Project 2-Highway Assistant-Lane Changing Assistant

Aim OF Project:

Increasing traffic on highways leads to more dangerous situations during lane changes. We propose a system which helps the driver avoiding some of these critical situations. The Highway Lane Change Assistant monitors the area behind and beside the own vehicle by vision and radar sensors. If a dangerous object is detected in the neighbouring lane, a warning is issued on a lane change. The system was tested by different drivers in different vehicles on German highways and showed reasonable, accepted warnings.

To develop an algorithm for one of the feature of Highway Lane Change Assistant create a Simulink model with sldd and develop model advisory check according to MAB guideline .create proper AUTOSAR mapping and AUTOSAR code generation.

Objective of the project:

• 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.

Development of the model for Highway Lane change Assistant

To develop one specific requirement of Highway Assistant – Lane Changing Assistant algorithm. Please note that the whole Highway Assistant – Lane Changing Assistant is a very huge algorithm & only one small part of the logic is implemented here. Idea is to familiarize with concepts of Autosar Software Component Development in MATLAB Environment by following the Model Based Development guidelines. The Project must be done keeping in mind the following processes & steps.

Input Signals:

Name of the Signal	Data Type	Range
Highway_Input_Signal	uint8	0 - 255
Enable_Display	uint8	0 – 255
Input_Switch	uint8	0 – 255
Lane_Input_Signal	uint8	0 - 255

Local Signals:

Name of the Signal	Data Type	Range
Highway_Display_Mode_1	uint8	0 - 255
Highway_Display_Mode_2	uint8	0 – 255
Highway_Display_Mode_3	uint8	0 – 255
Highway_Display_Mode_4	uint8	0 – 255
Lane_Display_Mode_1	uint8	0 – 255
Lane_Display_Mode_2	uint8	0 – 255
Lane_Display_Mode_3	uint8	0 – 255
Lane_Display_Mode_4	uint8	0 – 255

Output Signals:

Name of the Signal	Data Type	Range
Display_Mode_1	uint8	0 - 255
Display_Mode_2	uint8	0 – 255
Display_Mode_3	uint8	0 – 255
Display_Mode_4	uint8	0 - 255

• This the main subsystem of the model .inside this subsystem have three subsystem, Highway_DisplayUnit , Lane_DisplayUnit and DisplayUnit.

Fig 1: Main subsystem of this 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

Fig 2: Highway_DisplayUnit(Requirement 1)

Inside this subsystem have stateflow chart. All the input and output signal design according to Requirement 1 condition .

Fig 3: Stateflow chart of Highway_DisplayUnit(Requirement 1)

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

Fig 4: Lane_DisplayUnit(Requirement 2)

Inside this subsystem have stateflow chart. All the input and output signal design according to Requirement 1 condition .

Fig 5: Stateflow Chart OF Lane_DisplayUnit(Requirement 2)

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”.

Fig 6: Subsystem of Requiremnet 3(DisplayUnit)

Fig 7: Inside the Subsystem(Requirement 3)

Fig 8: Following figure shows whole model created for the Highway Lane Changing Assistant with all input output signal.

Simulink Data Dictionary (SLDD) file:

A Simulink Data Dictionary (SLDD) file is made which contains all the input, output, localisable signals and calibration values used in the model.

Steps to create SLDD:

• Under Modeling tab in Simulink, select the option ‘Link to Data Dictionary’ . The file name for the SLDD is specified and a new SLDD is created.

Fig 8: Simulink Data Dictionary (SLDD) creation

Fig 9: SLDD Design Data for Simulink model

Solver and Code generation settings:

The solver type is chosen as ‘Fixed Step’ with ‘Discrete (No Continuous States)’. The fixed step size (sample time) for the solver is specified as AUTO.

Fig 10: Solver settings under Model Configuration Parameters

• For code generation, the system target file is chosen as ‘AUTOSAR.tlc’

Fig 11: Code generation settings under Model Configuration parameters

Model Advisor Check:

A model advisor check is performed to check that there are no errors in model design and the model conforms to the ‘Mathworks Automotive Advisory Board’ (MAAB) guidelines.

Fig 12: Model Advisor Report (MAAB) guidelines check.

AUTOSAR Port Mapping and Code Generation:

Code generation setting change to autosar.tlc. this is compatible code generation setting for autosar. First browse system target file and choose the autosar.tlc .

