Challenge

Project 2 - Adaptive Cruise Control (ACC)

CCyril John21 Apr 2022

QUESTION

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 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 stand still When the vehicle remains stanned 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 of 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 which is driving in the road ahead of our drive vehicle. Two input signals (Signal Name: Cameralnput_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: Cameralnput_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.

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 l 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 l.
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) - Lead Vehicle_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 Lead Vehicle_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)].

ANSWER

#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.

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.

Choose sample time for all signals as 0.01s.

#General Overview

Main Project – Adaptive Cruise Control (ACC)

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.

Lead Vehicle

To detect the lead vehicle speed, simply add both radar and camera inputs and the corresponding output is read as Speed profile output.

Drive Vehicle

To regulate the "Drive Vehicle speed, as per the Requirement Document added Camera Input, Radar Input & Acceleration Mode feedback from ACC Algorithm.

To detect the Lead vehicle. RadarInput is converted using "Signal Conversion Block
To avoid the algebraic error "Unit delay block is used for the Acceleration Mode feedback.

ACC Algorithm

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

# Designing the MATLAB Simulink Model

The Overall Simulink model for Adaptive Cruise Control: -

The Subsystem of the main model: -

Subsystem 1 - Requirement 1 – Lead Vehicle:

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

Subsystem 2 - Requirement 2 – Drive Vehicle

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

Subsystem 3 - Requirement 3 – ACC Logic

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 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 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 Lead Vehicle_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 Tagging

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

Requirement – 1 - Lead Vehicle

Requirement – 2 - Drive Vehicle

Requirement – 3 - ACC Algorithm

#Traceability Report

# Developing SLDD and linking with model

All the input signals, output signals, calibration parameters are saved in SLDD so while simulation, the model takes all the values and its parameters from the Simulink Data Dictionary file. The signals and parameters are assigned the values as mentioned in the question itself.

# Signal Resolution and Propagation

All the input and output signals are resolved at their origin and they are propagated at the corresponding stages as shown below: -

# Model update

The Model update is done by CTRL+D. this is done to check for any static errors. If there are no errors, then the model is working fine.

# Simulation

The model is simulated too for checking errors and warnings.

# Configuration parameters update

# Model Advisory Report

The model advisor report following the Modelling standards for MAB is shown below: -

# Code Generation

After selecting the target model as Embedded C Coder, the building and generation of the code of the respective model has been done, the .C file of Adaptive_Cruise_Control model is shown below: -

Generated Code

/*

 * File: Adaptive_Cruise_Control.c

 *

 * Code generated for Simulink model 'Adaptive_Cruise_Control'.

 *

 * Model version                  : 1.62

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

 * C/C++ source code generated on : Thu Apr 21 18:40:09 2022

 *

 * Target selection: ert.tlc

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

 * Code generation objectives: Unspecified

 * Validation result: Not run

 */



#include "Adaptive_Cruise_Control.h"

#include "Adaptive_Cruise_Control_private.h"



/* Named constants for Chart: '/ACC_Logic' */

#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)

#define Adaptive_Cr_IN_ACC_STANDBY_MODE ((uint8_T)3U)

#define Adaptive_Cru_IN_NO_ACTIVE_CHILD ((uint8_T)0U)

#define Adaptive_Cruise_IN_ACC_OFF_MODE ((uint8_T)1U)

#define Adaptive_Cruise__IN_ACC_ON_MODE ((uint8_T)2U)

#define IN_LeadVehicle_Detected_Follow ((uint8_T)1U)

#define IN_LeadVehicle_Detected_Resume ((uint8_T)2U)

#define IN_LeadVehicle_Not_Detected_Res ((uint8_T)4U)

#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)5U)

#define IN_LeadVehicle_Speed_lessthan_S ((uint8_T)6U)



/* Exported data definition */



/* Definition for custom storage class: ExportToFile */

uint8_T Acceleration_Mode;             /* '/Unit Delay' */

uint8_T DriveVehicle_Speed;            /* '/Add' */

uint8_T LeadVehicle_Detected;          /* '/Signal_Conversion_Block' */

uint8_T LeadVehicle_Speed;             /* '/Add' */



/* Block states (default storage) */

DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;



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

ExtY_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_Y;



/* Real-time model */

static RT_MODEL_Adaptive_Cruise_Cont_T Adaptive_Cruise_Control_M_;

RT_MODEL_Adaptive_Cruise_Cont_T *const Adaptive_Cruise_Control_M =

  &Adaptive_Cruise_Control_M_;

real_T rt_roundd_snf(real_T u)

{

  real_T y;

  if (fabs(u) < 4.503599627370496E+15) {

    if (u >= 0.5) {

      y = floor(u + 0.5);

    } else if (u > -0.5) {

      y = u * 0.0;

    } else {

      y = ceil(u - 0.5);

    }

  } else {

    y = u;

  }



  return y;

}



/* Model step function */

void Adaptive_Cruise_Control_step(void)

{

  int32_T tmp;

  int32_T tmp_0;

  uint8_T tmp_1;

  uint8_T tmp_2;



  /* Sum: '/Add' incorporates:

   *  Inport: '/CameraInput_LeadVehicle'

