Project 2-Highway Assistant-Lane Changing Assistant
Aim :
- Modeling the Highway Assistant-Lane Changing Assistant in Matlab Simulink.
Objective :
To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm. Please note that the whole Highway Assistant – Lane Changing Assistant is a very huge algorithm & only one small part of the logic is implemented here. Idea is to familiarize with concepts of Autosar Software Component Development in MATLAB Environment by following the Model Based Development guidelines. The Project must be done keeping in mind the following processes & steps.
- This model must be developed in MATLAB Simulink per MBD guidelines.
- Code Generation Profile must be Autosar Coder.
- Simulink Data Dictionary must be created for the model & must be linked to the model.
- All the input & output signals must be mapped into the Autosar Editor.
- Model Advisor Report is mandatory & this will be followed by Code Generation.
Theory :
The Highway Assistant supports the driver and takes over the longitudinal and lateral guidance of the vehicle in monotonous driving situations on highways. The partially automated function can automatically start, accelerate, brake as well as steer the vehicle to a certain extent. The driver has to permanently supervise the system and be ready to take over the complete control of the vehicle at any time.
Drivers are taught to assess surrounding traffic before changing lanes by checking their rearview and side mirrors and looking over each shoulder. However, even for those who follow this sequence of checks, the vehicle's blind spot – the area alongside and just behind the vehicle – is a constant source of danger and often the cause of serious accidents. Even vehicles approaching quickly from behind can pose a risk. To make changing lanes safer, this feature has been developed.
Basic Working Principle:
Highway Assistant is a partially automated driving function for a speed range of up to 180 km/h (112 mph) on highways. It combines the radar-based longitudinal guidance of Adaptive Cruise Control (ACC) with the video-based lateral guidance of lane keeping support in one system. Highway Assistant can be supplemented by an automatic lane change initiated and monitored by the driver in a speed range of 60 – 130 km/h (35 – 80 mph).
The lane Change Assistant works by using two mid-range radar sensors that are concealed in the rear bumper – one on the left, one on the right. These two sensors monitor the area alongside and behind the car. Powerful control software collates the sensor information to create a complete picture of all traffic in the area behind the vehicle.Whenever another vehicle approaches at speed from behind or is already present in the blind spot, a signal such as a warning light in the side mirror alerts the driver to the hazard. Should the driver still activate the turn signal with the intention of changing lanes, the system issues an additional acoustic and/or haptic warning.
Highway Assistant-Lane Changing Assistant model:
first we created the input and output ports as per the given requirement.also we resolved all the signals.
Procedure :
Creating the simulink data dictionary (SLDD)from the given signals.
Requirement No 1 [Highway_DisplayUnit]:
Inputs to this particular subsystem are “Highway_Input_Signal”, “Enable_Display”, “Input_Switch”. These three input signals, when assigned to a particular value will give output signals of specific value. The output signals are “Highway_Display_Mode_1”, “Highway_Display_Mode_2”, “Highway_Display_Mode_3”, “Highway_Display_Mode_4”. The requirement must be implemented in the form of a Stateflow logic.
|
Condition |
Action |
|
Highway_Input_Signal = 1 Enable_Display = off Input_Switch = on |
Highway_Display_Mode_1 = 232 Highway_Display_Mode_2 = 183 Highway_Display_Mode_3 = 41 Highway_Display_Mode_4 = 94 |
|
Highway_Input_Signal = 1 Enable_Display = on Input_Switch = on |
Highway_Display_Mode_1 = 213 Highway_Display_Mode_2 = 183 Highway_Display_Mode_3 = 9 Highway_Display_Mode_4 = 94 |
As per the requirment created the Highway_DisplayUnit with inputs as Highway_Input_Signal,Enable_Display,Input_Switch.
