Project 1 (Mini Project on Vehicle Direction Detection

Live Batch 2

Project-01 - Vehicle Direction Determination

General Overview:

• Identifying the vehicle's direction is one of the important & diverse features in Autonomous driving & Advanced Driver Assistance Features.
• This particular sub-feature of identifying the direction of the vehicle is basically determining the direction the vehicle is taking based on the camera input.
• The camera reads the road signs & stores them in its memory with unique values for the left turn, right turn & straight drive. Depending on the direction it is taking, the driver is given a final indication of whether he is driving in the recommended direction or not.
• Vehicle Direction Determination can also be coupled alongside 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.

The objective of the Mini 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, the Storage class for Input signals: ImportedExtern; the Storage class for Output signal: Export to File; the Storage class for local signals: localizable; the 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 the 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_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 outputs is compared against the camera input signal,
• Using a logical operator block, only one among them is finally given as the 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	-	-

Step1: Matlab model creation as per the requirement

Requirement 1:

Requirement 2:

Step2: MBD-compliant changes

Solver type Fixed step discreet (no continuous) with a sample time of 0.01 s.

Step 3: SLDD Creation

Step 4: Model Advisor Check

Step 5: Code Generation Using the S function

/*
 * File: Vehicle_Direction_Indicator.c
 *
 * Code generated for Simulink model 'Vehicle_Direction_Indicator'.
 *
 * Model version                  : 1.12
 * Simulink Coder version         : 9.7 (R2022a) 13-Nov-2021
 * C/C++ source code generated on : Mon Oct 24 07:53:52 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehicle_Direction_Indicator.h"
#include "rtwtypes.h"

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

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

/* Real-time model */
static RT_MODEL_Vehicle_Direction_In_T Vehicle_Direction_Indicator_M_;
RT_MODEL_Vehicle_Direction_In_T *const Vehicle_Direction_Indicator_M =
  &Vehicle_Direction_Indicator_M_;

/* Model step function */
void Vehicle_Direction_Indicator_step(void)
{
  int16_T rtb_Switch;

  /* Outputs for Atomic SubSystem: '<Root>/Vehicle_Direction_Detection' */
  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Left_Turn_AngularLimit'
   *  Constant: '<S2>/Right_Turn_AngularLimit'
   *  Constant: '<S4>/Constant'
   *  Constant: '<S5>/Constant'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '<S4>/Compare'
   *  RelationalOperator: '<S5>/Compare'
   *  Switch: '<S2>/Switch1'
   */
  if (Vehicle_Direction_Indicator_U.SteeringWheel_YawDegreeInput > 0.0) {
    rtb_Switch = 30;
  } else if (Vehicle_Direction_Indicator_U.SteeringWheel_YawDegreeInput == 0.0)
  {
    /* Switch: '<S2>/Switch1' incorporates:
     *  Constant: '<S2>/Straight_Drive_Steering_Angle'
     */
    rtb_Switch = 0;
  } else {
    rtb_Switch = -120;
  }

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

  /* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '<S3>/LeftTurn_RoadSign1'
   *  Constant: '<S3>/RightTurn_RoadSign'
   *  Constant: '<S3>/Straight_RoadSign'
   *  Inport: '<Root>/CameraInput_RoadSign'
   *  Logic: '<S3>/Logical Operator'
   *  Logic: '<S3>/Logical Operator1'
   *  Logic: '<S3>/Logical Operator2'
   *  RelationalOperator: '<S3>/Relational Operator'
   *  RelationalOperator: '<S3>/Relational Operator1'
   *  RelationalOperator: '<S3>/Relational Operator2'
   */
  Vehicle_Direction_Indicator_Y.Vehicle_Direction_Indicator_o[0] = ((rtb_Switch ==
    30) && Vehicle_Direction_Indicator_U.CameraInput_RoadSign);
  Vehicle_Direction_Indicator_Y.Vehicle_Direction_Indicator_o[1] = ((rtb_Switch ==
    -120) && Vehicle_Direction_Indicator_U.CameraInput_RoadSign);
  Vehicle_Direction_Indicator_Y.Vehicle_Direction_Indicator_o[2] = ((rtb_Switch ==
    0) && Vehicle_Direction_Indicator_U.CameraInput_RoadSign);

  /* End of Outputs for SubSystem: '<Root>/Vehicle_Direction_Detection' */
}

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

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

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

Step 6: Requirement Tagging

Taggings are provided with the attached word file.

Conclusion:

The Vehicle direction detection model is implemented as per the requirements and the results are shown. All the files are attached for further verification.