Fig 13: Code Generation setting Target file autosar.tlc

After code generation setting go to right side of bottom corner and click on ‘code’ enter perspective.

Fig 14: Autosar code mapping component file.

Then left side bottom corner have showing code mapping-AUTOSAR sw component ,click on this option.

Fig 15

Then click on and configure AUTOSAR dictionary.

Fig 16: Configure the AUTOSAR dictionary folder.

After configuring Autosar dictionary folder , then open XML options file and then fill edit XML option source.

Fig 17: XML option file.

Then go to s-r interfaces and change the interface inport , outport name according to question. Input runnable must prefix Rp_, output runnable must prefix Pp_. Their Interfaces must prefix SRIf_ & their corresponding Data elements must prefix DE_.

Fig 18: S-R interfaces.

Fig 19: Changing Data Elements DE_ (EX. DE_Input_A)

Then open the receiver port and change the receiver port name according question .receiver port name Rp_Input.

Fig 20: Receiver port in AUTOSAR dictionary file.

Also change the sender port name according question .sender port name is Pp_Output.

Fig 21: Sender port in AUTOSAR dictionary file.

Then click on refresh code mapping.

Fig 22: Refresh code mapping.

Fig 23: output and input data of code mapping.

Then click on validated code mapping sign.

Fig 24: Validated code mapping sign.

Fig 25: AUTOSAR CODE Mapping Validation check.

AUTOSAR Generated Code(AUTOSAR Codder):

/*

* File: AUTOSAR_Project_2.c

*

* Code generated for Simulink model 'AUTOSAR_Project_2'.

*

* Model version : 1.13

* Simulink Coder version : 9.6 (R2021b) 14-May-2021

* C/C++ source code generated on : Sun Feb 27 00:00:38 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 "AUTOSAR_Project_2.h"

/* Named constants for Chart: '/Highway_DisplayUnit' */

#define IN_Condition_1 ((uint8)1U)

#define IN_Condition_2 ((uint8)2U)

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

DW rtDW;

/* Model step function */

void AUTOSAR_Project_2_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: '/Highway_DisplayUnit' incorporates:

* Inport: '/Enable_Display'

* Inport: '/Highway_Input_Signal'

* Inport: '/Input_Switch'

*/

if (rtDW.is_active_c3_AUTOSAR_Project_2 == 0U) {

rtDW.is_active_c3_AUTOSAR_Project_2 = 1U;

rtDW.is_c3_AUTOSAR_Project_2 = IN_Condition_1;

rtb_Highway_Display_Mode_1 = 232;

rtb_Highway_Display_Mode_3 = 41;

} else if (rtDW.is_c3_AUTOSAR_Project_2 == IN_Condition_1) {

if ((Rte_IRead_AUTOSAR_Project_2_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_AUTOSAR_Project_2_Step_Rp_Enable_Display_DE_Enable_Display() ==

1) && (Rte_IRead_AUTOSAR_Project_2_Step_Rp_Input_Switch_DE_Input_Switch

() == 1)) {

rtDW.is_c3_AUTOSAR_Project_2 = IN_Condition_2;

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_Condition_2: */

} else if

((Rte_IRead_AUTOSAR_Project_2_Step_Rp_Highway_Input_Signal_DE_Highway_Input_Signal

() == 1) &&

(Rte_IRead_AUTOSAR_Project_2_Step_Rp_Enable_Display_DE_Enable_Display() ==

0) && (Rte_IRead_AUTOSAR_Project_2_Step_Rp_Input_Switch_DE_Input_Switch()

== 1)) {

rtDW.is_c3_AUTOSAR_Project_2 = IN_Condition_1;

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: '/Highway_DisplayUnit' */

/* Chart: '/Lane_DisplayUnit' incorporates:

* Inport: '/Enable_Display'

* Inport: '/Input_Switch'

* Inport: '/Lane_Input_Signal'

*/

if (rtDW.is_active_c1_AUTOSAR_Project_2 == 0U) {

rtDW.is_active_c1_AUTOSAR_Project_2 = 1U;

rtDW.is_c1_AUTOSAR_Project_2 = IN_Condition_1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 57;

