Post on 21-Oct-2020
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DEVELOPMENT OF AN INTELLIGENT TRAFFIC CONTROL SYSTEMS
USING ARDUINO MICROCONTROLLER
NORFATIN MURSHIDA BINTI MOHAMAD NORDIN
A project report submitted in partial fulfilment of the
requirements for the award of the degree of
Master of Science (Advanced Manufacturing Technology)
Faculty of Mechanical Engineering
Universiti Teknologi Malaysia
JANUARY 2016
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Bismillahirahmanirahim
I strongly dedicated this project to my beloved father (Mohammad Nordin Bin
Hashim), mother (Sarina Binti Din) and my siblings (Mohamad Nabil, Mohamad
Najib, Nafeesa, and Nuha Fahada), with their sincere prayers and endless support
afforded me to successfully accomplish this thesis.
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ACKNOWLEDGEMENT
First and foremost, I would like to thank Allah Almighty for blessing and giving
me strength to accomplish this thesis. Sincere appreciation to my supervisor Prof.
Madya Dr. Izman Sudin and also my co-supervisor Dr. Norizah Redzuan who constant
support during my study at UTM and greatly helped me until this project completed.
Other than that, the lecturer and technician who help me in completing the project, Dr.
Maziah and Mr.Rahim.
Deepest gratitude to my beloved father, mother, brothers and sister and all of my
family and friends for their real love, pray, spirit, continuous encouragement and
patience within this study period.
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ABSTRACT
Increasing number of vehicles on the road becomes a concern to road users
since it causes massive traffic congestion especially at the junction. It is not only
happen in Malaysia, but also around the world. Traffic congestion has contributed to
low productivity, pollution and energy losses. In addition, user loss time,
environment quality and road safety are also affected by traffic congestions. Most of
the existing traffic control system installed in Malaysia is proven not intelligent
enough to make smooth traffic flow in minimizing waiting time of vehicles and
maximizing number of vehicles flow in the respective lane. In this study, a new
design concept of traffic control system is studied. An intelligent traffic control
system using Arduino Microcontroller and Infrared proximity (IR) sensor are used
together to simulate the traffic flow at three junction road. Program code in Arduino
Integrated Development Environmentally (IDE) software was used to communicate
with the sensors. These systems use sensor to detect the absence and presence of
vehicles and sent the signal to the microcontroller. The decision was made based on
the queue length of vehicles at each road. A longer period of green signals will be
given to the lane which have long queue of vehicles. WITNESS software was used to
simulate and validate the performance of the proposed system. The cycle time is
reduced allowing more vehicles flow through the traffic and average waiting time of
vehicles for new system also decreased compare to current system. Current traffic
light shows average waiting time for vehicle at Traffic 1, Traffic 2 and Traffic 3 is
longer which are 10, 7 and 3 seconds compare to the new traffic light system which
reducing the average waiting time to 5, 2 and 1 seconds.
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ABSTRAK
Semakin banyak kenderaan di jalan raya yang menjadi kebimbangan
kepada pengguna jalan raya kerana ia menyebabkan kesesakan lalu lintas terutama di
persimpangan. Ia bukan sahaja berlaku di Malaysia, tetapi juga di seluruh dunia.
Kesesakan lalu lintas telah menyumbang kepada produktiviti yang rendah,
pencemaran dan tenaga kerugian. Di samping itu, masa kerugian pengguna, kualiti
alam sekitar dan keselamatan jalan raya juga dipengaruhi oleh kesesakan lalu lintas.
Kebanyakan sistem kawalan lalu lintas sedia ada yang dipasang di Malaysia terbukti
tidak cukup bijak untuk membuat aliran trafik yang lancar dalam mengurangkan
masa menunggu kenderaan dan memaksimumkan jumlah kenderaan mengalir di
lorong masing-masing. Dalam kajian ini, satu konsep reka bentuk baru sistem
kawalan trafik dikaji. Sistem kawalan trafik bijak menggunakan Arduino
mikropengawal dan kedudukan berhampiran inframerah (IR) sensor digunakan
bersama-sama untuk simulasi aliran trafik di tiga jalan simpang. Kod program dalam
Pembangunan Bersepadu Arduino alam perisian (IDE) telah digunakan untuk
berkomunikasi dengan sensor. Sistem ini menggunakan sensor untuk mengesan
ketiadaan dan kehadiran kenderaan dan menghantar isyarat kepada pengawal mikro.
