Project 2 Adaptive Cruise Control

Aim:

To Develope a model to represent Adaptive Cruise Control.

Abstract:

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 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, 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 stop & 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 stop & go 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.

Objective:

1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
4. Use Embedded Coder to generate the code.
5. 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.
6. Choose sample time for all signals as 0.01s.

Report:

Adaptive cruise Control:

Requirements:

Lead Vehicle:

• Lead Vehicle is a vehicle which 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 camera & 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.

Drive Vehicle:

• Drive Vehicle is the vehicle driven by the user & this is the vehicle which has ACC algorithm in it.
• Like the Lead Vehicle, 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_Speed is summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal radarinput_drivevehicle by mere use of Signal Conversion block.

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 is fed back as an input signal into this state machine block.
• Additionally, 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) which 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_mode is at value 0 in this state.
• This state is governed by 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 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 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)]

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

• Output signal acceleration_mode is 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 to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
• Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_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 is equal to 1.

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

• Output signal acceleration_mode is 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 to LeadVehicle_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 is 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 to LeadVehicle_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)]

Final Model:

In the Adaptive Cruise Control model, we have given the total 9 nos. of input signals they are, camerainput_leadvehicle, radarinput_leadvehicle, camerainput_drivevehicle, radarinput_drivevehicle, cruiseswitch, set_speed, time_gap, set_gap, setswitch and output signal acceleration_mode.This control logic will take into consideration all these above input signals and if there is no lead vehicle detected by Camera and Radar sensor of Drive Vehicle, then ACC will provide the required acceleration to the vehicle to meet the speed requirement set by driver. If there is a lead vehicle detected by Camera and Radar sensor of Drive Vehicle in their range, then ACC will automatically decelerates.

Signal Properties:

The Signal Properties dialog box lets you display and edit signal properties. This is used to resolve a simuklink signal and to propogate it.

Requirement Tagging:

The Given Requirements are tagged using Link to Selection in word option.

SLDD creation:

Configuration Parameter:

Solver configuration can be editted in Modelling`rarr` Model settings `rarr` solver

As per the requirement Support Floating Numbers under code generation is enabled.

Model Advisor check:

The Model Advisor checks your model or subsystem for modeling conditions and configuration settings that cause inaccurate or inefficient simulation of the system that the model represents.

After clicking OK a dialog box appears unselect all the check boxes and select only Modeling standars for MAB

In the Embedded Coder window select show report after run to view the repot and generate report after run to generate and save the report.

Embedded Code Generation:

/*
 * File: ACC.c
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "ACC.h"
#include "ACC_private.h"

/* Named constants for Chart: '/ACC State Logic' */
#define ACC_IN_ACC_OFF_MODE            ((uint8_T)1U)
#define ACC_IN_ACC_ON_MODE             ((uint8_T)2U)
#define ACC_IN_ACC_STANDBY_MODE        ((uint8_T)3U)
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_IN_NO_ACTIVE_CHILD         ((uint8_T)0U)
#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_ACC_T ACC_DW;

/* Real-time model */
static RT_MODEL_ACC_T ACC_M_;
RT_MODEL_ACC_T *const ACC_M = &ACC_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 ACC_step(void)
{
  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);

  /* Sum: '/Add1' incorporates:
   *  Inport: '/camerainput_drivevehicle'
   *  Inport: '/radarinput_drivevehicle'
   *  UnitDelay: '/Unit Delay'
   */
  drivevehicle_speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
    camerainput_drivevehicle + radarinput_drivevehicle) + accleration_mode);

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Inport: '/radarinput_drivevehicle'
   */
  leadvehicle_detected = radarinput_drivevehicle;

  /* Chart: '/ACC State Logic' incorporates:
   *  Inport: '/cruiseswitch'
   *  Inport: '/set_gap'
   *  Inport: '/set_speed'
   *  Inport: '/setswitch'
   *  Inport: '/time_gap'
   */
  if (ACC_DW.is_active_c3_ACC == 0U) {
    ACC_DW.is_active_c3_ACC = 1U;
    ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;
    accleration_mode = 0U;
  } else {
    switch (ACC_DW.is_c3_ACC) {
     case ACC_IN_ACC_OFF_MODE:
      accleration_mode = 0U;
      if (cruiseswitch) {
        ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_MODE;
        accleration_mode = 1U;
      }
      break;

