Project 2-Highway Assistant-Lane Changing Assistant

HIGHWAY ASSISTANT-LANE CHANGING ASSISTANT

AIM:- Model Developement of a features of Highway Assistant-Line Changing Assistant using MATLAB and simulink as per MAAB guidelines,

producing Model Advisor report as well as generating code using AUTOSAR Coder.

OBJECTIVES:-

• Model developement in MATLAB Simulink as per MAAB guideline.
• Code Gerention using AUTOSAR Coder
• creation of simulink Data Dictionary
• Mapping all the Input and Outputsignal into AUTOSAR Editor
• Generating Model Advisor Report

Highway Assistant – Lane Changing Assistant

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.

calibration and signal data list:-

Input Signals:

Local Signals:

Output Signals:

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”.

Procedure and steps:-

The first step is the creation of Simulink Data Dictionary File from the given calibration and signal data list. Then data dictionary should be link to the specified simulink model.

As per the frist requirement,the frist subsystem will have three input. They are Highway_Input_Signal,Enable_Display and Input_Switch.

The input further goes to the chart.The chart will have the output as Highway-Display_Mode_1,Highway_Display_mode_2,Highway_Display_mode_3,Highway_Display_mode4.

Inside the chart,we will implement Highway_Input_Signal,Enable_Display and Input_Switch using AND block. The output is given in the state.

Once the Stateflow logic is written,we will resolve the port for input and output.

ASs per requirement 2, we will enable the subsystem using Lane_Input_Siganal for a value of 6. Input for the block will be Input-Switch and Enable_display. Here,from and to block are usec to make connections easy and readable.

EN_D=Enable_Display, IPS=Input_Switch,HIS=Highway_Input_Signal,HD1=Highway_Display_1,HD2=Highway_Display_2,HD3=Highway_Display_3,HD4=Highway_Display_4.

These inputs will further goto chart,where the stateflow logic will be written. The output of the chart are Lane_Display_Mode_1,Lane_Dispay_mode_2,Lane_Dispay_mode_3,Lane_Dispay_mode_4.

Inside the chart, the Enable_Display and Input_Switch are used to make logic for Lane_Display output.

The main output is written inside state for Lane_Display_Mode.

The input and output signals are then resolved.

The output of the Highwa_Display_Mode and Lane_Display_Mode are providded to the switch block. That is in total 4 switch block are used.The conditional input signal is taken as Highway_Input_Signal for all the blocks

The final model from the inside can be seen like this:

The give a better look we will put all this in a sigle subsytem. for better visualization,we will mask the subsytem with the appropriate image.

Then we will make the model in compliance with the AUTOSAR,so,all the input & output signals will be mapped into the Autosar Editor.

But prir to that,we will set the system target file as autosar.tlc

We will make sure that in Solver we will set the solver to fixed-Step.

For the Reciever port of the model,that is input,we will rename the port with the prefix Rp_.

For the sender port of the model,that is output,we will rename the port with the prefix Pp_.

For the S-R Interface of the model,we will rename the port with the prefix SRlf_.

For the Data Element of the model,we will rename port with the prefix DE_.

Then the model was validated with AUTOSAR Comliance.

Once the mapping is done we will check to Model Advisor,the code was generated after successfully running it.

CODE GENERATED:-

/*

* File: Project_highway_lane_assistant.c

*

* Code generated for Simulink model 'Project_highway_lane_assistant'.

*

* Model version : 1.15

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Tue Jan 25 02:35:18 2022

*

* 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 "Project_highway_lane_assistant.h"

/* Named constants for Chart: '<S2>/Highway_Display-Mode' */

#define IN_Condition1 ((uint8)1U)

#define IN_Condition2 ((uint8)2U)

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

#define IN_Mode1 ((uint8)1U)

#define IN_Mode2 ((uint8)2U)

/* Block signals and states (default storage) */

DW rtDW;

/* Model step function */

void Project_highway_lane_assistant_Step(void)

{

sint32 rtb_Highway_Display_Mode_1;

sint32 rtb_Highway_Display_Mode_3;

sint32 rtb_Lane_Display_Mode_1;

sint32 rtb_Lane_Display_Mode_2;

sint32 rtb_Lane_Display_Mode_3;

sint32 rtb_Lane_Display_Mode_4;

sint32 tmp_0;

uint8 tmp;

