Project 1 (Mini Project on Vehicle Direction Detection
Aim:
To identify the direction of the vehicle based on the camera input
Objective of Mini 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: ImportedExtern; 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
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).
General Overview:-
Vehicle direction examination plays a vital role in several different application. various such application are Driver Assisatnce sysytem, Electronic Toll collection and Intelligent Parking system. Particularly in wrongdoing anticipation and mischance examination this feature cab be an added advantage. Also as to increase the security level for both the driver and the other vehicle running over the road detection of direction of vehicle is an upperhand to avoid any collision or fatality.
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.
For this project there were several steps taken which are as follows:-
- Developement of the Desired model
- Configuration Parameter Setting
- Linking of the Simulink Data Dictionary
- Requirement Tagging
- Signal resolving and Signal Propogation
- Model Advisor Report Generation
- C-code generation
Development of the Required Model:-
As per the objective of the project the model has benn developed
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).
Subsystem is developed by the name of requirement which contain following elemenst:-
- Here the input which is SteeringWheel_YawDegreeInput is applied over the three to relational operator (which is having equal to operator) and then correponding output of the relation operator is applied to the control gate of their corresponding switches. And at last the Outport of the subsystem is named as Vehicle_Turn_Status.
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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).
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- There are two input in this subsystem which are Vehicle_Turn_Status and CameraInput_RoadSign and these were applied to the relational operator (equal to) and logical AND opertaor as shown in the above image. The ouput of those AND gate are applied to the Mux and then through the signal conversion block the output of the subsystem is named as Vehicle_Direction_Indictaor.
Creation of Simulink Data Dictionary:-
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
-
-
Same has been updated in the Design data of veh_dir_det_dd.sldd
Simulink data dictionary is created with the file name of veh_dir_det_dd and the following simulink signal and parameter are added as per the given requirement.
Configuration Parameter settings:
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Solver Type is changed from variable step to Fixed step and Solver type is selected as Discrete ( No continuous state) and also sample time is declared as 0.01 sec as per the project requirement.
Also under the Code generation option selecting embedded real time as system target file (ert.tlc) under target selection option.
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Requirement Tagging:-
A MS Word file is created which contain all the requirements and necessary information to develop the model appropiately. This Word file is tagged for both the subsystem requirement1 and Requirement2 respectively.
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Signal Resolving and Signal Tagging:-
All the input signal and Output signal are resolved at the root level of the model and propogated accordingly as shown below:-
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Model Advisor Report Generation:-
To generate the report we have to go over the Modelling tab and then there at Extreme left corner there is a option of Model Advisor and selecting Model Advisor in it.
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Then under the By task option unselecting all the previously selcted option and then selecting the Modelling Standard for MAB there and in the right box there is option to Run sleected check and clicking over there will run the selected checks
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include "Vehicle_Direction_Detection_Mini_Project.h"#include "rtwtypes.h"#include "Vehicle_Direction_Detection_Mini_Project_private.h"/* Exported data definition *//* Definition for custom storage class: ExportToFile */boolean_T Vehicle_Direction_Indicator[3];/* '<S3>/Signal Conversion' *//* ConstVolatile memory section *//* Definition for custom storage class: ConstVolatile */const volatile int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S7>/Constant' */const volatile int16_T Left_Turn_Angular_Limit = -120;/* Referenced by: '<S2>/Constant1' */const volatile int16_T RightTurn_RoadSign = 30;/* Referenced by: '<S6>/Constant' */const volatile int16_T Right_Turn_Angular_Limit = 30;/* Referenced by: '<S2>/Constant' */const volatile int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant2' */const volatile int16_T Straight_RoadSign = 0;/* Referenced by: '<S8>/Constant' *//* External inputs (root inport signals with default storage) */ExtU_Vehicle_Direction_Detect_T Vehicle_Direction_Detection_M_U;/* Real-time model */static RT_MODEL_Vehicle_Direction_De_T Vehicle_Direction_Detection__M_;RT_MODEL_Vehicle_Direction_De_T *const Vehicle_Direction_Detection__M =&Vehicle_Direction_Detection__M_;/* Model step function */void Vehicle_Direction_Detection_Mini_Project_step(void){/* local block i/o variables */int16_T Vehicle_Turn_Status;/* Switch: '<S2>/Switch1' incorporates:* Constant: '<S4>/Constant'* Constant: '<S5>/Constant'* Inport: '<Root>/SteeringWheel_YawDegreeInput'* RelationalOperator: '<S4>/Compare'* RelationalOperator: '<S5>/Compare'* Switch: '<S2>/Switch'*/if (SteeringWheel_YawDegreeInput > 0) {/* Switch: '<S2>/Switch1' incorporates:* Constant: '<S2>/Constant'*/Vehicle_Turn_Status = Right_Turn_Angular_Limit;} else if (SteeringWheel_YawDegreeInput == 0) {/* Switch: '<S2>/Switch' incorporates:* Constant: '<S2>/Constant2'* Switch: '<S2>/Switch1'*/Vehicle_Turn_Status = Straight_Drive_Steering_Angle;} else {/* Switch: '<S2>/Switch1' incorporates:* Constant: '<S2>/Constant1'* Switch: '<S2>/Switch'*/Vehicle_Turn_Status = Left_Turn_Angular_Limit;}/* End of Switch: '<S2>/Switch1' *//* SignalConversion: '<S3>/Signal Conversion' incorporates:* Constant: '<S6>/Constant'* Constant: '<S7>/Constant'* Constant: '<S8>/Constant'* Inport: '<Root>/CameraInput_RoadSign'* Logic: '<S3>/AND'* Logic: '<S3>/AND1'* Logic: '<S3>/AND2'* RelationalOperator: '<S6>/Compare'* RelationalOperator: '<S7>/Compare'* RelationalOperator: '<S8>/Compare'*/Vehicle_Direction_Indicator[0] = ((Vehicle_Turn_Status == RightTurn_RoadSign) &&Vehicle_Direction_Detection_M_U.CameraInput_RoadSign);Vehicle_Direction_Indicator[1] = ((Vehicle_Turn_Status == LeftTurn_RoadSign) &&Vehicle_Direction_Detection_M_U.CameraInput_RoadSign);Vehicle_Direction_Indicator[2] = ((Vehicle_Turn_Status == Straight_RoadSign) &&Vehicle_Direction_Detection_M_U.CameraInput_RoadSign);}/* Model initialize function */void Vehicle_Direction_Detection_Mini_Project_initialize(void){/* (no initialization code required) */}/* Model terminate function */void Vehicle_Direction_Detection_Mini_Project_terminate(void){/* (no terminate code required) */}/** File trailer for generated code.** [EOF]*/C:\Users\Amilan\Desktop\Project_VDD\Vehicle_Direction_Detection_Mini_Project_ert_rtw\Vehicle_Direction_Detection_Mini_Project.cLn35Col64
Conclusion:
Created a Simulink Data Dictionary file and Simulink model for Vehicle Direction Detection system.
Note:
In this manner the Mini Project of Vehicle Direction Detection has been finally made and the zip file containing all the necessary document is attached.