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Project 1 (Mini Project on Vehicle Direction Detection

DDnyanesh Suryavanshee14 Jan 2022
MATLABMBD

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.

Aim:-

  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 0.01

Procedure:-

Step1:-Creating a Simulink Model for Requrement1 and Create a subsystem for Requirement1.

Requrement1:-

  • 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).

Subsystem For Requirement1:-

Step2:-Creating a Simulink Model for Requrement2 and Create a subsystem for Requirement2.

Requrement2:-

  • 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).

Subsystem For Requirement2:-

Step3:-Both Requirement 1 and requirement2 subsystem club together and Create a one singal System i.e Vehicle Direction as Shown below.

Explanation:- When we connect Requirement 1 & 2 The output of the Requirement 1 is given to the input of Requirement2 i.e Vehicle Turn Status And second input of the Requirement 2 is CameraInput_RoadSign.

Tagging of Requirement1 And Requirement2:-

Procedure:-

Step 2:- First of all copy all the data in word file i.e Requirement1 and Requirement 2

Step 2:- Right click on requirement 1 and the following option shows select requirement further is given below.

Step3:- Same procedure is repeate for Requirement2.

Srep4:- After Successfully tagging the data for Requirement 1 and Requirement2 ,then when we want open the what we tag just right click on Requirements and select Requirement1 or Requirement2 as per requirement as shown above and select Requirement option and then first option i.e what we tag is open in the word automatically as shown below

SLDD

Procedure to create SLDD

Step1:- First open the simulink window go to the modelling window then select link to data dictionary.

Step2:-Then Model properties window is open then select new and check box Enable model access to base workspace and click apply and ok as shown below.

Step3:-After Creating the sldd file open that file from left hand side from that simulink window and add the below signal

Step4:- Add all the signal and constant and select the specific parameter as given below

  1. 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.
  2. Choose sample time for all signals as 0.01s

C code for Vehicle Direction Model:-

/*
* File: vehicleDirection.c
*
* Code generated for Simulink model 'vehicleDirection'.
*
* Model version : 1.3
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Jan 14 09:18:00 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "vehicleDirection.h"
#include "vehicleDirection_private.h"
/* Real-time model */
static RT_MODEL_vehicleDirection_T vehicleDirection_M_;
RT_MODEL_vehicleDirection_T *const vehicleDirection_M = &vehicleDirection_M_;
/* Model step function */
void vehicleDirection_step(void)
{
/* local block i/o variables */
int16_T Vehicle_Turn_Status;
int32_T tmp;
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Constant'
* Constant: '<S2>/Constant1'
* Constant: '<S2>/Constant2'
* Inport: '<Root>/SteeringWheel_YawDegreeInput'
* RelationalOperator: '<S2>/Relational Operator'
* RelationalOperator: '<S2>/Relational Operator1'
* RelationalOperator: '<S2>/Relational Operator2'
* Switch: '<S2>/Switch1'
* Switch: '<S2>/Switch2'
*/
if (SteeringWheel_YawDegreeInput == Right_Turn_AngularLimit) {
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Constant3'
*/
Vehicle_Turn_Status = Right_Turn_AngularLimit;
} else {
if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {
/* Switch: '<S2>/Switch1' incorporates:
* Constant: '<S2>/Constant4'
*/
tmp = Left_Turn_AngularLimit;
} else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {
/* Switch: '<S2>/Switch2' incorporates:
* Constant: '<S2>/Constant5'
* Switch: '<S2>/Switch1'
*/
tmp = Straight_Drive_Steering_Angle;
} else {
/* Switch: '<S2>/Switch1' incorporates:
* Constant: '<S2>/Constant6'
* Switch: '<S2>/Switch2'
*/
tmp = 0;
}
tmp = (int32_T)fmod(tmp, 65536.0);
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Constant2'
* RelationalOperator: '<S2>/Relational Operator2'
* Switch: '<S2>/Switch1'
* Switch: '<S2>/Switch2'
*/
Vehicle_Turn_Status = (int16_T)(tmp < 0 ? (int32_T)(int16_T)-(int16_T)
(uint16_T)-(real_T)tmp : (int32_T)(int16_T)tmp);
}
/* End of Switch: '<S2>/Switch' */
/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Constant: '<S3>/Constant'
* Constant: '<S3>/Constant1'
* Constant: '<S3>/Constant2'
* Inport: '<Root>/CameraInput_RoadSign'
* Logic: '<S3>/Logical Operator'
* Logic: '<S3>/Logical Operator1'
* Logic: '<S3>/Logical Operator2'
* RelationalOperator: '<S3>/Relational Operator'
* RelationalOperator: '<S3>/Relational Operator1'
* RelationalOperator: '<S3>/Relational Operator2'
*/
Vehicle_Direction_Indicator[0] = (CameraInput_RoadSign && (Vehicle_Turn_Status
== RightTurn_RoadSign));
Vehicle_Direction_Indicator[1] = (CameraInput_RoadSign && (Vehicle_Turn_Status
== LeftTurn_RoadSign));
Vehicle_Direction_Indicator[2] = (CameraInput_RoadSign && (Vehicle_Turn_Status
== Straight_RoadSign));
}
/* Model initialize function */
void vehicleDirection_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void vehicleDirection_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Conclusion:-
1) Model Created as per Requirement subsystem also created as per model requirement.
2)Subsystem are attached with requirement word document i.e tagging .
3)SLDD file also Created as per Requirement.
4) C code generated and given in the report as shown above.
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