DESIGN OF POTENTIAL HAPTIC FEEDBACK

WARNING SYSTEM IN MOTORCYCLES

19MCPN6401 – MINI PROJECT

Submitted by

HA AMBIKA (21BMC301)
PUSHPA A (21BMC302)
SAHIL (21BMC303)

In partial fulfilment for the award of the degree

of
BACHELOR OF ENGINEERING
in

MECHATRONICS ENGINEERING
Dr. MAHALINGAM COLLEGE OF ENGINEERING AND TECHNOLOGY,
POLLACHI – 642003

An Autonomous Institution

Affiliated to Anna University,

Chennai - 600025

JUNE 2022
 Dr. Mahalingam College of Engineering and Technology

Pollachi - 642 003

An Autonomous Institution

Affiliated to Anna University, Chennai -600025

BONAFIDE CERTIFICATE

Certified that this mini project report titled

“Design of potential haptic feedback warning system in motorcycles”

is the bona-fide work of

HA AMBIKA (21BMC301)
PUSHPA A (21BMC302)
SAHIL (21BMC303)

who carried out the project work under my supervision

Dr. I. RAJANDRAN M.E., Ph.D Mr. K SATHISH KUMAR

SENIOR PROFESSOR ASSISTANT PROFESSOR
HEAD OF THE DEPARTMENT SUPERVISOR
Department of Mechatronics Engineering, Department of Mechatronics Engineering,
Dr. Mahalingam college of Engineering Dr. Mahalingam college of Engineering
and Technology, Pollachi- 642003 and Technology, Pollachi- 642003

Submitted for the Autonomous End Semester Mini Project viva voce held on

INTERNAL EXAMINER 1 INTERNAL EXAMINER 2

 ACKNOWLEDGEMENT

We extend our gratitude to our management for having provided me with all
facilities to build my project successfully. I express my sincere gratitude to our honorable
Secretary Dr. C. Ramaswamy, M.E., Ph.D., F.I.V., for providing me with required
amenities.

We express our profound thanks to our Principal Dr. A. Rathinavelu, B.E.,

MTech., Ph.D., who provided me the suitable environment to work.

We express our gratefulness to Dr. I. Rajendran, M.E., Ph.D., Senior Professor

and Head of the Department, Mechatronics Engineering for proving us kind advice
during development of project.

We express our hearty thanks to our project guide Mr. K Sathish Kumar Assistant
Professor, Department of Mechatronics Engineering for his constant support and
guidance offered to us during our project by being one among us and thanks to all other
faculty members, lab technicians and friends who played the supporting role throughout
the project.

iii
 ABSTRACT

Modern motorcycles have an abundance of information to be communicated to rider. The

rider is being overloaded cognitively as most of this information is presented visually.
The haptic feel (sense of touch - skin) occupies the second highest processing space in
the brain after the sense of vision (eyes) and can be explored to provide information,
guidance and warnings to the rider. The human response to haptic inputs is often faster
than that of visual inputs. Proper comfortable warning system design of the two-wheeler
may contribute to reduce chances of accident and ensure safety, well-being, and
performance of the riders. This project aims to design and develop a haptic guidance and
warning system for motorcycle rider. Seat, handlebar, and foot peg are the contact points
where haptics inputs can be given to the rider. The haptic warning and guidance system
will involve vibration actuators, control unit, Bluetooth module (to integrate with phone/
Vehicle) and algorithm.

iv
 TABLE OF CONTENT

CHAPTER PAGE
TITLE
NO NO

LIST OF TABLES vi
LIST OF FIGURES vii

LIST OF ABBREVATIONS ix

1 INTRODUCTION 1

1.1 Background 3
2 LITERATURE REVIEW 6
3 PILOT AND CUSTOMER SURVEY REPORT 9
3.1 Pilot survey report 9
3.2 Customer survey report 12

