Challenge

Project 1 (Mini Project on Vehicle Direction Detection

Vehicle Direction Detection -

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 the 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: Imported Extern; 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

The Design Requirements are given as below -

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 and caliberation 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	-	-

Now we will design the model as per given the requirements -

The simulink model would look like this -

This is the main block diagram which contains two input ports, one subsystem, display and one output port.
SteeringWheel_YawDegreeInput and CameraInput_Roadsign are the two inputs.
Vehicle_Direction_Detection is the main subsystem.
Vehicle_Detection_Indicator is the output port and the status is displayed in the display.

Now we will design Vehicle_Direction_Detection subsystem -

Now we will design the Requirement_1 subsystem and it looks like this -

It has three compare to constant blocks.
Right_Turn_AngularLimit, Left_Turn_AngularLimit and Straight_Drive_Steering_Angle are renamed from compare to constant blocks.
And it has two switches. and have the comparision inputs as >=30 and ~=0 .

Now we will design the Requirement_2 subsystem and it looks like this -

It has also three compare to constant blocks.
RightTurn_RoadSign, LeftTurn_Roadsign and straight_RoadSign are renamed with compare to constant block.
and these are given to OR logical operator block.
The outputs are connected to mux output. and the output of the mux is Vehicle_Direction_Indicator.

After designing all the required subsystems and the total model we need to create the simulink data dictionary .sldd file.

We saved this sldd file as VehicleDirectiondetection.sldd

After creating the file we manually add all the simulink signals and data to the file as shown above.

Now we will run the model and get the output as follows -

This is for straight turn.

This is for right turn.

This is for left turn.

This is how we get the desired output.

Now to generate C- code and and build the code we follow these steps -

Firstly, we need to change the model setting as follows -

Go to model settings and click on the solver configuration.
In that fixed step type option should be choosen.
Now in the same window goto code generation block and click on that system target column opens.
In the system target block choose ert.tlc and apply it.

Steps to perform SIL -

In this method C- code is checked instead of cheking the test cases.
Firstly right click on the subsystem and click on C++/C code and we should generate a S - function.
Now the pop - up window comes and in that click on build option.
Now the code gets geerated.
Copy the code ortake the screen shot of that.
This is how we perform the SIL by creating S - function.

The model link is -

Conclusion -

All the desired outputs are achieved with proper steps. The required screenshots are attached and also the simulink files( slx ) are attached above.

Ship work like this
in your own course.