Project 1- Traffic Jam Assistant Feature

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.

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.

MAIN MODEL:

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”.

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

Linking the Model with SLDD:

After finishing the model design, the signal and the calibration parameters used in the Model are linked in the SLDD as shown below:

Changes in Configuration parameters for simulation and code generation:

CONFIGURATION PARAMETER:

For Simulation the Slover Setting choosen are as follows:

To click Slover>Solver selection>Type>Fixed-step.

For Code Generation, the Embedded coder is as target file as shown below:

In this to change the System target file into ert.tlc.

CODE GENERATION:

/*
 * File: Traffic_Jam_Assistant_Feature.c
 *
 * Code generated for Simulink model 'Traffic_Jam_Assistant_Feature'.
 *
 * Model version                  : 1.3
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Mon Oct  4 18:36:21 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Traffic_Jam_Assistant_Feature.h"
#include "Traffic_Jam_Assistant_Feature_private.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
uint8_T Output_Display;                /* '<S2>/Switch' */

/* Definition for custom storage class: FileScope */
static boolean_T Optimum_Voltage;      /* '<S3>/Relational Operator1' */

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

/* Real-time model */
RT_MODEL_Traffic_Jam_Assistan_T Traffic_Jam_Assistant_Featur_M_;
RT_MODEL_Traffic_Jam_Assistan_T *const Traffic_Jam_Assistant_Featur_M =
  &Traffic_Jam_Assistant_Featur_M_;

/* Model step function */
void Traffic_Jam_Assistant_Feature_step(void)
{
  uint8_T tmp;

  /* RelationalOperator: '<S3>/Relational Operator1' incorporates:
   *  Constant: '<S3>/Constant'
   *  Constant: '<S3>/Constant1'
   *  Inport: '<Root>/Input_Voltage'
   *  RelationalOperator: '<S3>/Relational Operator'
   */
  Optimum_Voltage = ((uint32_T)(Input_Voltage >= VOLTAGE_MINIMUM_RANGE) <=
                     VOLTAGE_MAXIMUM_RANGE);

  /* Switch: '<S2>/Switch' incorporates:
   *  Constant: '<S2>/Constant3'
   *  Constant: '<S2>/Constant4'
   *  Constant: '<S2>/Constant5'
   *  Inport: '<Root>/Input_Switch'
   *  Logic: '<S2>/Logical Operator'
   *  Logic: '<S2>/Logical Operator1'
   *  Logic: '<S2>/Logical Operator2'
   *  RelationalOperator: '<S2>/Relational Operator'
   */
  if ((!Input_Switch) && Optimum_Voltage && (INTERRUPT_1 == INTERRUPT_2)) {
    /* Saturate: '<S2>/Saturation' incorporates:
     *  Inport: '<Root>/Enable_Display'
     */
    if (Enable_Display < 7) {
      tmp = Enable_Display;
    } else {
      tmp = 7U;
    }

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

    /* MultiPortSwitch: '<S2>/Multiport_Switch' incorporates:
     *  Constant: '<S2>/Constant'
     *  Constant: '<S2>/Constant1'
     *  Constant: '<S2>/Constant2'
     */
    switch (tmp) {
     case 1:
      Output_Display = ON_MODE;
      break;

     case 2:
      Output_Display = ON_MODE;
      break;

     case 3:
      Output_Display = OFF_MODE;
      break;

     case 4:
      Output_Display = OFF_MODE;
      break;

     default:
      Output_Display = STANDBY_MODE;
      break;
    }

    /* End of MultiPortSwitch: '<S2>/Multiport_Switch' */
  } else {
    Output_Display = NO_DISPLAY;
  }

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

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

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

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

MODEL ADVISOR:

CONCLUSION:

The model corresponding to Traffic Jam Assitant feature is succesfully implemented. All the compliant changes pertaining to MBD, linking of the model to the SLDD , code generation and ultimately generation of the Model Advisor Report is presented with detailed analysis.