Project 2-Highway Assistant-Lane Changing Assistant

 Introduction to Automotive Embedded Systems and AUTOSAR

Project -Highway Assistant-Lane Changing Assistant

Highway Driving Assist uses a forward-facing radar unit and camera, GPS technology, and the navigation system’s map database to provide Level 2 driving assistance on divided, restricted-access highways, such as Interstates. Unless the vehicle is traveling on an approved road, Highway Driving Assist will not work. It is available only at speeds under 95 mph.

The radar unit informs adaptive cruise control operation, maintaining a safe following distance to traffic ahead. For automatic speed governing, drivers can choose to set the adaptive cruise control for the posted speed limit. Alternatively, you can set a lower or higher speed and adjust the velocity manually. 

After the driver sets the speed, the adaptive cruise control automatically adjusts the vehicle’s following distance to shrink or expand the gap between it and traffic ahead. 

If another vehicle cuts into the gap, the adaptive cruise control automatically slows the Genesis, Hyundai, or Kia down to re-establish a safe following distance. If the vehicle ahead changes lanes or exits the road, Highway Drive Assist will automatically accelerate back up to the posted speed limit or a different pre-set speed. 

Aim: To develop an algorithm for one of the features of the Highway Lane Changing Assistance, create a Simulink Data Dictionary for the given signals data list, develop a Model Advisor Report and generate a C code for it using Autosar coder in Simulink.

Objective:

• Model Development in MATLAB Simulink as per MBD 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.

Overview:

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.

Fig: Lane Changing Assistant

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.

Calibration & Signals Data list:

Input Signals:

Local Signals:

Output Signals:

Procedure:

The first step is the creation of the Simulink Data Dictionary File from the given calibration and signal data list.

Requirement 1- Highway Display Unit:

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 a 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.

As per the requirement, there are three signals to the subsystem as shown below

These three inputs are used to develop an algorithm as per the given conditions using Stateflow logic. The output data is of 'double' data type, so converting it to the 'uint8' data type using the Data type conversion block.

The following figure shows the developed algorithm as per the given conditions using Stateflow logic

Once the Stateflow logic is developed, resolving the ports for input and output.

Requirement 2- Lane Display Unit:

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 a 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.

As per the requirement, there are three signals to the subsystem as shown below

These three inputs are used to develop an algorithm as per the given conditions using Stateflow logic. The output data is of 'double' data type, so converting it to the 'uint8' data type using the Data type conversion block.

The following figure shows the developed algorithm as per the given conditions using Stateflow logic.

Once the Stateflow logic is developed, resolving the ports for input and output.

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 2^nd 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 2^nd 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 2^nd 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 2^nd input to the switch block. Corresponding output from this particular switch block is output signal “Display_Mode_4”.

The following figure shows the subsystem consisting of all the three requirements 

The following figure shows the whole model created for the Highway Lane Changing Assistance with all input and output ports using Simulink

Now, making the model in compliance with the AUTOSAR. So, all the input & output signals will be mapped into the Autosar Editor.

But prior to that, setting the System target file as autosar.tlc and make sure that in Solver set it to Fixed-Step.

Then under App, selecting the AUTOSAR Component Designer.

This will open Code Mapping - AUTOSAR SW Component.

XML changes:

For the S-R Interfaces of the model, renaming the ports with the prefix SRIf_.

For the Data Elements of the model, renaming the ports with the prefix DE_.

For the Reciever ports of the model, that is input, renaming the port with the prefix Rp_.

For the Sender ports of the model, that is output, renaming the port with the prefix Pp_.

Now, mapping the Inports of the model

And, Outports of the model

Now, Validating the model as per the Autosar compliance

Once the model is validated, generate the Model Advisor report as per ISO26262 Standards and MAAB guidelines

There are warnings that are acceptable but the notable part is that there is not a single Failed result.

Now, generating the C code for the developed model using Autosar coder.

.h file:

/*

 * File: highway_lane_assistance.h

 *

 * Code generated for Simulink model 'highway_lane_assistance'.