Keputusan itu dibuat berdasarkan tempoh barisan jenis kenderaan di setiap jalan.
Tempoh isyarat hijau yang panjang akan diberikan kepada lorong yang mempunyai
barisan panjang kenderaan. Perisian WITNESS digunakan untuk mengsimulasikan
dan mengesahkan prestasi sistem yang dicadangkan. Masa kitaran dikurangkan
membolehkan lebih banyak kenderaan mengalir melalui masa lalu lintas dan purata
menunggu kenderaan untuk sistem baru juga menurun berbanding dengan sistem
semasa. Lampu isyarat semasa menunjukkan purata masa menunggu untuk
kenderaan di Traffic 1 , Trafik 2 dan Trafik 3 lebih panjang iaitu 10 , 7 dan 3 saat
berbanding dengan sistem lampu isyarat baru yang mengurangkan purata masa
menunggu hingga 5, 2 dan 1 saat.
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TABLE OF CONTENTS
CHAPTER TITLE PAGE
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENT iv
ABSTRACT v
ABSTRAK vi
TABLE OF CONTENTS vii
LIST OF TABLES x
LIST OF FIGURES xi
LIST OF SYMBOLS xiii
LIST OF APPENDICES xiv
1 INTRODUCTION 1
1.1 Project Background 1
1.2 Problem Statement 2
1.3 Project Objective 4
1.4 Problem Stcope 5
1.5 Significant of Research 5
2 LITERATURE REVIEW 6
2.1 Introduction 6
2.2 Traffic Light Control System 6
2.3 Current Installation of Traffic Light Control in Malaysia 7
2.3.1 Timer 7
2.3.2 Programmable Logic Controller (PLC) 8
2.3.3 Microcontroller 10
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2.4 Traffic Control System Problems 11
2.5 Sosial, Economic and Ethical Impacts of Traffic
Congestion 12
2.6 An Overview of Traffic Light Control System 13
2.7 Programmable Logic Controller (PLC) 16
2.7.1 Components of PLC 16
2.7.2 PLC Operation 18
2.7.3 Applications of PLC 19
2.7.4 PLC Current Research 21
2.8 Arduino Microcontroller 22
2.8.1 Components of Arduino Microcontroller 22
2.8.2 Types of Arduino Microcontroller 24
2.8.3 Applications of Arduino Microcontroller 27
2.8.4 Arduino Current Research 29
3 METHODOLOGY 30
3.1 Introduction 30
3.2 Overall Research Methodology 30
3.3 Case Study 32
3.4 An Electronic Circuit Model 32
3.5 Arduino Intregrated Developement (IDE)Software 34
3.6 Traffic Light Sequence Cycle 36
3.6.1 Traffic Signal Control Flowchart 38
3.7 Important Measure for Developing Traffic Light System 40
3.8 Traffic Light Model in Real Application 41
3.9 Performances Evaluation 42
4 RESULTS AND DISCUSSION 43
4.1 Introduction 43
4.2 Development of Hardware 43
4.2.1 Microcontroller 43
4.2.2 Sensor 46
4.2.3 Hardware Circuit Model 47
4.2.4 Intelligent System Block Diagram 48
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4.3 Input and Output Arduino Microcontroller 49
4.4 Programming Part for Traffic Control 53
4.4.1 Intelligent Traffic Light Control Program 53
4.5 Performances Validation 55
4.5.1 Simulation Modelling 56
4.5.1.1 Assumptions of Simulation Modelling 56
4.5.1.2 Operating Concditions of Traffic Control 57
4.5.1.3 Flow and Interface of the Model 57
4.5.2 Data Collection and Analysis 59
4.5.2.1 Average Waiting Time of Vehicles 59
4.5.2.2 Percentage of Idle Time 62
4.5.2.3 Percentage of Busy State 65
4.6 Discussion 68
5 CONCLUSIONS AND RECOMMENDATIONS 70
5.1 Introduction 70
5.2 Recommendation for Future Work 71
REFERENCES 72
APPENDICES 77- 100
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LIST OF TABLES
TABLE NO. TITLE PAGE
2.1 Research on Traffic Light Control System 14
2.2 PLC current research in the traffic light system 22
2.3 Arduino current research project 30
3.1 List of components 35
3.2 Suggestion times for green signal depend on volume
of vehicle at the road 41
4.1 Technical specification for Arduino Uno microcontroller 46
4.2 Input connection between Arduino and sensor 51
4.3 Output connection between Arduino and LED 51
4.4 Volume of car at each lane for average waiting time 61
4.5 Average waiting time for Fixed Time traffic control 62
