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.

AIM - To create Simulink model of Vehicle Direction Determination based on camera input.

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

For this project there were several steps taken which are as follows:-

• Developement of Simulink model
• Requirement Tagging
• Creation of Simulink Data Dictionary
• Signal resolving and Signal Propogation
• Model update (ctrl+D)
• Configuration Parameter Settings
• Model Advisor Report Generation
• C-code generation

1. Developement of Simulink model -

Main model of Vehicle Direction Detection is shown in above picture. The subsystem of Vehicle Direction Detection has two requirements, Requirement1 and Requirement2 respectively . Inputs SteeringWheel_YawDegreeInput  is applied to Requirement1. The output of Requirement1 i.e Vehicle_Turn_status and CameraInput_RoadSign is applied to Requirement2 shown in below.

In this model, there are two requirements provided so I have to build my model with respect to the requirements.

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).

2. Requirement Tagging -

All the requirements are tagged in order for better understandability, anyone who is reviewing the model or who is trying to update the model can get a clear idea of what logic is used in the system. 

3. Creation of Simulink Data Dictionary -

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 data dictionary is created with the file name of vehicle_dir_det and all the input, output signals and parameters are added  in the dictionary as per the given requirement shown in above.

4. Signal resolving and Signal Propogation -

The inputs and output signals are resolved so the signals will take the values from sldd and pass them to the logical blocks. Otherwise, it may take some junk values if it is unresolved

5. Model update (ctrl+D) -

The model update is done by ctrl-D. This is done to check  the model for any static errors. If there are no errors coming, then the model is working properly and ready to test.

6. Configuration Parameter Settings -

Various configuration parameters are updated as per the code generation. The solver type should be fixed step for code generation. 

7. Model Advisor Report Generation -

To generate the report we have to go over the Analysis tab and then click the Model Advisor and selecting Model Advisor in it.

 It will ask to select the system for which the report generation is to be taken as shown below.

Then under the By task option unselecting all the previously selcted option and then selecting the Modelling Standard for MAAB there and in the right box there is option to Run selected check and clicking over there will run the selected checks. 

The result of the Modelling Standard for MAB is as shwon below. Also a HTML report is generated thereafter by clicking over the option Generate Report.

8. C-code generation -

The Code Generation is made by going over the Code tab, select C/C++ code then select Build Model. After that the code generation report is generated as shown below.

CONCLUSION -

The Simulink model of Vehicle Direction Determination is created as per the given requirement and code has been generated using Embedded coder.