Project 1 (Mini Project on Vehicle Direction Detection

Aim: To Develop a MATLAB Simulink Model for Vehicle Direction Detection as per requirement and generate a C-Code for it.

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. Choose sample time for all signals as 0.01s

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 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 inWrong Way Detection etc.

INTRODUCTION:

•  The inputs to the system are the Steering wheel angular input given as yaw rate (Signal name: SteeringWheel_YawDegreeInput) and a input signal from camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.

•    A camera reads the road signs & stores into its memory unique values for left turn, right turn & straight drive. Depending on the direction the vehicle takes, a final indication is given to the driver – if he is driving in the recommended direction or not.

•    The output of the system is a boolean value (Signal Name: Vehicle_Direction_Indicator) which specifies whether the vehicle is turning right, left or going straight.

• This model main subsystem is two input and one output.this subsystem name is vehicle_ direction .this model have total three subsystem.

PROJECT STRUCTURE:

• The main subsystem 'Vehicle_Direction' along with inputs 'SteeringWheel_YawDegreeInput' , 'CameraInput_RoadSign' and output signal 'Vehicle_Direction_Indicator' is shown below:

                                                                                                                                                        Fig 1:  'Vehicle_Direction' subsystem

• The main subsystem divide on two more subsystem.one is Requirment1 and another subsystem is Requirment2.given in the picture below.

                                  

                                                   Fig 2: subsystem Requirment1 and Requirment2.

Requirement-1:

• In the 'Requirement1' subsystem, the steering wheel yaw degree (Signal name: SteeringWheel_YawDegreeInput) is fed as input to the subsystem and this value 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.

• The input signal 'SteeringWheel_YawDegreeInput' is compared against three angular values using the relational operator '==', 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. In this case, the output of the relational operator '==' is  equal to 1 only when the 'SteeringWheel_YawDegreeInput' matches the calibraton value angular limit specified in Right_Turn_AngularLimit, Left_Turn_AngularLimit, or Straight_Drive_Steering_Angle.

• Three switch blocks are used to implement an if-else logic. The output from each relational operator is given as a condition input (input2) to each Switch block. The switch will pass input1 (calibration value) when the condition (input2~=0) condition is satisfied, else input3 (output from the next switch block) is passed as output.

• The signal 'Vehicle_Turn_Status' obtained at the output of the first switch will be a calibration angular value (Right_Turn_AngularLimit OR Left_Turn_AngularLimit, OR Straight_Drive_Steering_Angle). If none of the conditions get satisfied, zero is passed as the output  from the last switch. The signal 'Vehicle_Turn_Status' is fed to the outport of subsystem 'Requirement1'

                                                   

                                                                                                     Fig 3:Requirment2

Requirement-2:

• In 'Requirement2' subsystem, the local signal 'Vehicle_Turn_Status' fed from 'Requirement1' subsystem is taken as input and is compared against calibration values (RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign) using the relational operator '=='. 

• The boolean value obatined at the output of the realtional operator is compared against a boolean input signal from camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign using 'AND' operotor.

• The boolean output signal obtained from each of the three 'AND' blocks are fed to the outport 'Vehicle_Direction_Indicator' to indicate the vehicle direction. The output 'Vehicle_Direction_Indicator' will be a

• three dimension signal having three boolean elements, with the first element to indicate 'Right Turn', second element to indicate 'Left Turn' and third element to indicate 'Straight Drive'.

                                              

                                                                           Fig 4: Requirment2

Procedure for creating the MATLAB Simulink Model for Vehicle Direction Detection:

1. First In Matlab tool bar select Start Simulink button

2. After an dialouge box will open in that select create a Blank model

3. I saved my Blank model in the name of vehicle_direction_detection.

4. Now before creating the simulink model we need to creat a simulink data dictionary for the given set of 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	-	-

-% Steps to create the Simulink Data Dictionary (SLDD) file:

• In the blank vehicle_direction_detection simulink model Goto Modeling tab -> Select model settings -> Model Properties.
• In Model Properties -> Select External Data.
• Under External data tab we can see a blank tab Data Dictionary in that type the sldd file in the name of vehicle_direction_detectionDD and uncheck the Enable model access to base workspace check box.
• Finally press ok now simulink data dictionary is created with file name vehicle_direction_detectionDD.sldd

• In the simulink model select the modeling tab -> select model explorer.

• Below picture shows how to add simulink signal and add simulink parameters.

• For constant parameter and output signal we need to give name for header file and definition file. Note keep always same name for all the constant parameters and output signals add in the data dictionary.

