ADAS TECHNOLOGY USING MATLAB|2022

VISVESVARAYA TECHNOLOGICAL UNIVERSITY

BELAGAVI, KARNATAKA

MINI PROJECT (18ECMP68)

Report on

“ADAS TECHNOLOGY USING MATLAB”

Submitted in the partial fulfillment for the award of bachelor degree in Electronics and
Communication Engineering

Submitted by

THANUSHREE RM 1GA19EC168
LAYA K B 1GA19EC074
SAHANA D 1GA19EC131

Under the guidance of

Dr. Sangeeta K Siri
(Associate Professor, Dept. of ECE, GAT)

Department of Electronics and Communication Engineering

Global Academy of technology
BENGALURU-560098
2021-2022

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GLOBAL ACADEMY OF TECHNOLOGY

RAJARAJESHWARI NAGAR, BANGLORE-560098
NAAC – ‘A’ Grade and NBA Accredited
Department of Electronics and Communications Engineering

CERTIFICATE
Certified that the Mini project (18ECMP68) entitled
“ADAS TECHNOLOGY USING MATLAB”
Carried out by,
THANUSHREE RM 1GA19EC168
LAYA K B 1GA19EC074
SAHANA D 1GA19EC131
Bonafide students of Global Academy of Technology in partial fulfillment for the award of
Bachelor of Engineering in Electronics and Communication Engineering of the Visvesvaraya
Technological University, Belagavi during the academic year 2021-22. It is certified that all
corrections/suggestions indicated for Internal Assessment have been incorporated in the
Report deposited in the Departmental library. The Mini Project report has been approved as
it satisfies the academic requirements in respect of Mini Project work prescribed for the said
Degree.

Signature of the Guide Signature of the HOD Signature of the Principal

[Dr. Sangeeta K Siri] [Dr . Manjunatha Reddy H S] [Dr. RanaPratap Reddy N]

EXTERNAL VIVA
Name of the examiners Signature with date
1.
2.

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ABSTRACT

The driving is art, elegance and ethics. The human acts as the key element in this
process and the weakest link in the same time, where 90% of traffic accidents are
caused by human error and carelessness. Every year many accidents are reported
due to high speed and wrong decision. A logical principle is that each 1%
increase in velocity will result in a 4% potential increase in the risk of the fatal
collision and an actual increase of 3% in the risk of a serious collision.

Modern day cars represent a symbiosis of several electronic subsystems that

collaboratively give a safe and sound driving experience. One of the car
developments Advanced Driver Assistance System (ADAS). It is a system that
necessary to monitor various parameters associated with the vehicle, vehicle
surroundings to detect potentially dangerous situation at an early stage. Sensors
with sophisticated devices, which are known as Sensor Network (SN), were
included already in many cars nowadays to achieve (ADAS) technologies. A
well known ADAS is an Adaptive speed control system (ASC), Automatic Brake
System (ABS), Warning Collision system (WCS) and Legal Restriction System
to avoid high-speed dangerous. In addition, Lane keeping System (LKS) and
Lane Change System (LCS).

Growing safety awareness and increasing the frequency of accidents drive the
ADAS industry. The demand for advanced system such as emergency braking
systems, night vision systems, and road sign recognition systems, coupled with
the technological advancements in the vehicle.
 ADAS TECHNOLOGY USING MATLAB|2022

ACKNOWLEDGEMENT

It is our privilege to acknowledge with profound regards, grateful to the

management of GLOBAL ACADEMY OF TECHNOLOGY for their
encouragement and continuous support.

We are grateful to DR. RANAPRATAP REDDY N, Principal, Global

Academy of Technology, Bengaluru for giving us the opportunity to do this
project, which is submitted as partial fulfillment for the 6th semester exams.

We would like to thank DR. MANJUNATHA REDDY H S, Head of the

Department of Electronics and Communication, Global Academy of
Technology for his consistent motivation and encouragement.

We are thankful for the guidance shown by our esteemed and beloved guide
Dr. SANGEETA K SIRI

Finally, we sincerely thank to teaching and non-teaching staff those who have
directly or indirectly supported and helped us.

