Project 2-Highway Assistant-Lane Changing Assistant
Aim:
Model Development of a feature of Highway Assistant-Lane Changing Assistant using MATLAB and Simulink as per MAA ges producing Model Advisor Report as well as generating Code using AUTOSAR Coder.
Objective:
- Model Development in MATLAB Simulink as per MAAB guidelines.
- Code Generation using Autosar Coder.
- Creation of Simulink Data Dictionary.
- Mapping all the input & output signals into the 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 diving situations on highways The partially automated function can automatically start, accelerate brake as well as sheer the vehicle to acetan 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 à 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 ther 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 to change lanes, the system issues an additional acoustic and/or haptic warning.
Calibration and Signal Data List:
Input Signals:
Condition Action
Highway_Input Signal - 1 Highway_Display Mode_1-232
Enable Display off Highway Display_Mode_2-183
Input Switch on Highway Display Mode_3=41
Highway Display Mode_4-94
Highway Input Signal -1 Highway_Display Mode 1-213
Enable Display on Highway_Display_Mode_2=183
Input Switch on Highway Display_Mode_3=9
Highway Display_Mode_4=94
Requirement No.- 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 a specific value. The output signals are "Lane Display_Mode_1"Lane Display Mode "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 Lane_Display_Mode_1-132
Enable Display = off Lane Display_Mode_2 = 185
Input Switch on Lane Display_Mode_3 = 54
Lane Display_Mode_4=67
Lane_Input_Signal= 6 Lane Display Mode 1-127
Enable Display = on Lane Display_Mode_2 = 248
Input Switch =on Lane Display_Mode_3 = 186
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. The corresponding output from this particular switch block is the 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. The corresponding output from this particular switch block is the 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. The corresponding output from this particular switch block is the 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. The corresponding output from this particular switch block is the output signal "Display_Mode_4".
Procedure and Steps:
The first step is the creation of the Simulink Data Dictionary File from the given calibration and signal data list. Then data dictionary should be linked to the specified simulink model.
As per the first requirement, the first subsystem will have three inputs. 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, and Highway Display Mode_4
Inside the chart, we will implement Highway_Input Signal, Enable Display, and Input Switch using AND blocks. The output given in a state.
As per requirement 2, we will enable the subsystem using Lane_Input_Signal for a value of 6. Input for the block will be Input Switch and Enable display. Here, from and to blocks are used to make connections easy and readable.
EN_D=Enable Display, IPS= Input_Switch, HIS=Highway_Input_Signal, HD1= Highway_Display_1 HD4- Highway Display_4 LD1-Lane Display_1....., LD4= Lane Display_4.
These inputs will further go to Chart, where the Stateflow logic will be written. The output of the chart are
Lane Display Mode_1, Lane_Display_Mode_2, Lane Display Mode 3. Lane_Display_Model_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 the State for Lane Display Mode.
The output of the Highway Display_Mode and Lane Display Mode are provided to the Switch block. That is in total 4 switch blocks 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
To give a better look we will put all this in a single subsystem. For better understanding snap is given below:
Then we will make the model in compliance with the AUTOSAR So, all the input & cutput signals will be mapped in the Autosar editor.
But prior to that, we will set the Systemy target file as autosar.tlc
We will make sure that in Solver we will set the solver to Fixed-Step.
Then under App we will select the AUTOSAR component
This will open Code Mapping- AUTOSAR SW Component
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 interfaces of the model, we will rename the port with the prefix SRIL.
For the Data Elements of the model, we will rename the port with the prefix DE.
Then the model was validated with AUTOSAR Compliance.
Once the mapping is done we will check for Model Advisor, the code was generated after successfully running it.
Code Generation report snap:
