Project 2-Highway Assistant-Lane Changing Assistant

AIM:

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.
· Generating Model Advisor Report

HI-way Assistant Lan Changing:

Introduction of Features:

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 must 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.

Calibrations Data List:

Input Signal:

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 Signal:

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 Signal:

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

Requierment-1:

Highway Diaplayunit:

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

Block Used

• Input
• Output
• stateflow
• Go to
• From
• Switch

Simlink Model :

Stateflowchart:

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

Block Digram-1:

Block Digarm-2:

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”.

Block Digram:

As reuirment model is reddy.

Parameter Setting:

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.

For the Receiver port of the model, that is input, we will rename the port with the prefix Rp_.

For the Receiver port of the model, that is input, we will rename the port with the prefix Rp_.

For the S-R Interfaces of the model, we will rename the port with the prefix SRIf_.

or the Data Elements of the model, we will rename the port with the prefix DE_.

Then the model was validated with AUTOSAR Compliance.

Once the mapping is done, we will check for Model Advisor, the code was generated after successfully running it.

Autosar Code Generation:

/*
 * File: Highway_Assistant_Lane_Changing_Assistant.c
 *
 * Code generated for Simulink model 'Highway_Assistant_Lane_Changing_Assistant'.
 *
 * Model version                  : 1.9
 * Simulink Coder version         : 9.9 (R2023a) 19-Nov-2022
 * C/C++ source code generated on : Sat Jan 27 19:02:36 2024
 *
 * Target selection: autosar.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Highway_Assistant_Lane_Changing_Assistant.h"
#include "rtwtypes.h"

/* Named constants for Chart: '<S2>/Chart' */
#define Highway_Assistan_IN_Condition_1 ((uint8)1U)
#define Highway_Assistan_IN_Condition_2 ((uint8)2U)

/* PublicStructure Variables for Internal Data */
ARID_DEF_Highway_Assistant_La_T Highway_Assistant_Lane_ARID_DEF;/* '<S3>/Chart' */

/* Model step function */
void Highway_Assistant_Lane_Changing_Assistant_Step(void)
{
  float64 tmp;
  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;

  /* Chart: '<S2>/Chart' */
  if (Highway_Assistant_Lane_ARID_DEF.is_active_c3_Highway_Assistant_ == 0U) {
    Highway_Assistant_Lane_ARID_DEF.is_active_c3_Highway_Assistant_ = 1U;
    Highway_Assistant_Lane_ARID_DEF.is_c3_Highway_Assistant_Lane_Ch =
      Highway_Assistan_IN_Condition_1;
    rtb_Highway_Display_Mode_1 = 232;
    rtb_Highway_Display_Mode_3 = 41;
  } else if (Highway_Assistant_Lane_ARID_DEF.is_c3_Highway_Assistant_Lane_Ch ==
             Highway_Assistan_IN_Condition_1) {
    Highway_Assistant_Lane_ARID_DEF.is_c3_Highway_Assistant_Lane_Ch =
      Highway_Assistan_IN_Condition_2;
    rtb_Highway_Display_Mode_1 = 213;
    rtb_Highway_Display_Mode_3 = 9;
  } else {
    /* case IN_Condition_2: */
    Highway_Assistant_Lane_ARID_DEF.is_c3_Highway_Assistant_Lane_Ch =
      Highway_Assistan_IN_Condition_1;
    rtb_Highway_Display_Mode_1 = 232;
    rtb_Highway_Display_Mode_3 = 41;
  }

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

  /* Chart: '<S3>/Chart' */
  if (Highway_Assistant_Lane_ARID_DEF.is_active_c1_Highway_Assistant_ == 0U) {
    Highway_Assistant_Lane_ARID_DEF.is_active_c1_Highway_Assistant_ = 1U;
    Highway_Assistant_Lane_ARID_DEF.is_c1_Highway_Assistant_Lane_Ch =
      Highway_Assistan_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 (Highway_Assistant_Lane_ARID_DEF.is_c1_Highway_Assistant_Lane_Ch ==
             Highway_Assistan_IN_Condition_1) {
    Highway_Assistant_Lane_ARID_DEF.is_c1_Highway_Assistant_Lane_Ch =
      Highway_Assistan_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: */
    Highway_Assistant_Lane_ARID_DEF.is_c1_Highway_Assistant_Lane_Ch =
      Highway_Assistan_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: '<S3>/Chart' */

  /* Switch: '<S1>/Switch' incorporates:
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Switch: '<S1>/Switch1'
   *  Switch: '<S1>/Switch2'
   *  Switch: '<S1>/Switch3'
   */
  tmp =
    Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_Step_Highway_Input_Signal_Highway_Input_Signal
    ();
  if (tmp > 0.0) {
    rtb_Lane_Display_Mode_1 = rtb_Highway_Display_Mode_1;
  }

  /* Outport: '<Root>/Display_Model_1' incorporates:
   *  Switch: '<S1>/Switch'
   */
  Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Display_Model_1_Display_Model_1
    (rtb_Lane_Display_Mode_1);

  /* Switch: '<S1>/Switch1' */
  if (tmp > 0.0) {
    rtb_Lane_Display_Mode_3 = 183;
  }

  /* Outport: '<Root>/Display_Model_2' incorporates:
   *  Switch: '<S1>/Switch1'
   */
  Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Display_Model_2_Display_Model_2
    (rtb_Lane_Display_Mode_3);

  /* Switch: '<S1>/Switch2' */
  if (tmp > 0.0) {
    rtb_Lane_Display_Mode_4 = rtb_Highway_Display_Mode_3;
  }

  /* Outport: '<Root>/Display_Model_3' incorporates:
   *  Switch: '<S1>/Switch2'
   */
  Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Display_Model_3_Display_Model_3
    (rtb_Lane_Display_Mode_4);

  /* Switch: '<S1>/Switch3' */
  if (tmp > 0.0) {
    rtb_Lane_Display_Mode_2 = 94;
  }

  /* Outport: '<Root>/Display_Model_4' incorporates:
   *  Switch: '<S1>/Switch3'
   */
  Rte_IWrite_Highway_Assistant_Lane_Changing_Assistant_Step_Display_Model_4_Display_Model_4
    (rtb_Lane_Display_Mode_2);
}

/* Model initialize function */
void Highway_Assistant_Lane_Changing_Assistant_Init(void)
{
  /* (no initialization code required) */
}

Once the mapping is done, we will check for Model Advisor, the code was generated after successfully running it.

Result:

The generated report along with the SLDD, Model, Code generation are Successfully and screenshots, enclosed.