeds, collisions may still occur, albeit to a lesser extent. It's important to note that these
findings align with the current model under study but may not fully reflect real-world
scenarios. In practical situations, additional variables and factors could influence the
system's performance differently

Fig 4. 1: Graph of velocity with braking distance

33
 Fig 4. 2: Graph of velocity with safe distance

4.2. Discussion
1.Testing for Braking Distance: The primary objective of testing on the Intelligent Braking
System (IBS) was to accurately determine the braking distance of the vehicle. This testing
phase is crucial for assessing the system's effectiveness in safely stopping the vehicle
within a reasonable distance. The Braking distance was calculated as 1.26 meters for 15
km/hr speed

2. Establishing Alarm and Safe Distance Braking Model: The core objective of the
Intelligent Brake System is to create a model that provides appropriate warnings and
executes safe braking maneuvers. This model aims to strike a balance between issuing
timely warnings and initiating braking actions to prevent collisions effectively.

3. Consideration of Uniform Motion: During the design phase, the system focuses on a
short timeframe and assumes uniform motion for the vehicle, neglecting factors such as
acceleration and variations in velocity. This simplification enables the implementation of a
cyclic detection mode, facilitating quicker system responses. The timeframe here is 2
seconds i.e. from obstacle identification to braking of vehicle

4. Impact of Timing on Collision Prevention: The timing of alarm signals and automatic
braking directly influences the system's ability to prevent collisions. Achieving the desired
safety outcomes relies heavily on accurately timing these responses to potential hazards
detected by the system. The timing of alarm or buzzer turning on is 0.5 seconds after
obstacle detection

34
5. Analysis of System Alarms and Determination of Safe Braking Distance: Following the
establishment of the system's technical requirements, the next step involves analyzing the
alarm signals generated by the system and determining the appropriate safe braking
distance. This analysis phase is critical for fine-tuning the system's parameters and
optimizing its performance in real-world scenarios. So based on real scenarios the
appropriate braking distance for vehicle is 1 meter to 1.5 meter.

In summary, it outlines the testing, design considerations, technical requirements, and

analysis process involved in developing an Intelligent Braking System aimed at enhancing
vehicle safety through precise braking distance determination and collision prevention
mechanisms.

4.3. Summary
In this chapter the results for the IBS were calculated based on the data gathered during
testing. This data is implemented in the graphs to determine the most suitable condition for
the IBS. Also, at what parameter the structure will fail is also found out.

35
 Chapter 5

Conclusion

The following conclusions have been recorded from the project

 Intelligent Braking System it is concludes that when the system is operational in

automatic mode, it effectively prevents numerous accidents and has the potential
to save both lives and property.
 Building upon the successful test results it is suggested that implementing the
Intelligent Braking System could be made mandatory, similar to the requirement
for wearing safety belts.
 It reflects on the broader implications of the Intelligent Braking System for the
future of automotive safety.
 It is a cost-effective model as it is 45% more cheaper than previous designed
models.

36
 References

[1] Sidek, S. N., & Salami, M. J. E. (2000, September). Design of intelligent braking
system. In 2000 TENCON Proceedings. Intelligent Systems and Technologies for the
New Millennium (Cat. No. 00CH37119) (Vol. 2, pp. 580-585). Ieee.

[2] Hritik B. Gargade, (2021) Design and analysis of Intelligent braking System, in
2021 Journal of Emerging Technology and Innovative Research
[3] Sreeraman, N., Sathyapriya, G., Ganesan, G., Ajithkumar, G., & Praveen Kumar, S.
(2018). Performance study on IR obstacle sensor for automobile braking system.

[4] Kiran, K. P., Shithin, N. T., Ajay, M. A., & Akhilesh, T. R. (2018). Intelligent
Braking System, Fabrication and Analysis of a Prototype. pulse, 5(04).

[5] Kavatkar, T., Salvi, H., & Rahate, M. (2017). Design and analysis of intelligent
braking system. International Journal of Engineering Development and
Research, 5(1), 119-131.

[6] Chari, S. Venkatesh Prasanna Rao, Adil Ahmed. Automatic Pneumatic Bumper and
Break Actuation before Collision. International Research Journal of Engineering
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[7] Wang, J. T. (2005, June). An extendable and retractable bumper. In 19 th ESV

conference (pp. 05-0144).

[8] Yousuf, S. M., Dhawale, A., Haque, M. A. U., Longadge, P., Kathane, M., Padole, A.
K., & Ramteke, S. DESIGN AND FABRICATION OF INTELLIGENT BRAKING
SYSTEM.

[9] Girovský, P., Žilková, J., & Kaňuch, J. (2020). Optimization of vehicle braking
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[10] Dinesh Kumar, Sonya A, Roshan D “Automatic Emergency Braking System using
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[11] Balasaheb, S. A., Shantaram, P. P., Dadabhau, C. P., Raghunath, P. S., & SK, P. D.
(2016). Automatic Pneumatic Bumper-Braking System. IJSRD-International
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[14] Choudhary, S. K., Ramteke, H., Kuryawanshi, A., Sonbarse, R., Khangar, P.,
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Transactions, 107(1), 2883.

38
 Appendix

Program Code for MSP 430

TRISB = 0

TRISB = %11111111

TRISD = 0

PORTD = 0

Lcdinit

LcdCurUnderline

Lcdcmdout LcdClear

Lcdcmdout

LcdLine1Home

Lcdout "

OBSTACLE FIND "

Lcdcmdout

LcdLine2Home

Lcdout " ON/OFF

SYSTEM" WaitMs

4000

Lcdcmdout

LcdLine1Clear

Lcdcmdout

LcdLine2Clear

loop:
39
xx:

FreqOut PORTB.1, 500, 500 'port

B.1 - Trriger' PORTB.0 = 0

If PORTB.0 = 1 Then 'port C.0 -

Echo pin' PORTD.1 = 0 'Relay

OFF'

Lcdcmdout

LcdCle

ar Lcdcmdout

LcdLine1Home Lcdout

"NO OBSTACLE FIND

"

Lcdcmdout

LcdLine2Home

Lcdout " SWITCH

OFF "

Wait

Ms

500

Goto

xx

Else

PORTD.1 = 1 'Relay ON'

Endif

Lcdcmdout LcdClear

40
Lcdcmdout

LcdLine1Home

Lcdout "

OBSTACLE FIND "

Lcdcmdout

LcdLine2Home

Lcdout " SWITCH

ON " WaitMs 500

Goto Loop

Goto loop

41
 Acknowledgement

We are grateful for the immense support offered to us by our Principal Dr. S.M. Khot,
Head of Department Dr. Aqleem Siddiqui and faculty members of the Mechanical
Department. We sincerely express our deep sense of gratitude to our guide Dr.
Bharatbhushan Kale for his continuous support and guidance throughout our project
work. We are thankful to the teaching and non-teaching staff of Fr. C. Rodrigues
Institute of Technology, Vashi, Navi Mumbai for their cooperation. We also wish to
express our sincere thanks to all those who helped in our project.

42