Project 1 (Mini Project on Vehicle Direction Detection

AIM:- To Create a Simulink Model for the Vehicle Direction Detection, by using the given input signals and the logic given in the requirement Document.

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 the vehicle is basically identifying the direction the vehicle is taking based on the camera input.

The camera reads the road signs & stores them 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 alongside 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 the 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 a 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 & the 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 a local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from the 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	-	-

Simulink Model:-

The model contains a subsystem block which is the main block of the model contains all the logic information inside it ,

The inputs for this model is steering wheel input in degrees , and camera input which tells us the sign of the road .

The output of the model is vehicle direction indicator.

The main subsystem consists of two subsystems inside it , called Requirement 1,and Requirement 2 . we need to model those according to the given document .

Requirement 1 subsystem:

Requirement 2 subsystem:

Creation of SLDD file:-

we have created a SLDD file according to the given data in the document .

and we have linked that sldd file to the our model.

Signal Resolving:

resolving of signals is done , so that signals take their values from the sldd file, inorder to avoid the adoption of junk signals.

Requirement Tagging:-

we can tag subsystems to the requirement document ,

by right click on subsystem we have one option called requirements , then select link to word.

and make sure you have opened the document and highlight the word which you want to tag to the subsystem.

Tagging Requirement 1 subsystem:

Tagging Requirement 2 subsystem:

Model update:

To check is there any static errors , press Ctrl+D, if no warnings come, your model is free from static errors.

and run the simulation for checking any other errors and warnings are there.

Model advisor report:

Code Generation:

Apps<

#include "project_1_model.h"
#include "project_1_model_private.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
boolean_T Vehicle_Direction_Indicator[3];/* '/Signal Conversion' */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '/Constant1' */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by: '/Constant1' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '/Constant' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '/Constant' */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '/Constant2' */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '/Constant2' */

/* Real-time model */
static RT_MODEL_project_1_model_T project_1_model_M_;
RT_MODEL_project_1_model_T *const project_1_model_M = &project_1_model_M_;

/* Model step function */
void project_1_model_step(void)
{
  int32_T rtb_Switch2;

  /* Switch: '/Switch2' incorporates:
   *  Constant: '/Constant'
   *  Constant: '/Constant1'
   *  Constant: '/Constant2'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   *  Switch: '/Switch'
   *  Switch: '/Switch1'
   */
  if (Right_Turn_AngularLimit == SteeringWheel_YawDegreeInput) {
    rtb_Switch2 = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Constant1'
     */
    rtb_Switch2 = Left_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Constant2'
     *  Switch: '/Switch'
     */
    rtb_Switch2 = Straight_Drive_Steering_Angle;
  } else {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Constant3'
     *  Switch: '/Switch1'
     */
    rtb_Switch2 = 0;
  }

  /* End of Switch: '/Switch2' */

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Constant: '/Constant'
   *  Constant: '/Constant1'
   *  Constant: '/Constant2'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Vehicle_Direction_Indicator[0] = (CameraInput_RoadSign && (RightTurn_RoadSign ==
    rtb_Switch2));
  Vehicle_Direction_Indicator[1] = (CameraInput_RoadSign && (LeftTurn_RoadSign ==
    rtb_Switch2));
  Vehicle_Direction_Indicator[2] = (CameraInput_RoadSign && (rtb_Switch2 ==
    Straight_RoadSign));
}

/* Model initialize function */
void project_1_model_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void project_1_model_terminate(void)
{
  /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

Conclusion:

hence the model for vehicle direction detection has been modeled , with the given requirements matching . and code has been generated.