Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

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	-	-

model:-

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).

Right click on main subsystem -> Block parametrs(subsystem) -> Tick on treat as atomic size -> model configuration ->solver(fixed
step) ->sample time(0.01)-> code generation -> art.tlc

create new sldd file and then access it from model explorer

A new Simulink data dictionary is created and updated signals & calibration Data List as per our requirements.

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	-	-

now we do requirement tagging for Requirement_1 & Requirement_2 subsystem:

first open word file, select the words which u have to tag, then right click on subsystem > requirements>link to selection in words. tagging is completed, for checking again right click on subsystem >requirement> we will see the tagging as shown below.

run the model for 0.1sec

Code Generation :

apps>embedded coder>generate code

code generated:-

/*
* File: project_1.c
*
* Code generated for Simulink model 'project_1'.
*
* Model version : 1.33
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Wed Aug 31 10:41:29 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "project_1.h"
#include "project_1_private.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;
/* Referenced by: '<S3>/LeftTurn_RoadSign' */
const int16_T Left_Turn_AngularLimit = -120;
/* Referenced by: '<S2>/Left_Turn_AngularLimit' */
const int16_T RightTurn_RoadSign = 30;
/* Referenced by: '<S3>/RightTurn_RoadSign' */
const int16_T Right_Turn_AngularLimit = 30;
/* Referenced by: '<S2>/Right_Turn_AngularLimit' */
const int16_T Straight_Drive_Steering_Angle = 0;
/* Referenced by: '<S2>/Straight_Drive_Steering_Angle' */
const int16_T Straight_RoadSign = 0;
/* Referenced by: '<S3>/Straight_RoadSign' */

/* External inputs (root inport signals with default storage) */
ExtU_project_1_T project_1_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_project_1_T project_1_Y;

/* Real-time model */
static RT_MODEL_project_1_T project_1_M_;
RT_MODEL_project_1_T *const project_1_M = &project_1_M_;

/* Model step function */
void project_1_step(void)
{
int16_T rtb_Switch;

/* Outputs for Atomic SubSystem: '<Root>/vehicle direction control' */
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Left_Turn_AngularLimit'
* Constant: '<S2>/Right_Turn_AngularLimit'
* Inport: '<Root>/SteeringWheel_YawDegreeInput'
* Switch: '<S2>/Switch1'
*/
if (project_1_U.SteeringWheel_YawDegreeInput > 0.0) {
rtb_Switch = Right_Turn_AngularLimit;
} else if (project_1_U.SteeringWheel_YawDegreeInput >= 0.0) {
/* Switch: '<S2>/Switch1' incorporates:
* Constant: '<S2>/Straight_Drive_Steering_Angle'
*/
rtb_Switch = Straight_Drive_Steering_Angle;
} else {
rtb_Switch = Left_Turn_AngularLimit;
}

/* End of Switch: '<S2>/Switch' */

/* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
* Constant: '<S3>/LeftTurn_RoadSign'
* Constant: '<S3>/RightTurn_RoadSign'
* Constant: '<S3>/Straight_RoadSign'
* Inport: '<Root>/CameraInput_RoadSign'
* Logic: '<S3>/AND'
* Logic: '<S3>/AND1'
* Logic: '<S3>/AND2'
* RelationalOperator: '<S3>/Relational Operator'
* RelationalOperator: '<S3>/Relational Operator1'
* RelationalOperator: '<S3>/Relational Operator2'
*/
project_1_Y.Vehicle_Direction_Indicator[0] = (project_1_U.CameraInput_RoadSign
&& (rtb_Switch == RightTurn_RoadSign));
project_1_Y.Vehicle_Direction_Indicator[1] = (project_1_U.CameraInput_RoadSign
&& (rtb_Switch == Straight_RoadSign));
project_1_Y.Vehicle_Direction_Indicator[2] = (project_1_U.CameraInput_RoadSign
&& (rtb_Switch == LeftTurn_RoadSign));

/* End of Outputs for SubSystem: '<Root>/vehicle direction control' */
}

/* Model initialize function */
void project_1_initialize(void)
{
/* (no initialization code required) */
}

/* Model terminate function */
void project_1_terminate(void)
{
/* (no terminate code required) */
}

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

Model Advisor:- by task> check modeling standards for MAB and all sub parts> run selected checks

then click on generate report, we will see pop up as shown below, we can save the file format in html/ pdf/ word. then click ok file will be generated,

CONCLUSION:-The vehicle direction determination is modelled as per the requirement, all the signals are defined in Simulink data dictionary. All input and output signals are resolved and propagated. Updated the model to check for static errors. Run the model advisor tool to see any errors. since there are no errors in Model Advisor Report. Code has been generated using Embedded Coder.