     case ACC_IN_ACC_ON_MODE:
      if (!cruiseswitch) {
        ACC_DW.is_ACC_ON_MODE = ACC_IN_NO_ACTIVE_CHILD;
        ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;
        accleration_mode = 0U;
      } else if (!setswitch) {
        ACC_DW.is_ACC_ON_MODE = ACC_IN_NO_ACTIVE_CHILD;
        ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_MODE;
        accleration_mode = 1U;
      } else {
        switch (ACC_DW.is_ACC_ON_MODE) {
         case IN_LeadVehicle_Detected_Follow:
          accleration_mode = 2U;
          if (leadvehicle_detected == 0) {
            ACC_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
            accleration_mode = 1U;
          } else if (((leadvehicle_detected == 1) && (leadvehicle_speed <
                       set_speed)) || (time_gap < set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
            accleration_mode = 4U;
          }
          break;

         case IN_LeadVehicle_Detected_Resume:
          accleration_mode = 3U;
          if ((drivevehicle_speed == set_speed) && (leadvehicle_speed >=
               set_speed) && (time_gap >= set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
            accleration_mode = 2U;
          } else if ((drivevehicle_speed < set_speed) && (leadvehicle_speed >
                      drivevehicle_speed) && (time_gap >= set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
            accleration_mode = 5U;
          } else if (leadvehicle_detected == 0) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
            accleration_mode = 1U;
          }
          break;

         case ACC_IN_LeadVehicle_Not_Detected:
          accleration_mode = 1U;
          if ((leadvehicle_detected == 1) && (drivevehicle_speed == set_speed) &&
              (leadvehicle_speed >= set_speed) && (time_gap >= set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
            accleration_mode = 2U;
          } else if (((leadvehicle_detected == 1) && (leadvehicle_speed <
                       set_speed)) || (time_gap < set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
            accleration_mode = 4U;
          }
          break;

         case IN_LeadVehicle_Not_Detected_Res:
          accleration_mode = 1U;
          break;

         case IN_LeadVehicle_Speed_equal_Set_:
          accleration_mode = 5U;
          if (((drivevehicle_speed < set_speed) && (leadvehicle_speed >
                drivevehicle_speed)) || (time_gap >= set_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
            accleration_mode = 3U;
          } else if (((leadvehicle_speed < set_speed) && (leadvehicle_speed <
                       drivevehicle_speed)) || ((int32_T)rt_roundd_snf(0.75 *
                       (real_T)set_gap) == time_gap)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
            accleration_mode = 4U;
          } else if ((leadvehicle_detected == 0) || (drivevehicle_speed <=
                      set_speed)) {
            ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
            accleration_mode = 1U;
          }
          break;

         default:
          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
          accleration_mode = 4U;
          if ((leadvehicle_detected == 0) && (drivevehicle_speed == set_speed))
          {
            ACC_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
            accleration_mode = 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))) {
              ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
              accleration_mode = 5U;
            }
          }
          break;
        }
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      accleration_mode = 1U;
      if (!cruiseswitch) {
        ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;
        accleration_mode = 0U;
      } else if (setswitch) {
        ACC_DW.is_c3_ACC = ACC_IN_ACC_ON_MODE;
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
        accleration_mode = 2U;
      }
      break;
    }
  }

  /* End of Chart: '/ACC State Logic' */
}

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

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

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

/*
 * File: ert_main.c
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include 
#include               /* This ert_main.c example uses printf/fflush */
#include "ACC.h"                       /* Model's header file */
#include "rtwtypes.h"

/*
 * Associating rt_OneStep with a real-time clock or interrupt service routine
 * is what makes the generated code "real-time".  The function rt_OneStep is
 * always associated with the base rate of the model.  Subrates are managed
 * by the base rate from inside the generated code.  Enabling/disabling
 * interrupts and floating point context switches are target specific.  This
 * example code indicates where these should take place relative to executing
 * the generated code step function.  Overrun behavior should be tailored to
 * your application needs.  This example simply sets an error status in the
 * real-time model and returns from rt_OneStep.
 */
void rt_OneStep(void);
void rt_OneStep(void)
{
  static boolean_T OverrunFlag = false;

  /* Disable interrupts here */

  /* Check for overrun */
  if (OverrunFlag) {
    rtmSetErrorStatus(ACC_M, "Overrun");
    return;
  }

  OverrunFlag = true;

  /* Save FPU context here (if necessary) */
  /* Re-enable timer or interrupt here */
  /* Set model inputs here */

  /* Step the model */
  ACC_step();

  /* Get model outputs here */

  /* Indicate task complete */
  OverrunFlag = false;

  /* Disable interrupts here */
  /* Restore FPU context here (if necessary) */
  /* Enable interrupts here */
}

