Project 2-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 radarbased 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.

Problem Statement:

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.

-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.

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

1)Simulink Model: 

Inside the main model:-

Requirmement 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

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

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”.

2)SLDD Creation:-
The sldd file was created by expanding the modelling in the top pane and selecting the data dictionary.The sldd file is linked to model by
selecting Link to Data Dictionary in the Modelling in the top pane.
All the input and output signals are defined in the Data dictionary.The input signals in the model are selected and in the signal properties, the
Signal name must resolve to the Simulink signal object is enabled.

3) Configuration parameters setting:
System target file is changed to autosar.tlc and solver is set Fixed step Discrete

4)Propogate the signal:-
-The following signals are selected and in the signal properties, Show propagated signals is enabled.
-As per the MBD rules, top most level of the system should consist of one subsystem with input and output signals.
-The signal name must be placed in the beginning of the signal.
-The AUTOSAR component is selected from the APPS in the top pane. And The AUTOSAR Dictionary is selected from the Code Interface
of the AUTOSAR.

5)For code mapping, go to Apps> AUTOSAR Component> click on Continue after that one pop up windows is opens and click on next >next then at the Bottom left corner shows a AUTOSAR SW Component
6)Open the AUTOSAR SW Component
7)For adding the Input runnable, output runnable, Their Interfaces & their corresponding Data elements to click on Configure AUTOSAR Dictionary and add the data with their Prefix
8)Click on the XML option select the option which is given in snap and tick on the Internal DataConstraints Export the apply

 

9)Select the option S -R Interfaces and Add the sender receiver interfaces with their prefix i.e SRIf_

 

10)Select the option S -R Interfaces > DAta Elements and Add the Data elements with theai prefix i.e DE_

11)Select the option Receiver port and Add the Input runnable With their prefix i.e Rp_

12)Select the option Senders port and Add the output runnable with their prefix i.e Pp_

13)After that Run the model and it show a warning sometimes then click on refresh which is near to Configure AUTOSAR Dictionary
14)After updating the model Inport

15)After updating the model Ouport

17)Mdel Advisor Report:-
And Model advisor report has to be generated by running the Modelling Standards of ISO 26262 and Modelling Standards of MAB test.The
warning and errors must be nullified to maximum extent

 

18) Go to the AUTOSAR > Quick start >Next

 

19)When it comes to Generate code- Code Generation is done

 

20)After code generation Code generation report is generated:-

 

Conclusion:
According to MAAB requirements, a model of a feature of Highway Assistant-Lane Changing Assistant is modelled, generated a Model Advisor
Report, and generated code using AUTOSAR Coder.