Project 2-Highway Assistant-Lane Changing Assistant
Aim:
To Prepare the 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:
|
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 |
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”.
Modal:
Requirement 1:
Highway Display Mode chart:
Requirement 2:
Lane Display Mode chart:
Requirement 3:
Creating a New Sldd file from the scratch and writing all the necessary signals as per the question:
Changing to Autosar Code Mapping using the Xml sheet for creating the signals SRIf, DE, Rp, Pp.
Process of the Mapping to Autosar modal:
- Click on the model setting and go to the code generation tab.
- Change the grl.tlc to autosar.tlc so that we can change the modal to Autosar requirements.
- Now check once the solver setting if it's set to Fixed and discrete function or not.
- Now go to Apps and go to show more and click the Autosar components.
- Now close the window shown as you can see at the bottom there is a menu called Autosar Code Mapping.
- To to the Autosar dictionary and set the SRIF, Receiver port and sender port as per the given questions carefully.
- After setting then go for the Runnable tab and set the runtime and init function.
- Now close the Autosar Dictionary.
- Go to Code mapping and click on Function and set Timing Event and Initialization function.
- Now go to Inports and outports tab and set the ports and elements according in order.
- Now Save the file and run the simulation.
CODE:
/*
* File: Highway_Assistent.c
*
* Code generated for Simulink model 'Highway_Assistent'.
*
* Model version : 1.11
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Mon Sep 12 11:53:03 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "Highway_Assistent.h"
/* Named constants for Chart: '/Highway_Assistent' */
#define IN_Condition_1 ((uint8_T)1U)
#define IN_Condition_2 ((uint8_T)2U)
/* Named constants for Chart: '/Lane_Display_Assistent' */
#define IN_Mode_1 ((uint8_T)1U)
#define IN_Mode_2 ((uint8_T)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* External inputs (root inport signals with default storage) */
ExtU rtU;
/* External outputs (root outports fed by signals with default storage) */
ExtY rtY;
/* Real-time model */
static RT_MODEL rtM_;
RT_MODEL *const rtM = &rtM_;
/* Model step function */
void Highway_Assistent_step(void)
{
int32_T rtb_Highway_Display_Mode_1;
int32_T rtb_Highway_Display_Mode_2;
int32_T rtb_Highway_Display_Mode_3;
int32_T rtb_Lane_Display_Mode_1;
int32_T rtb_Lane_Display_Mode_2;
int32_T rtb_Lane_Display_Mode_3;
int32_T rtb_Lane_Display_Mode_4;
/* Chart: '/Highway_Assistent' incorporates:
* Inport: '/Enable_Dispaly'
* Inport: '/Highway_Input_Signal'
* Inport: '/Input_Switch'
*/
if (rtDW.is_active_c3_Highway_Assistent == 0U) {
rtDW.is_active_c3_Highway_Assistent = 1U;
rtDW.is_c3_Highway_Assistent = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_2 = 183;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Highway_Assistent == IN_Condition_1) {
if ((rtU.Highway_Input_Signal == 1) && (rtU.Enable_Display == 0) &&
(rtU.Input_Switch == 1)) {
rtDW.is_c3_Highway_Assistent = IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_2 = 182;
rtb_Highway_Display_Mode_3 = 9;
} else {
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_2 = 183;
rtb_Highway_Display_Mode_3 = 41;
}
/* case IN_Condition_2: */
} else if ((rtU.Highway_Input_Signal == 1) && (rtU.Enable_Display == 1) &&
(rtU.Input_Switch == 1)) {
rtDW.is_c3_Highway_Assistent = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_2 = 183;
rtb_Highway_Display_Mode_3 = 41;
} else {
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_2 = 182;
rtb_Highway_Display_Mode_3 = 9;
}
/* End of Chart: '/Highway_Assistent' */
/* Chart: '/Lane_Display_Assistent' incorporates:
* Inport: '/Enable_Dispaly'
* Inport: '/Input_Switch'
* Inport: '/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Highway_Assistent == 0U) {
rtDW.is_active_c1_Highway_Assistent = 1U;
rtDW.is_c1_Highway_Assistent = IN_Mode_1;
rtb_Lane_Display_Mode_1 = 132;
rtb_Lane_Display_Mode_2 = 185;
rtb_Lane_Display_Mode_3 = 54;
rtb_Lane_Display_Mode_4 = 67;
} else if (rtDW.is_c1_Highway_Assistent == IN_Mode_1) {
if ((rtU.Lane_Input_Signal == 6) && (rtU.Enable_Display == 0) &&
(rtU.Input_Switch == 1)) {
rtDW.is_c1_Highway_Assistent = IN_Mode_2;
rtb_Lane_Display_Mode_1 = 127;
rtb_Lane_Display_Mode_2 = 248;
rtb_Lane_Display_Mode_3 = 186;
rtb_Lane_Display_Mode_4 = 84;
} else {
rtb_Lane_Display_Mode_1 = 132;
rtb_Lane_Display_Mode_2 = 185;
rtb_Lane_Display_Mode_3 = 54;
rtb_Lane_Display_Mode_4 = 67;
}
/* case IN_Mode_2: */
} else if ((rtU.Lane_Input_Signal == 6) && (rtU.Enable_Display == 1) &&
(rtU.Input_Switch == 1)) {
rtDW.is_c1_Highway_Assistent = IN_Mode_1;
rtb_Lane_Display_Mode_1 = 132;
rtb_Lane_Display_Mode_2 = 185;
rtb_Lane_Display_Mode_3 = 54;
rtb_Lane_Display_Mode_4 = 67;
} else {
rtb_Lane_Display_Mode_1 = 127;
rtb_Lane_Display_Mode_2 = 248;
rtb_Lane_Display_Mode_3 = 186;
rtb_Lane_Display_Mode_4 = 84;
}
/* End of Chart: '/Lane_Display_Assistent' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
* Switch: '/Switch3'
*/
if (rtU.Highway_Input_Signal > 0) {
/* Outport: '/Display_Mode_1' */
rtY.Display_Mode_1 = (uint8_T)rtb_Highway_Display_Mode_1;
/* Outport: '/Display_Mode_2' */
rtY.Display_Mode_2 = (uint8_T)rtb_Highway_Display_Mode_2;
/* Outport: '/Display_Mode_3' */
rtY.Display_Mode_3 = (uint8_T)rtb_Highway_Display_Mode_3;
/* Outport: '/Display_Mode_4' */
rtY.Display_Mode_4 = 94U;
} else {
/* Outport: '/Display_Mode_1' */
rtY.Display_Mode_1 = (uint8_T)rtb_Lane_Display_Mode_1;
/* Outport: '/Display_Mode_2' */
rtY.Display_Mode_2 = (uint8_T)rtb_Lane_Display_Mode_2;
/* Outport: '/Display_Mode_3' */
rtY.Display_Mode_3 = (uint8_T)rtb_Lane_Display_Mode_3;
/* Outport: '/Display_Mode_4' */
rtY.Display_Mode_4 = (uint8_T)rtb_Lane_Display_Mode_4;
}
/* End of Switch: '/Switch' */
}
/* Model initialize function */
void Highway_Assistent_initialize(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/Conclusion:
Hence we have generated the code for the Highway Assistant modal as per the given requirements, and also we have done the code maping from scratch and uploaded the sldd file and xls file in the discription.