 *

 * Model version                  : 1.2

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

 * C/C++ source code generated on : Tue Aug 10 19:43:50 2021

 *

 * Target selection: autosar.tlc

 * Embedded hardware selection: Intel->x86-64 (Windows64)

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */

 

#ifndef RTW_HEADER_highway_lane_assistance_h_

#define RTW_HEADER_highway_lane_assistance_h_

#ifndef highway_lane_assistance_COMMON_INCLUDES_

#define highway_lane_assistance_COMMON_INCLUDES_

#include "rtwtypes.h"

#include "Rte_highway_lane_assistance.h"

#endif                            /* highway_lane_assistance_COMMON_INCLUDES_ */

 

#include "highway_lane_assistance_types.h"

 

/* Macros for accessing real-time model data structure */

 

/* Block states (default storage) for system '' */

typedef struct tag_DW_highway_lane_assistanc_T {

  uint8 is_active_c1_highway_lane_assis;/* '/Lane_Display_Unit' */

  uint8 is_c1_highway_lane_assistance; /* '/Lane_Display_Unit' */

  uint8 is_active_c3_highway_lane_assis;/* '/Highway_Display_Unit' */

  uint8 is_c3_highway_lane_assistance; /* '/Highway_Display_Unit' */

} DW_highway_lane_assistance_T;

 

/* Block states (default storage) */

extern DW_highway_lane_assistance_T highway_lane_assistance_DW;

 

/*-

 * The generated code includes comments that allow you to trace directly

 * back to the appropriate location in the model.  The basic format

 * is /block_name, where system is the system number (uniquely

 * assigned by Simulink) and block_name is the name of the block.

 *

 * Use the MATLAB hilite_system command to trace the generated code back

 * to the model.  For example,

 *

 * hilite_system('')    - opens system 3

 * hilite_system('/Kp') - opens and selects block Kp which resides in S3

 *

 * Here is the system hierarchy for this model

 *

 * '' : 'highway_lane_assistance'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance/Requirement1'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance/Requirement2'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance/Requirement3'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance/Requirement1/Highway_Display_Unit'

 * ''   : 'highway_lane_assistance/Highway_Lane_Changing_Assistance/Requirement2/Lane_Display_Unit'

 */

#endif                               /* RTW_HEADER_highway_lane_assistance_h_ */

 

/*

 * File trailer for generated code.

 *

 * [EOF]

 */

.c file:

/*

 * File: highway_lane_assistance.c

 *

 * Code generated for Simulink model 'highway_lane_assistance'.

 *

 * Model version                  : 1.2

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

 * C/C++ source code generated on : Tue Aug 10 19:43:50 2021

 *

 * Target selection: autosar.tlc

 * Embedded hardware selection: Intel->x86-64 (Windows64)

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */

 

#include "highway_lane_assistance.h"

#include "highway_lane_assistance_private.h"

 

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

#define highway_lane_assi_IN_Condition1 ((uint8)1U)

#define highway_lane_assi_IN_Condition2 ((uint8)2U)

 

/* Block states (default storage) */

DW_highway_lane_assistance_T highway_lane_assistance_DW;

 

/* Model step function */

void highway_lane_assistance_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;

  uint8 rtb_Display_Mode_4;

  uint8 tmp;

 

  /* Chart: '/Highway_Display_Unit' incorporates:

   *  Inport: '/Enable_Display'

   *  Inport: '/Highway_Input_Signal'

   *  Inport: '/Input_Switch'

   */

  if (highway_lane_assistance_DW.is_active_c3_highway_lane_assis == 0U) {

    highway_lane_assistance_DW.is_active_c3_highway_lane_assis = 1U;

    highway_lane_assistance_DW.is_c3_highway_lane_assistance =

      highway_lane_assi_IN_Condition1;

    rtb_Highway_Display_Mode_1 = 232;

    rtb_Highway_Display_Mode_3 = 41;

  } else if (highway_lane_assistance_DW.is_c3_highway_lane_assistance ==

             highway_lane_assi_IN_Condition1) {

    rtb_Highway_Display_Mode_1 = 232;

    rtb_Highway_Display_Mode_3 = 41;

    if ((Rte_IRead_highway_lane_assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

         () == 1) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Enable_Display_DE_Enable_Display

         () == 1) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Input_Switch_DE_Input_Switch()

         == 1)) {

      highway_lane_assistance_DW.is_c3_highway_lane_assistance =

        highway_lane_assi_IN_Condition2;

      rtb_Highway_Display_Mode_1 = 213;

      rtb_Highway_Display_Mode_3 = 9;

    }

  } else {

    /* case IN_Condition2: */

    rtb_Highway_Display_Mode_1 = 213;

    rtb_Highway_Display_Mode_3 = 9;

    if ((Rte_IRead_highway_lane_assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

         () == 1) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Enable_Display_DE_Enable_Display

         () == 0) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Input_Switch_DE_Input_Switch()

         == 1)) {

      highway_lane_assistance_DW.is_c3_highway_lane_assistance =

        highway_lane_assi_IN_Condition1;

      rtb_Highway_Display_Mode_1 = 232;

      rtb_Highway_Display_Mode_3 = 41;

    }

  }

 

  /* End of Chart: '/Highway_Display_Unit' */

 

