Project 2-Highway Assistant-Lane Changing Assistant
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.
1) Creating Sldd:-
Go Modelling--->Model setting--->drop down arrow--->new window pop up--->external data--->new--->save with name--->set path--->click on ok--->sldd winow open--->design data--->add signal--->and create sldd.
sldd:-
2)Create Model:-
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.
|
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 |
Requirement1 Subsystem:-
Under Requirement1 subsystem:-
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.
|
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 |
Requirement2 Subsystem:-
Under requirement2 subsystem:-
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”.
Requirement3 Subsystem:-
Under Requirement3 Subsyem:-
3)Change Configuration Settings:-
Click on Modelling tab--->click on gear icon--->new window will be pop up--->change solver setting--->click on code generation setting --->need to some changes--->as follows:
Solvers setting:-
Code generation setting:-
4) Create Autosar Dictionary:-
For creating autosar dictionary On model thir is grey small grey bar click on that--->then click on C small box--->new small dialoague box will be pop up at bottom side ---->click on that small colour box--->we wii reached at new window for creating autosar dictionary--->in that click on XML setting--->SR interface--->senderport--->recieverport--->runable--->then its all do autosar data dictionary is created.
i) Xml Setting:-
ii) S-R interface:
iii)Under data elements:-
iv) Sender ports:-
v) Receiver Ports:-
vi) Runables:
vii) Check Validation:
For need to do--->go on model tab--->click any where ---->at bottom of shows grey lines click on that--->click on C--->on right side Code mapping autosar sw component click on that---->new small window will be pop up --->click on refresh icon --->on click on right check sign --->it shows validation get error or succeed--->my validation is succeed as follows:
5) Model Advisor Report:
This model advisor report checks our model with all maab checks and mabb guidelines...for that getting report we need to do the following procedure:
Go to modelling--->Model advisor--->select by product---->uncheck it---->under that select MAAB--->click on generates reports---->the new window of report getting automaticaaly ....Model advisor report as follows:
6)Code generation:-
For generating the code --->go to Autosar page---->click on quick start--->new window will be pop up---->go to welcome click on next---->go to system click on next---->go to Output click on next--->go to Devolopment click on next---->go to word size Optimization click on next--->Generated code click on finish--->loading ---->and automatically our code will be genaerated.
Code generated window as follows:
7) Generated code:
/*
* File: Highway_project.c
*
* Code generated for Simulink model 'Highway_project'.
*
* Model version : 1.25
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Fri Feb 4 12:55:26 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 "Highway_project.h"
/* Named constants for Chart: '<S3>/Chart' */
#define IN_Condition_1 ((uint8)1U)
#define IN_Condition_2 ((uint8)2U)
/* Block signals and states (default storage) */
DW rtDW;
/* Model step function */
void Highway_project_Step(void)
{
sint32 tmp;
uint8 rtb_Highway_Display_Mode_1;
uint8 rtb_Highway_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_1;
uint8 rtb_Lane_Display_Mode_2;
uint8 rtb_Lane_Display_Mode_3;
uint8 rtb_Lane_Display_Mode_4;
/* Chart: '<S3>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Highway_Input_Signal'
* Inport: '<Root>/Input_Switch'
*/
if (rtDW.is_active_c3_Highway_project == 0U) {
rtDW.is_active_c3_Highway_project = 1U;
rtDW.is_c3_Highway_project = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (rtDW.is_c3_Highway_project == IN_Condition_1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_Highway_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_project_Step_Rp_Enable_Display_DE_Enable_Display() ==
1) && (Rte_IRead_Highway_project_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c3_Highway_project = IN_Condition_2;
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
}
} else {
/* case IN_Condition_2: */
rtb_Highway_Display_Mode_1 = 213U;
rtb_Highway_Display_Mode_3 = 9U;
if ((Rte_IRead_Highway_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Highway_project_Step_Rp_Enable_Display_DE_Enable_Display() ==
0) && (Rte_IRead_Highway_project_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c3_Highway_project = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
}
}
/* End of Chart: '<S3>/Chart' */
/* Chart: '<S4>/Chart' incorporates:
* Inport: '<Root>/Enable_Display'
* Inport: '<Root>/Input_Switch'
* Inport: '<Root>/Lane_Input_Signal'
*/
if (rtDW.is_active_c1_Highway_project == 0U) {
rtDW.is_active_c1_Highway_project = 1U;
rtDW.is_c1_Highway_project = IN_Condition_1;
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_project == IN_Condition_1) {
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_project_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_project_Step_Rp_Enable_Display_DE_Enable_Display() ==
1) && (Rte_IRead_Highway_project_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c1_Highway_project = IN_Condition_2;
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_Condition_2: */
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_project_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Highway_project_Step_Rp_Enable_Display_DE_Enable_Display() ==
0) && (Rte_IRead_Highway_project_Step_Rp_Input_Switch_DE_Input_Switch()
== 1)) {
rtDW.is_c1_Highway_project = IN_Condition_1;
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: '<S4>/Chart' */
/* Switch: '<S2>/Switch' incorporates:
* Inport: '<Root>/Highway_Input_Signal'
* Switch: '<S2>/Switch1'
* Switch: '<S2>/Switch2'
*/
tmp =
Rte_IRead_Highway_project_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp != 0) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Highway_project_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_project_Step_Pp_Display_Mode_1_DE_Display_Mode_1
(rtb_Lane_Display_Mode_1);
}
/* End of Switch: '<S2>/Switch' */
/* Outport: '<Root>/Display_Mode_2' */
Rte_IWrite_Highway_project_Step_Pp_Display_Mode_2_DE_Display_Mode_2
(rtb_Lane_Display_Mode_2);
/* Switch: '<S2>/Switch2' incorporates:
* Switch: '<S2>/Switch3'
*/
if (tmp != 0) {
/* Outport: '<Root>/Display_Mode_3' */
Rte_IWrite_Highway_project_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_project_Step_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Highway_project_Step_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void Highway_project_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
8)Conclusion:-
1.A model is Devoloped in MATLAB Simulink for implimenting a specific portion of the 'Highway Asssistance' features as per model_Based_Design(MBD)guidelines.
2.Simulink Data Dictionary (SLDD) Is created and link to model.
3.All input & Output signals used in the developed model are mapped to thier corresponding S-R interfeces in the Autosar editor.
4.model dictionary check is done for MAAB guidelines, followed by code generation using autosar code for developed the model.