Project 2 Adaptive Cruise Control

AIM:To Develop Adaptive Cruise Control feature as per the requirement document using MATLAB Simulink.

Objective of Main Project:

1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
4. Use Embedded Coder to generate the code.
5. 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.
6. Choose sample time for all signals as 0.01s

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<Set_Speed)&&(Leadvechile_Speed<Drivevechile_Speed)ll(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	-	-

Simulink Model :

There are three requirement subsystems:

• 1:-Lead vehicle subsystem
• 2:-Drive vehicle subsystem
• 3:-Adaptive Cruise Control subsystem

Requirement 1: -

Finding the speed of the preceding vehicle is very complicated, so to make it easier according to Requirement 1, sum the inputs from the CameraInput_LeadVehicle signal and the RadarInput_LeadVehicle signal to get the LeadVehicle_Speed ​​output.

Requirement 2: -

DriveVehicle_Speed ​​calculation adds Acceleration_Mode feedback from CameraInput_DriveVehicleRadarInput_DriveVehicle and cruise control algorithm.

The output as DriveVehicle_Speed ​​and Lead_Vehicle_Detected from this subsystem is detected by passing the RadarInputDriveVehicle to the signal conversion block.

Requirement 3: -

This subsystem uses state flow logic to implement the requirement. -3a, 3b, 3c, 3c (i), 3c (ii), 3c (iii), 3c (iv), 3c (v), 3c (vi).

State flow input is

• Time_Gap
• Set_Speed ​​
  
• Set_Gap
• CruiseSwitch
• SetSwitch
• DriveVehicle_Speed ​​fromRequirement2 subsystem
• LeadVehicle_SpeedfromRequirement1 subsystem
• LeadVehicle_DetectedfromRequirement2 subsystem

The output from this subsystem is

acceleration mode-Acceleration_Mode, based on LeadVehicle_Speed, adjusts the control acceleration given to the output to maintain a constant speed.

State flow logic:

This logic created three modes of operation as:

• ACC_OFF mode
  
• ACC_STANDBY mode
  
• ACC_ON mode

In ACC_ON mode, there are 6 more modes of operation.

1. LeadVehicle_Detected_Follow (default)
   
2. LeadVehicle_Not_Detected
   
3. LeadVehicle_Detected_Resume
   
4. LeadVehicle_Not_Detected_Resume
5. LeadVehicle_Speed_lessthan_Set_Speed
6. LeadVehicle_Speed_equal_Set_Speed ​​
   

SLDD File:

Signal parameters are declared according to the SLDD data type requirements described above.
The code generated from the
output signal is saved in the ADAS_CruiseControl.h and ADAS_CruiseControl.c files.
Signal parameters are declared according to the SLDD data type requirements described above.
The code generated from the
output signal is saved in the ADAS_CruiseControl.h and ADAS_CruiseControl.c files.

Results:

After compiling the model, the model build error will be zero. This justifies the logic of modeling the requirement.

Model Advisor Report:

Code generation:

