Challenge

Project 2 Adaptive Cruise Control

SSanjay Kumar Jaiswal30 Mar 2022

Main Project – Adaptive Cruise Control (ACC)

General 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 from 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 & 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.

The objective of the Main Project:

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

Requirement 1– Lead Vehicle:

Lead Vehicle is a vehicle that is driving on 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 an 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:

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, 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 and 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 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

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)]

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)]</em"></set_speed)>
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	-	-

AIM:_

To create a Simulink Data Dictionary, develop an algorithm for adaptive Crusie Control and generate a C code for it using Simulink

The objective of the Main Project:

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

General overview diagram

Adaptive cruise control (ACC) is an available cruise control advanced driver-assistance system for road vehicles that automatically adjusts the vehicle speed to maintain a safe distance from the vehicle ahead

picture of the control system

As technology is widely regarded as a key component of future generations of intelligent cars. The impact on driver safety and convenience as well as increasing road capacity by maintaining optimal separation between vehicles and reducing driver error.

Requirement 1– Lead Vehicle:

Lead Vehicle is a vehicle that is driving on 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 an 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:

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, 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 and 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 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

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)]

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)]</em"></set_speed)>

flowchart diagram

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, 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) which governs the vehicular speed of the drive vehicle and automatically adjusts its speed & velocity to match the lead vehicle.

2. Requirement Tagging

all the requirements are tagging for better ubderstaunderstandability 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

3. Created an SLDD file:-

given input data

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	-	-

Developing SLDD4. signal Resolution for inputs and output

the input,output, calibration pparameters are saved in old will take the value from sldd and pass them to the logical block Otherwise, I Itay take some junk values if is unresoved

5. model update

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

6. Simulation

The model is simulated too for checking for errors and working

7 .Configuration parameter update:-

output result:-

code generator:-

/*

* File: acc_week.c

*

* Code generated for Simulink model 'acc_week'.

*

* Model version : 1.9

* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020

* C/C++ source code generated on : Wed Mar 30 12:32:41 2022

*

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

*/

#include "acc_week.h"

#include "acc_week_private.h"

/* Named constants for Chart: '<S1>/Adaptive Cruise Control Algorithm' */

#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)

#define acc_IN_LeadVehicle_Not_Detected ((uint8_T)3U)

#define acc_week_IN_NO_ACTIVE_CHILD ((uint8_T)0U)

#define acc_week_IN_OFF_Mode ((uint8_T)1U)

#define acc_week_IN_ON_mode ((uint8_T)2U)

#define acc_week_IN_STANDBY_Mode ((uint8_T)3U)

/* Block states (default storage) */

DW_acc_week_T acc_week_DW;

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

ExtU_acc_week_T acc_week_U;

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

ExtY_acc_week_T acc_week_Y;

/* Real-time model */

static RT_MODEL_acc_week_T acc_week_M_;

RT_MODEL_acc_week_T *const acc_week_M = &acc_week_M_;

/* Model step function */

void acc_week_step(void)

{

real_T rtb_DriveVehicle_Speed;

real_T rtb_LeadVehicle_Speed;

/* Sum: '<S4>/Add' incorporates:

* Delay: '<S1>/Delay'

* Inport: '<Root>/CameraInput_DriveVehicle'

* Inport: '<Root>/RadarInput_DriveVehicle'

*/

rtb_DriveVehicle_Speed = (acc_week_U.CameraInput_DriveVehicle +

acc_week_Y.Acceleration_Mode1) + acc_week_U.RadarInput_DriveVehicle;

/* Sum: '<S2>/ Lead Vehicle' incorporates:

* Inport: '<Root>/CameraInput_LeadVehicle'

* Inport: '<Root>/RadarInput_LeadVehicle'

*/

rtb_LeadVehicle_Speed = acc_week_U.CameraInput_LeadVehicle +

acc_week_U.RadarInput_LeadVehicle;

/* Chart: '<S1>/Adaptive Cruise Control Algorithm' incorporates:

* Delay: '<S1>/Delay'

* Inport: '<Root>/CruiseSwitch'

* Inport: '<Root>/RadarInput_DriveVehicle'

* Inport: '<Root>/SetSwitch'

* Inport: '<Root>/Set_Gap'

* Inport: '<Root>/Set_Speed'

* Inport: '<Root>/Time_Gap'

*/

if (acc_week_DW.is_active_c3_acc_week == 0U) {

acc_week_DW.is_active_c3_acc_week = 1U;

acc_week_DW.is_c3_acc_week = acc_week_IN_OFF_Mode;

acc_week_Y.Acceleration_Mode1 = 0.0;

} else {

switch (acc_week_DW.is_c3_acc_week) {

case acc_week_IN_OFF_Mode:

acc_week_Y.Acceleration_Mode1 = 0.0;

if (acc_week_U.CruiseSwitch == 1.0) {

acc_week_DW.is_c3_acc_week = acc_week_IN_STANDBY_Mode;

acc_week_Y.Acceleration_Mode1 = 0.0;

}

break;

case acc_week_IN_ON_mode:

if (acc_week_U.SetSwitch == 0.0) {

acc_week_DW.is_ON_mode = acc_week_IN_NO_ACTIVE_CHILD;

acc_week_DW.is_c3_acc_week = acc_week_IN_STANDBY_Mode;

acc_week_Y.Acceleration_Mode1 = 0.0;

} else if (acc_week_U.CruiseSwitch == 0.0) {

acc_week_DW.is_ON_mode = acc_week_IN_NO_ACTIVE_CHILD;

acc_week_DW.is_c3_acc_week = acc_week_IN_OFF_Mode;

acc_week_Y.Acceleration_Mode1 = 0.0;

