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	-	-

Answer:-

Objective:-

Aim:-

]. Development of MATLAB Simullnk model as per requirement.
2. Tag the requirements to the simulink model; tagging requirement ] & 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: lmportedExtern; 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 0.01

Procedure:-
Step1:-Creating a Simullnk Model for Requrement] and Create a subsystem for Requirement.
Requrement 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).

Step 2-Creating a Simulink Model for Requrement1 and Create a subsystem for 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: Cameralnput_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).

Step 3:- Both requirement created as per mentioned in above objective then requirement 1 is take input to requirement 2 and craete all one main subsystem.

Main Singal subsytem:-

Explanation:-

Seen above both image mentioned requiremnet 1 & 2 both seperate subsytem created ,Then requiremnet 1 its input taken steeringwheel_Yawdegreeinput and output is vehicle_Turn_status,but vehicle_turn_status is used input to requiremnet 2 . but another one is input taken to requiremnt is Camera_roadsign_input . After both input to find out output is vehicle_Direction_indicator.

Tagging Of Requiremnt 1 & Requirement 2 is shown below:=

Procudure For Tagging:-

Step 4:- Open Requiremnt word file and copy both requiremnt .

Next goto requiremnt 1 subsystem and right click then open below option and click on requiremnet in linked to word option. as per below image.

Same procedure follow for requirement 2.

Step 5:- After linked word file with both requiremnt next checked tagging is proper with same right click on subsystem and goto requirement shown requirement 1 for requirement 1 and requirement 2same requirement 2 as per below images.

If tagging the requirement then automatic subsystem block colour change and open word file and shown as per below image message pop up.

Step 6:- Create Simulink data dictoinary as per mentioned in given data for veriables.

Goto modelling option and click on link to SLDD option then open new window inside shown browse option,New option etc .

If already available sldd then browse the file if not available then create New option. procedure mentioned as per below images.

IMAGE 1

IMAGE 2

Open bottom box in mentioned external data option click on this then open SLDD file inside add given signal as per store class,initial value,max-min value etc. shown below images.

Step 7:-4, If choosing code generation, Storage class for Input signals: lmportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.

Step 8:- Choose sample time 0.01sec shown set in solver as per below image.

Step 9:- Need to generate C codes then need to setting in Code generation as per below images.

Step 10:- Generate C code then goto Apps in Embeded coder. Then open again one window in mentioned build option click on build option open generation code option cilck on this option next start the code generation process.

C code for Above Vehical_Direction_Indicators as per below File:-

C Code file:-

/*
 * File: vehicleDirection_1642132834.c
 *
 * Code generated for Simulink model 'vehicleDirection_1642132834'.
 *
 * Model version                  : 1.4
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Mon Jul 18 10:27:48 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "vehicleDirection_1642132834.h"
#include "vehicleDirection_1642132834_private.h"

/* Real-time model */
static RT_MODEL_vehicleDirection_164_T vehicleDirection_1642132834_M_;
RT_MODEL_vehicleDirection_164_T *const vehicleDirection_1642132834_M =
  &vehicleDirection_1642132834_M_;

/* Model step function */
void vehicleDirection_1642132834_step(void)
{
  /* local block i/o variables */
  int16_T Vehicle_Turn_Status;
  int32_T tmp;

  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Constant'
   *  Constant: '<S2>/Constant1'
   *  Constant: '<S2>/Constant2'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '<S2>/Relational Operator'
   *  RelationalOperator: '<S2>/Relational Operator1'
   *  RelationalOperator: '<S2>/Relational Operator2'
   *  Switch: '<S2>/Switch1'
   *  Switch: '<S2>/Switch2'
   */
  if (SteeringWheel_YawDegreeInput == Right_Turn_AngularLimit) {
    /* Switch: '<S2>/Switch' incorporates:
     *  Constant: '<S2>/Constant3'
     */
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else {
    if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {
      /* Switch: '<S2>/Switch1' incorporates:
       *  Constant: '<S2>/Constant4'
       */
      tmp = Left_Turn_AngularLimit;
    } else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {
      /* Switch: '<S2>/Switch2' incorporates:
       *  Constant: '<S2>/Constant5'
       *  Switch: '<S2>/Switch1'
       */
      tmp = Straight_Drive_Steering_Angle;
    } else {
      /* Switch: '<S2>/Switch1' incorporates:
       *  Constant: '<S2>/Constant6'
       *  Switch: '<S2>/Switch2'
       */
      tmp = 0;
    }

    tmp = (int32_T)fmod(tmp, 65536.0);

    /* Switch: '<S2>/Switch' incorporates:
     *  Constant: '<S2>/Constant2'
     *  RelationalOperator: '<S2>/Relational Operator2'
     *  Switch: '<S2>/Switch1'
     *  Switch: '<S2>/Switch2'
     */
    Vehicle_Turn_Status = (int16_T)(tmp < 0 ? (int32_T)(int16_T)-(int16_T)
      (uint16_T)-(real_T)tmp : (int32_T)(int16_T)tmp);
  }

  /* 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] = (CameraInput_RoadSign && (Vehicle_Turn_Status
    == RightTurn_RoadSign));
  Vehicle_Direction_Indicator[1] = (CameraInput_RoadSign && (Vehicle_Turn_Status
    == LeftTurn_RoadSign));
  Vehicle_Direction_Indicator[2] = (CameraInput_RoadSign && (Vehicle_Turn_Status
    == Straight_RoadSign));
}

/* Model initialize function */
void vehicleDirection_1642132834_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void vehicleDirection_1642132834_terminate(void)
{
  /* (no terminate code required) */
}

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

Conclusion:-

1)As per requirement model created and both requirement 1 & 2 subsystem shown here.

2) Also tagging procedure mentioned and word file requirment shown in above model.

3) Also Simulink data dictionary created as per given data.

4) Create C codes for Vehicle_Direction_model its file also attached here.

5) Understand the how Model inside logic created as well as subsystem tagging mentoned in model identification procedure understand.