Project 2-Highway Assistant-Lane Changing Assistant

Highway Assistant-Lane Changing Assistant

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.

Highway Assistant – Lane Changing Assistant I ntroduction 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 highway. 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 along side 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 autmatic 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 sensor 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 lane, the system issues an additional acoustic and/or haptic warning.

Model Develop ment and Requirments:-

Main Model: Highway Lane Assist

Main Subsy stems:- Requirment 1 to 3

• This Subsystem contain three inner subsystem which is requirment 1(Highway_DisplayUnit), 2(Lane_DisplayUnit) and 3(Display_ModelUnit).

Recquirement No 1 [Highway_DisplayUnit]:-

• Input 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 implemnted in the form of a Stateflow logic.

Condition Action

Highway_Display_Mode_1 = 232

Highway_Input_Signal = 1 Highway_Display_Mode_2 = 183

Enable_Display = off Highway_Display_Mode_3 = 41

Input_Switch = on Highway_Display_Mode_4 = 94

Highway_Display_Mode_1 = 213

Highway_Input_Signal = 1 Highway_Display_Mode_2 = 183

Enable_Display = on Highway_Display_Mode_3 = 9

Input_Switch = on Highway_Display_Mode_4 = 94

Implementation of requirment 1(Highway_DispalyUnit):-

• As per the requirment 1 stateflow chart containing two states.

Recquirement 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_Display_Mode_1 = 132

Lane_Input_Signal= 6 Lane_Display_Mode_2 = 185

Enable_Display = off Lane_Display_Mode_3 = 54

Input_Switch = on Lane_Display_Mode_4 = 67

Lane_Display_Mode_1 = 127

Lane_Input_Signal= 6 Lane_Display_Mode_1 = 127

Enable_Display = on Lane_Display_Mode_2 = 248

Input_Switch = on Lane_Display_Mode_3 = 186

Lane_Display_Mode_4 = 84

Implementation of requirment 2(Lane_DispalyUnit):-

• As per the requirment 2 stateflow chart containing two states.

Recquirement No 3:

• Signals coming from both subsystem “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 subsystem “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 subsystem “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 subsystem “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”.

Implementation of requirment 3:-

[Simulink Data Dictionary] SLDD:-

• For connecting model signals and parameter we need to create SLDD file so here we created SLDD file with Simulink Model File.
• Which have all the calibration and data used in the model.

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

Simulink Data Dictionary:-

• Now, for AUTOSAR Code generation we need to change the solver setting and Code generation settings.
• instead of variable step we need to put Fixed step and in Solver we need to put Discrete Solver.
• In Code generation profile we need to set as "autosar.tlc" under system target file.

• To configure AUTOSAR components in the AUTOSAR dictionary and generate AUTOSAR compliant Code, in The Under App Section, AUTOSAR component Designer is Selected.

• AUTOSAR dictionary can be accesed under code mappings - AUTOSAR SW Component section.

• so, In AUTOSAR Dictionary first i chosed XML options and Specifying the package paths.

• Sender receiver interfaces(SRIf) is configured next.
• A total of eight sender receiver interfaces will be created as there are four inputs and four output for the main subsystem 'Lane_Change_Assistance'
• each sender receiver interfaces is prefixed with SRIf
• The corresponding Data Element(DE_) of each SRIf is also renamed with DE

• prefix Rp_(Receiver Port) is used before Receiver Ports signal names.

• prefix Pp_(Provider Port) is used before Sender Ports signal names.

• After Configurng XML options, SRIf, sender and receiver ports the runnable are configured next.
• two runable are created one for the intialization event and another for the timing event.

• After configure all required data in AUTOSAR dictionary, the Inport and Outports of the developed model are mapped to their corresponding receiver/sender ports and data element.

• So, here we can see that code mapping are updated and validated as the final step to make sure all ports are maped correctly.

• So, after generate AUTOSAR dictionary we need to check Model advisor report.
• here we are checking model advisor for the Modeling Standards For MAB(Mathworks Advisory Board)
• so we can see that we pased all the checks without any failure and i also tried to reduce no. of warnings.

Model Advisor Report for MAB Guidelines:-

Autosar Compliant Code generation:-

• For generating AUTOSAR Code we need to go into AUTOSAR tab
• where we find "Quick start" option which we need to select for AUTOSAR Code generation.

• The quick start option will automatically manage model configuration settings to generate code.
• the code generation folder will contain generated .c, .h, .ARXML Files.

AUTOSAR Compliant C CODE:-

/*
 * File: week14P2_1646979009.c
 *
 * Code generated for Simulink model 'week14P2_1646979009'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Tue Oct  4 10:15:00 2022
 *
 * Target selection: autosar.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "week14P2_1646979009.h"
#include "week14P2_1646979009_private.h"

/* Named constants for Chart: '<S3>/Chart' */
#define week14P2_16469790_IN_Condition1 ((uint8)1U)
#define week14P2_16469790_IN_Condition2 ((uint8)2U)

/* Block states (default storage) */
DW_week14P2_1646979009_T week14P2_1646979009_DW;

/* Model step function */
void week14P2_Step(void)
{
  sint32 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: '<S3>/Chart' incorporates:
   *  Inport: '<Root>/Enable_Display'
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Inport: '<Root>/Input_Switch'
   */
  if (week14P2_1646979009_DW.is_active_c3_week14P2_164697900 == 0U) {
    week14P2_1646979009_DW.is_active_c3_week14P2_164697900 = 1U;
    week14P2_1646979009_DW.is_c3_week14P2_1646979009 =
      week14P2_16469790_IN_Condition1;
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
  } else if (week14P2_1646979009_DW.is_c3_week14P2_1646979009 ==
             week14P2_16469790_IN_Condition1) {
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
    if ((Rte_IRead_week14P2_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_week14P2_Step_Rp_Enable_Display_DE_Enable_Display() == 1) &&
        (Rte_IRead_week14P2_Step_Rp_Input_Switch_DE_Input_Switch() == 1)) {
      week14P2_1646979009_DW.is_c3_week14P2_1646979009 =
        week14P2_16469790_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_week14P2_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_week14P2_Step_Rp_Enable_Display_DE_Enable_Display() == 0) &&
        (Rte_IRead_week14P2_Step_Rp_Input_Switch_DE_Input_Switch() == 1)) {
      week14P2_1646979009_DW.is_c3_week14P2_1646979009 =
        week14P2_16469790_IN_Condition1;
      rtb_Highway_Display_Mode_1 = 232U;
      rtb_Highway_Display_Mode_3 = 41U;
    }
  }

  /* End of Chart: '<S3>/Chart' */

  /* Chart: '<S4>/Chart' incorporates:
   *  Inport: '<Root>/Enable_Display'
   *  Inport: '<Root>/Input_Switch'
   *  Inport: '<Root>/Lane_Input_Signal'
   */
  if (week14P2_1646979009_DW.is_active_c1_week14P2_164697900 == 0U) {
    week14P2_1646979009_DW.is_active_c1_week14P2_164697900 = 1U;
    week14P2_1646979009_DW.is_c1_week14P2_1646979009 =
      week14P2_16469790_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 (week14P2_1646979009_DW.is_c1_week14P2_1646979009 ==
             week14P2_16469790_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_week14P2_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal() ==
         6) && (Rte_IRead_week14P2_Step_Rp_Enable_Display_DE_Enable_Display() ==
                1) && (Rte_IRead_week14P2_Step_Rp_Input_Switch_DE_Input_Switch()
                       == 1)) {
      week14P2_1646979009_DW.is_c1_week14P2_1646979009 =
        week14P2_16469790_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_week14P2_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal() ==
         6) && (Rte_IRead_week14P2_Step_Rp_Enable_Display_DE_Enable_Display() ==
                0) && (Rte_IRead_week14P2_Step_Rp_Input_Switch_DE_Input_Switch()
                       == 1)) {
      week14P2_1646979009_DW.is_c1_week14P2_1646979009 =
        week14P2_16469790_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: '<S4>/Chart' */

  /* Switch: '<S2>/Switch' incorporates:
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Switch: '<S2>/Switch1'
   *  Switch: '<S2>/Switch2'
   */
  tmp = Rte_IRead_week14P2_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal();
  if (tmp != 0) {
    /* Outport: '<Root>/Display_Mode_1' */
    Rte_IWrite_week14P2_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (rtb_Highway_Display_Mode_1);
    rtb_Lane_Display_Mode_2 = 183U;
  } else {
    /* Outport: '<Root>/Display_Mode_1' */
    Rte_IWrite_week14P2_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (rtb_Lane_Display_Mode_1);
  }

  /* End of Switch: '<S2>/Switch' */

  /* Outport: '<Root>/Display_Mode_2' */
  Rte_IWrite_week14P2_Step_Pp_Display_Mode_2_DE_Display_Mode_1
    (rtb_Lane_Display_Mode_2);

  /* Switch: '<S2>/Switch2' incorporates:
   *  Switch: '<S2>/Switch3'
   */
  if (tmp != 0) {
    /* Outport: '<Root>/Display_Mode_3' */
    Rte_IWrite_week14P2_Step_Pp_Display_Mode_3_DE_Display_Mode_1
      (rtb_Highway_Display_Mode_3);
    rtb_Lane_Display_Mode_4 = 94U;
  } else {
    /* Outport: '<Root>/Display_Mode_3' */
    Rte_IWrite_week14P2_Step_Pp_Display_Mode_3_DE_Display_Mode_1
      (rtb_Lane_Display_Mode_3);
  }

  /* Outport: '<Root>/Display_Mode_4' */
  Rte_IWrite_week14P2_Step_Pp_Display_Mode_4_DE_Display_Mode_1
    (rtb_Lane_Display_Mode_4);
}

/* Model initialize function */
void week14P2_Init(void)
{
  /* (no initialization code required) */
}

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

CONCLUSION:-

• Highway Lane Assistant developed in MATLAB Simulink as per MBD guidelines.
• Code Generation Profile is Autosar Coder.
• Simulink Data Dictionary created for the model & linked to the model.
• All the input & output signals mapped into the Autosar Editor.
• Model Advisor Report is Generated & this will be followed by Code Generation.
• All the important Files like model, Code Report, SLDD file, Model Advisor report are Attached.