Project 2-Highway Assistant-Lane Changing Assistant
Objective -
To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm.
- This model must be developed in MATLAB Simulink as per MBD guidelines.
- 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.
- To generate Model Advisor Report.
- To generate code using Code Generation.
Highway Assistant (Lane Changing Assistant) -
- 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.
Configuration Settings -
- Solver Setting -
- For the Autosar Complaint Model the solver should be Fixed Step Discrete solver.
- For the Autosar Complaint Model the solver should be Fixed Step Discrete solver.
- Code Generation Setting -
- Autosar Coder is used to generate the code.
- The system file is autosar.tlc
Simulink Data Dictionary File -
- Create a new sldd file and link it with the model.
- Make entries of the signals as given in the requirement document.
- The Storage Class is given Auto.
Model Development -
- Take a subsystem block for implementing the logic.
- Take a subsystem for each requirement.
- For Requirement-1 Highway Display Unit,
- 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
- For Requirement-2 Lane Display Unit,
- 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
- For Requirement-3,
- Signals coming from both subsystems “Highway_Display_Mode_1” & “Lane_Display_Mode_1” are given as inputs to a switch block.
- “Highway_Input_Signal” is 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.
- “Highway_Input_Signal” is 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.
- “Highway_Input_Signal” is 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.
- “Highway_Input_Signal” is given as 2nd input to the switch block.
- Corresponding output from this particular switch block is output signal “Display_Mode_4”.
Requirements Tagging, Signal Resolving and Propagation -
- After developing the model tag the requirements to the Requirement Document.
- The tag will show under the requirements option.
- This is done for all the requirements present in the requirement document.
- All the signals must be resolved at the origin.
- After resolving the signal a blue symbol will appear in front of signal name.
- The resolved signals should be propagated for the continuation of signal.
- The propagated signal name will appear between <> symbols.
Model Advisor Report -
- After developing the model, to check whether the developed model is as per the MAAB guidelines or not.
- For this Modelling Standards for MAAB check is done.
- There are 144 checks and after running these checks there should be no Fail condition.
- Reduce the warnings as much as possible.
- Generate the model advisor report.
Autosar Port Mappings -
- Open the Autosar Component Designer from the APPS menu.
- Open the Autosar Dictionary from the Code Mappings.
- Select the XML options and add the paths for different packages.
- Add different SR Interfaces and use prefix "SRIF_" following with the signal name.
- Add corresponding data element to it using prefix "DE_" with signal name.
- Add the Receiver Ports with prefix "Rp_" with signal name and select the corresponding the SR Interface.
- Add the Sender Ports with prefix "Pp_" with signal name and select the corresponding the SR Interface.
- In the Runnables section, create two events - one timing event and one initialize event.
- Click Apply after creating the events.
- In the Code Mappings, select the corresponding events for Functions.
- And select the corresponding Receiver Ports and Data Elements for Inports.
- Also select the corresponding Sender Ports and Data Elements for Outports.
- Validate the settings by clicking on the tick sign.
Code Generation -
- To generate the code click on Generate Code option.
- After Code is generated, it is shown in the tab appear in the right hand side of window.
Code -
File: Highway_Assistant.c
1 /*
2 * File: Highway_Assistant.c
3 *
4 * Code generated for Simulink model 'Highway_Assistant'.