THANUSHREE RM 1GA19EC168
LAYA K B 1GA19EC074
SAHANA D 1GA19EC131

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TABLE OF CONTENTS

ABSTRACT.................................................................................................... I
ACKNOWLEDGEMENT................................................................................II
CHAPTER 1 INTRODUCTION...................................................................1
1.1 INTRODUCTION ON MATLAB.............................................................. 2
1.2 MATLAB TOOLBOX .............................................................................. 3
1.3 INTRODUCTION TO SIMULINK.............................................................4
1.4 INTRODUCTION ON AUTOMATED DRIVING TOOLBOX...................... 5
1.5 INTRODUCTION ON SCENARIO SIMULATION..................................... 6
1.6 INTRODUCTION ON DRIVING SCENARIO DESIGNER...........................7
CHAPTER 2 TECHNOLOGIES.................................................................... 8
CHAPTER 3 METHODOLOGY................................................................. 14
CHAPTER 4 THE IMPORTANCE OF SENSORS........................................ 16
4.1 CAMERAS............................................................................................16
4.2 RADAR................................................................................................ 16
4.3 LIDAR.................................................................................................. 17
CHAPTER 5 WORKING........................................................................... 18
FUTURE SCOPE......................................................................................... 26
CONCLUSION............................................................................................27
REFERENCES............................................................................................. 28

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CHAPTER 1
INTRODUCTION
Road traffic accidents claim over a million lives every year in the world. As per
World Health Organization (WHO) it is one of the leading cause of death. India,
being a rapidly developing country with expanding economy has its own issues
as regarding road traffic accidents due to rapid proliferation of motorization.
Road traffic accidents causes enormous morbidity and mortality and at the same
time, the toll on the economy of the country as a result of it is quite heavy. Road
traffic accident is a result of an interaction among different factors which include
the environment, vehicle and the human being. Traditionally it is considered that
road traffic accidents are accidents which are unpredictable, inevitable and not
preventable.
In the developed world road facilities is a major concern. Most of the accidents
are associated with excessive road transportation and inappropriate speed. The
Driver Assistance system will assist the driver in the driving process and it will
increase the car safety and more generally road safety. In some dangerous
situations, these systems warn and actively support the driver and if necessary, it
automatically takes the necessary actions to avoid vehicle collision.
Advanced Driver Assistance System, commonly called ADAS, are the systems to
help the driver in the driving process. When designed with a safe and appropriate
Human -Machine Interface, they should increase the safety of car and more
generally the road safety. Advanced driver assistance systems (ADAS) are the
technologies that provide a driver with needed information, automate difficult
and repetitive tasks and lead to the overall increase in safety of the car. Some of
these technologies have proven to an improved driving experience and better
overall road safety.

These lifesaving systems are key to ensuring the success of ADAS applications,
incorporating the latest interface standards and running multiple vision-based
algorithms to support real-time multimedia, vision co-processing, and sensor
fusion subsystems.

The role of ADAS is to prevent deaths and injuries by reducing the number of car
accidents and the serious impact of those that cannot be avoided.

Essential safety-critical ADAS applications include:

 Pedestrian detection/avoidance
 Lane departure warning/correction

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 Traffic sign recognition

 Automatic emergency braking
 Blind spot detection
The model and features of ADAS is shown in Fig 1.1.

Fig 1.1 Features in Advanced driver assistance system

GPS navigation, taking an example, has become increasingly the most common
in OEM infotainment systems since first being introduced in the 1990s. However,
a lot more of ADAS are right on the cutting edge of the emerging automotive
technologies. Some of these systems will have staying power to stick around, and
you can expect to see at least a few of them in future car. Others may disappear
or be replaced by better implementations and modernization of the same basic
idea. Since ADAS rely on electronics and mostly include firmware elements, the
development of these cutting-edge systems is governed by the internationally
safely standards such as IEC-61508 and ISO26262.[9]
1.1 INTRODUCTION ON MATLAB
MATLAB stands for Matrix Laboratory. It is a high-performance language that
is used for technical computing. It was developed by Cleve Molar of the
company Math Works. Inc in the year 1984.It is written in C, C++, Java. It
allows matrix manipulations, plotting of functions, implementation of
algorithms and creation of user interfaces.
MATLAB Library comes with a set of many inbuilt functions. These functions
mostly perform mathematical operations like sine, cosine and tangent. They
perform more complex functions too like finding the inverse and determinant of
a matrix, cross product and dot product

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Although MATLAB is encoded in C, C++ and Java, it is a lot easier to

implement than these three languages. For example, unlike the other three, no
header files need to be initialized in the beginning of the document and for
declaring a variable, the data type need not be provided. It provides an easier
alternative for vector operations. They can be performed using one command
instead of multiple statements in a for or while loop.

