Project 2 Adaptive Cruise Control

Adaptive cruise control-

Developing Adaptive Cruise Control feature-

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.

*SLDD creation:

We have named the signals. Now we must create a Data dictionary and define all those signals. Use the model properties under modeling settings to create and link the data dictionary to the model:

Signal Resolve and Signal propagation:

All signals are resolved and propagated. Shown above in screenshot.

Creation of Requirement 1 and linked to word document:

Requirement 2 linked to the word:

Requirement 3 is linked to the word:

Model Advisor check-

Detailed report attached in the zip folder.

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

Code generation using Embedded coder:

/*
 * File: Adaptive_Cruise_control.c
 *
 * Code generated for Simulink model 'Adaptive_Cruise_control'.
 *
 * Model version                  : 1.11
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Tue May 31 22:15:48 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: '<S1>/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;             /* '<S1>/ACC_Logic' */
uint8_T DriveVehicle_Speed;            /* '<S2>/Add' */
uint8_T LeadVehicle_Detected;          /* '<S2>/Signal Conversion' */
uint8_T LeadVehicle_Speed;             /* '<S3>/Add' */

/* Block states (default storage) */
DW_Adaptive_Cruise_control_T Adaptive_Cruise_control_DW;

/* 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: '<S3>/Add' incorporates:
   *  Inport: '<Root>/CameraInput_LeadVehicle'
   *  Inport: '<Root>/RadarInput_LeadVehicle'
   */
  LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
    RadarInput_LeadVehicle);

  /* Sum: '<S2>/Add' incorporates:
   *  Inport: '<Root>/CameraInput_DriveVehicle'
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   *  UnitDelay: '<Root>/Unit Delay'
   */
  DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
    CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);

  /* SignalConversion: '<S2>/Signal Conversion' incorporates:
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   */
  LeadVehicle_Detected = RadarInput_DriveVehicle;

  /* Chart: '<S1>/ACC_Logic' incorporates:
   *  Inport: '<Root>/CruiseSwitch'
   *  Inport: '<Root>/SetSwitch'
   *  Inport: '<Root>/Set_Gap'
   *  Inport: '<Root>/Set_Speed'
   *  Inport: '<Root>/Time_Gap'
   */
  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;
    Acceleration_Mode = 0U;
  } else {
    switch (Adaptive_Cruise_control_DW.is_c3_Adaptive_Cruise_control) {
     case Adaptive_Cruise_IN_ACC_OFF_MODE:
      Acceleration_Mode = 0U;
      if (CruiseSwitch) {
        Adaptive_Cruise_control_DW.is_c3_Adaptive_Cruise_control =
          Adaptive_Cr_IN_ACC_STANDBY_MODE;
        Acceleration_Mode = 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;
        Acceleration_Mode = 1U;
      } 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;
        Acceleration_Mode = 0U;
      } else {
        switch (Adaptive_Cruise_control_DW.is_ACC_ON_MODE) {
         case IN_LeadVehicle_Detected_Follow:
          Acceleration_Mode = 2U;
          if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_control_DW.is_ACC_ON_MODE =
              Ada_IN_LeadVehicle_Not_Detected;
            Acceleration_Mode = 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;
            Acceleration_Mode = 4U;
          }
          break;

         case IN_LeadVehicle_Detected_Resume:
          Acceleration_Mode = 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;
            Acceleration_Mode = 2U;
          } else if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Acceleration_Mode = 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_;
            Acceleration_Mode = 5U;
          }
          break;

         case Ada_IN_LeadVehicle_Not_Detected:
          Acceleration_Mode = 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;
            Acceleration_Mode = 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;
            Acceleration_Mode = 4U;
          }
          break;

         case IN_LeadVehicle_Not_Detected_Res:
          Acceleration_Mode = 1U;
          break;

         case IN_LeadVehicle_Speed_equal_Set_:
          Acceleration_Mode = 5U;
          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;
            Acceleration_Mode = 4U;
          } else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
                      Set_Speed)) {
            Adaptive_Cruise_control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Acceleration_Mode = 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;
            Acceleration_Mode = 3U;
          }
          break;

         default:
          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
          Acceleration_Mode = 4U;
          if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
          {
            Adaptive_Cruise_control_DW.is_ACC_ON_MODE =
              Ada_IN_LeadVehicle_Not_Detected;
            Acceleration_Mode = 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_;
              Acceleration_Mode = 5U;
            }
          }
          break;
        }
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      Acceleration_Mode = 1U;
      if (!CruiseSwitch) {
        Adaptive_Cruise_control_DW.is_c3_Adaptive_Cruise_control =
          Adaptive_Cruise_IN_ACC_OFF_MODE;
        Acceleration_Mode = 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;
        Acceleration_Mode = 2U;
      }
      break;
    }
  }

  /* End of Chart: '<S1>/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]
 */

Choose sample time for all signals as 0.01