M. K.Drost  Z. I. Antoniak  D.R.Brown  K.Sathyanarayana
October 2005
    Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.
    One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles.  1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion .
    when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system (ITS). Starting in the late 1990s, ITS systems were developed and deployed。In developed countries, travelers today have access to signifi-
cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems.
As the world energy crisis, and the war and the energy consumption of oil -- and are full of energy, in one day, someday it will disappear without a trace. Oil is not in resources. So in oil consumption must be clean before finding a replacement. With the development of science and technology the progress of the society, people invented the electric car. Electric cars will become the most ideal of transportation.
   In the development of world each aspect is fruitful, especially with the automobile electronic technology and computer and rapid development of the information age. The electronic control technology in the car on a wide range of applications, the application of the electronic device, cars, and electronic technology not only to improve and enhance the quality and the traditional automobile electrical performance, but also improve the automobile fuel economy, performance, reliability and emissions purification. Widely used in automobile electronic products not only reduces the cost and reduce the complexity of the maintenance. From the fuel injection engine ignition devices, air control and emission control and fault diagnosis to the body auxiliary devices are generally used in electronic control technology, auto development mainly electromechanical integration. Widely used in automotive electronic control ignition system mainly electronic control fuel injection system, electronic control ignition system, electronic control automatic transmission, electronic control (ABS/ASR) control system, electronic control suspension system, electronic control power steering system, vehicle dynamic control system, the airbag systems, active belt system, electronic control system and the automatic air-conditioning and GPS navigation system etc. With the system response, the use function of quick car, high reliability, guarantees of engine power and reduce fuel consumption and emission regulations meet standards.
   The car is essential to modern traffic tools. And electric cars bring us infinite joy will give us the physical and mental relaxation. Take for example, automatic transmission in road, can not on the clutch, can achieve automatic shift and engine flameout, not so effective improve the driving convenience lighten the fatigue strength. Automatic transmission consists mainly of hydraulic torque converter, gear transmission, pump, hydraulic control system, electronic control system and oil cooling system, etc. The electronic control of suspension is mainly used to cushion the impact of the body and the road to reduce vibration that car getting smooth-going and stability. When the vehicle in the car when the road uneven road can according to automatically adjust the height. When the car ratio of height, low set to gas or oil cylinder filling or oil. If is opposite, gas or diarrhea. To ensure and improve the level of driving cars driving stability. Variable force power steering system can significantly change the driver for the work efficiency and the state, so widely used in electric cars. VDC to vehicle performance has important function it can according to the need of active braking to change the wheels of the car, car motions of state and optimum control performance, and increased automobile adhesion, controlling and stability. Besides these, appear beyond 4WS 4WD electric cars can greatly improve the performance of the value and ascending simultaneously. ABS braking distance is reduced and can keep turning skills effectively improve the stability of the directions simultaneously reduce tyre wear. The airbag appear in large programs protected the driver and passenger's safety, and greatly reduce automobile in collision of drivers and passengers in the buffer, to protect the safety of life.
   Intelligent electronic technology in the bus to promote safe driving and that the other functions. The realization of automatic driving through various sensors. Except some smart cars equipped with multiple outside sensors can fully perception of information and traffic facilities and to judge whether the vehicles and drivers in danger, has the independent pathfinding, navigation, avoid bump, no parking fees etc. Function. Effectively improve the safe transport of manipulation, reduce the pilot fatigue, improve passenger comfort. Of course battery electric vehicle is the key, the electric car battery mainly has: the use of lead-acid batteries, nickel cadmium battery, the battery, sodium sulfide sodium sulfide lithium battery, the battery, the battery, the flywheel zinc - air fuel cell and solar battery, the battery. In many kind of cells, the fuel cell is by far the most want to solve the problem of energy shortage car. Fuel cells have high pollution characteristics, different from other battery, the battery, need not only external constantly supply of fuel and electricity can continuously steadily. Fuel cell vehicles (FCEV) can be matched with the car engine performance and fuel economy and emission in the aspects of superior internal-combustion vehicles.
   ic car from ordinary consumers distance is still very far away, only a few pAlong with the computer and electronic product constantly upgrading electric car, open class in mature technology and perfected, that drive more safe, convenient and flexible, comfortable. Now, the electreople in bandwagon. Electric cars with traditional to compete in the market, the car
Will was electric cars and intelligent car replaced. This is the question that day after timing will come. ABS, GPS, and various new 4WD 4WS, electronic products and the modern era, excellent performance auto tacit understanding is tie-in, bring us unparalleled precision driving comfort and safety of driving.
