Project 1- Traffic Jam Assistant Feature

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.

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.

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

Procedure:

The following figure shows the created Simulink Data Dictionary file according to the given input signals and calibration data.

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 are connected to calibration signal “ON_MODE”, Multiport switch inputs 3 & 4 are 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”.

the created Traffic Jam Assistance feature algorithm as per the requirement

Model Advisor Report:

After running Modeling Standards for MAAB checks, we can see that there are 0 failures and hence, we can now proceed with the Code generation.

Code Generation:

.h file:

* File: traffic_jam_assis.h
*
* Code generated for Simulink model 'traffic_jam_assis'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Feb 17 03:52:58 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#ifndef RTW_HEADER_traffic_jam_assis_h_
#define RTW_HEADER_traffic_jam_assis_h_
#ifndef traffic_jam_assis_COMMON_INCLUDES_
#define traffic_jam_assis_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* traffic_jam_assis_COMMON_INCLUDES_ */

#include "traffic_jam_assis_types.h"

/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)
#endif

#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))
#endif

/* Real-time Model Data Structure */
struct tag_RTM_traffic_jam_assis_T {
const char_T * volatile errorStatus;
};

/*
* Exported Global Signals
*
* Note: Exported global signals are block signals with an exported global
* storage class designation. Code generation will declare the memory for
* these signals and export their symbols.
*
*/
extern uint8_T Output_Display; /* '<S3>/Switch' */

/* Model entry point functions */
extern void traffic_jam_assis_initialize(void);
extern void traffic_jam_assis_step(void);
extern void traffic_jam_assis_terminate(void);

/* Exported data declaration */

/* ConstVolatile memory section */
/* Declaration for custom storage class: ConstVolatile */
extern const volatile boolean_T Interrupt_1;/* Referenced by: '<S3>/Constant4' */
extern const volatile boolean_T Interrupt_2;/* Referenced by: '<S3>/Constant5' */
extern const volatile uint8_T No_Display;/* Referenced by: '<S3>/Constant3' */
extern const volatile uint8_T Off_Mode;/* Referenced by: '<S3>/Constant1' */
extern const volatile uint8_T On_Mode; /* Referenced by: '<S3>/Constant' */
extern const volatile uint8_T Standby_Mode;/* Referenced by: '<S3>/Constant2' */
extern const volatile uint8_T Voltage_Maximum_Range;/* Referenced by: '<S5>/Constant' */
extern const volatile uint8_T Voltage_Minimum_Range;/* Referenced by: '<S4>/Constant' */

/* Real-time Model object */
extern RT_MODEL_traffic_jam_assis_T *const traffic_jam_assis_M;

/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Use the MATLAB hilite_system command to trace the generated code back
* to the model. For example,
*
* hilite_system('<S3>') - opens system 3
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'traffic_jam_assis'
* '<S1>' : 'traffic_jam_assis/Traffic_Jam_Assistance_feature'
* '<S2>' : 'traffic_jam_assis/Traffic_Jam_Assistance_feature/Requirement_1'
* '<S3>' : 'traffic_jam_assis/Traffic_Jam_Assistance_feature/Requirement_2'
* '<S4>' : 'traffic_jam_assis/Traffic_Jam_Assistance_feature/Requirement_1/Compare To Constant'
* '<S5>' : 'traffic_jam_assis/Traffic_Jam_Assistance_feature/Requirement_1/Compare To Constant1'
*/
#endif /* RTW_HEADER_traffic_jam_assis_h_ */

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

.c file

* File: traffic_jam_assis.c
*
* Code generated for Simulink model 'traffic_jam_assis'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Feb 17 03:52:58 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "traffic_jam_assis.h"
#include "traffic_jam_assis_private.h"

/* Exported block signals */
uint8_T Output_Display; /* '<S3>/Switch' */

/* Exported data definition */

/* ConstVolatile memory section */
/* Definition for custom storage class: ConstVolatile */
const volatile boolean_T Interrupt_1 = 1;/* Referenced by: '<S3>/Constant4' */
const volatile boolean_T Interrupt_2 = 1;/* Referenced by: '<S3>/Constant5' */
const volatile uint8_T No_Display = 0U;/* Referenced by: '<S3>/Constant3' */
const volatile uint8_T Off_Mode = 2U; /* Referenced by: '<S3>/Constant1' */
const volatile uint8_T On_Mode = 1U; /* Referenced by: '<S3>/Constant' */
const volatile uint8_T Standby_Mode = 3U;/* Referenced by: '<S3>/Constant2' */
const volatile uint8_T Voltage_Maximum_Range = 50U;/* Referenced by: '<S5>/Constant' */
const volatile uint8_T Voltage_Minimum_Range = 30U;/* Referenced by: '<S4>/Constant' */

/* Real-time model */
static RT_MODEL_traffic_jam_assis_T traffic_jam_assis_M_;
RT_MODEL_traffic_jam_assis_T *const traffic_jam_assis_M = &traffic_jam_assis_M_;

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

/* Outputs for Atomic SubSystem: '<Root>/Traffic_Jam_Assistance_feature' */
/* Logic: '<S2>/OR' incorporates:
* Constant: '<S4>/Constant'
* Constant: '<S5>/Constant'
* Inport: '<Root>/Input_Voltage'
* RelationalOperator: '<S4>/Compare'
* RelationalOperator: '<S5>/Compare'
*/
Optimum_Voltage = ((Input_Voltage >= Voltage_Minimum_Range) || (Input_Voltage <=
Voltage_Maximum_Range));

/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant4'
* Constant: '<S3>/Constant5'
* Inport: '<Root>/Input_Switch'
* Logic: '<S3>/NOT'
* Logic: '<S3>/NOT1'
* RelationalOperator: '<S3>/Relational Operator'
*/
if (Optimum_Voltage && (!Input_Switch) && (Interrupt_1 == Interrupt_2)) {
/* Saturate: '<S3>/Saturation' incorporates:
* Inport: '<Root>/Enable_Display'
*/
if (Enable_Display < 4) {
tmp = Enable_Display;
} else {
tmp = 4U;
}

/* End of Saturate: '<S3>/Saturation' */

/* MultiPortSwitch: '<S3>/Multiport_Switch' */
switch (tmp) {
case 0:
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant'
*/
Output_Display = On_Mode;
break;

case 1:
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant'
*/
Output_Display = On_Mode;
break;

case 2:
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant1'
*/
Output_Display = Off_Mode;
break;

case 3:
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant1'
*/
Output_Display = Off_Mode;
break;

default:
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant2'
*/
Output_Display = Standby_Mode;
break;
}

/* End of MultiPortSwitch: '<S3>/Multiport_Switch' */
} else {
/* Switch: '<S3>/Switch' incorporates:
* Constant: '<S3>/Constant3'
*/
Output_Display = No_Display;
}

/* End of Switch: '<S3>/Switch' */
/* End of Outputs for SubSystem: '<Root>/Traffic_Jam_Assistance_feature' */
}

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

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

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