3.3 Objective of the project 16

4 DESIGN OF HAPTIC WARNING SYSTEM 17

4.1 Flow chart for orientation control 17

4.2 Block Diagram of Haptic Warning System 20

4.3 Speed Analysis 21
4.4 Hardware description 24
5 RESULT AND DISCUSSION 29
6 CONCLUSION 31
REFERENCES 32

APPENDIX 33

v
 LIST OF TABLES

TABLE PAGE
TITLE
NO NO

1.1.1 Prime Reasons for Distraction During Riding 5

4.3.1 Speed calculation using function generator 23

4.3.2 Speed Corresponding to the Resistance 23

vi
 LIST OF FIGURES

FIGURE PAGE
TITLE
NO NO

1.1 Distraction Of Rider 1

1.2 Representation of Haptic technology in Steering Wheel 2

3.1.1 Quality of vehicle interaction 9

3.1.2 Comfortable Level of Riders 10

3.1.3 Types of Warning System Preferred 10

3.1.4 Rating of Warning System 11

3.1.5 Low Fuel Level Warning 11

3.1.6 Fuel Indication Level 12

3.2.1 Types of Warning Preferred 13

3.2.2 Suitable Position for Haptic Input 14

3.2.3 Distraction While Riding 14

3.2.4 Types of Navigation Preferred 15

4.1 Flow chart for orientation control 17

4.2.1 Block Diagram of Haptic warning system 20

4.2.2 Block Diagram of hardware 20

4.4.1 Power Supply Circuit 24

4.4.2 10K Potentiometer 25

4.4.3 Arduino Uno 26

vii
4.4.4 Motor Driver L293D 26

4.4.5 H-Bridge Circuit 26

4.4.6 ERM Vibration Motor 27

4.4.7 LCD display 28

4.4.8 Hardware Circuit diagram 29

4.4.9 Hardware setup 30

viii
 LIST OF ABBREVIATIONS

ABS - Anti-lock Braking System

ERM - Eccentric Rotating Mass

ECU - Electronic Control Unit

LCD - Liquid Crystal Display

LRA - Linear Resonating Actuator

PWM - Pulse Width Modulation

RPM - Rotation Per Minut

ix
1. INTRODUCTION
According to the research of the Great Britain Department of Transport,
motorcyclists have an especially poor safety record when compared to other vehicles.
Even though motorcyclists make up less than 1% of vehicle traffic, they suffer 14% of
total deaths and serious injuries on Britain’s roads. Since motorcycling is dangerous, it
is important to not further distract the rider.

Several different subtasks need to be performed to operate a motorcycle. These

tasks mainly use the visual and auditory senses of a driver. Visual aspects include
scanning the road for other road users, dirt, and its course. Auditory tasks are mostly
listening to surrounding traffic and alarm sounds. Current navigational devices use
auditory and visual cues to provide instructions to the rider. This has the potential
drawback of overloading the driver´s senses and probably cause driver´s distraction.
Particularly in situations with high cognitive load (e.g., taking turns in high traffic
situations), drivers tend to have fewer capacities for visual tasks while riding the
motorcycle, which may lead to serious accidents. The distraction of the rider while riding
the motorcycle can be as demonstrated in Fig 1.1.
The left picture in Fig 1.1 shows the rider looking on the street, the right picture shows
the distraction that occurs when looking at the instrument cluster.

Fig 1.1 Distraction of The Rider

1
 Haptics is a force-feedback or tactile technology, that leverages a person’s sense of
touch by applying motion or vibration to the user’s fingertips. It can be any system that
incorporates tactile feedback and vibrates through a sense of touch.

Haptics is a relatively unexplored feedback modality in driving. Today's vehicle

mostly uses visual and auditory cues when sending notifications to the driver. Haptics can
communicate information quickly and intuitively, especially if it can tap into a reflex,
without putting further lot on the already heavily used visual and auditory sensory
channels. The increasing autonomous functionality and advanced driver assistance systems
of today's vehicle as well as the loss of traditional road field as vehicle, mechanical
components continued to be replaced by electrical systems, make increase driver vehicle
communication through haptic feedback an important area to explore. For instance, Audi
e-tron haptics steering wheel as shown in Fig 1.2

Fig 1.2 Representation of Haptic Technology in Steering Wheel

The simple representation of vehicle with haptic technology in steering wheel is
shown in Fig 1.2. Haptics vibrotactile feedback has been focused on the project, as it is the
effective means of delivering tactile cues to humans. Small size of vibrotactile actuators
allows them to be embedded in any part of the vehicle without causing many hindrances,
which is a vital part to consider while designing the vehicle as aesthetics are preferred in
vehicles predominantly.

2
1.1 BACKGROUND
Haptic technology relates to the sense of touch, and it’s already found in many
consumer products, most notably the Apple Watch. Haptic technology is rapidly being
adopted by the automotive industry to give drivers a more informed and intuitive
experience. Drivers will be able to feel the road and control its systems using haptic
sensors.

Modern motorcycles have an abundance of information to be communicated to rider.

The rider is being overloaded cognitively as most of this information is presented visually.
The haptic feel (sense of touch - skin) occupies the second highest processing space in the
brain after the sense of vision (eyes) and can be explored to provide information, guidance,
and warnings to the rider. The human response to haptic inputs is often faster than that of
visual inputs.

Traditionally, there are five senses: hearing, vision, smell, touch, and taste. Visual and
auditory sense is highly demanded by the primary driving task and is perceived as a
distraction while riding the motorcycle. When riding the motorcycle, the environment is
loud, with the engine and wind, therefore if one would use auditive feedback for
navigation, the sound must be loud to be perceivable, hence the sound is hard to ignore and
very disturbing if the instructions cannot be followed. Thus, secondary tasks should mainly
involve other senses so that the driver can focus on the driving task and perceive the
navigation cues.

