Project 2 Adaptive Cruise Control
AIM:-
Development of a MATLAB Simulink Model for Adaptive Cruise Control feature as per the requirement document
following Model-Based Development (MBD) related processes: SLDD creation, configuration parameter changes, Model
advisor check, and code generation using embedded coder tool.
OBJECTIVE:-
- Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
- 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
OVERVIEW:-
Adaptive Cruise Control Feature for passenger cars allows the host vehicle to adapt to the speed in line with the flow of
traffic. Driving in heavy traffic or keeping a safe distance from the preceding vehicle calls for a high level of concentration.
The Adaptive Cruise Control feature can reduce the stress on the driver by automatically controlling the vehicle speed &
maintaining a predefined minimum distance to the preceding vehicle. As a consequence, the driver enjoys more
comfort & can concentrate on the road a little better.
A radar sensor is usually at the core of the Adaptive Cruise Control. Installed at the front of the vehicle, the system
permanently monitors the road ahead. As long as the road ahead is clear, the cruise control feature maintains the
speed set by the driver. If the system spots a slower vehicle within its detection range, it gently reduces speed by
releasing the accelerator or actively engaging the brake control system. If the vehicle ahead speeds up or changes
lanes, the cruise control automatically accelerates to the driver’s desired speed.
Standard Adaptive Cruise Control can be activated from speeds of around 30 km/h (20 mph) upwards and supports
the driver, primarily on cross-country journeys or on freeways. The cruise control stops & go variant is also active at
speeds below 30 km/h (20 mph). It can maintain the set distance to the preceding vehicle even at very low speeds and
can decelerate to a complete standstill. When the vehicle remains stopped longer, the driver needs only to reactivate
the system, for example by briefly stepping on the gas pedal to return to cruise control mode. In this way, cruise control
stops & goes supports the driver even in heavy traffic and traffic jams.
Since Adaptive Cruise Control is a comfort and convenience system, brake interventions and vehicle acceleration only
take place within defined limits. Even with Adaptive Cruise Control switched on, it remains the driver’s responsibility to
monitor the speed and distance from the vehicle in front.
Requirement 1– Lead Vehicle:
- A lead vehicle is a vehicle that is driving on 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 cameras & 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 that has an ACC algorithm in it.
- Like the Lead Vehicle, the Driver 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 complex reasons we are
ignoring them. - Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
- Signal DriveVehicle_Speedis 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 are fed
back as an input signal into this state machine block. - Additionally, 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) that 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_Modeis at value 0 in this state.
- This state is governed by the input signal CruiseSwitch.
- If CruiseSwitchis 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 CruiseSwitchis 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 the 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 the ACC ON MODE state. Output signal Acceleration_Modeis equal to 2.
- Condition to transit from LeadVehicle_Detected_Followto LeadVehicle_Not_Detected; Input signal
condition LeadVehicle_Detected == 0. - Condition to transit from LeadVehicle_Detected_Followto 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 equal to 1.
Condition to transit from LeadVehicle_Not_Detectedto 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_Detectedto 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 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 toLeadVehicle_Not_Detected_Resume; Input signal
condition LeadVehicle_Detected==0. - Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_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 equal to 1.
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode 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
toLeadVehicle_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 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 toLeadVehicle_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<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) ||
(Time_Gap == 0.75*Set_Gap)]
Signals & Calibration Data List:
|
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 |
- |
- |
Lead Vehicle:-
The lead vehicle is the vehicle that is in front of our vehicle.
To detect the lead vehicle speed, simply added both the radar & camera inputs & the corresponding output is read
as Speed profile output.
Drive vehicle:-
Drive vehicle is the vehicle which we are driving
To regulate the "Drive Vehicle speed, as per the Requirement Document added Cameralnput. Radarinput &
Acceleration Mode feedback from ACC Algorithm.
To detect the Lead vehicle. Radarinput is converted using "Signal Conversion Block To avoid the algebraic error "Unit
delay block is used for the Acceleration Mode feedback.
ACC 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 the 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, the output signal (Signal Name LeadVehicle Speed) from requirement-1 is given as an input signal to
this state machine - Output from this subsystem a signal (Signal Name Acceleration Model which governs the vehicular speed of the
drive vehicle which automatically adjusts to speed & velocity to match the lead vehicle. - The rest of the signal developed as per the Requirement.
Simulink Model:-
This is the main model subsystem that has
9 inputs CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehi, Time_G
Set_Speed, Set_Gap, CruiseSwitch, and SetSwitch enter into the Adaptive Cruise Control subsystem and 1 main
output Acceleration_Mode and other outputs are fed as an input for Stateflow logic
LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected
Requirement 1– Lead Vehicle:
- A lead vehicle is a vehicle that is driving on 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 cameras & 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 that has an ACC algorithm in it.
- Like the Lead Vehicle, the Driver 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 complex reasons we are
ignoring them. - Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
- Signal DriveVehicle_Speedis 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:-
Requirement 3a – ACC OFF MODE state logic:
- This is the default state inside state machine logic. Output signal Acceleration_Modeis at value 0 in this state.
