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Vehicle Direction Detection

VVinayak Danaraddi30 May 2023
MATLABMBD

Project—Vehicle Direction Determination

General Overview:

Vehicle direction determination is a crucial and diverse feature in autonomous driving and advanced driver assistance systems. It involves identifying the direction in which a vehicle is moving based on camera input.

Using cameras, the system captures and analyzes road signs to determine the intended direction of the vehicle. The system assigns unique values to indicate left turn, right turn, and straight drive. Based on this analysis, the driver is provided with indications regarding whether they are driving in the recommended direction.

The vehicle direction determination feature can be combined with other functionalities such as GPS systems to optimize the route and ensure the vehicle is heading towards its intended destination efficiently. It can also be integrated with lane detection, highway warning systems, and wrong-way detection for ramp entry/exit, among others.

By accurately determining the vehicle's direction, this feature enhances the overall safety and efficiency of autonomous driving systems, providing valuable assistance to drivers and optimizing the driving experience.

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

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

Objective of the 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 0.01.

Procedure:

  1. Creating two subsystems as per the given instructions in requirement document.
  2. Attaching the requirement document.
  3. Creating a Simulink data dictionary (SLDD).
  4. Generating a model advisor report (With necessary tests selected).
  5. Generation of code.

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 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).

Requirement – 2:

  • Keep this requirement as a separate subsystem. Inputs to this requirement are a local signal from requirement 1 (Signal Name: Vehicle_Turn_Status) & an input signal from the 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

-

-

Simulink Model:

V_Direction_Deter 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).

Vehicle_Turn_Status Subsystem:

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).

Vehicle_Direction_indicator Subsystem:

Attaching to Requirement Document:

Simulink Data Dictionary:

Model Advisor:

The model advisor report following the MAAB, JMAAB and MISRA C guidelines are shown below:

Generated Code:

/*
 * File: V_Direction_Deter.c
 *
 * Code generated for Simulink model 'V_Direction_Deter'.
 *
 * Model version                  : 1.17
 * Simulink Coder version         : 9.3 (R2021a) 18-Nov-2019
 * C/C++ source code generated on : Sat May 06 17:51:31 2023
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "V_Direction_Deter.h"
#include "V_Direction_Deter_private.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T Straight_Drive_Steering_Angle = 0;

/* Real-time model */
RT_MODEL_V_Direction_Deter_T V_Direction_Deter_M_;
RT_MODEL_V_Direction_Deter_T *const V_Direction_Deter_M = &V_Direction_Deter_M_;

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

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

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

  /* Logic: '/Logical Operator3' incorporates:
   *  Constant: '/Constant'
   *  Constant: '/Constant'
   *  Constant: '/Constant'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/Logical_Operator'
   *  Logic: '/Logical_Operator1'
   *  Logic: '/Logical_Operator2'
   *  RelationalOperator: '/Compare'
   *  RelationalOperator: '/Compare'
   *  RelationalOperator: '/Compare'
   */
  Vehicle_Direction_Indicator = ((((Vehicle_Turn_Status == RightTurn_RoadSign) &&
    CameraInput_RoadSign) || ((Vehicle_Turn_Status == Straight_RoadSign) &&
    CameraInput_RoadSign)) || ((Vehicle_Turn_Status == LeftTurn_RoadSign) &&
    CameraInput_RoadSign));
}

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

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

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

Conclusion:

  1. Model is created as per the requirement given.
  2. The subsystems are attached with the requirement document.
  3. SLDD file is created as per the given requirement
  4. Model advisor report is generated
  5. Code is generated
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