Challenge

Project 2-Highway Assistant-Lane Changing Assistant

VVineela Mathangi6 Feb 2024

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.

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 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”.

ANS:

Aim:

Model Development of a feature of Highway Assistant-Lane Changing Assistant using MATLAB and Simulink as per MAAB guidelines, producing Model Advisor Report as well as generating Code using AUTOSAR Coder.

Objective:

Model Development in MATLAB Simulink as per MAAB guidelines.
Code Generation using Autosar Coder.
Creation of Simulink Data Dictionary.
Mapping all the input & output signals into the Autosar Editor.
Generating Model Advisor Report.
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 to change lanes, the system issues an additional acoustic and/or haptic warning.

Step-1: Model development as per the MBD guidelines.

The model is developed into three requirements

Requirement-1:

Requirement No 1 [Highway_DisplayUnit]:

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 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, and Highway_Display_Mode_4.

Inside the chart, we will implement Highway_Input_Signal, Enable_Display, and Input_Switch using AND blocks. The output is given in the State.

Requirement No 2 [Lane_DisplayUnit]:

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

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.

Requirement No 3:

The final model from the inside can be seen like this:

To give a better look we will put all this in a single subsystem.

Step-2: SLDD Creation.

now we have to create data dictionary.

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 Component.

In set Interface:enable - create defaults based on the simulink model.

now click on finish.

Now we can see code mappings below left corner.

click on configure autosar dictionary.

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

In XML-OPTIONS;

mapping of outports was done with the corresponding data elements.

mapping of inports was done with the corresponding data elements.

Now we have to do code generation:

In autosar goto quick start -> it shows model information - click on next.

click on next

defaultly word size has been set.

In optimization:generation objective is -execution efficiency.

In generated code: click on next.

The code was generated after successfully running it.

GENERATED CODE:

* File: pr_2_assistantlane_1.c

* Code generated for Simulink model 'pr_2_assistantlane_1'.

* Model version : 1.17

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Tue Feb 6 13:03:00 2024

* 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 "pr_2_assistantlane_1.h"

/* Named constants for Chart: '/Highway_DisplayUnit_logic' */

#define IN_Condition_1 ((uint8)1U)

#define IN_Condition_2 ((uint8)2U)

/* Named constants for Chart: '/Lane_DisplayUnit_logic' */

#define IN_Cndition_2 ((uint8)1U)

#define IN_Condition_1_d ((uint8)2U)

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

DW rtDW;

/* Model step function */

void pr_2_assistantlane_1_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_DisplayUnit_logic' incorporates:

* Inport: '/Enable_Display'

* Inport: '/Highway_Input_Signal'

* Inport: '/Input_Switch'

if (rtDW.is_active_c3_pr_2_assistantlane == 0U) {

rtDW.is_active_c3_pr_2_assistantlane = 1U;

rtDW.is_c3_pr_2_assistantlane_1 = IN_Condition_1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else if (rtDW.is_c3_pr_2_assistantlane_1 == IN_Condition_1) {

if ((Rte_IRead_pr_2_assistantlane_1_Step_Rp_Highway_Input_Signal_Highway_Input_Signal

() == 1) &&

(Rte_IRead_pr_2_assistantlane_1_Step_Rp_Enable_Display_Enable_Display() ==

1) && (Rte_IRead_pr_2_assistantlane_1_Step_Rp_Input_Switch_Input_Switch

() == 1)) {

rtDW.is_c3_pr_2_assistantlane_1 = 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_pr_2_assistantlane_1_Step_Rp_Highway_Input_Signal_Highway_Input_Signal

() == 1) &&

(Rte_IRead_pr_2_assistantlane_1_Step_Rp_Enable_Display_Enable_Display() ==

0) && (Rte_IRead_pr_2_assistantlane_1_Step_Rp_Input_Switch_Input_Switch()

== 1)) {

rtDW.is_c3_pr_2_assistantlane_1 = 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_DisplayUnit_logic' */

/* Chart: '/Lane_DisplayUnit_logic' incorporates:

* Inport: '/Enable_Display'

* Inport: '/Input_Switch'

* Inport: '/Lane_Input_Signal'

if (rtDW.is_active_c1_pr_2_assistantlane == 0U) {

rtDW.is_active_c1_pr_2_assistantlane = 1U;

rtDW.is_c1_pr_2_assistantlane_1 = IN_Condition_1_d;

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_pr_2_assistantlane_1 == IN_Cndition_2) {

if ((Rte_IRead_pr_2_assistantlane_1_Step_Rp_Lane_Input_Signal_Lane_Input_Signal

() == 6) &&

(Rte_IRead_pr_2_assistantlane_1_Step_Rp_Enable_Display_Enable_Display() ==

0) && (Rte_IRead_pr_2_assistantlane_1_Step_Rp_Input_Switch_Input_Switch

() == 1)) {

rtDW.is_c1_pr_2_assistantlane_1 = IN_Condition_1_d;

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;

}

/* case IN_Condition_1: */

} else if

((Rte_IRead_pr_2_assistantlane_1_Step_Rp_Lane_Input_Signal_Lane_Input_Signal

() == 6) &&

(Rte_IRead_pr_2_assistantlane_1_Step_Rp_Enable_Display_Enable_Display() ==

1) && (Rte_IRead_pr_2_assistantlane_1_Step_Rp_Input_Switch_Input_Switch()

== 1)) {

rtDW.is_c1_pr_2_assistantlane_1 = IN_Cndition_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;

}

/* End of Chart: '/Lane_DisplayUnit_logic' */

/* Switch: '/Switch' incorporates:

* Inport: '/Highway_Input_Signal'

* Switch: '/Switch4'

* Switch: '/Switch5'

* Switch: '/Switch6'

tmp_0 =

Rte_IRead_pr_2_assistantlane_1_Step_Rp_Highway_Input_Signal_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_pr_2_assistantlane_1_Step_Pp_Display_Mode_1_Display_Mode_1(tmp);

/* Switch: '/Switch4' */

if (tmp_0 != 0) {

tmp = 183U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_2;

}

/* Outport: '/Display_Mode_2' */

Rte_IWrite_pr_2_assistantlane_1_Step_Pp_Display_Mode_2_Display_Mode_2(tmp);

/* Switch: '/Switch6' */

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_pr_2_assistantlane_1_Step_Pp_Display_Mode_3_Display_Mode_3(tmp);

/* Switch: '/Switch5' */

if (tmp_0 != 0) {

tmp = 94U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_4;

}

/* Outport: '/Display_Mode_4' */

Rte_IWrite_pr_2_assistantlane_1_Step_Pp_Display_Mode_4_Display_Mode_4(tmp);

}

/* Model initialize function */

void pr_2_assistantlane_1_Init(void)

{

/* (no initialization code required) */

}

* File trailer for generated code.

* [EOF]

The following is the Model Advisor Report:

GENERATED REPORT:

RESULT:

the model is changed to Autosar compliant model by autosar component designer with port mappings for inports & outports.

Project 2-Highway Assistant-Lane Changing Assistant

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Ship work like thisin your own course.

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Ship work like this
in your own course.