Once the stateflow logic is created then resolve input and output ports
Requirement No 2 [Lane_DisplayUnit]:
Inputs to this particular subsystem are “Enable_Display”, “Input_Switch”, “Lane_Input_Signal”. These three input signals, when assigned to a particular value will give output signals of specific value. The output signals are “Lane_Display_Mode_1”, “Lane_Display_Mode_2”, “Lane_Display_Mode_3”, “Lane_Display_Mode_4”. The requirement must be implemented in the form of Stateflow logic.
|
Condition |
Action |
|
Lane_Input_Signal= 6 Enable_Display = off Input_Switch = on |
Lane_Display_Mode_1 = 132 Lane_Display_Mode_2 = 185 Lane_Display_Mode_3 = 54 Lane_Display_Mode_4 = 67 |
|
Lane_Input_Signal= 6 Enable_Display = on Input_Switch = on |
Lane_Display_Mode_1 = 127 Lane_Display_Mode_2 = 248 Lane_Display_Mode_3 = 186 Lane_Display_Mode_4 = 84 |
As per the requirement 2 we created the subsystem with two input which are used at first requirement “Enable_Display”, “Input_Switch” and Lane_Input_Signal.
Once the stateflow logic is created then resolve input and output ports
Requirement No 3:
Signals coming from both subsystems “Highway_Display_Mode_1” & “Lane_Display_Mode_1” are given as inputs to a switch block which will have input signal “Highway_Input_Signal” given as 2nd input to the switch block. Corresponding output from this particular switch block is output signal “Display_Mode_1”.
Signals coming from both subsystems “Highway_Display_Mode_2” & “Lane_Display_Mode_2” are given as inputs to a switch block which will have input signal “Highway_Input_Signal” given as 2nd input to the switch block. Corresponding output from this particular switch block is output signal “Display_Mode_2”.
Signals coming from both subsystems “Highway_Display_Mode_3” & “Lane_Display_Mode_3” are given as inputs to a switch block which will have input signal “Highway_Input_Signal” given as 2nd input to the switch block. Corresponding output from this particular switch block is output signal “Display_Mode_3”.
Signals coming from both subsystems “Highway_Display_Mode_4” & “Lane_Display_Mode_4” are given as inputs to a switch block which will have input signal “Highway_Input_Signal” given as 2nd input to the switch block. Corresponding output from this particular switch block is output signal “Display_Mode_4”.
Then we need to make the model in compliance with AUTOSAR. So all the input and output port must be mapped into the AUTOSAR editor.
So that first we change the system target file as autosar.tlc and also Solver must be fixed type.
Then under the App tab click on AUTOSAR components
This will open Code Mapping AUTOSAR component.
For the S-R interface model port,we will rename the port with prefix SRIf_
For the Data element of model port,we will rename the port with prefix DE_
For the Reciever port of the model,that is input, we rename the port with prifix Rp_
For the sender port of the model,that is output, we rename the port with prifix Pp_
Then after mapping the port model should validate with AUTOSAR compliance.
Then check the model advisior then generate the code.
code generated report
code file :
/*
* File: Lane_Changing_Assistant_Model.c
*
* Code generated for Simulink model 'Lane_Changing_Assistant_Model'.
