Project 2-Highway Assistant-Lane Changing Assistant
Aim: -
Model Development of a feature of Highway Assistant- Lane Changing Assistant using MATLAB & Simulink as per the MAAB Guidelines, Generating the Code using AUTOSAR Coder as well as producing Model Advisor (MA) Report.
Objective: -
To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm. 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.
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 & 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”.
Procedure: -
The first step is to Create SLDD( Simulink Data Dictionary) File from the given Signal data & Calibration data list. The Storage class for Input signal is ImportedExtern ,for Output signal it is ExportToFile & for the Local Signal it is localizable.
Then the next step is to create Simulink model for the requirements using blocks in the library browser. The simulink Model consists of three subsystems for the three requirements as shown in the below figure.
The Requirement_1 subsystem consist of three inputs such as 'Highway_Input_Signal', 'Enable_Display' & 'Input_Switch'.While the outputs are from 'Highway_Display_Mode_1' to 'Highway_Display_Mode_4'.
Both the Inputs & Outputs of Requirement_1 is connected to the Chart, named as 'Highway_DisplayUnit'.
The chart consist of two states and each state consist four 'Highway_Display_Mode's ' as shown in the below figure. the state will change from state 1 to state 2 when the [(Highway_Input_Signal==1)&&(Enable_Display==1)&&(Input_Switch==1)] is given to the state 1. In order to change from state 2 to state 1 we have to give the value [(Highway_Input_Signal==1)&&(Enable_Display==0)&&(Input_Switch==1)] to the state 2.
Similarly, Subsystem ' Requirement_2' is shown below.
The requirement_2 subsystem basically consist of a chart with three inputs and four outputs. The inputs are Lane_Input_Signal, Enable_Display & Input_Switch. While the outputs are from Lane_Display_Mode_1 to Lane_Display_Mode_4.
The Chart basically consist of two States with Mode_1 & Mode_2 values are shown below. The state will change from state 1 to state 2 when [(Lane_Input_Signal==6)&&(Enable_Display==1)&&(Input_Switch==1)] is given to the state1. Similarly when [(Lane_Input_Signal==6)&&(Enable_Display==0)&&(Input_Switch==1)] this is give to state 2 it will change from state2 to state1.
Requirement_3 is a subsystem with nine inputs and four outputs.The inputs for the Requirement_3 are the outputs of requirement 2 & 3 as shown in below figure.
The Requirement_3 consist of four switches, each switch is connected to the Highway_Display_Mode & Lane_Display_Mode. While the conditional Input signal is taken as Highway_Input_Signal for all the Blocks.
After modelling the stateflow logic, we have to resolve the signals in requirement 1 & 2.The below figure shows the tick mark at Resolve Signals.
Now I have to change certain Configuration Parameters, which is located in modeling.
a) go to Solver selection, In 'Type' Select the 'Fixed-Step' as shown below.
b) In Code generation, the System target file should be selected as 'autosar.tlc'. The TLC (Target Language Compiler) files are used to customize the code building process.
Now for AUTOSAR, Go to APP and select the AUTOSAR Component Designer, The App will open as shown below.
Now go to Code Mapping- AUTOSAR SW Component and select AUTOSAR Dictionary the below page will open.
For S-R Interface of the model, we have to rename the port with the prefix "SRIf_" as shown below.
In S-R Interfaces, Each DataElement has to be renamed with prefix "DE_" as shown below.
Now in the ReceiverPorts of the model, the inputs will be renamed with the prefix "Rp_".
Similarly, the SenderPorts of the model, the outputs will be renamed with the prefix "Pp_" as shown below.
After port mapping, Once we have to check Model Advisory for MAAB guidlines, then the code was generated after succesfully running the model.
Model Advisor Report: -
Generated Code : -
/*
* File: highway.c
*
* Code generated for Simulink model 'highway'.
