Project 2 Adaptive Cruise Control

                Introduction to Advanced Driver Assistance System using MATLAB & Simulink.

                                          Project-2  Adaptive Cruise Control

Aim:  To develop a Matlab Simulink Model  for Adaptive Cruise Control  as per requirement and generate C-code.

Objective: 

• To develop Adaptive Cruise Control feature as per the given requirement document using Matlab Simulink.
• To create an SLDD creation, Configuration Prameter, to generate a Model Advisor check  and also code generation.
• To generate  a code using Embedded Coder.

Description:

Adaptive Cruise control is an active safety system that automatically controlls the acceleration and braking of a vehicle. It is activated by the response of user  by pressing a button on the steering wheel and its state is changed when there is any physical chage i.e. by braking.

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.

By continously monitoring the other vehicles and the surrounding parameters on the road this adaptive cruise control enables a safe, secure and comfortable driving experience. This function helps to keep a steady vehicle speed at a given moment.

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. 

Signals & Calibration Data List:

Given Requirement 1– 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.

Simulink Model:

Here as per the above requirement two inport blocks are considered and signals are labeled as 'CameraInput_LeadVehicle' & 'RadarInput_LeadVehicle'. Now both radar inputs and camera inputs are added by using add block and the resultant output is collected as the 'LeadVehicle_Speed'. 

Given Requirement 2– 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.

Simulink Model:

The above model is developed by considering 3 inport blocks i.e. the signals are named as 'CameraInput_DriveVehicle', 'RadarInput_DriveVehicle' & 'Acceleration_Mode'. The signal 'DeriveVehicle_Speed' is considered as the summation of all the inports and hence ADD block is used.  The signal 'LeadVehicle_Detected' is the required output that is obtained from the connection of inport signal 'RadarInput_DriveVehicles' is passed from the Signal conversion block and this signal is connected to the 'LeadVehicle_Detected'.

Given 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 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.

State Machine System:

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

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)

Simulink Model for Adaptive Cruise Control (Including all the requirements):

• As per the given logic all the requirements are connected as shown in the above images.Verify the complete model as per the standards.

A SLDD file is created to declare the input and output parameters from the given  Signals and Calibration Datalist;

Now, as the model is ready i have performed an Advisory Check for the above model. Here  select all the subsystem in order to run the advisory check. For this check only 'Modeling Standads for MAB' is selected and check is made Run. The below images show the actual settings of a Model Advisor .

After running the Advisory check, in run summary we need to check for Pass, Fail, Warning , Not Run  and the Total.If ther are any Fails we need to reverify the model. Here all got passed for advisory check and hence we can proceed further to generate the C-code.

Before generaing the Ccode he following settings are made in the final model.

• In Configuration Parameters under Code Generation settings, Enable “Support Floating Numbers”.

• Use Embedded Coder to generate the code.

• For 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.

Code Generation:

/*
 * Academic License - for use in teaching, academic research, and meeting
 * course requirements at degree granting institutions only.  Not for
 * government, commercial, or other organizational use.
 *
 * File: ACC_CompleteModel.c
 *
 * Code generated for Simulink model 'ACC_CompleteModel'.
 *
 * Model version                  : 1.6
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Wed Oct 27 01:10:17 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "ACC_CompleteModel.h"
#include "ACC_CompleteModel_private.h"

/* Named constants for Chart: '<Root>/Advance Cruise Control Algorithm' */
#define ACC_Complet_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define ACC_CompleteMod_IN_ACC_OFF_MODE ((uint8_T)1U)
#define ACC_CompleteMode_IN_ACC_ON_MODE ((uint8_T)2U)
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#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_CompleteModel_T ACC_CompleteModel_DW;

/* External inputs (root inport signals with default storage) */
ExtU_ACC_CompleteModel_T ACC_CompleteModel_U;

/* External outputs (root outports fed by signals with default storage) */
ExtY_ACC_CompleteModel_T ACC_CompleteModel_Y;

/* Real-time model */
static RT_MODEL_ACC_CompleteModel_T ACC_CompleteModel_M_;
RT_MODEL_ACC_CompleteModel_T *const ACC_CompleteModel_M = &ACC_CompleteModel_M_;

/* Model step function */
void ACC_CompleteModel_step(void)
{
  real_T rtb_DriveVehicle_Speed;
  real_T rtb_LeadVehicle_Speed;