*
* Model version : 1.4
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Wed Mar 23 02:23:24 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Lane_Changing_Assistant_Model.h"
#include "Lane_Changing_Assistant_Model_private.h"
/* Named constants for Chart: '/Highway_DisplayUnit' */
#define Lane_Changing_As_IN_Condition_1 ((uint8)1U)
#define Lane_Changing_As_IN_Condition_2 ((uint8)2U)
/* Block signals (default storage) */
B_Lane_Changing_Assistant_Mod_T Lane_Changing_Assistant_Model_B;
/* Block states (default storage) */
DW_Lane_Changing_Assistant_Mo_T Lane_Changing_Assistant_Mode_DW;
/* Model step function */
void Lane_Changing_Assistant_Model_Step(void)
{
sint32 tmp;
uint8 rtb_Highway_Display_Mode_1;
uint8 rtb_Highway_Display_Mode_3;
/* Chart: '/Highway_DisplayUnit' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Highway_Input_Signal'
* Inport: '/Input_Switch'
*/
if (Lane_Changing_Assistant_Mode_DW.is_active_c3_Lane_Changing_Assi == 0U) {
Lane_Changing_Assistant_Mode_DW.is_active_c3_Lane_Changing_Assi = 1U;
Lane_Changing_Assistant_Mode_DW.is_c3_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (Lane_Changing_Assistant_Mode_DW.is_c3_Lane_Changing_Assistant_M ==
Lane_Changing_As_IN_Condition_1) {
if ((Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
Lane_Changing_Assistant_Mode_DW.is_c3_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
} else {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
/* case IN_Condition_2: */
} else if
((Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
Lane_Changing_Assistant_Mode_DW.is_c3_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else {
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
/* End of Chart: '/Highway_DisplayUnit' */
/* Outputs for Enabled SubSystem: '/Lane_DisplayUnit' incorporates:
* EnablePort: '/Enable'
*/
/* RelationalOperator: '/Compare' incorporates:
* Constant: '/Constant'
* Inport: '/Lane_Input_Signal'
*/
if (Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) {
/* Chart: '/Lane_DisplayUnit' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Input_Switch'
*/
if (Lane_Changing_Assistant_Mode_DW.is_active_c1_Lane_Changing_Assi == 0U) {
Lane_Changing_Assistant_Mode_DW.is_active_c1_Lane_Changing_Assi = 1U;
Lane_Changing_Assistant_Mode_DW.is_c1_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_1;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1 = 132U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2 = 185U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3 = 54U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4 = 67U;
} else if (Lane_Changing_Assistant_Mode_DW.is_c1_Lane_Changing_Assistant_M ==
Lane_Changing_As_IN_Condition_1) {
if ((Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
Lane_Changing_Assistant_Mode_DW.is_c1_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_2;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1 = 127U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2 = 248U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3 = 186U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4 = 84U;
} else {
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1 = 132U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2 = 185U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3 = 54U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4 = 67U;
}
/* case IN_Condition_2: */
} else if
((Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
Lane_Changing_Assistant_Mode_DW.is_c1_Lane_Changing_Assistant_M =
Lane_Changing_As_IN_Condition_1;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1 = 132U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2 = 185U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3 = 54U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4 = 67U;
} else {
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1 = 127U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2 = 248U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3 = 186U;
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4 = 84U;
}
/* End of Chart: '/Lane_DisplayUnit' */
}
/* End of RelationalOperator: '/Compare' */
/* End of Outputs for SubSystem: '/Lane_DisplayUnit' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
*/
tmp =
Rte_IRead_Lane_Changing_Assistant_Model_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp > 0) {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Highway_Display_Mode_1);
rtb_Highway_Display_Mode_1 = 183U;
} else {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(Lane_Changing_Assistant_Model_B.Lane_Display_Mode_1);
rtb_Highway_Display_Mode_1 =
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_2;
}
/* End of Switch: '/Switch' */
/* Outport: '/Display_Mode_2' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Highway_Display_Mode_1);
/* Switch: '/Switch2' incorporates:
* Switch: '/Switch3'
*/
if (tmp > 0) {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Highway_Display_Mode_3);
rtb_Highway_Display_Mode_1 = 94U;
} else {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(Lane_Changing_Assistant_Model_B.Lane_Display_Mode_3);
rtb_Highway_Display_Mode_1 =
Lane_Changing_Assistant_Model_B.Lane_Display_Mode_4;
}
/* Outport: '/Display_Mode_4' */
Rte_IWrite_Lane_Changing_Assistant_Model_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Highway_Display_Mode_1);
}
/* Model initialize function */
void Lane_Changing_Assistant_Model_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Conclusion :
we modeled the Highway Assistant-Lane Changing Assistant inside the matlab and mapped the ports as per the AUTOSAR model complience generated the code.