Project 2 Adaptive Cruise Control

Aim- To create a Simulink model for ADAS- Adaptive Cruise Control System as per given requirements.

 

Objectives-

• To create Simulink model for the given requirements.
• Create Simulink data dictionary and link it with the Simulink model.
• Set various configuration parameters such as solver settings, code generation, coverage, etc.
• Run model advisor test and make changes accordingly.
• Generate the C code.

Model Explanation-

Above figure shows the desired model for the given requirements. This model has total 9 inputs- CameraInput_LeadVehicle, RadarInput_LeadVehicle, RadarInput_DriveVehicle, CameraInput_DriveVehicle, Time_Gap, Set_Speed, Set_Gap, CruiseSwitch & SetSwitch. . Further there are 3 requirements. Thus, given model is further divided into 3 subsystems- Lead_Vehicle, Drive_Vehicle & ACC_Algorithm.

Requirement 1(Lead Vehicle)-

Blocks used-

• Add block

 

Model Explanation-

This requirement has 2 inputs- CameraInput_LeadVehicle & RadarInput_LeadVehicle. The data type for this two signals is uint8. Here this 2 inputs are simply added and corresponding output is simply read as speed profile output.

Requirement 2(Drive vehicle)-

Blocks used-

• Add block
• Signal conversion block

 

Model Explanation-

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. Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected). Signal DriveVehicle_Speed is summation of three input signals. LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

Requirement 3(Adaptive Cruise control Algorithm)-

Model Explanation-

This  requirement is implemented as state machine logic in Simulink. Adaptive Cruise Control feature has 3 major modes of operation: OFF Mode, STANDBY Mode & ON Mode.

ACC_OFF is the default transition state. In this state output signal Acceleration_Mode is at value 0.

The 2^nd state is ACC_STANDBY state. In this state the value of output signal Acceleration_Mode is at 1.

The last state is ACC_ON state. This state has 6 substates.

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

Steps-

Creating SLDD-

• Go to model properties > external data
• Click on New
• Enter the SLDD name
• Uncheck Enable model access to base workspase
• Click apply and then OK

• Now open model explorer
• From model hierarchy go to External data > Adaptive_Cruise_Control_dd > Design Data
• Enter all the input, output and localize signals here.

Configuration Parameters settings-

• Open Configuration parameters
• Go to Solver
• Select Solver Type as Fixed Step and Solver as discrete. Enter Step size as 0.01

• Go to Code Generation
• Browse system target file > select ert.tlc
• Apply > OK

Requirement Tagging-

• Right Click on Adaptive_Cruise_Control subsystem
• Go to requirements > Link to Selection In word

Model Advisor Test-

• Open model advisor
• Select Autocode from system hierarchy and click OK

• Check Modeling standard for ISO 26262, Code generation Efficiency, Model Referencing, etc.
• Click Run selected checks.

• After check is completed resolve the warnings and errors.

Code Generation-

• Right Click on Adaptive_Cruise_Control subsystem
• Check Treat as atomic unit

• Go to C Code tab
• Generate code.