Project 2-Highway Assistant-Lane Changing Assistant
THEORY:
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.
MATLAB MODEL:
REQUIREMENT NO 1)
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)
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 |
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”.
SLDD FILE:
Now for making model compatible with AUTOSAR , all signals such as input and output have to be mapped.
1)to map the signals in autosar, first select solver to fixed step and select system target file to autosar.tlc.
2)now click on apps and select AUTOSAR component.
3)then the below dialog box appears, thus the input an output signals are mapped.
4) now validate the mapping.
thus validation is successful.
model advisor report:
C code:
/*
* File: project2_autosar.c
*
* Code generated for Simulink model 'project2_autosar'.
*
* Model version : 1.1
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Mon Sep 27 09:36:00 2021
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "project2_autosar.h"
#include "project2_autosar_private.h"
/* Named constants for Chart: '<S3>/Chart' */
#define project2_autosar_IN_Condition_1 ((uint8_T)1U)
#define project2_autosar_IN_Condition_2 ((uint8_T)2U)
/* Block signals (default storage) */
B_project2_autosar_T project2_autosar_B;
/* Block states (default storage) */
DW_project2_autosar_T project2_autosar_DW;
/* External inputs (root inport signals with default storage) */
ExtU_project2_autosar_T project2_autosar_U;
/* External outputs (root outports fed by signals with default storage) */
ExtY_project2_autosar_T project2_autosar_Y;
/* Real-time model */
RT_MODEL_project2_autosar_T project2_autosar_M_;
RT_MODEL_project2_autosar_T *const project2_autosar_M = &project2_autosar_M_;
/* Model step function */
void project2_autosar_step(void)
{
int32_T rtb_Highway_Display_Mode_1;
int32_T rtb_Highway_Display_Mode_3;
/* Outputs for Atomic SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
/* Chart: '<S3>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (project2_autosar_DW.is_active_c1_project2_autosar == 0U) {
project2_autosar_DW.is_active_c1_project2_autosar = 1U;
project2_autosar_DW.is_c1_project2_autosar = project2_autosar_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (project2_autosar_DW.is_c1_project2_autosar ==
project2_autosar_IN_Condition_1) {
if ((project2_autosar_U.Highway_Input_Signal == 1) &&
(project2_autosar_U.Enable_Display == 1) &&
(project2_autosar_U.Input_Switch == 1)) {
project2_autosar_DW.is_c1_project2_autosar =
project2_autosar_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;
}
} else {
/* case IN_Condition_2: */
if ((project2_autosar_U.Highway_Input_Signal == 1) &&
(project2_autosar_U.Enable_Display == 0) &&
(project2_autosar_U.Input_Switch == 1)) {
project2_autosar_DW.is_c1_project2_autosar =
project2_autosar_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: '<S3>/Chart' */
/* Outputs for Enabled SubSystem: '<S1>/Lane_DisplayUnit' incorporates:
* EnablePort: '<S4>/Enable'
*/
/* RelationalOperator: '<S2>/Compare' incorporates:
* Constant: '<S2>/Constant'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (project2_autosar_U.Lane_Input_Signal == 6) {
/* Chart: '<S4>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
*/
if (project2_autosar_DW.is_active_c3_project2_autosar == 0U) {
project2_autosar_DW.is_active_c3_project2_autosar = 1U;
project2_autosar_DW.is_c3_project2_autosar =
project2_autosar_IN_Condition_1;
project2_autosar_B.Lane_Display_Mode_1 = 132.0;
project2_autosar_B.Lane_Display_Mode_2 = 185.0;
project2_autosar_B.Lane_Display_Mode_3 = 54.0;
project2_autosar_B.Lane_Display_Mode_4 = 67.0;
} else if (project2_autosar_DW.is_c3_project2_autosar ==
project2_autosar_IN_Condition_1) {
if ((project2_autosar_U.Enable_Display == 1) &&
(project2_autosar_U.Input_Switch == 1)) {
project2_autosar_DW.is_c3_project2_autosar =
project2_autosar_IN_Condition_2;
project2_autosar_B.Lane_Display_Mode_1 = 127.0;
project2_autosar_B.Lane_Display_Mode_2 = 248.0;
project2_autosar_B.Lane_Display_Mode_3 = 186.0;
project2_autosar_B.Lane_Display_Mode_4 = 84.0;
} else {
project2_autosar_B.Lane_Display_Mode_1 = 132.0;
project2_autosar_B.Lane_Display_Mode_2 = 185.0;
project2_autosar_B.Lane_Display_Mode_3 = 54.0;
project2_autosar_B.Lane_Display_Mode_4 = 67.0;
}
} else {
/* case IN_Condition_2: */
if ((project2_autosar_U.Enable_Display == 0) &&
(project2_autosar_U.Input_Switch == 1)) {
project2_autosar_DW.is_c3_project2_autosar =
project2_autosar_IN_Condition_1;
project2_autosar_B.Lane_Display_Mode_1 = 132.0;
project2_autosar_B.Lane_Display_Mode_2 = 185.0;
project2_autosar_B.Lane_Display_Mode_3 = 54.0;
project2_autosar_B.Lane_Display_Mode_4 = 67.0;
} else {
project2_autosar_B.Lane_Display_Mode_1 = 127.0;
project2_autosar_B.Lane_Display_Mode_2 = 248.0;
project2_autosar_B.Lane_Display_Mode_3 = 186.0;
project2_autosar_B.Lane_Display_Mode_4 = 84.0;
}
}
/* End of Chart: '<S4>/Chart' */
}
/* End of RelationalOperator: '<S2>/Compare' */
/* End of Outputs for SubSystem: '<S1>/Lane_DisplayUnit' */
/* Switch: '<S1>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch1'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
*/
if (project2_autosar_U.Highway_Input_Signal > 0) {
/* Outport: '<Root>/Display_Mode_1' */
project2_autosar_Y.Display_Mode_1 = rtb_Highway_Display_Mode_1;
/* Outport: '<Root>/Display_Mode_2' */
project2_autosar_Y.Display_Mode_2 = 183.0;
/* Outport: '<Root>/Display_Mode_3' */
project2_autosar_Y.Display_Mode_3 = rtb_Highway_Display_Mode_3;
/* Outport: '<Root>/Display_Mode_4' */
project2_autosar_Y.Display_Mode_4 = 94.0;
} else {
/* Outport: '<Root>/Display_Mode_1' */
project2_autosar_Y.Display_Mode_1 = project2_autosar_B.Lane_Display_Mode_1;
/* Outport: '<Root>/Display_Mode_2' */
project2_autosar_Y.Display_Mode_2 = project2_autosar_B.Lane_Display_Mode_2;
/* Outport: '<Root>/Display_Mode_3' */
project2_autosar_Y.Display_Mode_3 = project2_autosar_B.Lane_Display_Mode_3;
/* Outport: '<Root>/Display_Mode_4' */
project2_autosar_Y.Display_Mode_4 = project2_autosar_B.Lane_Display_Mode_4;
}
/* End of Switch: '<S1>/Switch' */
/* End of Outputs for SubSystem: '<Root>/Highway Assistant-Lane Changing Assistant' */
}
/* Model initialize function */
void project2_autosar_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void project2_autosar_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
CONCLUSION:
thus Highway Assistant-Lane Changing Assistant model is built in MATLAB as per the requirement.