Project 2-Highway Assistant-Lane Changing Assistant
Aim: To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm. 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 is done keeping in mind the following processes & steps.
- This model is developed in MATLAB Simulink per MBD guidelines.
- Code Generation Profile is Autosar Coder.
- Simulink Data Dictionary is created for the model & linked to the model.
- All the input & output signals is mapped into the Autosar Editor.
- Model Advisor Report & Code Generation.
Description:
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.
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 |
Model:
SLDD:
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.
|
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”.
AUTOSAR Port Mapping:
Changing XML Options:
S-R Interfaces and Data Elements for each is created:
Sender/Receiver Ports:
Mapping Functions:
Mapping inports:
Mapping outports:
Validation:
MODEL ADVISOR REPORT: before correction:
After solving warnings:
CODE GENERATION:
/*
* File: highway_asst_model.c
*
* Code generated for Simulink model 'highway_asst_model'.
*
* Model version : 1.47
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Thu Feb 23 13:24:59 2023
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "highway_asst_model.h"
#include "highway_asst_model_private.h"
/* Named constants for Chart: '<S2>/Chart' */
#define highway_asst_mod_IN_Condition_1 ((uint8)1U)
#define highway_asst_mod_IN_Condition_2 ((uint8)2U)
/* Named constants for Chart: '<S3>/Chart' */
#define highway_asst_mode_IN_Condition1 ((uint8)1U)
#define highway_asst_mode_IN_Condition2 ((uint8)2U)
/* Block states (default storage) */
DW_highway_asst_model_T highway_asst_model_DW;
/* Model step function */
void HIGHWAY50ms(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;
float64 tmp;
/* Chart: '<S2>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (highway_asst_model_DW.is_active_c3_highway_asst_model == 0U) {
highway_asst_model_DW.is_active_c3_highway_asst_model = 1U;
highway_asst_model_DW.is_c3_highway_asst_model =
highway_asst_mod_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (highway_asst_model_DW.is_c3_highway_asst_model ==
highway_asst_mod_IN_Condition_1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_HIGHWAY50ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal()
== 1.0) && (Rte_IRead_HIGHWAY50ms_Rp_Enable_Display_DE_Enable_Display()
== 1) &&
(Rte_IRead_HIGHWAY50ms_Rp_Input_Switch_DE_Input_Switch() == 1)) {
highway_asst_model_DW.is_c3_highway_asst_model =
highway_asst_mod_IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
} else {
/* case IN_Condition_2: */
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
if ((Rte_IRead_HIGHWAY50ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal()
== 1.0) && (Rte_IRead_HIGHWAY50ms_Rp_Enable_Display_DE_Enable_Display()
== 0) &&
Conclusion:
- Model is created following MBD guidelines
- Code Generation profile is autosar.tlc
- SLDD is linked
- S-R Interfaces are mapped
- Model advisor and code generation is completed