Project 2-Highway Assistant-Lane Changing Assistant
Aim: To design Vehicle Direction Determination ADAS using MATLAB SIMULINK
Objective:
- Model Development in MATLAB Simulink as per MAAB guidelines.
- Code Generation using Autosar Coder.
- Creation of Simulink Data Dictionary and linked to the model.
- Mapping all the input & output signals into the Autosar Editor.
- Generating Model Advisor Report
Overview:
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.
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 Creation and linking to the model:
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 model.
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 |
As per the first requirement, 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, and Highway_Display_Mode_4.
Inside the chart, we will implement Highway_Input_Signal, Enable_Display, and Input_Switch using AND blocks. The output is given in the State.
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 |
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.
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”.
Overall model:
The input and output signals are then resolved.
checked for error
Autosar Compliance:
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.
Port Mapping:
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 S-R Interfaces of the model, we will rename the port with the prefix SRIf_.
For the Data Elements of the model, we will rename the port with the prefix DE_.
Runnables:
Storage class changed to auto in SLDD
Then the model was validated with AUTOSAR Compliance.
Model Advisor Check:
Code Generation:
/*
* Event Support License -- for demonstration use and event support. Not
* for government, research, commercial, or other organizational use.
*
* File: project2_highwayassistant.c
*
* Code generated for Simulink model 'project2_highwayassistant'.
*
* Model version : 1.60
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Thu Dec 1 19:51:25 2022
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "project2_highwayassistant.h"
#include "rtwtypes.h"
/* Named constants for Chart: '<S2>/Highway_DisplayUnit_chart' */
#define project2_highwaya_IN_Condition1 ((uint8)1U)
#define project2_highwaya_IN_Condition2 ((uint8)2U)
/* Block states (default storage) */
DW_project2_highwayassistant_T project2_highwayassistant_DW;
/* Model step function */
void project2_highwayassistant_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: '<S2>/Highway_DisplayUnit_chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (project2_highwayassistant_DW.is_active_c3_project2_highwayas == 0U) {
project2_highwayassistant_DW.is_active_c3_project2_highwayas = 1U;
project2_highwayassistant_DW.is_c3_project2_highwayassistant =
project2_highwaya_IN_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (project2_highwayassistant_DW.is_c3_project2_highwayassistant ==
project2_highwaya_IN_Condition1) {
if ((Rte_IRead_project2_highwayassistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
project2_highwayassistant_DW.is_c3_project2_highwayassistant =
project2_highwaya_IN_Condition2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
} else {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
/* case IN_Condition2: */
} else if
((Rte_IRead_project2_highwayassistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
project2_highwayassistant_DW.is_c3_project2_highwayassistant =
project2_highwaya_IN_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else {
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
/* End of Chart: '<S2>/Highway_DisplayUnit_chart' */
/* Chart: '<S3>/Lane_DisplayUnit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (project2_highwayassistant_DW.is_active_c1_project2_highwayas == 0U) {
project2_highwayassistant_DW.is_active_c1_project2_highwayas = 1U;
project2_highwayassistant_DW.is_c1_project2_highwayassistant =
project2_highwaya_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 (project2_highwayassistant_DW.is_c1_project2_highwayassistant ==
project2_highwaya_IN_Condition1) {
if ((Rte_IRead_project2_highwayassistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
project2_highwayassistant_DW.is_c1_project2_highwayassistant =
project2_highwaya_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 {
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_Condition2: */
} else if
((Rte_IRead_project2_highwayassistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_project2_highwayassistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
project2_highwayassistant_DW.is_c1_project2_highwayassistant =
project2_highwaya_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 {
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: '<S3>/Lane_DisplayUnit' */
/* Switch: '<S1>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch1'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
*/
tmp =
Rte_IRead_project2_highwayassistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp > 0) {
rtb_Lane_Display_Mode_1 = rtb_Highway_Display_Mode_1;
}
/* End of Switch: '<S1>/Switch' */
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_project2_highwayassistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Lane_Display_Mode_1);
/* Switch: '<S1>/Switch1' */
if (tmp > 0) {
rtb_Lane_Display_Mode_2 = 183U;
}
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_project2_highwayassistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '<S1>/Switch2' */
if (tmp > 0) {
rtb_Lane_Display_Mode_3 = rtb_Highway_Display_Mode_3;
}
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_project2_highwayassistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
/* Switch: '<S1>/Switch3' */
if (tmp > 0) {
rtb_Lane_Display_Mode_4 = 94U;
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_project2_highwayassistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void project2_highwayassistant_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
CONCLUSION:
Thus,Model Development of Direction Determination ADAS using MATLAB SIMULINK as per MAAB guidelines is done. Autosar port mapping done followed by code generation and model advisory check.