Project 2-Highway Assistant-Lane Changing Assistant
Highway Lane Change Assistance
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.
Step 1: Designing the Model as per the requirements for the highway lane change assist with four inputs and four outputs.
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 |
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 |
Step 2: Building the Data Dictionary for all the inputs, outputs and local signals.
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 |
Step 3: Building the subsystem for the Highway Lane Change Assist as seen in the first step. This is a combined model for all the 3 requirements that have been provided to us.
Step 4:
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.
Building the model for Requirement number 1 which is the Highway Display Unit. A Stateflow Logic is used to implement the following conditions and actions. There are 3 inputs and 4 outputs.
|
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 |
Step 5:
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.
Building the model for Requirement number 1 which is the Highway Display Unit. A Stateflow Logic is used to implement the following conditions and actions. There are 3 inputs and 4 outputs.
|
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 |
Step 6:
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”.
Using the information, we are given for requirement number 3, a model was designed using 4 switch blocks connected to the inputs and outputs as mentioned above.
Step 7: Requirement Tagging
We select some Text from a word file to tag with the subsystem for requirement 1 as seen below. The word file should be saved in the same directory as the model.
Step 8:
Changing the model configuration settings for running the model.
Firstly, we set the Solver type to fixed step with solver settings as discrete with no continuous states.
After completing the solver settings, we change the Code Generation settings. The system file is set as AUTOSAR with language chosen as C.
Step 9: Defining the AUTOSAR dictionary by clicking the Code mappings for AUTOSAR SW component.
Firstly, we go to the XML Options and add the path for the packages according to our model’s name.
Following that we map the Sender-Receiver Interfaces. Each SR interface consists of a data element.
Then we Insert the Runnables for the model which is it mapped with initEvent and TimingEvent.
Defining the Sender Ports with prefix Pp before the port name.
Defining the Sender Ports with prefix Rp before the port name.
Finally, we trace the Inports and Outports according to the Source, Data Access Mode, Port and Data Element.
Step 10: Refreshing and Validating the model to make it AUTOSAR compliant.
Step 11: Checking the model as per the MAB guidelines and generating the report for it.
Model Advisor for MAB Guidelines :
Model Advisor After rectifying the important warnings:
The Model Advisor Report:
Step 11: Generating Code through AUTOSAR.
Code from AUTOSAR:
/*
* File: Project_2HighwayLaneChangeAssist.c
*
* Code generated for Simulink model 'Project_2HighwayLaneChangeAssist'.
*
* Model version : 1.18
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Aug 13 22:06:21 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 "Project_2HighwayLaneChangeAssist.h"
/* Named constants for Chart: '<S2>/Requirement_1' */
#define IN_Condition1 ((uint8)1U)
#define IN_Condition2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void Project_2highwaylanechangeassist_step(void)
{
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;
boolean rtb_DataTypeConversion;
/* Chart: '<S2>/Requirement_1' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Project_2HighwayLa == 0U) {
rtDW.is_active_c3_Project_2HighwayLa = 1U;
rtDW.is_c3_Project_2HighwayLaneChang = IN_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (rtDW.is_c3_Project_2HighwayLaneChang == IN_Condition1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Highway_Input_Signal_DE_Project_2HighwayLaneChangeAssist
() == 1) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Enable_Display_DataElement1
() == 0) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Input_Switch_DataElement1
() == 1)) {
rtDW.is_c3_Project_2HighwayLaneChang = IN_Condition2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
} else {
/* case IN_Condition2: */
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
if ((Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Highway_Input_Signal_DE_Project_2HighwayLaneChangeAssist
() == 1) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Enable_Display_DataElement1
() == 1) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Input_Switch_DataElement1
() == 1)) {
rtDW.is_c3_Project_2HighwayLaneChang = IN_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
}
/* End of Chart: '<S2>/Requirement_1' */
/* Chart: '<S3>/Requirement_2' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Project_2HighwayLa == 0U) {
rtDW.is_active_c1_Project_2HighwayLa = 1U;
rtDW.is_c1_Project_2HighwayLaneChang = IN_Condition1;
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_Project_2HighwayLaneChang == IN_Condition1) {
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_Project_2highwaylanechangeassist_step_Rp_Lane_Input_Signal_DataElement1
() == 6) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Enable_Display_DataElement1
() == 0) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Input_Switch_DataElement1
() == 1)) {
rtDW.is_c1_Project_2HighwayLaneChang = IN_Condition2;
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_Condition2: */
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_Project_2highwaylanechangeassist_step_Rp_Lane_Input_Signal_DataElement1
() == 6) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Enable_Display_DataElement1
() == 1) &&
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Input_Switch_DataElement1
() == 1)) {
rtDW.is_c1_Project_2HighwayLaneChang = IN_Condition1;
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: '<S3>/Requirement_2' */
/* DataTypeConversion: '<S4>/Data Type Conversion' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
*/
rtb_DataTypeConversion =
(Rte_IRead_Project_2highwaylanechangeassist_step_Rp_Highway_Input_Signal_DE_Project_2HighwayLaneChangeAssist
() != 0);
/* Switch: '<S4>/Switch' incorporates:
* Switch: '<S4>/Switch2'
*/
if (rtb_DataTypeConversion) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_1_DataElement1
(rtb_Highway_Display_Mode_1);
rtb_Lane_Display_Mode_2 = 183U;
} else {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_1_DataElement1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '<S4>/Switch' */
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_2_DataElement1
(rtb_Lane_Display_Mode_2);
/* Switch: '<S4>/Switch1' incorporates:
* Switch: '<S4>/Switch3'
*/
if (rtb_DataTypeConversion) {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_3_DataElement1
(rtb_Highway_Display_Mode_3);
rtb_Lane_Display_Mode_4 = 94U;
} else {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_3_DataElement1
(rtb_Lane_Display_Mode_3);
}
/* End of Switch: '<S4>/Switch1' */
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Project_2highwaylanechangeassist_step_Pp_Display_Mode_4_DataElement1
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void Project_2highwaylanechangeassist_init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/