Haptic technologies were first developed and introduced in the 1970s, and most
individuals may have experienced some form of haptic feedback in video games that make
motion response part of the gaming experience. Haptic technologies have even become
part of home gaming controllers, joy sticks, and steering wheels.

3
 Haptic feedback is a more specific and recent phenomenon. Products featuring haptic
feedback treat the tactile sensations not as the primary goal of the product, but rather a
single component that adds to the overall enjoyment of the product. Haptic feedback is
used to engage more of the user sense to provide a deeper and more immersive experience.
Products that offer haptic feedback. such as some game controllers, often provide different
kind of sensations to correspond with different visual and audio stimuli. The following are
the types of haptic feedback.

1.Force feedback

2.Vibrotactile feedback

3.Electro tactile feedback

4.Ultrasound feedback

5.Thermal feedback
Haptic technology may play an important role in learning. New research may reveal
a benefit to
children’s tactile interaction with screens and the feedback they receive as important factors
in the acquisition of information. For more advanced learners, it could revolutionize online
or distance education, allowing students to participate in hands-on tactile activities or
exercises or even simulate physical environments. Haptic technology might be particularly
important in advancing connections, communication, and even access.
Haptic technology is being developed to allow individuals with disabilities to receive
tactile feedback from phones and tablets such as a smart phone interface that allows users
to “feel” buttons as they scroll over the flat surface; digital photo features that allow users
to detect faces or orientation by producing a textural quality in the interface; or even a
braille-like sensation over letters in text messages or web pages that users can easily feel.
The future generation of haptic technology will eliminate the need for physical devices to
sense virtual objects, and this will be termed as 'Ultra Haptics’. The technology will
manipulate ultrasound waves, which can be felt by the user.

4
Table 1.1.1 Prime reasons for distraction during riding

Sl no Criteria / Factor
1 SMS / Call
2 Following cluster
3 Vehicle controls
4 Own thoughts
5 Navigation
6 Eating & drinking
7 Mirror
8 Talking to pillion rider
9 Day dreaming
10 Grooming
11 Sighting
12 Discussion with another driver
13 Tyre pressure monitoring

5
2. LITERATURE REVIEW

Joseph Michael explained about a haptic setup. The simple setup is a combination of
Mechanical and Electronics [1]. This setup helps in producing haptic alert system to the
rider. Thus, making him analyses the direction of the rear approaching vehicle. This helps
in reducing the loss of life due to accident.
The Haptic alert system works on the principle of combination of both mechanical and
electronics operation. Haptic alert system produces an alert to the driver by the sense of
touch, in form of vibration thus ensuring alert to the rider. The vibration is produced with
the help of a DC vibrating motor.

Christopher have described about a steering wheel modified to produce lateral skin stretch
provides perceptible cues in a vehicle being driven on the road [2]. They conducted tests
to determine whether drivers can correctly perceive and react to skin stretch navigation
cues. Additionally, they had compared skin stretch feedback to audio navigation cues
during an auditory N-back distraction task simulating a phone call.

Caitlyn Seim have described about the results of three studies regarding perception of
haptic stimuli using small vibration motors suitable for embedding into a wearable, tactile
interface [3]. The Eccentric Rotating Mass (ERM) motors in this study proved easier to
perceive than the Linear Resonant Actuator (LRA) motors in general. The ventral side of
the hand presents challenges to perception, and trends related to stimulus location. Ventral
positions closer to the palm (as opposed to the fingertip) proved significantly, linearly,
more distinguishable the orientation control of the headlamps on both sides (horizontal
and vertical).

6
Roberta L explained this paper is intended to provide an overview of haptic perception,
particularly directed at researchers with interests in engineering applications [4].
Perceiving the material properties of objects through touch is generally superior to the
perception of shape. We review major material properties accessible through haptic
interaction, along with theoretical accounts of the underlying perceptual processes. These
include roughness, friction, compliance, and thermal properties. Subsequently, we
describe algorithms that have been used to render these same material properties on haptic
devices. We then point to applications that have capitalized on the accessibility of
material through touch, including tactile displays, simulation of mechanical mechanisms
in the automobile, and medical training simulators.

Stefano Moretti explained in this paper, the design and the evaluation of haptic HMI
systems for motorbike are presented [5]. The final goal of designing haptic interfaces is
to set a communication between the rider and the motorbike increasing the rider safety.
The designed systems have been evaluated through simulation using MSC Adams R.
Considering the possibility of a future realization of the simulation tested system, the
haptic HMI devices have been designed taking into consideration a wide number of
specific requirements. Starting from the state of the art, a preliminary study has been done
to determine the design requirements. Three solutions have then been modelled: the
Haptic Brake Lever, the Haptic Handle and the Haptic Knob. Each of the models has been
tuned through simulations to convey the optimal haptic feedback to the rider, in terms of
amplitude and frequency. In the end, the three solutions have been compared basing on
safety, feedback perceivability, design and mechanical efficiency. The best solution will
be realized and tested on a real motorbike during future work.

