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.

MODEL CREATED USING MATLAB

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 WAS ALSO CREATED FOR THE HIGHWAY ASSITANCE SYSTEM

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 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”.

AUTOSAR EDITOR USING PORT MAPPING OF THE HIGHWAY ASSISTANCE OF THE MODEL

RECEIVER PORT MAPPING OF THE HIGHWAY ASSISTANCE SYSTEM

SENDER PORT MAPPING OF THE HIGHWAY ASSISTANCE OF THE SYSTEM

SENDER RECEIVER PORT INTERFCAE OF THE HIGHWAY ASSISTANCE SYSTEM

SETTINGS OF THE XML OPTIONS FILE OF THE HIGHWAY ASSISTANCE SYSTEM

USING AUTOSAR EDITOR THE AUTOCODE GENERATION OF THE HIGHWAY ASSIATANCE SYSTEM

AUTOSAR USING CODE GENERATION OF C FILE

/*

* Event Support License -- for demonstration use and event support. Not

* for government, research, commercial, or other organizational use.

*

* File: HIGHWAY_ASSISTANCE.c

*

* Code generated for Simulink model 'HIGHWAY_ASSISTANCE'.

*

* Model version : 1.35

* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021

* C/C++ source code generated on : Sat Jun 3 17:20:32 2023

*

* 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_ASSISTANCE.h"

#include "rtwtypes.h"

/* Named constants for Chart: '<S2>/Requirement_2' */

#define IN_Condition_1 ((uint8)1U)

#define IN_Condition_2 ((uint8)2U)

/* Block signals and states (default storage) */

DW rtDW;

/* Model step function */

void HIGHWAY_ASSISTANCE_Step(void)

{

sint32 rtb_Highway_Display_Mode_1;

sint32 rtb_Highway_Display_Mode_3;

sint32 rtb_Lane_Display_Mode_1;

sint32 rtb_Lane_Display_Mode_2;

sint32 rtb_Lane_Display_Mode_3;

sint32 rtb_Lane_Display_Mode_4;

sint32 tmp_0;

uint8 tmp;

/* Chart: '<S4>/Reqirement_1' incorporates:

* Inport: '<Root>/Enable_Display'

* Inport: '<Root>/Highway_Input_Signal'

* Inport: '<Root>/Input_Switch'

*/

if (rtDW.is_active_c3_HIGHWAY_ASSISTANCE == 0U) {

rtDW.is_active_c3_HIGHWAY_ASSISTANCE = 1U;

rtDW.is_c3_HIGHWAY_ASSISTANCE = IN_Condition_1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else if (rtDW.is_c3_HIGHWAY_ASSISTANCE == IN_Condition_1) {

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

if ((Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_HIGHWAY_ASSISTANCE_Step_Enable_Display_Enable_Display() == 0)

&& (Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c3_HIGHWAY_ASSISTANCE = IN_Condition_2;

rtb_Highway_Display_Mode_1 = 213;

rtb_Highway_Display_Mode_3 = 9;

}

} else {

/* case IN_Condition_2: */

rtb_Highway_Display_Mode_1 = 213;

rtb_Highway_Display_Mode_3 = 9;

if ((Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_HIGHWAY_ASSISTANCE_Step_Enable_Display_Enable_Display() == 1)

&& (Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c3_HIGHWAY_ASSISTANCE = IN_Condition_1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

}

}

/* End of Chart: '<S4>/Reqirement_1' */

/* Chart: '<S2>/Requirement_2' incorporates:

* Inport: '<Root>/Enable_Display'

* Inport: '<Root>/Input_Switch'

* Inport: '<Root>/Lane_Input_Signal'

*/

if (rtDW.is_active_c1_HIGHWAY_ASSISTANCE == 0U) {

rtDW.is_active_c1_HIGHWAY_ASSISTANCE = 1U;

rtDW.is_c1_HIGHWAY_ASSISTANCE = IN_Condition_1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

} else if (rtDW.is_c1_HIGHWAY_ASSISTANCE == IN_Condition_1) {

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

if ((Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

() == 6) &&

(Rte_IRead_HIGHWAY_ASSISTANCE_Step_Enable_Display_Enable_Display() == 0)

&& (Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c1_HIGHWAY_ASSISTANCE = IN_Condition_2;

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 186;

rtb_Lane_Display_Mode_4 = 84;

}

} else {

/* case IN_Condition_2: */

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 186;

rtb_Lane_Display_Mode_4 = 84;

if ((Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

() == 6) &&

(Rte_IRead_HIGHWAY_ASSISTANCE_Step_Enable_Display_Enable_Display() == 1)

&& (Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c1_HIGHWAY_ASSISTANCE = IN_Condition_1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

