Project 1 (Mini Project on Vehicle Direction Detection

Vehicle Direction Determination

Objective

Development of MATLAB Simulink model by Identify the direction of vehicle for creating Autonomous driving system & Advanced Driver Assistance Features using Camera input and steering wheel input.

Development of Simulink Model

The requirements has been given for the development of the Simulink model.

1. As per requirements the primary input signals are:

• Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput)
• Camera input (Signal Name: CameraInput_RoadSign)

2. Steering wheel input values are compared against:

• Right Turn Input values (Right_Turn_AngularLimit)
• Left Turn Input values (Left_Turn_AngularLimit)
• Straight Forward Input values (Straight_Drive_Steering_Angle)

By comparing the above 3 input values with the given calibration data in the question generates an output signal which recognise the current steering position (Vehicle_Turn_Status).

3. Camera input signals are compared against:

• Right signal sign as input (RightTurn_RoadSign)
• Left signal sign as input (LeftTurn_RoadSign)
• Straight signal sign as input (Straight_RoadSign)

By recognizing the road signal sign with the camera Vehicle_Direction_Indicator signal is generated.

Steps to develop Simulink Model

• A Primary subsystem is created with 2 input signals
  • SteeringWheel_YawDegreeInput
  • CameraInput_RoadSign
• Output of the subsystem is Vehicle_Direction_Indicator
• Each originating input signals are being resolved.

Fig 1: 'Vehicle Direction Controller' Subsytem

• In the Vehicle Direction Controller subsystem there is two other subsystems which contain the logical model as per given Requirement-1 and Requirement-2.
• The Requirement - 1 is fed by the input signal - SteeringWheel_YawDegreeInput and output signal - Vehicle_Turn_Status is generated.
• The Requirement - 2 is fed by the input signals - CameraInput_RoadSign and the Requirement-1 output - Vehicle_Turn_Status and output signal - Vehicle_Direction_Indicator is generated.

Fig 2: 'Requirement 1 & Requirement 2' Subsystem

Requirement 1 Logic

• The Steering wheel input signal - SteeringWheel_YawDegreeInput is compared against 3 angular values using a Relational Operator ‘==’ block.
  • Right Turn Input values - Right_Turn_AngularLimit
  • Left Turn Input values - Left_Turn_AngularLimit
  • Straight Forward Input values - Straight_Drive_Steering_Angle
• The 3 angular values are fed in the data dictionary as per given values in the Signals & Calibration Data List.
• The 3 compared output is fed to 3 switches to generate a output signal -Vehicle_Turn_Status.

Fig 3: 'Requirement 1' Logical System

Requirement 2 Logic

• The output fed by requirement 1 subsystem - Vehicle_Turn_Status is compared against calibration values using a Relational Operator ‘==’ block.

Right signal sign - (RightTurn_RoadSign)

Left signal sign - (LeftTurn_RoadSign)

Straight signal sign - (Straight_RoadSign)

• The 3 Boolean value obtained from relational operator is fed to Logical operator ‘AND’ to compare against the Boolean values obtained from the camera - CameraInput_RoadSign
• The signals hence generated is combined with the help of a us Creator to generate signal - Vehicle_Direction_Indicator

Fig 4: 'Requirement 2' Logical System

Requirement Tagging of Simulink Model

• Create a word document containing the requirements 1 and requirement 2.
• Select the Requirement 1 in word (High light).

Fig 5: 'Requirement 1' in word high lightened

• In MATLAB select Requirement 1 subsystem --> Right Click --> Requirements --> Link to selection in work.

Fig 6: Steps for requirement tagging

• Repeat the above step same for the Requirement 2 Subsystem.

Creation of Simulink Data Dictionary file (SLDD)

• In the Simulink model go to Modelling --> Model Setting --> Model Properties --> External Data --> New --> Assign name for the data dictionary.

Fig 7: Creation of Data Dictionary

Simulink Data Dictionary data

• As given in the question the Signal and Calibration data list are added in to the data dictionary.

Fig 8: Simulink Data Dictionary

Check Modelling Standard for MAB

• To check whether the created model meets the Modelling standard of MAB a Model Advisor test is being carried out.

Fig 9: Model Advisor showing MAB Standard Completion

Model In Loop Test Harness

• Select main Subsystem --> Right Click --> Test Harness --> Create for Vehicle Direction Controller.

Fig 10:Steps for Test Harness

Fig 11: Creation of MIL Test Harness

Fig 12: MIL Template for Vehicle Direction Controller

• Test Cases are uploaded using excel to obtain the graph.

Software In Loop

• Select the main system --> Right click --> C/C++ code --> Generate S- Funtion

Fig 13: SIL Cretation