Project 2-Highway Assistant-Lane Changing Assistant

Highway Assistant – Lane Changing Assistant

Aim of the Project: -

To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm to familiarize with concepts of Autosar Software Component Development in MATLAB Environment by following the Model Based Development guidelines. This model must be developed in MATLAB Simulink per MBD guidelines.

The objective of this Project: -

• 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.

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

Sldd file created as shown below

MATLAB Model is shown below

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 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.

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

Model for Requirement 1, Highway_DisplayUnit is shown below

Inner View of Chart is shown below

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

Model for Requirement 2, Lane_DisplayUnit is shown below

The inner view of the chart is shown below

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”.

Model of Requirement3 is shown below

Code generation target file selected as autosar.tlc as shown below

The solver setting is shown below

SR Interfaces are added in the data dictionary

Receiver Port is added as shown below

SenderPort in Autosar Data dictionary is added

Selected Port and Element for Inports and Outports in code mapping table as shown below

Then by clicking the tick option in the code mapping coding is validated

Runnable is added and created timing event as shown below

Then Autosar validation started

After this validation, code is generated by selecting the generate code option

Generated code is attached

Highway_Assistant_Lane_Changing_Assistant.c

/*

* File: Highway_Assistant_Lane_Changing_Assistant.c

*

* Code generated for Simulink model 'Highway_Assistant_Lane_Changing_Assistant'.

*

* Model version : 1.2

* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019

* C/C++ source code generated on : Wed Dec 15 19:15:49 2021

*

* 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 "Highway_Assistant_Lane_Changing_Assistant_private.h"

/* Named constants for Chart: '<S2>/Chart1' */

#define Highway_Assista_IN_ConditionNo1 ((uint8)1U)

#define Highway_Assista_IN_ConditionNo2 ((uint8)2U)

/* Named constants for Chart: '<S3>/Chart1' */

#define Highway_Assista_IN_ConditionOne ((uint8)1U)

#define Highway_Assista_IN_ConditionTwo ((uint8)2U)

/* Block signals (default storage) */

B_Highway_Assistant_Lane_Chan_T Highway_Assistant_Lane_Changi_B;

/* Block states (default storage) */

DW_Highway_Assistant_Lane_Cha_T Highway_Assistant_Lane_Chang_DW;

/* Model step function */

void Highway_Assistant_Lane_Changing_Assistant_step(void)

{

sint32 rtb_Highway_Display_Mode_1;

sint32 rtb_Highway_Display_Mode_3;

float64 tmp;

float64 tmp_0;

/* Chart: '<S2>/Chart1' incorporates:

* Inport: '<Root>/Enable_Display'

* Inport: '<Root>/Highway_Input_Signal'

* Inport: '<Root>/Input_Switch'

*/

if (Highway_Assistant_Lane_Chang_DW.is_active_c2_Highway_Assistant_ == 0U) {

Highway_Assistant_Lane_Chang_DW.is_active_c2_Highway_Assistant_ = 1U;

Highway_Assistant_Lane_Chang_DW.is_c2_Highway_Assistant_Lane_Ch =

Highway_Assista_IN_ConditionNo1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else if (Highway_Assistant_Lane_Chang_DW.is_c2_Highway_Assistant_Lane_Ch ==

Highway_Assista_IN_ConditionNo1) {

if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1.0) &&

(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_step_Rp_Enable_Display_DE_Enable_Display

() == 0.0) &&

(Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_step_Rp_Input_Switch_DE_Input_Switch

() == 1.0)) {

Highway_Assistant_Lane_Chang_DW.is_c2_Highway_Assistant_Lane_Ch =

Highway_Assista_IN_ConditionNo2;

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;

}

} else {

/* case IN_ConditionNo2: */

if ((Rte_IRead_Highway_Assistant_Lane_Changing_Assistant_step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1.0) &&

Conclusion:- MATLAB Model is created and code generation is completed

Drive file link

https://drive.google.com/open?id=1SeJurc7W9Hi9rPN1krUM--XN7X9PcKXk&authuser=dijianand%40gmail.com&usp=drive_fs