Project 2-Highway Assistant-Lane Changing Assistant

Aim: Create Simulink model for Highway Assistance (Lane Changing Assistance).

Objectives:

• This 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.

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.

Simulink Model:

The above figure shows the Highway Assistance Simulink model as per the MBD guidelines. For these models four input and four output, and its build as per the three requirements. Inside of this subsystem is shown in the figure below.

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.

When Highway_Input_Signal = 1, Enable_Display = off and Input_Switch = on then display Highway_Display_Mode_1 = 232, Highway_Display_Mode_2 = 183, Highway_Display_Mode_3 = 41, Highway_Display_Mode_4 = 94. Similarly When Highway_Input_Signal = 1, Enable_Display = on and Input_Switch = on then display 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.

When Lane_Input_Signal = 6, Enable_Display = off, Input_Switch = on then display Lane_Display_Mode_1 = 132, Lane_Display_Mode_2 = 185, Lane_Display_Mode_3 = 54 and Lane_Display_Mode_4 = 67. Similarly When Lane_Input_Signal = 6, Enable_Display = on, Input_Switch = on then display Lane_Display_Mode_1 = 127, Lane_Display_Mode_2 = 248, Lane_Display_Mode_3 = 186 and Lane_Display_Mode_4 = 84.

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”.

Simulink Data Dictionary:

In the simulink data dictionary all input, output and localised signal is assigned with its properties. And link the simulink data dictionary link to these simulink models.

Model Advisor Check:

After resolving and propagating the all signal I checked the model advisor check with MAAB guidelines. After running a model advisor check I resolve warnings which are possible.

Autosar Port Mapping:

For autosar port mapping we need to assign receiver port, sender port, runnable, S-R Interface and XML option. This all parameters defined in Autosar Dictionary.

Receiver Port:

Sender Port:

Runnable:

S-R Interfaces:

XML Option:

Code Mapping (Autosar Software Component):

After defining all parameters in the Autosar Dictionary we shoud assign Function, inports and outports in Code Mapping Autosar Software Component.

Code Generation:

For Autosar code generation we need to change model configuration parameters. The solver type is Fixed Step and Solver is discrete (no continuous signal). Also Autosar coder system target file must be Autosar.tlc. After changing all model configuration settings start code generation by using the quick start option in the Autosar tab.

Code:

/*
 * File: Highway_Assistance.c
 *
 * Code generated for Simulink model 'Highway_Assistance'.
 *
 * Model version                  : 1.14
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Mon Dec 27 19:32:54 2021
 *
 * Target selection: autosar.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives:
 *    1. Execution efficiency
 *    2. RAM efficiency
 * Validation result: Not run
 */

#include "Highway_Assistance.h"

/* Named constants for Chart: '<S2>/Highway_DisplayUnit' */
#define IN_A                           ((uint8)1U)
#define IN_B                           ((uint8)2U)

/* Named constants for Chart: '<S3>/Lane_DisplayUnit' */
#define IN_C                           ((uint8)1U)
#define IN_D                           ((uint8)2U)

/* Block signals and states (default storage) */
DW rtDW;

/* Model step function */
void Highway_Assistance_Step(void)
{
  uint8 rtb_Highway_Display_Mode_1;
  uint8 rtb_Lane_Display_Mode_1;
  uint8 rtb_Lane_Display_Mode_2;
  uint8 rtb_Highway_Display_Mode_3;
  uint8 rtb_Lane_Display_Mode_3;
  uint8 rtb_Lane_Display_Mode_4;
  sint32 tmp;

  /* Chart: '<S2>/Highway_DisplayUnit' incorporates:
   *  Inport: '<Root>/Enable_Display'
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Inport: '<Root>/Input_Switch'
   */
  if (rtDW.is_active_c3_Highway_Assistance == 0U) {
    rtDW.is_active_c3_Highway_Assistance = 1U;
    rtDW.is_c3_Highway_Assistance = IN_A;
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
  } else if (rtDW.is_c3_Highway_Assistance == IN_A) {
    rtb_Highway_Display_Mode_1 = 232U;
    rtb_Highway_Display_Mode_3 = 41U;
    if ((Rte_IRead_Highway_Assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Enable_Display_DE_Enable_Display()
         == 1) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1)) {
      rtDW.is_c3_Highway_Assistance = IN_B;
      rtb_Highway_Display_Mode_1 = 213U;
      rtb_Highway_Display_Mode_3 = 9U;
    }
  } else {
    /* case IN_B: */
    rtb_Highway_Display_Mode_1 = 213U;
    rtb_Highway_Display_Mode_3 = 9U;
    if ((Rte_IRead_Highway_Assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
         () == 1) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Enable_Display_DE_Enable_Display()
         == 0) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1)) {
      rtDW.is_c3_Highway_Assistance = IN_A;
      rtb_Highway_Display_Mode_1 = 232U;
      rtb_Highway_Display_Mode_3 = 41U;
    }
  }

