Project 2-Highway Assistant-Lane Changing Assistant
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.
Configuration parameters
Model Setting--Code generation block browser Set a Perameters as per given information--AUTOSAR -- autosar.tlc-- apply --ok .
Solver type --fixed and solver discrete-- apply -- ok.
Creat sldd file as per given data:
Simulink Data Dictionary must be created for the model & must be linked to 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 |
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”.
Tapping of subsystem given requirement in Word document then set a 3 number subsystem smilierly.
final stage of subsystem make it.
Open App block-- AutoSAR component--Code mapping AUTOSAR SW concept click it open.
thrn click the Autosar dictionary for set a sender & receiver input ,output value
Automatically updated that value of REceiver port, sender port signals, runnable,S-R interfaces, XHL operations
MATLAB Simulink per MBD guidelines
click --Modeling standars for MAB--run that model clear all errors 7 generate a Report
generated .C,.h files & code generation also.
/*
* File: Project_2.c
*
* Code generated for Simulink model 'Project_2'.
*
* Model version : 1.21
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Thu Oct 27 21:49:32 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Project_2.h"
#include "Project_2_private.h"
/* Named constants for Chart: '<S1>/Highway_DisplayUnit' */
#define Project_2_IN_Mode_1 ((uint8)1U)
#define Project_2_IN_Mode_2 ((uint8)2U)
/* Named constants for Chart: '<S2>/Lane_DisplayUnit' */
#define Project_2_IN_Mode_3 ((uint8)1U)
#define Project_2_IN_Mode_4 ((uint8)2U)
/* Block signals (default storage) */
VAR(B_Project_2_T, Project_2_VAR) Project_2_B;
/* Block states (default storage) */
VAR(DW_Project_2_T, Project_2_VAR) Project_2_DW;
/* Model step function */
FUNC(void, Project_2_CODE) Project_2_Step(void)
{
sint32 tmp;
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: '<S1>/Highway_DisplayUnit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (Project_2_DW.is_active_c3_Project_2 == 0U) {
Project_2_DW.is_active_c3_Project_2 = 1U;
Project_2_DW.is_c3_Project_2 = Project_2_IN_Mode_1;
Project_2_B.Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (Project_2_DW.is_c3_Project_2 == Project_2_IN_Mode_1) {
if ((Rte_IRead_Project_2_Step_Highway_Input_Signal_Highway_Input_Signal() ==
1) && (Rte_IRead_Project_2_Step_Enable_Display_Enable_Display() == 0) &&
(Rte_IRead_Project_2_Step_Input_Switch_Input_Switch() == 1)) {
Project_2_DW.is_c3_Project_2 = Project_2_IN_Mode_2;
rtb_Highway_Display_Mode_3 = 9U;
} else {
Project_2_B.Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
/* case IN_Mode_2: */
} else if ((Rte_IRead_Project_2_Step_Highway_Input_Signal_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Project_2_Step_Enable_Display_Enable_Display() == 0) &&
(Rte_IRead_Project_2_Step_Input_Switch_Input_Switch() == 1)) {
Project_2_DW.is_c3_Project_2 = Project_2_IN_Mode_1;
Project_2_B.Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else {
rtb_Highway_Display_Mode_3 = 9U;
}
/* End of Chart: '<S1>/Highway_DisplayUnit' */
/* Chart: '<S2>/Lane_DisplayUnit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (Project_2_DW.is_active_c1_Project_2 == 0U) {
Project_2_DW.is_active_c1_Project_2 = 1U;
Project_2_DW.is_c1_Project_2 = Project_2_IN_Mode_3;
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 (Project_2_DW.is_c1_Project_2 == Project_2_IN_Mode_3) {
if ((Rte_IRead_Project_2_Step_Lane_Input_Signal_Lane_Input_Signal() == 6) &&
(Rte_IRead_Project_2_Step_Enable_Display_Enable_Display() == 0) &&
(Rte_IRead_Project_2_Step_Input_Switch_Input_Switch() == 1)) {
Project_2_DW.is_c1_Project_2 = Project_2_IN_Mode_4;
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 {
