Project 1 (Mini Project on Vehicle Direction Detection

I AM A STUDENT OF LIVE BATCH-16

Mini Project - Vehicle Direction Determination

Aim/Objective of Mini Project:

• Development of MATLAB Simulink model for Vehicle Direction Detection as per requirement specified.
• Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems
• Creation of Data Dictionary ,perform Software-in-loop(SIL) and model-in-loop(MIL) teast & code generation

CONCEPT:

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

Solution:

Step1:

create new sldd file and then access it from model explorer

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

step2:

DEVELOPMENT OF THE SIMUINK MODEL:

Vehicle direction detection subsystem

Requirement_1 subsystem:

• 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 subsystem:

• 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).

step3:

Right click on main subsystem -> Block parametrs(subsystem) -> Tick on treat as atomic size -> model configuration ->solver(fixed
step) ->sample time(0.01)-> code generation -> art.tlc -> app(embedded code) ->buil(generate code)

Step 4:

now we do requirement tagging for Requirement_1 subsystem:

After tagging it shows in top by clicking on it we jump to word file

like wise requirement tagging is done for requirement_2 subsystem:

Step5:

We connect display to Vehicle_Direction_Indicator side

Output

Straight turn :

Right_turn:

Left_turn:

Steps 6:

Code Generation :

apps>embedded coder>generate code

Generated code for our model:

/*
 * File: vehicle_direction_detection_model.c
 *
 * Code generated for Simulink model 'vehicle_direction_detection_model'.
 *
 * Model version                  : 1.3
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Thu Jun 16 22:38:59 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "vehicle_direction_detection_model.h"
#include "vehicle_direction_detection_model_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>/Constant3' */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant4' */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '<S3>/Constant2' */

/* Real-time model */
RT_MODEL_vehicle_direction_de_T vehicle_direction_detection__M_;
RT_MODEL_vehicle_direction_de_T *const vehicle_direction_detection__M =
  &vehicle_direction_detection__M_;

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

  /* Outputs for Atomic SubSystem: '<Root>/Vehicle direction detection subsystem' */
  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Constant2'
   *  Constant: '<S2>/Constant3'
   *  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>/Constant4'
     */
    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>/Equal'
   *  RelationalOperator: '<S3>/Equal1'
   *  RelationalOperator: '<S3>/Equal2'
   */
  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 detection subsystem' */
}

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

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

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

Steps 7:

Model advisor check:

by task> check modeling standards for MAB and all sub parts> run selected checks

Conclusion :
Autonomous vehicle consists of various advance driver assistance system(ADAS) features. Vehicle direction detetction is one of feature of vehicles.
Hence created on simuliunk model of vehicle direction detection as per given data.

Code file, report, model are attached below