Project 1 (Mini Project on Vehicle Direction Detection

Aim : To develop a MATLAB Simulink model for Vehicle Direction Detection as per requirement and generate C-code for it.

Objective :

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

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.

Procedure :

Signals & Calibration Data List for SLDD file :

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	-	-

Steps to create the simulink data Dictionary (SLDD) file :

• In simulink model Goto modeling tab -> Select model settings ->Model properties -> select External data
• Under External data tab we can see a blank tab Data Dictionary in that create the sldd file and uncheck the Enable model access to base workspace.
• Finally press ok now simulink data dictionary file is created succesfully with filename.sldd extension.

• In the simulink model select the modeling tab -> select model explorer.

• Below picture shows how to add simulink signal and add simulink parameters.

• For constant parameter and output signal we need to give name for header file and definition file. Note keep always same name for all the constant parameters and output signals add in the data dictionary.

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).

• As per the given requirement-1 the created model is shown above.
• Switch block parameters.

• Resolve the Input and output signals.
• To resolve the signals select the spectific signal and right click on it -> select properties.

Requirement1 block :

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).

After creation of the substem for the Requirement-1 and Requirement-2 the model will looks like below.

Tagging the requirements to the subsystems Requirement-1 & Requirement-2.

I. Tag the requirement to the Requirement-1 subsystem:

• For tag requirements in Requirement-1 subsystem first click on the subsystem and then right click on it -> Goto Requirements -> select 'Link to selection in work'.
• Meanwhile in word document highlight which of the thing need to tag.

II. Tag the requirement to the Requirement-2 subsystem:

- Similarly for tag requirements in Requirement-2 subsystem first click on the subsystem and then right click on it -> Goto Requirements -> select 'Link to selection in work'.

- Meanwhile in word document highlight which of the thing need to tag.

MBD compliant changes : Under modeling tab -> select model setting. Then the model setting dialoug box will open now.

Vehicle Direction Detection simulink model :

Now a check is performed using Model Advisor tool in simulink to see whether the develped model meets the modeling standards for MAAB (MathWorks Automotive Advisory Board).

Finally generate the code for the created vehicle_direction_detection model.

• To generate code select the substem named as vehicle direction detection and then In matlab on the simulink model file embedded coder tool box is availabele under APPS tab click on it.
• A new tab C CODE is open next to the APPS tab under that tab click athe Generate Code.

• After click on the generate code then the C Code is generated for the created model.

Code Generated for this model:

* File: Vehicle_Dir_Deter.c
 *
 * Code generated for Simulink model 'Vehicle_Dir_Deter'.
 *
 * Model version                  : 1.13
 * Simulink Coder version         : 9.8 (R2022b) 13-May-2022
 * C/C++ source code generated on : Wed Mar 29 18:45:56 2023
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehicle_Dir_Deter.h"
#include "rtwtypes.h"
#include "Vehicle_Dir_Deter_private.h"
#include "Vehicle_Direction.h"

/* Real-time model */
static RT_MODEL_Vehicle_Dir_Deter_T Vehicle_Dir_Deter_M_;
RT_MODEL_Vehicle_Dir_Deter_T *const Vehicle_Dir_Deter_M = &Vehicle_Dir_Deter_M_;

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

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Constant'
   *  Constant: '/Constant'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  RelationalOperator: '/Compare'
   *  RelationalOperator: '/Compare'
   *  Switch: '/Switch1'
   */
  if (SteeringWheel_YawDegreeInput > 30) {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Right_Turn_AngularLimit'
     */
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput == 0) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Straight_Drive_Steering_Angle'
     *  Switch: '/Switch'
     */
    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  } else {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Left_Turn_AngularLimit'
     *  Switch: '/Switch1'
     */
    Vehicle_Turn_Status = Left_Turn_AngularLimit;
  }

  /* End of Switch: '/Switch' */

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Constant: '/LeftTurn_RoadSign'
   *  Constant: '/RightTurn_RoadSign'
   *  Constant: '/Straight_RoadSign'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  RelationalOperator: '/Relational Operator1'
   *  RelationalOperator: '/Relational Operator2'
   *  RelationalOperator: '/Relational Operator3'
   */
  Vehicle_Direction_Indicator[0] = ((Vehicle_Turn_Status == RightTurn_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[1] = ((Vehicle_Turn_Status == Straight_RoadSign) &&
    CameraInput_RoadSign);
  Vehicle_Direction_Indicator[2] = ((Vehicle_Turn_Status == LeftTurn_RoadSign) &&
    CameraInput_RoadSign);
}

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

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

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

Conclusion:

The MATLAB model for Vehicle Direction Detection is developed as per the given requirements, Tagged the requirements totheir corresponding subsystems requirement 1 & requirement 2, Simulink Data Dictionary file has been created and the code is generated using Embedded Coder in Simulink.