Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

Overview:

To identify 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:

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	-	-

MODEL CREATION:

>>A MATLAB Simulink “Vehicle_Direction_New” is created to guide the vehicle by indication the vehicle’s turn direction.

>>A subsystem “Vehicle_direction” is created with 2 ‘In’ ports & 1 ‘Out’ port.

>>Inside the subsystem “Vehicle_direction”, subsystems “Requirement1” & “Requirement2” are created.

>> “SteeringWheel_YawDegreeInput” & “CameraInput_RoadSign” are the input signals given to the subsystem “Vehicle_direction”.

>>The inputs “SteeringWheel_YawDegreeInput” & “CameraInput_RoadSign” are given to the subsystem “Requirement1” & “Requirement2” respectively

**Requirement 1**

>>The “SteeringWheel_YawDegreeInput” is given to 3 ‘comparator (equal to)’ block to where each switch compares the input with “Right_Turn_AngularLimit”, “Left_Turn_AngularLimit”, “Straight_Drive_Steering_Angle” and gives a Boolean output of ‘1’ if the input & given constant matches else gives ‘0’.

>>The outputs from each ‘comparator’ block is given to 3 connected switches as threshold condition which has “Right_Turn_AngularLimit” or “Left_Turn_AngularLimit” or “Straight_Drive_Steering_Angle” as one of the inputs and the other from the switch below.

>>Here the switches are connected in series, where the output from switch 3 is given as one of the inputs to switch 2 & the output from switch 2 is given as one of the inputs to switch 1.

>>The output from switch 1 is taken as “Vehicle_Turn_Status”

**Requirement 2**

>>The output “Vehicle_Turn_Status” from ‘requirement 1’ and “CameraInput_RoadSign” are given as inputs to the subsystem ‘requirement 2’

>> The “Vehicle_Turn_Status” is given as one the two inputs to 3 numbers of comparator blocks (equal to) which compares with “RightTurn_RoadSign”, “LeftTurn_RoadSign” & “Straight_RoadSign” to check the current condition

>>The outputs from each comparator block is given as one the two inputs to 3 numbers of ‘AND’ blocks which ANDs it with the “CameraInput_RoadSign” and gives 3 numbers of output.

>>The output is a Boolean output where ‘1’ is denoted for the direction to be taken further & ‘0’ to the directions that shouldn’t be taken.

>> The outputs from each ‘AND’ block is given to a ‘MUX’ block which is further given to ‘Signal Conversion’ block as finally the output is taken as entire output of the system.

SIGNAL PROPERTY:

>>Each signal is resolved at the first instant & propagated when it I further passed on.

>>The signal is marked, right clicked & ‘property’ is chosen, the signal name is given and the option “Signal name must resolve to Simulink Signal object” is enabled to resolve it.

>>Every new singal is resolves as shown below:

>> The signal is marked, right clicked & ‘property’ is chosen, the signal name is given and the option “Show propagated Signal” is enabled to propagate it.

>>Every new singal is propagatedas shown below:

>>Sample time of each signal is set as 0.01s.

DATA DICTIONARY:

>>The Data dictionary is created & linked to the “Vehicle_Direction_New” file as follows:

Model>>Model property >> External >> New >> File name (“Vehicle_Direction_Dd”) >> create

Or

Link to Data dictionary >> new >> File name (“Vehicle_Direction_Dd”) >> Apply >> ok

>>Then the given data is created by adding the required number of signals & parameter as shown below:

>>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

REQUIREMENT LINKING:

The “Requirement 1” in the word file “MiniProject_word” is marked and then in the Simulink file, subsystem “Requirement 1” is marked, right clicked >> requirement >> link to selection in word done to link the Requirement1 subsystem in the matlab with the Requirement1 description in the word file.

Similarly, the “Requirement 2” in the word file “MiniProject_word” is marked and then in the Simulink file, subsystem “Requirement 2” is marked, right clicked >> requirement >> link to selection in word done to link the Requirement1 subsystem in the matlab with the Requirement2 description in the word file.

>>Finally the simulation is run for 10 s.

MAB GUIDELINES:

>>The industrial standards of the Simulink system is checked cheking the MAB guidelines, its done as follows:

>>Model Advisor >> By task >> Modeling standards for MAB >> Run

>>The results are represented as pass, fail & warning as shown below.

CONCLUSION:

Thus the below operations are carried out successfully:

1. Developed a MATLAB Simulink model as per requirement.
2. Tagged the requirements to the simulink model; taged requirement 1 & requirement 2 to their corresponding subsystems is fine.
3. MBD compliant is changed, Data Dictionary are done.
4. In 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. are done.
5. The program is successfully run with sample time for all signals as 0.01s for 10s.