/*
 * The example "main" function illustrates what is required by your
 * application code to initialize, execute, and terminate the generated code.
 * Attaching rt_OneStep to a real-time clock is target specific.  This example
 * illustrates how you do this relative to initializing the model.
 */
int_T main(int_T argc, const char *argv[])
{
  /* Unused arguments */
  (void)(argc);
  (void)(argv);

  /* Initialize model */
  ACC_initialize();

  /* Attach rt_OneStep to a timer or interrupt service routine with
   * period 0.01 seconds (the model's base sample time) here.  The
   * call syntax for rt_OneStep is
   *
   *  rt_OneStep();
   */
  printf("Warning: The simulation will run forever. "
         "Generated ERT main won't simulate model step behavior. "
         "To change this behavior select the 'MAT-file logging' option.\n");
  fflush((NULL));
  while (rtmGetErrorStatus(ACC_M) == (NULL)) {
    /*  Perform other application tasks here */
  }

  /* Disable rt_OneStep() here */

  /* Terminate model */
  ACC_terminate();
  return 0;
}

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

/*
 * File: ACC.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_ACC_h_
#define RTW_HEADER_ACC_h_
#include 
#ifndef ACC_COMMON_INCLUDES_
#define ACC_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif                                 /* ACC_COMMON_INCLUDES_ */

#include "ACC_types.h"

/* Includes for objects with custom storage classes. */
#include "ACC_head.h"

/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm)         ((rtm)->errorStatus)
#endif

#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val)    ((rtm)->errorStatus = (val))
#endif

/* Block states (default storage) for system '' */
typedef struct {
  uint8_T is_active_c3_ACC;            /* '/ACC State Logic' */
  uint8_T is_c3_ACC;                   /* '/ACC State Logic' */
  uint8_T is_ACC_ON_MODE;              /* '/ACC State Logic' */
} DW_ACC_T;

/* Real-time Model Data Structure */
struct tag_RTM_ACC_T {
  const char_T * volatile errorStatus;
};

/* Block states (default storage) */
extern DW_ACC_T ACC_DW;

/* Model entry point functions */
extern void ACC_initialize(void);
extern void ACC_step(void);
extern void ACC_terminate(void);

/* Real-time Model object */
extern RT_MODEL_ACC_T *const ACC_M;

/*-
 * The generated code includes comments that allow you to trace directly
 * back to the appropriate location in the model.  The basic format
 * is /block_name, where system is the system number (uniquely
 * assigned by Simulink) and block_name is the name of the block.
 *
 * Use the MATLAB hilite_system command to trace the generated code back
 * to the model.  For example,
 *
 * hilite_system('')    - opens system 3
 * hilite_system('/Kp') - opens and selects block Kp which resides in S3
 *
 * Here is the system hierarchy for this model
 *
 * '' : 'ACC'
 * ''   : 'ACC/Cruise_Control'
 * ''   : 'ACC/Cruise_Control/ACC_Algorithm'
 * ''   : 'ACC/Cruise_Control/Drive_Vehicle'
 * ''   : 'ACC/Cruise_Control/Lead_Vehicle'
 * ''   : 'ACC/Cruise_Control/ACC_Algorithm/ACC State Logic'
 */
#endif                                 /* RTW_HEADER_ACC_h_ */

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

/*
 * File: ACC_private.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_ACC_private_h_
#define RTW_HEADER_ACC_private_h_
#include "rtwtypes.h"

/* Imported (extern) block signals */
extern uint8_T camerainput_leadvehicle;/* '/camerainput_leadvehicle' */
extern uint8_T radarinput_leadvehicle; /* '/radarinput_leadvehicle' */
extern uint8_T camerainput_drivevehicle;/* '/camerainput_drivevehicle' */
extern uint8_T radarinput_drivevehicle;/* '/radarinput_drivevehicle' */
extern boolean_T cruiseswitch;         /* '/cruiseswitch' */
extern uint8_T set_speed;              /* '/set_speed' */
extern uint8_T time_gap;               /* '/time_gap' */
extern uint8_T set_gap;                /* '/set_gap' */
extern boolean_T setswitch;            /* '/setswitch' */
extern real_T rt_roundd_snf(real_T u);

#endif                                 /* RTW_HEADER_ACC_private_h_ */

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

/*
 * File: ACC_types.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_ACC_types_h_
#define RTW_HEADER_ACC_types_h_

/* Model Code Variants */

/* Forward declaration for rtModel */
typedef struct tag_RTM_ACC_T RT_MODEL_ACC_T;

