Project 2-Highway Assistant-Lane Changing Assistant
Project 2-Highway Assistant-Lane Changing Assistant
|
# |
Requirements |
Explanations |
Maximum Marks |
|
1 |
Model |
The simulink model should be attached |
80 |
|
2 |
SLDD File |
SLDD file should be created and attached |
20 |
|
3 |
AUTOSAR DICTIONARY |
The Autosar port Mapping should be done. The image of Autosar Dictionary should be submitted along the answer |
40 |
|
4 |
Result |
The result should contain how the model is changed to Autosar compliant model. |
10 |
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.
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 |
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 |
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 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”.
Steps:
1] Make a Simulink model file as per question requirement 1,2 and 3.
2] create a subsystem name ‘Lan_Change_Assistance’
3] insert 4 inputs:
Highway_Input_Signal
Enable_Display
Input_Switch
Lane_Input_Signal
4] insert 4 Output:
Display_Mode_1
Display_Mode_2
Display_Mode_3
Display_Mode_4
4] Resolved Input signal line
5] under the subsystem ‘Lan_Change_Assistance’ create 3 subsystems. Name :
‘Highway_DisplayUnit’
‘Lane_DisplayUnit’
‘Display_ModeUnit’
6] create a Logic chart under the subsystem ‘ Highway_DisplayUnit’
7] insert a State into Logic chart and write Logic
8] in this chart create logic for condition1 and condition2
9] create Logic chart for Lane_DisplayUnit
10] write logic in state
11] Create a Display_ModeUnit switch model inside the subsystem.
12] resolve the output Display_Mode_1…3 signals.
13] Change solver setting type ‘fixed step’ solver ‘descrete’
14] Change code generation setting for AUTOSAR coder ‘autosar.tlc’
15] click ‘show prospective view ‘bottom right side and choose C coder
16] click ‘code mapping-autosar sw component’ bottom left corner for mapping
17] Click ‘configure AUTOSAR dictionary’ icon and configure XML option
18] configure S-R Interfaces for signals. Make rename i.e. SRIf_Display_Mode_1…4
19] all the Data element in S-R interfaces rename i.e. DE_Highway_Input_Signal
20] all signal in the Receiver Ports must rename Rp. i.e. Rp_Enable_Display and choose interface from drop down list i.e. – SRIf_Enable_Display
21] all signals in the Sender Ports must rename Pp. i.e.- Pp_Display_Mode_1 and choose interfaces from drop down list i.e.- SRIf_Display_Mode_1
22] as per the question make an event file in runnable. select ‘Lane_Change_Assistance_init’ and click on the add event in the bottom side of the menu. Select initEvent in the event type and write a event name. make event name different from the file name. i.e.- Event name: Lane_Change_Assistance_InitEvent
23] after finishing the mapping. close the window and click refresh icon in the bottom of the code mapping window. As show in the image.
24] after the refreshing all the data is update in the mapping file.
25] after check and select correct inport and outport data i.e. – Rp into DE
26] after checking all data click validate code mapping icon .as per show in image
27] Create data dictionary file by Modeling- Link to data dictionary – add new – give name for new DD.
28] create all input output signals into dictionary. As per the question select data parameters.
29] after this step open model advisor MAAB report. Check model advisor for full project and run and save report into file.
30] create a code by clicking Autosar tab and click a Quick icon for generate quick report.
31] save c code report into file. create a zip file of c code folder.
32] result of code by Quick start:
33] Generated Code Result:
/*
* File: Lane_Change_Assistance.c
*
* Code generated for Simulink model 'Lane_Change_Assistance'.
*
* Model version : 5.2
* Simulink Coder version : 9.6 (R2021b) 14-May-2021
* C/C++ source code generated on : Thu Mar 17 17:57:43 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 "Lane_Change_Assistance.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 Lane_Change_Assistance_ms(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_Lane_Change_Assist == 0U) {
rtDW.is_active_c3_Lane_Change_Assist = 1U;
rtDW.is_c3_Lane_Change_Assistance = IN_Condition_1;
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
} else if (rtDW.is_c3_Lane_Change_Assistance == IN_Condition_1) {
rtb_Highway_Display_Mode_1 = 232U;
rtb_Highway_Display_Mode_3 = 41U;
if ((Rte_IRead_Lane_Change_Assistance_ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c3_Lane_Change_Assistance = 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_Lane_Change_Assistance_ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
() == 1) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c3_Lane_Change_Assistance = 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_Lane_Change_Assist == 0U) {
rtDW.is_active_c1_Lane_Change_Assist = 1U;
rtDW.is_c1_Lane_Change_Assistance = 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_Lane_Change_Assistance == 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_Lane_Change_Assistance_ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Enable_Display_DE_Enable_Display
() == 1) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c1_Lane_Change_Assistance = 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_Lane_Change_Assistance_ms_Rp_Lane_Input_Signal_DE_Lane_Input_Signal
() == 6) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Enable_Display_DE_Enable_Display
() == 0) &&
(Rte_IRead_Lane_Change_Assistance_ms_Rp_Input_Switch_DE_Input_Switch() ==
1)) {
rtDW.is_c1_Lane_Change_Assistance = 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_Lane_Change_Assistance_ms_Rp_Highway_Input_Signal_DE_Highway_Input_Signal
();
if (tmp != 0) {
/* Outport: '<Root>/Display_Mode_1' */
Rte_IWrite_Lane_Change_Assistance_ms_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_Lane_Change_Assistance_ms_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_Lane_Change_Assistance_ms_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_Lane_Change_Assistance_ms_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_Lane_Change_Assistance_ms_Pp_Display_Mode_3_DE_Display_Mode_3
(rtb_Lane_Display_Mode_3);
}
/* Outport: '<Root>/Display_Mode_4' */
Rte_IWrite_Lane_Change_Assistance_ms_Pp_Display_Mode_4_DE_Display_Mode_4
(rtb_Lane_Display_Mode_4);
}
/* Model initialize function */
void Lane_Change_Assistance_Init(void)
{
/* (no initialization code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/