Project 2 Adaptive Cruise Control

online student batch EV -16

Aim:-

This project's aim is to adapt to the speed in line with the flow of traffic . ACC is working as a smart device which control the vehicle's speed and maintains a pre-defined distance in traffic according to a preceding vehicle.

objective:-

1. Modelling Adaptive cruise control model as per given guidelines from the document.
2. All the tagging, Sldd file creation, solver configuration, code generation and model advisor report should be followed.
3. The fixed time is set to 0.01secs.
4. For sldd input, output signals, constant localizable signals have to use.

Steps:-

• First of all, create a sldd file according to the data given.

• And include every little notation and specify thee signals.

• Create a new folder and include every file in it otherwise, the model will not run properly.

• Make a subsystem of Adaptive cruise control.

• In that subsystem three main requirements are there, Lead vehicle, Drive vehicle and cruise control algorithm.

• First is the Lead vehicle it is a vehicle which is driving on the road ahead of our drive vehicle. Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).

• Simply add both the radar & camera inputs and the output is read as Speed profile output (Signal Name: LeadVehicle_Speed).

• The second is drive a vehicle it is a vehicle driven by the user & this is the vehicle which has an adaptive cruise control algorithm in it.

• Like the Lead Vehicle, the 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 a summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

• This adaptive cruise control subsystem has three modes. off mode, on mode and stand by mode.

• The input signals to this state machine system are (Signal Name: Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch).

• Output signals (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected) from requirement-2 is fed back as an input signal into this state machine block.

• 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) which governs the vehicle speed of the drive vehicle and automatically adjusts its speed & velocity to match the lead vehicle.

• Input parameters according to the logic chart.

• The default state inside machine logic Output signal Acceleration_Mode is at value 0 in this state.

• This state is controlled by the input signal CruiseSwitch.

• If CruiseSwitch is = 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.

• The second state inside machine logic output signal Acceleration_Mode is at value 1 in this state. This state is controlled by both input signals CruiseSwitch & SetSwitch.

• If CruiseSwitch is = 1, ACC standby mode will get activated. If CruiseSwitch is = 0, state acc off mode will get activated, from either acc on mode or acc standby mode.

• If SetSwitch is = 1, state acc on the mode will get activated. If SetSwitch is = 0, state acc standby mode will be on.

• On state will be activated when the input signal SetSwitch is = 1. There are 6 sub-states to this state logic:

• LeadVehicle_Detected_Follow (Default)

• LeadVehicle_Not_Detected

• LeadVehicle_Detected_Resume

• LeadVehicle_Not_Detected_Resume

• LeadVehicle_Speed_lessthan_Set_Speed

• LeadVehicle_Speed_equal_Set_Speed

These all are elaborated on here in given image.

• The next step is to solve signals and propagate them.

• As given below image select one signal > properties and give a signal name with a checkbox with signal name must resolve.

• To propagate a select signal go to Properties and check show propagated signals another option is to select signal double click and then write <> signal will be propagated.

• To tag, the system select requiremtn1 subsystem right-clicks> requirements and select link to word it will link to the word file and information will be open of that subsystem.

• Same process with requirement 2.

• Change the solver configuration settings from variable time step to fixed-step with discrete solver and stepsize would be 0.01seconds.

• Choose the target file ert.tlc embedded codder.
  

• To Check errors and warnings model advisor check must comply with different guidelines.

• Open model advisor check and just select modelling standards with MAB.

• This model has zero failures and 16 warnings.

• It will generate a report with warnings fails and pass. Minimum warnings and failures should be there. It will create a report in HTML and saves it in a folder.

• To generate code go to APPS >Simulink coder.

• To generate code system target file should be in grt.tlc format then only it generates C code.

• Now select the build option to generate the whole system code.

• Code file will generate with .c extension and we can see in the base workspace too.