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Project 1- Traffic Jam Assistant Feature

VVivek Vala9 Mar 2022
MATLABMBD

Traffic Jam Assistant Feature

Problem Statement:

To develop one specific requirement of Traffic Jam Assistant algorithm which would predominantly feature in the IPC algorithm.Please note that the whole Traffic Jam Assistant is a very huge algorithm & only one small part of the logic is implemented here. Idea is to familiarize with concepts of Model Based Development in MATLAB Environment. The Project must be done keeping in mind the following processes & steps.

  • This model must be developed in MATLAB Simulink as per MBD guidelines.
  • Code Generation Profile must be in Embedded Coder.
  • Simulink Data Dictionary must be created for the model & must be linked to the model.
  • Model Advisor Report is mandatory & this will be followed by Code Generation.

Traffic Jam Assistant Feature

Introduction to the Feature:

Traffic Jam Assistant is one of the most common feature in Advanced Driver Assistance System. Traffic Jam Assistant helps the driver arrive more relaxed at their destination, even in dense traffic or in traffic jams. As a partially automated comfort function, the system takes over the longitudinal & lateral guidance of the vehicle. This means that the car can drive off, accelerate & brake automatically, as well as steer the vehicle within certain constraints. The driver has to permanently supervise the system & be ready to take over the complete control of the vehicle at any time.

Traffic Jam Assistant system helps to avoid rear end collisions in dense traffic conditions & traffic jams. In Traffic jams, the vehicle takes over driving off, acceleration, braking and steering within same lane.

Basic Working Principle:

Traffic Jam Assistant is based on the sensors and the functionality of the Adaptive Cruise Control (ACC) with stop & go and Lane Keeping Support (LKS). When ACC ‘Stop & Go’ is turned ON, the Traffic Jam Assistant continuously analyses the speed of the surrounding vehicles and compares it with the own driving speed. If the system detects dense traffic or a traffic jam at speeds less than 60 kmph, the driver can activate the functionality by press of a button. The vehicle will now automatically follow the vehicle in front, takes over driving off, acceleration, braking and steering within same lane.

Information regarding the Traffic Jam Assistant will be available to be displayed to the driver in the Instrument Panel Cluster (IPC). The Algorithm which the students need to implement here in this project is predominantly based on IPC units.

Requirement No 1:

  • Input Signal “Input_Voltage” is compared against voltage values “VOLTAGE_MINIMUM_RANGE” & “VOLTAGE_MAXIMUM_RANGE”.
  • Incoming input signal “Input_Voltage” must be greater than – equal to “VOLTAGE_MINIMUM_RANGE” and less than – equal to “VOLTAGE_MAXIMUM_RANGE”.
  • Output signal from here is “Optimum_Voltage” which will be one of the inputs to the subsystem “DisplayUnit”.

Requirement No 2 (DisplayUnit Subsystem):

  • Input Signals are “Optimum_Voltage”, “Input_Switch”,“Enable_Display”. Signal “Enable_Display” must be saturated between the range 0 – 7. Output signal from the subsystem is “Output_Display”.
  • Input Signal “Enable_Display” is compared against pre – defined set of values in a multiport switch. Total data ports in the multiport switch is 5.
  • Multiport switch inputs 1 & 2 is connected to calibration signal “ON_MODE”, Multiport switch inputs 3 & 4 is connected to calibration signal “OFF_MODE” while Multiport switch input 5 is connected to calibration signal “STANDBY_MODE”.
  • The output from Multiport switch is connected to the first input port of the Switch block. The third input port of the Switch block is connected to the calibration signal “NO_DISPLAY”.
  • Meanwhile NOT value of input signal “Input_Switch” is compared in an AND gate against input signal “Optimum_Voltage” and the output from comparing if calibration signals “INTERRUPT_1” & “INTERRUPT_2” are equal. The output of the AND gate is the second input of the switch block.
  • The output from the switch block is “Output_Display”.

