Project 1 (Mini Project on Vehicle Direction Detection

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:

Aim:

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

Procedure:

1. Creating a model "Vehicle Direction Detection" as per the given data.
2. Attaching the requirement document to the respective subsystems.
3. Creating a Simulink data dictionary (SLDD).
4. Generating a model advisor report.
5. Generation of code.

Vehicle_Direction_Determination Subsystem:

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).

• Requirement Tagging:

• Simulink Data Dictionary:

• Model Advisor Report:

• Code Generation Report:

/*
 * Event Support License -- for demonstration use and event support.  Not
 * for government, research, commercial, or other organizational use.
 *
 * File: project1.c
 *
 * Code generated for Simulink model 'project1'.
 *
 * Model version                  : 1.6
 * Simulink Coder version         : 9.7 (R2022a) 13-Nov-2021
 * C/C++ source code generated on : Tue Jan 31 20:41:39 2023
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "project1.h"
#include "rtwtypes.h"

/* External inputs (root inport signals with default storage) */
ExtU_project1_T project1_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_project1_T project1_Y;

/* Real-time model */
static RT_MODEL_project1_T project1_M_;
RT_MODEL_project1_T *const project1_M = &project1_M_;

/* Model step function */
void project1_step(void)
{
  int16_T rtb_Vehicle_Turn_Status;

  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Right_Turn_AngularLimit'
   *  Constant: '<S2>/Straight_Drive_Steering_Angle'
   *  Constant: '<S4>/Constant'
   *  Constant: '<S5>/Constant'
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '<S4>/Compare'
   *  RelationalOperator: '<S5>/Compare'
   *  Switch: '<S2>/Switch1'
   */
  if (project1_U.SteeringWheel_YawDegreeInput > 0) {
    rtb_Vehicle_Turn_Status = 30;
  } else if (project1_U.SteeringWheel_YawDegreeInput < 0) {
    /* Switch: '<S2>/Switch1' incorporates:
     *  Constant: '<S2>/Left_Turn_AngularLimit'
     */
    rtb_Vehicle_Turn_Status = -120;
  } else {
    rtb_Vehicle_Turn_Status = 0;
  }

  /* End of Switch: '<S2>/Switch' */

  /* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '<S3>/LeftTurn_RoadSign'
   *  Constant: '<S3>/Straight_RoadSign'
   *  Inport: '<Root>/CameraInput_RoadSign'
   *  Logic: '<S3>/AND'
   *  Logic: '<S3>/AND1'
   *  Logic: '<S3>/AND2'
   *  RelationalOperator: '<S3>/Relational Operator'
   *  RelationalOperator: '<S3>/Relational Operator1'
   *  RelationalOperator: '<S3>/Relational Operator2'
   */
  project1_Y.Vehicle_Direction_Indicator[0] = (project1_U.CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 30));
  project1_Y.Vehicle_Direction_Indicator[1] = (project1_U.CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == 0));
  project1_Y.Vehicle_Direction_Indicator[2] = (project1_U.CameraInput_RoadSign &&
    (rtb_Vehicle_Turn_Status == -120));
}

/* Model initialize function */
void project1_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void project1_terminate(void)
{
  /* (no terminate code required) */
}

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