1.2 MATLAB TOOLBOX

List of MATLAB tool boxes

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1.3 INTRODUCTION TO SIMULINK

Simulink® is a block diagram environment for multi-domain simulation and
Model-Based Design. It supports system-level design, simulation, automatic code
generation, and continuous test and verification of embedded systems. Simulink
provides a graphical editor, customizable block libraries, and solvers for
modelling and simulating dynamic systems. It is integrated with MATLAB®,
enabling you to incorporate MATLAB algorithms into models and export
simulation results to MATLAB for further analysis. The model as shown in
Fig 1.2
 Simulink Block Diagrams
Learn the basics of Simulink.
 Create a Simple Model
Model a simple system in Simulink.
 Explore Model Hierarchy
Explore the hierarchy and connections in a system.
 Model-Based Design with Simulink
Use Simulink for Model-Based Design.
o STEP 1: System Definition and Layout
o STEP 2: Model and Validate a System
o STEP 3: Design a System in Simulink

Fig 1.2 Simulation of Block structure in Simulink

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1.4 INTRODUCTION ON AUTOMATED DRIVING TOOLBOX

Automated Driving Toolbox™ provides algorithms and tools for designing,
simulating, and testing ADAS and autonomous driving systems. You can design
and test vision and LIDAR perception systems, as well as sensor fusion, path
planning, and vehicle controllers. Visualization tools include a bird’s-eye-view
plot and scope for sensor coverage, detection and tracks, and displays for video,
LIDAR, and maps. The toolbox lets you import and work with HERE HD Live
Map data and ASAM Open DRIVE® road networks.
Using the Ground Truth Labeller app, you can automate the labeling of ground
truth to train and evaluate perception algorithms. For hardware-in-the-loop (HIL)
testing and desktop simulation of perception, sensor fusion, path planning, and
control logic, you can generate and simulate driving scenarios. You can simulate
camera, radar, and LIDAR sensor output in a photo realistic 3D environment and
sensor detection of objects and lane boundaries in a 2.5D simulation environment.
Automated Driving Toolbox provides reference application examples for
common ADAS and automated driving features, including forward collision
warning, autonomous emergency braking, adaptive cruise control, lane keeping
assist, and parking valet as shown in [Fig 1.3]. The toolbox supports C/C++ code
generation for rapid prototyping and HIL testing, with support for sensor fusion,
tracking, path planning, and vehicle controller algorithms.[4]

Fig 1.3 Automated Driving Toolbox with Bird eye point

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1.5 INTRODUCTION ON SCENARIO SIMULATION

Simulation using realistic driving scenarios and sensor models is a crucial part of
testing automated driving algorithms. Automated Driving Toolbox™ provides
two simulation environments in which to test these algorithms. Both
environments have their uses, and one environment is not a replacement for the
other.
 In the cuboid simulation environment, vehicles and other actors in the scenario
are represented as simple box shapes, or for LIDAR applications, as polygon
meshes. Use this environment to rapidly author scenarios, generate detection
using low-fidelity radar and camera sensors, and test controllers and tracking
and sensor fusion algorithms in both MATLAB® and Simulink®. To get
started authoring a scenario, use the Driving Scenario Designer app.
You can also import road networks from the ASAM Open DRIVE® file
format, edit the imported road networks, and build scenarios. Then, you can
export driving scenarios to the ASAM Open DRIVE and ASAM Open
SCENARIO® formats.
 In the Unreal Engine® simulation environment, scenarios are rendered using
the Unreal Engine from Epic Games®. Use this environment to visualize
scenarios using more realistic graphics; to generate high-fidelity radar, camera,
and LIDAR sensor data; and to test perception-in-the-loop systems. This
environment is available in Simulink and runs on Windows® only. To learn
more, see Unreal Engine Simulation for Automated Driving.

Categories:
 Cuboid Scenario Simulation
Test automated driving algorithms using cuboid-based scenarios and detection
from radar, camera, and LIDAR sensor models
 Unreal Engine Scenario Simulation
Develop, test, and visualize the performance of driving algorithms in a
simulated environment using the Unreal Engine from Epic Games
 Road Runner Scenario Simulation
Design scenarios for simulating and testing automated driving systems
with Road Runner Scenario

