Project 2-Highway Assistant-Lane Changing Assistant

Aim: Model Development of Feature of Highway Assistant-Lane Changing Assistant Using MATLAB and SIMULINK as per the MAAB guidelines, producing Model Advisor Report as well as generating code using AUTOSAR Coder.

Objective:

• Model Development in MATLAB Simulink as per the MAAB Guidelines.
• Code Generation using AUTOSAR Coder.
• Creation of Simulink Data Dictionary.
• Mapping all the Input and Output signals in AUTOSAR Editor.
• Generating Model Advisor Report.

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.

Calibration and Signal Data List:

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

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”.

1.Simulink Model:

Inside the main Model:



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:

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):

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:

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

2. SLDD Creation:

The SLDD file was creating by expanding the modelling in the top pane and selecting the data dictionary. The SLDD file is linked to Data dictionary in the modelling in the top pane.

All the inputs and output signal are defined in the data dictionary. The input signal in the model are selected and in the signal properties, the signal name must resolve to the simulink signal object is enabled.

3. Configuration parameters setting:

System target file is changed to autosar.tlc and solver is set fixed step discrete.

4. Propagate the signals:

• The following signals are selected and in the signal properties, show propagated signal is enabled.
• As per the MBD rules , top most level of the system should consist of one subsystem with input and output signals.
• The system name must be placed in the begining of the signal.
• The AUTOSAR component is selected from the apps in the top pane. And the AUTOSAR dictionary is selected from the code interface of the AUTOSAR.

5. For the code mapping , go to APPS-->AUTOSAR component --> click on the continuye after that one pop up windows is opens and click on next > next then at the bottom left corner shows an AUTOSAR SW Component.

6. Open the AUTOSAR SW Component.

7. For adding the input runnable , output runnable . Their interfaces and thier corresponding data elements to click on Configure AUTOSAR Dictionary and add the data with their prefix.

8. Click on the XML option select the option which is given in snap and tick on the internal data contraints export the apply.

9. Select the option S-R Interface and Add the sender reciever interface with their prefix i.e SRif_.

10. Select the option S-R Interfaces > Data Elements and Add the Data elements with their prefix i.e DE_.

11. Select the option Receiver port and Add the input runnable with their prefix i.e Rp_.

12. Select the option Sender port and Add the output runnable with their prefix i.e Pp_.

13. After that run model and it shows a warning sometimes then click on refresh which is near to configure AUTOSAR Dictionary.

14. After updating the model inport.

15. After updating the model outport.

16. AUTOSAR validation: AUTOSAR validation is succesfully done.

17.Model Advisor Report:

Model advisor report has to be generated by runnuning the modelling standards of ISO 26262 and modelling standards of MAB test. The warnig and errors must be nullified to maximum extent.

18. Go to the AUTOSAR > Quick start > Next.

19. When it comes to Generate code : Code generation is done.

/*
 * Academic License - for use in teaching, academic research, and meeting
 * course requirements at degree granting institutions only.  Not for
 * government, commercial, or other organizational use.
 *
 * File: Lane_Change_Assistance.c
 *
 * Code generated for Simulink model 'Lane_Change_Assistance'.
 *
 * Model version                  : 3.0
 * Simulink Coder version         : 9.7 (R2022a) 13-Nov-2021
 * C/C++ source code generated on : Mon Jul  4 23:58:35 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 "Lane_Change_Assistance.h"
#include "rtwtypes.h"

/* Named constants for Chart: '<S2>/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 Lane_Change_Assistance_Timing(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: '<S2>/Chart' incorporates:
   *  Inport: '<Root>/Enable_Display'
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Inport: '<Root>/Input_Switch'
   */
  if (rtDW.is_active_c3_Lane_Change_Assistance == 0U) {
    rtDW.is_active_c3_Lane_Change_Assistance = 1U;
    rtDW.is_c3_Lane_Change_Assistance = IN_Condition_1;
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
  } else if (rtDW.is_c3_Lane_Change_Assistance == IN_Condition_1) {
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
    if ((Rte_IRead_Lane_Change_Assistance_Timing_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_Lane_Change_Assistance_Timing_Rp_Enable_Display_DE_Enable_Display
         () == 1) &&
        (Rte_IRead_Lane_Change_Assistance_Timing_Rp_Input_Switch_DE_Input_Switch
         () == 1)) {
      rtDW.is_c3_Lane_Change_Assistance = 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_Lane_Change_Assistance_Timing_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_Lane_Change_Assistance_Timing_Rp_Enable_Display_DE_Enable_Display
         () == 0) &&
        (Rte_IRead_Lane_Change_Assistance_Timing_Rp_Input_Switch_DE_Input_Switch
has popup

20. After code generation , code generation report is generated.

Conclusion:

According to MAAB requirements, a model of a feature of Highway Assistant-Lane Changing Assistant is modellled, generated a model advisor report and generated code using AUTOSAR coder.