  /* Sum: '<S2>/Add' incorporates:
   *  Inport: '<Root>/CameraInput_LeadVehicle'
   *  Inport: '<Root>/RadarInput_LeadVehicle'
   */
  rtb_LeadVehicle_Speed = ACC_CompleteModel_U.CameraInput_LeadVehicle +
    ACC_CompleteModel_U.RadarInput_LeadVehicle;

  /* Sum: '<S3>/Add1' incorporates:
   *  Inport: '<Root>/CameraInput_DriveVehicle'
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   *  UnitDelay: '<Root>/Unit Delay'
   */
  rtb_DriveVehicle_Speed = (ACC_CompleteModel_U.CameraInput_DriveVehicle +
    ACC_CompleteModel_Y.Acceleration_Mode) +
    ACC_CompleteModel_U.RadarInput_DriveVehicle;

  /* Chart: '<Root>/Advance Cruise Control Algorithm' incorporates:
   *  Inport: '<Root>/CruiseSwitch'
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   *  Inport: '<Root>/SetSwitch'
   *  Inport: '<Root>/Set_Gap'
   *  Inport: '<Root>/Set_Speed'
   *  Inport: '<Root>/Time_Gap'
   *  UnitDelay: '<Root>/Unit Delay'
   */
  if (ACC_CompleteModel_DW.is_active_c3_ACC_CompleteModel == 0U) {
    ACC_CompleteModel_DW.is_active_c3_ACC_CompleteModel = 1U;
    ACC_CompleteModel_DW.is_c3_ACC_CompleteModel =
      ACC_CompleteMod_IN_ACC_OFF_MODE;
    ACC_CompleteModel_Y.Acceleration_Mode = 0.0;
  } else {
    switch (ACC_CompleteModel_DW.is_c3_ACC_CompleteModel) {
     case ACC_CompleteMod_IN_ACC_OFF_MODE:
      ACC_CompleteModel_Y.Acceleration_Mode = 0.0;
      if (ACC_CompleteModel_U.CruiseSwitch == 1.0) {
        ACC_CompleteModel_DW.is_c3_ACC_CompleteModel =
          ACC_Complet_IN_ACC_STANDBY_MODE;
        ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
      }
      break;

     case ACC_CompleteMode_IN_ACC_ON_MODE:
      switch (ACC_CompleteModel_DW.is_ACC_ON_MODE) {
       case IN_LeadVehicle_Detected_Follow:
        ACC_CompleteModel_Y.Acceleration_Mode = 2.0;
        if (ACC_CompleteModel_U.RadarInput_DriveVehicle == 0.0) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
          ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        } else if (((ACC_CompleteModel_U.RadarInput_DriveVehicle == 1.0) &&
                    (rtb_LeadVehicle_Speed < ACC_CompleteModel_U.Set_Speed)) ||
                   (ACC_CompleteModel_U.Time_Gap < ACC_CompleteModel_U.Set_Gap))
        {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
          ACC_CompleteModel_Y.Acceleration_Mode = 4.0;
        }
        break;

       case IN_LeadVehicle_Detected_Resume:
        ACC_CompleteModel_Y.Acceleration_Mode = 3.0;
        if ((rtb_DriveVehicle_Speed < ACC_CompleteModel_U.Set_Speed) &&
            (rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed) &&
            (ACC_CompleteModel_U.Time_Gap >= ACC_CompleteModel_U.Set_Gap)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
          ACC_CompleteModel_Y.Acceleration_Mode = 5.0;
        } else if (ACC_CompleteModel_U.RadarInput_DriveVehicle == 0.0) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
          ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        } else if ((rtb_DriveVehicle_Speed == ACC_CompleteModel_U.Set_Speed) &&
                   (rtb_LeadVehicle_Speed >= ACC_CompleteModel_U.Set_Speed) &&
                   (ACC_CompleteModel_U.Time_Gap >= ACC_CompleteModel_U.Set_Gap))
        {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
          ACC_CompleteModel_Y.Acceleration_Mode = 2.0;
        }
        break;

