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Project 2-Highway Assistant-Lane Changing Assistant

TTejaswini Palla18 Sept 2021
FEAMATLABMBD

AIM: CREATING A SIMULATION MODEL THAT DEMONSTRATES THE LANE CHANGING ASSISTANT ALGORITHM OF HIGHWAY ASSISTANT.

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.

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.

SIMULATION MODEL:

>> The following the main system of Highway Assistant Simulation Model.

>> It has 4 inputs 'Highway_Input_Signal', 'Enable_Display', 'Input_Switch' and 'Lane_Input_Signal' given to the 'Highway_Assistant' subsystem.

>> The outputs of this subsystem are 'Display_Mode_1', 'Display_Mode_2', 'Display_Mode_3' and 'Display_Mode_4'.

>> The Highway_Assistant subsystem is further divided into 3 more subsystems each represents a requirement.

>> The subsystems are termed as: 'Highway_DisplayUnit', 'Lane_DisplayUnit' and 'Display'.

REQUIREMENTS:

>> As we know, each subsytem is created as per the requirements given.

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
  • Based on the given data a State Chart has been created.
  • The transistions, state names, conditions etc., in this chart are configured keeping MAAB guidelines in check as much as possible.
  • The inputs and outputs are assigned appropriately.

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
  • Based on the given data a State Chart has been created.
  • The transitions, state names, conditions etc., in this chart are configured keeping MAAB guidelines in check as much as possible.
  • The inputs and outputs are assigned appropriately.

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”.

  • Once, all the blocks and subsystems have been created, using Requirements Manager a requirement set has been created.
  • The requirements in that set are attached/linked to their appropriate subsystems and charts.

DATA DICTIONARY:

>> A data dictionary has been created and linked to the simulink model as per the given data.

>> The following picture shows the details about the given signals data:

>> Any modification or changes to the data in the Data Dictionary can be done through the model explorer.

AUTOSAR TOOLS:

>> One of our main objectives is to generate the C code using AUTOSAR. To do that we need to do few modifications to our configuration Parameters.

>> In the Code Generation option of Configuration Parameters, the System File is set to 'autosar.tlc'. The rest of the required settings are automatically adapted.

>> Once done with configuration parameters modifications, we can start Code Mapping.

>> From the APPS tab, AUTOSAR Components is opened to open the Code Mapping toolbar.

>> From the toolbar, we can select 'Configure AUTOSAR dictionary' option from the Functions tab to open AUTOSAR data dictionary.

>> We need to define 'Sender Inport', 'Receiver inport' and 'S-R Interface' appropriately.

>> All the S-R Interface elements starts with a prefix 'SRif'.

>> All the Receiver(Input) elements starts with a prefix 'Rp'.

>> All the Sender(Output) elements starts with a prefix 'Pp'.

>> Once the AUTOSAR data dictionary has been created we could run the simulation and check the changes.

MODEL ADVISOR:

>> Using Model Advisor tool we can diagnose our model to check the MAAB guidelines.

>> the following figure shows the initial report that's been generated before making changes recommended by Advisor tool.

>> the following figure shows the final report that's been generated after making appropriate changes recommended by Advisor tool.

CODE GENERATION:

>> After making necessary changes to model and configuration parameters recommended by advisor tool, we're good to generate the C Code.

>> From the AUTOSAR tab in the menu, click on 'Build' to generate the C code.

/*
 * File: project_2AUTOSAR.c
 *
 * Code generated for Simulink model 'project_2AUTOSAR'.
 *
 * Model version                  : 1.32
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Sat Sep 18 18:51:13 2021
 *
 * Target selection: autosar.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "project_2AUTOSAR.h"
#include "project_2AUTOSAR_private.h"

/* Named constants for Chart: '/Chart' */
#define project_2AUTOSAR_IN_Condition_1 ((uint8)1U)
#define project_2AUTOSAR_IN_Condition_2 ((uint8)2U)

/* Block states (default storage) */
DW_project_2AUTOSAR_T project_2AUTOSAR_DW;

