Lane change detection and tracking device for a safe-lane discipline
INNOVATION
• Lane-departure warning systems are now available in automobiles. At the front of the vehicle an add-on camera is fixed and this camera serves the purpose of detecting the lane along with a warning system, which alerts the driver when the driver changes lane suddenly. However, they cannot be used to calculate the distance travelled in the overtaking or the passing lane.
• This sensor-based lane monitoring system can be used to calculate the distance a vehicle has travelled in the passing lane, without even the application of a camera. Hence the cost associated with the lane tracking device can be reduced.
BACKGROUND AND PRIOR ART
• According to the WHO, road traffic crashes claim the lives of around 1.25 million people
every year. Non-fatal injuries affect between 20 and 50 million individuals, with some
resulting in disability. Victims, their families, and nations as a whole suffer significant
economic losses as a result of road traffic injuries. As a result, many businesses and
corporations claimed in 2016 that they were and will be involved in the creation of
automated vehicles.
• Volvo Corporation has vowed that by 2020, no one is seriously injured in major accidents in their new cars thanks to its advanced driver aid and warning systems. Because there are so many new people uses car these days, and the number of car accidents is increasing every year, intelligent vehicle technologies have advanced significantly in recent years. Sensors such as Lidar, Radar, and vision sensors are used in these technologies. Lidar and radar are exclusively utilized for obstacle detection. The growing volume of traffic requires

higher levels of traffic safety. The primary goal of Intelligent Vehicle Systems is to improve driving safety while also lowering the driver's workload.
• The use of driver assistance systems, which assess traffic circumstances automatically and aid the driver, could considerably improve the safety of driving cars. The evaluation of data sequences acquired with an ultrasonic sensor installed in a moving vehicle is an important component of a driving system. Sensor sequences offer information about the vehicle's environment that must be analyzed in order to accurately track the car in a highway lane.
• Lane detection is essential for sensor-based lateral control and autonomous driving lane departure warning. Because erroneous findings can result in incorrect steering commands, jeopardizing vehicle safety, a robust and reliable algorithm is a must.
OBJECTIVES OF THE INVENTION
The main objective of the present invention is to construct a gadget that can be used by automobiles to determine how far they have travelled in the passing lane during a trip on the highways to improve road safety and reduce the frequency of accidents.
• When driving on highways, each and every vehicle must maintain lane discipline to ensure that driving on highways is highly safe.
• This lane detecting and tracking device can also be used to reduce traffic accidents on highways.
• Traffic congestion caused by inappropriate lane driving can be decreased as well.
SUMMARY OF THE INVENTION
• The automatic lane detection and tracking system is fabricated and tested in real time
scenario. The lane in which the vehicle is moving is found and that data is sent to a website
remotely using network connections.

• This data can be used by government or highway officials to penalize those driving for a long time in the overtaking lane, which indirectly leads other vehicles to overtake through the left lane resulting in accidents.
BRIEF DESCRIPTION OF DRAWING
Fig.l details about the solid works model of the proposed automatic lane detection and tracking system. The fabricated set-up of the device is depicted pictorially in Fig.2. The lane discipline followed during the movement is recorded by the fabricated device and is given in Fig.3.
DETAILED DESCRIPTION OF THE COMPONENTS
Ultrasonic Sensor
Ultrasonic sensors (40Hz, 15mA) send waves and receive them back after those waves deflect on striking an obstacle. The obstacle chosen in this work is the divider constructed in between the highways. These sensors after receiving back those waves can calculate the distance between the obstacle and the sensor itself. This concept is used here to estimate whether the vehicle is traveling in the passing lane. If the distance calculated by the sensor is low, it means that the vehicle is moving in the passing lane.
Arduino Uno (Microcontroller)
Arduino UNO, an open-source microcontroller board based on the Microchip ATmega328P microcontroller has digital and analogue input/output (I/O) pins that can be used to connect to expansion boards (shields) and other circuits. It accepts voltages between 7 and 20 volts and can be powered by a USB cable.

