Project 1 (Mini Project on Vehicle Direction Detection

Introduction to Advanced Driver Assistance System using MATLAB & Simulink.

Project-1 Mini Project - Vehicle Direction Determination

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:

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

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	-	-

Blocks used are;

• Signal Builder
• Switches
• Constants
• AND Gates
• Relational Operator
• Mux & Demux

Modeling Description:

As per the given inputs the given inputs for signal builder are considered as shown below;

Here the signal builder is set in the range of 180 to -180 from 0 to 0.1 sec as specified in the input parameters.

In the above model we can see the initial input is given with the signal builder(SteeringWheel_YawDegreeInput) and also the 'CameraInput_RoadSign' is given in the constant block as shown. The main requirement is created in the sub system 'Vehicle_Direction_Detection'.

Inside a main subsystem there are to susystems i.e. Subsystem(Requirement_1) & Subsystem(Requirement_2) which is followed by the demux block and the outport blocks.

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).

In this subsystem i have considered two switch blocks to excuite the condition:

• If the input is greater than 30deg, the vehicle turns towards right.
• If the steering input is between odeg to 30deg, the vehicle goes straight.
• If the steering input is less than 120 deg, the vehicle goes left.

Switch: Condition is >30. If condition is satisfied switch passes the "Right_Turn_AngularLimit" and if not output if switch1.

Switch1: Condition is >0. If condition is satisfied switch passes the "Straight_Drive_Steering_Angle" and if not "Left_Turn_AngularLimit" and then sends to switch.

Therefore the requirement 1 is satisfied and implemented in the 'Subsystem(Requirement_1)'

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).

From above the inputs are given to the SteeringWheel_YawDegreeInput to the subsystem(Requirement_1) and the outport of this is Vehicle_Turn_Status. This outport is then connected to the next subsystem(Requirement_2). To this subsystem CameraInput_RoadSign is specified through a constant block.

The outport of this subsystem is connected to Vehicle_Direction_Indicator. The signal from this is connected to demux block. from this all three output signals like Right,Left and straight are connected to display.

Creating an SLDD for the above model from the data mentioned in the problem:

Model Advisor check:

The model advisor check is performed for the following MAAB, JMAAB AND MISRA C guidelines as shown.

Observations:

• The signal directions are represented by Right, Left and Straight respectively.
• If the output is 0-0-1, the vehicle moves in Straight direction.
• If the output is 1-0-0, the vehicle takes Right Turn.
• If the output is 0-1-0, the vehicle takes Left Turn.

Conclusion:

• MATLAB Simulink model is created as per the requirement is developed.
• The subsystems are attached with the requirements.
• The SLDD file is created as per the given requirements.
• Model Advisory check is performed.

** Note:

In my version of matlab Requirements are not enabled. Also i have checked in APPS but it only contains equirement Viewer.