Project 2 Adaptive Cruise Control

AIM:make simulink model of adaptive cruise control as per given requirement .

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.

A radar sensor is usually at the core of the Adaptive Cruise Control. Installed at the front of the vehicle, the system permanentlymonitors 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 (20mph). 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:
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:
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.
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.
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 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 (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)>
Signals & Calibration Data List:

Signals & Calibration Data List:

1. Procedure:
As per the Requirement document, implemented the Adaptive Cruise Control feature.
Lead vehicle
• To detect the lead vehicle speed, simply added both the radar & camera inputs & the corresponding output is read as Speed profile output

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
2. DEVELOPMENT OF MATLAB MODEL

This is the main model subsystem that having 9 inputs
CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehi, Time_Gap,
Set_Speed, Set_Gap, CruiseSwitch and SetSwitch entering into the Adaptive Cruise Control subsystem and 4 outputs
Acceleration_Mode, LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected

There are 3 requirements are designed in 3subsystems.

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.

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.

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 are 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 statemachine block as well.Output from this subsystem is a signal (Signal Name: Acceleration_Mode) that governs the vehicular speed of the drive vehiclewhich automatically adjusts its speed & velocity to match the lead vehicle.

The subsystem for the same is created as shown below. The 'from' blocks act as inputs to this subsystem which carries the output data from the previous subsystems.

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
LeadVehicle_Speed_equal_Set_Speed

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

This is the default sub-state 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)

The below image shows us the states mentioned above, inside the 'ACC_ON_MODE' state logic. The details are clearly shown in the image below

Requirement Tagging -
We create a word document consisting of the requirements given above

REQUIREMENT: 1

REQUIREMENT: 2

REQUIREMENT : 3

The below image shows the 'Requirement 3a - ACC OFF MODE state logic' tagged to its subsystem

The below image shows the 'Requirement 3b - ACC STANDBY MODE state logic' tagged to its subsystem.

The below image shows the 'Requirement 3c - ACC ON MODE state logic' tagged to its subsystem

The below image shows the 'Requirement 3c(i) - LeadVehicle_Detected_Follow (ACC ON MODE)' tagged to its subsystem

The below image shows the 'Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE)' tagged to its subsystem

The below image shows the 'Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE)' tagged to its subsystem.

The below image shows the 'Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE)' tagged to its subsystem.

The below image shows the 'Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE)' tagged to its
subsystem.

The below image shows the 'Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE)' tagged to its
subsystem.

SLDD CREATIONS :

Signals & Calibration Data List:

CREATED SLDD In matlab :

Configuration Parameter Update:

Various configuration parameters are updated as per the code generation the solver type should be fixed for code generation

MODEL ADVISOR REPORT
We check for the modeling standards for MAB as shown below. A total of 116 have been passed and 25 warnings will be looked into
and there are no elements that are failing the MAB guidelines.

A report can be generated for the above checks and can be saved in the desired path. A screenshot of the report is shown below.

Code generation:

Build a model for generating code

The configuration parameter settings are shown below. The language will be set to C and the target file like mentioned above will be set to ert. tlc

Genrated code :