Project 1 (Mini Project on Vehicle Direction Detection

Aim of Project:

Development of MATLAB Simulink model on Identifying the direction of the vehicle as per requirement.

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

The camera reads the road signs & stores them into its memory with unique values for a 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.

The 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 the 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

Description:

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).

The Matlab model is as shown below:

The Top Model-

Inside Direction_detection-

Inside Requirement_1 subsystem-

This Subsystem is linked to the word folder using the requirement tagging feature.

This model is build using the 'Switch' block.

Inside Requirement_2 system-

This Subsystem is linked to the word folder using the requirement tagging feature.

This model is build using a 'logical operator'.

The above model satisfies the above requirement specifications.

The Simulink data directory is also created for all signals flowing through the model.

The signal is as shown below.

We are able to run the model with no errors and the outputs are as expected.

Output:

The SteeringWheel_YawDegreeInput can vary between -180 to 180 degrees.

When it checks,

• if the input steering value is less than 0, it shows left.
• if the input steering value is greater than 0, it shows Right.
• If the input steering value is 0, then it shows straight.

The output is Signal Vehicle_Turn_Status

Signal Vehicle_Turn_Status is compared against calibration values (RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign) using AND block.

If each of them is equal, then the three corresponding outputs are compared against the camera input signal using a logical operator.

Attached Simulink file, SLDD file, and other related files for reference.