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.

Objective of Mini 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 0.01s

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:

Ans:

First we will create a Simulink data dictionary to enter all the signals and data.

In Simulink Editor, go to the modelling tab, click on down arrow in the model settings and select model properties. new menu appears in that either open an existing dictionary or create a new one using the new option below save it and click ok.

In the Bottom left corner of the model, there is option to acess the SLDD. Now go to the design data option and start adding all the signals as per the requirements.

Simulink Model:

Requirement 1 Simulink model

As per the requirement the SteeringWheel_YawDegreeInput is taken as input and compared with three steering angle positions and this is done with the help of switch block and the output is the vehicle turn status. Singal is resolved by right clicking on the signal, selecting properties and giving them proper naming and finally ticking "signal name must resolve to simulink signal object".

Requirement 2 Simulink model

As per the requirement the Vehicle_turn_Status is logically checked with right turn, left turn and straight road sign. Each of this output is then compared with CameraInput_RoadSign with the help of logical "AND" blocj=k and then finally using logical "OR" operator, one among the three is finally given as output

Then we create a subsystem for the 2 models.

The requirements are saved into a word file and is liked to both subsystem. using requirement option.

Result

Our model gives the user the status of the vehicle turning left or right based on the steering input and then using a camera the road signal is detected and it understands if it should left, right or straight and this data is passed on to the driver in form of signals in the driver display.