Project 1- Traffic Jam Assistant Feature

Traffic Jam Assistant Feature

Introduction to the Feature:

Traffic Jam Assistant is one of the most common features in the 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 the 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 kph, the driver can activate the functionality by the press of a button. The vehicle will now automatically follow the vehicle in front, takes over driving off, acceleration, braking and steering within the 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.

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 the 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.

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

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”.
• The 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. The output signal from the subsystem is “Output_Display”.
• Input Signal “Enable_Display” is compared against a pre-defined set of values in a multiport switch. The total data ports in the multiport switch are 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 the 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 the value of the input signal “Input_Switch” is compared in an AND gate against the 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 - I have entered the given inputs and outputs.

MODEL -

• the above model is the topmost model, in this, the inputs are input_voltage, Input_Switch, Enable_Display and output is Output_Display

Subsystem1 -

• In the above block, We have two subsystems, one is Requirement_1 block and the other is DisplayUnit.

Requirement_1 -

• Here the input voltage is compared with voltage minimum range whether it is greater than or equal voltage minimum range, if it is equal it will return 1 or else 0. then the resultant value is compared with the voltage maximum range, whether it is less than or equal.

DisplayUnit -

the Above is done based on requirement 2.

To generate a code, we need to set, solver selection type to fixed-step.

then, we have to change the system target file to ert.tlc(embedded).

CODE Generation -

/*
 * File: project_1.c
 *
 * Code generated for Simulink model 'project_1'.
 *
 * Model version                  : 1.0
 * Simulink Coder version         : 9.4 (R2020b) 29-Jul-2020
 * C/C++ source code generated on : Fri Sep 17 00:05:51 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "project_1.h"
#include "project_1_private.h"

/* Exported data definition */

/* ConstVolatile memory section */
/* Definition for custom storage class: ConstVolatile */
const volatile boolean_T INTERRUPT_1 = 1;/* Referenced by: '<S2>/Constant3' */
const volatile boolean_T INTERRUPT_2 = 1;/* Referenced by: '<S2>/Constant4' */
const volatile uint8_T NO_DISPLAY = 0U;/* Referenced by: '<S2>/Constant5' */
const volatile uint8_T OFF_MODE = 2U;  /* Referenced by: '<S2>/Constant1' */
const volatile uint8_T ON_MODE = 1U;   /* Referenced by: '<S2>/Constant' */
const volatile uint8_T STANDBY_MODE = 3U;/* Referenced by: '<S2>/Constant2' */
const volatile uint8_T VOLTAGE_MAXIMUM_RANGE = 50U;/* Referenced by: '<S3>/Constant1' */
const volatile uint8_T VOLTAGE_MINIMUM_RANGE = 30U;/* Referenced by: '<S3>/Constant' */

/* External inputs (root inport signals with default storage) */
ExtU_project_1_T project_1_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_project_1_T project_1_Y;

/* Real-time model */
static RT_MODEL_project_1_T project_1_M_;
RT_MODEL_project_1_T *const project_1_M = &project_1_M_;

/* Model step function */
void project_1_step(void)
{
  real_T tmp;

  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Constant3'
   *  Constant: '<S2>/Constant4'
   *  Constant: '<S3>/Constant'
   *  Constant: '<S3>/Constant1'
   *  Inport: '<Root>/Input_Switch'
   *  Inport: '<Root>/Input_Voltage'
   *  Logic: '<S2>/AND'
   *  Logic: '<S2>/AND1'
   *  Logic: '<S2>/NOT'
   *  RelationalOperator: '<S2>/Relational Operator'
   *  RelationalOperator: '<S3>/Relational Operator'
   *  RelationalOperator: '<S3>/Relational Operator1'
   */
  if ((!project_1_U.Input_Switch) && ((uint32_T)(project_1_U.Input_Voltage >=
        VOLTAGE_MINIMUM_RANGE) <= VOLTAGE_MAXIMUM_RANGE) && (INTERRUPT_1 ==
       INTERRUPT_2)) {
    /* Saturate: '<S2>/Saturation' incorporates:
     *  Inport: '<Root>/Enable_Display'
     */
    if (project_1_U.Enable_Display > 7.0) {
      tmp = 7.0;
    } else if (project_1_U.Enable_Display < 0.0) {
      tmp = 0.0;
    } else {
      tmp = project_1_U.Enable_Display;
    }

    /* End of Saturate: '<S2>/Saturation' */

    /* MultiPortSwitch: '<S2>/Multiport Switch' */
    switch ((int32_T)tmp) {
     case 1:
      /* Outport: '<Root>/Output_Display' incorporates:
       *  Constant: '<S2>/Constant'
       */
      project_1_Y.Output_Display = ON_MODE;
      break;

     case 2:
      /* Outport: '<Root>/Output_Display' incorporates:
       *  Constant: '<S2>/Constant'
       */
      project_1_Y.Output_Display = ON_MODE;
      break;

     case 3:
      /* Outport: '<Root>/Output_Display' incorporates:
       *  Constant: '<S2>/Constant1'
       */
      project_1_Y.Output_Display = OFF_MODE;
      break;

     case 4:
      /* Outport: '<Root>/Output_Display' incorporates:
       *  Constant: '<S2>/Constant1'
       */
      project_1_Y.Output_Display = OFF_MODE;
      break;

     default:
      /* Outport: '<Root>/Output_Display' incorporates:
       *  Constant: '<S2>/Constant2'
       */
      project_1_Y.Output_Display = STANDBY_MODE;
      break;
    }

    /* End of MultiPortSwitch: '<S2>/Multiport Switch' */
  } else {
    /* Outport: '<Root>/Output_Display' incorporates:
     *  Constant: '<S2>/Constant5'
     */
    project_1_Y.Output_Display = NO_DISPLAY;
  }

  /* End of Switch: '<S2>/Switch' */
}

/* Model initialize function */
void project_1_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void project_1_terminate(void)
{
  /* (no terminate code required) */
}

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

MODEL ADVISOR -

Matlab file - Click here

Result -

• The model has been developed in MATLAB Simulink as per MBD guidelines.
• Code Generation Profile is in Embedded Coder.
• Simulink Data Dictionary must have been created for the model and I have linked it to the model.
• i have generated code and attached the model advisor report.