Project 2-Highway Assistant-Lane Changing Assistant
Project 2-Highway Assistant-Lane Changing Assistant
Highway Assistant – Lane Changing Assistant
Aim: To desgin a Matlab model for Assisting Highway Lane Changing
Theory:
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.
SLDD file:
For Autosar Port mapping validation, Storage classes of any signals should be Auto.
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”.
Overall Simulink Model
Now model was completed.
Changing Target file to autosar.tlc
After changing target file. Go to apps and select Autosar component.
AUTOSAR dictionary was created as shown below.
Validation of ports was completed as shown in below figure.
Model Advisor Report:
MATLAB model has passed all the requirements.
To generate the code select option of AUTOSAR............Generate code option.
Following Codes was generated
project.C file
/*
* File: Project.c
*
* Code generated for Simulink model 'Project'.
*
* Model version : 1.2
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Oct 16 20:52:07 2021
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Project.h"
#include "Project_private.h"
/* Named constants for Chart: '<S2>/Chart' */
#define Project_IN_Condition_1 ((uint8)1U)
#define Project_IN_Condition_2 ((uint8)2U)
/* Block signals (default storage) */
B_Project_T Project_B;
/* Block states (default storage) */
DW_Project_T Project_DW;
/* Model step function */
void Project_Step(void)
{
float64 tmp;
sint32 rtb_Highway_Display_Mode_1;
sint32 rtb_Highway_Display_Mode_3;
sint32 tmp_0;
/* Chart: '<S2>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (Project_DW.is_active_c3_Project == 0U) {
Project_DW.is_active_c3_Project = 1U;
Project_DW.is_c3_Project = Project_IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (Project_DW.is_c3_Project == Project_IN_Condition_1) {
if ((Rte_IRead_Project_Step_Highway_Input_Signal_Highway_Input_Signal() == 1)
&& (Rte_IRead_Project_Step_Enable_Display_Enable_Display() == 1) &&
(Rte_IRead_Project_Step_Input_Switch_Input_Switch() == 1)) {
Project_DW.is_c3_Project = Project_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;
}
/* case IN_Condition_2: */
} else if ((Rte_IRead_Project_Step_Highway_Input_Signal_Highway_Input_Signal()
== 1) && (Rte_IRead_Project_Step_Enable_Display_Enable_Display() ==
0) && (Rte_IRead_Project_Step_Input_Switch_Input_Switch()
== 1)) {
Project_DW.is_c3_Project = Project_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: '<S2>/Chart' */
/* Outputs for Enabled SubSystem: '<S1>/Subsystem1' incorporates:
* EnablePort: '<S3>/Enable'
*/
/* Switch: '<S1>/Switch' incorporates:
* Chart: '<S3>/Chart'
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
tmp_0 = Rte_IRead_Project_Step_Lane_Input_Signal_Lane_Input_Signal();
/* End of Outputs for SubSystem: '<S1>/Subsystem1' */
if (tmp_0 >= 6) {
/* Outputs for Enabled SubSystem: '<S1>/Subsystem1' incorporates:
* EnablePort: '<S3>/Enable'
*/
if (Project_DW.is_active_c1_Project == 0U) {
Project_DW.is_active_c1_Project = 1U;
Project_DW.is_c1_Project = Project_IN_Condition_1;
Project_B.Lane_Display_Mode_1 = 132.0;
Project_B.Lane_Display_Mode_2 = 185.0;
Project_B.Lane_Display_Mode_3 = 54.0;
Project_B.Lane_Display_Mode_4 = 67.0;
} else if (Project_DW.is_c1_Project == Project_IN_Condition_1) {
if ((tmp_0 == 6) && (Rte_IRead_Project_Step_Enable_Display_Enable_Display()
== 1) &&
(Rte_IRead_Project_Step_Input_Switch_Input_Switch() == 1)) {
Project_DW.is_c1_Project = Project_IN_Condition_2;
Project_B.Lane_Display_Mode_1 = 127.0;
Project_B.Lane_Display_Mode_2 = 248.0;
Project_B.Lane_Display_Mode_3 = 186.0;
Project_B.Lane_Display_Mode_4 = 84.0;
} else {
Project_B.Lane_Display_Mode_1 = 132.0;
Project_B.Lane_Display_Mode_2 = 185.0;
Project_B.Lane_Display_Mode_3 = 54.0;
Project_B.Lane_Display_Mode_4 = 67.0;
}
