Abstract:
Vehicular traffic has been rising considerably, and as a result, road accidents, especially
rear-end collisions due to tardy reactions, have become more common.
To overcome such a problem, this paper proposes a IoT-based Vehicle-to-Vehicle (V2V)
collision prevention and automatic braking system, with cost considerably lower compared to
the existing solution. The proposed method involves utilizing ESP32 and ultrasonic sensors, for
continuous distance measurements between the vehicles and detecting possible collision
situations. If any risk occurs, alerts will be shared instantly between surrounding vehicles via a
cloud-based IoT solution. This promotes early warnings and collaborative automatic braking
[Link] to the existing method, the proposed system has the advantages of being
more cost-effective, scalable, and infrastructure [Link] practical implementation
and testing in a hardware setup, accurate detection, fast data transmission, and proper braking
functions were verified, and hence road safety was improved.
Introduction:
The rapid growth in vehicular traffic has led to a significant increase in road accidents, with
rear-end collisions being one of the most common types of crashes [1]. Traffic congestion and
high-speed driving further aggravate this issue, as drivers often fail to react promptly to sudden
braking or unexpected obstacles [2]. In such scenarios, human reflexes alone are insufficient to
ensure safe driving.
Traditional road safety mechanisms largely rely on passive safety features and driver
awareness [3]. Consequently, their effectiveness is limited when drivers are unaware of potential
hazards ahead. Although modern vehicles incorporate advanced safety technologies such as
parking sensors and braking assistance systems, these solutions typically operate on an
individual vehicle basis [4]. Since they lack communication with surrounding vehicles, they are
unable to provide early warnings beyond the sensing range or line-of-sight limitations.
To address these shortcomings, Vehicle-to-Vehicle (V2V) communication has emerged as a
promising approach for enhancing road safety [5]. V2V systems enable vehicles to exchange
real-time information such as speed, position, and braking status, allowing them to anticipate
hazardous situations and respond proactively [6]. Several studies have demonstrated that
cooperative communication between vehicles can significantly reduce collision probability and
improve traffic safety, particularly in emergency braking scenarios [7].
Recent advances in Internet of Things (IoT) technology have further improved the feasibility of
V2V communication systems [8]. IoT-based approaches allow the use of low-cost
microcontrollers, wireless communication modules, and cloud platforms to facilitate real-time
data exchange between vehicles [9]. Despite these advantages, many existing V2V systems
depend on expensive infrastructure or provide only warning alerts without automated
intervention [10].
This paper proposes a low-cost IoT-based V2V collision avoidance system that integrates
real-time obstacle detection, cloud-based communication, and intelligent automatic braking. The
proposed system is designed to operate without complex roadside infrastructure while ensuring
reliable communication and smooth braking response. Hardware-based experimental results
demonstrate the effectiveness of the system in improving reaction time, maintaining vehicle
stability, and enhancing overall road safety.
Related Work
Recent research in vehicle safety systems has increasingly emphasized the development of
advanced technologies that enhance road safety through sensing, communication, and
automation. Early approaches primarily focused on infrastructure-assisted vehicular
communication architectures, where cloudlets, fog nodes, or edge servers support data
exchange between vehicles to improve safety and reliability [1], [3]. While these architectures
improve communication efficiency, they introduce higher deployment costs and complexity.
Several studies have investigated the use of onboard sensing technologies such as radar,
cameras, and LiDAR for obstacle detection and collision avoidance. These sensor-based
approaches have demonstrated effectiveness in controlled environments and advanced driver
assistance systems [8], [13]. However, they typically require significant computational resources
and exhibit degraded performance under adverse environmental conditions such as fog, rain,
low visibility, and nighttime driving [4], [15].
To overcome the limitations of standalone sensor-based systems, Vehicle-to-Vehicle (V2V)
communication has emerged as a promising strategy for cooperative vehicle safety. V2V
systems enable vehicles to exchange real-time information such as speed, position, braking
status, and hazard alerts, allowing proactive responses to potential collision scenarios.
Cross-layer and direction-aware V2V architectures have shown significant improvements in
reducing collision risks, particularly during sudden braking events and occluded pedestrian
scenarios [2], [4].
Further advancements in V2V research incorporate IoT technologies to improve scalability and
affordability. Surveys on IoT–V2X convergence highlight how integrating IoT frameworks with
vehicular networks enables efficient data sharing, system interoperability, and improved
real-time decision-making [5], [12]. Several IoT-based V2V systems utilizing low-cost
microcontrollers and wireless communication modules have been proposed to facilitate real-time
inter-vehicle communication without relying on proprietary hardware [6], [7], [9].
