Project 1 (Mini Project on Vehicle Direction Detection

Mini Project on Vehicle Direction Detection

Aim: To create the Vehicle Direction Determination model according to the given requirements.

Objective:

• 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 the 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

Theory:

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 the vehicle is basically taking based on the camera input.

The camera reads the road signs & stores them into its memory with unique values for a left turn, right turn & straight drive. Depending on the direction it is taking, the 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 alongside 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.

MATLAB Model:

Inside the Subsystem:

Requirement1 Subsystem:

• 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 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 steering wheel is turning towards.
• Use switch blocks to compare & develop this requirement. Keep this requirement in a subsystem & the output of this requirement is a local signal (Signal Name: Vehicle_Turn_Status).

Requirement2 Subsystem:

• 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).

Result:

Output for both Right turn and Left turn:

SLDD file:

Model Advisor Report:

Code generation:

#include "adas_miniproject1.h"
#include "adas_miniproject1_private.h"
ExtU_adas_miniproject1_T adas_miniproject1_U;
ExtY_adas_miniproject1_T adas_miniproject1_Y;
static RT_MODEL_adas_miniproject1_T adas_miniproject1_M_;
RT_MODEL_adas_miniproject1_T *const adas_miniproject1_M = &adas_miniproject1_M_;
void adas_miniproject1_step(void)
{
  int16_T rtb_Vehicle_Turn_Status;
  if (adas_miniproject1_U.SteeringWheel_YawDegreeInput >= 0) {
    rtb_Vehicle_Turn_Status = 30;
  } else if (adas_miniproject1_U.SteeringWheel_YawDegreeInput != 0) {
    rtb_Vehicle_Turn_Status = -120;
  } else {
    rtb_Vehicle_Turn_Status = 0;
  }
  adas_miniproject1_Y.Vehicle_Direction_Indicator[0] = ((30 *
    rtb_Vehicle_Turn_Status != 0) || adas_miniproject1_U.CameraInput_RoadSign);
  adas_miniproject1_Y.Vehicle_Direction_Indicator[1] = ((-120 *
    rtb_Vehicle_Turn_Status != 0) || adas_miniproject1_U.CameraInput_RoadSign);
  adas_miniproject1_Y.Vehicle_Direction_Indicator[2] =
    adas_miniproject1_U.CameraInput_RoadSign;
}
void adas_miniproject1_initialize(void)
{
}
void adas_miniproject1_terminate(void)
{
}

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