Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

AIM:

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

TASK:

• 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).
• 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)

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.

Setting Model Configuration Parameters:

• Whenever build a model for model based development at that time we want to take care of some model configuration settings.
• For changing the model configuration parameters go to the Modelling tab click on the model setting then new configuration window will open in that go to the solver section and select solver type is Fixed-step, solver is discrete (no continuous states) and Fixed step size (Fundamental sample time) is as per your requirement in our case is 0.01 sec. then select apply and ok.

• In requirement mention to generate code for the model, so for code generation we want to change some default settings.
• go to the code generation section change the system target file grt.tlc to ert.tlc (Embedded coder). For changing this setting click on browser and select ert.tlc and then click on apply and ok.

CREATION OF SLDD FILE:

• First we have to create SLDD file using data given below og signals and constant
• 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.

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	-	-

Create SLDD file

Below is created SLDD file added with signal for model as per given data

DEVELOPMENT OF MODEL:

• The above figure shows the simulink model for the Vehicle_Direction_Detection, in which two more subsystems are present.
• One subsystem for Requirement1 and another one is Requirement2
• TheRequirement1 subsystem gives two inputs as SteeringWheel_YawDegreeInput and CameraInput_RoadSign and these subsystems indicate the Vehicle Direction.
• Below figure shows the inside of these subsystems.

DEVELOPMENT FOR REQUIREMENT 1

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).

• The above figure shows inside the Requirement 1, in this one SteeringWheel_YawDegreeInput as a input signal and its compare with Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle
• and then if one of the comparison is true then sent the vehicle turn status as a true signal. This model is built by using the relational operator and switch blocks.

DEVELOPMENT FOR REQUIREMENT 2

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).

• The above figure shows inside the requirement 2 subsystem, in this there are two inputs one is Vehicle_Turn_Status which is determined by the requirement 1 and another is CameraInput_RoadSign.
• Vehicle_Turn_Status compares with RightTurn_RoadSign , LeftTurn_RoadSign, Straight_RoadSign and output signal of relational operators and CameraInput_RoadSign is the same then these signals sent to the Vehicle_Direction_Indicator as vehicle direction. In this model relational and logical operators are used.

Requirement Tagging Of Model:

• For requirement tagging we want to write all requirements in one word file. After that select the portion which we want to tag the subsystem and go to the model right click on that subsystem go to the requirement and select link to selection in word now our subsystem tag to the word file.
• Its shown in fig below

• 

Signal Resolution And Propagation:

• To resolve the signal >> right click on signal line >> chose properties then >> signal properties block will open >> write name or select name of signal >> check on >> Signal name must be resolve in Simulink signal object >> OK
• After resolving signal if this signal comes again in model then at that time we have to propagate that signal.
• For Propagation, we can choose direct method by typing <> and press enter key the signal will automatically propagate OR repeated above signal resolution process but dont enter signal name and check on >> show propagated signal >> OK
• Below fig shows how this done

Model Advisor Test:

For model advisor test click on modeling select model advisor then select our model>> now new model advisor window will open >> select the Modelling Standard for MAB >> click on the run selected check then automatically testing will start after completing minimize the warning by changing recommended change and generate report.

Code Generation:

For code generation we already change the model configuration parameters, so now go to the Apps section select >> Embedded coder then >> new section open >> C Code in that click on >> build and select the >>Generate Code. Now automatically code will be generated and displayed on the right hand side of the model.

Below is generated code:

/*

 * File: Vehical_Direction.c

 *

 * Code generated for Simulink model 'Vehical_Direction'.

 *

 * Model version                  : 1.4

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

 * C/C++ source code generated on : Thu Jun 16 22:46:21 2022

 *

 * Target selection: ert.tlc

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

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */



#include "Vehical_Direction.h"

#include "Vehical_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>/Constant1' */

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>/Constant2' */

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



/* Real-time model */

static RT_MODEL_Vehical_Direction_T Vehical_Direction_M_;

RT_MODEL_Vehical_Direction_T *const Vehical_Direction_M = &Vehical_Direction_M_;



/* Model step function */

void Vehical_Direction_step(void)

{

  /* local block i/o variables */

  int16_T Vehicle_Turn_Status;



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

   *  Constant: '<S4>/Constant'

   *  Constant: '<S5>/Constant'

   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'

   *  RelationalOperator: '<S4>/Compare'

   *  RelationalOperator: '<S5>/Compare'

   *  Switch: '<S2>/Switch1'

   */

  if (SteeringWheel_YawDegreeInput > 0) {

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

     *  Constant: '<S2>/Constant'

     */

    Vehicle_Turn_Status = Right_Turn_AngularLimit;

  } else if (SteeringWheel_YawDegreeInput < 0) {

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

     *  Constant: '<S2>/Constant1'

     *  Switch: '<S2>/Switch'

     */

    Vehicle_Turn_Status = Left_Turn_AngularLimit;

  } else {

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

     *  Constant: '<S2>/Constant2'

     *  Switch: '<S2>/Switch1'

     */

    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;

  }



  /* 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] = ((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);

}



/* Model initialize function */

void Vehical_Direction_initialize(void)

{

  /* (no initialization code required) */

}



/* Model terminate function */

void Vehical_Direction_terminate(void)

{

  /* (no terminate code required) */

}



/*

 * File trailer for generated code.

 *

 * [EOF]

 */