7
Wonsuk Chang explained the implementation of haptic interfaces in vehicles has
important safety and flexibility implications for lessening visual and auditory
overload during driving [6]. The present study aims to design and evaluate haptic
interfaces with vehicle seats. Three experiments were conducted by testing a
haptic seat in a simulator with a total of 20 participants.

By Vibrotactile and Pseudo Force Presentation using Motor Rotational

Acceleration,2017 [7]. Linear vibration actuators such as the Force Reactor from
Alps Electric Co. or the Haptuator from Tactile Labs Inc. are actively used to
present numerous tactile sensations to the fingertip. They have high
responsiveness compared with conventional ERM vibration motors and are also
able to produce pseudo-haptic illusions when asymmetric signals are applied.
However, this type of actuator has certain design challenges, such as resonance
via the spring attached to the vibration mass, and limited acceleration amplitude
at low frequency because of the limited travel distance of the mass. In our study,
we propose a new haptic presentation method using the rotational motor’s
counterforce that occurs during acceleration. We use the rotor of motor itself as
the vibration mass, so the mass can move indefinitely without limitation.

8
3. PILOT AND CUSTOMER SURVEY REPORT
To learn about what motivates the rider and what is important to them, and gather
meaningful opinions, comments, and feedback. Conducting surveys is an unbiased
approach to decision-making.

3.1 PILOT SURVEY REPORT

ABOUT SURVEY
1. This survey has been conducted with 18 people from different regions.
2. The average riding experience of subjects was 4 years.
3. Age of subjects was between 24 and 40.
The Motorcycles/Scooters that we have covered in the survey are given below:
1. Yamaha FZ-S
2. Suzuki Burgman
3. Hero Honda Passion plus
4. Honda Activa
5. TVS Jupiter
6. Honda Dio
7. Bajaj Pulsar NS 200
8. Bajaj Pulsar 150

Pilot survey inferences

1.Determine the quality of vehicle interactions to the rider.

Good
39%
Excellent
44%

Neutral
17%
Excellent Neutral Good

Fig 3.1.1 Quality Of Vehicle Interaction

9
 ➢ The pie chart shows how people rate about the way their vehicle
communicates with the rider.

2. Comfort level of riders while viewing the display screen while riding.

Fig 3.1.2 Comfort Level Of Riders

➢ 50% of people are comfortable with visual warning system.

3.The parameters to preferred to have the warning system like low fuel level, high
speed alert... etc

Fig 3.1.3 Types of Warning Preferred

➢ 83.8% of people preferred to have high speed alert system.

10
1. Type of warning preferred by the riders.

Fig 3.1.4 Rating Of Warning Systems

➢ 55.6% of people preferred to add haptics warning to their existing warning

system in the motorcycle.s

2. The parameters to preferred to have the warning system like low fuel level, high
speed alert... etc

Low fuel level indication

12 11

10

8
6
6

0
YES NO

Fig 3.1.5 Low Fuel Level Warning

➢ 66.66% of people would like be alerted when fuel level is less

11
 3. The level of fuel at which people wish to get warning.

Responses for low level indication

25% 15%

Fig 3.1.6 Fuel Indication Level

➢ People preferred to have low fuel level indication when the fuel less than 25%.

3.2 CUSTOMER SURVEY REPORT

To understand the customer preferences, the customer survey is being
conducted for 50
people and 34 out of 50 people, preferred to have overspeed alert system in the
handlebar using haptics.

ABOUT SURVEY
1. This survey has been conducted with 50 people from different regions.
2. The average riding experience of subjects was 6 years.
3. Age of subjects was between 20 and 32.

➢ The Motorcycles/Scooters that we have covered in the survey are given below:
1. Yamaha FZ-S 2. Suzuki Burgman
3. Hero Honda Passion plus 4. Honda Activa
5. TVS Jupiter 6. Honda Dio

12
7. Bajaj Pulsar NS 200 8. Bajaj Pulsar 150
9. Suzuki Access 125 10. RE classic 350
11. Bajaj Platina 12. Yamaha SZRR
13. TVS Ntorq

Some of the main survey inferences are given below:

1.Type of warning preferred

18
16
16
14 13
12
10
8 7 7
Need haptics
6
4 No change needed
4
2
2 1
0

Fig 3.2.1 Types Of Warning Preferred

➢ 76% of people would like to add haptics with their present warning system.

13
2.Suitable position for haptic input

Handlebar Seat Footpeg Haptics not required

40
34 35 34
35 32
30 28 28
24
25 22
20
16
14
15 12 12
9 9
10 7 7
6 5
3 3 4
5 2 2
0 0 1 1 0
0
High speed Drowsiness ABS Low Fuel/ Low Tyre Helmet Overload
alert alert warning Charge pressure check warning
alert alert

Fig 3.2.2 Suitable Position For Haptic Input

➢ 72% of people preferred to add haptics warning system for high speed.
3. Tasks which will distracts the rider more often while riding

25 23

20

15 13

10 9

5
5

0
a. Warning lights b. Monitoring c. Navigation d. Call/SMS alert
on display screen speed display

Fig 3.2.3 Distraction While Riding

➢ 23/40 people says that Call/SMS alert distracts the riders.