rtb_Lane_Display_Mode_1 = 132U;
rtb_Lane_Display_Mode_2 = 185U;
rtb_Lane_Display_Mode_3 = 54U;
rtb_Lane_Display_Mode_4 = 67U;
}
/* case IN_Mode_4: */
} else if ((Rte_IRead_Project_2_Step_Lane_Input_Signal_Lane_Input_Signal() ==
6) && (Rte_IRead_Project_2_Step_Enable_Display_Enable_Display() ==
1) && (Rte_IRead_Project_2_Step_Input_Switch_Input_Switch()
== 1)) {
Project_2_DW.is_c1_Project_2 = Project_2_IN_Mode_3;
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 {
rtb_Lane_Display_Mode_1 = 127U;
rtb_Lane_Display_Mode_2 = 248U;
rtb_Lane_Display_Mode_3 = 186U;
rtb_Lane_Display_Mode_4 = 84U;
}
/* End of Chart: '<S2>/Lane_DisplayUnit' */
/* Switch: '<Root>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<Root>/Switch1'
* Switch: '<Root>/Switch3'
*/
tmp = Rte_IRead_Project_2_Step_Highway_Input_Signal_Highway_Input_Signal();
if (tmp > 0) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_2_Step_Display_Mode_1_Display_Mode_1
(Project_2_B.Highway_Display_Mode_1);
rtb_Lane_Display_Mode_2 = 183U;
} else {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_2_Step_Display_Mode_1_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '<Root>/Switch' */
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Project_2_Step_Display_Mode_2_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '<Root>/Switch3' incorporates:
* Switch: '<Root>/Switch2'
*/
if (tmp > 0) {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_2_Step_Display_Mode_3_Display_Mode_3
(rtb_Highway_Display_Mode_3);
rtb_Lane_Display_Mode_4 = 94U;
} else {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_2_Step_Display_Mode_3_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Project_2_Step_Display_Mode_4_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
FUNC(void, Project_2_CODE) Project_2_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
/*
* File: Project_2.h
*
* Code generated for Simulink model 'Project_2'.
*
* Model version : 1.21
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Thu Oct 27 21:49:32 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_Project_2_h_
#define RTW_HEADER_Project_2_h_
#ifndef Project_2_COMMON_INCLUDES_
#define Project_2_COMMON_INCLUDES_
#include "rtwtypes.h"
#include "Rte_Project_2.h"
#endif /* Project_2_COMMON_INCLUDES_ */
#include "Project_2_types.h"
/* Macros for accessing real-time model data structure */
/* Block signals (default storage) */
typedef struct tag_B_Project_2_T {
uint8 Highway_Display_Mode_1; /* '<S1>/Highway_DisplayUnit' */
} B_Project_2_T;
/* Block states (default storage) for system '<Root>' */
typedef struct tag_DW_Project_2_T {
uint8 is_active_c1_Project_2; /* '<S2>/Lane_DisplayUnit' */
uint8 is_c1_Project_2; /* '<S2>/Lane_DisplayUnit' */
uint8 is_active_c3_Project_2; /* '<S1>/Highway_DisplayUnit' */
uint8 is_c3_Project_2; /* '<S1>/Highway_DisplayUnit' */
} DW_Project_2_T;
/* Block signals (default storage) */
extern VAR(B_Project_2_T, Project_2_VAR) Project_2_B;
/* Block states (default storage) */
extern VAR(DW_Project_2_T, Project_2_VAR) Project_2_DW;
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Use the MATLAB hilite_system command to trace the generated code back
* to the model. For example,
*
* hilite_system('<S3>') - opens system 3
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'Project_2'
* '<S1>' : 'Project_2/Highway_DisplayUnit'
* '<S2>' : 'Project_2/Lane_DisplayUnit'
* '<S3>' : 'Project_2/Highway_DisplayUnit/Highway_DisplayUnit'
* '<S4>' : 'Project_2/Lane_DisplayUnit/Lane_DisplayUnit'
*/
#endif /* RTW_HEADER_Project_2_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
Embedded coder Generate a code finally.welcome-next-system-next-output-next-deployment-next- word size next- optimization - next- Generate code finish
