Project 2 Adaptive Cruise Control

PROJECT-2(Adaptive cruise control)

AIM:

To develop the adaptive ctuise contro features as per the requirement document using MATLAB simulink.

Mdel configuration setting parameters:-

• 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

REQUIREMENTS:-

Requirement1- Lead vehicles:

• • 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)]
  • 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)]
    

SLDD requirements:

signal/calibration Name:

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	-	-

Overall model:-

As per the requirements we had created a simulink model for adaptive cruise control feature.

• here consist of three requirement subsystem,

Requirement1:- Lead vehicle subsystem

Requirement2:- Drive vehicle subsystem

Requirement3:- Adaptive cruise control subsystem.

REQUIREMENT1:-

As to find the load vehicle speed is quite complicated ,for simplicity as per the requirement 1,the input from the camerinput_leadvehicle signal and radarinput_leadvehicle signal are leadvehicle_speed output.

REQUIREMENT2:-

For DriveVehicle_speed calculation we are adding camerainput_drivevehicle,radarinput_drivervehicle and acceleration_mode feedback from the cruise control algorithm.the output from this substem as drivevehicle_speed and lead_vehicle_detected by programming radarinput_drivevehicle into signal conversion block.

REQUIREMENT3:-

In this substem we are using a state flow logic to implement the requirement

3a,3b,3c(i),3c(ii),3c(iii),3c(),3c(iv),3c(v),3(vi)

the inputs for the state flows are:

• Time_Gap
• Set_Speed
• Set_Gap
• CruiseSwitch
• Set_Switch
• DriveVehicle_Speed from

Requirement2 subsystem

• LeadVehicle_Speed from

Requirement1 subsystem

• LeadVehicle_Detected from

Requirement2 subsystem

The output from this subsystem is,

• Acceleration_Mode-Based in the LeadVehicle_Speed the acceleration_Mode udjust its controlling acceleration given output to maintain constsnt speed.

STATE FLOW logic(Adaptive cruise control logic):

In this logic we had created three modes of operation as,

1. ACC_OFF mode
2. ACC_STANDBY mode
3. ACC_ON mode

In ACC_ON mode we have further 6 modes of operations as,

• LeadVehicle_Detected_Follow
• LeadVehicle_Not_Detected
• LeadVehicle_Detected_Resume
• LeadVehicle_Not_Detected_Resume
• LeadVehicle_Speed_lessthan_Set_Speed
• LeadVehicle_Speed_equal_Set_Speed

All these modes of operations are modelled as per the given as mentioned in requirements section

SLDD file creation:

For all the input and output signals resolved and propogated in this model are declared in the SLDD file created as shown in below

The signal parameters are declares as per the SLDD datatype requirements mention earlier.

The code generated from output signals are stored in ADAS_Cruisecontrol.h and ADAS_Cruisecontrol.c.files.

RESULTS:

After compiling the model we are getting nil errors on model creation justifies our logic on modelling for requirements are correct.

Model Advisor check:

Requirement Taggings:-

CODE generation:-