14
 4. Mode of navigation while travelling alone to a new place
40 38

35
30
25
20
15
10 8

5 3
1
0
a. Using google b. By asking c. Inbuilt d. Using sign
maps people navigation in boards
vehicle

Fig 3.2.4 Types of Navigation Preferred

➢ 76% of people use google maps when they travel alone to a new place.
➢ Haptics can be included along with the navigation system, to enhance the safety
features of the vehicle.

5. If you are given an opportunity to upgrade your vehicle, how will you modify it
with haptics (where and what)?
• High speed in handlebar
• Forward and backward collision warning
• Drowsiness alert in seat
• Side stand cut off
• Approaching vehicle alert in seat
• Tire wear alert Humps alert in handlebar

15
S3.3 OBJECTIVE
• To design and develop a potential haptic high speed warning system in
motorcycle with customer preference
• Identifying ideal contact point considering user preference and validating the
same

16
4. DESIGN OF HAPTIC WARNING SYSTEM
4.1. FLOWCHART FOR ORIENTATION CONTROL

Start

C
Start serial

Calculate RPM of vehicle

Calculate speed from RPM

Monitor speed

No Yes No Yes No
Speed> Speed>
Yes Speed>=
=60 =70
50 Km/h
Km/h Km/h

Motor Motor Motor Motor Motor Motor

ON OFF ON OFF ON OFF
(mild) (mediu (strong
m) )
C
C
C
V

Prints speed and alert on the display

Stop serial

End

Fig 4.1 Flowchart for orientation control

17
First, we need to start the serial port to initiate the communication. Serial
Communication is a protocol in an embedded system for communication between the
microcontroller-based devices like Arduino and raspberry pie to other peripheral devices
supporting the serial communication protocol. This protocol is also known as UART or
USART (universal asynchronous receiver/transmitter). It follows the UART protocol. It
is very popular because it uses only two wires for communication the digital pin 0(RX)
and digital pin 1(TX). When using serial communication these two pins can’t be used as
the digital pins.

Speed is displayed from 0 to 200km/hr on the LCD and warning is displayed whenever
the speed is greater than 50km/hr. At the end we should close the serial port so that
exchange of unnecessary commands through the serial port could be avoided.
Then speed of the vehicle is calculated as rpm and then converted to speed in km/hr.
Then there is a method to check the speed, if the speed is less than the reference
speed(50Km/hr) then the program will wait for the next command. When the speed is
greater than the reference speed(50Km/hr) then the program will actuate the motor to
run with a frequency of 600Hz i.e., light vibration.

If the speed is greater than the reference speed(60Km/hr) then the program will actuate
the motor to run with a frequency of 700Hz i.e., medium intensity vibration. If the speed
is greater than the reference speed(80Km/hr) then the program will actuate the motor to
run with a frequency of 800Hz i.e., strong intensity vibration.
The IC LM293D consists of 4-input pins where pin2 and 7 on the left side of the IC and
Pin 10 and 15 on the right side of the IC. Whereas, left input pins on the IC will control
the rotation of a motor. Hence, the motor is connected across the side and right input for
the motor on the right-hand side.

18
Arduino Uno can be used for application is in high-frequency circuits. But to use a
controller in a high-frequency circuit like in a buck converter, the controller must be
able to generate high-frequency PWM wave. And if the controller you are using is
Arduino Uno, then you must know how to change frequency on PWM pins of Arduino
Uno. Speed is displayed from 0 to 200km/hr on the LCD and warning is displayed
whenever the speed is greater than 50km/hr. Arduino Liquid Crystal library enables us
to interface LCDs having Hitachi HD44780 or compatible controllers with Arduino
Boards. This library can work either in 8-bit or 4-bit mode depending upon how we
initialize LCD connections. RS indicates the Arduino pin number to which LCD RS
(Register Select) is connected. EN indicates the Arduino pin number to which LCD EN
(Enable) is connected.RW indicates the Arduino pin number to which LCD RW (Read
/ Write) is connectedD0 – D8 indicates Arduino pin numbers to which LCD data pins
are connected.

Liquid Crystal () function is used to initialize connections of LCDs. It creates a variable

of type Liquid Crystal. By proper initialization of connections, we can control LCD
either in 8-bit or 4-bit mode. Begin () function initializes the interface to LCD display
and it also sets the size (columns and rows) of the display. It should be called before any
other LCD library functions. The parameters of this function will be the dimensions of
the display, that is the number of rows and columns. Clear () function clears the LCD
display and sets the cursor to upper left corner.