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1.6 INTRODUCTION ON DRIVING SCENARIO DESIGNER

The Driving Scenario Designer app enables you to design synthetic driving
scenarios for testing your autonomous driving systems.
Using the app, you can:
 Create road and actor models using a drag-and-drop interface.
 Configure vision, radar, LIDAR, INS, and ultrasonic sensors mounted on
the ego vehicle. You can use these sensors to generate actor and lane
boundary detection, point cloud data, and inertial measurements.
 Load driving scenarios representing European New Car Assessment
Programme (Euro NCAP®) test protocols [1][2][3] and other pre-built
scenarios.
 Import ASAM Open DRIVE® roads and lanes into a driving scenario.
The app supports Open DRIVE® file versions 1.4 and 1.5, as well as
ASAM Open DRIVE file version 1.6.
 Import road data from Open Street Map®, HERE HD Live Map 1 ,
or Zenrin Japan Map API 3.0 (Itsumo NAVI API 3.0) 2 web services into
a driving scenario.
Importing data from the Zenrin Japan Map API 3.0 (Itsumo NAVI API
3.0) service requires Automated Driving Toolbox Importer for Zenrin
Japan Map API 3.0 (Itsumo NAVI API 3.0) Service.
 Export the road network in a driving scenario to the ASAM Open DRIVE
file format. The app supports Open DRIVE file versions 1.4 and 1.5, as
well as ASAM Open DRIVE file version 1.6.
 Export road network, actors, and trajectories in a driving scenario to the
ASAM Open SCENARIO® 1.0 file format.
 Export synthetic sensor detection to MATLAB®.
 Generate MATLAB code of the scenario and sensors, and then
programmatically modify the scenario and import it back into the app for
further simulation.
 Generate a Simulink® model from the scenario and sensors, and use the
generated models to test your sensor fusion or vehicle control algorithms.

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CHAPTER 2
TECHNOLOGIES
Significant automotive safety improvements in the past (e.g., shatter-resistant
glass, three-point seat belts, airbags) were passive safety measures designed to
minimize injury during an accident. Today, ADAS systems actively improve
safety with the help of embedded vision by reducing the occurrence of accidents
and injury to occupants.
The implementation of cameras in the vehicle involves a new AI function that
uses sensor fusion to identify and process objects. Sensor fusion, similar to the
human brain process information, combines large amounts of data with the help
of image recognition software, ultrasound sensors, LIDAR, and radar. This
technology can physically respond faster than a human driver ever could. It can
analyse streaming video in real time, recognize what the video shows, and
determine how to react to it.
Some of the most common ADAS applications are:
1. Adaptive Cruise Control
Adaptive cruise control (ACC) is particularly helpful on the highway, where
drivers can find it difficult to monitor their speed and other cars over a long
period of time. Advanced cruise control can automatically accelerate, slow down,
and at times stop the vehicle, depending on the actions other objects in the
immediate area [5].The ACC and Range of ACC are shown in Fig 2.1&2.2

Fig 2.1 Cruise Control Fig 2.2 Range of Adaptive cruise control

Fig 2.3 Features of ADAS

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2. Glare-Free High Beam and Pixel Light

Glare-free high beam and pixel light uses sensors to adjust to darkness and the
vehicle’s surroundings without disturbing oncoming traffic as shown in Fig 2.4
& 2.5. This new headlight application detects the lights of other vehicles and
redirects the vehicle’s lights away to prevent other road users from being
temporarily blinded.

Fig 2.4 Glare high beam Fig 2.5 Anti-Glare Headlights

3. Adaptive Light Control

Adaptive light control adapts the vehicle’s headlights to external lighting
conditions. It changes the strength, direction, and rotation of the headlights
depending on the vehicle’s environment and darkness as shown in Fig 2.6 & 2.7

Fig 2.6 Adaptive light control Fig 2.7 ALC in Night vision

4. Automatic Parking
Automatic parking helps inform drivers of blind spots so they know when to turn
the steering wheel and stop. Vehicles equipped with rear view cameras have a
better view of their surroundings than traditional side mirrors. Some systems can
even complete parking automatically without the driver’s help by combining the
input of multiple sensors as shown in Fig 2.8 & 2.9.

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Fig 2.8 Parking assistance Fig 2.9 Automatic parking

5. Autonomous Valet Parking

Autonomous valet parking is a new technology that works via vehicle sensor
meshing, 5G network communication, with cloud services that manage
autonomous vehicles in parking areas in . The vehicles sensors provide the
vehicle with information about where it is, where it needs to go, and how to get
there safely. All this information is methodically evaluated and used to perform
drive acceleration, braking, and steering until the vehicle is safely parked.

Fig 2.10 Valet Parking Fig 2.11 Autonomous valet parking

6. Navigation System
Car navigation systems provide on-screen instructions and voice prompts to help
drivers follow a route while concentrating on the road. Some navigation systems
can display exact traffic data and, if necessary, plan a new route to avoid traffic
jams. Advanced systems may even offer Heads Up Displays (HuD) to reduce
driver distraction as shown in Fig 2.12 & 2.13.

Fig 2.12 GPS in car Fig 2.13 GPS location

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7. Night Vision
Night vision systems enable drivers to see things that would otherwise be
difficult or impossible to see at night as shown in Fig 2.15. There are two
categories of night vision implementations: Active night vision systems project
infrared light, and passive systems rely on the thermal energy that comes from
cars, animals, and other objects sown in Fig 2.14.

