Challenge

Project 2 Adaptive Cruise Control

AAditya Kumar Rawat17 Jun 2022

MATLAB MBD

STUDENT OF ONLINE EV BATCH 16

ANS :

OBJECTIVE :

Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
Following 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.

MATLAB FUNCTIONAL MODEL :

CHANGE SOLVER SETTING.
CHANGE CODE GENERATION SETTING.
CREATE SLDD FILE.
CREATE REQUIREMENT 1 SUBSYSTEM.
CREATE REQUIREMENT 2 SUBSYSTEM.
CREATE REQUIREMENT 3 SUBSYSTEM.
CREATE SUBSYSTEM.
TAG THE SUBSYSTEM'S.
RESOLVE AND PROPOGATE THE SIGNAL.
GO FOR MODEL ADVISOR TEST.
GO FOR CODE GENERATION.

CHANGE SOLVER SETTING :

CHANGE CODE GENERTION SETTING :

CREATE SLDD FILE :

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-1 SUBSYSTEM :

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-2 SUBSYSTEM :

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.

ACC LOGIC :

MOVE TO SYMBOL PANE OPTION AND DEFINE 'INPUTS' AND 'OUTPUTS'.
MOVE FOR MODEL EXPLORER.
CHANGE THE DATA TYPE.

REQUIREMENT-3 SUBSYSTEM :

CREATED SUBSYSTEM :

TAG ALL THREE SUBSYSTEM'S :

RIGHT CLICK ON SUBSYSTEM.
MOVE TO REQUIREMENT.
LINK TO SELECTION IN WORD.
REPEAT SAME BELOW PROCESS FOR ALL THREE SUBSYSTEM'S TO TAG THE SUBSYSTEM.

RESOLVE AND PROPOGATE THE SIGNAL'S :

DOUBLE CLICK ON SIGNAL.
THEN, RIGHT CLICK.
MOVE TO PROPERTIES.
PUT THE SIGNAL NAME.
ENABLE 'SIGNAL NAME MUST RESOLVE TO SIMULINK SIGNAL OBJECT'.
FOR PROPOGATION JUST DOUBLE TAP ON LINE.
USE THIS SYMBOL '<>'.
PUT ENTER INSIDE THIS.

STEP-1 :

STEP-2 :

ACC MODEL :

MODEL ADVISOR :

GO TO MODELING OPTION.
MOVE TO MODEL ADVISOR.
TAP ON THAT.
MOVE TO BY TASK OPTION.
ENABLE ONLY MODELING SIMULINK FOR MAB.
RUN SELECTED CHECKS.
REDUCE WARNINGS.
GENERATE REPORT.

STEP-1 :

STEP-2 :

STEP-3 :

C-CODE GENERATION :

MOVE TO APPS OPTION.
GO FOR EMBEDDED CODER.
TAP ON THAT.
GO TO BUILD OPTION.
GENERATE THE CODE.

STEP-1 :

STEP-2 :

STEP-3 :

/*
 * File: ACC.c
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.36
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Wed Jun 15 11:49:15 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "ACC.h"
#include "ACC_private.h"

/* Named constants for Chart: '/Chart' */
#define ACC_IN_ACC_OFF_MODE            ((uint8_T)1U)
#define ACC_IN_ACC_ON_MODE             ((uint8_T)2U)
#define ACC_IN_ACC_STANDBY_MODE        ((uint8_T)3U)
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_IN_NO_ACTIVE_CHILD         ((uint8_T)0U)
#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;             /* '/Unit Delay' */

/* Definition for custom storage class: Localizable */
static uint8_T DriveVehicle_Speed;     /* '/Add' */
static uint8_T LeadVehicle_Detected;   /* '/Signal Conversion' */
static uint8_T LeadVehicle_Speed;      /* '/Add' */

/* Block states (default storage) */
DW_ACC_T ACC_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_ACC_T ACC_Y;

/* Real-time model */
RT_MODEL_ACC_T ACC_M_;
RT_MODEL_ACC_T *const ACC_M = &ACC_M_;

/* Forward declaration for local functions */
static void ACC_ACC_ON_MODE(void);
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;
}

/* Function for Chart: '/Chart' */
static void ACC_ACC_ON_MODE(void)
{
  int32_T tmp;
  int32_T tmp_0;
  uint8_T tmp_1;
  uint8_T tmp_2;

  /* Inport: '/SetSwitch' incorporates:
   *  Inport: '/CruiseSwitch'
   */

if (!SetSwitch) {
    ACC_DW.is_ACC_ON_MODE = ACC_IN_NO_ACTIVE_CHILD;
    ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_MODE;

    /* Outport: '/Acceleration_Mode' */
    ACC_Y.Acceleration_Mode_a = 1U;
  } else if (!CruiseSwitch) {
    ACC_DW.is_ACC_ON_MODE = ACC_IN_NO_ACTIVE_CHILD;
    ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;

    /* Outport: '/Acceleration_Mode' */
    ACC_Y.Acceleration_Mode_a = 0U;
  } else {
    switch (ACC_DW.is_ACC_ON_MODE) {
     case IN_LeadVehicle_Detected_Follow:
      /* Outport: '/Acceleration_Mode' */
      /* Inport: '/Set_Gap' incorporates:
       *  Inport: '/Set_Speed'
       *  Inport: '/Time_Gap'
       */
      ACC_Y.Acceleration_Mode_a = 2U;
      if (LeadVehicle_Detected == 0) {
        ACC_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 1U;
      } else {
        if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
            (Time_Gap < Set_Gap)) {
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

