Project 1 (Mini Project on Vehicle Direction Detection

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).

Subsystem is developed by the name of requirement which contain following elemenst:-

Here the input which is SteeringWheel_YawDegreeInput is applied over the three to relational operator (which is having equal to operator) and then correponding output of the relation operator is applied to the control gate of their corresponding switches. And at last the Outport of the subsystem is named as 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).

There are two input in this subsystem which are Vehicle_Turn_Status and CameraInput_RoadSign and these were applied to the relational operator (equal to) and logical AND opertaor as shown in the above image. The ouput of those AND gate are applied to the Mux and then through the signal conversion block the output of the subsystem is named as Vehicle_Direction_Indictaor.

ii) Configuration Parameter settings:-

Solver Type is changed from variable step to Fixed step and Solver type is selected as Discrete ( No continuous state) and also sample time is declared as 0.01 sec as per the project requirement.

Also under the Code generation option selecting embedded real time as system target file (ert.tlc) under target selection option.

iii) Creation of Simulink Data Dictionary:-

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	-	-

Same has been updated in the Design data of veh_dir_det_dd.sldd

Simulink data dictionary is created with the file name of veh_dir_det_dd and the following simulink signal and parameter are added as per the given requirement.

iv) Requirement Tagging:-

A MS Word file is created which contain all the requirements and necessary information to develop the model appropiately. This Word file is tagged for both the subsystem requirement1 and Requirement2 respectively.

Similarily requirement tagging of the Requirement2 has been done:-

After Selecting Requirement-2: from the above option will take us to the MS word file with Requiremt-2: highlisted which is shown below:-

v) Signal Resolving and Signal Tagging:-

All the input signal are resolved at the root level of the model and propogated accordingly as shown below:-

Output signal of Requirement1 is resolved at the root level and hen propogated

Same is done for the output isgnal of the Requirement2 also:-

vi) Model Advisor Report Generation:-

To generate the report we have to go over the Modelling tab and then there at Extreme left corner there is a option of Model Advisor and selecting Model Advisor in it.

It will ask to select the system for which the report generation is to be taken:-

Then under the By task option unselecting all the previously selcted option and then selecting the Modelling Standard for MAB there and in the right box there is option to Run sleected check and clicking over there will run the selected checks

The result of the Modelling Standard for MAB is as shwon below:-

Also a HTML report is generated thereafter by clicking over the option Generate Report

vii) Code Generation:-

The Code Generation is made byy going over the APP tab and selecting the Embedded coder over there :-

Now clicking over the build option will create the C code as shown below:-

The .c code is generated as below:-

/*
 * File: Vehicle_direction_detection.c
 *
 * Code generated for Simulink model 'Vehicle_direction_detection'.
 *
 * Model version                  : 1.27
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Wed Apr 20 11:18:01 2022
 *
 * 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"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '/Constant3' */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by:
                                             * '/Constant2'
                                             * '/Constant3'
                                             */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '/Constant6' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by:
                                            * '/Constant1'
                                            * '/Constant6'
                                            */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by:
                                                 * '/Constant4'
                                                 * '/Constant5'
                                                 */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '/Constant5' */

/* Real-time model */
static 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 */
  real_T Vehicle_Turn_Status;

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Constant1'
   *  Constant: '/Constant2'
   *  Constant: '/Constant5'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   *  Switch: '/Switch1'
   *  Switch: '/Switch2'
   */
  if (SteeringWheel_YawDegreeInput == Right_Turn_AngularLimit) {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Constant6'
     */
    Vehicle_Turn_Status = (real_T)Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput == Straight_Drive_Steering_Angle) {
    /* Switch: '/Switch2' incorporates:
     *  Constant: '/Constant4'
     *  Switch: '/Switch'
     */
    Vehicle_Turn_Status = (real_T)Straight_Drive_Steering_Angle;
  } else if (SteeringWheel_YawDegreeInput == Left_Turn_AngularLimit) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Constant3'
     *  Switch: '/Switch'
     *  Switch: '/Switch2'
     */
    Vehicle_Turn_Status = (real_T)Left_Turn_AngularLimit;
  } else {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Constant'
     *  Switch: '/Switch1'
     *  Switch: '/Switch2'
     */
    Vehicle_Turn_Status = 0.0;
  }

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

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Constant: '/Constant3'
   *  Constant: '/Constant5'
   *  Constant: '/Constant6'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Vehicle_Direction_Indicator[0] = ((Vehicle_Turn_Status == RightTurn_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[1] = ((Vehicle_Turn_Status == LeftTurn_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[2] = ((Vehicle_Turn_Status == Straight_RoadSign) &&
    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]
 */

In this manner the Mini Project of Vehicle Direction Detection has been finally made and the zip file containing all the necessary document is attached.