Fig 2.14 Car driving Night vision Fig 2.15 Night vision in car subsystem

8. Blind Spot Monitoring

Blind spot detection systems use sensors to provide drivers with important
information that is otherwise difficult or impossible to obtain. Some systems
sound an alarm when they detect an object in the driver’s blind spot, such as
when the driver tries to move into an occupied lane shown in Fig 2.16 & 2.17.

Fig 2.16 Blind Spot Area Fig 2.17 Range in blind spot area

9. Automatic Emergency Braking

Automatic emergency braking uses sensors to detect whether the driver is in the
process of hitting another vehicle or other objects on the road shown in Fig 2.19.
This application can measure the distance of nearby traffic and alert the driver to
any danger. Some emergency braking systems can take preventive safety
measures, such as tightening seat belts, reducing speed, and adaptive steering to
avoid a collision shown in Fig 2.19.[6]

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Fig 2.18 Automatic Emergency Braking Fig 2.19 AEB in car

10. Crosswind Stabilization

This relatively new ADAS feature supports the vehicle in counteracting strong
crosswinds. The sensors in this system can detect strong pressure acting on the
vehicle while driving and apply brakes to the wheels affected by crosswind
disturbance as shown in Fig 2.20 & 2.21.

Fig 2.20 Crosswind in car Fig 2.21 Crosswind stabilization

11. Driver Drowsiness Detection

Driver drowsiness detection warns drivers of sleepiness or other road distractions.
There are several ways to determine whether a driver’s attention is decreasing. In
one case, sensors can analyse the movement of the driver’s head, and heart rate
to determine whether they indicate drowsiness. Other systems issue driver alerts
similar to the warning signals for lane detection in Fig 2.23.

Fig 2.22 Drowsiness detection Fig 2.23 Representing DDD system

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12. Driver Monitoring System

The driver monitoring system is another way of measuring the driver’s attention.
The camera sensors can analyse whether the driver’s eyes are on the road or
drifting. Driver monitoring systems can alert drivers with noises, vibrations in the
steering wheel, or flashing lights. In some cases, the car will take the extreme
measure of stopping the vehicle completely as shown in Fig 2.24 & 2.25

Fig 2.24 Driver monitoring system Fig 2.25 DMS technology

13. 5G and V2X

This hot new 5G ADAS feature, with increased reliability and lower latency,
provides communication between the vehicle and other vehicles or pedestrians,
generally referred to as V2X. Today, millions of vehicles connect to cellular
networks for real-time navigation. This application will enhance existing
methods and the cellular network to improve situational awareness, control or
suggest speed adjustments to account for traffic congestion, and update GPS
maps with real-time updates. V2X is essential to support over-the-air (OTA)
software updates for the now-extensive range of software-driven systems in cars,
from map updates to bug fixes to security updates and more as shown in
Fig 2.26

Fig 2.26 5G and V2X technology and features in modern Car trends

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CHAPTER 3
METHODOLOGY
MATLAB®, Simulink®, and Road Runner advance the design of automated
driving perception, planning, and control systems by enabling engineers to gain
insight into real-world behaviour, reduce vehicle testing, and verify the
functionality of embedded software. With MATLAB, Simulink, and Road
Runner, you can

 Access, visualize, and label data

 Simulate driving scenarios
 Design planning and control algorithms
 Design perception algorithms
 Deploy algorithms using code generation
 Integrate and test

Fig 3.1 Complete ADAS technology using MATLAB and Simulink

Fig 3.2 Levels of Driving automation

To understand how ADAS features are designed, let’s use adaptive cruise control
as an example. When using this ADAS feature, the car slows down as it

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approaches a vehicle in front and accelerates to cruising speed if the vehicle in

front moves a safe distance away as shown in Fig 3.1 & 3.2

The first step in designing adaptive cruise control (ACC) is to collect data from
sensors mounted on the car. For adaptive cruise control, we need a camera and a
radar sensor. The camera detects the other objects in the frame (vehicle,
pedestrian, tree, etc.), and the radar calculates the distance from our car to the
object Fig 3.3.

After collecting data from our sensors, we turn our focus to ADAS algorithm
development. Adaptive cruise control can be broken down into three step

Fig 3.3 Steps in ADAS algorithm development

Steps 1, 2, and 3 correspond to the following:

1. A perception algorithm to detect if there is a vehicle in front of us

2. A radar algorithm to calculate our distance from the vehicle
3. A controls algorithm to adjust the speed of our car based on the distance
measurement.
We used ACC as an ADAS example, but the general methodology of choosing
the right sensors and designing algorithms based on the sensor data applies to all
ADAS features.[10][11]

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CHAPTER 4
THE IMPORTANCE OF SENSORS
The three most popular sensor types used for ADAS features are camera, radar,
and LIDAR.

