Project 1- Traffic Jam Assistant Feature
Aim- To develop the traffic jam assistant feature that can assist driving in highway traffic jams while the host vehicle automatically follows the vehicle ahead
Objectives-
- 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.
Theory-
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.
How does it work?
Traffic Jam Assistance (TJA) is an advanced driver assistance system that continuously measures the speed of the surrounding vehicles when Adaptive Cruise Control is switched on. That speed is compared with your own driving speed. If Traffic Jam Assistance detects many surrounding vehicles at speeds below 60 km/h – and you are therefore very likely to be in a traffic jam – the driver can activate Traffic Jam Assistance.
With Traffic Jam Assistance switched on, the car automatically follows the vehicle in front. It accelerates and brakes all by itself, at all speeds below 60 km/h to a standstill and further. In addition, the intelligent technology continuously keeps the distance you set to the vehicle in front of you. But there is more: with Traffic Jam Assistance, your vehicle also steers automatically to stay neatly in the middle of the lane. Even in gentle corners! Very comfortable, carefree and safe driving, regardless the visibility, the weather conditions and the amount of traffic on the road.
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.
Simulink Model-
The overall model for Traffic Jam Assistance feature is shown below-
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”.
Procedure-
SLDD Files- Linking the model with SLDD-
After finishing the model design the signals and calibration parameters used in the Model are linked in SLDD as shown below-
All input and output signals are resolved at their origin and propagated at the corresponding stages as shown-
For simulation the solver settings are choen as follows-
For Code generation, Embedded coder is as target file as shown-
Code generation-
C Source file-
/*
* File: TrafficJamAssist_MBD.c
*
* Code generated for Simulink model 'TrafficJamAssist_MBD'.
*
* Model version : 1.2
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Jun 17 20:31:57 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "TrafficJamAssist_MBD.h"
#include "TrafficJamAssist_MBD_private.h"
/* Exported data definition */
/* Definition for custom storage class: ExportToFile */
uint8_T Output_Display; /* '/Switch' */
/* ConstVolatile memory section */
/* Definition for custom storage class: ConstVolatile */
const volatile boolean_T INTERRUPT_1 = 1;/* Referenced by: '/Constant3' */
const volatile boolean_T INTERRUPT_2 = 1;/* Referenced by: '/Constant4' */
const volatile uint8_T NO_DISPLAY = 1U;/* Referenced by: '/Constant5' */
const volatile uint8_T OFF_MODE = 2U; /* Referenced by: '/Constant1' */
const volatile uint8_T ON_MODE = 1U; /* Referenced by: '/Constant' */
const volatile uint8_T STANDBY_MODE = 3U;/* Referenced by: '/Constant2' */
const volatile uint8_T VOLTAGE_MAXIMUM_RANGE = 50U;/* Referenced by: '/Constant1' */
const volatile uint8_T VOLTAGE_MINIMUM_RANGE = 30U;/* Referenced by: '/Constant' */
/* Real-time model */
static RT_MODEL_TrafficJamAssist_MBD_T TrafficJamAssist_MBD_M_;
RT_MODEL_TrafficJamAssist_MBD_T *const TrafficJamAssist_MBD_M =
&TrafficJamAssist_MBD_M_;
/* Model step function */
void TrafficJamAssist_MBD_step(void)
{
/* local block i/o variables */
boolean_T Optimum_Voltage;
uint8_T tmp;
/* Logic: '/Logical Operator' 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: '/Constant3'
* Constant: '/Constant4'
* 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 < 1) {
tmp = 0U;
} else {
tmp = 1U;
}
/* End of Saturate: '/Saturation' */
/* MultiPortSwitch: '/Multiport Switch' */
if (tmp == 1) {
/* Switch: '/Switch' incorporates:
* Constant: '/Constant'
*/
Output_Display = ON_MODE;
} else {
/* Switch: '/Switch' incorporates:
* Constant: '/Constant2'
*/
Output_Display = STANDBY_MODE;
}
/* End of MultiPortSwitch: '/Multiport Switch' */
} else {
/* Switch: '/Switch' incorporates:
* Constant: '/Constant5'
*/
Output_Display = NO_DISPLAY;
}
/* End of Switch: '/Switch' */
}
/* Model initialize function */
void TrafficJamAssist_MBD_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void TrafficJamAssist_MBD_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
C Header file-
/*
* File: rtwtypes.h
*
* Code generated for Simulink model 'TrafficJamAssist_MBD'.
*
* Model version : 1.2
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Jun 17 20:31:57 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTWTYPES_H
#define RTWTYPES_H
/* Logical type definitions */
#if (!defined(__cplusplus))
#ifndef false
#define false (0U)
#endif
#ifndef true
#define true (1U)
#endif
#endif
/*=======================================================================*
* Target hardware information
* Device type: Intel->x86-64 (Windows64)
* Number of bits: char: 8 short: 16 int: 32
* long: 32
* native word size: 64
* Byte ordering: LittleEndian
* Signed integer division rounds to: Zero
* Shift right on a signed integer as arithmetic shift: on
*=======================================================================*/
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;
/*===========================================================================*
* Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, *
* real_T, time_T, ulong_T. *
*===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef unsigned char uchar_T;
typedef char_T byte_T;
/*===========================================================================*
* Complex number type definitions *
*===========================================================================*/
#define CREAL_T
typedef struct {
real32_T re;
real32_T im;
} creal32_T;
typedef struct {
real64_T re;
real64_T im;
} creal64_T;
typedef struct {
real_T re;
real_T im;
} creal_T;
#define CINT8_T
typedef struct {
int8_T re;
int8_T im;
} cint8_T;
#define CUINT8_T
typedef struct {
uint8_T re;
uint8_T im;
} cuint8_T;
#define CINT16_T
typedef struct {
int16_T re;
int16_T im;
} cint16_T;
#define CUINT16_T
typedef struct {
uint16_T re;
uint16_T im;
} cuint16_T;
#define CINT32_T
typedef struct {
int32_T re;
int32_T im;
} cint32_T;
#define CUINT32_T
typedef struct {
uint32_T re;
uint32_T im;
} cuint32_T;
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127))
#define MIN_int8_T ((int8_T)(-128))
#define MAX_uint8_T ((uint8_T)(255U))
#define MAX_int16_T ((int16_T)(32767))
#define MIN_int16_T ((int16_T)(-32768))
#define MAX_uint16_T ((uint16_T)(65535U))
#define MAX_int32_T ((int32_T)(2147483647))
#define MIN_int32_T ((int32_T)(-2147483647-1))
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
/* Block D-Work pointer type */
typedef void * pointer_T;
#endif /* RTWTYPES_H */
/*
* File trailer for generated code.
*
* [EOF]
*/
Model Advisor Check-
Conclusion- The model corresponding to traffic jam assistant feature is successfully implemented,All compliant changes pertaining to MBD, Linking the model to SLDD code generation and generation of Model advisor report is represented with detailed analysis.All the related documents C Files, SLDD files Model Advisor Report are attached in form of zip file.