Project 2-Highway Assistant-Lane Changing Assistant

AIM:

Model Development of a feature og highway Assistent-Lane Changing Assistant using MATLAB and Simulink as per Guidelines, producing Model Advisor as well as generating code using Autosar Coder.

Objective:

• Model Development in MATALB Simulink as per MAAB Guidelines.
• Code generation using Autosar Coder.
• Creation of Simulink Data Dictinoary.
• Mapping all the inport and outport signals into the Autosar Editor.
• Generating Model Advisor reoprot.

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.

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 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 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	unit8	0-255

Requirements:

Requirement_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

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.

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

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”.

Procedure and Steps:

The First step is to creat Model as per the given requirements and MAAB guidelines the below figure shows the developed model main subsystem in which it has 3 subsystem.

Simulink Data Dictinoary has been created for the given model as shown in the below picture.

Model configuration parameters has to changed in slover configuration and code generation system file as Autosar.tlc as shown in the below figure.

As per first requirement the first subsystem named with Highway display unit has 3 inputs as Highway_Input_Signal, Enable_Display, Input_Signal. And Four outputs Highway_Display_Mode_1, 2, 3 and 4, as shown in the below figure.

Inside the chart there are 2 conditions as shown in below figure.

As per Second requirement the second subsystem named with Lane_display_unit has 3 inputs as Enable_Display, Input_Signal, Lane_Input_Signal.and it has four outputs namely Lane_Display_Mode_1,2,3 and 4 as shown in the figure below.

As per third requirement the third subsystem named as display_unit has 9 inputs and in that 8 inputs are feed out from Highway_Display_Unit and Lane_Display_Unit,and other one is Enable_Display. And 4 outputs as Display_Mode_1, 2, 3 and 4. Here we made use of switch block as shown in the below figure.

Model is ready now we need pefrom the model advisor check and Autosar code generation for the model

Model advisor report has been generated by following steps first tap on the modelling and in that lefthand side on the top screen we get option if model advisor tap on that and the report had been generated. As shown in the below figure.

Now Mapping the inports and outports must be done in the Autosar editor for that we need to follow the below steps

Tap on the apps which is shown on the Simulink screen, in that we get several options in that click on the Autosar component then at bottom of the screen we get see the Autosar SW component mapping tap on the that we will get our Autoasr Editor screen as shown in the below, in that we need to fill our XML interanl packges,SR interfaces, Receiver ports and sender ports, XML file has been filled with the internal pakage as shown below.

Next SR interfaces as to be filled SR interface depends on the inputs and ouputs of our model what ever number of inputs the Sr interfaces will be double of Inputs, In our present Model we have 4 input so our SR interfaces are 8 below excel sheet shows the SR and DE.

SR interfaces and Data elements has to entred thr prifix for SR interface is SRIf and for Data elements DE, The names should be same only the prifix is different, we get + symbol by tapping on that we can add the events as shown below, SR interfaces as been filled as shown in the below figure.

Recevier and sender ports are filled by tapping on the + symbol on tapping the + we get picture as shown below.

as shown in above figure in the place of Name we need add our inports name and we need select the same name SR interface it has been filled as shown in the below figure.

Runnables are added here two events are added ashwon in below figure.

next we need to fill the our Autosar Editor withFunctions, inports and outports with repect to Data elements and runnables as shown in below figure.

Validation has be to done whether to check the enterd data is correct if errors it tells us the error and it gives the option to rectify it, if the entred data is correct it shows validation is successed as shown in the below figure.

Code is generated by clicking on the Quick start on top of the screen it is shown in the figure.

as shown above we need click on the next options as it shows on one after the other and code is generated completely as shown below.

generated Code is: