Project 2-Highway Assistant-Lane Changing Assistant

                                                   Highway Assistant-Lane Changing Assistant

   AIM

• To develop MBD complained of Highway Assistant-lane Changing Assistant ADAS feature using Matlab and Simulink.
• To develop one specific requirement of the Highway Assistant – Lane Changing Assistant algorithm. 

   OBJECTIVES

• 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

Introduction to the Feature:

• 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, and 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 to change lanes, the system issues an additional acoustic and/or haptic warning.

   MODEL DEVELOPMENT

Input Signals:

Name of the Signal	Data Type	Range
Highway_Input_Signal	uint8	0 - 255
Enable_Display	uint8	0 - 255
Input_Switch	uint8	0 - 255
Lane_Input_Signal	uint8	0 - 255

 Local Signals:

Name of the Signal	Data Type	Range
Highway_Display_Mode_1	uint8	0 - 255
Highway_Display_Mode_2	uint8	0 - 255
Highway_Display_Mode_3	uint8	0 - 255
Highway_Display_Mode_4	uint8	0 - 255
Lane_Display_Mode_1	uint8	0 - 255
Lane_Display_Mode_2	uint8	0 - 255
Lane_Display_Mode_3	uint8	0 - 255
Lane_Display_Mode_4	uint8	0 - 255

 Output Signals:

Name of the Signal	Data Type	Range
Display_Mode_1	uint8	0 - 255
Display_Mode_2	uint8	0 - 255
Display_Mode_3	uint8	0 - 255
Display_Mode_4	uint8	0 - 255

   Requirement No 1 [Highway_DisplayUnit]:

• Inputs to this particular subsystem are “Highway_Input_Signal”, “Enable_Display”, and “Input_Switch”. These three input signals, when assigned to a particular value will give output signals of a 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

   Requirement No 2 [Lane_DisplayUnit]:

• Inputs to this particular subsystem are “Enable_Display”, “Input_Switch”, and “Lane_Input_Signal”. These three input signals, when assigned to a particular value will give output signals of a 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

   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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the output signal “Display_Mode_4”.

   PROCEDURE

   Data Dictionary creation: (Highway_Assistant.sldd)

• The very first thing that we will do is create a Simulink Data Dictionary using the given Signal and Calibration Data List.
• A new Simulink data dictionary is created and updated signals & calibration Data List as per our requirements. 

     The following is the SLDD file:

           

    Solver configuration parameter:

• Solver type: Fixed 
• Solver: discrete (no continuous states) 
• Sample time: 0.01

         

   Code generation Parameters: 

• System target file: autosar.tlc ( AUTOSAR)

       

   Designing MATLAB Simulink Model:

                          

     

  Requirement No 1 [Highway_DisplayUnit]:

• Inputs to the subsystem are “Highway_Input_Signal”, “Enable_Display”, and “Input_Switch”. When assigned to a particular value, these three input signals will give output signals of a specific value. The output signals are “Highway_Display_Mode_1”, “Highway_Display_Mode_2”, “Highway_Display_Mode_3”, “Highway_Display_Mode_4”.
• The requirement is implemented in a Stateflow logic.

  

                                                     

   Requirement No 2 [Lane_DisplayUnit]:

• Inputs to the subsystem are “Enable_Display”, “Input_Switch”, and “Lane_Input_Signal”. These three input signals, when assigned to a particular value will give output signals of a 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.
  

                   

                                                    

   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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the 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 2^nd input to the switch block. The corresponding output from this particular switch block is the output signal “Display_Mode_4”.

                                                        

   Requirement Tagging:

• Requirements can be a tag to subsystems with word files.
• Selecting requirements - Link to selection in Word

   AUTOSAR Dictionary Creation:

• We will make the model in compliance with the AUTOSAR. So, all the input & output signals will be mapped into the Autosar Editor. But before that, we will set the System target file as autosar.tic, We will make sure that in Solver we will set the solver to Fixed-Step.
• Under App we will select the AUTOSAR component
• This will open Code Mapping AUTOSAR SW Component.
• For the Reciever port of the model, that is input, we will rename the port with the prefix Rp_

          

• For the Sender port of the model that is the output we will rename the port with the prefix Pp_

           

• For the S_R interface of the model, we will rename the port with the prefix SRIF_.

           

• For the Data Elements of the model, we will rename the port with the prefix DE_

           

• Then we will validate the model for AUTOSAR Compliance.

     

• Once the mapping is done we will check for Model Advisor.

   Model Advisor Check:

• Model Advisor Check on Modelling Standards for MAAB.

         

• Model Advisor Check completed with 12warnings and 131 checks Passed
• some warnings are acceptable but the notable part is that there is not a single Failed result

   Model Advisor Report:

• Model Advisor report can be generated, we can choose the format HTML, PDF, or Word format

       

• The following is the Model Advisor Report.
• Then after a successful check, we will Generate a Code.

   Code generation:

• By using the AUTOSAR app we can generate code and build our model.

     

                        

   Code Generation Report:

       

• Successfully conducted model build and generated code. The generated codes and files can be seen in the current directory.

    Conclusion:

• Developed a Model of a lecture of Highway Assistant-Lane Changing Assistant as per MAAB guidelines, produced Model Advisor Report as well as generated Code using AUTOSAR Coder.
• Explained how a model is changed to Autosar compliant model.