5. After the successful creation of the data dictionary for this vehicle_direction_detection model. Now we can create the model for the given requirements.

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).

• As per the given requirement-1 the created model is shown above.
• Switch block parameters.

• Resolve the Input and output signals.
• To resolve the signals select the spectific signal and right click on it -> select properties.

• select the above created model and then create an subsystem.

• After selected the model in the right side end of the corner we can see the three dotes. Click on the dote and it will lead to creating subsystem. Rename the created subsystem as Requirement-1.

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).

• select the above created model and then create an subsystem.

• After selected the model in the right side end of the corner we can see the three dotes. Click on the dote and it will lead to creating subsystem. Rename the created subsystem as Requirement-2.

6. After creation of the substem for the Requirement-1 and Requirement-2 the model will looks like below.

7. Tagging the requirements to the subsystems Requirement-1 & Requirement-2.

I. Tag the requirement to the Requirement-1 subsystem:

     - For tag requirements in Requirement-1 subsystem first click on the subsystem and then right click on it -> Goto Requirements -> select 'Link to selection in work'.

     - Meanwhile in word document highlight which of the thing need to tag.

II. Tag the requirement to the Requirement-2 subsystem:

     - Similarly for tag requirements in Requirement-2 subsystem first click on the subsystem and then right click on it -> Goto Requirements -> select 'Link to selection in work'.

     - Meanwhile in word document highlight which of the thing need to tag.

8. Now a check is performed using Model Advisor tool in simulink to see whether the develped model meets the modeling standards for MAAB (MathWorks Automotive Advisory Board).

• After run the model advisor tool the Model sandards for MAB gives no any fail so the created model is satisfied the MAB guidelines.

9. Finally generate the code for the created vehicle_direction_detection model.

• For the select the whole requirement-1 and requirement-2 subsystem and make it as a one subsystem.

• Now before code generation we need to do some changes in the solver configuration and code generation settings for that in matlab under modeling tab -> select model setting. Then the model setting dialoug box will open now.

• To generate code select the substem named as vehicle direction detection and then  In matlab on the simulink model file embedded coder tool box is availabele under APPS tab click on it.
• A new tab C CODE is open next to the APPS tab under that tab click athe Generate Code.

•  After click on the generate code then the C Code is generated for the created model.

Code Generated for this model:

/*
 * File: vehicle_direction_detection.c
 *
 * Code generated for Simulink model 'vehicle_direction_detection'.
 *
 * Model version                  : 1.9
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Mon Dec  6 07:46:12 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "vehicle_direction_detection.h"
#include "vehicle_direction_detection_private.h"

/* 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_step(void)
{
  /* local block i/o variables */
  int16_T Vehicle_Turn_Status;

  /* Switch: '/Switch' incorporates:
   *  Constant: '/C1'
   *  Constant: '/C2'
   *  Constant: '/C3'
   *  Constant: '/C4'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   *  Switch: '/Switch1'
   *  Switch: '/Switch2'
   */
  if (Right_Turn_AngularLimit == SteeringWheel_YawDegreeInput) {
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (Left_Turn_AngularLimit == SteeringWheel_YawDegreeInput) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/C5'
     */
    Vehicle_Turn_Status = Left_Turn_AngularLimit;
  } else if (Straight_Drive_Steering_Angle == SteeringWheel_YawDegreeInput) {
    /* Switch: '/Switch2' incorporates:
     *  Constant: '/C6'
     *  Switch: '/Switch1'
     */
    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  } else {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Constant'
     *  Switch: '/Switch2'
     */
    Vehicle_Turn_Status = 0;
  }

  /* End of Switch: '/Switch' */

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Constant: '/C1'
   *  Constant: '/C2'
   *  Constant: '/C3'
   *  Inport: '/ CameraInput_RoadSign'
   *  Logic: '/Logical Operator'
   *  Logic: '/Logical Operator1'
   *  Logic: '/Logical Operator2'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Vehicle_Direction_Indicator[0] = ((RightTurn_RoadSign == Vehicle_Turn_Status) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[1] = ((LeftTurn_RoadSign == Vehicle_Turn_Status) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[2] = ((Straight_RoadSign == Vehicle_Turn_Status) &&
    CameraInput_RoadSign);
}

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

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

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

Conclusion:

            The MATLAB model for Vehicle Direction Detection is developed as per the given requirements, Tagged the requirements totheir corresponding subsystems requirement 1 & requirement 2, Simulink Data Dictionary file has been created and the code is generated using Embedded Coder in Simulink.