Project 1 (Mini Project on Vehicle Direction Detection

AIM:

To Create a Vehicle Direction Detection system and Meeting the Requirements using Matlab Simulink.

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. Choose sample time for all signals as 0.01s.

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.

Steps carried Throughout the Modelling:

Step 1: Creation of SLDD

• initially we will be loading the signals and calibration data list into a data dictionary.
• click on the modelling option availabe in the file menu > select the drop down next to model properties > select link to data dictionary.
• select new and type the name as per our choice.
• we can see the new data dictionary displayed in the down left corner of out simulink workspace.
• click on that > click on the saved sldd > select design data > and upload manually all the data given in the objectives.

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 Data Dictionary:

Step 2 : Solver configuration

• click on the modelling option availabe in the file menu > select the drop down box bellow the model properties > open solver settings.
• select solver type as fixed solver type > solver as discrete.

Step 3: Simulink model

• create two subsystem tage as requirement 1 and requirement 2.
• model as per the instructions given in the objectives.
• connect a sink block of choice.
• name the signals and blocks.

Matlab Simulink Model:

• this is the model representation of the vehicle direction detector system.
• initially we have 2 inports the steering wheel yam degree input which represent the steering wheel and yawing is aero-dynamic term which deals with vehicle movement.
• the other input is the data from the camera, which calibrates the road sign and sends signals to the VDD system.
• since the input 1 and 2 are used in more than one instance we shall check the signal name must resolve to simulink signal objects.
• The output of this system is the vehicle direction indicator, the chosen direction to turn will be indicated with 1 in the display block.

Vehicle Direction Detector:

• the Vehicle direction detector subsystem is deisgned as per the objectives given.
• we have the 2 systems as requirement 1 and requirement 2.
• the input as steering wheel yaw degree input and camera input road sign and the output is vehicle direction indicator.

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.
• Using 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).

Output:

• Now it the time for simulation, for understanding for the system we are inserting two constant blocks.
• the first block represents the steering wheel yaw degree and the second block represents 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 display block.

Results:

• the output is displayed using a display block.
• We get output as 1 which means the Vehicle direction Detection reading by our model confirms the vehicle is driving in Straight direction.

Step 4: Advisor Check.

• click on the modelling option availabe in the file menu > select the advisor check available> system selector > Vehicle_Direction_Detector > OK > click the by task box > click the show report after run > Generate report

• for detailed report please click Advisor Check for Vehicle Direction Detection

RESULT:

Thus the modelling of Vehicle Direction Detection system is completed successfully and the output is verified.