       case ACC_IN_LeadVehicle_Not_Detected:
        ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        if ((ACC_CompleteModel_U.RadarInput_DriveVehicle == 1.0) &&
            (rtb_DriveVehicle_Speed == ACC_CompleteModel_U.Set_Speed) &&
            (rtb_LeadVehicle_Speed >= ACC_CompleteModel_U.Set_Speed) &&
            (ACC_CompleteModel_U.Time_Gap >= ACC_CompleteModel_U.Set_Gap)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
          ACC_CompleteModel_Y.Acceleration_Mode = 2.0;
        } else if (((ACC_CompleteModel_U.RadarInput_DriveVehicle == 1.0) &&
                    (rtb_LeadVehicle_Speed < ACC_CompleteModel_U.Set_Speed)) ||
                   (ACC_CompleteModel_U.Time_Gap < ACC_CompleteModel_U.Set_Gap))
        {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
          ACC_CompleteModel_Y.Acceleration_Mode = 4.0;
        }
        break;

       case IN_LeadVehicle_Not_Detected_Res:
        ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        break;

       case IN_LeadVehicle_Speed_equal_Set_:
        ACC_CompleteModel_Y.Acceleration_Mode = 5.0;
        if (((rtb_DriveVehicle_Speed < ACC_CompleteModel_U.Set_Speed) &&
             (rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed)) ||
            (ACC_CompleteModel_U.Time_Gap >= ACC_CompleteModel_U.Set_Gap)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
          ACC_CompleteModel_Y.Acceleration_Mode = 3.0;
        } else if ((ACC_CompleteModel_U.RadarInput_DriveVehicle == 0.0) ||
                   (rtb_DriveVehicle_Speed <= ACC_CompleteModel_U.Set_Speed)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
          ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        } else if (((rtb_LeadVehicle_Speed < ACC_CompleteModel_U.Set_Speed) &&
                    (rtb_LeadVehicle_Speed < rtb_DriveVehicle_Speed)) || (0.75 *
                    ACC_CompleteModel_U.Set_Gap == ACC_CompleteModel_U.Time_Gap))
        {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
          ACC_CompleteModel_Y.Acceleration_Mode = 4.0;
        }
        break;

       default:
        /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
        ACC_CompleteModel_Y.Acceleration_Mode = 4.0;
        if ((ACC_CompleteModel_U.RadarInput_DriveVehicle == 0.0) &&
            (rtb_DriveVehicle_Speed == ACC_CompleteModel_U.Set_Speed)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
          ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
        } else if ((rtb_LeadVehicle_Speed * 1.25 >= rtb_DriveVehicle_Speed) &&
                   (rtb_LeadVehicle_Speed * 0.75 <= rtb_DriveVehicle_Speed) &&
                   (rtb_DriveVehicle_Speed < ACC_CompleteModel_U.Set_Speed) &&
                   (ACC_CompleteModel_U.Time_Gap <= 1.25 *
                    ACC_CompleteModel_U.Set_Gap) &&
                   (ACC_CompleteModel_U.Time_Gap >= 0.75 *
                    ACC_CompleteModel_U.Set_Gap)) {
          ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
          ACC_CompleteModel_Y.Acceleration_Mode = 5.0;
        }
        break;
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      ACC_CompleteModel_Y.Acceleration_Mode = 1.0;
      if (ACC_CompleteModel_U.CruiseSwitch == 0.0) {
        ACC_CompleteModel_DW.is_c3_ACC_CompleteModel =
          ACC_CompleteMod_IN_ACC_OFF_MODE;
        ACC_CompleteModel_Y.Acceleration_Mode = 0.0;
      } else if ((ACC_CompleteModel_U.SetSwitch == 1.0) ||
                 (ACC_CompleteModel_U.SetSwitch == 0.0)) {
        ACC_CompleteModel_DW.is_c3_ACC_CompleteModel =
          ACC_CompleteMode_IN_ACC_ON_MODE;
        ACC_CompleteModel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
        ACC_CompleteModel_Y.Acceleration_Mode = 2.0;
      }
      break;
    }
  }

  /* End of Chart: '<Root>/Advance Cruise Control Algorithm' */
}

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

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

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

Conclusion:

• The simulink Model for Adaptive Cruise Control is developed. For the following model SLDD file is created to declare the parameters of inputs and ouput signals.
• The Model Advisory Report is also generated for 'Modeling Standards for MAB'.
• Finally by using Embedded coder the C-Code Generation is done.