Project 2-Highway Assistant-Lane Changing Assistant
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Project 2-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
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.
Calibration and signal Data List :-
Input Signals :-
Local Signals:-
Output Signals :-
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.
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.
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 2 nd 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 2 nd 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 2 nd 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
2 nd input to the switch block. Corresponding output from this particular switch block is
output signal “Display_Mode_4”.
Procedure and Steps :-
Highway Assistnat - Lane Changing Assistant Simulink Model :-
Simulink Data Distionary :-
The first step is the creation of the Simulink Data Dictionary File from the given
calibration and signal data list. Then data dictionary should be linked to the specified
simulink mode.
As per the first requirement1, the first subsystem will have three inputs. They are
Highway_Input_Signal, Enable_Display, and Input_Switch.
The input further goes to the chart, the chart will have the output as
Highway_Display_Mode_1 , Highway_Display_Mode_2 ,Highway_Display_Mode_3
, Highway_Display_Mode_4
once the stateflow logic is written we will resolve the input & ouput port.
As per requirement 2, we will enable the subsystem using Lane_Input_Signal for a
value of 6. Input for the block will be Input Switch and Enable display. Here, from and
to blocks are used to make connections easy and readable.
EN_D= Enable Display, IPS= Input Switch, HIS= Highway_Input_Signal, HD1=
Highway_Display_1..... HD4- Highway_Display_4, LD1= Lane_Display_1...... LD4-
Lane_Display_4.
These inputs will further go to Chart, where the Stateflow logic will be written.
The output of the chart are Lane_Display_Mode_1, Lane_Display_Mode_2,
Lane_Display_Mode_3, Lane_Display_Model_4.
Inside the chart, the Enable_Display and Input Switch are used to make logic for
Lane Display output. The main output is written inside the State for Lane
Display_Mode.
The input and output signals are then resolved.
Requirement 3 :-
The output of the Highway_Display_Mode and Lane_Display_Mode are provided to
the Switch block. That is in total 4 switch blocks are used. The conditional input
signal is taken as Highway_Input_Signal for all the blocks.
Then we will make the model in compliance with the AUTOSAR. So, all the input &
output signals will be mapped into the Autosar Editor.
But prior to that, we will set the System target file as autosar.tlc
We will make sure that in Solver we will set the solver to Fixed-Step.
Then under App, we will select the AUTOSAR component.
This will open Code Mapping - AUTOSAR SW
For the Reciever port of the model, that is input, we will rename the port with the
prefix Rp.__.
For the Sender port of the model, that is output, we will rename the port with the
prefix Pp_.
For the Sender Receiver interfaces of the model,we will rename the port with the
prefix SRIf_.
For the Data Elemnts of the model, we will rename the port with the prefix DE_.
The Model is Validate with AUTOSAR Compliance.
Mpping is Done thnen we will check Model Advisor , the code was genrated after
sucessfully running it.
Model Advisor Report :-
Code Genration :-
/*
* File: Highway_Assistant_Lane_Changing_Assistant.c
*
* Code generated for Simulink model 'Highway_Assistant_Lane_Changing_Assistant'.
*
* Model version : 1.3
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Feb 19 18:44:42 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 "Highway_Assistant_Lane_Changing_Assistant.h"
/* Named constants for Chart: '<S2>/Highway_Display_Unit' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
/* Named constants for Chart: '<S3>/Lane_Display_Unit' */
#define IN_Mode_1 ((uint8)1U)
#define IN_Mode_2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void Highway_Assistant_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>/Highway_Display_Unit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Highway_Assistant_ == 0U) {
rtDW.is_active_c3_Highway_Assistant_ = 1U;
rtDW.is_c3_Highway_Assistant_Lane_Ch = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Highway_Assistant_Lane_Ch == IN_Condition_1) {
if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Highway_Assistant_Lane_Ch = 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_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Highway_Assistant_Lane_Ch = 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>/Highway_Display_Unit' */
/* Chart: '<S3>/Lane_Display_Unit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Highway_Assistant_ == 0U) {
rtDW.is_active_c1_Highway_Assistant_ = 1U;
rtDW.is_c1_Highway_Assistant_Lane_Ch = 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_Assistant_Lane_Ch == IN_Mode_1) {
if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
rtDW.is_c1_Highway_Assistant_Lane_Ch = 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
((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
rtDW.is_c1_Highway_Assistant_Lane_Ch = 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: '<S3>/Lane_Display_Unit' */
/* Switch: '<S1>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch1'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
*/
tmp_0 =
Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_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>/Switch' */
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(tmp);
/* Switch: '<S1>/Switch1' */
if (tmp_0 != 0) {
tmp = 183U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_2;
}
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(tmp);
/* Switch: '<S1>/Switch2' */
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_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(tmp);
/* Switch: '<S1>/Switch3' */
if (tmp_0 != 0) {
tmp = 94U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_4;
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(tmp);
}
/* Model initialize function */
void Highway_Assistant_Lane_Changing_Assistant_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
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