Challenge

Project 2-Highway Assistant-Lane Changing Assistant

BBurhanuddin Amravatiwala4 Mar 2022

Project 2-Highway Assistant-Lane Changing Assistant

AIM:

To do the model development for Highway assistance - Lane change assistant using Simulink with AUTOSAR compliance model in AUTOSAR environment.

CONTENTS:

Lane changing assistant feature
Model development in Simulink by MBD guidelines
Creation of SLDD file
AUTOSAR component Quick start for code mapping
AUTOSAR port mapping
Code generation using AUTOSAR coder in AUTOSAR environment

Lane changing assistant feature:

Changing lanes is always risky when the vehicle in the neighbouring lane is going faster. Then there is the blind spot to consider – an area behind the car that is not visible in the external rear-view mirrors.

Lane Change Assist system alerts the driver if there are vehicles in this area or vehicles approaching rapidly from the rear. This information is extremely valuable, especially if the driver suddenly decides to change lanes.

The system is based on two radar sensors at the rear end of the vehicle which continuously monitor the areas alongside and diagonally behind the vehicle. If the system detects vehicles in the blind spot or vehicles approaching rapidly from behind, it warns the driver with an illuminated symbol in the area of the wing mirrors, for example. If the driver actuates the turn signal indicator to change lane, the system can additionally provide an acoustic and/or haptic warning to call the driver’s attention to the potential danger.

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.

Requirements:

Calibration signals and Input/Output data signals:

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

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 a 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

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 a 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

Requirement No 3:

The signal from Requirement 1 - “Highway_Display_mode” and Requirement 2 - “Lane_Display_Mode” along with one more input “High_Input_signal” are given as input to switch block and the corresponding output is “Display_Mode”

Input	Output
Highway_Display_mode_1 Lane_Display_Mode_1 High_Input_signal	Display_Mode_1
Highway_Display_mode_2 Lane_Display_Mode_2 High_Input_signal	Display_Mode_2
Highway_Display_mode_3 Lane_Display_Mode_3 High_Input_signal_3	Display_Mode_3
Highway_Display_mode_4 Lane_Display_Mode_4 High_Input_signal	Display_Mode_4

Creation of Simulink data Dictionary:

Creating the SLDD files for the given input, local and output signals as follows:

Model development in Simulink by MBD guidelines:

Requirement No 1 [Highway_DisplayUnit]:

The overall model according to the Requirement 1 created with subsystem is as follows: Here from and goto blocks are used to make the connections easy:

These inputs are further go to the chart and the chart will have the corresponding outputs are Highway_Display_mode_1, Highway_Display_mode_2, Highway_Display_mode_3, and Highway_Display_mode_4.

The logic for the requirement - Highway_Display_Unit is given in the chart as below:

The condition and the action for the requirement Highway_Display_Unit is given as:

Requirement No 2 [Lane_DisplayUnit]:

The overall model according to the Requirement 1 created with subsystem is as follows: Here from and goto blocks are used to make the connections easy:As per the requirement , the inputs are Lane_Input_signal, Enable_Display = EN_D , Input_Switch = IPS and the output is Lane_Display = LD.

These inputs are further go to the chart and the chart will have the corresponding outputs are Lane_Display_Mode_1, Lane_Display_Mode_2, Lane_Display_Mode_3 and Lane_Display_Mode_4.

The logic for the requirement - Lane_Display_Unit is given in the chart as below:

The condition and the action for the requirement Lane_Display_Unit is given as:

Requirement No 3:

The signals from the corresponding Requirement 1(Highway_Display_Unit) and requirement 2 (Lane_Display_unit) are taken into switch block and the output is given to the Display_Mode.

MAAB GUIDELINES:

MODEL ADVISOR REPORT:

After running this model, this model has to be made with AUTOSAR compliance model and have to do the AUTOSAR Port mapping followed by code generation

The configuration settings for AUTOSAR coder - system target file has to be autosar.tlc in code generation settings and solver configuration type is a fixed type.

Then the AUTOSAR component has to be selected from APPS toolbar for code mapping of AUTOSAR components to get enabled in order to do the port mapping.