  /* End of Chart: '<S2>/Highway_DisplayUnit' */

  /* Chart: '<S3>/Lane_DisplayUnit' incorporates:
   *  Inport: '<Root>/Enable_Display'
   *  Inport: '<Root>/Input_Switch'
   *  Inport: '<Root>/Lane_Input_Signal'
   */
  if (rtDW.is_active_c1_Highway_Assistance == 0U) {
    rtDW.is_active_c1_Highway_Assistance = 1U;
    rtDW.is_c1_Highway_Assistance = IN_C;
    rtb_Lane_Display_Mode_1 = 132U;
    rtb_Lane_Display_Mode_2 = 185U;
    rtb_Lane_Display_Mode_3 = 54U;
    rtb_Lane_Display_Mode_4 = 67U;
  } else if (rtDW.is_c1_Highway_Assistance == IN_C) {
    rtb_Lane_Display_Mode_1 = 132U;
    rtb_Lane_Display_Mode_2 = 185U;
    rtb_Lane_Display_Mode_3 = 54U;
    rtb_Lane_Display_Mode_4 = 67U;
    if ((Rte_IRead_Highway_Assistance_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
         () == 6) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Enable_Display_DE_Enable_Display()
         == 1) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1)) {
      rtDW.is_c1_Highway_Assistance = IN_D;
      rtb_Lane_Display_Mode_1 = 127U;
      rtb_Lane_Display_Mode_2 = 248U;
      rtb_Lane_Display_Mode_3 = 186U;
      rtb_Lane_Display_Mode_4 = 84U;
    }
  } else {
    /* case IN_D: */
    rtb_Lane_Display_Mode_1 = 127U;
    rtb_Lane_Display_Mode_2 = 248U;
    rtb_Lane_Display_Mode_3 = 186U;
    rtb_Lane_Display_Mode_4 = 84U;
    if ((Rte_IRead_Highway_Assistance_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
         () == 6) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Enable_Display_DE_Enable_Display()
         == 0) &&
        (Rte_IRead_Highway_Assistance_Step_Rp_Input_Switch_DE_Input_Switch() ==
         1)) {
      rtDW.is_c1_Highway_Assistance = IN_C;
      rtb_Lane_Display_Mode_1 = 132U;
      rtb_Lane_Display_Mode_2 = 185U;
      rtb_Lane_Display_Mode_3 = 54U;
      rtb_Lane_Display_Mode_4 = 67U;
    }
  }

  /* End of Chart: '<S3>/Lane_DisplayUnit' */

  /* Switch: '<S4>/Switch' incorporates:
   *  Inport: '<Root>/Highway_Input_Signal'
   *  Switch: '<S4>/Switch1'
   *  Switch: '<S4>/Switch4'
   */
  tmp =
    Rte_IRead_Highway_Assistance_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
    ();
  if (tmp != 0) {
    /* Outport: '<Root>/Display_Mode_1' */
    Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (rtb_Highway_Display_Mode_1);
    rtb_Lane_Display_Mode_2 = 183U;
  } else {
    /* Outport: '<Root>/Display_Mode_1' */
    Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_1_DE_Display_Mode_1
      (rtb_Lane_Display_Mode_1);
  }

  /* End of Switch: '<S4>/Switch' */

  /* Outport: '<Root>/Display_Mode_2' */
  Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_2_DE_Display_Mode_2
    (rtb_Lane_Display_Mode_2);

  /* Switch: '<S4>/Switch4' incorporates:
   *  Switch: '<S4>/Switch2'
   */
  if (tmp != 0) {
    /* Outport: '<Root>/Display_Mode_3' */
    Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_3_DE_Display_Mode_3
      (rtb_Highway_Display_Mode_3);
    rtb_Lane_Display_Mode_4 = 94U;
  } else {
    /* Outport: '<Root>/Display_Mode_3' */
    Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_3_DE_Display_Mode_3
      (rtb_Lane_Display_Mode_3);
  }

  /* Outport: '<Root>/Display_Mode_4' */
  Rte_IWrite_Highway_Assistance_Step_Pp_Display_Mode_4_DE_Display_Mode_4
    (rtb_Lane_Display_Mode_4);
}

/* Model initialize function */
void Highway_Assistance_Init(void)
{
  /* (no initialization code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */