Project 2-Highway Assistant-Lane Changing Assistant
Project - Highway Assistant-Lane Changing Assistant
AIM :
Model Development of a feature of Highway Assistant-Lane Changing Assistant using MATLAB and Simulink as per MAAB Guidelines.
Objective :
- This model must be developed in MATLAB Simulink per MBD guidelines.
- Code Generation using Autosar Coder.
- Create Simulink Data Dictionary & linked to the model.
- input & output signals must be mapped into the Autosar Editor.
- Genrating Model Advisor Report
First of all, we will understand the feature of this project.
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.
Reuirement Analysis :
We have to do project as per Our Objectives as per our Requirement Analysis.
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”.
PROCEDURE :
We will Create a Simulink Daia Dictionary (.sldd) file for Simulink Signals & Parameters. that we can resolve in Our Simulink Model.
MODEL DEVELOPMENT PROCESS :
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 |
for Reuirement_1 Created below Subsystem as R1_Highway_DisplayUnit
- we used GOTO-FROM Blocks. so we can forward the signal without bisecting lines.
- and output side all signals will be use in Requirement 3...
- Highway Input Signal will be use in Requirement 3 and
- Enable Display & Input Switch will be use in the input of Requirement 2.
INSIDE THE SYBSYSTEM
INSIDE THE STATEFLOW CHART
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 |
for Reuirement_1 Created below Subsystem as R2_Lane_DisplayUnit
we used GOTO-FROM Blocks for 2 signals for Forwarding the signals from Requirement_1 without bisecting lines.
and output side all signals will be use in Requirement 3.
INSIDE THE SYBSYSTEM
INSIDE THE STATEFLOW CHART
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”.
All Forwarded Signals are used and as per Requirements Output Signals Are Resolved As Display_Mode 1,2,3 & 4..
Now The Model is Fully Developed as per Requirement
FINAL MODEL
Then, Requirement Tagging & Tracability also done.
Now, making the model in compliance with the AUTOSAR. So, all the input & output signals will be mapped into the Autosar Editor.
But Before that Ensure the Regular Settings ;
Solver
Code Generation Settings
Next Steps :
Under APPS >>
- Click On
- On Model, Left-below side, Click On
- Then, Open Autosar Dictionary By clicking on
.....
Then,
Changes of the XML OPTIONS SETTINGS AS BELOW :
For the S-R Interfaces of the model, renaming the ports with the prefix SRIf_.
For the Data Elements of the model, renaming All related ports of S-R Interfaces with the prefix DE_.
For the Reciever ports of the model, that is input, renaming the port with the prefix Rp_.
For the Sender ports of the model, that is output, renaming the port with the prefix Pp_.
RUNNABLE CREATION
Runnables were Edited ,one for intializing and other for time event.
Event were also created as Init event and TimingEvent.
- Timing_Event
- Init_Event
Mapping the Inports of the model
Mapping the Outports of the model
Finally, MODEL VALIDATION
Then, 
Refresh Code Mapping >>> Save the Model >>> Click on 
Right Symbol and Validation Process Started.
and we got the Final Validated Model as below.....
Once the model is validated, generate the Model Advisor report as per MAAB guidelines and Reduced the Warnings below 20....
MODEL ADVISOR REPORT
Final Step
CODE GENERATION
By Following the steps of Coder Quick Start
TARGET SELECTION = autosar.tlc
FINAL CODE
/*
* File: Project_Lane_Changing_Assistant.c
*
* Code generated for Simulink model 'Project_Lane_Changing_Assistant'.
*
* Model version : 1.49
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Wed Oct 19 23:49:51 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_Lane_Changing_Assistant.h"
/* Named constants for Chart: '<S2>/R1_Highway_DisplayUnit' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void Project_Lane_Changing_Assistant_Step(void)
{
sint32 rtb_Highway_Display_Mode_1;
sint32 rtb_Highway_Display_Mode_3;
sint32 rtb_Lane_Display_Mode_1;
sint32 rtb_Lane_Display_Mode_2;
sint32 rtb_Lane_Display_Mode_3;
sint32 rtb_Lane_Display_Mode_4;
sint32 tmp_0;
uint8 tmp;
/* Chart: '<S2>/R1_Highway_DisplayUnit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Project_Lane_Chang == 0U) {
rtDW.is_active_c3_Project_Lane_Chang = 1U;
rtDW.is_c3_Project_Lane_Changing_Ass = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Project_Lane_Changing_Ass == IN_Condition_1) {
if ((Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Project_Lane_Changing_Ass = IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_3 = 9;
} else {
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
}
/* case IN_Condition_2: */
} else if
((Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Project_Lane_Changing_Ass = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else {
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_3 = 9;
}
/* End of Chart: '<S2>/R1_Highway_DisplayUnit' */
/* Chart: '<S3>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Project_Lane_Chang == 0U) {
rtDW.is_active_c1_Project_Lane_Chang = 1U;
rtDW.is_c1_Project_Lane_Changing_Ass = IN_Condition_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_Project_Lane_Changing_Ass == IN_Condition_1) {
if ((Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6.0) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
rtDW.is_c1_Project_Lane_Changing_Ass = IN_Condition_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_Condition_2: */
} else if
((Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6.0) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c1_Project_Lane_Changing_Ass = IN_Condition_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: '<S3>/Chart' */
/* Switch: '<S1>/R3_A' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/R3_B'
* Switch: '<S1>/R3_C'
* Switch: '<S1>/R3_D'
*/
tmp_0 =
Rte_IRead_Project_Lane_Changing_Assistant_200ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp_0 != 0) {
tmp = (uint8)rtb_Highway_Display_Mode_1;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_1;
}
/* End of Switch: '<S1>/R3_A' */
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_Lane_Changing_Assistant_200ms_Pp_Display_Mode_1_DE_Display_Mode_1
(tmp);
/* Switch: '<S1>/R3_B' */
if (tmp_0 != 0) {
tmp = 183U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_2;
}
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Project_Lane_Changing_Assistant_200ms_Pp_Display_Mode_2_DE_Display_Mode_2
(tmp);
/* Switch: '<S1>/R3_C' */
if (tmp_0 != 0) {
tmp = (uint8)rtb_Highway_Display_Mode_3;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_3;
}
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_Lane_Changing_Assistant_200ms_Pp_Display_Mode_3_DE_Display_Mode_3
(tmp);
/* Switch: '<S1>/R3_D' */
if (tmp_0 != 0) {
tmp = 94U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_4;
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Project_Lane_Changing_Assistant_200ms_Pp_Display_Mode_4_DE_Display_Mode_4
(tmp);
}
/* Model initialize function */
void Project_Lane_Changing_Assistant_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/After Completing all Steps we can see these files in respected target folder :
................................THANK....YOU...................................