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:

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	-	-

Ans:

MAIN MODEL:
1)To Development of MATLAB Simulink model as per requirement-

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)

MODEL EXPLORER:
Creating SLDD File as per given in requirement-

Configuration Setting for MBD compliance:-

Now, Tagging the requirements are done Both the tagging is done like the same:

Explanation:
1. The streeing wheel is been taken as the input along with the camera.
2. The main ouput that we want is the direction of which side we want to drive the vehicle.
3. There are of two process that is been takes place, one is the angle at which the steering changes and the another is the indication of the
direction that is been changing the vehicle.
4. In the angle determination there are of two switches the second one will check the angle, if its not equal to 0 then the left side or else its
straight, that output value will be compared in another switch where, if the value is greater than 0 then its right side or else it will be the
angle of the secondary switch.
5. From there the angle(Vehicle turn) can be found as the output after that value will be taken as the input in the direction detection along
with the camera.
6. The right, left and straight turns are been compared with the vehicle turn signal and then each value will be compared in the relational
operator AND with the camera input, from there the angle at which the vehicle turn will be taken as the output as the Vehicle direction
indicator

Steps followed for generating code:

Results:
1. The signs are in the way that Right, Left and Straight respectively.
2. As the output is boolean, If we get the output as (0,0,1), Then the vehicle is moving in the straight drive.
3. If the output as (1,0,0), Then the vehicle is taking in the Right turn.
4. If the output is (1,0,1), Then the vehicle is taking the Left turn.
Conclusion:
Autonomous vehicles consists of various Advance Driver-Assistance System (ADAS) features. Vehicle Driection Detection is one the features of
the vehicles. Hence, created an Simulink model of Vehicle Direction Detection as per the Requirement data