- This state is governed by the input signal CruiseSwitch.
- If CruiseSwitchis 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 CruiseSwitchis 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 the 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 the ACC ON MODE state. Output signal Acceleration_Modeis equal to 2.
- Condition to transit from LeadVehicle_Detected_Followto LeadVehicle_Not_Detected; Input signal
condition LeadVehicle_Detected == 0. - Condition to transit from LeadVehicle_Detected_Followto 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 equal to 1.
Condition to transit from LeadVehicle_Not_Detectedto 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_Detectedto 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 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 toLeadVehicle_Not_Detected_Resume; Input signal
condition LeadVehicle_Detected==0. - Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_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 equal to 1.
- If the input camera does not detect the lead vehicle then the algorithm will transit in this state after detecting the
the vehicle will transit to another state. - The adaptive cruise control mode will stay active and it will go to desired speed when there is a lead vehicle ahead.
- When the lead vehicle is detected by the system it will transit to another state for calculation of the speed and distance
of the lead vehicle and also comparing the speed and distance between the lead vehicle and the drive vehicle.
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode 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
toLeadVehicle_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))] - This state will transit between LeadVehicle_Detected_Follow, LeadVehicle_Not_Detected, and
LeadVehicle_Speed_equal_Set_Speed. - When the lead vehicle is detected by the camera and radar input then it will
from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed then it will check the speed at
these levels and then it will transit to the next state to match the speed of the drive vehicle for a safe distance. - It will check for the logic and if the logic will match then it will transit to
the LeadVehicle_Speed_equal_Set_Speed.
Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode 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 toLeadVehicle_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<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) ||
(Time_Gap == 0.75*Set_Gap)] - This state is the final state where the desired Time gap and the Set gap are obtained and here the drive vehicle will
follow the lead vehicle at the safe distance. And the driver can relax but simultaneously maintain his eye contact
on road but he can do it in a relaxed manner.
Requirement Tagging and Traceability report:-
THE REQUIREMENTS SECTION IS UNFORTUNATELY NOT AVAILABLE IN MY SYSTEM SO PLEASE CONSIDER IT.
DEVELOPING SLDD:-
To develop SLDD I went into the modeling tab then I went to model setting then click on external data new then I save
SLDD and create SLDD all the inputs, outputs, and calibration parameters are saved in SLDD so while simulation the model it
will take all the values and their parameters from the Simulink Data Dictionary.
Most of them were the signals so I did not add any configuration parameters.
For input signals 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.
And for all the signals we take the sample time as 0.01s.
INPUT-OUTPUT SIGNAL RESOLUTION:
For this signal resolution, I select the signal right click on it go to properties then the written signal name, and click on the shoe
signal name click on ok the signal resolves automatically SLDD. the inputs and output signals are resolved so the signals
will take the values from SLDD and pass them to the logical blocks. Otherwise, it may take some junk values if it is
unresolved.
The Signal has to resolve where it appears for the first time for that I clicked on the signal that has to be resolved right click
on that and then go to properties then click on signal name must resolve to Simulink signal object
Model Advisory Report:
By running the model advisor tool, we can see commonly made modeling errors.
For the model advisory report, I went into Modeling clicked on model advisor then I choose by product and click on MAB
then click on the check box to show the report after a run then clicked on run selected checks and I got the report as follows:
GENERATED C CODE:-
/*
* Trial License - for use to evaluate programs for possible purchase as
* an end-user only.
*
* 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 : Fri Jun 24 18:09:24 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: '<S4>/Chart' */
#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)
/* Block states (default storage) */
DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_Y;
/* 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)
{
/* local block i/o variables */
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
/* Sum: '<S2>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* UnitDelay: '<S1>/Unit Delay' */
Acceleration_Mode = Adaptive_Cruise_Control_Y.Acceleration_Mode_d;
/* Sum: '<S3>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);
/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '<S4>/Chart' incorporates:
* Inport: '<Root>/ Set_Gap'
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
* UnitDelay: '<S1>/Unit Delay'
*/
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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
} else {
switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
case Adaptive_Cruise_IN_ACC_OFF_MODE:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
if (CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 0U;
} else {
switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
}
break;
case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
} else if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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_;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
if ((LeadVehicle_Speed == 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
{
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 3U;
} else 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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_;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 5U;
}
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 1U;
if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 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;
Adaptive_Cruise_Control_Y.Acceleration_Mode_d = 2U;
}
break;
}
}
/* End of Chart: '<S4>/Chart' */
}
/* 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]
*/
RESULT AND CONCLUSION:-
With the help of the MATLAB Simulink tool, I was able to make the Adaptive Cruise control model, made the Stateflow
logic for the model, run the model advisory to check for the MAB guidelines, and finally generated the C code out of the
model. I learned the above-mentioned tool in this project and was able to implement the requirement document logic.