Project 1 (Mini Project on Vehicle Direction Detection

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

Objective:

##To Develop the Simulink Model as per the requirements,tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.

##To Create an a Simulink Data Dictionary.

• MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not scope of this project.

##Configuaration parameters.

• 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

##Code generation.

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.

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:

So first we have to understood that how many inputs and outputs Required for the Vehicle direction detection:

For main Subsystem:

Inputs

• Steering wheel input as yaw rate (Signal name: SteeringWheel_YawDegreeInput) is the input for this system.
• Camera (Signal Name: CameraInput_RoadSign), which confirms the occurrence of a road sign.

Output

• Using a logical operator block, only one among them is finally given as output signal (Signal Name: Vehicle_Direction_Indicator).

So now we need to make the model from all the given requirements as above:

This is a main Subsystem inside this we have to again two subsytem i.e for two inputs,here we have to check the Steering wheel Yaw degree input and camera input roadsign these are the two requirements.

HHere we can see the small yellow color block under the signal line,it gives the input ranges changes from zero to upto howmuch we will give.

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.

This output value is given to compare with the camera road signs for that we have to create other subsystem i.e requirement 2.

Requirement 2:

• 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).

From the vehicle turn status we know that in which angle its moving,now this is compared with the camera road signs by using the logical operator and gives the output to the vehicle direction.

This is how we can do the requirements i.e tagging of the block.

SLDD File for Vehicle direction detector:

If we give the input i.e in Steering Wheel_yawDegree as 50,it gives the value as below shown in the display block vehicle takes right turn,boolean value as [100].

When we give input for the Steering wheel as -130 then the vehicle moves in left turn by indicating in the boolean value as [010]

If we give input for the Steering wheel as zero then it indicates the vehicle moves in straight line by giving the value as [001]

Report of model advisor.

To generate a code:

Go to apps and embedded coder ,in a C code click build code.

Conclusion:

Hence we saw the model based development for the Vehicle direction detection is verified in the model ,report and C code is generated.