Project 2-Highway Assistant-Lane Changing Assistant
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.
The below mentioned signals with their datatype has to be stored in Simulink data dictionary.
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 |
SLDD -
To create a Simulink data dictionary, we have go to model properites ----> external data ----> new
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MODEL -
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As per the requirements there are 4 inputs such as highway input signal, enable display, input switch, lane input signal and there are 4 outputs such as display mode 1 to display mode 4.
 |
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.
 |
As per requirement given,
|
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 |
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. T
he 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.
 |
As per requirement_2,
|
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 |
In order, to make the model in compliance with AUTOSAR, we have to change the solver setting to fixed step.
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Then, we have to chane the system target file to AUTOSAR.tlc
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Then, we have to treat the subsytem as Atomic subsystem, right click on the subsystem ----> block parameters---> treat as atmoic unit.
We have to port map,
App ---> autosar component --> code mapping
under functions, go to configure autosar dictionary,
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Before, entering the receiver/sender port, we have to assign S-R interfaces.
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After mapping the ports, we to validate the ports in code mapping,
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After successufully validating the autosar code mapping, Go to Autosar tab and generate code.
Code generation -
/*
* File: project_1.c
*
* Code generated for Simulink model 'project_1'.
*
* Model version : 1.3
* Simulink Coder version : 9.4 (R2020b) 29-Jul-2020
* C/C++ source code generated on : Wed Sep 22 14:58:30 2021
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "project_1.h"
#include "project_1_private.h"
/* Named constants for Chart: '<S3>/Chart' */
#define project_1_IN_Condition_1 ((uint8)1U)
#define project_1_IN_Condition_2 ((uint8)2U)
/* Block signals (default storage) */
B_project_1_T project_1_B;
/* Block states (default storage) */
DW_project_1_T project_1_DW;
/* Model step function */
void project_1_Step(void)
{
float64 tmp;
float64 tmp_0;
sint32 rtb_Highway_Display_Mode_1;
sint32 rtb_Highway_Display_Mode_3;
/* Outputs for Atomic SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Chart: '<S3>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (project_1_DW.is_active_c1_project_1 == 0U) {
project_1_DW.is_active_c1_project_1 = 1U;
project_1_DW.is_c1_project_1 = project_1_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (project_1_DW.is_c1_project_1 == project_1_IN_Condition_1) {
if ((Rte_IRead_project_1_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1.0) &&
(Rte_IRead_project_1_Step_Rp_Enable_Display_DE_SRif_Enable_Display() ==
1.0) && (Rte_IRead_project_1_Step_Rp_Input_Switch_DE_SRif_Input_Switch()
== 1.0)) {
project_1_DW.is_c1_project_1 = project_1_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;
}
} else {
/* case IN_Condition_2: */
if ((Rte_IRead_project_1_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1.0) &&
(Rte_IRead_project_1_Step_Rp_Enable_Display_DE_SRif_Enable_Display() ==
0.0) && (Rte_IRead_project_1_Step_Rp_Input_Switch_DE_SRif_Input_Switch()
== 1.0)) {
project_1_DW.is_c1_project_1 = project_1_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: '<S3>/Chart' */
/* Outputs for Enabled SubSystem: '<S1>/Lane_DisplayUnit' incorporates:
* EnablePort: '<S4>/Enable'
*/
/* RelationalOperator: '<S2>/Compare' incorporates:
