Project 2-Highway Assistant-Lane Changing Assistant
Aim:-
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.
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.
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 |
Procedure:-
Since we have all the input, output signals & calibration values are made availabe, so first step is to crate a simulink data dictionary.
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 |
One sub-system has to be made having above mentioned 3 inputs and 4 outputs.
And the required logic must be implement in the form of Stateflow
Logic inside the Stateflow:-
And port mapping to be done to signal input and output to and from state 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 |
As per the Subsystem Requirement-2
And the required logic is implement in the form of Stateflow
Logic for the Stateflow:-
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”.
So as per the requirement output from the Highway Display Unit and Lane Display Unit is connected to the switch block.
For connection between output of Highway Display Unit, Lane Dispay unit switch blocks, From and GOTO blocks are are used.
At last signal propogation and signal resolution is done.
The next step is to make the model compliened with AUTOSAR architecture. For that first of all system traget file has to be set to autosar.tlc
Now open the APPS and then open Autosar Dictionary
Then Autosa dictionary has to be created in which Sender, Receiver and S-R Interface has to be defined.
All the receriver ports (inputs) start with a prefix Rp
All the sender ports (outputs) start with a prefix Pp
All the S-R interfaces start with a prefix SRIF
Now Changing SRIF_Highway_Input_Signal to DE_Highway_Input_Signal
Afer that Inports and outports mapping has to be done.
After Changing the Autosar Components we can see the Validation Succeeded
Once the ports mapping is done then the final task is to run the Model Advisor report and generate the code.
Model Advisor:-
Code Generation:-
/*
* Trial License - for use to evaluate programs for possible purchase as
* an end-user only.
*
* File: Project_2_Autosar.c
*
* Code generated for Simulink model 'Project_2_Autosar'.
*
* Model version : 1.1
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Wed Sep 22 15:34:32 2021
*
* 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_2_Autosar.h"
/* Named constants for Chart: '<S1>/Requirement_1' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void untitled_Step(void)
{
float64 tmp;
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;
/* Chart: '<S1>/Requirement_1' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Project_2_Autosar == 0U) {
rtDW.is_active_c3_Project_2_Autosar = 1U;
rtDW.is_c3_Project_2_Autosar = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Project_2_Autosar == IN_Condition_1) {
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
if ((Rte_IRead_untitled_Step_Rp_Enable_Display_Enable_Display() == 1.0) &&
(Rte_IRead_untitled_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1.0) && (Rte_IRead_untitled_Step_Rp_Input_Switch_Input_Switch() ==
1.0)) {
rtDW.is_c3_Project_2_Autosar = IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_3 = 9;
}
} else {
/* case IN_Condition_2: */
rtb_Highway_Display_Mode_1 = 213;
rtb_Highway_Display_Mode_3 = 9;
if ((Rte_IRead_untitled_Step_Rp_Enable_Display_Enable_Display() == 1.0) &&
(Rte_IRead_untitled_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 0.0) && (Rte_IRead_untitled_Step_Rp_Input_Switch_Input_Switch() ==
1.0)) {
rtDW.is_c3_Project_2_Autosar = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
}
}
/* End of Chart: '<S1>/Requirement_1' */
/* Chart: '<S2>/Requirement_2_Lane_DisplayUnit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Project_2_Autosar == 0U) {
rtDW.is_active_c1_Project_2_Autosar = 1U;
rtDW.is_c1_Project_2_Autosar = 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_2_Autosar == 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;
if ((Rte_IRead_untitled_Step_Rp_Lane_Input_Signal_Lane_Input_Signal() == 6.0)
&& (Rte_IRead_untitled_Step_Rp_Enable_Display_Enable_Display() == 1.0) &&
(Rte_IRead_untitled_Step_Rp_Input_Switch_Input_Switch() == 1.0)) {
rtDW.is_c1_Project_2_Autosar = 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 {
/* case 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;
if ((Rte_IRead_untitled_Step_Rp_Lane_Input_Signal_Lane_Input_Signal() == 6.0)
&& (Rte_IRead_untitled_Step_Rp_Enable_Display_Enable_Display() == 0.0) &&
(Rte_IRead_untitled_Step_Rp_Input_Switch_Input_Switch() == 1.0)) {
rtDW.is_c1_Project_2_Autosar = 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;
}
}
/* End of Chart: '<S2>/Requirement_2_Lane_DisplayUnit' */
/* Switch: '<Root>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<Root>/Switch1'
* Switch: '<Root>/Switch2'
*/
tmp = Rte_IRead_untitled_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal();
if (tmp != 0.0) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_1_Display_Mode_1
(rtb_Highway_Display_Mode_1);
rtb_Lane_Display_Mode_2 = 183;
} else {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_1_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '<Root>/Switch' */
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_2_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '<Root>/Switch2' incorporates:
* Switch: '<Root>/Switch3'
*/
if (tmp != 0.0) {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_3_Display_Mode_3
(rtb_Highway_Display_Mode_3);
rtb_Lane_Display_Mode_4 = 94;
} else {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_3_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_untitled_Step_Pp_Display_Mode_4_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void untitled_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
The generated report along with the SLDD, Model, Code generation and screenshots are shown.