Project 2-Highway Assistant-Lane Changing Assistant

Project Title: 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, producing Model Advisor Report as well as generating Code using AUTOSAR Coder.

Objective:

• Model Development in MATLAB Simulink as per MAAB guidelines.
• Code Generation using Autosar Coder.
• Creation of Simulink Data Dictionary.
• Mapping all the input & output signals into the Autosar Editor.
• Generating 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.

Fig: Lane Changing Assistant

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 to change lanes, the system issues an additional acoustic and/or haptic warning.

Calibration and Signal Data List:

Input Signals:

Local Signals:

Output Signals:

Procedure:

The first step is the creation of the Simulink Data Dictionary File from the given calibration and signal data list.

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

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”.

To give a better look we will put all this in a single subsystem. For better visualization, we will mask the subsystem with the appropriate image.

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.

Requirement Tagging done

Signal Resolved and Propageted.

Then under App, we will select the AUTOSAR component.

This will open Code Mapping - AUTOSAR SW Component.

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_.

Once the mapping is done we will check for Model Advisor.

Then after a successful check, we will Generate a Code.