Project 2-Highway Assistant-Lane Changing Assistant
Highway Assistant – Lane Changing Assistant
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, 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.
Problem Statement:
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.
Simulink Model- Simulink model is developed following as per the requirements-
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 |
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 |
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”.
SLDD file-
It is linked with the model.
AUTOSAR Port mapping steps-
First we changed the system target file as autosar.tlc and also changed model configuration settings.
Then we will open code mapping AUTOSAR component.
For S-R inteface model port,we will rename the port withprefix SRif_
For data element we used prefix DE_
For receiver ports we used prefix Rp_
For sender ports we used prefix Pp_
After this AUTOSAR Component validation is successfully done-
Code generation-
/*
* File: HALCA.c
*
* Code generated for Simulink model 'HALCA'.
*
* Model version : 1.40
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Mon june 20 17:38:01 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "HALCA.h"
/* Named constants for Chart: '<S2>/Highway_DisplayUnit_Logic' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
#define IN_Initstate ((uint8)3U)
/* Named constants for Chart: '<S3>/Lane_DisplayUnit_Logic' */
#define IN_Condition_2_k ((uint8)1U)
#define IN_Condition_3 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void HALCA_Step(void)
{
sint32 tmp;
sint32 tmp_0;
sint32 tmp_1;
/* Chart: '<S2>/Highway_DisplayUnit_Logic' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_HALCA == 0U) {
rtDW.is_active_c3_HALCA = 1U;
rtDW.is_c3_HALCA = IN_Initstate;
} else {
switch (rtDW.is_c3_HALCA) {
case IN_Condition_1:
rtDW.Highway_Display_Mode_1 = 232U;
rtDW.Highway_Display_Mode_2 = 183U;
rtDW.Highway_Display_Mode_3 = 41U;
rtDW.Highway_Display_Mode_4 = 94U;
break;
case IN_Condition_2:
rtDW.Highway_Display_Mode_1 = 213U;
rtDW.Highway_Display_Mode_2 = 183U;
rtDW.Highway_Display_Mode_3 = 9U;
rtDW.Highway_Display_Mode_4 = 94U;
break;
default:
/* case IN_Initstate: */
tmp = Rte_IRead_HALCA_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
tmp_0 = Rte_IRead_HALCA_Step_Rp_Enable_Display_DE_Input_Switch();
tmp_1 = Rte_IRead_HALCA_Step_Rp_Input_Switch_DE_Input_Switch();
if ((tmp == 1) && (tmp_0 == 1) && (tmp_1 == 1)) {
rtDW.is_c3_HALCA = IN_Condition_2;
rtDW.Highway_Display_Mode_1 = 213U;
rtDW.Highway_Display_Mode_2 = 183U;
rtDW.Highway_Display_Mode_3 = 9U;
rtDW.Highway_Display_Mode_4 = 94U;
} else {
if ((tmp == 1) && (tmp_0 == 0) && (tmp_1 == 1)) {
rtDW.is_c3_HALCA = IN_Condition_1;
rtDW.Highway_Display_Mode_1 = 232U;
rtDW.Highway_Display_Mode_2 = 183U;
rtDW.Highway_Display_Mode_3 = 41U;
rtDW.Highway_Display_Mode_4 = 94U;
}
}
break;
}
}
/* End of Chart: '<S2>/Highway_DisplayUnit_Logic' */
/* Chart: '<S3>/Lane_DisplayUnit_Logic' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_HALCA == 0U) {
rtDW.is_active_c1_HALCA = 1U;
rtDW.is_c1_HALCA = IN_Initstate;
} else {
switch (rtDW.is_c1_HALCA) {
case IN_Condition_2_k:
rtDW.Lane_Display_Mode_1 = 132U;
rtDW.Lane_Display_Mode_2 = 185U;
rtDW.Lane_Display_Mode_3 = 54U;
rtDW.Lane_Display_Mode_4 = 67U;
break;
case IN_Condition_3:
rtDW.Lane_Display_Mode_1 = 127U;
rtDW.Lane_Display_Mode_2 = 248U;
rtDW.Lane_Display_Mode_3 = 186U;
rtDW.Lane_Display_Mode_4 = 84U;
break;
default:
/* case IN_Initstate: */
tmp = Rte_IRead_HALCA_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal();
tmp_0 = Rte_IRead_HALCA_Step_Rp_Enable_Display_DE_Input_Switch();
tmp_1 = Rte_IRead_HALCA_Step_Rp_Input_Switch_DE_Input_Switch();
if ((tmp == 6) && (tmp_0 == 0) && (tmp_1 == 1)) {
rtDW.is_c1_HALCA = IN_Condition_2_k;
rtDW.Lane_Display_Mode_1 = 132U;
rtDW.Lane_Display_Mode_2 = 185U;
rtDW.Lane_Display_Mode_3 = 54U;
rtDW.Lane_Display_Mode_4 = 67U;
} else {
if ((tmp == 6) && (tmp_0 == 1) && (tmp_1 == 1)) {
rtDW.is_c1_HALCA = IN_Condition_3;
rtDW.Lane_Display_Mode_1 = 127U;
rtDW.Lane_Display_Mode_2 = 248U;
rtDW.Lane_Display_Mode_3 = 186U;
rtDW.Lane_Display_Mode_4 = 84U;
}
}
break;
}
}
/* End of Chart: '<S3>/Lane_DisplayUnit_Logic' */
/* Switch: '<S4>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S4>/Switch1'
* Switch: '<S4>/Switch2'
* Switch: '<S4>/Switch3'
*/
if (Rte_IRead_HALCA_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal() !=
0) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtDW.Highway_Display_Mode_1);
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtDW.Highway_Display_Mode_2);
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtDW.Highway_Display_Mode_3);
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtDW.Highway_Display_Mode_4);
} else {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtDW.Lane_Display_Mode_1);
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtDW.Lane_Display_Mode_2);
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtDW.Lane_Display_Mode_3);
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_HALCA_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtDW.Lane_Display_Mode_4);
}
/* End of Switch: '<S4>/Switch' */
}
/* Model initialize function */
void HALCA_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Model Advisor Report-
Conclusion- All the objectives have been achieved according to the guidelines.All necessary files like C codes,Simulink model,Model advisor report,Requirement document,portname excel file and SLDD file are also attched in the zip file.