   *  Inport: '/RadarInput_LeadVehicle'

   */

  LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +

    RadarInput_LeadVehicle);



  /* UnitDelay: '/Unit Delay' */

  Acceleration_Mode = Adaptive_Cruise_Control_Y.Acceleration_Mode_c;



  /* Sum: '/Add' incorporates:

   *  Inport: '/CameraInput_DriveVehicle'

   *  Inport: '/RadarInput_DriveVehicle'

   */

  DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)

    CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);



  /* SignalConversion: '/Signal_Conversion_Block' incorporates:

   *  Inport: '/RadarInput_DriveVehicle'

   */

  LeadVehicle_Detected = RadarInput_DriveVehicle;



  /* Chart: '/ACC_Logic' incorporates:

   *  Inport: '/CruiseSwitch'

   *  Inport: '/SetSwitch'

   *  Inport: '/Set_Gap'

   *  Inport: '/Set_Speed'

   *  Inport: '/Time_Gap'

   *  UnitDelay: '/Unit Delay'

   */

  if (Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co == 0U) {

    Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co = 1U;

    Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =

      Adaptive_Cruise_IN_ACC_OFF_MODE;

    Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 0U;

  } else {

    switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {

     case Adaptive_Cruise_IN_ACC_OFF_MODE:

      Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 0U;

      if (CruiseSwitch) {

        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =

          Adaptive_Cr_IN_ACC_STANDBY_MODE;

        Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

      }

      break;



     case Adaptive_Cruise__IN_ACC_ON_MODE:

      if (!SetSwitch) {

        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

          Adaptive_Cru_IN_NO_ACTIVE_CHILD;

        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =

          Adaptive_Cr_IN_ACC_STANDBY_MODE;

        Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

      } else {

        switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {

         case IN_LeadVehicle_Detected_Follow:

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 2U;

          if (LeadVehicle_Detected == 0) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              Ada_IN_LeadVehicle_Not_Detected;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          } else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <

                       Set_Speed)) || (Time_Gap < Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Speed_lessthan_S;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 4U;

          }

          break;



         case IN_LeadVehicle_Detected_Resume:

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 3U;

          if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=

               Set_Speed) && (Time_Gap >= Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Detected_Follow;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 2U;

          } else if (LeadVehicle_Detected == 0) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Not_Detected_Res;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          } else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

                      DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Speed_equal_Set_;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 5U;

          }

          break;



         case Ada_IN_LeadVehicle_Not_Detected:

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&

              (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Detected_Follow;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 2U;

          } else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <

                       Set_Speed)) || (Time_Gap < Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Speed_lessthan_S;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 4U;

          }

          break;



         case IN_LeadVehicle_Not_Detected_Res:

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          break;



         case IN_LeadVehicle_Speed_equal_Set_:

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 5U;

          if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))

          {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Not_Detected_Res;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

                       DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Detected_Resume;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 3U;

          } else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <

                       DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 *

                       (real_T)Set_Gap) == Time_Gap)) {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              IN_LeadVehicle_Speed_lessthan_S;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 4U;

          }

          break;



         default:

          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */

          Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 4U;

          if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))

          {

            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

              Ada_IN_LeadVehicle_Not_Detected;

            Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

          } else {

            tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 1.25);

            tmp_0 = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Gap);

            if (tmp < 256) {

              tmp_1 = (uint8_T)tmp;

            } else {

              tmp_1 = MAX_uint8_T;

            }



            if (tmp_0 < 256) {

              tmp_2 = (uint8_T)tmp_0;

            } else {

              tmp_2 = MAX_uint8_T;

            }



            if ((tmp_1 >= DriveVehicle_Speed) && ((int32_T)rt_roundd_snf((real_T)

                  LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&

                (DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&

                (Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {

              Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

                IN_LeadVehicle_Speed_equal_Set_;

              Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 5U;

            }

          }

          break;

        }

      }

      break;



     default:

      /* case IN_ACC_STANDBY_MODE: */

      Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 1U;

      if (!CruiseSwitch) {

        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =

          Adaptive_Cruise_IN_ACC_OFF_MODE;

        Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 0U;

      } else if (SetSwitch) {

        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =

          Adaptive_Cruise__IN_ACC_ON_MODE;

        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =

          IN_LeadVehicle_Detected_Follow;

        Adaptive_Cruise_Control_Y.Acceleration_Mode_c = 2U;

      }

      break;

    }

  }



  /* End of Chart: '/ACC_Logic' */

}



/* Model initialize function */

void Adaptive_Cruise_Control_initialize(void)

{

  /* (no initialization code required) */

}



/* Model terminate function */

void Adaptive_Cruise_Control_terminate(void)

{

  /* (no terminate code required) */

}



/*

 * File trailer for generated code.

 *

 * [EOF]

 */

# Conclusion

The model corresponding to Adaptive Cruise Control is successfully implemented. All the complaint changes pertaining to MBD, requirement tagging, linking of the model to SLDD, Code generation and ultimately generation of the Model Advisor Report is presented with detailed analysis. Thus, Adaptive Cruise Control feature is developed as per the Requirement Document using MATLAB Simulink.

Project 2 - Adaptive Cruise Control (ACC)

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.