Project 1 (Mini Project on Vehicle Direction Detection

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:

MINI PROJECT:

Aim:

To Create the Vehicle Determination Model according the given requirements.

Objective:

• 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

Theory:

1. A method of using relative steering wheel angle of an automotive vehicle, vehicle yaw rate, and vehicle speed to determine whether the vehicle is traveling forward or backward
2. 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.
3. 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.
4. 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.
5. An acceleration is necessary for an object to change direction. The car experiences a centripetal force as it turns the corner as a result of friction. This in turn causes a centripetal acceleration, which causes the direction of the velocity to change.
6. For motorized vehicles, such as automobiles, aircraft, and watercraft, vehicle dynamics is the study of vehicle motion, e.g., how a vehicle's forward movement changes in response to driver inputs, propulsion system outputs, ambient conditions, air/surface/water conditions, etc.
7. INERTIA. Inertia is the resistance to change the direction or velocity of a body, either at rest or in motion. In this case, it is related to changing the heading, or direction, of a vehicle; that is, changing from straight ahead driving to a turn.

VEHICLE DIRECTION DETECTION:

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).

Simulink Model:

Subsytem of Requirement 1 and Requirement 2;

Vehicle Direction:

SLDD File:

• Here All the inputs signal,output signal and callibration parameter are saved in the SLDD file according to the given condition.
• Now the model will take all the values from simulink data dictionary simulation.

Steps followed for generating codes:

1. Right_click on main subsystem --->Block Parameters(subsytem) -->Tick on treat as atomic size -->Model Configuration -->Solver(fixed Step) -->Sample time(0.01)-->Code Generation -->ert.tlc-->App(Embedded code)-->Build(Generate code)

Solver option:

Code Generation Option:

Block Parameter:

Code Generated:

/*

* File: Mini_Project_ADAS.c

*

* Code generated for Simulink model 'Mini_Project_ADAS'.

*

* Model version : 1.11

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Fri Jan 14 18:19:06 2022

*

* Target selection: ert.tlc

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

* Code generation objectives: Unspecified

* Validation result: Not run

*/

#include "Mini_Project_ADAS.h"

#include "Mini_Project_ADAS_private.h"

/* Exported data definition */

/* Const memory section */

/* Definition for custom storage class: Const */

const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S4>/Constant1' */

const int16_T Left_Turn_AngularLimit = -120;/* Referenced by:

* '<S3>/Constant1'

* '<S3>/Constant4'

*/

const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S4>/Constant' */

const int16_T Right_Turn_AngularLimit = 30;/* Referenced by:

* '<S3>/Constant'

* '<S3>/Constant3'

*/

const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by:

* '<S3>/Constant2'

* '<S3>/Constant5'

*/

const int16_T Straight_RoadSign = 0; /* Referenced by: '<S4>/Constant2' */

/* Real-time model */

static RT_MODEL_Mini_Project_ADAS_T Mini_Project_ADAS_M_;

RT_MODEL_Mini_Project_ADAS_T *const Mini_Project_ADAS_M = &Mini_Project_ADAS_M_;

/* Model step function */

void Mini_Project_ADAS_step(void)

{

int32_T rtb_Switch;

/* Outputs for Atomic SubSystem: '<Root>/Subsystem' */

/* Switch: '<S3>/Switch' incorporates:

* Constant: '<S3>/Constant'

* Constant: '<S3>/Constant1'

* Constant: '<S3>/Constant2'

* Constant: '<S3>/Constant3'

* Inport: '<Root>/SteeringWheel_YawDegreeInput'

* RelationalOperator: '<S3>/Relational Operator'

* RelationalOperator: '<S3>/Relational Operator1'

* RelationalOperator: '<S3>/Relational Operator2'

* Switch: '<S3>/Switch1'

* Switch: '<S3>/Switch2'

*/

if (SteeringWheel_YawDegreeInput == Right_Turn_AngularLimit) {

rtb_Switch = Right_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {

/* Switch: '<S3>/Switch1' incorporates:

* Constant: '<S3>/Constant4'

*/

rtb_Switch = Left_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {

/* Switch: '<S3>/Switch2' incorporates:

* Constant: '<S3>/Constant5'

* Switch: '<S3>/Switch1'

*/

rtb_Switch = Straight_Drive_Steering_Angle;

} else {

/* Switch: '<S3>/Switch1' incorporates:

* Constant: '<S3>/Constant6'

* Switch: '<S3>/Switch2'

*/

rtb_Switch = 0;

}

/* End of Switch: '<S3>/Switch' */

/* SignalConversion: '<S4>/Signal Conversion' incorporates:

* Constant: '<S4>/Constant'

* Constant: '<S4>/Constant1'

* Constant: '<S4>/Constant2'

* Inport: '<Root>/CameraInput_RoadSign'

* Logic: '<S4>/Logical Operator'

* Logic: '<S4>/Logical Operator1'

* Logic: '<S4>/Logical Operator2'

* RelationalOperator: '<S4>/Relational Operator'

* RelationalOperator: '<S4>/Relational Operator1'

* RelationalOperator: '<S4>/Relational Operator2'

*/

Vehicle_Direction_Indicator[0] = (CameraInput_RoadSign && (rtb_Switch ==

RightTurn_RoadSign));

Vehicle_Direction_Indicator[1] = (CameraInput_RoadSign && (rtb_Switch ==

LeftTurn_RoadSign));

Vehicle_Direction_Indicator[2] = (CameraInput_RoadSign && (rtb_Switch ==

Straight_RoadSign));

/* End of Outputs for SubSystem: '<Root>/Subsystem' */

}

/* Model initialize function */

void Mini_Project_ADAS_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void Mini_Project_ADAS_terminate(void)

{

/* (no terminate code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

Advisor Report:

Conclusion:

Sucessfully Created the model from the given requirement data and generated the code and advisor report