4.6 Average waiting time for Intelligent Traffic control system 63
4.7 Volume of car at each lane for percentage of idle time 64
4.8 Percentages of Idle time for Fixed Time traffic control 65
4.9 Percentages of Idle time for Intelligent Traffic control 66
4.10 Volume of car at each lane for percentage busy state 67
4.11 Percentages of Busy State for Fixed Time traffic control 68
4.12 Percentages of Busy State for Intelligent Traffic control 69
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LIST OF FIGURES
FIGURE NO. TITLE PAGE
2.1 Traffic light using timer 8
2.2 Common Traffic light using PLCs 9
2.3 Vehicle Actuation with use of microcontroller 10
2.4 PLC (Omron) 16
2.5 PLC operation block diagram 18
2.6 Bottle filing system 19
2.7 Batch mixing system 20
2.8 Arduino microcontroller board 23
2.9 Arduino Uno board 24
2.10 Arduino Mega board 25
2.11 Arduino Leonardo board 26
2.12 Arduino Nano board 26
2.13 Old School Air Conditioner (AC) Controller 27
2.14 iPhone Controlled Logging Robot 28
3.1 Overall step by step methodology 31
3.2 Prototype model of intelligent traffic light using
an electronic component 33
3.3 Arrangement of Sensor 33
3.4 Arduino Integrated development (IDE) software 36
3.5 Sequence of Green light turn ON at three junction 36
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3.6 Intelligent traffic phase flowchart 37
3.7 Traffic signal flowchart 39
3.8 Traffic light model 41
4.1 Arduino Uno microcontroller 44
4.2 Infrared sensor 46
4.3 Traffic light Electronic circuit Model 47
4.4 Intelligent System Block Diagram 48
4.5a Program code for Fixed Time traffic 51
4.5b Program code for Fixed Time traffic 51
4.5c Program code for Fixed Time traffic 52
4.5d Program code for Fixed Time traffic 52
4.6a Program code for Intelligent Traffic Control 54
4.6b Program code for Intelligent Traffic Control 54
4.6c Program code for Intelligent Traffic Control 55
4.7 Flowchart of the simulation model for Tarffic 1 58
4.8 Interface of WITNESS software for the simulation model 59
4.9 Graph of Average waiting time of vehicles for Fixed
Time traffic control 60
4.10 Graph of Average waiting time of vehicles for Intelligent
Traffic control 61
4.11 Graph of Percentages of idle time for Fixed Time traffic
control 63
4.12 Graph of Percentages of idle time for Intelligent Traffic
control 64
4.13 Graph of Percentages of busy state for Fixed Time traffic
control 66
4.14 Graph of Percentages of busy state for Intelligent Traffic
control 67
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LIST OF SYMBOLS
PLC - Programmable Logic controller
VA - Vehicel Actuation
CO2 - Carbon Dioxide
RFID - Radio Frequency Identification
I/O - Input/Output
CPU - Central Receiving Unit
GPS - Global Positioning System
USB - Universal
PWM - Pulse Width modulation
GND - Ground
AREF - Analog Reference
TX - Transmit
RX - Receive
IC - Integrated Circuit
AC - Alternating Current
DC - Direct Current
V - Voltage
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LIST OF APPENDICES
APPENDIX TITLE PAGE
Appendix A Arduino Uno Rev 3 Schematic 77
Appendix B Schematic view for Arduino
with electronic part 79
Appendix C Arduino board 81
Appendix D Arduino website 84
Appendix E Arduino IDE 86
Appendix F Arduino program structure 93
Appendix G Programming code 95
Appendix H Arduino programming code for Intelligent
Traffic control system 97
CHAPTER 1
INTRODUCTION
1.1 Project Background
Traffic lights also called as traffic signals, traffic lamps, stop lights and robots
[1]. Technically, traffic light acts as a traffic control signals device that plays an
important role to the road users by giving signal at road intersections, pedestrian
crossings and other locations [2]. This signal used to control the traffic flows at the
road for smooth flow of vehicles.
