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.
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.
Main Model:
SUBSYSTEM:
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 given Requirement No 1 Highway_DisplayUnit subsystem logic is implemented in the form of a stateflow logic is shown below.
STATEFLOW:
The following figure shows the developed algorithm as per the given conditions using 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.
|
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 given Requirement No 2 Lane_DisplayUnit subsystem logic is implemented in the form of a stateflow logic is shown below.
STATEFLOW:
The following figure shows the developed algorithm as per the given conditions using 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 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”.
As per the given Requirement No 3 Display_ModeUnit subsystem logic is implemented is shown below.
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 |
Simulink Data Dictionary created process illustration & must be linked to the model is shown below.
1. create a new sldd file in the name of highway_assistant_lane_changing_assistant_final_project.sldd
2. Add all the Inputs, Outputs and local signals in the newly created highway_assistant_lane_changing_assistant_final_project.sldd file.
Procedure to Create Autosar Port Mapping for the given input model:
1. Convert the given model into Autosar compitable. In Model Settings select the solver type as Fixed-Step and solver no-continuous states.
2. Under code generation select the System target file as autosar.tlc
3. Check the model compilation.
4. Now Autosar code mapping need to perform for that in Matlab under Apps tab select the Autosar Component designer tool.
5. Now code mapping tab is bottom of Matlab space in that click on configure Autosar dictionary icon it will open the Autosar dictionary.
6. In Autosar dictionary select the XML option in that fill the package informations.
7. Now in Autosar dictionary select the S-R Interfaces option in that add all the Inputs and Outputs in the model.
For the inputs all the Inputs and Outputs starts with Prefix SRIf_.
8. Now fill the Data Elements of all the added Input and Output Interfaces.
For Input and Output fill the Data Elements data with the prefix DE_.
9. Now in Autosar dictionary select the ReciverPort option in that add the Inputs in the model with the prefix Rp_ and Select its corresponding Input Interface.
10. Now in Autosar dictionary select the SenderPort option in that add all the Outputs in the model with the prefix Pp_ and Select its corresponding Output Interface.
11. Now update the code mapping by clicking on the update icon.
12. After code mapping update is done now map all the Inputs and Outputs with its corresponding ports and its data elements.
13. Once all the Inputs and Outputs are mapped with its corresponding ports and its data elements again do the code mapping update.
14. Finally do the validate the code mappings by click on the validate icon. If the validation is done successfully. The Autosar port mapping is done successfully.
Model Advisor:
Here we are checking model advisor for the Modeling Standards For MAAB(Mathworks Advisory Board). So we can see that we passed all the checks without any failure and warnings are acceptable.
Model Advisor Report for MAAB Guidelines is generated:
Autosar Compliant Code generation:
- For generating AUTOSAR Code we need to go into AUTOSAR tab
- where we find "Quick start" option which we need to select for AUTOSAR Code generation.
- click on NEXT >>> NEXT >>> NEXT....
The quick start option will automatically manage model configuration settings to generate code. The code generation folder will contain generated .c, .h, .ARXML Files
AUTOSAR CODE:
/*
* File: highway_assistant_lane_changing_assistant_final_project.c
*
* Code generated for Simulink model 'highway_assistant_lane_changing_assistant_final_project'.
*
* Model version : 1.14
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Wed Dec 28 19:58:46 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_final_project.h"
/* Named constants for Chart: '/Highway_DisplayUnit_Chart' */
#define IN_Condition1 ((uint8)1U)
#define IN_Condition2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void highway_assistant_lane_changing_assistant_final_project_Step(void)
{
uint8 rtb_Highway_Display_Mode_1;
uint8 rtb_Lane_Display_Mode_1;
uint8 rtb_Lane_Display_Mode_2;
uint8 rtb_Highway_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_4;
sint32 tmp;
/* Chart: '/Highway_DisplayUnit_Chart' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Highway_Input_Signal'
* Inport: '/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_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (rtDW.is_c3_highway_assistant_lane_ch == IN_Condition1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_highway_assistant_lane_ch = IN_Condition2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
} else {
/* case IN_Condition2: */
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
if ((Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_highway_assistant_lane_ch = IN_Condition1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
}
/* End of Chart: '/Highway_DisplayUnit_Chart' */
/* Chart: '/Lane_DisplayUnit_Chart' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Input_Switch'
* Inport: '/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_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 (rtDW.is_c1_highway_assistant_lane_ch == 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;
if ((Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c1_highway_assistant_lane_ch = 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 {
/* case 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;
if ((Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c1_highway_assistant_lane_ch = 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;
}
}
/* End of Chart: '/Lane_DisplayUnit_Chart' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
*/
tmp =
Rte_IRead_highway_assistant_lane_changing_assistant_final_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp > 0) {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Highway_Display_Mode_1);
rtb_Lane_Display_Mode_2 = 183U;
} else {
/* Outport: '/Display_Mode_1' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '/Switch' */
/* Outport: '/Display_Mode_2' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '/Switch2' incorporates:
* Switch: '/Switch3'
*/
if (tmp > 0) {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Highway_Display_Mode_3);
rtb_Lane_Display_Mode_4 = 94U;
} else {
/* Outport: '/Display_Mode_3' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '/Display_Mode_4' */
Rte_IWrite_highway_assistant_lane_changing_assistant_final_project_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void highway_assistant_lane_changing_assistant_final_project_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
CONCLUSION:
- Highway Lane Assistant developed in MATLAB Simulink as per MBD guidelines.
- Code Generation Profile is Autosar Coder.
- Simulink Data Dictionary created for the model & linked to the model.
- All the input & output signals mapped into the Autosar Editor.
- Model Advisor Report is Generated as per the ISO26262 Standards & this will be followed by Code Generation.
- All the important Files like model, Code Report, SLDD file, Model Advisor report are Attached.