/* case IN_Condition_2: */
} else if ((tmp_0 == 6) &&
(Rte_IRead_Project_Step_Enable_Display_Enable_Display() == 0) &&
(Rte_IRead_Project_Step_Input_Switch_Input_Switch() == 1)) {
Project_DW.is_c1_Project = Project_IN_Condition_1;
Project_B.Lane_Display_Mode_1 = 132.0;
Project_B.Lane_Display_Mode_2 = 185.0;
Project_B.Lane_Display_Mode_3 = 54.0;
Project_B.Lane_Display_Mode_4 = 67.0;
} else {
Project_B.Lane_Display_Mode_1 = 127.0;
Project_B.Lane_Display_Mode_2 = 248.0;
Project_B.Lane_Display_Mode_3 = 186.0;
Project_B.Lane_Display_Mode_4 = 84.0;
}
/* End of Outputs for SubSystem: '<S1>/Subsystem1' */
}
/* End of Switch: '<S1>/Switch' */
/* Switch: '<S1>/Switch1' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
* Switch: '<S1>/Switch4'
*/
tmp_0 = Rte_IRead_Project_Step_Highway_Input_Signal_Highway_Input_Signal();
if (tmp_0 > 0) {
tmp = rtb_Highway_Display_Mode_1;
} else {
tmp = Project_B.Lane_Display_Mode_1;
}
/* End of Switch: '<S1>/Switch1' */
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Project_Step_Display_Mode_1_Display_Mode_1(tmp);
/* Switch: '<S1>/Switch2' */
if (tmp_0 > 0) {
tmp = 183.0;
} else {
tmp = Project_B.Lane_Display_Mode_2;
}
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Project_Step_Display_Mode_2_Display_Mode_2(tmp);
/* Switch: '<S1>/Switch3' */
if (tmp_0 > 0) {
tmp = rtb_Highway_Display_Mode_3;
} else {
tmp = Project_B.Lane_Display_Mode_3;
}
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Project_Step_Display_Mode_3_Display_Mode_3(tmp);
/* Switch: '<S1>/Switch4' */
if (tmp_0 > 0) {
tmp = 94.0;
} else {
tmp = Project_B.Lane_Display_Mode_4;
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Project_Step_Display_Mode_4_Display_Mode_4(tmp);
}
/* Model initialize function */
void Project_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Project.h file
/*
* File: Project.h
*
* Code generated for Simulink model 'Project'.
*
* Model version : 1.2
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Oct 16 20:52:07 2021
*
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#ifndef RTW_HEADER_Project_h_
#define RTW_HEADER_Project_h_
#ifndef Project_COMMON_INCLUDES_
#define Project_COMMON_INCLUDES_
#include "rtwtypes.h"
#include "Rte_Project.h"
#endif /* Project_COMMON_INCLUDES_ */
#include "Project_types.h"
/* Macros for accessing real-time model data structure */
/* Block signals (default storage) */
typedef struct tag_B_Project_T {
float64 Lane_Display_Mode_1; /* '<S3>/Chart' */
float64 Lane_Display_Mode_2; /* '<S3>/Chart' */
float64 Lane_Display_Mode_3; /* '<S3>/Chart' */
float64 Lane_Display_Mode_4; /* '<S3>/Chart' */
} B_Project_T;
/* Block states (default storage) for system '<Root>' */
typedef struct tag_DW_Project_T {
uint8 is_active_c1_Project; /* '<S3>/Chart' */
uint8 is_c1_Project; /* '<S3>/Chart' */
uint8 is_active_c3_Project; /* '<S2>/Chart' */
uint8 is_c3_Project; /* '<S2>/Chart' */
} DW_Project_T;
/* Block signals (default storage) */
extern B_Project_T Project_B;
/* Block states (default storage) */
extern DW_Project_T Project_DW;
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Use the MATLAB hilite_system command to trace the generated code back
* to the model. For example,
*
* hilite_system('<S3>') - opens system 3
* hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'Project'
* '<S1>' : 'Project/Subsystem'
* '<S2>' : 'Project/Subsystem/Subsystem'
* '<S3>' : 'Project/Subsystem/Subsystem1'
* '<S4>' : 'Project/Subsystem/Subsystem/Chart'
* '<S5>' : 'Project/Subsystem/Subsystem1/Chart'
*/
#endif /* RTW_HEADER_Project_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/
Conclusion: Highway Assistant – Lane Changing Assistant model is created in MATLAB environment. Based on the model using Autosar app, a code is generated.
Autosar Dictionary is created for interfacing input and output ports.