Project 1 (Mini Project on Vehicle Direction Detection

AIM - To Develop a Simulink Model on Vehicle Direction Detection .

OBJECTIVE -

1. To Develop a MATLAB Simulink model as per requirement.
2. To Tag the requirements to the simulink model.
3. To Create Data Dictionary & generate code of a model .
4. For code generation choose , Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
5. To Choose sample time for all signals as 0.01s.

THEORY -

• Identifying the direction of the vehicle is one of the important & diverse features in Autonomous driving & Advanced Driver Assistance Features.
• This particular sub-feature of identifying the direction of vehicle is basically identifying the direction the vehicle is taking based on the camera input.
• Camera reads the road signs & stores into its memory with unique values for left turn, right turn & straight drive.
• Depending on the direction it is taking, final indication is given to the driver – as an indication if he is driving in the recommended direction or not.
• Vehicle Direction Determination can also be coupled along - side features like GPS systems to identify whether the vehicle is reaching its destination in an optimized manner.
• This sub feature can also be used along with Lane Detection, Highway Warning, Ramp Entry / Exit in Wrong Way Detection etc.

REQUIREMENTS OF THE PROJECT -

Requirement - 1 -:

• Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput) is the input for this system.
• This is compared against 3 angular values, one each for left turn, right turn & straight drive (Calibration Values: Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle) to say which specific direction the steering wheel is turning towards.
• Use switch blocks to compare & develop this requirement. Keep this requirement in a subsystem & output of this requirement is a local signal (Signal Name: Vehicle_Turn_Status).

Requirement - 2 -:

• Keep this requirement as a separate subsystem. Inputs to this requirement are local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.
• Signal Vehicle_Turn_Status is compared against calibration values (Calibration Values: RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign), if each of them is found equal, then each of the three corresponding output is compared against the camera input signal,
• Using a logical operator block, only one among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

Main Model -

• Vehicle_Direction_Detection is the main Subsystem Model .
• In this I have use 2 input signals naming SteeringWheel_YawDegreeInput and CameraInput_RoadSign.
• I have Resolve both of the signal as these are input signals so that these signals take the value from SLDD.
• Vehicle_Direction_Indicator is the output of the system.
• I have used Display Block for indicating the Vehicle Direction .

Vehicle_Detection_Subsystem -

Reqiurement-1 - : Subsystem

• Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput) is the input for this system.
• This is compared against 3 angular values, one each for left turn, right turn & straight drive (Calibration Values: Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle) to say which specific direction the steering wheel is turning towards.
• I have use switch blocks to compare & develop this requirement.
• Constant Blocks which is calibrated as Right_Turn_AngularLimit,Left_Turn_AngularLimit, and Straight_Drive_Steering_Angle is compared by "==" (Relational Operator Block) .
• After comparing SteeringWheel_YawDegreeInput with the different angular limit block through logical operator block , the signal is passed to the Switch block .
• In the Switch Block if the SteeringWheel_YawDegreeInput meets the requirement with Right_Turn_AngularLimit,Left_Turn_AngularLimit and Straight_Drive_Steering_Angle the signal is passed and we get the Vehicle_Turn_Status as Output.

Requirement - 2-: Subsystem

• The Output of the Requirement 1 (i.e. Vehicle_Turn_Status is the input of this Subsystem).
• CameraInput_RoadSign is the second Input .
• Here also I have used Constant block Calibrated as RightTurn_RoadSign,LeftTurn_RoadSign and Straight_RoadSign.
• Signal Vehicle_Turn_Status is compared (Used '==' Relational Operator) against calibration values (Calibration Values: RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign), if each of them is found equal, then each of the three corresponding output is compared against the camera input signal.
• Using a Logical Operator block(used 'AND'), only one among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

Given Data For Creating Simulink Data Dictionary (SLDD) -

Signals & Calibration Data List:

Signal / Calibration Name	Signal Type	Data Type	Dimension	Min	Max	Initial Value	Units
SteeringWheel_YawDegreeInput	Input	Int16	1	-180	180	-	Deg
CameraInput_RoadSign	Input	Boolean	1	0	1	-	-
Vehicle_Turn_Status	Local	Int16	1	-180	180	-	Deg
Right_Turn_AngularLimit	Calibration	Int16	[1 1]	-180	180	30	Deg
Left_Turn_AngularLimit	Calibration	Int16	[1 1]	-180	180	-120	Deg
Straight_Drive_Steering_Angle	Calibration	Int16	[1 1]	-180	180	0	Deg
RightTurn_RoadSign	Calibration	Int16	[1 1]	-180	180	30
LeftTurn_RoadSign	Calibration	Int16	[1 1]	-180	180	-120
Straight_RoadSign	Calibration	Int16	[1 1]	-180	180	0
Vehicle_Direction_Indicator	Output	Boolean	1	0	1	-	-

Data Dictionary Creation -

Inserting the Signal Value and Parameter Calibrated Value i the Data Dictionary as shown -

Model Advisor Check Report According To MAB Guidelines -

After applying the Advisor Check we get the above result as shown -

TESTING OF THE MODEL -

1). Model in Loop Testing (MIL) -

For Creating the MIL Environment Right click on the Vehicle_Directioin_Detection Block we get -

We get -

Model Configuration Setting will we as shown below -

We Obtained the MIL Harness Model as -

Procedure for Importing Data From Excel Sheet into the Signal Builder Block is shown Below-

2) . Software In Loop Testing (SIL) -

Steps -

1) First select the Vehicle_Direction_Detection Block and than go to the Model Setting .

2) Under the model Setting Change the paramaters as shown -

3). Under Code Generation Change the Target File as ert.tlc and its Description as Embedded Coder as shown -

4).Now select the main model Vehicle_Direction_Detection Block Right Click on it follow the procedure as shown -

5). Generate the S - Function on clicking in the Generate S-Function.

6)After Clicking on the Build we get the Generated SIL Block as shown in a separate 'untitled file'.

7) For Harnessing we have to right click on the SIL Block and follow the procedure -

Finally we get the Generated Test Harness Model .

Now , we have Two Harness Input in the form of Signal Builder Block as

• Wheel_YawDegreeInput - From the excel sheet we import the data to the signal builder block.
• For CameraInput_RoadSign our input will we always '1' in signal builder .

Excel Sheet -

Importing The Data from Excel to the Signal Builder Block .

Finally we get -

Requirement And Tagging -

Steps -

1). First Copy the requirement from the questions and pasteit into the Word file and save it in the same folder where our Simulink Model has been saved .

2). For tagging the Requirement 1 Subsystem ,highlight the Requirement 1 eading in the word file and than select the requirement 1 subsystem , right click on it , goto requirement ,select the option 'Link To Selecton In Word' . In this way requirement 1 subsystem will be tagged.

3). Same procedure will we followed for the Requirement 2 Subsystem Tagging and also for Simulink Data Dictionary Tagging .

4). After tagging model will look like as shown -

CONCLUSION-

1).As per the requirement MATLAB Simulink Model have been developed.

2).Data Dictionary also been created .

3). Code Generation also has been done .

4). Advisor Check also has been Done .

5). MIL and SIL Testing also has been done.

6). Requirement Tagging also has been done.