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.

Choose sample time for all signals as 0.01s

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	-	-

Main Model is given below:-

Requirement 1 are as follows:-

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).

So for requirement for modal 2 will look like as

Once the modal has been prepared as per the requirement A data has to be feed into it , which has to be done by creating a SLDD file and data has been input through it .

Creating a SLDD file:-

Just go on model settings , there after click on model properties then click on external data .

As once the file has been open load the data one bye one into it.

Just by clicking on the Icon of it a new pop up window will open where all the data can be feed into it and all the dimensions can be load as per the given in Question.

It will just can be done as in below image.

Configuration Setting for MBD:-

All the Tagging has to be done in same way .

Adding a Word document file with the system.

This Word file has to be imported inside model.

RESULT:-

Running Left , Right , Straight Test Case.

1) For Right turn given initial value as 30 and observe the result.

After changes has been made in the system so the system will give the output as if (1 0 0).

2) For Left turn again changes has been made and given the initial value as -120 and it will give output as (0 1 0 )

3) For the Straight moment of the vehilcle wil give result as (0 0 1)

Explanation of the project:-

1) In this project as Defining the direction of the vehilce the input has been consider as the sterring wheel along with the camera .

2) Where as main purpose of doing this project is getting outcome or getting output as the direction of the vehicle.

3) As we can detect this by either the degree at which the sterring wheel is moving or by detetching the change in the indicator shown by the vehicle.

4) As the system is giving the binary output that is either 0 or either 1 from this only the dorection of the vehicle has to be detected as shown above

5) In this Fig the left turn, right turn and straight turn Road_sign has been compared to the Camerainput_roadsign With the help of the relational operator that is OR operator .

6) From which where the vehicle is taking turn can be dected, and the direction of the vehicle is known to us

Code Generation :-

Select ert.tlc file out of it.

Code will be:-

Modal Advisor Final Report.

Thus Vehile Direction Detection has been successfully done ,tested and verified.