#endif                                 /* RTW_HEADER_ACC_types_h_ */

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

/*
 * File: ACC_def.c
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "rtwtypes.h"
#include "ACC_types.h"

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
uint8_T accleration_mode;              /* '/ACC State Logic' */
uint8_T drivevehicle_speed;            /* '/Add1' */
uint8_T leadvehicle_detected;          /* '/Signal Conversion' */
uint8_T leadvehicle_speed;             /* '/Add' */

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

/*
 * File: ACC_head.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_ACC_head_h_
#define RTW_HEADER_ACC_head_h_
#include "rtwtypes.h"
#include "ACC_types.h"

/* Exported data declaration */

/* Declaration for custom storage class: ExportToFile */
extern uint8_T accleration_mode;       /* '/ACC State Logic' */
extern uint8_T drivevehicle_speed;     /* '/Add1' */
extern uint8_T leadvehicle_detected;   /* '/Signal Conversion' */
extern uint8_T leadvehicle_speed;      /* '/Add' */

#endif                                 /* RTW_HEADER_ACC_head_h_ */

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

/*
 * File: rtwtypes.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.20
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Fri Mar 11 17:18:28 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTWTYPES_H
#define RTWTYPES_H

/* Logical type definitions */
#if (!defined(__cplusplus))
#ifndef false
#define false                          (0U)
#endif

#ifndef true
#define true                           (1U)
#endif
#endif

/*=======================================================================*
 * Target hardware information
 *   Device type: Intel->x86-64 (Windows64)
 *   Number of bits:     char:   8    short:   16    int:  32
 *                       long:  32
 *                       native word size:  64
 *   Byte ordering: LittleEndian
 *   Signed integer division rounds to: Zero
 *   Shift right on a signed integer as arithmetic shift: on
 *=======================================================================*/

/*=======================================================================*
 * Fixed width word size data types:                                     *
 *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
 *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
 *   real32_T, real64_T           - 32 and 64 bit floating point numbers *
 *=======================================================================*/
typedef signed char int8_T;
typedef unsigned char uint8_T;
typedef short int16_T;
typedef unsigned short uint16_T;
typedef int int32_T;
typedef unsigned int uint32_T;
typedef float real32_T;
typedef double real64_T;

/*===========================================================================*
 * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T,       *
 *                           real_T, time_T, ulong_T.                        *
 *===========================================================================*/
typedef double real_T;
typedef double time_T;
typedef unsigned char boolean_T;
typedef int int_T;
typedef unsigned int uint_T;
typedef unsigned long ulong_T;
typedef char char_T;
typedef unsigned char uchar_T;
typedef char_T byte_T;

/*===========================================================================*
 * Complex number type definitions                                           *
 *===========================================================================*/
#define CREAL_T

typedef struct {
  real32_T re;
  real32_T im;
} creal32_T;

typedef struct {
  real64_T re;
  real64_T im;
} creal64_T;

typedef struct {
  real_T re;
  real_T im;
} creal_T;

#define CINT8_T

typedef struct {
  int8_T re;
  int8_T im;
} cint8_T;

#define CUINT8_T

typedef struct {
  uint8_T re;
  uint8_T im;
} cuint8_T;

#define CINT16_T

typedef struct {
  int16_T re;
  int16_T im;
} cint16_T;

#define CUINT16_T

typedef struct {
  uint16_T re;
  uint16_T im;
} cuint16_T;

#define CINT32_T

typedef struct {
  int32_T re;
  int32_T im;
} cint32_T;

#define CUINT32_T

typedef struct {
  uint32_T re;
  uint32_T im;
} cuint32_T;

/*=======================================================================*
 * Min and Max:                                                          *
 *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     *
 *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   *
 *=======================================================================*/
#define MAX_int8_T                     ((int8_T)(127))
#define MIN_int8_T                     ((int8_T)(-128))
#define MAX_uint8_T                    ((uint8_T)(255U))
#define MAX_int16_T                    ((int16_T)(32767))
#define MIN_int16_T                    ((int16_T)(-32768))
#define MAX_uint16_T                   ((uint16_T)(65535U))
#define MAX_int32_T                    ((int32_T)(2147483647))
#define MIN_int32_T                    ((int32_T)(-2147483647-1))
#define MAX_uint32_T                   ((uint32_T)(0xFFFFFFFFU))

/* Block D-Work pointer type */
typedef void * pointer_T;

#endif                                 /* RTWTYPES_H */

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