Although traffic lights look simple and can be seen everywhere, their
presence is important for ensuring the safety and minimize waiting time for the road
users. It is proven that growing use of traffic lights to smooth the traffic flow can
reduce the number of accidents [3]. Traffic lights usually placed at town streets and
highways, and critically at the junctions. Functionality of the traffic light is usually
based on the pre-set time cycle or control mechanism like timer and computerized
system.
Traffic lights works by changing the light signal for the road users either to
stop or move [4]. There are three colours normally used which are green, red and
yellow [5]. Each colour gives difference meaning. The green light means the road
user can continue driving pass through the traffic light if there is no obstacle. The red
light means the road users need to stop their vehicle while yellow light warn the road
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users to prepare for stopping. Driving without stopping at the red light is an offence
and the road user will be compound for that action [6].
There are three types of traffic light control commonly installed in Malaysia
which is the Timer, Programmable Logic Controller (PLC) and also Microcontroller
[7]. Timer is commonly used for controlling traffic flow at small town which has low
traffic flow. PLC usually used for setting fixed cycle time of traffic and
microcontroller is suitable for heavy flow traffic. The uses of PLC and
microcontroller systems are more complicated than the timer.
However, there are several limitations with microcontroller system such as it
requires more maintenance, higher installation cost by two or three times of preset
cycle time and also needs more inspection. On the other hand, PLC have some
disadvantages such as the need of skill programmer to program, debugging the PLC
sometimes consumes a lot of time and also PLC is designed by semiconductors,
which depends on thermal characteristics working condition [8]. This project focused
on Arduino technology which operates similar to the PLC and microcontroller
system to control traffic light switching sequence. It has been reported that Arduino
system is very much cheaper than PLC and microcontroller in terms of initial cost as
well as in maintenance. However, its capability has not been explored fully to control
traffic light.
1.2 Problem Statement
Traffic congestion has been one of the major problems encountered in large
cities. Traffic congestion usually depends on parameters such as season, weather,
time, day and also unpredictable situations such as construction activities, special
events or accidents [9]. All these measure should be taken onto the account so that
traffic congestion will not create bottleneck and delays such as long waiting times,
loss of fuel and money to the road users.
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As the cities become more developed, there will be more difficult in
monitoring and controlling of city traffic [10]. Many methods has been studied and
develop to reduce traffic congestion such as the construction of a new roads and
flyovers in the middle of the city, building of several rings such as inner ring road,
middle ring road and outer ring road, introduction of city trains such as the light
rapid transit (LRT), and monorails, restricting of large vehicles in the city during
peak hours, and also development of sophisticated traffic monitoring and control
systems [11].However, traffic congestion still happen especially in the bigr cities
during peak hour due to the limited infrastructure and mismanagement of the traffic
control systems.
Currently, traffic light control system that commonly installed in Malaysia
are timer, programmable logic controller (PLC) and microcontroller. They are
installing on the street based on the situation of the road or junctions. The problems
that usually faced by the current traffic light systems are [11]:
i. Heavy traffic light in the morning, before office hour and in the evening
Immediately, after office hour, increasing number of vehicles in the road
causes heavy traffic jams. This situation usually happens at the junctions on
main road. This causes long waiting time in the popular direction. The timer
is not intelligent to sense the presence of vehicles and thus the sequence of
traffic light remains the same following the preset time on the timer.
ii. No traffic, but still need to wait
Traffic light control functions according to the time that has been set in the
systems. At the certain junction sometime, when there is no car, but the road
users still need to wait for the signal to change from red to green. This
contributes to long waiting time for no reason.
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iii. Emergency car stuck in the traffic jam.
During peak hour, the emergency vehicle also will stick in traffic flow due to
the road user need to wait for the traffic signalto change from red to green.
This problem is more critical and should be avoided since it involves
with life and death issue.
From the above scenario, an alternative solution is needed to solve or reduce the
above problems. The proposed system should be relatively cheap to maintain and
yet reliable to handle traffic flows with minimum queue time/ length.
1.3 Project Objectives
The objectives of this project were as follows:
1. To develop a traffic control program based on Arduino microcontroller
system.
2. To validate functionality of the developed program using a physical circuit
model and confirm the performance via witness simulation software.
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