4.1 Cameras
Cameras are used for detection-related ADAS tasks. Cameras on the side of a
vehicle can detect blind spots. Cameras in the front can detect lanes, vehicles,
signs, pedestrians, and cyclists. The associated ADAS detection algorithms are
generally built using conventional computer vision and deep learning algorithms.
Cameras have several advantages:

 They provide excellent data for object detection

 They are relatively inexpensive – low price means that testing many types
of cameras is less expensive for manufacturers
 There are many varieties– test and select from many camera types such as
fisheye, monocular, and pinhole
 They are the most extensively researched – the camera is the oldest of
the three sensor types and has been studied the most
The downside of camera data is that they are less suited for detecting distance
from an object compared to data from other sensor types. For this reason, ADAS
developers often use cameras in conjunction with radar as shown in Fig 4.1& 4.2.

4.2 RADAR
RADAR (Radio Detection And Ranging) sensors emit a high frequency wave
and record when these waves bounce back to them from objects in the
environment. The data can be used to calculate the distance to an object. In
ADAS, radar sensors are usually on the front of the vehicle.

RADAR works in varying weather conditions, which makes it a practical sensor

choice for ADAS features like automatic emergency braking and adaptive cruise
control as shown in Fig 4.1 & 4.2.

Although radar sensor data are well-suited for distance detection algorithms,
these data are less useful in algorithms for classifying the detected objects. For
this reason, ADAS developers often use radar in conjunction with cameras.

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4.3 LIDAR
LIDAR (light detection and ranging) sensors emit a laser into the environment
and record when the signal returns. The returned signals are reconstructed to
create a 3D point cloud that shows the LIDAR surrounding environment. LIDAR
data can be used to calculate the sensor’s distance from the objects in the 3D
point cloud.

There are two types of LIDAR sensors used for ADAS applications:

1. Electromechanical (spinning) LIDAR - Electromechanical LIDAR is

mounted on top of a car and rotates while collecting data to produce a
3D point cloud map of the environment.
2. Solid-state LIDAR – This is a newer type of LIDAR that has no moving
parts. In the long term, solid-state LIDAR promises to be faster, cheaper,
and more accurate than electromechanical LIDAR. However, designing
a commercially viable sensor poses engineering problems related to the
safety and range of the sensor as shown in Fig 4.1 & 4.2.
You can use LIDAR data to perform both the distance detection and object
classification functions in ADAS. However, LIDAR data processing requires
more computational power compared to camera and radar data, and poses some
challenging problems for ADAS algorithm developers.[7]

Fig 4.1 Sensors types used in ADAS

Fig 4.2 Configuration of RADAR, LIDAR and Camera in car

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CHAPTER 5
WORKING
Step 1: MATLAB R2022a 9.12.0
Step 2: Open Simulink model
Create a blank/new Simulink model refer Fig 5.1, 5.2, 5.3, 5.4.
To add the library files click on library browsers

Fig:5.1 library files

Fig 5.2 Adding Vehicles Networking toolboxes

Step 3: Simulation

Fig 5.3 General Block Diagram

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Fig 5.4 Block Diagram

Step 4: Driving Scenario Designer

 Create a driving scenario of a vehicle driving down a curved road, and export
the road and vehicle models to the MATLAB workspace. For a more detailed
example of creating a driving scenario, see Create Driving Scenario
Interactively and Generate Synthetic Sensor Data.
 Open the Driving Scenario Designer app.
 Create a curved road. On the app tool strip, click Add Road. Click the bottom
of the canvas, extend the road path to the middle of the canvas, and click the
canvas again. Extend the road path to the top of the canvas, and then double-
click to create the road. To make the curve more complex, click and drag the
road centre (open circles), double-click the road to add more road centre, or
double-click an entry in the heading (°) column of the Road Centre table to
specify a heading angle as a constraint to a road centre point.
 Add lanes to the road. In the left pane, on the Roads tab, expand
the Lanes section. Set Number of Lanes to 2. By default, the road is one-way
and has solid lane markings on either side to indicate the shoulder refer Fig5.5.

Fig 5.5 Roads and Lane section

 Add a vehicle at one end of the road. On the app tool strip, select Add
Actor > Car. Then click the road to set the initial position of the car.
 Set the driving trajectory of the car. Right-click the car, select Add
Forward Way points, and add way points for the car to pass through.