The hardware and software of the intelligent vehicle are designed based on AVR.This system could set the route in advance. The vehicle could communicate with the PC vianRF401 and could run safely with the help of ultra sound detection and infrared measuring circuit.Neural network self- study is used to improve the intelligence of the vehicle.
The performance of servo systems will determine the property of the robot． Based on AVRseries MCU，the velocity servo system for driving motor is created in this paper，including a discrete PIregulator which will work out a PWM control signal with applying the skill of integral separation． The velocities of motors will be controlled real － time with the speed sampling frequency set for 2KHz by using the AVR － GCC compiler software development． Compared to the servo system development based on the 51 Series MCU，the system here has these advantages of simpler peripheral circuit and faster data processing． The experiments demonstrate that，the mobile robot runs stably and smoothly by the control of AVR units，and that the design proposal especially benefits the development of intelligent mobile robots，also can be widely used in the development of other smart devices and product lines．
A new design of contest robot cont rol system based on AVR Atmega8 was put forward. According to the character of contest robot , the main cont rol unit , motor drive unit , sense detection unit and LCDdisplay unit wereintroduced. Furthermore the servo driver system based on MCBL3006S , the line t racker sensor system and the obstacle avoidance sensor system were presented in detail. Finally the performance showsthat the cont rol system is open , simple , easy programming , intelligent and efficiency.
Avoidance rules of intelligent vehicle obstacle are introducted. Through the collection of infrared sensor  formation, the rules use diode D1 to launch and diode D2 to receive infrared signals. Infrared transmitter signal without a dedicated circuit comes directly from the MCU clock frequency, which not only simplifie the circuit and debugging, but also make the circuit stability and anti- jamming capability greatly enhanced. After the experimental verification, the system runs reliably meet the design requirements.
    A smart car control sys tem of the path informat ion identif ied based on CCD camera was introduced. The hardware s truc ture and scheme were designed. The contro l strategy of s teering mechanismwas presented. T he smart car not only can identify the road prec isely, but also have antinterference performance, and small s teady state error.
This article designed smartcar system,includes the aspects of the sensor information acquisition and processing, motor drive, control algorithm and control strategy etc.Using laser sensor to collect the road information which can feedback to the microcontroller control system,then making analytical processing combined with the software.With velocity feedback and PID control algorithms to control steering engine and the speed of smartcar.Verified by actual operation, this method makes smartcar travel stably and reliably，and its average speed to reach 2.6m /s, and get a satisfied results.
By the aid o f the pro fessio na l know ledge of contr ol, patter n recog nitio n, senso r t echnolog y, aut omotive elect ronics, elect ricit y, computer, machiner y and so on, an intelligent vehicle system is designed with PID control a lg orithm,CCD detection system and H C9SDG128 M CU. Codew arr ior IDE integr ated dev elo pment pro gr amming env ir onment is taken as a basic softw are platform t hat can aut omatically deal w ith the traffic and image pro cessing, and then adjust the mo ving direction along the scheduled or bit by t he aid of a CCD camera. The system has many advantages, such as hig h r eliability , high stability, good speedability and scalability.
Based on the research background of the Free-Scale smart car competition， a smart trackfollowing car is designed. In the car, the photo electricity sensor is used to check the path and obtain the information of racing road, andcalculate the error between the car and the black line. The fuzzy control is used to control the velocity of the car. The experiments show that the smart car based on the fuzzy control has high accuracy on the judgment of the path, stability and velocity control.
    In the wake of the computer and information revolutions, motor vehicles are undergoing the most dramatic changes in their capabilities and how they interact with drivers since the early years of the century.
