Project 2-Highway Assistant-Lane Changing Assistant

Aim: To develope MBD compliened of Highway Assistant-Lane Changing Assistant ADAS feature using Matlab and simulink.

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.

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

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

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

Procedure:

Since we have all the input, output signals & calibration values are made availabe, so first step is to crate a simulink data dictionary.

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 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.

One sub-system has to be made having above mentioned 3 inputs and 4 outputs.

And the required logic must be implement in the form of Stateflow

Logic inside the Stateflow chart:

And port mapping to be done to singnal input and output to and from state chart.

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 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.

So as per the requirement another sub-system is made.

And the required logic is implement in the form of Stateflow

Logic inside the Stateflow chart:

And port mapping to be done to singnal input and output to and from state chart.

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”.

So as per the requirement output from the HIghway Display Unit and Lane Display Unit is connected to the switch block.

For connection between output of Highway Display Unit, Lane Dispay unit switch blocks, From and GOTO blocks are are used.

At last signal propogation and signal resolution is done.

The next step is to make the model compliened with AUTOSAR arcchitecture. For that first of all system traget file has to be set to autosar.tlc

Then Autosa dictionary has to be created in which Sender, Receiver and S-R Interface has to be defined.

All the receriver ports (inputs) start with a prefix Rp

All the sender ports (outputs) start with a prefix Pp

All the S-R interfaces start with a prefix SRIF

Afer that Inports and outports mapping has to be done.

Once the ports mapping is done then the final task is to run the Model Advisor report and generate the code.