Vehicle Direction Detection

Aim: To develop a model of the Vehicle direction detection by identifying the direction, the vehicle is taking based on the camera input.

• Development of MATLAB Simulink model as per requirement.
• Tag the requirements to the simulink model; tagging requirement 1 & requirement 2 to their corresponding subsystems is fine.
• MBD compliant changes, Data Dictionary creation & code generation is added advantage, and that is not scope of this project.
• 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.

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:

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	-	-

Main model:

Vehicel_Direction_Detection:

Requirement1:

Requirement2:

• We have created the modle as per the requirements given above.
• The requirement1 is to create by inputting the SteeringWheel_YawDegreeInput comaparing this value by Right_Turn_AngularLimit, Left_Turn_AngularLimit, Straight_Drive_Steering_Angle and the output is taken as Vehicle_Turn_Status.
• The requirement2 is created by inputting the Vehicle_Turn_Status along with the CameraInput _Roadsign. The value from the Vehicel_turn_status is compared with the RightTurn_RoadSign, LeftTurn_RoadSign, Straight_RoadSign the value which are equal gives that as output Vehicle_Direction_Indicator.
• Lets create a Simulink Data Dictionary and tag those to the model so that the values are propagated.

SLDD:

Requirement Tagging:

Requirement1: Vehicle_Turn_Status as output

Requirement2: Vehicle_Direction_Indictaion as output.

Model Advisor:

• In model advisor check we checked only some of the automotive industry standards which are essentially followed.

• Now lets generate code for the following model.

Code Generation:

• For code generation firstly we need to configure the solver parameters and code genration parameters.

• Now the necessary parameters for the code generation are obtained now goto the embedded coder and click on build then will generate a code according to the model.

/*
 * File: Vehicle_Direction_Detection.c
 *
 * Code generated for Simulink model 'Vehicle_Direction_Detection'.
 *
 * Model version                  : 1.1
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Sun Oct 17 14:38:53 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Vehicle_Direction_Detection.h"
#include "Vehicle_Direction_Detection_private.h"

/* Exported data definition */

/* Const memory section */
/* Definition for custom storage class: Const */
const int16_T LeftTurn_RoadSign = -120;/* Referenced by: '/Constant1' */
const int16_T Left_Turn_AngularLimit = -120;
                              /* Referenced by: '/Left_Turn_AngularLimit' */
const int16_T RightTurn_RoadSign = 30; /* Referenced by: '/Constant3' */
const int16_T Right_Turn_AngularLimit = 30;
                             /* Referenced by: '/Right_Turn_AngularLimit' */
const int16_T Straight_Drive_Steering_Angle = 0;
                       /* Referenced by: '/Straight_Drive_Steering_Angle' */
const int16_T Straight_RoadSign = 0;   /* Referenced by: '/Constant2' */

/* External outputs (root outports fed by signals with default storage) */
ExtY_Vehicle_Direction_Detect_T Vehicle_Direction_Detection_Y;

/* Real-time model */
RT_MODEL_Vehicle_Direction_De_T Vehicle_Direction_Detection_M_;
RT_MODEL_Vehicle_Direction_De_T *const Vehicle_Direction_Detection_M =
  &Vehicle_Direction_Detection_M_;

/* Model step function */
void Vehicle_Direction_Detection_step(void)
{
  int16_T rtb_Vehicle_Turn_Status;

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Right_Turn_AngularLimit'
   *  Constant: '/Straight_Drive_Steering_Angle'
   *  Inport: '/SteeringWheel_YawDegreeInput'
   *  Switch: '/Switch1'
   */
  if (SteeringWheel_YawDegreeInput >= 30) {
    rtb_Vehicle_Turn_Status = Right_Turn_AngularLimit;
  } else if (SteeringWheel_YawDegreeInput != 0) {
    /* Switch: '/Switch1' incorporates:
     *  Constant: '/Left_Turn_AngularLimit'
     */
    rtb_Vehicle_Turn_Status = Left_Turn_AngularLimit;
  } else {
    rtb_Vehicle_Turn_Status = Straight_Drive_Steering_Angle;
  }

  /* End of Switch: '/Switch' */

  /* Outport: '/Vehicle_Direction_Indicator' incorporates:
   *  Constant: '/Constant1'
   *  Constant: '/Constant2'
   *  Constant: '/Constant3'
   *  Inport: '/CameraInput_RoadSign'
   *  Logic: '/AND'
   *  Logic: '/AND1'
   *  Logic: '/AND2'
   *  RelationalOperator: '/GreaterThanOrEqual'
   *  RelationalOperator: '/GreaterThanOrEqual1'
   *  RelationalOperator: '/GreaterThanOrEqual2'
   */
  Vehicle_Direction_Detection_Y.Vehicle_Direction_Indicator[0] =
    ((rtb_Vehicle_Turn_Status == RightTurn_RoadSign) && CameraInput_RoadSign);
  Vehicle_Direction_Detection_Y.Vehicle_Direction_Indicator[1] =
    ((rtb_Vehicle_Turn_Status == LeftTurn_RoadSign) && CameraInput_RoadSign);
  Vehicle_Direction_Detection_Y.Vehicle_Direction_Indicator[2] =
    ((rtb_Vehicle_Turn_Status == Straight_RoadSign) && CameraInput_RoadSign);
}

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

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

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

• The code for the model is created.
• Now lets verify the outputs for the mdodel created.

Outputs:

Input as left_turn range

Input as Right_turn range

Input as Straight_Drive

Conclusion: Hence the model for the direction detection of the vehicle is built as per the requirments and all the Model Advisor is setup, Code generation of the model and also the values for the Input are given through SLDD.

Files required for the model:

https://drive.google.com/drive/folders/1BEq41yDTVjYb2plvB0tTYoVGybUyV9pq?usp=sharing