Project 2-Highway Assistant-Lane Changing Assistant

AIM: Developing model for Highway Assistant supports - Lane Changing Assistance Using MATLAB-Simulink as Per MBD Guidlines.

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.

Overview: 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.

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.

Procedure:

• First Read Requirement, Design Simulink Model Accordingly.
• For First Requirement Add Chart Block to Simulink model and their Signal(Input/Output), Similally for second requirement.
• Give The Conditions Given In FlowChart and its Outputs.
• Now, for Reqirement tagging in modeling Parameters > External > Create SLDD file there.
• Goto modeling Parameters and choose Fixed Step in Solver Setting and For AutoSar settiing select Autosar.tlc
• For mapping into the Autosar Editor, Goto autosar component and add receivers and other data.
• Run the Model Advisor and finaly For code generation click on code Generation/Build.
• All the steps Given here Shown Below in details with respective Snips.

Simulink Model:

For GOTO and From signal we have tken few Tags: ED-Enable Display, IS- Input Switch, HIS-Highway_Input Signal, LDM-Lane_Display_Mode & HDM-Highway_Display_Mode.

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.

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.

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”.

Calibration and Signals list:

Input Signals:

Local Signals:

Output Signals:

Now we will make the model in compliance with the AUTOSAR. So, all the input & output signals will be mapped into the Autosar Editor. But prior to that, we will set the System target file as autosar.tlc and We will make sure that in Solver we will set the solver to Fixed-Step.

Now, In APPs Goto AutoSar Component, and select Default settings which open the Port Mapping mapping.

For Receiver Ports Adding Prifix 'RP_'

For Sender Port Adding Prifix 'Pp_'

For SR Interface of Model, We rename by Adding Prifix 'SRIf_' and For Data Element of Model renamed with Prifix 'DE_'

Finally Model was Validated.

Embedded Code Generation:

Model Advisor Report: