Project 1 (Mini Project on Vehicle Direction Detection

// Mahanmadijaj Shekh

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 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_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 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).

Objectives of the project:

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

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 of Vehicle Direction Detection -

Subsystem of the main model -

Requirement 1, the corresponding subsystem is

Requirement 2, the corresponding subsystem is -

Procedures:

1. Tagging of the Requirement with the Model:

2. Linking the Model with SLDD:

3. Resolving and Propagating the Signal at various stages:

4. Changes in Configuration parameters for simulation and code generation:

for solver -

for code generartion -

Result -

for right turn Initial Value of the input signal SteeringWheel_YawDegreeInput is taken as 30 in the SLDD

for Left turn Initial Value of the input signal SteeringWheel_YawDegreeInput is taken as -120 in the SLDD

for Straight Drive Initial Value of the input signal SteeringWheel_YawDegreeInput is taken as 0 in the SLDD

Code Generation -

/*
* File: Subsystem2.c
*
* Code generated for Simulink model 'Subsystem2'.
*
* Model version : 1.2
* Simulink Coder version : 9.8 (R2022b) 13-May-2022
* C/C++ source code generated on : Tue Nov 22 23:51:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "Subsystem2.h"
#include "rtwtypes.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S3>/Constant4' */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by: '<S2>/Constant1' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S3>/Constant3' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '<S2>/Constant' */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant2' */
const int16_T Straight_RoadSign = 0; /* Referenced by: '<S3>/Constant5' */

/* External inputs (root inport signals with default storage) */
ExtU_Subsystem2_T Subsystem2_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Subsystem2_T Subsystem2_Y;

/* Real-time model */
static RT_MODEL_Subsystem2_T Subsystem2_M_;
RT_MODEL_Subsystem2_T *const Subsystem2_M = &Subsystem2_M_;

/* Model step function */
void Subsystem2_step(void)
{
int16_T rtb_Switch;

/* Outputs for Atomic SubSystem: '<Root>/Subsystem2' */
/* Switch: '<S2>/Switch' incorporates:
* Constant: '<S2>/Constant'
* Constant: '<S2>/Constant2'
* Inport: '<Root>/SteeringWheel_YawDegreeInput1'
* Switch: '<S2>/Switch1'
*/
if (Subsystem2_U.SteeringWheel_YawDegreeInput1 >= 30.0) {
rtb_Switch = Right_Turn_AngularLimit;
} else if (Subsystem2_U.SteeringWheel_YawDegreeInput1 != 0.0) {
/* Switch: '<S2>/Switch1' incorporates:
* Constant: '<S2>/Constant1'
*/
rtb_Switch = Left_Turn_AngularLimit;
} else {
rtb_Switch = Straight_Drive_Steering_Angle;
}

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

/* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
* Constant: '<S3>/Constant3'
* Constant: '<S3>/Constant4'
* Constant: '<S3>/Constant5'
* Inport: '<Root>/CameraInput_RoadSign'
* Logic: '<S3>/OR'
* Logic: '<S3>/OR1'
* Logic: '<S3>/OR2'
* RelationalOperator: '<S3>/Equal'
* RelationalOperator: '<S3>/Equal1'
* RelationalOperator: '<S3>/Equal3'
*/
Subsystem2_Y.Vehicle_Direction_Indicator[0] = ((rtb_Switch ==
RightTurn_RoadSign) || Subsystem2_U.CameraInput_RoadSign);
Subsystem2_Y.Vehicle_Direction_Indicator[1] = ((rtb_Switch ==
LeftTurn_RoadSign) || Subsystem2_U.CameraInput_RoadSign);
Subsystem2_Y.Vehicle_Direction_Indicator[2] = ((rtb_Switch ==
Straight_RoadSign) || Subsystem2_U.CameraInput_RoadSign);

/* End of Outputs for SubSystem: '<Root>/Subsystem2' */
}

/* Model initialize function */
void Subsystem2_initialize(void)
{
/* (no initialization code required) */
}

/* Model terminate function */
void Subsystem2_terminate(void)
{
/* (no terminate code required) */
}

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

Conclusion:

The model corresponding to Vehicel Direction Detection is successfully implemented. All the compliant changes pertaining to MBD, requirement tagging, linking of the model to the SLDD, Code generation and ultimately generation of the Model Advisor Report is presented with detailed analysis