* Constant: '<S2>/Constant'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (Rte_IRead_project_1_Step_Rp_Lane_Input_Signal_DE_SRif_Lane_Input_Signal() ==
6.0) {
/* Chart: '<S4>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
*/
if (project_1_DW.is_active_c3_project_1 == 0U) {
project_1_DW.is_active_c3_project_1 = 1U;
project_1_DW.is_c3_project_1 = project_1_IN_Condition_1;
project_1_B.Lane_Display_Mode_1 = 132.0;
project_1_B.Lane_Display_Mode_2 = 185.0;
project_1_B.Lane_Display_Mode_3 = 54.0;
project_1_B.Lane_Display_Mode_4 = 67.0;
} else if (project_1_DW.is_c3_project_1 == project_1_IN_Condition_1) {
if ((Rte_IRead_project_1_Step_Rp_Enable_Display_DE_SRif_Enable_Display() ==
1.0) &&
(Rte_IRead_project_1_Step_Rp_Input_Switch_DE_SRif_Input_Switch() ==
1.0)) {
project_1_DW.is_c3_project_1 = project_1_IN_Condition_2;
project_1_B.Lane_Display_Mode_1 = 127.0;
project_1_B.Lane_Display_Mode_2 = 248.0;
project_1_B.Lane_Display_Mode_3 = 186.0;
project_1_B.Lane_Display_Mode_4 = 84.0;
} else {
project_1_B.Lane_Display_Mode_1 = 132.0;
project_1_B.Lane_Display_Mode_2 = 185.0;
project_1_B.Lane_Display_Mode_3 = 54.0;
project_1_B.Lane_Display_Mode_4 = 67.0;
}
} else {
/* case IN_Condition_2: */
if ((Rte_IRead_project_1_Step_Rp_Enable_Display_DE_SRif_Enable_Display() ==
0.0) &&
(Rte_IRead_project_1_Step_Rp_Input_Switch_DE_SRif_Input_Switch() ==
1.0)) {
project_1_DW.is_c3_project_1 = project_1_IN_Condition_1;
project_1_B.Lane_Display_Mode_1 = 132.0;
project_1_B.Lane_Display_Mode_2 = 185.0;
project_1_B.Lane_Display_Mode_3 = 54.0;
project_1_B.Lane_Display_Mode_4 = 67.0;
} else {
project_1_B.Lane_Display_Mode_1 = 127.0;
project_1_B.Lane_Display_Mode_2 = 248.0;
project_1_B.Lane_Display_Mode_3 = 186.0;
project_1_B.Lane_Display_Mode_4 = 84.0;
}
}
/* End of Chart: '<S4>/Chart' */
}
/* End of RelationalOperator: '<S2>/Compare' */
/* End of Outputs for SubSystem: '<S1>/Lane_DisplayUnit' */
/* Switch: '<S1>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch1'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
*/
tmp_0 =
Rte_IRead_project_1_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal();
if (tmp_0 > 0.0) {
tmp = rtb_Highway_Display_Mode_1;
} else {
tmp = project_1_B.Lane_Display_Mode_1;
}
/* End of Switch: '<S1>/Switch' */
/* End of Outputs for SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_project_1_Step_Pp_Display_Mode_1_DE_SRif_Display_Mode_1(tmp);
/* Outputs for Atomic SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Switch: '<S1>/Switch1' */
if (tmp_0 > 0.0) {
tmp = 183.0;
} else {
tmp = project_1_B.Lane_Display_Mode_2;
}
/* End of Outputs for SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_project_1_Step_Pp_Display_Mode_2_DE_SRif_Display_Mode_2(tmp);
/* Outputs for Atomic SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Switch: '<S1>/Switch2' */
if (tmp_0 > 0.0) {
tmp = rtb_Highway_Display_Mode_3;
} else {
tmp = project_1_B.Lane_Display_Mode_3;
}
/* End of Outputs for SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_project_1_Step_Pp_Display_Mode_3_DE_SRif_Display_Mode_3(tmp);
/* Outputs for Atomic SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Switch: '<S1>/Switch3' */
if (tmp_0 > 0.0) {
tmp_0 = 94.0;
} else {
tmp_0 = project_1_B.Lane_Display_Mode_4;
}
/* End of Outputs for SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_project_1_Step_Pp_Display_Mode_4_DE_SRif_Display_Mode_4(tmp_0);
}
/* Model initialize function */
void project_1_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/MODEL ADVISOR -
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Matlab File - Click here
RESULT -
- This model has been developed in MATLAB Simulink per MBD guidelines.
- Code Generation Profile is a Autosar Coder.
- Simulink Data Dictionary has been created for the model & has been linked to the model.
- All the input & output signals has been mapped into the Autosar Editor.
- Model Advisor Report report is attached.