          /* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 4U;
        }
      }
      break;

     case IN_LeadVehicle_Detected_Resume:
      /* Outport: '/Acceleration_Mode' */
      ACC_Y.Acceleration_Mode_a = 3U;

      /* Inport: '/Set_Speed' incorporates:
       *  Inport: '/Set_Gap'
       *  Inport: '/Time_Gap'
       */
      if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&
          (Time_Gap >= Set_Gap)) {
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 2U;
      } else if (LeadVehicle_Detected == 0) {
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 1U;
      } else {
        if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
             DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

          /* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 5U;
        }
      }
      break;

     case ACC_IN_LeadVehicle_Not_Detected:
      /* Outport: '/Acceleration_Mode' */
      ACC_Y.Acceleration_Mode_a = 1U;

      /* Inport: '/Set_Speed' incorporates:
       *  Inport: '/Set_Gap'
       *  Inport: '/Time_Gap'
       */
      if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
          (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 2U;
      } else {
        if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
            (Time_Gap < Set_Gap)) {
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

          /* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 4U;
        }
      }
      break;

     case IN_LeadVehicle_Not_Detected_Res:
      /* Outport: '/Acceleration_Mode' */
      ACC_Y.Acceleration_Mode_a = 1U;
      break;

     case IN_LeadVehicle_Speed_equal_Set_:
      /* Outport: '/Acceleration_Mode' */
      ACC_Y.Acceleration_Mode_a = 5U;

      /* Inport: '/Set_Speed' incorporates:
       *  Inport: '/Set_Gap'
       *  Inport: '/Time_Gap'
       */
      if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
            DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 3U;
      } else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
      {
        ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 1U;
      } else {
        if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
              DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
              Set_Gap) == Time_Gap)) {
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 4U;
        }
      }
      break;

     default:
      /* Outport: '/Acceleration_Mode' */
      /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
      ACC_Y.Acceleration_Mode_a = 4U;

      /* Inport: '/Set_Speed' */
      if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)) {
        ACC_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 1U;
      } else {
        tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 1.25);

        /* Inport: '/Set_Gap' */
        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;
        }

        /* Inport: '/Time_Gap' incorporates:
         *  Inport: '/Set_Gap'
         */
        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))) {
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

          /* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 5U;
        }
      }
      break;
    }
  }

  /* End of Inport: '/SetSwitch' */
}

/* Model step function */
void ACC_step(void)
{
  /* Sum: '/Add' incorporates:
   *  Inport: '/CameraInput_LeadVehicle'
   *  Inport: '/RadarInput_LeadVehicle'
   */
  LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
    RadarInput_LeadVehicle);

  /* UnitDelay: '/Unit Delay' */
  Acceleration_Mode = ACC_DW.UnitDelay_DSTATE;

  /* Sum: '/Add' incorporates:
   *  Inport: '/CameraInput_DriveVehicle'
   *  Inport: '/RadarInput_DriveVehicle'
   */
  DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
    CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);

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

  /* Chart: '/Chart' incorporates:
   *  Inport: '/CruiseSwitch'
   *  Inport: '/SetSwitch'
   */
  if (ACC_DW.is_active_c3_ACC == 0U) {
    ACC_DW.is_active_c3_ACC = 1U;
    ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;

    /* Outport: '/Acceleration_Mode' */
    ACC_Y.Acceleration_Mode_a = 0U;
  } else {
    switch (ACC_DW.is_c3_ACC) {
     case ACC_IN_ACC_OFF_MODE:
      /* Outport: '/Acceleration_Mode' */
      ACC_Y.Acceleration_Mode_a = 0U;
      if (CruiseSwitch) {
        ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_MODE;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 1U;
      }
      break;

     case ACC_IN_ACC_ON_MODE:
      ACC_ACC_ON_MODE();
      break;

     default:
      /* Outport: '/Acceleration_Mode' */
      /* case IN_ACC_STANDBY_MODE: */
      ACC_Y.Acceleration_Mode_a = 1U;
      if (!CruiseSwitch) {
        ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_MODE;

        /* Outport: '/Acceleration_Mode' */
        ACC_Y.Acceleration_Mode_a = 0U;
      } else {
        if (SetSwitch) {
          ACC_DW.is_c3_ACC = ACC_IN_ACC_ON_MODE;
          ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

          /* Outport: '/Acceleration_Mode' */
          ACC_Y.Acceleration_Mode_a = 2U;
        }
      }
      break;
    }
  }

  /* End of Chart: '/Chart' */

  /* Update for UnitDelay: '/Unit Delay' incorporates:
   *  Outport: '/Acceleration_Mode'
   */
  ACC_DW.UnitDelay_DSTATE = ACC_Y.Acceleration_Mode_a;
}

/* Model initialize function */
void ACC_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void ACC_terminate(void)
{
  /* (no terminate code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

Project 2 Adaptive Cruise Control

Ship work like this
in your own course.

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Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.