1 /*
2 * File: ADAS_CruiseControl.c
3 *
4 * Code generated for Simulink model 'ADAS_CruiseControl'.
5 *
6 * Model version : 1.80
7 * Simulink Coder version : 9.4 (R2020b) 29-Jul-2020
8 * C/C++ source code generated on : Fri Oct 15 10:29:13 2021
9 *
10 * Target selection: ert.tlc
11 * Embedded hardware selection: Intel->x86-64 (Windows64)
12 * Code generation objectives: Unspecified
13 * Validation result: Not run
14 */
15
16 #include "ADAS_CruiseControl.h"
17 #include "ADAS_CruiseControl_private.h"
18
19 /* Named constants for Chart: '/CharAdaptive Cruise Control Logic' */
20 #define ADAS_CruiseC_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
21 #define ADAS_CruiseContr_IN_ACC_STANDBY ((uint8_T)3U)
22 #define ADAS_CruiseControl_IN_ACC_OFF ((uint8_T)1U)
23 #define ADAS_CruiseControl_IN_ACC_ON ((uint8_T)2U)
24 #define ADA_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
25 #define IN_LeadVehicle_Detected_Follow ((uint8_T)1U)
26 #define IN_LeadVehicle_Detected_Resume ((uint8_T)2U)
27 #define IN_LeadVehicle_Not_Detected_Res ((uint8_T)4U)
28 #define IN_LeadVehicle_Speed_Lessthan_S ((uint8_T)5U)
29 #define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)6U)
30
31 /* Exported data definition */
32
33 /* Definition for custom storage class: ExportToFile */
34 uint8_T Acceleration_Mode; /* '/CharAdaptive Cruise Control Logic' */
35 uint8_T DriveVehicle_Speed; /* '/Add' */
36 uint8_T LeadVehicle_Detected; /* '/Signal Conversion' */
37 uint8_T LeadVehicle_Speed; /* '/Add' */
38
39 /* Block states (default storage) */
40 DW_ADAS_CruiseControl_T ADAS_CruiseControl_DW;
41
42 /* Real-time model */
43 static RT_MODEL_ADAS_CruiseControl_T ADAS_CruiseControl_M_;
44 RT_MODEL_ADAS_CruiseControl_T *const ADAS_CruiseControl_M =
45 &ADAS_CruiseControl_M_;
46 real_T rt_roundd_snf(real_T u)
47 {
48 real_T y;
49 if (fabs(u) < 4.503599627370496E+15) {
50 if (u >= 0.5) {
51 y = floor(u + 0.5);
52 } else if (u > -0.5) {
53 y = u * 0.0;
54 } else {
55 y = ceil(u - 0.5);
56 }
57 } else {
58 y = u;
59 }
60
61 return y;
62 }
63
64 /* Model step function */
65 void ADAS_CruiseControl_step(void)
66 {
67 int32_T tmp;
68 int32_T tmp_0;
69 uint8_T tmp_1;
70 uint8_T tmp_2;
71
72 /* Sum: '/Add' incorporates:
73 * Inport: '/CameraInput_DriveVehicle'
74 * Inport: '/RadarInput_DriveVehicle'
75 * UnitDelay: '/Unit Delay'
76 */
77 DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
78 CameraInput_DriveVehicle + RadarInput_DriveVehicle) + Acceleration_Mode);
79
80 /* Sum: '/Add' incorporates:
81 * Inport: '/CameraInput_LeadVehicle'
82 * Inport: '/RadarInput_LeadVehicle'
83 */
84 LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
85 RadarInput_LeadVehicle);
86
87 /* SignalConversion: '/Signal Conversion' incorporates:
88 * Inport: '/RadarInput_DriveVehicle'
89 */
90 LeadVehicle_Detected = RadarInput_DriveVehicle;
91
92 /* Chart: '/CharAdaptive Cruise Control Logic' incorporates:
93 * Inport: '/CruiseSwitch'
94 * Inport: '/SetSwitch'
95 * Inport: '/Set_Gap'
96 * Inport: '/Set_Speed'
97 * Inport: '/Time_Gap'
98 */
99 if (ADAS_CruiseControl_DW.is_active_c3_ADAS_CruiseControl == 0U) {
100 ADAS_CruiseControl_DW.is_active_c3_ADAS_CruiseControl = 1U;
101 ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl =
102 ADAS_CruiseControl_IN_ACC_OFF;
103 } else {
104 switch (ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl) {
105 case ADAS_CruiseControl_IN_ACC_OFF:
106 if (CruiseSwitch) {
107 ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl =
108 ADAS_CruiseContr_IN_ACC_STANDBY;
109 }
110 break;
111
112 case ADAS_CruiseControl_IN_ACC_ON:
113 if (!SetSwitch) {