/* Model step function */
void project_2AUTOSAR_Step(void)
{
  uint8 rtb_Display_Mode_1;
  sint32 rtb_Highway_Display_Mode_3;
  sint32 rtb_Highway_Display_Mode_1;
  sint32 rtb_Lane_Display_Mode_4;
  sint32 rtb_Lane_Display_Mode_3;
  sint32 rtb_Lane_Display_Mode_2;
  sint32 rtb_Lane_Display_Mode_1;
  float64 tmp;

  /* Chart: '/Chart' incorporates:
   *  Inport: '/Enable_Display'
   *  Inport: '/Highway_Input_Signal'
   *  Inport: '/Input_Switch'
   */
  if (project_2AUTOSAR_DW.is_active_c3_project_2AUTOSAR == 0U) {
    project_2AUTOSAR_DW.is_active_c3_project_2AUTOSAR = 1U;
    project_2AUTOSAR_DW.is_c3_project_2AUTOSAR = project_2AUTOSAR_IN_Condition_1;
    rtb_Highway_Display_Mode_1 = 232;
    rtb_Highway_Display_Mode_3 = 41;
  } else if (project_2AUTOSAR_DW.is_c3_project_2AUTOSAR ==
             project_2AUTOSAR_IN_Condition_1) {
    rtb_Highway_Display_Mode_1 = 232;
    rtb_Highway_Display_Mode_3 = 41;
    if ((Rte_IRead_project_2AUTOSAR_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Enable_Display_DE_Enable_Display() ==
         1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1.0)) {
      project_2AUTOSAR_DW.is_c3_project_2AUTOSAR =
        project_2AUTOSAR_IN_Condition_2;
      rtb_Highway_Display_Mode_1 = 213;
      rtb_Highway_Display_Mode_3 = 9;
    }
  } else {
    /* case IN_Condition_2: */
    rtb_Highway_Display_Mode_1 = 213;
    rtb_Highway_Display_Mode_3 = 9;
    if ((Rte_IRead_project_2AUTOSAR_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Enable_Display_DE_Enable_Display() ==
         0.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1.0)) {
      project_2AUTOSAR_DW.is_c3_project_2AUTOSAR =
        project_2AUTOSAR_IN_Condition_1;
      rtb_Highway_Display_Mode_1 = 232;
      rtb_Highway_Display_Mode_3 = 41;
    }
  }

  /* End of Chart: '/Chart' */

  /* Chart: '/Chart1' incorporates:
   *  Inport: '/Enable_Display'
   *  Inport: '/Input_Switch'
   *  Inport: '/Lane_Input_Signal'
   */
  if (project_2AUTOSAR_DW.is_active_c1_project_2AUTOSAR == 0U) {
    project_2AUTOSAR_DW.is_active_c1_project_2AUTOSAR = 1U;
    project_2AUTOSAR_DW.is_c1_project_2AUTOSAR = project_2AUTOSAR_IN_Condition_1;
    rtb_Lane_Display_Mode_1 = 132;
    rtb_Lane_Display_Mode_2 = 185;
    rtb_Lane_Display_Mode_3 = 54;
    rtb_Lane_Display_Mode_4 = 67;
  } else if (project_2AUTOSAR_DW.is_c1_project_2AUTOSAR ==
             project_2AUTOSAR_IN_Condition_1) {
    rtb_Lane_Display_Mode_1 = 132;
    rtb_Lane_Display_Mode_2 = 185;
    rtb_Lane_Display_Mode_3 = 54;
    rtb_Lane_Display_Mode_4 = 67;
    if ((Rte_IRead_project_2AUTOSAR_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
         () == 1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Enable_Display_DE_Enable_Display() ==
         1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1.0)) {
      project_2AUTOSAR_DW.is_c1_project_2AUTOSAR =
        project_2AUTOSAR_IN_Condition_2;
      rtb_Lane_Display_Mode_1 = 127;
      rtb_Lane_Display_Mode_2 = 248;
      rtb_Lane_Display_Mode_3 = 186;
      rtb_Lane_Display_Mode_4 = 84;
    }
  } else {
    /* case IN_Condition_2: */
    rtb_Lane_Display_Mode_1 = 127;
    rtb_Lane_Display_Mode_2 = 248;
    rtb_Lane_Display_Mode_3 = 186;
    rtb_Lane_Display_Mode_4 = 84;
    if ((Rte_IRead_project_2AUTOSAR_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
         () == 1.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Enable_Display_DE_Enable_Display() ==
         0.0) &&
        (Rte_IRead_project_2AUTOSAR_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1.0)) {
      project_2AUTOSAR_DW.is_c1_project_2AUTOSAR =
        project_2AUTOSAR_IN_Condition_1;
      rtb_Lane_Display_Mode_1 = 132;
      rtb_Lane_Display_Mode_2 = 185;
      rtb_Lane_Display_Mode_3 = 54;
      rtb_Lane_Display_Mode_4 = 67;
    }
  }

