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.
Aim:
- 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
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).
- Generation of code.
Simulink Model:
Vehicle_Direction_Determination Subsystem:-
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).
Simulink Data Dictionary:-
3. Resolving and Propagating the Signal at various stages:
4. Changes in Configuration parameters for simulation and code generation:
For Simulation the Solver Setting choosen are as follows:
For Code Generation, the embedded coder is as target file as shown below:
Model Advisor:-
The model advisor report following the MAAB, JMAAB and MISRA C guidelines are shown below:
Generated Code:-
* File: Vehicle_Direction_Indicator.c
* Code generated for Simulink model 'Vehicle_Direction_Indicator'.
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Thu Sep 1 20:45:10 2022
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
#include "Vehicle_Direction_Indicator.h"
#include "Vehicle_Direction_Indicator_private.h"
/* Exported data definition */
/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S3>/Constant2' */
const int16_T Left_Turn_AngularLimit = -120;
/* Referenced by: '<S2>/Left_Turn_AngularLimit' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S3>/Constant' */
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>/Constant1' */
/* External outputs (root outports fed by signals with default storage) */
ExtY_Vehicle_Direction_Indica_T Vehicle_Direction_Indicator_Y;
static RT_MODEL_Vehicle_Direction_In_T Vehicle_Direction_Indicator_M_;
RT_MODEL_Vehicle_Direction_In_T *const Vehicle_Direction_Indicator_M =
&Vehicle_Direction_Indicator_M_;
/* Model step function */
void Vehicle_Direction_Indicator_step(void)
/* local block i/o variables */
int16_T Vehicle_Turn_Status;
/* Switch: '<S2>/Switch' incorporates:
* Inport: '<Root>/SteeringWheel_YawDegreeInput '
if (SteeringWheel_YawDegreeInput >= 30) {
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Right_Turn_AngularLimit'
Vehicle_Turn_Status = Right_Turn_AngularLimit;
} else if (SteeringWheel_YawDegreeInput != 0) {
/* Switch: '<S2>/Switch1' incorporates:
* Constant: '<S2>/Left_Turn_AngularLimit'
Vehicle_Turn_Status = Left_Turn_AngularLimit;
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Straight_Drive_Steering_Angle'
Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
/* End of Switch: '<S2>/Switch' */
/* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
* Constant: '<S3>/Constant'
* Constant: '<S3>/Constant1'
* Constant: '<S3>/Constant2'
* Inport: '<Root>/CameraInput_RoadSign 1'
* RelationalOperator: '<S3>/Relational Operator'
* RelationalOperator: '<S3>/Relational Operator1'
* RelationalOperator: '<S3>/Relational Operator2'
Vehicle_Direction_Indicator_Y.Vehicle_Direction_Indicator_b =
(((Vehicle_Turn_Status == RightTurn_RoadSign) && CameraInput_RoadSign) ||
((Vehicle_Turn_Status == LeftTurn_RoadSign) && CameraInput_RoadSign) ||
((Vehicle_Turn_Status == Straight_RoadSign) && CameraInput_RoadSign));
/* Model initialize function */
void Vehicle_Direction_Indicator_initialize(void)
/* (no initialization code required) */
/* Model terminate function */
void Vehicle_Direction_Indicator_terminate(void)
/* (no terminate code required) */
* File trailer for generated code.