Project 1 (Mini Project on Vehicle Direction Detection

Title of the project: Vehicle Direction Determination

Aim of the project:

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 a vehicle is basically identifying the direction the vehicle is taking based on the camera input.

The 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, 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.

Objective of Mini Project:

1. Development of MATLAB Simulink model as per requirement.
2. Tag the requirements to the Simulink model; tagging requirements 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, the Storage class for Input signals: ImportedExtern; the Storage class for Output signal: Export to File; the Storage class for local signals: localizable; the Storage class for calibration signals: Const.
5. Choose sample time for all signals as 0.01s

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	-	-

For this signals we have to create a simulink data dictionary:

To create the data dictionary we need to click on the modelling tab.

Choose link to data dictionary.

Click on new.

Put the respected signals and parameters in the data dictionary as given.

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.

This is the SLDD which is created.

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 we have to make the simulink model.

So for requirement 1, this is the model.

As per the yaw degree input the vehicle will turn,-180 is the min value and +180 is the maximum value for the yaw degree.

We link this model to the Simulink data dictionary.

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 the output signal (Signal Name: Vehicle_Direction_Indicator).

This is the model for requirement 2.

Here the input is the camera road sign and as per the sign, the vehicle turn status will be determined.

The vehicle will turn right, left or go straight as per the camera input provided.

We have to merge these requirements.

Now do the requirement tagging.

Do the Model Advisor check after the requirement tagging.

After Model Advisor Check generate code.

/*
 * File: Vehicle_Direction_Determination.c
 *
 * Code generated for Simulink model 'Vehicle_Direction_Determination'.
 *
 * Model version                  : 1.3
 * Simulink Coder version         : 9.9 (R2023a) 19-Nov-2022
 * C/C++ source code generated on : Wed Jun 28 23:07:03 2023
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehicle_Direction_Determination.h"
#include "rtwtypes.h"
#include "Vehicle_Direction_Determination_private.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '<S5>/Constant' */
const int16_T Left_Turn_AngularLimit = -120;/* Referenced by: '<S2>/Constant1' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '<S4>/Constant' */
const int16_T Right_Turn_AngularLimit = 30;/* Referenced by: '<S2>/Constant' */
const int16_T Straight_Drive_Steering_Angle = 0;/* Referenced by: '<S2>/Constant2' */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '<S6>/Constant' */

/* External inputs (root inport signals with default storage) */
ExtU_Vehicle_Direction_Determ_T Vehicle_Direction_Determinati_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Vehicle_Direction_Determ_T Vehicle_Direction_Determinati_Y;

/* Real-time model */
static RT_MODEL_Vehicle_Direction_De_T Vehicle_Direction_Determinat_M_;
RT_MODEL_Vehicle_Direction_De_T *const Vehicle_Direction_Determinat_M =
  &Vehicle_Direction_Determinat_M_;

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

  /* Switch: '<S2>/Switch' incorporates:
   *  Inport: '<Root>/SteeringWheel_YawDegreeInput'
   *  Switch: '<S2>/Switch1'
   */
  if (SteeringWheel_YawDegreeInput >= 0) {
    /* Switch: '<S2>/Switch' incorporates:
     *  Constant: '<S2>/Constant'
     */
    Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput >= 0) {
    /* Switch: '<S2>/Switch1' incorporates:
     *  Constant: '<S2>/Constant1'
     *  Switch: '<S2>/Switch'
     */
    Vehicle_Turn_Status = Left_Turn_AngularLimit;
  } else {
    /* Switch: '<S2>/Switch' incorporates:
     *  Constant: '<S2>/Constant2'
     *  Switch: '<S2>/Switch1'
     */
    Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  }

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

  /* Outport: '<Root>/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '<S4>/Constant'
   *  Constant: '<S5>/Constant'
   *  Constant: '<S6>/Constant'
   *  Inport: '<Root>/CameraInput_RoadSign'
   *  Logic: '<S3>/Logical Operator'
   *  Logic: '<S3>/Logical Operator1'
   *  Logic: '<S3>/Logical Operator2'
   *  RelationalOperator: '<S4>/Compare'
   *  RelationalOperator: '<S5>/Compare'
   *  RelationalOperator: '<S6>/Compare'
   */
  Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[0] =
    ((Vehicle_Turn_Status == RightTurn_RoadSign) ||
     Vehicle_Direction_Determinati_U.CameraInput_RoadSign);
  Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[1] =
    ((Vehicle_Turn_Status == LeftTurn_RoadSign) ||
     Vehicle_Direction_Determinati_U.CameraInput_RoadSign);
  Vehicle_Direction_Determinati_Y.Vehicle_Direction_Indicator[2] =
    ((Vehicle_Turn_Status == Straight_RoadSign) ||
     Vehicle_Direction_Determinati_U.CameraInput_RoadSign);
}

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

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

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

Result: This is the model for Vehicle Direction Determination.