Project 2-Highway Assistant-Lane Changing Assistant

Highway Assistant – Lane Changing Assistant

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.

Objectives:

• 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.

A lane keeping assist system assists drivers in avoiding moving out of their lane inadvertently. There is a distinction between systems that do not provide steering assistance ("Lane departure warning") and systems that do provide steering assistance ("Active lane keeping assist").

Function:

Lane keeping assist systems use a small video camera mounted behind the windscreen to detect and compare lane markings in front of the vehicle to the vehicle's position in the lane. The system assesses contrast differences between the road surface and lane markings. If the system detects that a predefined minimum distance from the lane marking is not being maintained, it activates.

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 with the intention of changing lanes, the system issues an additional acoustic and/or haptic warning.

Input Signals:

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 Signals:

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 Signals:

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

We have to insert the input signals in the data dictionary so the proceder is:

we have to click on the link to dtata dictionary then

then click on the new and add the new sldd file

then

added all the signals in the data dictionary

There are three requirments are there

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

so we added the input and output as specified in the requirement 1 so inside the chart we have to give the conditions

and then we have to mentions the inpiut and the outputs

by this we completed the requirement 1 as specified three input and four output as mentioned.

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

if lane input equals to 6 the subsystem has to work so we use the enable subsystem here

we added the condition in the chart as mentioned in the requirement 2

and added the input and outputs

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 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”.

as mentioned in the requirement 3 we added the switch block

Main system

Highway_Display unit

Lane_Display unit

The model advisory report'

for that we have to click on the model advisor

we checked the maab guidelines and the report ids

So we have to generate the code for that we have to change the configuration to autostar.tlc

then open the apps then click on the embedded codder

thern clci kon the grenerate code

Generated code

code generator report

• All the input & output signals must be mapped into the Autosar Editor.

for that we have to check the configuration code generation in autostar.tlc

then click on the

tne there will be a shown in bottom'

click on that then

Then we can open the autostar dictionary

add the Rp_ in the receiver port signals

add the Pp_ in the sender port signals

add the SRIf_ in the S-R interface

in the data elements we have to add the DE_

we mapped the inport and outports

inport

outport

Conclusion :

Developed a model of Highway Assistant – Lane Changing Assistant algorithm using MATLAB- SIMULINK, model developed as per the mbd guidelines, the code genreation did in autostar, the data dictionary is linked to the model ,all input and output mapped into the autosatr editor, and also did the model advisor report.