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After you add the last waypoint, press Enter. The car auto rotates in the
direction of the first waypoint refer in Fig 5.6 & 5.7

Fig 5.6 Adding Actor (Eg.CAR) Fig 5.7 Add Forward Way points

 Adjust the speed of the car as it passes between way points. In the Way points,
Speeds, Wait Times, and Yaw table in the left pane, set the velocity, v (m/s),
of the ego vehicle as it enters each waypoint segment. Increase the speed of
the car for the straight segments and decrease its speed for the curved
segments. For example, the trajectory has six way points, set the v
(m/s) cells to 30, 20, 15, 15, 20, and 30.
 Run the scenario, and adjust settings as needed. Then click Save > Roads &
Actors to save the road and car models to a MAT file

Step 5: Generate Sensor Data from Scenario

Generate LIDAR point cloud data from a pre-built Euro NCAP driving scenario.
 For more details on pre-built scenarios available from the app, see Prebuilt
Driving Scenarios in Driving Scenario Designer.
 For more details on available Euro NCAP scenarios, see Euro NCAP Driving
Scenarios in Driving Scenario Designer as shown in Fig 5.8.
Load a Euro NCAP autonomous emergency braking (AEB) scenario of a
collision with a pedestrian child. At collision time, the point of impact occurs
50% of the way across the width of the car.
 Add a LIDAR sensor to the ego vehicle. First click Add LIDAR. Then, on
the Sensor Canvas, click the predefined sensor location at the roof centre of
the car. The LIDAR sensor appears in black at the predefined location. The
Gray colour that surrounds the car is the coverage area of sensor, shown in Fig
5.9.

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Fig 5.8 Open Scenarios Fig 5.9 Adding Sensors

Run the scenario. Inspect different aspects of the scenario by toggling between
canvases and views. You can toggle between the Sensor Canvas and Scenario
Canvas and between the Bird's-Eye Plot and Ego-Centric View.
In the Bird's-Eye Plot and Ego-Centric View, the actors are displayed as
meshes instead of as cuboids. To change the display settings, use
the Display options on the app tool strip as shown in Fig 5.10.

Fig 5.10 Ego-Centric View and Ego-centric View

Step 6: Import Programmatic Driving Scenario and Sensors
Pro-grammatically create a driving scenario, radar sensor, and camera sensor.
Then import the scenario and sensors into the app. For more details on working
with programmatic driving scenarios and sensors, see Create Driving Scenario
Variations Programmatically.
Create a simple driving scenario by using a driving Scenario object. In this
scenario, the ego vehicle travels straight on a 50-meter road segment at a

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constant speed of 30 meters per second. For the ego vehicle, specify a Class
ID property of 1. This value corresponds to the app Class ID of 1, which refers
to actors of class Car. For more details on how the app defines classes, see
the Class parameter description in the Actors parameter tab.
 Create a radar sensor by using a driving Radar Data Generator object, and
create a camera sensor by using a vision Detection Generator object. Place
both sensors at the vehicle origin, with the radar facing forward and the
camera facing backward.
 Import the scenario, front-facing radar sensor, and rear-facing camera sensor
into the app as shown in Fig 5.11 & 5.12.

Fig 5.11 Programmatic scenario Fig 5.12 Programmatic Sensors

 You can then run the scenario and modify the scenario and sensors. To
generate new driving Scenario, driving Radar Data Generator, and vision
Detection Generator objects, on the app tool strip, select Export > Export
MATLAB Function, and then run the generated function.

Step 7: Generate Simulink Model of Scenario and sensors

Load a driving scenario containing a sensor and generate a Simulink model from
the scenario and sensor. For a more detailed example on generating Simulink
models from the app, see Generate Sensor Blocks Using Driving Scenario
Designer.
 Load a pre-built driving scenario into the app. The scenario contains two
vehicles crossing through an intersection. The ego vehicle travels north and
contains a camera sensor. This sensor is configured to detect both objects and
lanes.

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Fig 5.13 Export sensors scenario

 Generate a Simulink model of the scenario and sensor. On the app toolstrip,
select Export > Export Simulink Model. If you are prompted, save the
scenario file as shown in Fig 5.13.

Fig 5.14 Export Simulink block diagram

 The Scenario Reader block reads the road and actors from the scenario file. To
update the scenario data in the model, update the scenario in the app and save
the file.
 The Vision Detection Generator block recreates the camera sensor defined in
the app. To update the sensor in the model, update the sensor in the app,
select Export > Export Sensor Simulink Model, and copy the newly
generated sensor block into the model. If you updated any roads or actors
while updating the sensors, then select Export > Export Simulink Model. In
this case, the Scenario Reader block accurately reads the actor profile data and
passes it to the sensor in Fig 5.14.
Step 8: Specify Vehicle Trajectories for 3D Simulation
 Create a scenario with vehicle trajectories that you can later recreate in
Simulink for simulation in a 3D environment.
 Open one of the prebuilt scenarios that recreates a default scene available
through the 3D environment. On the app tool strip, select Open > Prebuilt
Scenario > Simulation3D and select a scenario. For example, select
the Double Lane Change. mat scenario.

