Project 1 (Mini Project on Vehicle Direction Detection

Pratik Mankar

MBD Live Batch 2

Mini Project - Vehicle Direction Determination

AIM

To create the Vehicle Direction Determination model according to the given requirements.

INTRODUCTION

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.

Vehicle examination is critical undertaking in different apllications.it is an important process in several purposes. various such application are driver assistance system ,electronic toll collection, intelligent parking system. particularly I wrongdoing anticipation and mischance examination the assignment cal give helpful data.

One such application in order to enhance the detection of vehicles is to determine the direction of vehicles. using the increasing need for security consciousness.

Identifying the direction of vehicle is one of the important and diverse features in autonomous driving and advance driver assistance features this particular sub features of identifying the direction of vehicle is basically identifying the direction of vehicle is taking based on the camera input.

Camera reads the road signs and stores into its memory with unique value 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 n the recommended direction or not.

OBJECTIVE

• 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.

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	-	-

STEP 1

DESIGNING THE MODEL

This the main model of subsystem that having two inputs SteeringWheel_YawDegreeInput and CameraInput_RoadSign entering into the Vehicle Detection Determination subsystem and one output Vehicle_Direction_Indicator.

Requirement - 1

Vehicle_Turn_Status_Subsystem

• 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

Vehicle_Direction_Indicator_Subsystem

• 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).

REQUIREMENT OF TAGGING

All the requirements are tagged in order for better understandability, anyone who is reviewing the model or who is trying to update the model can get a clear idea of what logic is used in the system. from the requirement manager, we can see what are all are tagged and the description.

Firstly I wrote all requirement in word file then I select my first requirement then I return on model select my first subsystem right click on it then goto requirements and link to selection in word then my subsystem box is highlited and linked.in this way i link my second subsyem with requirement 2.

REQUIREMENT 1 TAG WITH SUBSYSTEM 1

REQUIREMENT 1 TAG WITH SUBSYSTEM 1

STEP 2

MODEL CONFIGURATION

Now from model setting> solver configuration> type-fixed-step >solver- discrete solver>stepsize= 0.01seconds

STEP 3

LINK TO DATA DICTIONARY AND CREAT A NEW SLDD

• Create a sldd file according to the data given in question.
• modeling > link to data dictionary > new( create new sldd file)
• Then access the sldd file from modeling> model explorer>Vehicle Direction Determination> expand external data> design data( input signal and parameters there)

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	-	-

All the inputs, outputs, calibration parameters are saved in SLDD so while simulation the model takes all the values and its parameters from the Simulink Data Dictionary.

SIGNAL RESOLUTION FOR INPUT AND OUTPUT

the inputs and output signals are resolved so the signals will take the values from sldd and pass them to the logical blocks. Otherwise, it may take some junk values if it is unresolved.

MODEL UPDATE

The model update is done by Ctrl-D. this is done to check for any static errors. If there are no errors coming the model is working fine without any errors.

SIMULATION

The model is simulated too for checking for errors and warnings.

CONFIGURATION PARAMETER UPDATE

Various configuration parameters are updated as per the code generation the solver type should be fix for code generation

STEP 4

MODEL ADVISOR

Get a Model Advisor Check>by task>ony check modelling standards with MAB>Run selected checks

STEP 5

CODE GENERATION

/*
 * File: Project_on_Vehicle_Direction_Detection_1634144274.c
 *
 * Code generated for Simulink model 'Project_on_Vehicle_Direction_Detection_1634144274'.
 *
 * Model version                  : 1.12
 * Simulink Coder version         : 10.6 (R2022b) 25-Sep-2020
 * C/C++ source code generated on : Thu Sep 29 18:12:10 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Project_on_Vehicle_Direction_Detection_1634144274.h"
#include "Project_on_Vehicle_Direction_Detection_1634144274_private.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
boolean_T Vehicle_Direction_Indicator; /* '/OR' */

/* Real-time model */
static RT_MODEL_Project_on_Vehicle_D_T Project_on_Vehicle_Direction_M_;
RT_MODEL_Project_on_Vehicle_D_T *const Project_on_Vehicle_Direction_M =
  &Project_on_Vehicle_Direction_M_;

/* Model step function */
void Project_on_Vehicle_Direction_Detection_1634144274_step(void)
{
  int32_T rtb_Vehicle_Turn_Status;

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Left_Turn_AngularLimit'
   *  Constant: '/Right_Turn_AngularLimit'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  Switch: '/Switch1'
   */
  if (SteeringWheel_YawDegreeInput > 25) {
    rtb_Vehicle_Turn_Status = 30;
  } else if (SteeringWheel_YawDegreeInput > 0) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Straight_Drive_Steering_Angle'
     */
    rtb_Vehicle_Turn_Status = 0;
  } else {
    rtb_Vehicle_Turn_Status = -120;
  }

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

  /* Logic: '/OR' incorporates:
   *  Constant: '/LeftTurn_RoadSign'
   *  Constant: '/RightTurn_RoadSign'
   *  Constant: '/Straight_RoadSign'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/Logical Operator'
   *  Logic: '/Logical Operator1'
   *  Logic: '/Logical Operator3'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Vehicle_Direction_Indicator = ((CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 30)) || (CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == -120)) || (CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 0)));
}

/* Model initialize function */
void Project_on_Vehicle_Direction_Detection_1634144274_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void Project_on_Vehicle_Direction_Detection_1634144274_terminate(void)
{
  /* (no terminate code required) */
}

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

CONCLUSION

I make model of vehicle direction determination model and as per given requirements also i make sldd for it. all input output signals resolved and propageted ,then I check error with model advisor report I passed in that report and my code is generated successfully.In this way I done my project and get result satisfactory.