} else {

switch (acc_week_DW.is_ON_mode) {

case IN_LeadVehicle_Detected_Follow:

acc_week_Y.Acceleration_Mode1 = 2.0;

if (acc_week_U.RadarInput_DriveVehicle == 0.0) {

acc_week_DW.is_ON_mode = acc_IN_LeadVehicle_Not_Detected;

acc_week_Y.Acceleration_Mode1 = 1.0;

} else if (((acc_week_U.RadarInput_DriveVehicle == 1.0) &&

(rtb_LeadVehicle_Speed < acc_week_U.Set_Speed)) ||

(acc_week_U.Time_Gap < acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Speed_lessthan_S;

acc_week_Y.Acceleration_Mode1 = 4.0;

}

break;

case IN_LeadVehicle_Detected_Resume:

acc_week_Y.Acceleration_Mode1 = 3.0;

if ((rtb_DriveVehicle_Speed < acc_week_U.Set_Speed) &&

(rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed) &&

(acc_week_U.Time_Gap >= acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Detected_Follow;

acc_week_Y.Acceleration_Mode1 = 2.0;

} else if (acc_week_U.RadarInput_DriveVehicle == 0.0) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Not_Detected_Res;

acc_week_Y.Acceleration_Mode1 = 1.0;

} else if (((rtb_DriveVehicle_Speed < acc_week_U.Set_Speed) &&

(rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed)) ||

(acc_week_U.Time_Gap >= acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Speed_equal_Set_;

acc_week_Y.Acceleration_Mode1 = 5.0;

}

break;

case acc_IN_LeadVehicle_Not_Detected:

acc_week_Y.Acceleration_Mode1 = 1.0;

if ((acc_week_U.RadarInput_DriveVehicle == 1.0) &&

(rtb_DriveVehicle_Speed == acc_week_U.Set_Speed) &&

(rtb_LeadVehicle_Speed >= acc_week_U.Set_Speed) &&

(acc_week_U.Time_Gap >= acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Detected_Follow;

acc_week_Y.Acceleration_Mode1 = 2.0;

} else if (((acc_week_U.RadarInput_DriveVehicle == 1.0) &&

(rtb_LeadVehicle_Speed < acc_week_U.Set_Speed)) ||

(acc_week_U.Time_Gap < acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Speed_lessthan_S;

acc_week_Y.Acceleration_Mode1 = 4.0;

}

break;

case IN_LeadVehicle_Not_Detected_Res:

acc_week_Y.Acceleration_Mode1 = 1.0;

break;

case IN_LeadVehicle_Speed_equal_Set_:

acc_week_Y.Acceleration_Mode1 = 5.0;

if (((rtb_DriveVehicle_Speed < acc_week_U.Set_Speed) &&

(rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed)) ||

(acc_week_U.Time_Gap >= acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Detected_Resume;

acc_week_Y.Acceleration_Mode1 = 3.0;

} else if ((acc_week_U.RadarInput_DriveVehicle == 0.0) &&

(rtb_DriveVehicle_Speed <= acc_week_U.Set_Speed)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Not_Detected_Res;

acc_week_Y.Acceleration_Mode1 = 1.0;

} else if (((rtb_LeadVehicle_Speed < acc_week_U.Set_Speed) &&

(rtb_LeadVehicle_Speed < rtb_DriveVehicle_Speed)) || (0.75

* acc_week_U.Set_Gap == acc_week_U.Time_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Speed_lessthan_S;

acc_week_Y.Acceleration_Mode1 = 4.0;

}

break;

default:

/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */

acc_week_Y.Acceleration_Mode1 = 4.0;

if ((rtb_LeadVehicle_Speed * 1.25 >= rtb_DriveVehicle_Speed) &&

(rtb_LeadVehicle_Speed * 0.75 <= rtb_DriveVehicle_Speed) &&

(rtb_DriveVehicle_Speed < acc_week_U.Set_Speed) &&

(acc_week_U.Time_Gap <= 1.25 * acc_week_U.Set_Gap) &&

(acc_week_U.Time_Gap >= 0.75 * acc_week_U.Set_Gap)) {

acc_week_DW.is_ON_mode = IN_LeadVehicle_Speed_equal_Set_;

acc_week_Y.Acceleration_Mode1 = 5.0;

} else if ((acc_week_U.RadarInput_DriveVehicle == 0.0) &&

(rtb_DriveVehicle_Speed == acc_week_U.Set_Speed)) {

acc_week_DW.is_ON_mode = acc_IN_LeadVehicle_Not_Detected;

acc_week_Y.Acceleration_Mode1 = 1.0;

}

break;

}

}

break;

default:

/* case IN_STANDBY_Mode: */

acc_week_Y.Acceleration_Mode1 = 0.0;

if (acc_week_U.CruiseSwitch == 0.0) {

acc_week_DW.is_c3_acc_week = acc_week_IN_OFF_Mode;

acc_week_Y.Acceleration_Mode1 = 0.0;

} else if (acc_week_U.SetSwitch == 1.0) {

acc_week_DW.is_c3_acc_week = acc_week_IN_ON_mode;

acc_week_DW.is_ON_mode = IN_LeadVehicle_Detected_Follow;

acc_week_Y.Acceleration_Mode1 = 2.0;

}

break;

}

}

/* End of Chart: '<S1>/Adaptive Cruise Control Algorithm' */

}

/* Model initialize function */

void acc_week_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void acc_week_terminate(void)

{

/* (no terminate code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

Result:-

Thus all the MBD processes following during the completion of this project all the necessary files are attached to the project for rereference

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.