Challenge

Project 2 Adaptive Cruise Control

BBhavesh Dalvi4 Mar 2022

Main Project –

Adaptive Cruise Control (ACC)

AIM:-

Development of a MATLAB Simulink Model for Adaptive Cruise Control feature as per the requirement document following Model-Based Development (MBD) related processes: SLDD creation, configuration parameter changes, Model advisor check, and code generation using embedded coder tool.

OBJECTIVE:-

Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
Follow all the MBD-related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
Use Embedded Coder to generate the code.
If choosing code generation, Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
Choose sample time for all signals as 0.01s

OVERVIEW:-

Adaptive Cruise Control Feature for passenger cars allows the host vehicle to adapt to the speed in line with the flow of traffic. Driving in heavy traffic or keeping a safe distance to the preceding vehicle calls for a high level of concentration. The Adaptive Cruise Control feature can reduce the stress on the driver by automatically controlling the vehicle speed & maintaining a predefined minimum distance to the preceding vehicle. As a consequence, the driver enjoys more comfort & can concentrate on the road a little better.

A radar sensor is usually at the core of the Adaptive Cruise Control. Installed at the front of the vehicle, the system permanently monitors the road ahead. As long as the road ahead is clear, the cruise control feature maintains the speed set by the driver. If the system spots a slower vehicle within its detection range, it gently reduces speed by releasing the accelerator or actively engaging the brake control system. If the vehicle ahead speeds up or changes lanes, the cruise control automatically accelerates to the driver’s desired speed.

Standard Adaptive Cruise Control can be activated from speeds of around 30 km/h (20 mph) upwards and supports the driver, primarily on cross-country journeys or on freeways. The cruise control stops & go variant is also active at speeds below 30 km/h (20 mph). It can maintain the set distance to the preceding vehicle even at very low speeds and can decelerate to a complete standstill. When the vehicle remains stopped longer, the driver needs only to reactivate the system, for example by briefly stepping on the gas pedal to return to cruise control mode. In this way, cruise control stops & goes supports the driver even in heavy traffic and traffic jams.

Since Adaptive Cruise Control is a comfort and convenience system, brake interventions and vehicle acceleration only take place within defined limits. Even with Adaptive Cruise Control switched on, it remains the driver’s responsibility to monitor the speed and distance from the vehicle in front.

Requirement 1– Lead Vehicle:

A lead vehicle is a vehicle that is driving in the road ahead of our drive vehicle. Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).
Ideally, sensor fusion techniques will be deployed to process & analyze data from cameras & radar. For complexity reasons, let’s not adapt to any such algorithms.
We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed).
Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.

Requirement 2 – Drive Vehicle:

Drive Vehicle is the vehicle driven by the user & this is the vehicle that has ACC algorithm in it.
Like the Lead Vehicle, the Drive Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.
Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.
Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
Signal DriveVehicle_Speedis summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

Requirement 3 – Adaptive Cruise Control Algorithm:

Adaptive Cruise Control feature has 3 major modes of operation: OFF Mode, STANDBY Mode & ON Mode. This particular requirement has to be implemented as state machine logic in Simulink.
The input signals to this state machine system are (Signal Name: Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch).
Also, the output signals (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected) from requirement-2 are fed back as an input signal into this state machine block.
Additionally, the output signal (Signal Name: LeadVehicle_Speed) from requirement-1 is given as an input signal to this state machine block as well.
Output from this subsystem is a signal (Signal Name: Acceleration_Mode) that governs the vehicular speed of the drive vehicle which automatically adjusts its speed & velocity to match the lead vehicle.

Requirement 3a – ACC OFF MODE state logic:

This is the default state inside state machine logic. Output signal Acceleration_Modeis at value 0 in this state.
This state is governed by the input signal CruiseSwitch.
If CruiseSwitchis equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode

Requirement 3b – ACC STANDBY MODE state logic:

This is the second activated state inside state machine logic. Output signal Acceleration_Mode is at value 1 in this state.
This state is governed by both input signals CruiseSwitch & SetSwitch.
If CruiseSwitchis equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode
If SetSwitch is equal to 1, state ACC ON mode will get activated. If SetSwitch is equal to 0, state ACC STANDBY mode will get activated.

