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	-	-

Solution:

Model Implementation:

• Data has been given to create a .SLDD file.
• With the use of following data given, I've created a .sldd file.
• File Created is as shown in the below figure.

• Storage class of input signal are ImportedExtern
• Storage class of output signal are ExportToFile
• Storage class of Callibration signal are Const
• Storage class of local signal are Localizable

Requirement1:

• 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).

Therefore, according to the Requirement1. A simulink model has been implemented.

Simulink Model:

The model has been impklemented according to the requirement provided to us.

Similarly, Requirement2:

• 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).

Therefore, according to the Requirement1. A simulink model has been implemented.

Simulink Model:

The model has been impklemented according to the requirement provided to us.

Final Simulink Model:

The above figure shows the Model implementation.

• A subsystem is been created.
• A seperate Subsystem has been created for Requirement1
• A seperate Subsystem has been created for Requirement
• Requirement1 & requirement2 both has been merged in a same subsystem.
• Signals has been propogated accordingly
• Similarly the signals has been resolved.

Creation of subsystem:

• Select an area where a subsystem has to be created.
• Select "create subsystem"

Signal Resolving and Propogation:

• Seclect the signal that has to be resolved.
• Go to Properties
• Enter signal name
• Tick resolve option
• apply and ok

Therefore the signal will be resolved, as shown in the below fig.

Similarly, signal propogation:

• once the signal has been resolved, signal has to be propogated further.
• Siglect the signal which is to be propogated
• go to properties
• tick, Signal propogation option
• Apply and ok

Therefore the signal will be propogated further as shown in the below fig.

Signal Tagging:

• Create a Word format of the given question.

• Highlight the word/sentance that has to be highlighted. i.e. Requirement1

• Now open simulink model
• Open out subsystem of Requirement1
• Right click -> Requirements -> Link to selection in Word

Tagging will be done for Requirement1

Similarly for Requirement2:

• Highlight the word/sentance that has to be highlighted. i.e. Requirement1

• Now open simulink model
• Open out subsystem of Requirement1
• Right click -> Requirements -> Link to selection in Word

Tagging will be done for Requirement2

MAB Guidelines for our Simulink Block:

• Go to model Advisor
• Select Modelling Standards for MAB
• Run

It will take some time to compile and the MAB result will be generated.

Once its done, out MAB report will be generated as a HTML file

Code Generation of our Simulink MOdel:

Generate S-Function for Subsystem.

Therefore seperate SIL block will be reacted. And a code will be Generated.