Input Signals:

Name of the Signal

Data Type

Range

Input_Voltage

uint8

0 - 255

Input_Switch

boolean

0 – 1

Enable_Display

uint8

0 - 255

Output Signal:

Name of the Signal

Data Type

Range

Output_Display

uint8

0 - 255

Calibration Signals:

Name of the Signal

Data Type

Range

Initial Value

VOLTAGE_MINIMUM_RANGE

uint8

0 – 255

30

VOLTAGE_MAXIMUM_RANGE

uint8

0 – 255

50

OFF_MODE

uint8

0 – 255

2

ON_MODE

uint8

0 – 255

1

STANDBY_MODE

uint8

0 – 255

3

INTERRUPT_1

boolean

0 – 1

1

INTERRUPT_2

boolean

0 - 1

1

NO_DISPLAY

uint8

0 – 255

0

Local Signal:

Name of the Signal

Data Type

Range

Optimum_Voltage

boolean

0 - 1

MAIN MODEL:

Requirment1 & Requirment2 Subsystem:

Requirement No 1:

  • Input Signal “Input_Voltage” is compared against voltage values “VOLTAGE_MINIMUM_RANGE” & “VOLTAGE_MAXIMUM_RANGE”.
  • Incoming input signal “Input_Voltage” must be greater than – equal to “VOLTAGE_MINIMUM_RANGE” and less than – equal to “VOLTAGE_MAXIMUM_RANGE”.
  • Output signal from here is “Optimum_Voltage” which will be one of the inputs to the subsystem “DisplayUnit”.

Requirement No 2 (DisplayUnit Subsystem):

  • Input Signals are “Optimum_Voltage”, “Input_Switch”,“Enable_Display”. Signal “Enable_Display” must be saturated between the range 0 – 7. Output signal from the subsystem is “Output_Display”.
  • Input Signal “Enable_Display” is compared against pre – defined set of values in a multiport switch. Total data ports in the multiport switch is 5.
  • Multiport switch inputs 1 & 2 is connected to calibration signal “ON_MODE”, Multiport switch inputs 3 & 4 is connected to calibration signal “OFF_MODE” while Multiport switch input 5 is connected to calibration signal “STANDBY_MODE”.
  • The output from Multiport switch is connected to the first input port of the Switch block. The third input port of the Switch block is connected to the calibration signal “NO_DISPLAY”.
  • Meanwhile NOT value of input signal “Input_Switch” is compared in an AND gate against input signal “Optimum_Voltage” and the output from comparing if calibration signals “INTERRUPT_1” & “INTERRUPT_2” are equal. The output of the AND gate is the second input of the switch block.
  • The output from the switch block is “Output_Display”.

SLDD File:

  • A Simulink data disctionary contain input, output, calibration values in form signals, parameters, etc..
  • to create SLDD first we need to go to "modeling" tab then click on "Link to data dictionary"
  • then click on new and make a new file
  • then after clicking on model explorer click on design data
  • where we can add signals, calibration value by adding and changing the data type.

Model Advisor check:

  • Before doing this we need to go in to solver configuration from model settings
  • then solver selection type given to fixed step and solver need to be discrete and fixed step size is given as 0.01
  • in code generation system target file is given as ert.tlc
  • then we can perform model advisor check but first for checking purpose of model we can refresh the model by clicking on ctrl+D
  • if we dont recieve any error or anything serious then we can do model advisor check
  • A model advisor check is performed to check that there are no errors in model
  • here we are checking our model as per MAB guidelines (Mathworks Advisory Board)
  • so, we can see that model advisor check is successfully completed without any error
  • and i also tried to reduce the no. of warning so now we have only 11 warnings.

