Project 1 (Mini Project on Vehicle Direction Detection

Mini Project - Vehicle Direction Determination

Aim:

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

Objective:

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).

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.

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:

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 threshold value then the switch will takes the True condition (Right_Turn_AngularLimit) else false condition. In the second switch the threshold value is zero, if the threshold value is not equal to zero then the switch will takes 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 camera to get the Vehicle Direction indicaton.
• After comparision with "Vehicle_Turn_Status" if each of them is found equal, then each of the three corresponding output is compared against the camera input signal, by using the 'logical OR' Blocks will get the true case and to take only one among them as output, the 'Mux' block is used.
• And the final output from the Vehicle_Detection Model will indicates 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.
• By running the simulation will get the vehicle direction.

MODEL ADVISORY REPORT:

CODE GENERATION:

vehicle_direction.c

/*

* File: vehicle_direction.c

*

* Code generated for Simulink model 'vehicle_direction'.

*

* Model version : 1.12

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Tue Oct 18 20:58:45 2022

*

* Target selection: ert.tlc

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

* Code generation objectives: Unspecified

* Validation result: Not run

*/

#include "vehicle_direction.h"

#include "vehicle_direction_private.h"

/* Exported data definition */

/* Const memory section */

/* Definition for custom storage class: Const */

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

const int16_T Left_Turn_AngularLimit = -120;

/* Referenced by: '<S2>/Left_Turn_AngularLimit' */

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

const int16_T Right_Turn_AngularLimit = 30;

/* Referenced by: '<S2>/Right_Turn_AngularLimit' */

const int16_T Straight_Drive_Steering_Angle = 0;

/* Referenced by: '<S2>/Straight_Drive_Steering_Angle' */

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

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

ExtY_vehicle_direction_T vehicle_direction_Y;

/* Model step function */

void vehicle_direction_step(void)

{

int16_T rtb_Vehicle_Turn_Status;

/* Switch: '<S2>/Switch' incorporates:

* Constant: '<S2>/Right_Turn_AngularLimit'

* Constant: '<S2>/Straight_Drive_Steering_Angle'

* Inport: '<Root>/SteeringWheel_YawDegreeInput'

* Switch: '<S2>/Switch1'

*/

if (SteeringWheel_YawDegreeInput > 0) {

rtb_Vehicle_Turn_Status = Right_Turn_AngularLimit;

} else if (SteeringWheel_YawDegreeInput != 0) {

/* Switch: '<S2>/Switch1' incorporates:

* Constant: '<S2>/Left_Turn_AngularLimit'

*/

rtb_Vehicle_Turn_Status = Left_Turn_AngularLimit;

} else {

rtb_Vehicle_Turn_Status = Straight_Drive_Steering_Angle;

}

/* End of Switch: '<S2>/Switch' */

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

* Constant: '<S4>/Constant'

* Constant: '<S5>/Constant'

* Constant: '<S6>/Constant'

* Inport: '<Root>/CameraInput_RoadSign'

* Logic: '<S3>/LogicalOperator'

* Logic: '<S3>/LogicalOperator1'

* Logic: '<S3>/LogicalOperator2'

* RelationalOperator: '<S4>/Compare'

* RelationalOperator: '<S5>/Compare'

* RelationalOperator: '<S6>/Compare'

*/

vehicle_direction_Y.Vehicle_Direction_Indicator[0] = ((rtb_Vehicle_Turn_Status

== RightTurn_RoadSign) && CameraInput_RoadSign);

vehicle_direction_Y.Vehicle_Direction_Indicator[1] = ((rtb_Vehicle_Turn_Status

== LeftTurn_RoadSign) && CameraInput_RoadSign);

vehicle_direction_Y.Vehicle_Direction_Indicator[2] = ((rtb_Vehicle_Turn_Status

== Straight_RoadSign) && CameraInput_RoadSign);

}

/* Model initialize function */

void vehicle_direction_initialize(void)

{

/* Registration code */

/* external outputs */

(void) memset(&vehicle_direction_Y.Vehicle_Direction_Indicator[0], 0,

3U*sizeof(boolean_T));

}

/*

* File trailer for generated code.

*

* [EOF]

*/

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 as (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 clearly see that the vehicle is moving the straight direction.

Conclusion:

• Autonomous vehicles consists of various Advance Driver-Assistance System (ADAS) features. Vehicle Driection Detection is one the features of the vehicles.
• Hence, created an Simulink model of Vehicle Direction Detection as per the Requirement