Home () sets the cursor to upper left corner. Set cursor () function will set the position
of the LCD cursor. That means the location in which the subsequent data is displayed
on the screen. In this function we can specify in which column and row we want to
display our data. Note that the numbering of columns and rows are starting from 0. Write
() function writes a character to LCD display and returns the number of bytes written.
Print () function writes text to LCD display and returns the number of bytes written.

19
4.2 Block Diagram of Haptic Warning System in motorcycle & Hardware
The proposed haptic warning system architecture consists of three major
blocks.
1) Input – Pulse generated from the sensor
2) Processing Unit – Arduino Uno microcontroller
3) Output -Vibration

ABS Hall Microcontroller Motor Vibration

effect sensor (ECU) Driver Motor

Fig 4.2.1 Block Diagram of Haptic Warning System

Power
supply
(5V)

Motor Vibration
Potentiometer Arduino Uno Driver Motor

LCD

Fig 4.2.2 Block Diagram of Hardware

20
In motorcycle with ABS system, ABS Hall effect sensor is used to sense the RPM of
the wheel and the input is fed to the ECU which calculates the speed of the wheel. Fig
4.2.1 represents the block diagram of haptic warning system in the motorcycle. Fig
4.2.2 represents the block diagram of hardware.

4.3 SPEED ANALYSIS

In motorcycle, Hall effect Anti-lock Braking System active sensor, a wheel speed
sensor which is used to measure the speed of the vehicle. The output from the Anti-Brake
locking System sensor is given to the ECU, which stores the data and calculates the speed
of the vehicle, which is then communicated to the vehicle using CAN module.

The output from the hall effect sensor is the current signal in square waveform.
Wheel speed sensor uses toner wheel to get data about the speed of the vehicle using hall
effect sensor in the form of pulse, which is in a digital form. As the toner wheel rotates
along with the vehicle wheel, the teeth interfere with the magnetic field and this varying
magnetic field produces a square form output of magnitude 14mA for high output and
7mA for low output.

4.3.1 Calculations
1. To find the RPM from the number of pulses.
• Number of pulses generated per minute = x
• Number of teeth in the corner wheel = 48
• RPM = x / 48
• Circumference of tyre = Pi*D = 3.14* 0.43m = 1.355m

2. To find speed using RPM

Speed(m/min) = Wheel speed (in RPM) * circumference of tyre (in m)
Speed (km/hr) = (Speed in m/min*60) / 1000

21
4.3.2 Experimental setup

`This experimental setup is done to determine the speed of the vehicle, using the
number of the pulses from function generator. Function generator is used instead of wheel
speed sensor to produce square wave output form, which is then given to the oscilloscope
from which the number of pulses is calculated for a particular frequency.

Function generator - A function generator is a specific form of signal generator that can
generate waveforms with common shapes. Function generator may be able to vary the
characteristics of the waveforms, changing the length of the pulse, i.e., the mark space
ratio, or the ramps of the different edges of triangular or sawtooth waveforms.

Oscilloscope– An instrument that graphically displays electrical signals and shows how
those signals change over time. It measures these signals by connecting with a sensor,
which is a device that creates an electrical signal in response to physical stimuli like
sound, light and heat. For instance, a microphone is a sensor that converts sound into an
electrical signal.
The data shown in the table 4.3.1 & table 4.3.2 is noted by doing an experiment, to know
the number of pulses generated for a particular speed. The readings are taken by fixing a
frequency and calculated the number of pulses per ms and converted it into number of
pulses per minute.

22
 Table 4.3.1 Speed calculation using function generator

Sl Number of Frequency RPM Speed(km/hr)

no pulses
1 6250 100 130.20 10.54
2 12500 200 260.41 21.01
3 18750 300 390.60 31.64
4 27274 400 568.18 46.00
5 30000 500 625.00 50.62
6 37500 600 781.25 63.28
7 42857 700 892.00 72.32
8 50000 800 1041.00 84.37
9 54545 900 1136.12 92.04
10 60000 1000 1250.26 101.25

Table 4.3.2 - Speed corresponding to the resistance

Sl No Resistance (in ohm) Speed (in km/hr)

1 49.01 1
2 539.86 11
3 882.08 18
4 1225.52 25
5 1568.30 32
6 2107.49 43
7 2499.05 51
8 3087.39 63
9 3675.85 75
10 4018.13 82

23
4.4 Hardware description
Power supply

Fig 4.4.1 Power Supply Circuit

Power supply circuit provides electric power to the Arduino Uno and to the motor driver.
Fig 6.2.1 shows the power supply circuit. Step-down transformer to step down 230V/
110V AC supply to 9-Volt AC. Then we rectify the 9V AC to 9 V DC using a diode
bridge rectifier. After the rectifier, we have used Capacitors to filter the ripple from the
circuit and fed it to the input of the 7805-voltage regulator. 7805 regulates the 9-volt DC
to 5 Volt DC and at the output of 7805 IC, we get constant 5 V DC output. Fig 4.4.1shows
the Power Supply Circuit.

