Project 1 (Mini Project on Vehicle Direction Detection

Vehicle Direction Determination

Objective:

1. To 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

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

MAIN MODEL:

1. To development of MATLAB Simulink model as per requirement.

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	-	-

Data Dictionary creation:

SDLL-file:

MODEL ADVISOR:

Code Generation:

/*
 * File: project.c
 *
 * Code generated for Simulink model 'project'.
 *
 * Model version                  : 1.1
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Mon Sep 13 12:24:10 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives:
 *    1. Execution efficiency
 *    2. RAM efficiency
 * Validation result: Not run
 */

#include "project.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
boolean_T Vehicle_Direction_Indicator; /* '<S2>/Logical Operator3' */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by:
                                             * '<S1>/Left Turn'
                                             * '<S4>/Constant'
                                             */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by:
                                            * '<S1>/Right Turn'
                                            * '<S3>/Constant'
                                            */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by:
                                                 * '<S1>/Straight Drive'
                                                 * '<S5>/Constant'
                                                 */

/* Model step function */
void project_step(void)
{
  /* local block i/o variables */
  int16_T Vehicle_Turn_Status;

  /* Switch: '<S1>/Switch1' incorporates:
   *  Constant: '<S1>/Right Turn'
   *  Constant: '<S1>/Straight Drive'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  Switch: '<S1>/Switch'
   */
  if (SteeringWheel_YawDegreeInput > 0) {
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput > 0) {
    /* Switch: '<S1>/Switch' incorporates:
     *  Constant: '<S1>/Left Turn'
     */
    Vehicle_Turn_Status = Left_Turn_AngularLimit;
  } else {
    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  }

  /* End of Switch: '<S1>/Switch1' */

  /* Logic: '<S2>/Logical Operator3' incorporates:
   *  Constant: '<S3>/Constant'
   *  Constant: '<S4>/Constant'
   *  Constant: '<S5>/Constant'
   *  Inport: '<Root>/CameraInput_RoadSign'
   *  Logic: '<S2>/Logical Operator'
   *  Logic: '<S2>/Logical Operator1'
   *  Logic: '<S2>/Logical Operator2'
   *  RelationalOperator: '<S3>/Compare'
   *  RelationalOperator: '<S4>/Compare'
   *  RelationalOperator: '<S5>/Compare'
   */
  Vehicle_Direction_Indicator = (((Vehicle_Turn_Status ==
    Right_Turn_AngularLimit) && CameraInput_RoadSign) || ((Vehicle_Turn_Status ==
    Left_Turn_AngularLimit) && CameraInput_RoadSign) || ((Vehicle_Turn_Status ==
    Straight_Drive_Steering_Angle) && CameraInput_RoadSign));
}

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

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

CONCLUSION:

Autonomous vehicle consists of various Advance Driver-Assistance System(ADAS) features. Vehicle Direction Detection is one the features of the vehicles.

Hence, created an simulink model of Vehicle Direction Detection as per the requirement data.