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Project 2 Adaptive Cruise Control

KKishor Age17 May 2022
MATLABMBD

                                                      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 standstill. When the vehicle remains stopped longer, the driver needs only to reactivate the system, for example by briefly stepping on the gas pedal to return to cruise control mode. In this way, cruise control stop & go supports the driver even in heavy traffic and traffic jams.

Since Adaptive Cruise Control is a comfort and convenience system, brake interventions and vehicle acceleration only take place within defined limits. Even with Adaptive Cruise Control switched on, it remains the driver’s responsibility to monitor the speed and distance from the vehicle in front.

Objective of Main Project:

  1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
  2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
  3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
  4. Use Embedded Coder to generate the code.
  5. If choosing code generation, Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
  6. Choose sample time for all signals as 0.01s

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.

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 – ACC ON MODE state logic:

This state will be activated when input signal SetSwitch is equal to 1. There are 6 sub states to this state logic: They are:

  • LeadVehicle_Detected_Follow (Default)
  • LeadVehicle_Not_Detected
  • LeadVehicle_Detected_Resume
  • LeadVehicle_Not_Detected_Resume
  • LeadVehicle_Speed_lessthan_Set_Speed
  • LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

  • This is the default sub state inside ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]

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

  • Output signal Acceleration_Mode is equal to 3.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.

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

  • Output signal Acceleration_Mode is equal to 4.
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 5.
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed

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

-

-

Solution:

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 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.

Objective of Main Project:

  1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
  2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
  3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
  4. Use Embedded Coder to generate the code.
  5. If choosing code generation, Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
  6. Choose sample time for all signals as 0.01s

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.

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 – ACC ON MODE state logic:

This state will be activated when input signal SetSwitch is equal to 1. There are 6 sub states to this state logic: They are:

  • LeadVehicle_Detected_Follow (Default)
  • LeadVehicle_Not_Detected
  • LeadVehicle_Detected_Resume
  • LeadVehicle_Not_Detected_Resume
  • LeadVehicle_Speed_lessthan_Set_Speed
  • LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

  • This is the default sub state inside ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]

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

  • Output signal Acceleration_Mode is equal to 3.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.

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

  • Output signal Acceleration_Mode is equal to 4.
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 5.
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed

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

-

-

Steps Followed:

1. Setting up the Project File path:

We must create the folder for project where MATLAB is installed so that we can perform the steps without any errors.

The path for the project is shown below:

 

2. Creating SLDD (Simulink Data Directory) File:

As the given list we must create the SLDD File so that all the Signals and Calibration Data mentioned is defined in order to run the model as per the list.

The benefits of creating SLDD File are:

  1. Data created in SLDD is persistent.
  2. We are able to store configuration parameters.
  3. It allows for traceability from data object to Simulink Selection.

Here, we have created the SLDD File as mentioned below:

3. Creating Simulink Model as per Requirements:

For the given requirements we have created model by naming "Adaptive_Cruise_Control" as mentioned below:

Now, here we have used to subsystem as per the requirements mentioned the images of following can be shown below:

  • Requirements 1:

  • Requirements 2:

  • Requirements 3:

 

As per Requirements 3 we have created the stateflow logic which is shown below:

4. Signal Resolving and Signal Propagation:

After creating Simulink Model as per requirements the next step comes is to Signal Resolving.

In this we select the Signal which needs to Resolved and then setup for Resolving. The settings for the same are mentioned below:

Once, the Signal is Resolved we need to follow Signal Propagation if the same signal is again taken in the model.

The settings for the same is mentioned below:

 

5. Setting up Solver Configuration:

After the Signal Resolving and Signal Propagation for each signals, we need to set up the Solver for proper running of Model for Testing.

The settings for configuring Solver is mentioned as below:

 

As mentioned in the project description:

  1. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.

6. Requirements Tagging:

We need this step so that we can showcase the requirements as per the model is build to the third-party person who will be handling that particular model.

The requirements are tagged to the file in which it is created it can be Word or Excel format file.

The setting for Tagging is shown below:

First, we have to select the Tag which we want to link with our model. Here we have selected "Requirement 1-Lead Vehicle" for tagging to our model as shown above.

Then by clicking onto subsystem which we want to tag we get option under "Requirements" --> "Link to Selection in Word".

Once we create the tag it is visible as follows.

The tagged block will change to "Yellow colour" which shown the tagging is done.

Requirements are as follows:

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.

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 – ACC ON MODE state logic:

This state will be activated when input signal SetSwitch is equal to 1. There are 6 sub states to this state logic: They are:

  • LeadVehicle_Detected_Follow (Default)
  • LeadVehicle_Not_Detected
  • LeadVehicle_Detected_Resume
  • LeadVehicle_Not_Detected_Resume
  • LeadVehicle_Speed_lessthan_Set_Speed
  • LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

  • This is the default sub state inside ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
  • Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]

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

  • Output signal Acceleration_Mode is equal to 3.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
  • Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 1.

