Project 2-Highway Assistant-Lane Changing Assistant
Aim:
To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm using MAT LAB.
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 algorithm
Procedure:
- Open the blank Simulink page.
- Open the given model in question.
- Click on the model settings.
- Then go to Solver settings in that following setting to do
- Go to solver section.
- Type to “fixed-step”.
- Solver to “Discrete (no continuous state)”.
- Click on solver details in the change sample time to “0.01sec”.
- Then click on code generation.
- Click on system target file to “autosar.tlc”
- Then click on the apply and then ok.
- Then click in modeling tab
Creating simulation data dictionary (SLDD)
- In that click on link to data dictionary.
- Click on the link to data dictionary
- Then one popup window open then there will be two options
- Browse file if already having SLDD file if any change then clicks on the browse option.
- if create new SLDD file then choose option “NEW”.
- If creating new “enable model access to base workspace”.
- Then creating new SLDD file choose which file having model there will be saved.
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”, “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”.
1.Create Autosar Port Mapping for the given input model.
After model setting got to the model main page.
1. click on the below of the main page.
2. then open the below popup window.
3. then click on the code.
4. then another window open.
this windows open then lift side of the model having one opetions
"code mappingsautosar SW component"
click on the then one popup window open
Give the all the following file name
in given quesion there are 20 number of input and 20 numbers of output
there are the total 40 number of the sender receiver interface total 20 number of input and 20 number of output there and with there data element present
after that the add the sender and receiver data added
Afrer the mapping done with the input data same process to the output data
After mapping with input and output then click on the above shows arrow mark the autosar validation runes then if mapping was correct the shows the "validation succeeded" if not it show error.
code generation:
1. click on the autosar code generation.
2. then click on build option.
generated code of Autosar code attached below.
/*
* File: autosarproject.c
*
* Code generated for Simulink model 'autosarproject'.
*
* Model version : 1.9
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Wed Jun 29 00:53:47 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 "autosarproject.h"
/* Named constants for Chart: '/Chart' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void LaneChangingAssistant_Step(void)
{
sint32 tmp;
uint8 rtb_Highway_Display_Mode_1;
uint8 rtb_Highway_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_1;
uint8 rtb_Lane_Display_Mode_2;
uint8 rtb_Lane_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_4;
/* Chart: '/Chart' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Highway_Input_Signal'
* Inport: '/Input_Switch'
*/
if (rtDW.is_active_c3_autosarproject == 0U) {
rtDW.is_active_c3_autosarproject = 1U;
rtDW.is_c3_autosarproject = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (rtDW.is_c3_autosarproject == IN_Condition_1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_LaneChangingAssistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c3_autosarproject = IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
} else {
/* case IN_Condition_2: */
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
if ((Rte_IRead_LaneChangingAssistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c3_autosarproject = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
}
/* End of Chart: '/Chart' */
/* Chart: '/Chart' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Input_Switch'
* Inport: '/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_autosarproject == 0U) {
rtDW.is_active_c1_autosarproject = 1U;
rtDW.is_c1_autosarproject = IN_Condition_1;
rtb_Lane_Display_Mode_1 = 132U;
rtb_Lane_Display_Mode_2 = 185U;
rtb_Lane_Display_Mode_3 = 54U;
rtb_Lane_Display_Mode_4 = 67U;
} else if (rtDW.is_c1_autosarproject == IN_Condition_1) {
rtb_Lane_Display_Mode_1 = 132U;
rtb_Lane_Display_Mode_2 = 185U;
rtb_Lane_Display_Mode_3 = 54U;
rtb_Lane_Display_Mode_4 = 67U;
if ((Rte_IRead_LaneChangingAssistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c1_autosarproject = IN_Condition_2;
rtb_Lane_Display_Mode_1 = 127U;
rtb_Lane_Display_Mode_2 = 248U;
rtb_Lane_Display_Mode_3 = 186U;
rtb_Lane_Display_Mode_4 = 84U;
}
} else {
/* case IN_Condition_2: */
rtb_Lane_Display_Mode_1 = 127U;
rtb_Lane_Display_Mode_2 = 248U;
rtb_Lane_Display_Mode_3 = 186U;
rtb_Lane_Display_Mode_4 = 84U;
if ((Rte_IRead_LaneChangingAssistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_LaneChangingAssistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c1_autosarproject = IN_Condition_1;
rtb_Lane_Display_Mode_1 = 132U;
rtb_Lane_Display_Mode_2 = 185U;
rtb_Lane_Display_Mode_3 = 54U;
rtb_Lane_Display_Mode_4 = 67U;
}
}
/* End of Chart: '/Chart' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
*/
tmp =
Rte_IRead_LaneChangingAssistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp != 0) {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Highway_Display_Mode_1);
rtb_Lane_Display_Mode_2 = 183U;
} else {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '/Switch' */
/* Outport: '/Display_Mode_2' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '/Switch2' incorporates:
* Switch: '/Switch3'
*/
if (tmp != 0) {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Highway_Display_Mode_3);
rtb_Lane_Display_Mode_4 = 94U;
} else {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '/Display_Mode_4' */
Rte_IWrite_LaneChangingAssistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void LaneChangingAssistant_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
for the model report attached below.