Specifications:
Input voltage - 230V
Output voltage - 5V
Transformer - 230V,0-12V,1A
Diodes - IN4007*4
Capacitor - 1000µF
Regulator - 7805

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Potentiometer
A potentiometer is a three-terminal resistor with a sliding or rotating contact that
forms an adjustable voltage divider. If only two terminals are used, one end and the wiper,
it acts as a variable resistor or rheostat. This potentiometer has a resistance value of 0-10
kΩ. It can handle input voltages in the range of 0 to 12 VDC. Fig 4.4.2 shows the 10K
potentiometer

Specifications :
Power Rating - 0.3W
Maximum Input Voltage - 200Vdc
Rotational Life - 2000K cycles
Model Number -10K Potentiometer

Fig 4.4.2 10k Potentiometer

Arduino Uno
Arduino Uno is a microcontroller board based on the ATmega328P. It has 14
digital input/output pins (of which 6 can be used as Pulse Width Modulation outputs), 6
analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header
and a reset button.

25
 The ATmega328P microcontroller provides UART TTL (5V) serial
communication which can be done using digital pin 0 (Rx) and digital pin 1 (Tx). An
ATmega16U2 on the board channels this serial communication over USB and appears as
a virtual com port to software on the computer. The ATmega16U2 firmware uses the
standard USB COM drivers, and no external driver is needed. Fig 4.4.3 shows the
Arduino uno used in the hardware.

Specification :
Microcontroller ATmega328P
Input Voltage - 6 - 20V
Digital I/O Pins - 14
PWM Digital I/O Pins – 5
Analog Input Pins – 6 Fig 4.4.3 Arduino Uno

L293D motor driver

Fig 4.4.4. L293d Motor Drive Fig 4.4.5 H-Bridge Circuit

Motor Driver IC allows DC motor to drive on either direction. L293D is a 16-

pin IC which can control a set of two DC motors simultaneously in any direction. The
motor driver consists of H-bridge circuit. It is a circuit which allows the voltage to be
flow in either direction. Fig 4.4.4 represents the L293D motor driver and Fig 4.4.5
represents the H-Bridge circuit.

26
Specifications :
Wide supply voltage - 4.5 V to 12 V
Max supply current – 600 mA per motor

ERM vibration motor

ERM vibration motors use a DC motor with a counterweight attached. The DC
voltage controls the speed of the motor. The ERM has an off-center load, when it rotates
the centripetal force causes the motor to move. The rotation is created by applying a
current to the armature windings attached to the motor shaft.
As these are inside a magnetic field created by the permanent magnets on the inside
of the motor’s body, a force is created causing the shaft to rotate. To ensure the rotation
continues in the same direction, the current in the windings is reversed. This is achieved
by using static metal brushes at the motor terminals, which connect to a commutator that
rotates with the shaft and windings. The different segments of the commutator connect to
the brushes during rotation and the current is reversed, maintaining the direction of
rotation. Fig 4.4.6 represents the ERM vibration motor.

Specifications :
Brand - INVENTO
Speed - 14000 RPM
Voltage - 6 Volts
Item Dimensions (LxWxH) -7.5 x 7.5 x 4.5 cms
Item Weight - 0.02 Kilograms

Fig 4.4.6 ERM Vibration Motor

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16*2 LCD display

The operating voltage of this Liquid Crystal Display is 4.7V-5.3V. It includes two
rows where each row can produce 16-characters. The utilization of current is 1mA with
no backlight. Every character can be built with a 5×8-pixel box. The alphanumeric
LCDs alphabets & numbers. Its display can work on two modes like 4-bit & 8-bit. Fig
4.4.7 represents the LCD display.

Fig 4.4.7 LCD display

LCD Specifications :
Operating Voltage - 4.7V - 5.3V
Current - 1mA

28
5. RESULT AND DISCUSSION
5.1 Hardware circuit
The below given circuit diagram is referred from paper of Caitlyn Seim, James Hallam,
Shashank Raghu, Tri-An Le, Greg Bishop, and Thad Starner - Perception in hand-worn
haptics: placement, simultaneous stimuli, and vibration motor comparisons, Georgia tech
Papers Online ,2014. Circuit has been designed by using fritzing software. Refer Fig 5.1
for Hardware Circuit design.

Fig 5.1 Hardware Circuit

5.2 Hardware setup

The present study shows the entire design process of an innovative tactile HMI device for
PTWs, to be integrated in safety systems currently under development. The concept
design builds on a state-of-the-art review of similar HMI devices and systems developed
in international research projects on the PTW road safety topic. All the solutions wanted
to communicate the information/warning without distracting the rider from the primary
task (i.e. riding), to communicate in an intuitive way in order to stimulate instinctively
(i.e. with minimal additional workload and within the shortest time) the appropriate
reaction. Ideally the rider should not move his eyes away from the road. Tactile
interaction offers these advantages but current solutions have reliability drawback since
mostly rely on vibrations. Refer Fig 5.2 for Hardware setup.