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

  • Output signal Acceleration_Mode is equal to 4.
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

  • Output signal Acceleration_Mode is equal to 5.
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
  • Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed

7.MAB (MathWorks Advisory Board) Guidelines Testing:

After setting up model we move towards MAB (MathWorks Advisory Board) Guidelines Testing which is defined as:

The MAB Guidelines are a set of modeling guidelines developed by an independent industry working group for the usage of MATLAB, Simulink, Stateflow and Embedded Coder. The guidelines are the culmination of years of engineering expertise and best practices for developing, maintaining and documenting control algorithm models used in the development of production software.

The steps for MAB Testing is shown below:

 

Choose the model to be MAB Tested.

 

Expand the "By Task" section.

 

 Select the "Modelling Standards for MAB" and after that click on "Run Selected Checks" for performing MAB Testing.

The warning dialogue box pops-up we need to click on "Continue" button.

 

After clicking on confirmation, the test is being processed as shown above.

After MAB Test is performed we are seeing the results, here we need "Errors: 0" and "Warnings: Upto 15" if its more than that perform the MAB testing after resolving the errors and warnings.

In our model since it has "Errors: 0" and "Warnings: 15" so MAB Testing is Successful.

 

By clicking on "Generate Report" it will popup this window as mentioned above.

As shown above, the MAB Report is generated for the Model which is tested.

8.Generation of Embedded Code:

Once we do MAB Testing and we get '0' Errors for the created model then we further move for Code Geberation.

In this the Model which we created in Simulink environment is represented in the form of "Embedded C" Coding. So that we can fed this model logic into the Hardware which is designed for that particular application.

The steps for Code Generation is shown below:

 

 Click on "Build" to start the code generation.

The generated code for the model is mentioned below.

The location for the code is shown below named as "Adaptive_Cruise_Control.c".

Generated code format:

/*
* File: Adaptive_Cruise_Control.c
*
* Code generated for Simulink model 'Adaptive_Cruise_Control'.
*
* Model version : 1.15
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Mon May 16 22:07:46 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: '/Adaptive_Cruise_Control_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 */
real_T Acceleration_Mode; /* '/Unit_Delay' */

/* 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(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 Adaptive_Cruise_Control_step(void)
{
/* local block i/o variables */
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;
real_T tmp_1;
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_2;
uint8_T tmp_3;

/* 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_j;

/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_DriveVehicle'
* Inport: '/RadarInput_DriveVehicle'
*/
tmp_1 = fmod(floor(((real_T)CameraInput_DriveVehicle + Acceleration_Mode) +
(real_T)RadarInput_DriveVehicle), 256.0);

/* Sum: '/Add' */
DriveVehicle_Speed = (uint8_T)(tmp_1 < 0.0 ? (int32_T)(uint8_T)-(int8_T)
(uint8_T)-tmp_1 : (int32_T)(uint8_T)tmp_1);

/* SignalConversion: '/Signal Conversion' incorporates:
* Inport: '/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;

/* Outputs for Atomic SubSystem: '/Requirement_3_ACC_Algorithm' */
/* Chart: '/Adaptive_Cruise_Control_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_j = 0.0;
} else {
switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
case Adaptive_Cruise_IN_ACC_OFF_MODE:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 0.0;
if (CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
}
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_j = 1.0;
} else if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 0.0;
} else {
switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 2.0;
if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
} 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_j = 4.0;
}
break;

case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 3.0;
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_j = 2.0;
} else if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
} 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_j = 5.0;
}
break;

case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
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_j = 2.0;
} 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_j = 4.0;
}
break;

case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
break;

case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 5.0;
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_j = 3.0;
} else 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_j = 1.0;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd(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_j = 4.0;
}
break;

default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 4.0;
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_j = 1.0;
} 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_2 = (uint8_T)tmp;
} else {
tmp_2 = MAX_uint8_T;
}

if (tmp_0 < 256) {
tmp_3 = (uint8_T)tmp_0;
} else {
tmp_3 = MAX_uint8_T;
}

if ((tmp_2 >= DriveVehicle_Speed) && ((int32_T)rt_roundd((real_T)
LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_3) &&
(Time_Gap >= (int32_T)rt_roundd(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_j = 5.0;
}
}
break;
}
}
break;

default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 1.0;
if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_j = 0.0;
} 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_j = 2.0;
}
break;
}
}

/* End of Chart: '/Adaptive_Cruise_Control_Logic' */
/* End of Outputs for SubSystem: '/Requirement_3_ACC_Algorithm' */
}

/* 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:

  1. We have learned as well as created the model for Adapative Cruise Control where we created various logics as per the Requirements provided.
  2. Also, after creating the model we have performed with the MAB Guidelines Testing where we verified our designed model in whcih it was successfully passed.
  3. Finally, created Embedded C Code for the Model which was built.
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