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:
- Development of MATLAB Simulink model as per requirement.
- Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.
- MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not scope of this project.
- 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.
- Choose sample time for all signals as 0.01s
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 |
- |
- |
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).
OUTPUT:
coverage report:
Coverage Report for mini_project
Table of Contents
Analysis Information
Coverage Data Information
| Collected in version | (R2021b) |
Model Information
| Model version | 1.1 |
| Author | cherlaachyuth |
| Last saved | Fri Jun 24 21:58:56 2022 |
Simulation Optimization Options
| Default parameter behavior | inlined |
| Block reduction | forced off |
| Conditional branch optimization | on |
Coverage Options
| Analyzed model | mini_project |
| Logic block short circuiting | off |
| Filter name(s): | Untitled |
Objects Filtered from Coverage Analysis
Filter Untitled
| File | /Users/cherlaachyuth/Desktop/module5/Week9_Challenge/slcov_output/mini_project/switch_1.cvf |
| Description | N/A |
| Filtered Model Object | Rationale |
| J1. Switch block "Switch" | |
| J2. Switch block "Switch1" |
Aggregated Tests
| Run | Test Name | Date |
| Model: "mini_project" | ||
| T1 | Run 3 | 24-Jun-2022 23:07:43 |
| T2 | Run 4 | 24-Jun-2022 23:18:50 |
| T3 | Run 5 | 24-Jun-2022 23:25:01 |
| T4 | Run 6 | 24-Jun-2022 23:35:30 |
| T5 | Run 8 | 24-Jun-2022 23:42:09 |
| T6 | Run 9 | 24-Jun-2022 23:58:54 |
Summary
| Model Hierarchy/Complexity | ||||||||||||||
| Decision | Execution | |||||||||||||
| 1. mini_project | 3 | 100% |
|
100% |
|
|||||||||
| 2. . . . Subsystem | 2 | 100% |
|
100% |
|
|||||||||
| 3. . . . . . .Requirement_1 | 2 | 100% |
|
100% |
|
|||||||||
| 4. . . . . . .Requirement_2 | NA | 100% |
|
|||||||||||
| 5. . . . . . . . . .Compare To Constant | NA | 100% |
|
|||||||||||
| 6. . . . . . . . . .Compare To Constant1 | NA | 100% |
|
|||||||||||
| 7. . . . . . . . . .Compare To Constant2 | NA | 100% |
|
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Details
1. Model "mini_project"
|
2. SubSystem block "Subsystem"
|
3. SubSystem block "Requirement_1"
|
Switch block "Switch"
|
Switch block "Switch1"
|
Constant block "Constant"
|
Constant block "Constant1"
|
Constant block "Constant2"
|
4. SubSystem block "Requirement_2"
|
Logic block "OR"
|
Logic block "OR1"
|
Logic block "OR2"
|
5. SubSystem block "Compare To Constant"
|
RelationalOperator block "Compare"
|
6. SubSystem block "Compare To Constant1"
|
RelationalOperator block "Compare"
|
7. SubSystem block "Compare To Constant2"
|
RelationalOperator block "Compare"
|
|
* Code generated for Simulink model 'mini_project'.
*
* Model version : 1.1
* Simulink Coder version : 9.6 (R2021b) 14-May-2021
* C/C++ source code generated on : Fri Jun 24 23:40:51 2022
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_mini_project_h_
#define RTW_HEADER_mini_project_h_
#ifndef mini_project_COMMON_INCLUDES_
#define mini_project_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* mini_project_COMMON_INCLUDES_ */
#include "mini_project_types.h"
/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
#endif
#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
#end
if
/* External inputs (root inport signals with default storage) */
typedef struct
{
real_T streeringWheel_YawDegreeInput;
/* '/streeringWheel_YawDegreeInput' */
boolean_T CameraInput_RoadSign; /* '/CameraInput_RoadSign' */
} ExtU_mini_project_T;
/* External outputs (root outports fed by signals with default storage) */
typedef struct
{
boolean_T Vehicle_direction_indicator[3];
/* '/Vehicle_direction_indicator' */
} ExtY_mini_project_T;
/* Real-time Model Data Structure */
struct tag_RTM_mini_project_T
{
const char_T * volatile errorStatus;
};
/* External inputs (root inport signals with default storage) */
extern ExtU_mini_project_T mini_project_U;
/* External outputs (root outports fed by signals with default storage) */
extern ExtY_mini_project_T mini_project_Y;
/* Model entry point functions */
extern void mini_project_initialize(void);
extern void mini_project_step(void);
extern void mini_project_terminate(void);
/* Real-time Model object */
extern RT_MODEL_mini_project_T *const mini_project_M;
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '/Display' : Unused code path elimination
* Block '/Display' : Unused code path elimination
*/
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is /block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Use the MATLAB hilite_system command to trace the generated code back
* to the model. For example,
*
* hilite_system('') - opens system 3
* hilite_system('/Kp') - opens and selects block Kp which resides in S3
*
* Here is the system hierarchy for this model
*
* '' : 'mini_project'
* '' : 'mini_project/Subsystem'
* '' : 'mini_project/Subsystem/Requirement_1'
* '' : 'mini_project/Subsystem/Requirement_2'
* '' : 'mini_project/Subsystem/Requirement_2/Compare To Constant'
* '' : 'mini_project/Subsystem/Requirement_2/Compare To Constant1'
* '' : 'mini_project/Subsystem/Requirement_2/Compare To Constant2'
*/
#endif /* RTW_HEADER_mini_project_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
|
RESULT:IF the Output is (0 0 1) then the vehicle takes straight direction
if the Output is (1 0 0) then vehicle taking Left turn
if the Output is (1 0 1) then vehicle taking Right turn
conclusion:Almost all vehicle accidents are caused by human error, which can be avoided with Advanced Driver Assistance Systems (ADAS). The role of ADAS is to prevent deaths and injuries by reducing the number of car accidents and the serious impact of those that cannot be avoided.