29
 LED Display

Potentiometer Arduino Uno

Fig 5.2 Hardware Setup

30
 CONCLUSION
The proposed system is to build a low-cost haptic warning system for overspeed, along
with the existing visual and audio guidance system for safe riding of the customer,
focusing on the safety of the rider. The haptic warning system can be adopted in
commuter motorcycles, to reduce the cognitive load of the rider and it also contributes to
the reduction of the road accidents due to distraction.
It is not suitable for premium segment / high end vehicle models because of the vibrations
present in vehicle, the user may not be able to differentiate the vibrations. To understand
the customer preferences, the customer survey is being conducted for 50 people and 34
out of 50 people, preferred to have overspeed alert system in the handlebar using haptics.
Function generator produces pulses like the signal from the sensor. Speed was calculated
for reference and the corresponding resistance is calculated. In the proposed system, the
input is given to the Arduino using potentiometer to vary the speed of the motor. When
the speed limit crosses, the motor vibrates and alerts the rider.

31
 REFERENCES

[1] Caitlyn Seim, James Hallam, Shashank Raghu, Tri-An Le, Greg Bishop, and Thad
Starner - Perception in hand-worn haptics: placement, simultaneous stimuli, and vibration
motor comparisons, Georgia tech –Papers Online ,2014.

[2] Yinglong He, Biagio Ciuffo - Adaptive cruise control strategies implemented on
experimental vehicles: IFAC-Papers Online,2018.

[3] Roberta L. Klatzky, Dianne Pawlak, and Angelika Peer, Member IEEE - Haptic
perception of material properties and implications for applications, IEEE – Papers
online,2013.

[4] Stefano Moretti and Fabio Previdi1, Fabio Todeschini and Andrea Testa - Design and
evaluation of haptic interface systems for motorbike application using multibody
modelling, IEEE- Papers Online, 2017.

[5] Kumar, Dileep ,Daudpoto, Jawaid , Shaikh, A - Vibration measurement system for
the low power induction motor, Papers online , 2018.

[6] A. Thakallapelli, S. Ghosh and S. Kamalasadan, "Real-time frequency based reduced

order modeling of large power grid," Power and Energy Society General Meeting, 2016.

[7] Moretti, Previdi, Todeschini ,Testa, Andrea - Design and evaluation of haptic interface
systems for motorbike application using multibody modelling, 2017.

32
 APPENDIX
PILOT SURVEY QUESTIONNAIRE
1.Vehicles interact with humans in many ways. It can be through warning lights
that you see in the display screen like speed indication. How Do you feel about
these interactions?

2.Which alert do you like in your vehicle?

A. Low beam

B. High beam

C. Rear Fog light

D. Engine temp. warning light

E. ABS warning light

F. Oil pressure warning light

G. Ignition light

H. Left-right indicators

I. Neutral light

J. Engine management warning

3.How do you feel to view your display screen while riding/ driving?

A. Severely uncomfortable

B. Uncomfortable

C. Moderate comfort

D. Comfortable

E. very much comfortable

33
 4.Would you like if you are alerted when you are about to cross the high-speed
limit?

A. Yes

B. No
If yes, then at what speed would you like to be alerted (in km/ hr)?

5. How would you feel if you are having a warning system that alerts you by
giving vibration like input (like the vibration in your phone while typing)?

If you didn’t like the method stated above, why (select from the options given
below)?

6. Would you like if you are alerted when the fuel level is low in the vehicle?

A. Yes

B. No

7. If yes, then at what level would you like to be alerted (in %)?

A. 25%

B. 50%

8. Would you like if you are alerted when there is ABS malfunction?

A. Yes

B. No

9. Would you like if you are alerted when the tyre pressure is low in the vehicle?

34
 A. Yes

B. No

CUSTOMER SURVEY QUESTIONNAIRE

1. How do you want your vehicle to communicate to you (warnings and

guidance)?
a) Visual indication
b) Audio indication
c) haptic (vibrational) indication
d) Visual + Audio
e) Visual + Haptic
f) Audio + Haptic g) Visual + Audio + Haptic

2. Select the suitable position to the following features for haptic input based
on your interest and importance in two-wheeler.
a) Handlebar
b) Seat
c) Foot peg
d) Haptics not required

3. Which task will distract you more while riding?

a) Warning lights on display screen
b) Monitoring speed
c) Navigation display
d) Call/SMS alert

4. How will you navigate yourself with the road directions if you are travelling
35
alone to a new place?
a) Using google maps (Phone / Vehicle)
b) By asking people
c) Other Navigation apps (Waze, Maps.me, Apple maps)
d) Using sign boards

5. If you are given an opportunity to upgrade your vehicle, how will you modify
it with haptics (where and what)?

36