Challenge

Project 1 (Mini Project on Vehicle Direction Detection

SSahil Kanchan13 Oct 2022

Aim:

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

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:

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	-	-

MODEL DEVELOPMENT:

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

There are 2 requirements are designed in two subsystem

Requirement - 1:

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 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:

2)Vehicle_Direction_Indicator_Subsystem:

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_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).

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.

Creation of Simulink Data Dictionary file (SLDD):

First you go to model then click to link to data dictionary. then click the new and put the sldd file name and browse the file.after browsing the sldd file go to model worksplace and put the all input and output signal in design data box.

A Simulink Data Dictionary (SLDD) file is created that contains input, output signals and calibration parameters used in the model. SLDD file is created by clicking on Modeling, then ‘Model Properties’, then ‘External Data’ and specifying a file name for the Data Dictionary.

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 selected option and then selecting the Modelling Standard for MAB there and in the right box there is option to Run selected check and clicking over there will run the selected checks

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

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

Embedded Coder (Code Generation):

Using embedded coder convert the simulnik model as a ‘c code’ file. This file is code generation file.

Go to embedded coder then click on building option. Then c code file automatically was created.

* File: slddd.c

* Code generated for Simulink model 'slddd'.

* Model version : 1.29

* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021

* C/C++ source code generated on : Thu Oct 13 16:43:17 2022

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

#include "slddd.h"

#include "rtwtypes.h"

/* Exported data definition */

/* Const memory section */

/* Definition for custom storage class: Const */

const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S5>/Constant' */

const real_T Left_Turn_AngularLimit = -120.0;/* Referenced by: '<S3>/Constant1' */

const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S4>/Constant' */

const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '<S3>/Constant' */

const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S3>/Constant2' */

const int16_T Straight_RoadSign = 0; /* Referenced by: '<S6>/Constant' */

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

ExtU_slddd_T slddd_U;

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

ExtY_slddd_T slddd_Y;

/* Real-time model */

static RT_MODEL_slddd_T slddd_M_;

RT_MODEL_slddd_T *const slddd_M = &slddd_M_;

/* Model step function */

void slddd_step(void)

{

real_T rtb_Switch;

/* Switch: '<S3>/Switch' incorporates:

* Constant: '<S3>/Constant'

* Constant: '<S3>/Constant2'

* Inport: '<Root>/SteeringWheel_YawDegreeInput'

* Switch: '<S3>/Switch1'

if (slddd_U.SteeringWheel_YawDegreeInput >= 30.0) {

rtb_Switch = Right_Turn_AngularLimit;

} else if (slddd_U.SteeringWheel_YawDegreeInput != 0.0) {

/* Switch: '<S3>/Switch1' incorporates:

* Constant: '<S3>/Constant1'

rtb_Switch = Left_Turn_AngularLimit;

} else {

rtb_Switch = Straight_Drive_Steering_Angle;

}

/* End of Switch: '<S3>/Switch' */

/* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:

* Constant: '<S4>/Constant'

* Constant: '<S5>/Constant'

* Constant: '<S6>/Constant'

* Inport: '<Root>/CameraInput_RoadSign'

* Logic: '<S2>/Logical Operator'

* Logic: '<S2>/Logical Operator1'

* Logic: '<S2>/Logical Operator2'

* Logic: '<S2>/Logical Operator3'

* RelationalOperator: '<S4>/Compare'

* RelationalOperator: '<S5>/Compare'

* RelationalOperator: '<S6>/Compare'

slddd_Y.Vehicle_Direction_Indicator = (((rtb_Switch == RightTurn_RoadSign) &&

slddd_U.CameraInput_RoadSign) || ((rtb_Switch == LeftTurn_RoadSign) &&

slddd_U.CameraInput_RoadSign) || ((rtb_Switch == Straight_RoadSign) &&

slddd_U.CameraInput_RoadSign));

}

/* Model initialize function */

void slddd_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void slddd_terminate(void)

{

/* (no terminate code required) */

}

* File trailer for generated code.

* [EOF]

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.