Project 1 (Mini Project on Vehicle Direction Detection

Aim:

To create a Simulink model to determine the vehicle direction with the given inptus and conditions in a Matlab Simulink.

Objectives:

• 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).

Steps for Requirement-1:

• Initially an input of SteeringWheel_YawDegreeInput is taken in which streeing wheel degree will be given.
• Then 3 constant blocks, which consistof Right,left turn & straight drive angle values.
• Then the SteeringWheel_YawDegreeInput and the all three directions angles are compared and chosen accordingly with the help of switch blocks and taken as Vehicle_turn_status output.
• First if sterring degree is greater than or equal to right turn then right turn will be passed through switch block.
• If it less than left then left turn is passed, else if it is equal to zero then straight drive angle is passed through the switch and it is taken as vehicle_turn_status as output.
• This is now converted into a subsystem with SteeringWheel_YawDegreeInput as input and vehicle_turn_status as output.
• The subsystem is shown below.

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).

Steps fro Requirement-2:

• Here the inputs taken are Vehicle_turn_status which is output of before subsystem and the CameraInput_RoadSign.
• And 3 constant which consist of right,left turn & straight roadsign data.
• The vehicle_turn_status and 3 roadsign values are compared to check if they are equal with relational operators.
• Then after relational operators they are connected to logical operator AND along with the CameraInput_RoadSign.
• Mux block is used to combine these three signal and given to output.
• This is also converted into a subsystem with CameraInput_RoadSign & Vehicle_turn_status as inputs and Vehicle_Direction_Indicator as output.
• The subsystem is shown below.

Simulink Model:

Given Signals and Calibration Data list:

Creation of SLDD:

• The given data is linked to the model with the help of Simulink Data dictionary.
• In model configuration, open link to data dictionary and create a file.

• Then add all the signals and constants, assign the datatypes & required data in the data dictionary in this form according to the given data.

• For input values such as Steeringwheel_yawDegreeinput & camerainput change inital values to check the direction.

Code generation:

• In model configuration, in code generation change the target file to ert.tlc embedded coder.

• Then click the generate code in code generation in built model option.

• Thus the code is generated.

Results:

Here will give different streeingwheel input values to check the model is giving correct results I.e., correct directions as per the given angle in input.

Right turn:

Here the input is given according to the condition that is more than or equal to 30 deg and the in output display block we can observe the value 1 for right turn indicator and 0 indicates no turn for those particular directions.

Left turn:

Similarly as input value is changed according to condition that is -120 and we can observe in the output display block that left turn indicator value is 1 and remaining are zero.

Straight drive:

Here the input value is given as 0 and we can observe the value as 1 for the Straight drive indicator and 0 for remaining which means vehicle go in Straight.

Conclusion:

• Thus a model is created in simulink to know the direction at which vehicle turns with given angle and other all required parameters and signals.
• Then the model was simulated and observed the results to compare that the results obtained are as per the conditions.