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	-	-

 

 AIM:

AIM:

Here we have to develop a MATLAB / Simulink model of vehicle_direction_determination as per the requirement of document

Here we have to do tagging to the model i.e. tagging requirement 1 & requirement 2 to their corresponding subsystems is fine

We have to create Simulink data dictionary, model in loop in testing and software in loop testing and also code generation

Here they have given 2 requirement’s Requirement 1 & Requirement 2

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).

• Development of Simulink Model:
• Here we have two inputs i.e. (Steering Wheel input) SteeringWheel_YawDegreeInput & (camera input) CameraInput_RoadSign and single output Vehicle_Direction_Indicator
• Here 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.

Below fig: is the main subsystem with 2 inputs SteeringWheel_YawDegreeInput & CameraInput_RoadSign and Single Output Vehicle_Direction_indicator

It is further more divided into two subsystems they are Requirement 1 & Requirement 2

 

 

Requirement_1:

Here in the Requirment_1 SteeringWheel_YawDegreeInput is Compared against 3 Calibration Values Right_Turn_AngularLimit, Left_Turn_AngularLimit & Straight_Drive_Steering_Angle and we have used the Switch blocks if else logic in these subsystems to achieve the output and the output of this logic is fed to Vehicle_Turn_Status again these Vehicle_Turn_Status is fed as input to Requirement_2

 

Requirement_2

In these requirement_2 the output of requirement_1 Vehicle_Turn_Status is fed as input to the requirement_2 subsystem and these is compared against 3 Calibration values i.e. RightTurn_RoadSign, LeftTurn_RoadSign & Staright_RoadSign if the values of these Road signs are found equal and they are compared aginst CameraInput_RoadSign and output is fed to Vehicle_Direction_Indicator

 

Creation Of Simulink Data Dictionary file (SLDD):

SLDD file contains all the inputs, outputs & calibration parameters used in the Simulink model to create sldd file open the required Simulink file then go to modeling in that again go to link to data dictionary create a new SLDD file

SLDD file:

MAAB GUIDELINES CHECK IN THE MODEL ADVISOR:

This is performed using model advisor tool in Simulink it is done to make sure that the developed model meets the modeling standards for MAAB

Go to modeling in that select model advisor

 select the required model model

after that select by task and tick the modeling standard for MAB

Then run selected checks a report will be generated as shown in the below figure

 

CREATION OF MODEL IN LOOP (MIL) for Vehicle_Direction Subsystem:

In order to create MIL select Vehicle_Direction Subsystem right click on it select Test Harness create Subsystem select Signal Builder as input and outport block as output as shown in below fig:

 

Here input test signals are SteeringWheel_YawDegreeInput & CameraInput_RoadSign

Create Harness input in Excel file and import these input harness signals into signal builder block

 

After importing the input harness Run the model:

CREATION OF SOFTWARE IN LOOP for Vehicle_Direction

Before creating SIL Template Test, we have to change configuration parameters in modeling i.e.  type should be changed to fixed step and solver to discreate (no continuous state)  as shown below:

Same in configuration parameters select code generation option i.e. system target file should be ert.tlc embedded coder

Open the input model and create a subsystem as below:

next right click on model > go to C/C++ Code > go to generate S function > tick the create software in loop (SIL) block > click on build option  this method will generate the code from the subsystem and also creates SIL block

 

 

 

Generated code :

 

Vehicle_Direction0.c

/*

 * File: Vehicle_Direction0.c

 *

 * Code generated for Simulink model 'Vehicle_Direction0'.

 *

 * Model version                  : 1.16

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

 * C/C++ source code generated on : Wed Mar 30 19:23:03 2022

 *

 * Target selection: ert.tlc

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

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */

#include "Vehicle_Direction0.h"

#include "Vehicle_Direction0_private.h"

/* External inputs (root inport signals with default storage) */

ExtU_Vehicle_Direction0_T Vehicle_Direction0_U;

/* External outputs (root outports fed by signals with default storage) */

ExtY_Vehicle_Direction0_T Vehicle_Direction0_Y;

/* Real-time model */

static RT_MODEL_Vehicle_Direction0_T Vehicle_Direction0_M_;

RT_MODEL_Vehicle_Direction0_T *const Vehicle_Direction0_M =

  &Vehicle_Direction0_M_;

/* Model step function */

void Vehicle_Direction0_step(void)

{

  int32_T rtb_Vehicle_Turn_Status;

  /* Switch: '/Switch' incorporates:

   *  Constant: '/Constant'

   *  Constant: '/Constant1'

   *  Constant: '/Constant2'

   *  Constant: '/Constant3'

   *  Inport: '/SteeringWheel_YawDegreeInput'

   *  RelationalOperator: '/Equal'

   *  RelationalOperator: '/Equal1'

   *  RelationalOperator: '/Equal2'

   *  Switch: '/Switch1'

   *  Switch: '/Switch2'

   */

  if (Vehicle_Direction0_U.SteeringWheel_YawDeegreInput ==

      Right_Turn_AngularLimit) {

    rtb_Vehicle_Turn_Status = Right_Turn_AngularLimit;

  } else if (Vehicle_Direction0_U.SteeringWheel_YawDeegreInput ==

             Left_Turn_AngularLimit) {

    /* Switch: '/Switch1' incorporates:

     *  Constant: '/Constant4'

     */

    rtb_Vehicle_Turn_Status = Left_Turn_AngularLimit;

  } else if (Vehicle_Direction0_U.SteeringWheel_YawDeegreInput ==

             Straight_Drive_Steering_Angle) {

    /* Switch: '/Switch2' incorporates:

     *  Constant: '/Constant5'

     *  Switch: '/Switch1'

     */

    rtb_Vehicle_Turn_Status = Straight_Drive_Steering_Angle;

  } else {

    /* Switch: '/Switch1' incorporates:

     *  Constant: '/Constant6'

     *  Switch: '/Switch2'

     */

    rtb_Vehicle_Turn_Status = 0;

  }

  /* End of Switch: '/Switch' */

  /* Outport: '/Vehicle_Direction_indicator' incorporates:

   *  Constant: '/Constant'

   *  Constant: '/Constant1'

   *  Constant: '/Constant2'

   *  Inport: '/CameraInput_RoadSign'

   *  Logic: '/Logical Operator'

   *  Logic: '/Logical Operator1'

   *  Logic: '/Logical Operator2'

   *  RelationalOperator: '/Equal'

   *  RelationalOperator: '/Equal1'

   *  RelationalOperator: '/Equal2'

   */

  Vehicle_Direction0_Y.Vehicle_Direction_indicator[0] = (CameraInput_RoadSign ||

    (rtb_Vehicle_Turn_Status == RightTurn_RoadSign));

  Vehicle_Direction0_Y.Vehicle_Direction_indicator[1] = (CameraInput_RoadSign ||

    (rtb_Vehicle_Turn_Status == LeftTurn_RoadSign));

  Vehicle_Direction0_Y.Vehicle_Direction_indicator[2] = (CameraInput_RoadSign ||

    (rtb_Vehicle_Turn_Status == Straight_RoadSign));

}

/* Model initialize function */

void Vehicle_Direction0_initialize(void)

{

  /* (no initialization code required) */

}

/* Model terminate function */

void Vehicle_Direction0_terminate(void)

{

  /* (no terminate code required) */

}

/*

 * File trailer for generated code.

 *

 * [EOF]

 */

Open the input model and create a subsystem as below:

AGAIN, WE HAVE to create test harness and input should be signal builder block and output should be out ports as below:

 

Next we have to import input data harness input (test signals) from excel file to signal builder block