Project 2-Highway Assistant-Lane Changing Assistant

Report on Highway Assistant – Lane Changing Assistant Algorithm Development 

Introduction: 

The Highway Assistant – Lane Changing Assistant is a key feature in modern vehicles designed to enhance safety and convenience on highways. This report outlines the development of a specific requirement of this system in the context of Autosar Software Component Development using MATLAB Simulink and Model-Based Development (MBD) guidelines. 

Basic Working Principle: 

The Highway Assistant is a partially automated driving function primarily designed for highway use. It combines radar-based longitudinal guidance, using Adaptive Cruise Control (ACC), with video-based lateral guidance, facilitating lane-keeping support. It can also be supplemented by an automatic lane change feature, initiated and monitored by the driver, within a specific speed range. 

The Lane Change Assistant, a part of the Highway Assistant, employs mid-range radar sensors concealed in the rear bumper, one on the left and one on the right. These sensors monitor the area alongside and behind the vehicle to detect approaching vehicles or vehicles in the blind spot, providing warnings to the driver to prevent accidents during lane changes. 

Problem Statement: 

The specific requirement in focus is a part of the Lane Changing Assistant algorithm, and the objective is to develop it by Autosar Software Component Development in the MATLAB environment following MBD guidelines. The project involves various processes and steps including the creation of a Simulink model, Autosar Coder for code generation, a Simulink Data Dictionary linked to the model, mapping of input and output signals into the Autosar Editor, Model Advisor Report, and subsequent Code Generation. 

Procedure: 

• The model is designed as per the requirements mentioned in the problem statement. The model is divided into 3 components mainly Requirement 1 [Highway_DisplayUnit], Requirement 2 [Lane_DisplayUnit], and Requirement 3. 
• We created a Simulink data dictionary (SLDD) as per the given requirements in the problem statement. 
• Requirement 1: In this stage, we have designed a Stateflow chart that takes 3 inputs (“Highway_Input_Signal”, “Enable_Display”, “Input_Switch”). Inside the stateflow chart, we used two blocks for two conditions if Highway_Input_Signal = 1 Enable_Display = 0 and Input_Switch = 1 then we get a set of values for highway display modes. Similarly, if Highway_Input_Signal = 1 Enable_Display = 1, and Input_Switch = 1 we get other desired values. There are a total 4 outputs from this system 
• Requirement 2: In this stage, we have designed a Stateflow chart which again takes 3 inputs (“Lane_Input_Signal”, “Enable_Display”, “Input_Switch”). Inside the stateflow chart, we used two blocks for two conditions if Lane_Input_Signal = 1 and Enable_Display = 0 and Input_Switch = 1 then we get a set of values for highway display modes. Similarly, if Lane_Input_Signal = 1 Enable_Display = 1, and Input_Switch = 1 we get other desired values. There are a total 4 outputs from this system 
• In the last requirement, we designed a subsystem where the outputs coming from the above 2 systems are compared to a switch with the 2nd input as Highway_Input_Signal. The output of which is given to the Display_mode. 
• We did the AUTOSAR port mapping inside the code mapping function of the complete system by enabling the autosar.tlc function in the code generation block. We made changes in the inports (Rx_), Outports (Pp_), SR Interfaces (SRIf_), and data elements (DE_). We also changed the settings in XML Options.
• We generated a Model Advisor report for the same and reduced the warnings to the minimum. After Port mapping, we generated the code for the AUTOSAR coder - First, we clicked on Embedded Coder Quick Start -> System: Choosing Model -> Output: C code compliant with AUTOSAR and single instance -> Deployment -> Word size: Were we get to choose the vendor device specifications -> Optimization: Code generation objective is execution efficiency -> Generate Code.
   

Conclusion: 

The development of the Lane Changing Assistant algorithm is a crucial component of the broader Highway Assistant system. It involves meticulous design, coding, and testing to ensure that it functions as intended, enhancing safety and convenience for drivers during highway travel. This approach follows best practices for Model-Based Development and adheres to Autosar standards, facilitating seamless integration into modern vehicles. The completion of this algorithm brings us one step closer to a more automated and safer driving experience. 

All the necessary screenshots and documents are attached herewith.