Requirement 3c – ACC ON MODE state logic:

This state will be activated when the input signal SetSwitch is equal to 1. There are 6 sub-states to this state logic: They are:

LeadVehicle_Detected_Follow (Default)
LeadVehicle_Not_Detected
LeadVehicle_Detected_Resume
LeadVehicle_Not_Detected_Resume
LeadVehicle_Speed_lessthan_Set_Speed
LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

This is the default sub-state inside the ACC ON MODE state. Output signal Acceleration_Modeis equal to 2.
Condition to transit from LeadVehicle_Detected_Followto LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
Condition to transit from LeadVehicle_Detected_Followto LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

Output signal Acceleration_Mode equal to 1.
Condition to transit from LeadVehicle_Not_Detectedto LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
Condition to transit from LeadVehicle_Not_Detectedto LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]

Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):

Output signal Acceleration_Mode equal to 3.
Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

Output signal Acceleration_Mode equal to 1.

Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):

Output signal Acceleration_Mode equal to 4.
Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed toLeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

Output signal Acceleration_Mode equal to 5.
Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
Condition to transit from LeadVehicle_Speed_equal_Set_Speed toLeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]

Signals & Calibration Data List:

Signal / Calibration Name	Signal Type	Data Type	Dimension	Min	Max	Initial Value	Units
CameraInput_LeadVehicle	Input	Uint8	1	0	255	-	-
RadarInput_LeadVehicle	Input	Uint8	1	0	255	-	-
CameraInput_DriveVehicle	Input	Uint8	1	0	255	-	-
RadarInput_DriveVehicle	Input	Uint8	1	0	255	-	-
Time_Gap	Input	Uint8	1	0	255	-	-
Set_Speed	Input	Uint8	1	0	255	-	-
Set_Gap	Input	Uint8	1	0	255	-	-
CruiseSwitch	Input	Boolean	1	0	1	-	-
SetSwitch	Input	Boolean	1	0	1	-	-
Acceleration_Mode	Output	Uint8	1	0	255	-	-
LeadVehicle_Speed	Output	Uint8	1	0	255	-	-
DriveVehicle_Speed	Output	Uint8	1	0	255	-	-
LeadVehicle_Detected	Output	Uint8	1	0	255	-	-

Lead Vehicle:-

The lead vehicle is the vehicle that is in front of our vehicle.
To detect the lead vehicle speed, simply added both the radar & camera inputs & the corresponding output is read as Speed profile output.

Drive vehicle:-

Drive vehicle is the vehicle which we are driving
To regulate the "Drive Vehicle speed, as per the Requirement Document added Cameralnput. Radarinput & Acceleration Mode feedback from ACC Algorithm.
To detect the Lead vehicle. Radarinput is converted using "Signal Conversion Block To avoid the algebraic error "Unit delay block is used for the Acceleration Mode feedback.

ACC Algorithm:-

Adaptive Cruise Control feature has 3 major modes of operation: OFF Mode. STANDBY Mode & ON Mode.
This particular requirement has to be implemented as state machine logic in Simulink The input signals to the state machine system are (Signal Name Time Gap. Set Speed Set Gap, CruiseSwitch SetSwitch) Also, the output signals (Signal Name DriveVehicle Speed & LeadVehicle Detected) from requirement-2 is fed back as an input signal into this state machine block.
Additionally, the output signal (Signal Name LeadVehicle Speed) from requirement-1 is given as an input signal to this state machine
Output from this subsystem a signal (Signal Name Acceleration Model which governs the vehicular speed of the drive vehicle which automatically adjusts to speed & velocity to match the lead vehicle.
The rest of the signal developed as per the Requirement.

Simulink Model:-

This is the main model subsystem that has 9 inputs CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehi, Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, and SetSwitch entering into the Adaptive Cruise Control subsystem and 1 main output Acceleration_Mode and other outputs are fed as an input for Stateflow logic LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected

There are 3 requirements each of them is in a separate subsystem.

Requirement 1– Lead Vehicle:

A lead vehicle is a vehicle that is driving in the road ahead of our drive vehicle.
Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).
Ideally, sensor fusion techniques will be deployed to process & analyze data from cameras & radar. For complexity reasons, let’s not adapt to any such algorithms.
We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed). Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.

