Project 2 Adaptive Cruise Control

Project 2:

Adaptive Cruise Control:

Adaptive Cruise Control is a advence driver assiastance system the helps the dreiver to to control thr vehicle is some emergency situations. Adas Driver assisatance vary different features varieng to the level of Adas system.

The very basic Adas system comes with Cruise Contol, automated Emergency braking etc.

The advance adas comes with the Complete Driver asistance like complete autonomus vehicle as we see in Tesla.

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 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

Requrinment 1:

In requirenmeant we we sum up the Camera_Input_Lead Vechicle and the Radar_Input_Lead Vehicle to find the speed of the lead Vehicle.

Requirement 2:

The requirement 2 has the Drive vehicle data.

The Drive Vehicle Camera_Input, Radar_Input_Drive_Vehicle and Accleartion mode from Cruiser control algorithm. The Output of the subsystem is Drive_Vehicle Speedand the Lead_Vehicle Detected by propogation the radar_input_Drive_Vehicle into a signal conversion block.

In the model Requirement 1 and Requirement 2 was combined and created a subsystem:

Requirement 3:

In requirement 3 we created at sub-system with state logic given. As 3(a), 3(b), 3(c){ 3(c1), 3(c2), 3(c3), 3(c4), 3(c5), 3(c6)}

Three modes of operation was carried out:

3(a) As ACC_Off_Mode:

3(b) As ACC_Standby_Mode

And 3(c) As ACC_On_Mode: It has 6 modes of operation:

• LeadVehicle_Dect_Follow {The default}
• LeadVehicle_Not_Dect
• LeadVehicle_Dect_Resume
• LeadVehicle_Not_Dect_Resume
• LeadVehicle_Speed_Lessthan_SetSpeed
• LeadVehicle_Speed_Equal_SetSpeed:

Here the inputs were:

• Time_Gap
• Setspeed
• Set_Gap
• Lead_Vech_Speed
• CruiseSwitch
• SetSwitch
• Lead_Vech_Dect
• Drive_Vehicle_Speed

The output that we get is Accleration_mode.

SLDD Requirenment:

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	-	-

Result: After running the given model we got no error and were able to run the logic sucessfully.

Code Generation Advisor Report:

Requriment Tagging:

Code Generation

/*

* Code generated for Simulink model 'untitled'.*

* Model version : 1.16

* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021

* C/C++ source code generated on : Sat Jul 2 12:15:31 2022 *

* Target selection: ert.tlc

#include "untitled.h"

#include "rtwtypes.h"

/* Named constants for Chart: '/Logic_Chart' */

#define un_IN_Lead_Vech_Not_Dect_Resume ((uint8_T)6U)

#define untitl_IN_Lead_Vech_Dect_Follow ((uint8_T)3U)

#define untitl_IN_Lead_Vech_Dect_Resume ((uint8_T)4U)

#define untitled_IN_ACC_Off_Mode ((uint8_T)1U)

#define untitled_IN_ACC_Standby_mode ((uint8_T)2U)

#define untitled_IN_Lead_Vech_Not_Dect ((uint8_T)5U)

/* Block states (default storage) */

DW_untitled_T untitled_DW;

/* Real-time model */

static RT_MODEL_untitled_T untitled_M_;

RT_MODEL_untitled_T *const untitled_M = &untitled_M_;

/* Model step function */

void untitled_step(void)

{

/* Chart: '/Logic_Chart' */

if (untitled_DW.is_active_c9_untitled == 0U) {

untitled_DW.is_active_c9_untitled = 1U;

untitled_DW.is_c9_untitled = untitled_IN_ACC_Off_Mode;

} else {

switch (untitled_DW.is_c9_untitled) {

case untitled_IN_ACC_Off_Mode:

case untitled_IN_ACC_Standby_mode:

case untitled_IN_Lead_Vech_Not_Dect:

case un_IN_Lead_Vech_Not_Dect_Resume:

break;

case untitl_IN_Lead_Vech_Dect_Follow:

untitled_DW.is_c9_untitled = untitled_IN_Lead_Vech_Not_Dect;

break;

case untitl_IN_Lead_Vech_Dect_Resume:

if (untitled_ConstB.Add_j == 0) {

untitled_DW.is_c9_untitled = untitl_IN_Lead_Vech_Dect_Follow;

} else {

untitled_DW.is_c9_untitled = un_IN_Lead_Vech_Not_Dect_Resume;

}

break;

case IN_Lead_Vech_Speed_equalto_Sets:

if (untitled_ConstB.Add_j <= 0) {

untitled_DW.is_c9_untitled = un_IN_Lead_Vech_Not_Dect_Resume;

}

break;

/* case IN_Lead_Vech_Speed_lessthan_Setspeed: */

if (untitled_ConstB.Add_j == 0) {

untitled_DW.is_c9_untitled = untitled_IN_Lead_Vech_Not_Dect;

}

break;

}

}

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

}

/* Model initialize function */

void untitled_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void untitled_terminate(void)

{

/* (no terminate code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/