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Fig 5.15 Specify a vehicle and its trajectory. Fig 5.16 The dimensions of the vehicle.

 Update the dimensions of the vehicle to match the dimensions of the

predefined vehicle types in the 3D simulation environment.
 On the Actors tab, select the 3D Display Type option you want.
 On the app tool strip, select 3D Display > Use 3D Simulation Actor
Dimensions. In the Scenario Canvas, the actor dimensions update to match
the predefined dimensions of the actors in the 3D simulation environment.
 Preview how the scenario will look when you later recreate it in Simulink. On
the app tool strip, select 3D Display > View Simulation in 3D Display. After
the 3D display window opens, click Run.

Fig 5.17 3D Model preview

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Fig 5.18 3D Model preview

 Modify the vehicle and trajectory as needed. Avoid changing the road network
or the actors that were predefined in the scenario. Otherwise, the app scenario
will not match the scenario that you later recreate in Simulink. If you change
the scenario, the 3D display window closes.
 When you are done modifying the scenario, you can recreate it in a Simulink
model for use in the 3D simulation environment. For an example that shows
how to set up such a model, see Visualize Sensor Data from Unreal Engine
Simulation Environment as shown in Fig 5.17 & 5.18.

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FUTURE SCOPE
Demand for Automotive ADAS (Advanced Driver Assistance Systems) is
projected to grow at a 9.6% CAGR, in comparison with the 7.4% CAGR
registered between 2017 and 2021, as per FMI. China, Germany, Japan, the
United States, Mexico, and India are expected to account for a significant portion
of the ADAS market. The increasing awareness regarding the importance of
ADAS to reduce car accidents is expected to drive their demand in future years.
These systems are capable of assisting drivers and initiating safety-critical
functionality to reduce car accidents and save lives.[8][12]

ADAS covers a wide range of passive and active systems that are specially
designed for assisting drivers by delivering high efficiency, comfort, and safety
while driving. It can also enhance the pedestrian, passenger, and driver safety and
security.

These have several components such as software solutions, radars, cameras, and
sensors. The ongoing integration of Artificial Intelligence (AI) in the automotive
industry is anticipated to bode well for the global market in future.

Governments of various countries are set to implement stringent norms to make

it mandatory for automakers to install ADAS, such as lane departure warning,
forward collision warning, and blind-spot detection systems in new passenger
cars. Majority of the automakers are thus increasingly focusing on broadening
their portfolios to include electric vehicles and novel ADAS.

The demand for these systems is anticipated to surge at a rapid pace owing to the
rising number of cars on the road. The urgent need to reduce road fatalities in
various countries is another crucial factor that is set to fuel the growth.

To address the convergence of conflicting goals, the increasing amount of

automotive electronic hardware and software solutions necessitate significant
changes in today's automobile design processes.

Shorter development cycles, reduced costs, and high reliability are compelling
automakers to come up with centralized ADAS domain controllers. Spurred by
the aforementioned factors, the global ADAS market is expected to grow at a fast
pace in the forthcoming years.[13][14][15]

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CONCLUSION

ADAS systems have the embryonic to improve road safety across the globe.
Today, ADAS is nearly conventional. Starting from the high-end models to the
compact economy cars, they offer a wide array of facilities focusing on driver
safety. With all the enhanced features and pleasure content that are available in a
vehicle, the driver must still focus on driving. Sensor technology can help to keep
a check on whether the driver is distracted or focused and sends the signal to the
driver.
ADAS systems have tremendous potential to increase the safety, comfort, and
effectiveness of our vehicles and transportation systems. By many ADAS is seen
as a stepping stone to fully autonomous vehicles.

As we’ve seen, more systems and more advanced systems, increase weight, seize,
and complexity both on a systems level as well as on the overall vehicle
architecture level. Semiconductor companies are responding to above mentioned
challenges by innovating their components. The technological expertise of
semiconductor companies is more impact than ever in the future development of
vehicle autonomy.

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REFERENCES

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3. European New Car Assessment Programme. Euro NCAP LSS Test Protocol. Version
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11."Continental Builds New Plant for Advanced Driver Assistance Systems in the
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15."Cadillac XTS Safety Seat Alerts Drivers to Dangers". 2012-03-27.

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