More recent studies have explored hybrid V2V architectures that integrate cloud computing, fog
computing, and mobile edge computing (MEC) to reduce communication latency and enhance
reliability. Multi-protocol V2X solutions using MEC have demonstrated improved performance in
dense traffic scenarios and complex urban environments [10], [14]. Additionally, 5G-enabled
V2V communication frameworks have been proposed to further support low-latency and
high-reliability collision avoidance applications [11].
Despite these advancements, several limitations persist in existing V2V-based collision
avoidance systems. Many proposed systems focus primarily on driver warning alerts rather than
fully automated collision prevention mechanisms. Although some systems integrate automatic
braking, they often employ abrupt braking strategies that may negatively impact passenger
comfort and vehicle stability [16]. Moreover, a large portion of the literature validates system
performance through simulations rather than real-world hardware testing, limiting practical
applicability [6], [9].
Recent research has also investigated intelligent scheduling and cooperative decision-making
techniques to prevent collisions in complex traffic scenarios such as intersections and highways.
Edge-assisted collision-free scheduling and cooperative intent-sharing mechanisms have shown
promising results in improving traffic flow and reducing accident probabilities [13], [14].
Overall, the reviewed literature highlights the growing importance of V2V communication as a
foundational component of intelligent transportation systems (ITS). However, the need remains
for a low-cost, real-time, infrastructure-independent V2V collision avoidance solution that
integrates obstacle detection, reliable communication, and intelligent automatic braking while
being validated through real-world implementation. Addressing these gaps motivates the
development of the proposed IoT-based V2V collision avoidance system described in this work
[2], [5], [15].
III. PROPOSED SYSTEM OVERVIEW
A. Overall System Architecture
The proposed system employs Internet of Things (IoT) technology to enable real-time collision
detection and automatic braking through Vehicle-to-Vehicle (V2V) communication. Each vehicle
continuously measures the distance to nearby vehicles using ultrasonic sensors. The onboard
ESP32 microcontroller processes this distance data and compares it with a predefined safety
threshold. If the measured distance violates the threshold, the system classifies the situation as
hazardous. An alert is then transmitted via Wi-Fi to a cloud-based IoT dashboard, which is
continuously monitored by other connected vehicles. Upon receiving the alert, neighboring
vehicles automatically initiate braking to reduce the risk of collision. Simultaneously, system
status and warning messages are displayed on an onboard LCD for driver awareness.
1. Sensor Integration
The system integrates ultrasonic sensors to monitor the vehicle’s surroundings and detect
obstacles in real time. The ultrasonic sensor operates by emitting high-frequency sound waves
and measuring the echo return time to calculate distance. This enables distance measurement
within a range of approximately 2 cm to 400 cm, with an accuracy of ±3 mm. The sensor
primarily monitors the frontal region of the vehicle to detect unsafe proximity to leading vehicles
or obstacles. When the detected distance falls below the predefined critical safety distance, the
system flags a potential collision condition and triggers further processing.
2. Data Processing Unit
The Data Processing Unit (DPU) is implemented using an ESP32 microcontroller, which serves
as the central control unit of the system. The ESP32 continuously acquires sensor data at
regular intervals and performs real-time processing. It compares the measured distance values
with predefined safety thresholds to determine collision risk. Based on this comparison, the DPU
generates warning alerts, controls the braking mechanism, and updates the LCD display. In
addition, the ESP32 handles wireless communication by transmitting and receiving V2V alert
messages through the IoT cloud platform.
3. Collision Avoidance System
The collision detection and avoidance logic is based on continuous monitoring of inter-vehicle
distance. If the distance between vehicles becomes less than the safety threshold, the system
identifies the scenario as a potential collision. Upon detection, an immediate alert is generated
to warn the driver and notify nearby vehicles. This early detection mechanism allows the system
to initiate preventive actions before a collision occurs, thereby reducing dependency on driver
reaction time and improving overall safety.
4. Vehicle-to-Vehicle Communication
Vehicle-to-Vehicle communication is achieved using Wi-Fi connectivity and a cloud-based IoT
platform. Each vehicle uploads sensor data and alert status to its designated IoT channel in real
time. In hazardous situations, such as sudden deceleration or unsafe proximity, the alert status
is immediately updated on the cloud. Other vehicles continuously monitor these updates and,
upon receiving an alert, automatically activate their braking systems. Although cloud-based
communication introduces some latency, the response time is sufficient for prototype-level
validation and demonstrates the feasibility of cooperative collision avoidance without dedicated
roadside infrastructure.
5. Real-Time Monitoring and Information
Each vehicle is equipped with an LCD module that provides real-time feedback to the driver.
The LCD displays critical information such as obstacle distance, braking status, and V2V alert
messages received from other vehicles. This visual feedback improves driver situational
awareness and allows clear observation of system operation during normal and hazardous
conditions. The real-time monitoring capability ensures transparency and enhances trust in the
automated collision avoidance process.