Project 2-Highway Assistant-Lane Changing Assistant

Project 2-Highway Assistant-Lane Changing Assistant

QUESTION-

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.

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

Requirement No 1 [Highway_Display Unit]:

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”.

ANSWER

Aim :- Model Development of a feature of Highway Assistant-Lane Changing Assistant using MATLAB and Simulink as per MAAB Guidelines.

Objective :-

 This model must be developed in MATLAB Simulink per MBD guidelines.
 Code Generation using Autosar Coder.
 Create Simulink Data Dictionary & linked to the model.
 input & output signals must be mapped into the Autosar Editor.
 Genrating Model Advisor Report

Highway Assistant – Lane Changing Assistant

Introduction to the Feature:

Procedure and Steps :-

Highway Assistant - Lane Changing Assistant Simulink Model :-

Simulink Data Distionary :-

The first step is the creation of the Simulink Data Dictionary File from the given calibration and signal data list. Then data dictionary should be linked to the specified simulink mode.

As per the first requirement 1,

the first subsystem will have three inputs. They are Highway_Input_Signal, Enable_Display, and Input_Switch.

The input further goes to the chart, the chart will have the output as

Highway_Display_Mode_1 , Highway_Display_Mode_2 ,Highway_Display_Mode_3 , Highway_Display_Mode_4

once the stateflow logic is written we will resolve the input & ouput port

As per requirement 2,

we will enable the subsystem using Lane_Input_Signal for a value of 6. Input for the block will be Input Switch and Enable display. Here, from and to blocks are used to make connections easy and readable.

EN_D= Enable Display, IPS= Input Switch, HIS= Highway_Input_Signal, HD1= Highway_Display_1..... HD4- Highway_Display_4, LD1= Lane_Display_1...... LD4- Lane_Display_4.

These inputs will further go to Chart, where the Stateflow logic will be written.

The output of the chart are Lane_Display_Mode_1, Lane_Display_Mode_2, Lane_Display_Mode_3, Lane_Display_Model_4.

Inside the chart, the Enable_Display and Input Switch are used to make logic for Lane Display output. The main output is written inside the State for Lane Display_Mode.

The input and output signals are then resolved.

Requirement 3 :-

The output of the Highway_Display_Mode and Lane_Display_Mode are provided to the Switch block. That is in total 4 switch blocks are used. The conditional input signal is taken as Highway_Input_Signal for all the blocks.

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.

Then under App, we will select the AUTOSAR component. This will open Code Mapping - AUTOSAR SW

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 Sender Receiver interfaces of the model,we will rename the port with the prefix SRIf_.

For the Data Elemnts of the model, we will rename the port with the prefix DE_.

The Model is Validate with AUTOSAR Compliance.

once Mapping is Done then we will check Model Advisor check , the code is generated after sucessfully running it.

Model Advisor Report :-

finally .c &.h file generated also ARXML file is generated in the folder

/*
* File: Highway_Assistant_Lane_Changing_Assistant.c
*
* Code generated for Simulink model 'Highway_Assistant_Lane_Changing_Assistant'.
*
* Model version : 1.3
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Feb 19 18:44:42 2022
*
* 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_Assistant_Lane_Changing_Assistant.h"
 
/* Named constants for Chart: '<S2>/Highway_Display_Unit' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
 
/* Named constants for Chart: '<S3>/Lane_Display_Unit' */
#define IN_Mode_1 ((uint8)1U)
#define IN_Mode_2 ((uint8)2U)
 
/* Block signals and states (default storage) */
DW rtDW;
 
/* Model step function */
void Highway_Assistant_Lane_Changing_Assistant_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: '<S2>/Highway_Display_Unit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Highway_Assistant_ == 0U) {
rtDW.is_active_c3_Highway_Assistant_ = 1U;
rtDW.is_c3_Highway_Assistant_Lane_Ch = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Highway_Assistant_Lane_Ch == IN_Condition_1) {
if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Highway_Assistant_Lane_Ch = 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_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 1)) {
rtDW.is_c3_Highway_Assistant_Lane_Ch = 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>/Highway_Display_Unit' */
 
/* Chart: '<S3>/Lane_Display_Unit' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Highway_Assistant_ == 0U) {
rtDW.is_active_c1_Highway_Assistant_ = 1U;
rtDW.is_c1_Highway_Assistant_Lane_Ch = IN_Mode_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_Assistant_Lane_Ch == IN_Mode_1) {
if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
rtDW.is_c1_Highway_Assistant_Lane_Ch = IN_Mode_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 {
rtb_Lane_Display_Mode_1 = 132;
rtb_Lane_Display_Mode_2 = 185;
rtb_Lane_Display_Mode_3 = 54;
rtb_Lane_Display_Mode_4 = 67;
}
 
/* case IN_Mode_2: */
} else if
((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Rp_Input_Switch_DE_Input_Switch
() == 0)) {
rtDW.is_c1_Highway_Assistant_Lane_Ch = IN_Mode_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 {
rtb_Lane_Display_Mode_1 = 127;
rtb_Lane_Display_Mode_2 = 248;
rtb_Lane_Display_Mode_3 = 186;
rtb_Lane_Display_Mode_4 = 84;
}
 
/* End of Chart: '<S3>/Lane_Display_Unit' */
 
/* Switch: '<S1>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S1>/Switch1'
* Switch: '<S1>/Switch2'
* Switch: '<S1>/Switch3'
*/
tmp_0 =
Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_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: '<S1>/Switch' */
 
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(tmp);
 
/* Switch: '<S1>/Switch1' */
if (tmp_0 != 0) {
tmp = 183U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_2;
}
 
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(tmp);
 
/* Switch: '<S1>/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_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(tmp);
 
/* Switch: '<S1>/Switch3' */
if (tmp_0 != 0) {
tmp = 94U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_4;
}
 
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(tmp);
}
 
/* Model initialize function */
void Highway_Assistant_Lane_Changing_Assistant_Init(void)
{
/* (no initialization code required) */
}
 
/*
* File trailer for generated code.
*
* [EOF]
*/
v

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