Project 1 (Mini Project on Vehicle Direction Detection

Aim: To develop a MATLAB Simulink Logic for the Vehicle Direction Detection.

Objective:

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

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.

Model Development Procedure:

1. Create a folder as a mini project and add to the MATLAB path after that create a new Simulink file named mini project.

2. Creating SLDD file from the given Data and adding to the model :

3. Creating a subsystem named Vehicle_direction and under that two subsystems named Requirement 1 and Requirement 2.

Requirement 1 Condition:

• 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).

4. Requirement 1 Logic Creation.

Requirement 2 Conditions:

• 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).

5. Requirement 2 Logic Creation

6. Resolve the signals which appears first time and propagate them afterwards.

7. Requirement Tagging:

Make a MS word file of the project having requirement conditions and save it to same folder mini project

Do the requirement tagging by right clicking requirement subsystems to their respective requirements in the word file.

8. Under Model Advisor Tab Checking the model for MAB Guidelines.

Test ran for 141 checks we got 133 pass conditions and 8 warnings

Verification Of developed Model:

In order to verify our model we will perform a MIL (Model in Loop) Test and SIL (Software in Loop) Test.

1. Model in Loop test (MIL):

• Create a test harness model for MIL testing and choose signal builder in the inport.

• Create test cases in excel sheet to verify the model.

• Import the test cases from excel sheet to the signal builder.

• Attach Demux block to the output to get three separate signals and add the sum block(+-) to take difference between the expected output generated from the model to the actual signals from the signal block

Scope REsult:

All values are zero, the nullification of values indicates that the results from the output of test harness model is same as the test cases

Thus Model is verified By Model in Loop (MIL) test

2. Software in Loop(SIL) Test

• Right click on subsystem block parameters and tick on treat as atomic unit
• Create a test harness model for SIL testing and choose signal builder in the inport.
• The same test cases as MIL is imported to signal builder of SIL
• Demux and Sum(+-) blocks used to check difference between expected and actual signals.

Scope Results:

All values are zero, the nullification of values indicates that the results from the output of test harness model is same as the test cases

Thus Model is verified By Software in Loop (SIL) test

The C code generated from SIL test:

/*
 * File: Vehicle_direction.c
 *
 * Code generated for Simulink model 'Vehicle_direction'.
 *
 * Model version                  : 1.11
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Sat May 28 11:50:31 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehicle_direction.h"
#include "Vehicle_direction_private.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
boolean_T Vehicle_Direction_Indicator[3];/* '<S3>/Signal Conversion' */

/* 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>/Constant2' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S3>/Constant' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '<S2>/Constant' */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant1' */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '<S3>/Constant2' */

/* Real-time model */
RT_MODEL_Vehicle_direction_T Vehicle_direction_M_;
RT_MODEL_Vehicle_direction_T *const Vehicle_direction_M = &Vehicle_direction_M_;

/* Model step function */
void Vehicle_direction_step(void)
{
  /* local block i/o variables */
  int16_T Vehicle_Turn_Status;

  /* Outputs for Atomic SubSystem: '<Root>/Vehicle_direction' */
  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Constant'
   *  Constant: '<S2>/Constant2'
   *  Constant: '<S4>/Constant'
   *  Constant: '<S5>/Constant'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '<S4>/Compare'
   *  RelationalOperator: '<S5>/Compare'
   *  Switch: '<S2>/Switch1'
   */
  if (SteeringWheel_YawDegreeInput > 0) {
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput == 0) {
    /* Switch: '<S2>/Switch1' incorporates:
     *  Constant: '<S2>/Constant1'
     */
    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  } else {
    Vehicle_Turn_Status = Left_Turn_AngularLimit;
  }

  /* 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>/AND'
   *  Logic: '<S3>/AND1'
   *  Logic: '<S3>/AND2'
   *  RelationalOperator: '<S3>/Relational Operator'
   *  RelationalOperator: '<S3>/Relational Operator1'
   *  RelationalOperator: '<S3>/Relational Operator2'
   */
  Vehicle_Direction_Indicator[0] = ((Vehicle_Turn_Status == RightTurn_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[1] = ((Vehicle_Turn_Status == LeftTurn_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[2] = ((Vehicle_Turn_Status == Straight_RoadSign) &&
    CameraInput_RoadSign);

  /* End of Outputs for SubSystem: '<Root>/Vehicle_direction' */
}

/* Model initialize function */
void Vehicle_direction_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void Vehicle_direction_terminate(void)
{
  /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

Conclusion:

Simulink Logic for the Vehicle Direction Detection is developed and checked throgh the MAB Guildelines also verified through MIL and SIL testing environment

The folder named mini project having all model documents are attached.