  /* End of Chart: '/Chart1' */

  /* Switch: '/Switch' incorporates:
   *  DataTypeConversion: '/Data Type Conversion'
   *  DataTypeConversion: '/Data Type Conversion4'
   *  Inport: '/Highway_Input_Signal'
   *  Switch: '/Switch1'
   *  Switch: '/Switch2'
   *  Switch: '/Switch3'
   */
  tmp =
    Rte_IRead_project_2AUTOSAR_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
    ();
  if (tmp > 0.0) {
    rtb_Display_Mode_1 = (uint8)rtb_Highway_Display_Mode_1;
  } else {
    rtb_Display_Mode_1 = (uint8)rtb_Lane_Display_Mode_1;
  }

  /* End of Switch: '/Switch' */

  /* Outport: '/Display_Mode_1' */
  Rte_IWrite_project_2AUTOSAR_Step_Pp_Display_Mode_1_DE_Display_Mode_1
    (rtb_Display_Mode_1);

  /* Switch: '/Switch1' incorporates:
   *  DataTypeConversion: '/Data Type Conversion1'
   *  DataTypeConversion: '/Data Type Conversion5'
   */
  if (tmp > 0.0) {
    rtb_Display_Mode_1 = 183U;
  } else {
    rtb_Display_Mode_1 = (uint8)rtb_Lane_Display_Mode_2;
  }

  /* Outport: '/Display_Mode_2' */
  Rte_IWrite_project_2AUTOSAR_Step_Pp_Display_Mode_2_DE_Display_Mode_2
    (rtb_Display_Mode_1);

  /* Switch: '/Switch2' incorporates:
   *  DataTypeConversion: '/Data Type Conversion2'
   *  DataTypeConversion: '/Data Type Conversion6'
   */
  if (tmp > 0.0) {
    rtb_Display_Mode_1 = (uint8)rtb_Highway_Display_Mode_3;
  } else {
    rtb_Display_Mode_1 = (uint8)rtb_Lane_Display_Mode_3;
  }

  /* Outport: '/Display_Mode_3' */
  Rte_IWrite_project_2AUTOSAR_Step_Pp_Display_Mode_3_DE_Display_Mode_3
    (rtb_Display_Mode_1);

  /* Switch: '/Switch3' incorporates:
   *  DataTypeConversion: '/Data Type Conversion3'
   *  DataTypeConversion: '/Data Type Conversion7'
   */
  if (tmp > 0.0) {
    rtb_Display_Mode_1 = 94U;
  } else {
    rtb_Display_Mode_1 = (uint8)rtb_Lane_Display_Mode_4;
  }

  /* Outport: '/Display_Mode_4' */
  Rte_IWrite_project_2AUTOSAR_Step_Pp_Display_Mode_4_DE_Display_Mode_4
    (rtb_Display_Mode_1);
}

/* Model initialize function */
void project_2AUTOSAR_Init(void)
{
  /* (no initialization code required) */
}

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

CONCLUSION:

>> A Simulation Model for Highway Assistant that demonstrates the Lane Change Asssistant feature has been created.

>> A C Code has been generated using AUTOSAR tool box.

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