Model Advisor Report:

  • For performing code generation there are various methods
  • here i clicked on Apps then C code
  • then go to build option
  • and click on generate code

Generate C-Code:

/*
 * File: TJAp1.c
 *
 * Code generated for Simulink model 'TJAp1'.
 *
 * Model version                  : 1.16
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Wed Mar  9 10:07:55 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "TJAp1.h"
#include "TJAp1_private.h"

/* Exported block signals */
uint8_T Output_Display;                /* '/Switch' */

/* Exported data definition */

/* ConstVolatile memory section */
/* Definition for custom storage class: ConstVolatile */
const volatile boolean_T INTERRUPT_1 = 1;/* Referenced by: '/Constant4' */
const volatile boolean_T INTERRUPT_2 = 1;/* Referenced by: '/Constant5' */
const volatile uint8_T NO_DISPLAY = 0U;/* Referenced by: '/Constant' */
const volatile uint8_T OFF_MODE = 2U;  /* Referenced by: '/Constant2' */
const volatile uint8_T ON_MODE = 1U;   /* Referenced by: '/Constant1' */
const volatile uint8_T STANDBY_MODE = 3U;/* Referenced by: '/Constant3' */
const volatile uint8_T VOLTAGE_MAXIMUM_RANGE = 50U;/* Referenced by: '/Constant' */
const volatile uint8_T VOLTAGE_MINIMUM_RANGE = 30U;/* Referenced by: '/Constant1' */

/* Real-time model */
static RT_MODEL_TJAp1_T TJAp1_M_;
RT_MODEL_TJAp1_T *const TJAp1_M = &TJAp1_M_;

/* Model step function */
void TJAp1_step(void)
{
  /* local block i/o variables */
  boolean_T Optimum_Voltage;
  uint8_T tmp;

  /* Logic: '/AND' incorporates:
   *  Constant: '/Constant'
   *  Constant: '/Constant1'
   *  Inport: '/Input_Voltage'
   *  RelationalOperator: '/Relational Operator'
   *  RelationalOperator: '/Relational Operator1'
   */
  Optimum_Voltage = ((Input_Voltage >= VOLTAGE_MINIMUM_RANGE) && (Input_Voltage <=
    VOLTAGE_MAXIMUM_RANGE));

  /* Switch: '/Switch' incorporates:
   *  Constant: '/Constant4'
   *  Constant: '/Constant5'
   *  Inport: '/Input_Switch'
   *  Logic: '/AND'
   *  Logic: '/NOT'
   *  RelationalOperator: '/Relational Operator'
   */
  if (Optimum_Voltage && (!Input_Switch) && (INTERRUPT_1 == INTERRUPT_2)) {
    /* Saturate: '/Saturation' incorporates:
     *  Inport: '/Enable_Display'
     */
    if (Enable_Display < 7) {
      tmp = Enable_Display;
    } else {
      tmp = 7U;
    }

    /* End of Saturate: '/Saturation' */

    /* MultiPortSwitch: '/Multiport Switch' */
    switch (tmp) {
     case 1:
      /* Switch: '/Switch' incorporates:
       *  Constant: '/Constant1'
       */
      Output_Display = ON_MODE;
      break;

     case 2:
      /* Switch: '/Switch' incorporates:
       *  Constant: '/Constant1'
       */
      Output_Display = ON_MODE;
      break;

     case 3:
      /* Switch: '/Switch' incorporates:
       *  Constant: '/Constant2'
       */
      Output_Display = OFF_MODE;
      break;

     case 4:
      /* Switch: '/Switch' incorporates:
       *  Constant: '/Constant2'
       */
      Output_Display = OFF_MODE;
      break;

     default:
      /* Switch: '/Switch' incorporates:
       *  Constant: '/Constant3'
       */
      Output_Display = STANDBY_MODE;
      break;
    }

    /* End of MultiPortSwitch: '/Multiport Switch' */
  } else {
    /* Switch: '/Switch' incorporates:
     *  Constant: '/Constant'
     */
    Output_Display = NO_DISPLAY;
  }

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

/* Model initialize function */
void TJAp1_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void TJAp1_terminate(void)
{
  /* (no terminate code required) */
}

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

Conclusion:

  • developed Traffic Jam Assistant Feature in MATLAB Simulink as per MBD guidelines.
  • Code Generation Profile be given as Embedded Coder.
  • Simulink Data Dictionary created for the model & linked to the model.
  • Model Advisor Report is created & this will be followed by Code Generation.
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