Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

Aim: To Create a Simulink Model to identify the direction of the vehicle based on the camera input.

Objectives of the 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

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.

Procedure:

• Creating two subsystems as per the given instructions in requirement document.
• Attaching the requirement document.
• Creating a Simulink data dictionary (SLDD).
• Generating a model advisor report (With necessary tests selected).
• Generating code.

Simulink Model:

Inside Vehicle_Dir_Detection subsystem shown below:

In the first Vehicle_Turn_Status subsystem, creating model as per the given Requirement1 which are:-

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).

According to that requirement the subsystem model shown below:

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).

And according to that requirement 2 , the other Vehicle_Dir_Indicator Subsystem model shown the figure below:

Now, we select the statement that needs to be linked and right-click on the required subsystem and Go to requirements and then click on the 'Link to selection in Word'. A new .slmx file will be created in the path selected and the links will be stored in that file. The subsystems tagged with their requirements are shown below.

Now, we need to create an SLDD file for the same model. The table consisting of all the details regarding the signals and calibration values is given above. We need to first link the model to a data dictionary. We create a new file as shown below.

After that, open the link and add the given input, output signals and then add the calibration values. The Data dictionary created for the model is shown below.

Now that the SLDD file has been created. And then All the input and output signals are resolved at their origin and they are propagated at the corresponding stages as shown below:

Now changes in Configuration parameters for simulation and code generation:

Model Advisor:-

The model advisor report for the following the MAAB, JMAAB, MISRA C and ISO 26262 guidelines are shown below:

And then generate Report as shown below:

And then trying to Minimize the warning

Now, we can go to the 'APPS' tab and click on the 'Build' option to generate code and model to get our C-code for the Vehicle_Direction_Detection model. The code is shown below.

Code Generation Report:

Conclusion:-

1. Model is created as per the requirement given.
2. The subsystems are linked with the requirement document.
3. SLDD file is created as per the given requirement
4. Model advisor report is generated
5. Code is generated