*
* Model version : 1.10
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sun Jul 17 13:58:37 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "highway.h"
#include "highway_private.h"
/* Named constants for Chart: '/Highway_DisplayUnit' */
#define highway_IN_Condition_1 ((uint8)1U)
#define highway_IN_Condition_2 ((uint8)2U)
/* Named constants for Chart: '/Lane_DisplayUnit' */
#define highway_IN_Mode_1 ((uint8)1U)
#define highway_IN_Mode_2 ((uint8)2U)
/* Block states (default storage) */
DW_highway_T highway_DW;
/* Model step function */
void highway_Step(void)
{
float64 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: '/Lane_DisplayUnit' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Input_Switch'
* Inport: '/Lane_Input_Signal'
*/
if (highway_DW.is_active_c1_highway == 0U) {
highway_DW.is_active_c1_highway = 1U;
highway_DW.is_c1_highway = highway_IN_Mode_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 (highway_DW.is_c1_highway == highway_IN_Mode_1) {
if ((Rte_IRead_highway_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal() ==
6.0) && (Rte_IRead_highway_Step_Rp_Enable_Display_DE_Enable_Display() ==
1.0) &&
(Rte_IRead_highway_Step_Rp_Input_Switch_DE_Input_Switch() == 1.0)) {
highway_DW.is_c1_highway = highway_IN_Mode_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 {
rtb_Lane_Display_Mode_1 = 132U;
rtb_Lane_Display_Mode_2 = 185U;
rtb_Lane_Display_Mode_3 = 54U;
rtb_Lane_Display_Mode_4 = 67U;
}
/* case IN_Mode_2: */
} else if ((Rte_IRead_highway_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal()
== 6.0) &&
(Rte_IRead_highway_Step_Rp_Enable_Display_DE_Enable_Display() ==
0.0) && (Rte_IRead_highway_Step_Rp_Input_Switch_DE_Input_Switch() ==
1.0)) {
highway_DW.is_c1_highway = highway_IN_Mode_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 {
rtb_Lane_Display_Mode_1 = 127U;
rtb_Lane_Display_Mode_2 = 248U;
rtb_Lane_Display_Mode_3 = 186U;
rtb_Lane_Display_Mode_4 = 84U;
}
/* End of Chart: '/Lane_DisplayUnit' */
/* Outport: '/Lane_Display_Mode_1' */
Rte_IWrite_highway_Step_Pp_Lane_Display_Mode_1_DE_Lane_Display_Mode_1
(rtb_Lane_Display_Mode_1);
/* Outport: '/Lane_Display_Mode_2' */
Rte_IWrite_highway_Step_Pp_Lane_Display_Mode_2_DE_Lane_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Outport: '/Lane_Display_Mode_3' */
Rte_IWrite_highway_Step_Pp_Lane_Display_Mode_3_DE_Lane_Display_Mode_3
(rtb_Lane_Display_Mode_3);
/* Outport: '/Lane_Display_Mode_4' */
Rte_IWrite_highway_Step_Pp_Lane_Display_Mode_4_DE_Lane_Display_Mode_4
(rtb_Lane_Display_Mode_4);
/* Chart: '/Highway_DisplayUnit' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Highway_Input_Signal'
* Inport: '/Input_Switch'
*/
if (highway_DW.is_active_c3_highway == 0U) {
highway_DW.is_active_c3_highway = 1U;
highway_DW.is_c3_highway = highway_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (highway_DW.is_c3_highway == highway_IN_Condition_1) {
if ((Rte_IRead_highway_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal()
== 1.0) && (Rte_IRead_highway_Step_Rp_Enable_Display_DE_Enable_Display()
== 1.0) &&
(Rte_IRead_highway_Step_Rp_Input_Switch_DE_Input_Switch() == 1.0)) {
highway_DW.is_c3_highway = highway_IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
} else {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
/* case IN_Condition_2: */
} else if
((Rte_IRead_highway_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal()
== 1.0) && (Rte_IRead_highway_Step_Rp_Enable_Display_DE_Enable_Display()
== 0.0) &&
(Rte_IRead_highway_Step_Rp_Input_Switch_DE_Input_Switch() == 1.0)) {
highway_DW.is_c3_highway = highway_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else {
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
/* End of Chart: '/Highway_DisplayUnit' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
*/
tmp = Rte_IRead_highway_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal();
if (tmp != 0.0) {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_highway_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_highway_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '/Switch' */
/* Outport: '/Display_Mode_2' */
Rte_IWrite_highway_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '/Switch2' incorporates:
* Switch: '/Switch3'
*/
if (tmp != 0.0) {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_highway_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_highway_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '/Display_Mode_4' */
Rte_IWrite_highway_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
/* Outport: '/Highway_Display_Mode_1' */
Rte_IWrite_highway_Step_Pp_Highway_Display_Mode_1_DE_Highway_Display_Mode_1
(rtb_Highway_Display_Mode_1);
/* Outport: '/Highway_Display_Mode_2' */
Rte_IWrite_highway_Step_Pp_Highway_Display_Mode_2_DE_Highway_Display_Mode_2
(183U);
/* Outport: '/Highway_Display_Mode_3' */
Rte_IWrite_highway_Step_Pp_Highway_Display_Mode_3_DE_Highway_Display_Mode_3
(rtb_Highway_Display_Mode_3);
/* Outport: '/Highway_Display_Mode_4' */
Rte_IWrite_highway_Step_Pp_Highway_Display_Mode_4_DE_Highway_Display_Mode_4
(94U);
}
/* Model initialize function */
void highway_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/Conclusion:-
The model was developed in MATLAB Simulink per MBD guidelines. The Code Generation Profile was a Autosar Coder, The Simulink Data Dictionary was created for the model & it is linked to the model. finally all the input & output signals must be mapped into the Autosar Editor.