Requirement 2 – Drive Vehicle:

Drive Vehicle is the vehicle driven by the user & this is the vehicle that has ACC algorithm in it.
Like the Lead Vehicle, the Driver Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.
Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.
Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
Signal DriveVehicle_Speed is the summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

Requirement 3 – Adaptive Cruise Control Algorithm:

The above figure shows the complete algorithm for the Adaptive Cruise control logic

There are some sub-requirements for the state machine logic

Using the Symbol Pane option I have given all the input and output for the Stateflow chart.

Requirement 3a – ACC OFF MODE state logic:

This is the default state inside state machine logic. Output signal Acceleration_Mode is at value 0 in this state.
This state is governed by the input signal CruiseSwitch. If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated.
If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode.

Requirement 3b – ACC STANDBY MODE state logic:

This is the second activated state inside state machine logic. Output signal Acceleration_Mode is at value 1 in this state.
This state is governed by both input signals CruiseSwitch & SetSwitch. If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated.
If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode If SetSwitch is equal to 1, state ACC ON mode will get activated.
If SetSwitch is equal to 0, state ACC STANDBY mode will get activated.

Requirement 3c – ACC ON MODE state logic:

This state will be activated when the input signal SetSwitch is equal to 1. There are 6 sub-states to this state logic: They are:

LeadVehicle_Detected_Follow (Default)
LeadVehicle_Not_Detected
LeadVehicle_Detected_Resume
LeadVehicle_Not_Detected_Resume
LeadVehicle_Speed_lessthan_Set_Speed
LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

This is the default substate inside the ACC ON MODE state.
Output signal Acceleration_Mode is equal to 2. Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

Output signal Acceleration_Mode is equal to 1.
Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)] Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]
In this requirement, we have made the algorithm for a Lead vehicle not detected from that I also developed the algorithm for transit from lead vehicle not detected status to lead vehicle detected status.
If the vehicle is detected by the camera input then it will calculate the Set Gap And time Gap between them and it will generate the data and fed it into the algorithm.

Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):

Output signal Acceleration_Mode equal to 3.
Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]
As the name suggests this stage comes when the lead vehicle is detected by the camera input and it will feed the data into the algorithm.
Also, it will calculate the distance between the lead vehicle and drive vehicle and speed of the lead vehicle and speed of the drive vehicle it analyzes all the data and fed it into the algorithm.
This state will transit from a lead vehicle detected to lead vehicle not detected if the lead vehicle does not detect and if it is detected it will transit again and further it will transit to the next stage which is LeadVehicle_Speed_equal_Set_Speed.

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

Output signal Acceleration_Modeis equal to 1.
If the input camera does not detect the lead vehicle then the algorithm will transit in this state after detecting the vehicle it will transit to another state.
The adaptive cruise control mode will stay active and it will go to desired speed when there is a lead vehicle ahead.
When the lead vehicle is detected by the system it will transit to another state for calculation of speed and distance of lead vehicle and also comparing the speed and distance between the lead vehicle and drive vehicle.

Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):

Output signal Acceleration_Mode equal to 4.
Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed toLeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]
This state will transit in between LeadVehicle_Detected_Follow, LeadVehicle_Not_Detected, and LeadVehicle_Speed_equal_Set_Speed.
When the lead vehicle is detected by the camera and radar input then it will from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed then it will check the speed at these levels and then it will transit to the next state to match the speed of the drive vehicle for a safe distance.
It will check for the logic and if the logic will match then it will transit to the LeadVehicle_Speed_equal_Set_Speed.

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

Output signal Acceleration_Mode equal to 5.
Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
Condition to transit from LeadVehicle_Speed_equal_Set_Speed toLeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
Condition to transit from LeadVehicle_Speed_equal_Set_Speed toLeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]
This state is the final state where the desired Time gap and the Set gap are obtained and here the drive vehicle will follow the lead vehicle at the safe distance. And the driver can relax but simultaneously maintain his eye contact on road but he can do it in a relaxed manner.

TAGGING:-

Requirement Tagging and Traceability report

All the requirements are tagged for better understandability, anyone who is reviewing the model or who is trying to update the model can get a clear idea of what logic is used in the system. from the requirement manager, we can see what are all are tagged and the description

Tagging procedure:

1) Firstly I take new docs of the word save them as name requirement tagging docs.

