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.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 |
The first step is the creation of the Simulink Data Dictionary File from the given calibration and signal data list
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 |
The Stateflow chart is used to implement the logic as shown below:
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 |
The Stateflow chart is used to implement the logic as shown below:
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”.
Top Layer for Highway Lane Changing Assistant
Model Configuration Parameters :
AUTOSAR Dictionary Parameters :
AUTOSAR Code Mapping:
Model Advisor Report :
Code Generation :
Generated Code :-
* File: Highway_Lane_Assistant.c
* Target selection: autosar.tlc
* Embedded hardware selection: Intel->x86-64 (Mac OS X)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "Highway_Lane_Assistant.h"
/* Named constants for Chart: '/Highway_Display' */
#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_Lane_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: '/Highway_Display' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Highway_Input_Signal'
* Inport: '/Input_Switch'
*/
if (rtDW.is_active_c3_Highway_Lane_Assis == 0U) {
rtDW.is_active_c3_Highway_Lane_Assis = 1U;
rtDW.is_c3_Highway_Lane_Assistant = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232;
rtb_Highway_Display_Mode_3 = 41;
} else if (rtDW.is_c3_Highway_Lane_Assistant == IN_Condition_1) {
if ((Rte_IRead_Highway_Lane_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c3_Highway_Lane_Assistant = 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_Lane_Assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c3_Highway_Lane_Assistant = 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: '/Highway_Display' */
/* Chart: '/Chart' incorporates:
* Inport: '/Enable_Display'
* Inport: '/Input_Switch'
* Inport: '/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Highway_Lane_Assis == 0U) {
rtDW.is_active_c1_Highway_Lane_Assis = 1U;
rtDW.is_c1_Highway_Lane_Assistant = 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_Lane_Assistant == IN_Condition_1) {
if ((Rte_IRead_Highway_Lane_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c1_Highway_Lane_Assistant = 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 {
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_Condition_2: */
} else if
((Rte_IRead_Highway_Lane_Assistant_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Highway_Lane_Assistant_Step_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c1_Highway_Lane_Assistant = 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 {
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: '/Chart' */
/* Switch: '/Switch' incorporates:
* Inport: '/Highway_Input_Signal'
* Switch: '/Switch1'
* Switch: '/Switch2'
* Switch: '/Switch3'
*/
tmp_0 =
Rte_IRead_Highway_Lane_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: '/Switch' */
/* Outport: '/Display_Mode_1' */
Rte_IWrite_Highway_Lane_Assistant_Step_Pp_Display_Mode_1_DE_Display_Mode_1(tmp);
/* Switch: '/Switch1' */
if (tmp_0 > 0) {
tmp = 183U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_2;
}
/* Outport: '/Display_Mode_2 ' */
Rte_IWrite_Highway_Lane_Assistant_Step_Pp_Display_Mode_2_DE_Display_Mode_2(tmp);
/* Switch: '/Switch2' */
if (tmp_0 > 0) {
tmp = (uint8)rtb_Highway_Display_Mode_3;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_3;
}
/* Outport: '/Display_Mode_3' */
Rte_IWrite_Highway_Lane_Assistant_Step_Pp_Display_Mode_3_DE_Display_Mode_3(tmp);
/* Switch: '/Switch3' */
if (tmp_0 > 0) {
tmp = 94U;
} else {
tmp = (uint8)rtb_Lane_Display_Mode_4;
}
/* Outport: '/Display_Mode_4' */
Rte_IWrite_Highway_Lane_Assistant_Step_Pp_Display_Mode_4_DE_Display_Mode_4(tmp);
}
/* Model initialize function */
void Highway_Lane_Assistant_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/