In 1908, Henry Ford's Model T exemplified major breakthroughs in automotive design. Not only did its interchangeable parts inaugurate easy and economical mass production, but its "user-friendly" operation allowed almost anyone to drive. Nearly 90 years later, the motor vehicle is resembling less and less Ford's simple machine and quickly becoming a complex "mobile computer", capable of acting as a navigator, a safeguard, and even, a second driver. These new capabilities will not only change how we drive; intelligent vehicles could also enhance transportation services, save lives, and bolster the competitiveness of U.S. industries.
However, intelligent vehicles aren't quite here. Instead, the components that make vehicles smarter -- new information, safety, and automation technologies -- are arriving on the market as piecemeal accessories, offered either as optional equipment by new vehicle manufacturers or as speciality components by after-market suppliers. These technologies are being developed and marketed to increase driver safety, performance, and convenience. These individual technologies, however, have yet to be integrated to create a fully intelligent vehicle that works cooperatively with the driver.
The automotive industry is already aware of and addressing potential problems associated with the uncoordinated influx of technology. But their progress is hampered by technical and economic obstacles, uncertain consumer interest, and insufficient standards and guidelines. Also, neither original vehicle manufacturers or government regulators (unless safety problems are clearly proven) have control over after-market products, especially their use in trucks and buses. However, without a "human-centered" design approach for the intelligent vehicle that attempts to integrate and coordinate various technologies, we may not only lose the opportunity to realize the benefits offered by new in-vehicle technologies, but we could inadvertently degrade driving safety and performance.
Recognizing the importance of smart vehicles and the potential for unintended consequences if human factors are not placed at the center of their design, DOT launched the Intelligent Vehicle Initiative (IVI) in 1997. This initiative aims to accelerate the development, availability, and use of integrated in-vehicle systems that help drivers of cars, trucks, and buses operate more safely and effectively.
The 1980s television series "Knight Rider" featured an intelligent vehicle that could leap moderately tall buildings, drive itself at seemingly supersonic speeds, spy on bad guys, and had the diction and personality of an English butler. The car was not only smart, but smart-alecky. Although intelligent vehicles in the real world will not be able to fly over standing traffic, they will have formidable capabilities. As envisioned by IVI, smart vehicles will be able to give route directions, sense objects, warn drivers of impending collisions, automatically signal for help in emergencies, keep drivers alert, and may ultimately be able to take over driving.
The use of information- and computer-based technologies in motor vehicles, however, is not new. Widescale computerization of motor vehicles began in the 1980s with technologies designed to enhance vehicle operation and driver comfort. These technologies included electronic fuel injection to control engine performance, particularly to reduce vehicular emissions and improve fuel economy, antilock braking systems to help drivers retain control on slippery roads, and cruise control to relieve driver tedium during long stretches of driving. Whereas these technologies were primarily aimed at enhancing the capabilities of the vehicle, the most recent wave of in-vehicle technology, which is of most interest to IVI, are the intelligent transportation systems designed to enhance the capabilities of the driver. These systems include warning and information, driver assistance, and automation technologies.
Just as people possess different specialized abilities, in-vehicle ITS technologies endow vehicles with different types and levels of "intelligence" to complement the driver. Driver information systems expand the driver's knowledge of routes and locations. Warning systems, such as collision-avoidance technologies, enhance the driver's ability to sense what's going on in the surrounding environment. And driver assistance and automation technologies simulate a driver's thinking and physical actions to operate a vehicle temporarily during emergencies or for prolonged periods.
But while a smart vehicle will extend the driver's capabilities, it will also potentially expand the driver's traditional role. In particular, in the midst of new in-vehicle technologies, the human role expands from that of sensory-motor skill, writes Thomas Sheridan, a professor who heads the Human-Machine Systems Laboratory at the Massachusetts Institute of Technology (MIT), "to that of planner, programmer, monitor of the automation, diagnostician ..., learner and manager."8
Integration: The Key to Human-Centered Design
A key criteria of human-centered design is ensuring that a technology provides the intended benefits without engendering unintended adverse consequences. Driving is a potentially dangerous activity that requires attentive and alert drivers. Although technologies in the vehicle can enhance the driver's capabilities and comfort, they can also create potential distractions that transform even the best driver into a road hazard. The National Public Services Research Institute, for example, found that individuals with cellular phones in their cars had a 34-percent higher chance of having a collision
ITS research has already shown the benefits and feasibility of many of the technologies that will be contained within intelligent vehicles:
Route guidance systems will help drivers better navigate unfamiliar streets or find the quickest route to their destinations. In the TravTek field test in Orlando, sponsored by DOT in 1992 and 1993, tourists driving vehicles equipped with route guidance systems made 30 percent fewer wrong turns and shortened their travel times by 20 percent compared to drivers who used paper maps.