114 ADAS_CruiseControl_DW.is_ACC_ON = ADAS_CruiseC_IN_NO_ACTIVE_CHILD;
115 ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl =
116 ADAS_CruiseContr_IN_ACC_STANDBY;
117 } else {
118 switch (ADAS_CruiseControl_DW.is_ACC_ON) {
119 case IN_LeadVehicle_Detected_Follow:
120 if (LeadVehicle_Detected == 0) {
121 ADAS_CruiseControl_DW.is_ACC_ON = ADA_IN_LeadVehicle_Not_Detected;
122 } else {
123 if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed))
124 || (Time_Gap < Set_Gap)) {
125 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Speed_Lessthan_S;
126 Acceleration_Mode = 4U;
127 }
128 }
129 break;
130
131 case IN_LeadVehicle_Detected_Resume:
132 if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
133 Set_Speed) && (Time_Gap >= Set_Gap)) {
134 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Detected_Follow;
135 } else if (LeadVehicle_Detected == 0) {
136 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Not_Detected_Res;
137 } else {
138 if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
139 DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
140 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Speed_equal_Set_;
141 }
142 }
143 break;
144
145 case ADA_IN_LeadVehicle_Not_Detected:
146 if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
147 (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
148 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Detected_Follow;
149 } else {
150 if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed))
151 || (Time_Gap < Set_Gap)) {
152 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Speed_Lessthan_S;
153 Acceleration_Mode = 4U;
154 }
155 }
156 break;
157
158 case IN_LeadVehicle_Not_Detected_Res:
159 break;
160
161 case IN_LeadVehicle_Speed_Lessthan_S:
162 Acceleration_Mode = 4U;
163 if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
164 {
165 ADAS_CruiseControl_DW.is_ACC_ON = ADA_IN_LeadVehicle_Not_Detected;
166 } else {
167 tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 1.25);
168 tmp_0 = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Gap);
169 if (tmp < 256) {
170 tmp_1 = (uint8_T)tmp;
171 } else {
172 tmp_1 = MAX_uint8_T;
173 }
174
175 if (tmp_0 < 256) {
176 tmp_2 = (uint8_T)tmp_0;
177 } else {
178 tmp_2 = MAX_uint8_T;
179 }
180
181 if ((tmp_1 >= DriveVehicle_Speed) && ((int32_T)rt_roundd_snf((real_T)
182 LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
183 (DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
184 (Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
185 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Speed_equal_Set_;
186 }
187 }
188 break;
189
190 default:
191 /* case IN_LeadVehicle_Speed_equal_Set_Speed: */
192 if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
193 {
194 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Not_Detected_Res;
195 } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
196 DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
197 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Detected_Resume;
198 } else {

199 if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
200 DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
201 Set_Gap) == Time_Gap)) {
202 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Speed_Lessthan_S;
203 Acceleration_Mode = 4U;
204 }
205 }
206 break;
207 }
208 }
209 break;
210
211 default:
212 /* case IN_ACC_STANDBY: */
213 if (!CruiseSwitch) {
214 ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl =
215 ADAS_CruiseControl_IN_ACC_OFF;
216 } else {
217 if (SetSwitch) {
218 ADAS_CruiseControl_DW.is_c3_ADAS_CruiseControl =
219 ADAS_CruiseControl_IN_ACC_ON;
220 ADAS_CruiseControl_DW.is_ACC_ON = IN_LeadVehicle_Detected_Follow;
221 }
222 }
223 break;
224 }
225 }
226
227 /* End of Chart: '/CharAdaptive Cruise Control Logic' */
228 }
229
230 /* Model initialize function */
231 void ADAS_CruiseControl_initialize(void)
232 {
233 /* (no initialization code required) */
234 }
235
236 /* Model terminate function */
237 void ADAS_CruiseControl_terminate(void)
238 {
239 /* (no terminate code required) */
240 }
241
242 /*
243 * File trailer for generated code.
244 *
245 * [EOF]
246 */
247

Requirment tagging:-