5 *
6 * Model version : 1.6
7 * Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
8 * C/C++ source code generated on : Mon Sep 5 12:56:03 2022
9 *
10 * Target selection: autosar.tlc
11 * Embedded hardware selection: Intel->x86-64 (Windows64)
12 * Code generation objectives: Unspecified
13 * Validation result: Not run
14 */
15
16 #include "Highway_Assistant.h"
17 #include "Highway_Assistant_private.h"
18
19 /* Named constants for Chart: '/Highway_DisplayUnit_Chart' */
20 #define Highway_Assistan_IN_Condition_1 ((uint8)1U)
21 #define Highway_Assistan_IN_Condition_2 ((uint8)2U)
22
23 /* Block states (default storage) */
24 DW_Highway_Assistant_T Highway_Assistant_DW;
25
26 /* Model step function */
27 void Highway_Assistant_50ms(void)
28 {
29 sint32 tmp;
30 uint8 rtb_Highway_Display_Mode_1;
31 uint8 rtb_Highway_Display_Mode_3;
32 uint8 rtb_Lane_Display_Mode_1;
33 uint8 rtb_Lane_Display_Mode_2;
34 uint8 rtb_Lane_Display_Mode_3;
35 uint8 rtb_Lane_Display_Mode_4;
36
37 /* Chart: '/Highway_DisplayUnit_Chart' incorporates:
38 * Inport: '/Enable_Display'
39 * Inport: '/Highway_Input_Signal'
40 * Inport: '/Input_Switch'
41 */
42 if (Highway_Assistant_DW.is_active_c3_Highway_Assistant == 0U) {
43 Highway_Assistant_DW.is_active_c3_Highway_Assistant = 1U;
44 Highway_Assistant_DW.is_c3_Highway_Assistant =
45 Highway_Assistan_IN_Condition_1;
46 rtb_Highway_Display_Mode_1 = 232U;
47 rtb_Highway_Display_Mode_3 = 41U;
48 } else if (Highway_Assistant_DW.is_c3_Highway_Assistant ==
49 Highway_Assistan_IN_Condition_1) {
50 rtb_Highway_Display_Mode_1 = 232U;
51 rtb_Highway_Display_Mode_3 = 41U;
52 if ((Rte_IRead_Highway_Assistant_50ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
53 () == 1) &&
54 (Rte_IRead_Highway_Assistant_50ms_Rp_Enable_Display_DE_Enable_Display() ==
55 1) && (Rte_IRead_Highway_Assistant_50ms_Rp_Input_Switch_DE_Input_Switch
56 () == 1)) {
57 Highway_Assistant_DW.is_c3_Highway_Assistant =
58 Highway_Assistan_IN_Condition_2;
59 rtb_Highway_Display_Mode_1 = 213U;
60 rtb_Highway_Display_Mode_3 = 9U;
61 }
62 } else {
63 /* case IN_Condition_2: */
64 rtb_Highway_Display_Mode_1 = 213U;
65 rtb_Highway_Display_Mode_3 = 9U;
66 if ((Rte_IRead_Highway_Assistant_50ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
67 () == 1) &&
68 (Rte_IRead_Highway_Assistant_50ms_Rp_Enable_Display_DE_Enable_Display() ==
69 0) && (Rte_IRead_Highway_Assistant_50ms_Rp_Input_Switch_DE_Input_Switch
70 () == 1)) {
71 Highway_Assistant_DW.is_c3_Highway_Assistant =
72 Highway_Assistan_IN_Condition_1;
73 rtb_Highway_Display_Mode_1 = 232U;
74 rtb_Highway_Display_Mode_3 = 41U;
75 }
76 }
77
78 /* End of Chart: '/Highway_DisplayUnit_Chart' */
79
80 /* Chart: '/Lane_DisplayUnit_Chart' incorporates:
81 * Inport: '/Enable_Display'
82 * Inport: '/Input_Switch'
83 * Inport: '/Lane_Input_Signal'
84 */
85 if (Highway_Assistant_DW.is_active_c1_Highway_Assistant == 0U) {
86 Highway_Assistant_DW.is_active_c1_Highway_Assistant = 1U;
87 Highway_Assistant_DW.is_c1_Highway_Assistant =
88 Highway_Assistan_IN_Condition_1;
89 rtb_Lane_Display_Mode_1 = 132U;
90 rtb_Lane_Display_Mode_2 = 185U;
91 rtb_Lane_Display_Mode_3 = 54U;
92 rtb_Lane_Display_Mode_4 = 67U;
93 } else if (Highway_Assistant_DW.is_c1_Highway_Assistant ==
94 Highway_Assistan_IN_Condition_1) {
95 rtb_Lane_Display_Mode_1 = 132U;