2) then I wrote general requirements and the three requirements which are available with the project in word.

3) firstly select general requirements and go on the main model right-click on it there is the option of requirements then I click on it and tag it with word docs.

4) also I do this same procedure for requirement 1,requirement2,requirement3.

DEVELOPING SLDD:-

To develop SLDD I went into the modeling tab then I went to model setting then click on external data new then I save SLDD and create SLDD all the inputs, outputs, calibration parameters are saved in SLDD so while simulation the model it will take all the values and its parameters from the Simulink Data Dictionary.

Most of them were the signals so I did not add any configuration parameters.

For input signals storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.

And for all the signals we take the sample time as 0.01s.

INPUT-OUTPUT SIGNAL RESOLUTION:

For this signal resolution, I select the signal right click on it go to properties then written signal name and click on shoe signal name click on ok the signal resolve automatically SLDD. the inputs and output signals are resolved so the signals will take the values from SLDD and pass them to the logical blocks. Otherwise, it may take some junk values if it is unresolved.

Signal has to resolve where it appears for the first time for that I clicked on the signal that has to be resolved right click on that and then go to properties then click on signal name must resolve to Simulink signal object

Model Update:

The model update is done by Ctrl-D. this is done to check for any static errors. If no errors are coming the model is working fine without any errors.

Simulation:

The model is simulated too for checking for errors and warnings

Configuration Parameter Update:

Various configuration parameters are updated as per the code generation the solver type should be fixed for code generation.

Model Advisory Report:

By running the model advisor tool, we can see commonly made modeling errors.

For the model advisory report, I went into Modeling clicked on model advisor then I choose by product and click on MAB then click on the check box show report after run then clicked on run selected checks and I got the report as follows:

CODE GENERATION:-

For generating code I went to APPS then click on embedded coder and click on build button my code was generated as follows I attached screen shots of my code and separately code written in c window as follows:

GENERATED C CODE:-

/*
 * Trial License - for use to evaluate programs for possible purchase as
 * an end-user only.
 *
 * File: Adaptive_Cruise_Control.c
 *
 * Code generated for Simulink model 'Adaptive_Cruise_Control'.
 *
 * Model version                  : 1.11
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar  4 18:09:24 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Adaptive_Cruise_Control.h"
#include "Adaptive_Cruise_Control_private.h"

/* Named constants for Chart: '/Chart' */
#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Adaptive_Cr_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Adaptive_Cru_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Adaptive_Cruise_IN_ACC_OFF_MODE ((uint8_T)1U)
#define Adaptive_Cruise__IN_ACC_ON_MODE ((uint8_T)2U)
#define IN_LeadVehicle_Detected_Follow ((uint8_T)1U)
#define IN_LeadVehicle_Detected_Resume ((uint8_T)2U)
#define IN_LeadVehicle_Not_Detected_Res ((uint8_T)4U)
#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)5U)
#define IN_LeadVehicle_Speed_lessthan_S ((uint8_T)6U)

/* Block states (default storage) */
DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_Y;

/* Real-time model */
static RT_MODEL_Adaptive_Cruise_Cont_T Adaptive_Cruise_Control_M_;
RT_MODEL_Adaptive_Cruise_Cont_T *const Adaptive_Cruise_Control_M =
  &Adaptive_Cruise_Control_M_;
real_T rt_roundd_snf(real_T u)
{
  real_T y;
  if (fabs(u) < 4.503599627370496E+15) {
    if (u >= 0.5) {
      y = floor(u + 0.5);
    } else if (u > -0.5) {
      y = u * 0.0;
    } else {
      y = ceil(u - 0.5);
    }
  } else {
    y = u;
  }

  return y;
}

/* Model step function */
void Adaptive_Cruise_Control_step(void)
{
  /* local block i/o variables */
  uint8_T LeadVehicle_Speed;
  uint8_T DriveVehicle_Speed;
  uint8_T LeadVehicle_Detected;
  int32_T tmp;
  int32_T tmp_0;
  uint8_T tmp_1;
  uint8_T tmp_2;

  /* Sum: '/Add' incorporates:
   *  Inport: '/CameraInput_LeadVehicle'
   *  Inport: '/RadarInput_LeadVehicle'
   */
  LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
    RadarInput_LeadVehicle);