Collision-avoidance systems will expand the paradigm of traffic safety from protecting the occupant of the vehicle to preventing accidents altogether. According to one study, 60 percent of crashes at intersections and about 30 percent of head-on collisions could be avoided if drivers had an additional half-second to react.  Nearly 75 percent of vehicular crashes are caused by inattentive drivers. NHTSA estimates that three types of collision-avoidance systems could prevent 1.1 million accidents in the United States each year -- 17 percent of all traffic accidents. These same systems would save 17,500 lives (compared to the 10,500 lives saved by seatbelts and airbags) and $26 billion in accident-related costs. Other safety innovations that are now in testing include automatic collision notification systems, which will immediately signal for help if a vehicle's air bag deploys, and drowsy-driver warning systems that will keep drivers from falling asleep at the wheel.
In-vehicle automation systems will temporarily take over driving during emergencies or allow autopiloting for prolonged durations. In 1996, NHTSA began field testing intelligent cruise-control systems, which will automatically adjust a vehicle's cruising speed to maintain a safe distance from vehicles ahead, to evaluate the safety impact of this technology. In a more dramatic step towards "hands-off, feet-off" driving, the National Automated Highway Systems Consortium (NAHSC), which is a partnership of DOT and nine other public and private organizations, demonstrated automated vehicle prototypes on a 12-kilometer test section of I-15 in San Diego this past summer. In the future, automated highway systems will allow traffic managers to double or even triple the effective capacity of highways by increasing speeds and shortening distances between vehicles. Automated highways could also potentially improve highway safety by eliminating accidents caused by human error.
Aside from delivering safety and efficiency benefits for the traveling public, the federal government expects that indigenous development of intelligent vehicles could promote America's economic competitiveness.
For intelligent vehicles to reach their maximum potential, they must be able to communicate with an intelligent transportation infrastructure and with other intelligent vehicles. For example, communication with a smart infrastructure would allow an intelligent vehicle to learn of incidents and then proactively suggest alternative routes in real time. Smart vehicles could also act as probes that could send information about travel conditions back to the infrastructure to create a richer base of knowledge about travel conditions on roads and highways. In addition, fully automated vehicles will likely rely to some extent on the guidance provided by an intelligent infrastructure and on communication with other smart vehicles. For example, in the recent AHS demonstration in San Diego, automated vehicles with magnetic sensors under their bumpers were guided by magnets implanted at 1.2 meter intervals just below the road surface.
Over the next five to 10 years, we should see the first generation with advances in the capabilities of individual driver information and warning systems. These systems will become increasingly integrated with information coordinated through displays. Drivers will still maintain full control over their vehicles although collision-warning systems will provide limited automated assistance. In addition, vehicles would have a greater intelligence about road conditions in real time due to rudimentary communications with an intelligent infrastructure.
In about 10 to 15 years, the application of improvements in individual ITS systems will bring on a second generation with more and better intelligence in the vehicle. Although drivers will still maintain full control over their vehicles, collision-avoidance systems could take control temporarily during emergencies. In addition, more sophisticated voice recognition systems will be incorporated within the driver-vehicle interface. Vehicles will be able to communicate with each other to improve collision-avoidance capabilities. And communications with an intelligent infrastructure will be more interactive.
In about 20 years, in the third generation, we could see fully automated highway systems, cooperative systems of vehicles and infrastructure, and advances in the driver-vehicle interface, such as use of vision enhancements and head-up displays.
Looking back on a century inundated by technology, the motor vehicle stands out as a singularly dynamic invention. In the next century, this dynamism will be driven by advances in information and computer technology. Our challenge is to ensure that new information, safety, and automation technologies are integrated to create human-centered intelligent vehicles that can advance safety, surface transportation efficiency, and economic competitiveness.