Challenge

Project 1 (Mini Project on Vehicle Direction Detection

BBalu Prasanna J26 Mar 2022

Mini Project - Vehicle Direction Determination

Aim:

To create the Simulink Model of Vehicle Direction Detection as per the Requirement data for the important & diverse features in Autonomous driving & Advanced Driver-Assistance Features.

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 into its memory with unique values for the left turn, right turn & straight drive. Depending on the direction it is taking, a 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.

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	-	-

code generation:

* File: VehicleDirectionDetermination.c

* Code generated for Simulink model 'VehicleDirectionDetermination'.

* Model version : 1.18

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Sat Mar 26 23:13:19 2022

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

#include "VehicleDirectionDetermination.h"

#include "VehicleDirectionDetermination_private.h"

/* Exported data definition */

/* Const memory section */

/* Definition for custom storage class: Const */

const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S3>/Constant1' */

const int16_T Left_Turn_AngularLimit = -120;/* Referenced by:

* '<S2>/Constant1'

* '<S2>/Constant6'

const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S3>/Constant' */

const int16_T Right_Turn_AngularLimit = 30;/* Referenced by:

* '<S2>/Constant'

* '<S2>/Constant4'

const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by:

* '<S2>/Constant2'

* '<S2>/Constant5'

const int16_T Straight_RoadSign = 0; /* Referenced by: '<S3>/Constant2' */

/* Real-time model */

static RT_MODEL_VehicleDirectionDete_T VehicleDirectionDeterminatio_M_;

RT_MODEL_VehicleDirectionDete_T *const VehicleDirectionDeterminatio_M =

&VehicleDirectionDeterminatio_M_;

/* Model step function */

void VehicleDirectionDetermination_step(void)

{

/* local block i/o variables */

int16_T Vehicle_Turn_Status;

/* Switch: '<S2>/Switch' incorporates:

* Constant: '<S2>/Constant'

* Constant: '<S2>/Constant1'

* Constant: '<S2>/Constant2'

* Inport: '<Root>/SteeringWheel_YawDegreeInput'

* RelationalOperator: '<S2>/Relational Operator'

* RelationalOperator: '<S2>/Relational Operator1'

* RelationalOperator: '<S2>/Relational Operator2'

* Switch: '<S2>/Switch1'

* Switch: '<S2>/Switch2'

if (SteeringWheel_YawDegreeInput == Right_Turn_AngularLimit) {

/* Switch: '<S2>/Switch' incorporates:

* Constant: '<S2>/Constant4'

Vehicle_Turn_Status = Right_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {

/* Switch: '<S2>/Switch1' incorporates:

* Constant: '<S2>/Constant6'

* Switch: '<S2>/Switch'

Vehicle_Turn_Status = Left_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {

/* Switch: '<S2>/Switch2' incorporates:

* Constant: '<S2>/Constant5'

* Switch: '<S2>/Switch'

* Switch: '<S2>/Switch1'

Vehicle_Turn_Status = Straight_Drive_Steering_Angle;

} else {

/* Switch: '<S2>/Switch' incorporates:

* Constant: '<S2>/Constant3'

* Switch: '<S2>/Switch1'

* Switch: '<S2>/Switch2'

Vehicle_Turn_Status = 1;

}

/* End of Switch: '<S2>/Switch' */

/* SignalConversion: '<S3>/Signal Conversion' incorporates:

* Constant: '<S3>/Constant'

* Constant: '<S3>/Constant1'

* Constant: '<S3>/Constant2'

* Inport: '<Root>/CameraInput_RoadSign'

* Logic: '<S3>/Logical Operator'

* Logic: '<S3>/Logical Operator1'

* Logic: '<S3>/Logical Operator2'

* RelationalOperator: '<S3>/Relational Operator'

* RelationalOperator: '<S3>/Relational Operator1'

* RelationalOperator: '<S3>/Relational Operator2'

Vehicle_Direction_Indicator[0] = (CameraInput_RoadSign && (RightTurn_RoadSign ==

Vehicle_Turn_Status));

Vehicle_Direction_Indicator[1] = (CameraInput_RoadSign && (LeftTurn_RoadSign ==

Vehicle_Turn_Status));

Vehicle_Direction_Indicator[2] = (CameraInput_RoadSign && (Straight_RoadSign ==

Vehicle_Turn_Status));

}

/* Model initialize function */

void VehicleDirectionDetermination_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void VehicleDirectionDetermination_terminate(void)

{

/* (no terminate code required) */

}

* File trailer for generated code.

* [EOF]

Project 1 (Mini Project on Vehicle Direction Detection

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Ship work like thisin your own course.

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Ship work like this
in your own course.