Project 1 (Mini Project on Vehicle Direction Detection

Mini 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.

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	-	-

Solution:

Aim

To develop a MATLAB Simulink model as per the given requirements and to tag the requirements to the simulink model.

Simulink Model

Angle_Det Subsystem

Direction_Det Subsystem

Data Dictionary

Requirement Tagging Highlighted

Code Generation

/*
 * File: Vehi_Dir.c
 *
 * Code generated for Simulink model 'Vehi_Dir'.
 *
 * Model version                  : 1.9
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Sep 10 01:06:02 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehi_Dir.h"
#include "Vehi_Dir_private.h"

/* External inputs (root inport signals with default storage) */
ExtU_Vehi_Dir_T Vehi_Dir_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Vehi_Dir_T
 Vehi_Dir_Y;

/* Real-time model */
static RT_MODEL_Vehi_Dir_T Vehi_Dir_M_;
RT_MODEL_Vehi_Dir_T *const Vehi_Dir_M = &Vehi_Dir_M_;

/* Model step function */
void Vehi_Dir_step(void)
{
  int32_T rtb_Switch;

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Right_Turn_AngularLimit'
   *  Constant: '/Straight_Drive_Steering_Angle'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  Switch: '/Switch1'
   */
  if (Vehi_Dir_U.SteeringWheel_YawDegreeInput > 0.0) {
    rtb_Switch = 30;
  } else if (Vehi_Dir_U.SteeringWheel_YawDegreeInput > 0.0) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Left_Turn_AngularLimit'
     */
    rtb_Switch = -120;
  } else {
    rtb_Switch = 0;
  }

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

  /* Outport: '/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '/LeftTurn_RoadSign'
   *  Constant: '/RightTurn_RoadSign'
   *  Constant: '/Straight_RoadSign'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Vehi_Dir_Y.Vehicle_Direction_Indicator[0] = ((rtb_Switch == 1) &&
    Vehi_Dir_U.CameraInput_RoadSign);
  Vehi_Dir_Y.Vehicle_Direction_Indicator[1] = ((rtb_Switch == 1) &&
    Vehi_Dir_U.CameraInput_RoadSign);
  Vehi_Dir_Y.Vehicle_Direction_Indicator[2] = ((rtb_Switch == 1) &&
    Vehi_Dir_U.CameraInput_RoadSign);
}

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

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

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

Description

The steering wheel yaw rate and camera road sign are taken as inputs.

The vehicle direction indicator is the main output.

To implement this process, we need two subsystems. One is for Angle Determination and another for Direction Determination.

In Angle Determination Subsystem, the Steering Wheel Yaw Rate Input is compared against the three calibration values such as Right Turn Angular Limit, Left Turn Angular Limit & Straight Drive Steering Angle to find the Vehicle Turn Status. This case is implement by using two switches and three constant blocks.

In the Direction Determination Subsytem, the Vehicle Turn Status is compared against the three calibration values such as Right Turn Road Sign, Left Turn Road Sign, Straight Road sign by using Relational operators. Then the output of these relational operators and a common input of Camera Road sign input is given to the logical operator 'AND' to detect the Vehicle Direction. Then, the output of logical operators are fed into a mux to obtain the Vehicle Direction Indicator Output.

Result

The above process clearly shows, we can determine the vehicle direction by using the developed simulink model. Thus, the development of simulink model for Vehicle Direction Determination as per the given requirements and to tag the requirements to the simulink model was implemented successfully.