Project 2-Highway Assistant-Lane Changing Assistant
AIM: To Develop the Highway Assistant Lane Changing Assistant using MATLAB/SIMULINK Software.
Objectives:
- 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.
Highway Assistant Lane Changing Assistant
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.
figure: Highway Lane changing Assistant.
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.
Simulink Model of Highway Lane Changing Assistant Feature:
Procedure:
Requirement No 1 [Highway_DisplayUnit]:
As per the given Requirements the Inputs to this highway display unit 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 Stateflow logic.
figure1: Highway Display unit
figure2: Chart of highway display unit
figure3: static logic.
Requirement No 2 [Lane_DisplayUnit]:
As per the given Requirements the Inputs to this Lane display unit 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.
Figure: Lane display unit
Figure: chart of the lane display unit
Figure: state logic of lane display unit.
Requirement 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” and similar to the remaining subsystems.
Now Open the model explorer and determine the input, calibration and output values & create a Simulink Data Dictionary.
Open Configuration Parameter, go to code generation select system target files as Autosar.tlc and go to Report select the create code generation report and open report automatically and update the parameters as per the MAAB guidelines.
Then Model Advisor and select the our model and a popup window will open
I have checked for the tasks MAAB guidelines and after checks completed generator a report as shown in figure.
To Create Autosar Port Mapping for the given model Go to taskbar and click on APPS and select the AUTOSAR component as shown in the below figure.
Open Code Mapping and Autosar software component as shown in figure.
Click on the Autosar dictionary Icon in the Autosar Software component and Autosar dictionary window will appears and add the inports and outports signals to the Autosar dictionary such as XML Options, S-R interface, Receive ports and sender ports & add the runnables to the model.
Creating the xml options
Create the S-R interfaces and their data elements.
Add the Receiver and Sender Ports and add runnables.
Inports and Outport should be mapped with the elements. After Mapping is done refresh the Autosar software component and save the model.
Now to Apps and click on Autosar component then in the Autosar component menu click on Quick start option then you will get a pop up window as shown in below figure.
Click on Next and complete the process to generate the code and after completing the process the header files and source files are in the autosar_rtw folder.