}

}

/* End of Chart: '<S2>/Requirement_2' */

/* Switch: '<S3>/Switch' incorporates:

* Inport: '<Root>/Highway_Input_Signal'

* Switch: '<S3>/Switch1'

* Switch: '<S3>/Switch2'

* Switch: '<S3>/Switch3'

*/

tmp_0 =

Rte_IRead_HIGHWAY_ASSISTANCE_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

();

if (tmp_0 > 0) {

tmp = (uint8)rtb_Highway_Display_Mode_1;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_1;

}

/* End of Switch: '<S3>/Switch' */

/* Outport: '<Root>/Display_Mode_1' */

Rte_IWrite_HIGHWAY_ASSISTANCE_Step_Pp_Display_Mode_1_DE_Display_Mode_1

(tmp);

/* Switch: '<S3>/Switch1' */

if (tmp_0 > 0) {

tmp = 183U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_2;

}

/* Outport: '<Root>/Display_Mode_2' */

Rte_IWrite_HIGHWAY_ASSISTANCE_Step_Pp_Display_Mode_2_DE_Display_Mode_2

(tmp);

/* Switch: '<S3>/Switch2' */

if (tmp_0 > 0) {

tmp = (uint8)rtb_Highway_Display_Mode_3;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_3;

}

/* Outport: '<Root>/Display_Mode_3' */

Rte_IWrite_HIGHWAY_ASSISTANCE_Step_Pp_Display_Mode_3_DE_Display_Mode_3

(tmp);

/* Switch: '<S3>/Switch3' */

if (tmp_0 > 0) {

tmp = 94U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_4;

}

/* Outport: '<Root>/Display_Mode_4' */

Rte_IWrite_HIGHWAY_ASSISTANCE_Step_Pp_Display_Mode_4_DE_Display_Mode_4

(tmp);

}

/* Model initialize function */

void HIGHWAY_ASSISTANCE_Init(void)

{

/* (no initialization code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

USING AUTOSAR EDITOR THE HIGHWAY ASSISTANCE SYSTEM AUTOCODE GENERATION OF .H FILE

AUTOSAR USING CODE GENERATION OF H FILE

/*

* Event Support License -- for demonstration use and event support. Not

* for government, research, commercial, or other organizational use.

*

* File: HIGHWAY_ASSISTANCE.h

*

* Code generated for Simulink model 'HIGHWAY_ASSISTANCE'.

*

* Model version : 1.35

* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021

* C/C++ source code generated on : Sat Jun 3 17:20:32 2023

*

* Target selection: autosar.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives:

* 1. Execution efficiency

* 2. RAM efficiency

* Validation result: Not run

*/

#ifndef RTW_HEADER_HIGHWAY_ASSISTANCE_h_

#define RTW_HEADER_HIGHWAY_ASSISTANCE_h_

#ifndef HIGHWAY_ASSISTANCE_COMMON_INCLUDES_

#define HIGHWAY_ASSISTANCE_COMMON_INCLUDES_

#include "rtwtypes.h"

#include "Rte_HIGHWAY_ASSISTANCE.h"

#endif /* HIGHWAY_ASSISTANCE_COMMON_INCLUDES_ */

/* Model Code Variants */

/* Block signals and states (default storage) for system '<Root>' */

typedef struct tag_DW {

uint8 is_active_c3_HIGHWAY_ASSISTANCE;/* '<S4>/Reqirement_1' */

uint8 is_c3_HIGHWAY_ASSISTANCE; /* '<S4>/Reqirement_1' */

uint8 is_active_c1_HIGHWAY_ASSISTANCE;/* '<S2>/Requirement_2' */

uint8 is_c1_HIGHWAY_ASSISTANCE; /* '<S2>/Requirement_2' */

} DW;

/* Block signals and states (default storage) */

extern DW rtDW;

/*-

* 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>' : 'HIGHWAY_ASSISTANCE'

* '<S1>' : 'HIGHWAY_ASSISTANCE/HALC'

* '<S2>' : 'HIGHWAY_ASSISTANCE/HALC/Requirement_2'

* '<S3>' : 'HIGHWAY_ASSISTANCE/HALC/Requirement_3'

* '<S4>' : 'HIGHWAY_ASSISTANCE/HALC/Requirment_1'

* '<S5>' : 'HIGHWAY_ASSISTANCE/HALC/Requirement_2/Requirement_2'

* '<S6>' : 'HIGHWAY_ASSISTANCE/HALC/Requirment_1/Reqirement_1'

*/

#endif /* RTW_HEADER_HIGHWAY_ASSISTANCE_h_ */

/*

* File trailer for generated code.

*

* [EOF]

*/