Project 1 (Mini Project on Vehicle Direction Detection

Aim:

To create a Simulink model of Vehicle Direction Detection as per the Requirement data.

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 a 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 & the 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 a local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from the camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.
• Signal Vehicle_Turn_Signal 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 outputs is compared against the camera input signal,
• Using a logical operator block, only one among them is finally given as an output signal (Signal Name: Vehicle_Direction_Indicator).

Objectives of the project:

1. Development of MATLAB Simulink model as per requirement.
2. Tag the requirements to the Simulink model; tagging requirements 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 the 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

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	-	-

Simulink model:

SLDD_file:

The SLDD_file is created to store the calibration values and input and output signals.

Blocks used:

Blocks used to create a model are

Input Blocks: To provide the input signals

Output Blocks: To send the output signals

Constant Blocks: To define the calibration values

Logical operator Blocks: OR blocks are used to compare road signs with camera input and to get the boolean output.

Switch Blocks: To compare the input with the calibration values.

Mux Block: To combine the signals

Display Block: To display the results

Procedure:

The logic in the Requirement_1 is, If the input is >=30 (because the initial value is 30) the vehicle will take the Right turn, else If the input is not equal to zero (~=0) the vehicle left_turn, else stright_drive (if the input is equal to zero).

The input yaw rate is given to the middle port of the switch, and the threshold value is 30. If the input is greater than the threshold value then the switch will take the True condition (Right_Turn_AngularLimit) and else the false condition. In the second switch, the threshold value is zero, if the threshold value is not equal to zero then the switch will take the true condition (Left_Turn_AngularLimit) else takes the false condition (Sitight_Drive steering_Angle). This output from the second switch is given as a false condition to the first switch. And the output for the Requirement_1 is "Vehicle_Turn_Status".

The logic in the Requirement_2 is to compare the "Vehicle_Turn_Status" (Output of Requirement_1) with "RoadSign" and an input signal from the camera to get the Vehicle Direction indication.

After comparison with "Vehicle_Turn_Status" if each of them is found equal, then each of the three corresponding outputs is compared against the camera input signal, by using the 'logical OR' Blocks will get the true case and take only one among them as output, the 'Mux' block is used.

And the final output from the Vehicle_Detection Model will indicate the vehicle_Direction indication.

Next by adding the SLDD_file to the model and by loading the calibration values and input/output values are defined.

Running the simulation will get the vehicle direction.

Results:

• The signs are in the way that Right, Left and Straight respectively.
• As the output is boolean, If we get the output as (0,0,1), Then the vehicle is moving in the straight drive.
• If the output is (1,0,0), Then the vehicle is taking in the Right turn.
• If the output is (1,0,1), Then the vehicle is taking the Left turn.

• After running the simulation, we can see that the vehicle is moving in a straight direction.

Conclusion:

Autonomous vehicles consist of various Advance Driver-Assistance System (ADAS) features. Vehicle Direction Detection is one of the features of vehicles.

Hence, created a Simulink model of Vehicle Direction Detection as per the Requirement data.