Project 1 (Mini Project on Vehicle Direction Detection

QUESTION

Mini Project - Vehicle Direction Determination

General Overview:

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.

Objective of Mini Project:

1. Development of MATLAB Simulink model as per requirement.
2. Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.
3. MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not scope of this project.
4. If choosing code generation, 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. Choose sample time for all signals as 0.01s

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).

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	-	-

ANSWER

AIM

• Development of MATLAB Simulink model as per requirement.
• Tag the requirements to the Simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.
• MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not the scope of this project.
• If choosing code generation, 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.
• Choose sample time for all signals as 0.01s

SIMULATION BLOCK

Steering Wheel Action Logic SubSystem

Using Constant Block we declare the Angular limit of Steering steered

using switch case block comparing the steering angle to straight drive steering angle

Using a switch case we can determine the vehicle turned direction.

Vehicle Direction Detection SubSystem

Using Compare to constant Block we can Determine the direction in which the vehicle is turned

• If the output of vehicle turn status is 30 then the vehicle is turned in the right direction
• If the output of vehicle turn status is -120 then the vehicle is turned in the left direction
• If the output of vehicle turn status is 0 then the vehicle is going in the Stright direction

According to the above cases if one of the cases becomes true then the true case then compare to the constant block produce logic 1 has an output if not the output is logic 0.

Using And logic block the camera input and vehicle turn status is and logic is implemented. So, by this, we can know in which direction the vehicle is turned and output can be viewed from Vehicle direction indicator.

Requirement Tagging:

Requirement tagging is done for both the subsystem block

SLDD FILE

CODE GENERATED

C++ code is generated for the above block using Generate code option in the Embedded Code option.

/*
* File: mini_project.c
*
* Code generated for Simulink model 'mini_project'.
*
* Model version : 1.12
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Dec 11 22:58:12 2021
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "mini_project.h"
#include "mini_project_private.h"
/* Exported data definition */
/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '/Constant' */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by: '/Constant1' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '/Constant' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '/Constant' */
const int16_T Straight_Drive_Streeing_Angle = 0;/* Referenced by: '/Constant2' */
const boolean_T Straight_RoadSign = 0; /* Referenced by: '/Constant' */
/* External outputs (root outports fed by signals with default storage) */
ExtY_mini_project_T mini_project_Y;
/* Real-time model */
static RT_MODEL_mini_project_T mini_project_M_;
RT_MODEL_mini_project_T *const mini_project_M = &mini_project_M_;
/* Model step function */
void mini_project_step(void)
{
/* local block i/o variables */
int16_T Vehicle_Turn_Status;
/* Outputs for Atomic SubSystem: '/Streeing_Wheel_Action_Logic' */
/* Switch: '/Switch' incorporates:
* Inport: '/StreeingWheel_YawDegreeInput'
* Switch: '/Switch1'
*/
if (StreeingWheel_YawDegreeInput >= 30) {
/* Switch: '/Switch' incorporates:
* Constant: '/Constant'
*/
Vehicle_Turn_Status = Right_Turn_AngularLimit;
} else if (StreeingWheel_YawDegreeInput != 0) {
/* Switch: '/Switch1' incorporates:
* Constant: '/Constant1'
* Switch: '/Switch'
*/
Vehicle_Turn_Status = Left_Turn_AngularLimit;
} else {
/* Switch: '/Switch' incorporates:
* Constant: '/Constant2'
* Switch: '/Switch1'
*/
Vehicle_Turn_Status = Straight_Drive_Streeing_Angle;
}
/* End of Switch: '/Switch' */
/* End of Outputs for SubSystem: '/Streeing_Wheel_Action_Logic' */
/* Outputs for Atomic SubSystem: '/Vehicle_Direction_Detection_Logic' */
/* Outport: '/Vehicle_Direction_Indicator' incorporates:
* Constant: '/Constant'
* Constant: '/Constant'
* Constant: '/Constant'
* Inport: '/CameraInput_RoadSign'
* Logic: '/AND'
* Logic: '/AND1'
* Logic: '/AND2'
* RelationalOperator: '/Compare'
* RelationalOperator: '/Compare'
* RelationalOperator: '/Compare'
*/
mini_project_Y.Vehicle_Direction_Indicator[0] = ((Vehicle_Turn_Status ==
RightTurn_RoadSign) && (*CameraInput_RoadSign));
mini_project_Y.Vehicle_Direction_Indicator[1] = ((Vehicle_Turn_Status ==
LeftTurn_RoadSign) && (*CameraInput_RoadSign));
mini_project_Y.Vehicle_Direction_Indicator[2] = ((Vehicle_Turn_Status ==
Straight_RoadSign) && (*CameraInput_RoadSign));
/* End of Outputs for SubSystem: '/Vehicle_Direction_Detection_Logic' */
}
/* Model initialize function */
void mini_project_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void mini_project_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/

RESULT

The MATLAB Simulink Model is developed as per the requirement, and requirement tagging is also done for both subsystems, Data Dictionary is created and a Code is generated for Vehicle Direction Detection Model.