  /* Chart: '/Lane_Display_Unit' incorporates:

   *  Inport: '/Enable_Display'

   *  Inport: '/Input_Switch'

   *  Inport: '/Lane_Input_Signal'

   */

  if (highway_lane_assistance_DW.is_active_c1_highway_lane_assis == 0U) {

    highway_lane_assistance_DW.is_active_c1_highway_lane_assis = 1U;

    highway_lane_assistance_DW.is_c1_highway_lane_assistance =

      highway_lane_assi_IN_Condition1;

    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_lane_assistance_DW.is_c1_highway_lane_assistance ==

             highway_lane_assi_IN_Condition1) {

    rtb_Lane_Display_Mode_1 = 132;

    rtb_Lane_Display_Mode_2 = 185;

    rtb_Lane_Display_Mode_3 = 54;

    rtb_Lane_Display_Mode_4 = 67;

    if ((Rte_IRead_highway_lane_assistance_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

         () == 6) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Enable_Display_DE_Enable_Display

         () == 1) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Input_Switch_DE_Input_Switch()

         == 1)) {

      highway_lane_assistance_DW.is_c1_highway_lane_assistance =

        highway_lane_assi_IN_Condition2;

      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_Condition2: */

    rtb_Lane_Display_Mode_1 = 127;

    rtb_Lane_Display_Mode_2 = 248;

    rtb_Lane_Display_Mode_3 = 186;

    rtb_Lane_Display_Mode_4 = 84;

    if ((Rte_IRead_highway_lane_assistance_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

         () == 6) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Enable_Display_DE_Enable_Display

         () == 0) &&

        (Rte_IRead_highway_lane_assistance_Step_Rp_Input_Switch_DE_Input_Switch()

         == 1)) {

      highway_lane_assistance_DW.is_c1_highway_lane_assistance =

        highway_lane_assi_IN_Condition1;

      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_Display_Unit' */

 

  /* Switch: '/Switch' incorporates:

   *  Inport: '/Highway_Input_Signal'

   *  Switch: '/Switch1'

   *  Switch: '/Switch2'

   *  Switch: '/Switch3'

   */

  tmp =

    Rte_IRead_highway_lane_assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

    ();

  if (tmp > 0) {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Highway_Display_Mode_1;

  } else {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Lane_Display_Mode_1;

  }

 

  /* End of Switch: '/Switch' */

 

  /* Outport: '/Display_Mode_1' */

  Rte_IWrite_highway_lane_assistance_Step_Pp_Display_Mode_1_DE_Display_Mode_1

    (rtb_Display_Mode_4);

 

  /* Switch: '/Switch1' */

  if (tmp > 0) {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion1'

     */

    rtb_Display_Mode_4 = 183U;

  } else {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion1'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Lane_Display_Mode_2;

  }

 

  /* Outport: '/Display_Mode_2' */

  Rte_IWrite_highway_lane_assistance_Step_Pp_Display_Mode_2_DE_Display_Mode_2

    (rtb_Display_Mode_4);

 

  /* Switch: '/Switch2' */

  if (tmp > 0) {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion2'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Highway_Display_Mode_3;

  } else {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion2'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Lane_Display_Mode_3;

  }

 

  /* Outport: '/Display_Mode_3' */

  Rte_IWrite_highway_lane_assistance_Step_Pp_Display_Mode_3_DE_Display_Mode_3

    (rtb_Display_Mode_4);

 

  /* Switch: '/Switch3' */

  if (tmp > 0) {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion3'

     */

    rtb_Display_Mode_4 = 94U;

  } else {

    /* Switch: '/Switch3' incorporates:

     *  DataTypeConversion: '/Data Type Conversion3'

     */

    rtb_Display_Mode_4 = (uint8)rtb_Lane_Display_Mode_4;

  }

 

  /* Outport: '/Display_Mode_4' */

  Rte_IWrite_highway_lane_assistance_Step_Pp_Display_Mode_4_DE_Display_Mode_4

 

    (rtb_Display_Mode_4);

}

 

/* Model initialize function */

void highway_lane_assistance_Init(void)

{

  /* (no initialization code required) */

}

 

/*

 * File trailer for generated code.

 *

 * [EOF]

 */

 Google Drive Link: https://drive.google.com/drive/folders/1VvliEMFIZGuXJStdRIcoCVJoQPdCdpz1?usp=sharing

Conclusion:

Thus, a Simulink Data Dictionary file has been created for the given signals and calibration data, an algorithm has been developed for one of the features of Highway Lane Changing Assistance, a Model Advisor report has been generated as per the ISO26262 Standards and MAAB guidelines, and a C code has been generated using the Autosar coder in Simulink.