06:16 PM

Autonomous Driver Assistance System Using Swarm Intelligence

(DAS)

Wickramasinghe W.M.M.P.B

Gamachchige D.P.S

Madushanka U.D.G.T

PURSE 2012

PURSE 2012 06:16 PM

Bad traffic conditions create lots of time and money waste and they give rise to many

environmental issues too.

Problem

Existing Solutions

• Optimizing the Traffic light controlling system– At any given junction does not help the driver in

assessing traffic density before entering a busy route segment

– the control it has over driver behaviour is limited to allowing/disallowing access to routes at the junction

– traffic light control does not have a way to obtain and hence, to include, individual travel destinations of vehicles in its logic

– If something goes wrong it is harmful

PURSE 2012 06:16 PM

Existing Solutions ctd.

• Introducing a central control mechanism (like central server)- should have a high processing power - If the server does not work for few minutes, it

could become catastrophic- there is no progressive degradation of

performance

• High performance satellite systems for identifying the traffic- This is really costly and need some advanced devices

PURSE 2012 06:16 PM

Imagine …

• A situation where the traffic condition on each road is displayed on the dash board of the your vehicle …

• It would be just enough information for you to choose alternative paths avoiding bad traffic

PURSE 2012 06:16 PM

Our Solution

Driver Assistance System (DAS) using swarm intelligence techniques

PURSE 2012 06:16 PM

Swarm Intelligence

describes the collective behavior of decentralized, self-organized systems, natural or

artificial

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Natural

• Flocks of birds coordinate to move without collision

• Termites build giant structures• Ants manage to find food sources quickly and

efficiently

PURSE 2012 06:16 PM

Concept

9

Id 1

Id 3

Id 4Id 2

Id 5

30kmh(7.52,79.8)

20kmh(7.50,80.8)

80kmh(7.52,79.2)

32kmh(7.40,78.8)

28kmh(7.52,79.9)

BOT

BOT

BOT

BOT

BOT{1:(30,[7.52,79.8])}{5:(80,[7.52,79.2])}

{4:(20,[7.50,80.8])}{2:(28,[7.52,79.9])}

{3:(32,[7.40,78.8])}

This is the initial state of the system, where each vehicle has only its own, locally generated state

Concept - Communication

PURSE 2012 06:16 PM

Intra-colony Communication•Short distance•Can use V2V (Vehicle to Vehicle) communication

Concept– Intra colony communication

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1

2

34

{1:(30,[7.52,79.8])}

{2:(24,[7.52,79.7])}

{3:(24,[7.52,79.6])}

{2:(24,[7.52,79.7]),1:(30,7.52,79.8)}

{1:(30,[7.52,79.8]), 2:(24,[7.52,79.7])}

{3:(24,[7.52,79.6]),2:(24,[7.52,79.7]), 1:(30,7.52,79.8)}

{3:(24,[7.52,79.6]),2:(24,[7.52,79.7]), 1:(30,7.52,79.8), 4:(20,[7.52,79.6])}

{2:(24,[7.52,79.7]),1:(30,7.52,79.8),3:(24,[7.52,79.6])}

{4:(20,[7.52,79.6])}{3:(24,[7.52,79.6]), 2:(24,[7.52,79.7]), 1:(30,7.52,79.8), 4:(20,[7.52,79.6])}

Colony

• Intra-colony communication

• Bots update their data tables using gossip protocol

{2:(24,[7.52,79.7]),1:(30,7.52,79.8),3:(24,[7.52,79.6]), 4:(20,[7.52,79.6])}

{1:(30,[7.52,79.8]),2:(24,[7.52,79.7]), 3:(24,[7.52,79.6]),4:(20,[7.52,79.6])}

Concept–Inter colony communication

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Inter colony

comm

unicationAverage:

speed=30

location=7.52,79.80

I have token

Colony1

Colony2

• Inter-colony communication

• Colonies broadcast their local states

• The broadcasts are done at pre-defined intervals (synchronous mode)

Output

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Destination

Current Location

Results and Validation

The solution was validated by developing a simulator

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Road Network

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RoadsVehicles with id

Junctions

Results for one bot

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The road map which appears on the DAS dashboard is refreshed only when the color assigned to an edge (road segment) has to be changed according to the color assignment table, based on the present traffic intensities

Intra colony communication range of

bot 1

Data table of bot 1

Traffic intensities of each edge

Programming Environment

• Python for programming language– Dedicated language for intelligent models

• Eclipse for IDE– PyDev plugin for eclipse

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Advantages of the solution

• No central server• Driver has freedom to take decisions• No need high computation power devices• No need to handle huge data• Progressive degradation of system

performance• Robust

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Possible Problems and limitations in the Current design and possible

Solutions

Better inter colony communication link

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Remaining work

• Validate the System in a real world situation– Build an android mobile application to test the

system in real world

• Build an embedded device for vehicles

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Thank You!

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Q &A

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