Project 2 Adaptive Cruise Control
Adaptive Cruise Control
AIM:
- 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
Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink
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.
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.
Each requirements are made as a individual subsystem and then combined as a another subsystem 'Vehicle_Properties'
Requirement details are determined by right clicking and click on requirements - 'vehicle_Properties' word document pops up
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.
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 (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)]
Requirement details are determined by right clicking and click on requirements - 'LOGICS_BEHIND' word document pops up
Creating of SLDD data:
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 are created.
Configuration Parameters: Change solver and type
Change to Embedded Coder in Code Generation
MODEL ADVISOR:
Warnings are reduced from 23 to 16 and report is generated.
Model created is made to run in a SIL :
When you click Ok, coded files of the whole systems are created and stored as a folder in the directory path of running model.
Coded files of the system:
Generated code:
/*
* File: main_pro.c
*
* Code generated for Simulink model 'main_pro'.
*
* Model version : 1.28
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sun Apr 17 18:33:38 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "main_pro.h"
#include "main_pro_private.h"
/* Named constants for Chart: '<S1>/LOGICS_BEHIND' */
#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 mai_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define main_pro_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define main_pro_IN_OFF_MODE ((uint8_T)1U)
#define main_pro_IN_ON_MODE ((uint8_T)2U)
#define main_pro_IN_STANDBY_MODE ((uint8_T)3U)
/* Exported data definition */
/* Definition for custom storage class: ExportToFile */
uint8_T DriveVehicle_Speed; /* '<S4>/Add1' */
uint8_T LeadVehicle_Detected; /* '<S4>/Signal Conversion' */
uint8_T LeadVehicle_Speed; /* '<S5>/Add' */
/* Block states (default storage) */
DW_main_pro_T main_pro_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_main_pro_T main_pro_Y;
/* Real-time model */
static RT_MODEL_main_pro_T main_pro_M_;
RT_MODEL_main_pro_T *const main_pro_M = &main_pro_M_;
real_T rt_roundd(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 = 0.0;
} else {
y = ceil(u - 0.5);
}
} else {
y = u;
}
return y;
}
/* Model step function */
void main_pro_step(void)
{
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
/* Outputs for Atomic SubSystem: '<Root>/mother_system' */
/* Sum: '<S5>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* SignalConversion: '<S4>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Sum: '<S4>/Add1' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
* UnitDelay: '<S1>/Unit Delay'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + main_pro_Y.Acceleration_Mode) +
RadarInput_DriveVehicle);
/* Chart: '<S1>/LOGICS_BEHIND' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
* UnitDelay: '<S1>/Unit Delay'
*/
if (main_pro_DW.is_active_c3_main_pro == 0U) {
main_pro_DW.is_active_c3_main_pro = 1U;
main_pro_DW.is_c3_main_pro = main_pro_IN_OFF_MODE;
main_pro_Y.Acceleration_Mode = 0U;
} else {
switch (main_pro_DW.is_c3_main_pro) {
case main_pro_IN_OFF_MODE:
main_pro_Y.Acceleration_Mode = 0U;
if (CruiseSwitch) {
main_pro_DW.is_c3_main_pro = main_pro_IN_STANDBY_MODE;
main_pro_Y.Acceleration_Mode = 1U;
}
break;
case main_pro_IN_ON_MODE:
if (!SetSwitch) {
main_pro_DW.is_ON_MODE = main_pro_IN_NO_ACTIVE_CHILD;
main_pro_DW.is_c3_main_pro = main_pro_IN_STANDBY_MODE;
main_pro_Y.Acceleration_Mode = 1U;
} else if (!CruiseSwitch) {
main_pro_DW.is_ON_MODE = main_pro_IN_NO_ACTIVE_CHILD;
main_pro_DW.is_c3_main_pro = main_pro_IN_OFF_MODE;
main_pro_Y.Acceleration_Mode = 0U;
} else {
switch (main_pro_DW.is_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
main_pro_Y.Acceleration_Mode = 2U;
if (LeadVehicle_Detected == 0) {
main_pro_DW.is_ON_MODE = mai_IN_LeadVehicle_Not_Detected;
main_pro_Y.Acceleration_Mode = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
main_pro_Y.Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Detected_Resume:
main_pro_Y.Acceleration_Mode = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Detected_Follow;
main_pro_Y.Acceleration_Mode = 2U;
} else if (LeadVehicle_Detected == 0) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
main_pro_Y.Acceleration_Mode = 1U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
main_pro_Y.Acceleration_Mode = 5U;
}
break;
case mai_IN_LeadVehicle_Not_Detected:
main_pro_Y.Acceleration_Mode = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Detected_Follow;
main_pro_Y.Acceleration_Mode = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
main_pro_Y.Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
main_pro_Y.Acceleration_Mode = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
main_pro_Y.Acceleration_Mode = 5U;
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Detected_Resume;
main_pro_Y.Acceleration_Mode = 3U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
main_pro_Y.Acceleration_Mode = 1U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd(0.75 *
(real_T)Set_Gap) == Time_Gap)) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
main_pro_Y.Acceleration_Mode = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
main_pro_Y.Acceleration_Mode = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
main_pro_DW.is_ON_MODE = mai_IN_LeadVehicle_Not_Detected;
main_pro_Y.Acceleration_Mode = 1U;
} else {
tmp = (int32_T)rt_roundd((real_T)LeadVehicle_Speed * 1.25);
tmp_0 = (int32_T)rt_roundd(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((real_T)
LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
(Time_Gap >= (int32_T)rt_roundd(0.75 * (real_T)Set_Gap))) {
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
main_pro_Y.Acceleration_Mode = 5U;
}
}
break;
}
}
break;
default:
/* case IN_STANDBY_MODE: */
main_pro_Y.Acceleration_Mode = 1U;
if (!CruiseSwitch) {
main_pro_DW.is_c3_main_pro = main_pro_IN_OFF_MODE;
main_pro_Y.Acceleration_Mode = 0U;
} else if (SetSwitch) {
main_pro_DW
.is_c3_main_pro = main_pro_IN_ON_MODE;
main_pro_DW.is_ON_MODE = IN_LeadVehicle_Detected_Follow;
main_pro_Y.Acceleration_Mode = 2U;
}
break;
}
}
/* End of Chart: '<S1>/LOGICS_BEHIND' */
/* End of Outputs for SubSystem: '<Root>/mother_system' */
}
/* Model initialize function */
void main_pro_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void main_pro_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/