/* Chart: '<S2>/Highway_Display-Mode' incorporates:

* Inport: '<Root>/Enable_Display'

* Inport: '<Root>/Highway_Input_Signal'

* Inport: '<Root>/Input_Switch'

*/

if (rtDW.is_active_c3_Project_highway_la == 0U) {

rtDW.is_active_c3_Project_highway_la = 1U;

rtDW.is_c3_Project_highway_lane_assi = IN_Condition1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else if (rtDW.is_c3_Project_highway_lane_assi == IN_Condition1) {

if ((Rte_IRead_Project_highway_lane_assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Enable_Display_DE_Enable_Display

() == 1) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c3_Project_highway_lane_assi = IN_Condition2;

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;

}

/* case IN_Condition2: */

} else if

((Rte_IRead_Project_highway_lane_assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Enable_Display_DE_Enable_Display

() == 0) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c3_Project_highway_lane_assi = IN_Condition1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else {

rtb_Highway_Display_Mode_1 = 213;

rtb_Highway_Display_Mode_3 = 9;

}

/* End of Chart: '<S2>/Highway_Display-Mode' */

/* Chart: '<S3>/Lane_display_logic' incorporates:

* Inport: '<Root>/Enable_Display'

* Inport: '<Root>/Input_Switch'

* Inport: '<Root>/Lance_Input_Signal'

*/

if (rtDW.is_active_c2_Project_highway_la == 0U) {

rtDW.is_active_c2_Project_highway_la = 1U;

rtDW.is_c2_Project_highway_lane_assi = IN_Mode1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

} else if (rtDW.is_c2_Project_highway_lane_assi == IN_Mode1) {

if ((Rte_IRead_Project_highway_lane_assistant_Step_Rp_Lance_Input_Signal_DE_Lance_Input_Signal

() == 6) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Enable_Display_DE_Enable_Display

() == 1) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c2_Project_highway_lane_assi = IN_Mode2;

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 186;

rtb_Lane_Display_Mode_4 = 84;

} else {

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

}

/* case IN_Mode2: */

} else if

((Rte_IRead_Project_highway_lane_assistant_Step_Rp_Lance_Input_Signal_DE_Lance_Input_Signal

() == 6) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Enable_Display_DE_Enable_Display

() == 0) &&

(Rte_IRead_Project_highway_lane_assistant_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c2_Project_highway_lane_assi = IN_Mode1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 67;

} else {

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 186;

rtb_Lane_Display_Mode_4 = 84;

}

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

/* Switch: '<S1>/Switch' incorporates:

* Inport: '<Root>/Highway_Input_Signal'

* Switch: '<S1>/Switch1'

* Switch: '<S1>/Switch2'

* Switch: '<S1>/Switch3'

*/

tmp_0 =

Rte_IRead_Project_highway_lane_assistant_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

();

if (tmp_0 > 0) {

tmp = (uint8)rtb_Highway_Display_Mode_1;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_1;

}

/* End of Switch: '<S1>/Switch' */

/* Outport: '<Root>/Display_Mode1' */

Rte_IWrite_Project_highway_lane_assistant_Step_Pp_Display_Mode1_DE_Display_Mode1

(tmp);

/* Switch: '<S1>/Switch1' */

if (tmp_0 > 0) {

tmp = 183U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_2;

}

/* Outport: '<Root>/Display_Mode2' */

Rte_IWrite_Project_highway_lane_assistant_Step_Pp_Display_Mode2_DE_Display_Mode2

(tmp);

/* Switch: '<S1>/Switch2' */

if (tmp_0 > 0) {

tmp = (uint8)rtb_Highway_Display_Mode_3;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_3;

}

/* Outport: '<Root>/Display_Mode3' */

Rte_IWrite_Project_highway_lane_assistant_Step_Pp_Display_Mode3_DE_Display_Mode3

(tmp);

/* Switch: '<S1>/Switch3' */

if (tmp_0 > 0) {

tmp = 94U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_4;

}

/* Outport: '<Root>/Display_Mode4' */

Rte_IWrite_Project_highway_lane_assistant_Step_Pp_Display_Mode4_DE_Display_Mode4

(tmp);

}

/* Model initialize function */

void project_highway_lane_assistant_init_1(void)

{

/* (no initialization code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

The following is the Model Advisor Report:

The generated report along with the SLDD,Model,Code generation and screenshorts,all are given in the zip file.