Project 2-Highway Assistant-Lane Changing Assistant

Aim:

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.

Input Signals:

Local Signals:

Output Signals:

Ans:

Complete model of Highway Assistant-Lane Changing Assistant:

Requirement 1 subsystem:

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.

Inside Stateflow chart:

Requirement 2 subsystem:

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.

Inside stateflow chart:

Requirement 3:

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”.

Data Dictionary:

Inside Apps we need to open AUTOSAR components:

Here I have changed the name of senders, recivers, S-R interfaces and DataElements by adding some prefixes to it.

AUTOSAR generated code:

/*
 * File: Highway_Assistant_Lane_Changing_Assistant.c
 *
 * Code generated for Simulink model 'Highway_Assistant_Lane_Changing_Assistant'.
 *
 * Model version                  : 1.1
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Wed Aug 10 01:26:55 2022
 *
 * Target selection: autosar.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Highway_Assistant_Lane_Changing_Assistant.h"
#include "Highway_Assistant_Lane_Changing_Assistant_private.h"

/* Named constants for Chart: '/Chart' */
#define Highway_Assistant_IN_Condition1 ((uint8)1U)
#define Highway_Assistant_IN_Condition2 ((uint8)2U)

/* Block states (default storage) */
DW_Highway_Assistant_Lane_Cha_T Highway_Assistant_Lane_Chang_DW;

/* Model step function */
void Highway_Assistant_Lane_Changing_Assistant_Step(void)
{
  /* local block i/o variables */
  uint8 Highway_Display_Mode_1;
  uint8 Highway_Display_Mode_2;
  uint8 Highway_Display_Mode_3;
  uint8 Highway_Display_Mode_4;
  uint8 Lane_Display_Mode_1;
  uint8 Lane_Display_Mode_2;
  uint8 Lane_Display_Mode_3;
  uint8 Lane_Display_Mode_4;

  /* Chart: '/Chart' incorporates:
   *  Inport: '/Enable_Display'
   *  Inport: '/Highway_Input_Signal'
   *  Inport: '/Input_Switch'
   */
  if (Highway_Assistant_Lane_Chang_DW.is_active_c3_Highway_Assistant_ == 0U) {
    Highway_Assistant_Lane_Chang_DW.is_active_c3_Highway_Assistant_ = 1U;
    Highway_Assistant_Lane_Chang_DW.is_c3_Highway_Assistant_Lane_Ch =
      Highway_Assistant_IN_Condition1;
    Highway_Display_Mode_1 = 232U;
    Highway_Display_Mode_2 = 183U;
    Highway_Display_Mode_3 = 41U;
    Highway_Display_Mode_4 = 94U;
  } else if (Highway_Assistant_Lane_Chang_DW.is_c3_Highway_Assistant_Lane_Ch ==
             Highway_Assistant_IN_Condition1) {
    if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1.0) &&
        (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
         () == 1.0) &&
        (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
         () == 1.0)) {
      Highway_Assistant_Lane_Chang_DW.is_c3_Highway_Assistant_Lane_Ch =
        Highway_Assistant_IN_Condition2;
      Highway_Display_Mode_1 = 213U;
      Highway_Display_Mode_2 = 183U;
      Highway_Display_Mode_3 = 9U;
      Highway_Display_Mode_4 = 94U;
    } else {
      Highway_Display_Mode_1 = 232U;
      Highway_Display_Mode_2 = 183U;
      Highway_Display_Mode_3 = 41U;
      Highway_Display_Mode_4 = 94U;
    }

    /* case IN_Condition2: */
  } else if
      ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
        () == 1.0) &&
       (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
        () == 0.0) &&
       (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
        () == 1.0)) {
    Highway_Assistant_Lane_Chang_DW.is_c3_Highway_Assistant_Lane_Ch =
      Highway_Assistant_IN_Condition1;
    Highway_Display_Mode_1 = 232U;
    Highway_Display_Mode_2 = 183U;
    Highway_Display_Mode_3 = 41U;
    Highway_Display_Mode_4 = 94U;
  } else {
    Highway_Display_Mode_1 = 213U;
    Highway_Display_Mode_2 = 183U;
    Highway_Display_Mode_3 = 9U;
    Highway_Display_Mode_4 = 94U;
  }

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

  /* Chart: '/Chart' incorporates:
   *  Inport: '/Enable_Display'
   *  Inport: '/Input_Switch'
   *  Inport: '/Lane_Input_Signal'
   */
  if (Highway_Assistant_Lane_Chang_DW.is_active_c1_Highway_Assistant_ == 0U) {
    Highway_Assistant_Lane_Chang_DW.is_active_c1_Highway_Assistant_ = 1U;
    Highway_Assistant_Lane_Chang_DW.is_c1_Highway_Assistant_Lane_Ch =
      Highway_Assistant_IN_Condition1;
    Lane_Display_Mode_1 = 132U;
    Lane_Display_Mode_2 = 185U;
    Lane_Display_Mode_3 = 54U;
    Lane_Display_Mode_4 = 67U;
  } else if (Highway_Assistant_Lane_Chang_DW.is_c1_Highway_Assistant_Lane_Ch ==
             Highway_Assistant_IN_Condition1) {
    if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
         () == 6.0) &&
        (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
         () == 1.0) &&
        (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
         () == 1.0)) {
      Highway_Assistant_Lane_Chang_DW.is_c1_Highway_Assistant_Lane_Ch =
        Highway_Assistant_IN_Condition2;
      Lane_Display_Mode_1 = 127U;
      Lane_Display_Mode_2 = 248U;
      Lane_Display_Mode_3 = 186U;
      Lane_Display_Mode_4 = 84U;
    } else {
      Lane_Display_Mode_1 = 132U;
      Lane_Display_Mode_2 = 185U;
      Lane_Display_Mode_3 = 54U;
      Lane_Display_Mode_4 = 67U;
    }

    /* case IN_Condition2: */
  } else if
      ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
        () == 6.0) &&
       (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
        () == 0.0) &&
       (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
        () == 1.0)) {
    Highway_Assistant_Lane_Chang_DW.is_c1_Highway_Assistant_Lane_Ch =
      Highway_Assistant_IN_Condition1;
    Lane_Display_Mode_1 = 132U;
    Lane_Display_Mode_2 = 185U;
    Lane_Display_Mode_3 = 54U;
    Lane_Display_Mode_4 = 67U;
  } else {
    Lane_Display_Mode_1 = 127U;
    Lane_Display_Mode_2 = 248U;
    Lane_Display_Mode_3 = 186U;
    Lane_Display_Mode_4 = 84U;
  }

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

  /* Switch: '/Switch' incorporates:
   *  Inport: '/Highway_Input_Signal'
   *  Switch: '/Switch1'
   *  Switch: '/Switch2'
   *  Switch: '/Switch3'
   */
  if (Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
      () != 0.0) {
    /* Outport: '/Display_Mode_1' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (Highway_Display_Mode_1);

    /* Outport: '/Display_Mode_2' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
      (Highway_Display_Mode_2);

    /* Outport: '/Display_Mode_3' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
      (Highway_Display_Mode_3);

    /* Outport: '/Display_Mode_4' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
      (Highway_Display_Mode_4);
  } else {
    /* Outport: '/Display_Mode_1' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (Lane_Display_Mode_1);

    /* Outport: '/Display_Mode_2' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
      (Lane_Display_Mode_2);

    /* Outport: '/Display_Mode_3' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
      (Lane_Display_Mode_3);

    /* Outport: '/Display_Mode_4' */
    Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
      (Lane_Display_Mode_4);
  }

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

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

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

Code generation: