Challenge

Project 1 (Mini Project on Vehicle Direction Detection

PParthdhvajsinh Chudasama23 Dec 2021

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 a 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.

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 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

Simulink Model:

Vehicle Direction Determination subsystem:

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).

SLDD file:

modeling standards for MAAB,MAAB and MISRA C 2012:

Generated code:

* File: Vehicle_Direction_Determination.c

* Code generated for Simulink model 'Vehicle_Direction_Determination'.

* Model version : 1.16

* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019

* C/C++ source code generated on : Thu Dec 23 16:10:24 2021

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

#include "Vehicle_Direction_Determination.h"

#include "Vehicle_Direction_Determination_private.h"

/* Exported data definition */

/* Const memory section */

/* Definition for custom storage class: Const */

const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S3>/Constant1' */

const int16_T Left_Turn_AngularLimit = -120;/* Referenced by: '<S2>/Constant1' */

const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S3>/Constant' */

const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '<S2>/Constant' */

const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant2' */

const int16_T Straight_RoadSign = 0; /* Referenced by: '<S3>/Constant2' */

/* External outputs (root outports fed by signals with default storage) */

ExtY_Vehicle_Direction_Determ_T Vehicle_Direction_Determinati_Y;

/* Real-time model */

RT_MODEL_Vehicle_Direction_De_T Vehicle_Direction_Determinat_M_;

RT_MODEL_Vehicle_Direction_De_T *const Vehicle_Direction_Determinat_M=

&Vehicle_Direction_Determinat_M_;

/* Model step function */

void Vehicle_Direction_Determination_step(void)

{

int16_T rtb_Switch;

/* Switch: '<S2>/Switch' incorporates:

* Constant: '<S2>/Constant'

* Constant: '<S2>/Constant2'

* Inport: '<Root>/SteeringWheel_YawDegreeInput'

* Switch: '<S2>/Switch1'

if (SteeringWheel_YawDegreeInput > 0) {

rtb_Switch = Right_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput > 0) {

/* Switch: '<S2>/Switch1' incorporates:

* Constant: '<S2>/Constant1'

rtb_Switch = Left_Turn_AngularLimit;

} else {

rtb_Switch = Straight_Drive_Steering_Angle;

}

/* End of Switch: '<S2>/Switch' */

/* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:

* Constant: '<S3>/Constant'

* Constant: '<S3>/Constant1'

* Constant: '<S3>/Constant2'

* Inport: '<Root>/CameraInput_RoadSign'

* Logic: '<S3>/AND1'

* Logic: '<S3>/AND2'

* Logic: '<S3>/OR'

* RelationalOperator: '<S3>/Relational Operator'

* RelationalOperator: '<S3>/Relational Operator1'

* RelationalOperator: '<S3>/Relational Operator2'

Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[0]=

(CameraInput_RoadSign || (rtb_Switch == RightTurn_RoadSign));

Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[1]=

(CameraInput_RoadSign || (rtb_Switch == LeftTurn_RoadSign));

Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[2]=

(CameraInput_RoadSign || (rtb_Switch == Straight_RoadSign));

}

/* Model initialize function */

void Vehicle_Direction_Determination_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void Vehicle_Direction_Determination_terminate(void)

{

/* (no terminate code required) */

}

* File trailer for generated code.

* [EOF]

OUTPUT:

here signs are in the way that Right, Left, and Straight respectively. So, if the output is 0,0,1 then the vehicle moves in the straight drive. if the output is 1,0,0 then the vehicle takes in the right. if the output is 0,1,0 then the vehicle takes in the left turn.

Project 1 (Mini Project on Vehicle Direction Detection

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Ship work like thisin your own course.

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Ship work like this
in your own course.