} else if (rtDW.is_c1_AUTOSAR_Project_2 == IN_Condition_1) {

if ((Rte_IRead_AUTOSAR_Project_2_Step_Rp_Enable_Display_DE_Enable_Display() ==

6) && (Rte_IRead_AUTOSAR_Project_2_Step_Rp_Input_Switch_DE_Input_Switch

() == 1) &&

(Rte_IRead_AUTOSAR_Project_2_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

() == 1)) {

rtDW.is_c1_AUTOSAR_Project_2 = IN_Condition_2;

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 166;

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 = 57;

}

/* case IN_Condition_2: */

} else if

((Rte_IRead_AUTOSAR_Project_2_Step_Rp_Enable_Display_DE_Enable_Display() ==

6) && (Rte_IRead_AUTOSAR_Project_2_Step_Rp_Input_Switch_DE_Input_Switch()

== 0) &&

(Rte_IRead_AUTOSAR_Project_2_Step_Rp_Lane_Input_Signal_DE_Lane_Input_Signal

() == 1)) {

rtDW.is_c1_AUTOSAR_Project_2 = IN_Condition_1;

rtb_Lane_Display_Mode_1 = 132;

rtb_Lane_Display_Mode_2 = 185;

rtb_Lane_Display_Mode_3 = 54;

rtb_Lane_Display_Mode_4 = 57;

} else {

rtb_Lane_Display_Mode_1 = 127;

rtb_Lane_Display_Mode_2 = 248;

rtb_Lane_Display_Mode_3 = 166;

rtb_Lane_Display_Mode_4 = 84;

}

/* End of Chart: '/Lane_DisplayUnit' */

/* Switch: '/Switch' incorporates:

* Inport: '/Highway_Input_Signal'

* Switch: '/Switch1'

* Switch: '/Switch2'

* Switch: '/Switch3'

*/

tmp_0 =

Rte_IRead_AUTOSAR_Project_2_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: '/Switch' */

/* Outport: '/Display_Mode_1' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_1_DE_Display_Mode_1(tmp);

/* Switch: '/Switch1' */

if (tmp_0 != 0) {

tmp = 183U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_2;

}

/* Outport: '/Display_Mode_2' */

Rte_IWIWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_2_DE_Display_Mode_2(tmp);

/* Switch: '/Switch2' */
if (tmp_0 != 0) {

tmp = 94U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_4;

}

/* End of Chart: '<S4>/Lane_DisplayUnit' */

/* Switch: '<S2>/Switch' incorporates:

* Inport: '<Root>/Highway_Input_Signal'

* Switch: '<S2>/Switch1'

* Switch: '<S2>/Switch2'

* Switch: '<S2>/Switch3'

*/

tmp_0 =

Rte_IRead_AUTOSAR_Project_2_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: '<S2>/Switch' */

/* Outport: '<Root>/Display_Mode_1' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_1_DE_Display_Mode_1(tmp);

/* Switch: '<S2>/Switch1' */

if (tmp_0 != 0) {

tmp = 183U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_2;

}

/* Outport: '<Root>/Display_Mode_2' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_2_DE_Display_Mode_2(tmp);

/* Switch: '<S2>/Switch2' */

if (tmp_0 != 0) {

tmp = (uint8)rtb_Highway_Display_Mode_3;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_3;

}

/* Outport: '<Root>/Display_Mode_3' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_3_DE_Display_Mode_3(tmp);

/* Switch: '<S2>/Switch3' */

if (tmp_0 != 0) {

tmp = 94U;

} else {

tmp = (uint8)rtb_Lane_Display_Mode_4;

}

/* Outport: '<Root>/Display_Mode_4' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_4_DE_Display_Mode_4(tmp);

}

/* Model initialize function */

void AUTOSAR_Project_2_Init(void)

{

/* (no initialization code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

/* Outport: '/Display_Mode_4' */

Rte_IWrite_AUTOSAR_Project_2_Step_Pp_Display_Mode_4_DE_Display_Mode_4(tmp);

}

/* Model initialize function */

void AUTOSAR_Project_2_Init(void)

{

/* (no initialization code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

Conclusion:

Thus a Simulink data dictionary file has been created for the given signal and calibration data, an algorithim has been developed for one of the feature of Highway lane changing assistances a model Advisor report has been generated as per ISO26262 standareds ,and MAAB guideline using AUTOSAR Codder in Simulink.