  /* UnitDelay: '/Unit Delay' */
  Acceleration_Mode = Adaptive_Cruise_Control_Y.Acceleration_Mode_d;

  /* Sum: '/Add' incorporates:
   *  Inport: '/CameraInput_DriveVehicle'
   *  Inport: '/RadarInput_DriveVehicle'
   */
  DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
    CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Inport: '/RadarInput_DriveVehicle'
   */
  LeadVehicle_Detected = RadarInput_DriveVehicle;

  /* Chart: '/Chart' incorporates:
   *  Inport: '/ Set_Gap'
   *  Inport: '/CruiseSwitch'
   *  Inport: '/SetSwitch'
   *  Inport: '/Set_Speed'
   *  Inport: '/Time_Gap'
   *  UnitDelay: '/Unit Delay'
   */
  if (Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co == 0U) {
    Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co = 1U;
    Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
      Adaptive_Cruise_IN_ACC_OFF_MODE;
    Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
  } else {
    switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
     case Adaptive_Cruise_IN_ACC_OFF_MODE:
      Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
      if (CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cr_IN_ACC_STANDBY_MODE;
        Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
      }
      break;

     case Adaptive_Cruise__IN_ACC_ON_MODE:
      if (!SetSwitch) {
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          Adaptive_Cru_IN_NO_ACTIVE_CHILD;
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cr_IN_ACC_STANDBY_MODE;
        Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
      } else if (!CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          Adaptive_Cru_IN_NO_ACTIVE_CHILD;
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise_IN_ACC_OFF_MODE;
        Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
      } else {
        switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
         case IN_LeadVehicle_Detected_Follow:
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
          if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              Ada_IN_LeadVehicle_Not_Detected;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          } else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
                       Set_Speed)) || (Time_Gap < Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
          }
          break;

         case IN_LeadVehicle_Detected_Resume:
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 3U;
          if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
               Set_Speed) && (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Follow;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
          } else if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          } else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                      DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_equal_Set_;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
          }
          break;

         case Ada_IN_LeadVehicle_Not_Detected:
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          if ((LeadVehicle_Speed == 1) && (DriveVehicle_Speed == Set_Speed) &&
              (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Follow;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
          } else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
                       Set_Speed)) || (Time_Gap < Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
          }
          break;

         case IN_LeadVehicle_Not_Detected_Res:
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          break;

         case IN_LeadVehicle_Speed_equal_Set_:
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
          if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
          {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                       DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Resume;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 3U;
          } else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
                       DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 *
                       (real_T)Set_Gap) == Time_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
          }
          break;

         default:
          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
          Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
          if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
          {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              Ada_IN_LeadVehicle_Not_Detected;
            Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
          } else {
            tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 1.25);
            tmp_0 = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Gap);
            if (tmp < 256) {
              tmp_1 = (uint8_T)tmp;
            } else {
              tmp_1 = MAX_uint8_T;
            }

            if (tmp_0 < 256) {
              tmp_2 = (uint8_T)tmp_0;
            } else {
              tmp_2 = MAX_uint8_T;
            }

            if ((tmp_1 >= DriveVehicle_Speed) && ((int32_T)rt_roundd_snf((real_T)
                  LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
                (DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
                (Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
              Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
                IN_LeadVehicle_Speed_equal_Set_;
              Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
            }
          }
          break;
        }
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
      if (!CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise_IN_ACC_OFF_MODE;
        Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
      } else if (SetSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise__IN_ACC_ON_MODE;
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          IN_LeadVehicle_Detected_Follow;
        Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
      }
      break;
    }
  }

  /* End of Chart: '/Chart' */
}

/* Model initialize function */
void Adaptive_Cruise_Control_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void Adaptive_Cruise_Control_terminate(void)
{
  /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

RESULT AND CONCLUSION:-

With the help of the MATLAB Simulink tool, I was able to make the Adaptive Cruise control model, made the Stateflow logic for the model, run the model advisory to check for the MAB guidelines and finally generated the C code out of the model. I learned the above-mentioned tool in this project and was able to implement the requirement document logic.

Project 2 Adaptive Cruise Control

Ship work like this
in your own course.

Talk to a career counsellor

Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.