NodeMCU V3 (IoT Device)
The other main component of this lane tracking distance is an IoT device. This component is connected through microcontrollers to the ultrasonic sensor. And hence, the data collected from the sensor can be analyzed and viewed in a website or a webpage through the IoT component.
Power Supply and Motor Drive Board
The prototype vehicle model used must be supplied with power from the battery. This power is mostly consumed by the motors used for moving the prototype model of the vehicle used to test the lane tracking device. Also all the wired connections to the vehicle are fed through the motor drive board.
LCD display
The Liquid Crystal Display (LCD) is installed to show the distance calculated by the ultrasonic sensor with respect to the median of the highways. It displays the accurate distance between the right side of the vehicle and the divider placed in the highways. Hence the change in lane can also be seen by the driver and at the same time it can be monitored by the safety officials using the website.
Arduino IDE Software
The IoT device need some kind of programming code to send the data collected to a website or to the display. Arduino software serves this purpose in this case it is used only as a software tool. The Arduino software is used to upload the programming code to the IoT device. Once any change made in the coding structure of this lane tracking device, it must be changed in the microcontroller via Arduino IDE software.

Website (Cayenne)
An open source website named Cayenne is used for storing and displaying the data in a graphical form from the ultrasonic sensor through internet connectivity. Data obtained in the microcontroller is fetched and sent to the cloud platform through internet connection. Internet connection in this case is established through mobile hotspot or even a built- in antenna and chipset can serve this purpose. The data obtained after storing in the cloud can be represented in a graphical form in the dashboard of the given website. Login in this website can be performed through Gmail login. Also when more than one user is tracked using this website, each vehicle must be provided with a unique id. This unique id can be the registration number of the vehicle.
Fabrication of the lane tracking and detection device
The device is fabricated with the aid of the different components namely ultrasonic sensor (40Hz, 15mA), IoT device (5V, 20mA), Battery (12 V, 1.3mAh), Arduino software, power supply and motor drive board, the assembled view of the fabricated device is given in Fig.2.
Working
The distance between the right side of the vehicle and the divider is measured by the ultrasonic sensors and hence the lane in which the vehicle is moving is identified. It can be set up in such a way that if the distance measured by the ultrasonic sensor is less than a certain limit then the vehicle is moving in the passing lane. This data is now fed into the microcontroller which acts as an IoT device when connected to the internet. A LCD display is set up in the vehicle's dashboard itself, by which the driver can be warned if he/she is traveling in the passing lane for a long time. The actual scope of this work is to find how long the given vehicle has travelled in the right lane. This concept of determining the time

travelled in the right or left lane is accomplished by using a website or a webapp. The programming logic required to obtain that data in the website is fed into the microcontroller setup by using Arduino software. Two different programs are used, one for the LCD display and the other for the data to be shown in the website. The programming language employed for the entire work is embedded C. The data regarding the lane in which the vehicle is moving is stored in the cloud and then can be viewed in graphical form on the website. This website can now be managed by any safety officials to penalize those driving for a long time in the passing lane itself.
Conclusion
The lane in which the vehicle is moving can be identified with the aid of the proposed device and the data can be assessed remotely using network connections. This data can be used by government or highway officials to penalize those driving for a long time in the overtaking lane, which indirectly leads other vehicles to overtake through the left lane resulting in accidents.

CLAIMS
1. I claim, a Lane change detection and tracking device for a safe-lane discipline which
comprises
a. Ultrasonic sensors
b. Arduino Uno (Microcontroller)
c. NodeMCU V3 (IoT Device)
d. Motor
e. Battery
f. Liquid Crystal Display (LCD)
2. I claim the Lane change detection and tracking device for a safe-lane discipline as recited in claim 1, using the distance between the vehicle and the median of the highways.
3. I claim the Lane change detection and tracking device for a safe-lane discipline as recited in claim 1, can be extended and the IoT can be supplemented by an on-board data storage device.
4. I claim the Lane change detection and tracking device for a safe-lane discipline as recited in claim 1, can be extended and the battery employed in the device can be substituted with the vehicle's battery.
5. I claim the Lane change detection and tracking device for a safe-lane discipline as recited in claim 1, can be extended and the open source website used in this work can be replaced with any authorized website by the authorities.