96 rtb_Lane_Display_Mode_2 = 185U;
97 rtb_Lane_Display_Mode_3 = 54U;
98 rtb_Lane_Display_Mode_4 = 67U;
99 if ((Rte_IRead_Highway_Assistant_50ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
100 () == 6) &&
101 (Rte_IRead_Highway_Assistant_50ms_Rp_Enable_Display_DE_Enable_Display() ==
102 1) && (Rte_IRead_Highway_Assistant_50ms_Rp_Input_Switch_DE_Input_Switch
103 () == 1)) {
104 Highway_Assistant_DW.is_c1_Highway_Assistant =
105 Highway_Assistan_IN_Condition_2;
106 rtb_Lane_Display_Mode_1 = 127U;
107 rtb_Lane_Display_Mode_2 = 248U;
108 rtb_Lane_Display_Mode_3 = 186U;
109 rtb_Lane_Display_Mode_4 = 84U;
110 }
111 } else {
112 /* case IN_Condition_2: */
113 rtb_Lane_Display_Mode_1 = 127U;
114 rtb_Lane_Display_Mode_2 = 248U;
115 rtb_Lane_Display_Mode_3 = 186U;
116 rtb_Lane_Display_Mode_4 = 84U;
117 if ((Rte_IRead_Highway_Assistant_50ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
118 () == 6) &&
119 (Rte_IRead_Highway_Assistant_50ms_Rp_Enable_Display_DE_Enable_Display() ==
120 0) && (Rte_IRead_Highway_Assistant_50ms_Rp_Input_Switch_DE_Input_Switch
121 () == 1)) {
122 Highway_Assistant_DW.is_c1_Highway_Assistant =
123 Highway_Assistan_IN_Condition_1;
124 rtb_Lane_Display_Mode_1 = 132U;
125 rtb_Lane_Display_Mode_2 = 185U;
126 rtb_Lane_Display_Mode_3 = 54U;
127 rtb_Lane_Display_Mode_4 = 67U;
128 }
129 }
130
131 /* End of Chart: '/Lane_DisplayUnit_Chart' */
132
133 /* Switch: '/Switch' incorporates:
134 * Inport: '/Highway_Input_Signal'
135 * Switch: '/Switch1'
136 * Switch: '/Switch2'
137 */
138 tmp =
139 Rte_IRead_Highway_Assistant_50ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
140 ();
141 if (tmp != 0) {
142 /* Outport: '/Display_Mode_1' */
143 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_1_DE_Display_Mode_1
144 (rtb_Highway_Display_Mode_1);
145 rtb_Lane_Display_Mode_2 = 183U;
146 } else {
147 /* Outport: '/Display_Mode_1' */
148 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_1_DE_Display_Mode_1
149 (rtb_Lane_Display_Mode_1);
150 }
151
152 /* End of Switch: '/Switch' */
153
154 /* Outport: '/Display_Mode_2' */
155 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_2_DE_Display_Mode_2
156 (rtb_Lane_Display_Mode_2);
157
158 /* Switch: '/Switch2' incorporates:
159 * Switch: '/Switch3'
160 */
161 if (tmp != 0) {
162 /* Outport: '/Display_Mode_3' */
163 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_3_DE_Display_Mode_3
164 (rtb_Highway_Display_Mode_3);
165 rtb_Lane_Display_Mode_4 = 94U;
166 } else {
167 /* Outport: '/Display_Mode_3' */
168 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_3_DE_Display_Mode_3
169 (rtb_Lane_Display_Mode_3);
170 }
171
172 /* Outport: '/Display_Mode_4' */
173 Rte_IWrite_Highway_Assistant_50ms_Pp_Display_Mode_4_DE_Display_Mode_4
174 (rtb_Lane_Display_Mode_4);
175 }
176
177 /* Model initialize function */
178 void Highway_Assistant_50ms_Init(void)
179 {
180 /* (no initialization code required) */
181 }
182
183 /*
184 * File trailer for generated code.
185 *
186 * [EOF]
187 */
188
Result -
- The model is developed as per the MAAB guidelines.
- The Model Advisor Check is done for this model.
- The Ports are mapped in the Autosar Dictionary.
- The code is generated using Autosar Coder.
Google Drive Link for this project https://drive.google.com/file/d/12PPu_fZoBBk2ww3s4FoaM2BXp8_P6Lqs/view?usp=sharing