Project 1 (Mini Project on Vehicle Direction Detection

Advance Driver Assistance System:

Mini project-Vehicle Direction Determination

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:

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).

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	-	-

1. Designing the MATLAB Model:

This is 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

Requirment-1:

• Steering wheel input as yaw rate (Signal name: SteeringWheet_YawDegreeInput) isthe 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 streeting wheel is turninng towards.
• Use switch blocks to compare & develop this requirement. Keep this requirment in a subsystem & the output of this requirment is a local signal (Signal Name: Vehicle_Turn_Status).

Requirement 2:

• Keep this requirment as a seperate subsystem. Input to this requirment are a local siganl 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, Sraight_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 among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

2. Developing SLDD:

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.

3. Signal Resolution for inputs and outputs:

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.

4. 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.

5. Simulation:

The model is simulated too for checking for errors and warnings

6. Configuration Parameter Update:

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

7. Code generation:

Build model for generating code

Code :

/*
 * File: Subsystem2.c
 *
 * Code generated for Simulink model 'Subsystem2'.
 *
 * Model version                  : 1.6
 * Simulink Coder version         : 9.6 (R2021b) 14-May-2021
 * C/C++ source code generated on : Wed Dec  7 10:16:37 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Subsystem2.h"
#include "Subsystem2_private.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_Roadsign = -120;
                                   /* Referenced by: '/LeftTurn_Roadsign' */
const int16_T Left_Turn_AngularLimit = -120;
                              /* Referenced by: '/Left_Turn_AngularLimit' */
const int16_T RightTurn_Roadsign = 30;
                                  /* Referenced by: '/RightTurn_Roadsign' */
const int16_T Right_Turn_AngularLimit = 30;
                             /* Referenced by: '/Right_Turn_AngularLimit' */
const int16_T Straight_Drive_Steering_Angle = 0;
                       /* Referenced by: '/Straight_Drive_Steering_Angle' */
const int16_T Stright_Roadsign = 0; /* Referenced by: '/Stright_Roadsign' */

/* 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_Vehicle_Turn_Status;

  /* Outputs for Atomic SubSystem: '/Subsystem2' */
  /* Switch: '/Switch1' incorporates:
   *  Constant: '/Left_Turn_AngularLimit'
   *  Constant: '/Right_Turn_AngularLimit'
   *  Constant: '/Constant'
   *  Constant: '/Constant'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '/Compare'
   *  RelationalOperator: '/Compare'
   *  Switch: '/Switch'
   */
  if (Subsystem2_U.SteeringWheel_YawDegreeInput > 0.0) {
    rtb_Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (Subsystem2_U.SteeringWheel_YawDegreeInput == 0.0) {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Straight_Drive_Steering_Angle'
     */
    rtb_Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  } else {
    rtb_Vehicle_Turn_Status = Left_Turn_AngularLimit;
  }

  /* End of Switch: '/Switch1' */

  /* Outport: '/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '/LeftTurn_Roadsign'
   *  Constant: '/RightTurn_Roadsign'
   *  Constant: '/Stright_Roadsign'
   *  Inport: '/CameraInput_Roadsign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  Logic: '/OR'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   */
  Subsystem2_Y.Vehicle_Direction_Indicator = ((Subsystem2_U.CameraInput_Roadsign
    && (rtb_Vehicle_Turn_Status == RightTurn_Roadsign)) ||
    (Subsystem2_U.CameraInput_Roadsign && (rtb_Vehicle_Turn_Status ==
    Stright_Roadsign)) || (Subsystem2_U.CameraInput_Roadsign &&
    (rtb_Vehicle_Turn_Status == LeftTurn_Roadsign)));

  /* End of Outputs for SubSystem: '/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]
 */

8. Generate a SIL block: