Project 2 Adaptive Cruise Control

EV LIVE BATCH 21

For Project 2 on Adaptive Cruise Control, provided with the information as,

Main Project – Adaptive Cruise Control (ACC)

General 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 to 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 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, 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 stop & 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 stop & go 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.

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

Also, Signals & Calibration Data List is given as,

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	-	-

Now, these signals can be defined into a SLDD file file so that the file can be linked with the Project model and these values can be accessed through the linked SLDD file.

Here, a SLDD file can be created with the project model as, After opening the model saved with the name Project2_ACC, select the option Modelling - Expand it further - Link to Data Dictionary - a pop up window will open - select option New - save the file name, it will have .sldd extension by default - also uncheck the mark mentioned below file name stating Enable model access to base workspace, as it is not required. Then select OK and in this way SLDD file is created and can be linked to any model as required.

Now, to define parameters as signals and constants in the SLDD file, select Model explorer - expand model title - again expand external data - expand SLDD file name and select design data option.

Now, to add given parameters, select the option Add,

to add signals - select simulink signal and define the data as per given detailes. The linked SLDD file having required parameters can be given as,

Also, sample time of the model can be changed as, Select Modeling - Model Settings - select Solver as Fixed step discrete - Expand solver detailes - set sample time as 0.01 as given.

now, as per the stated requirements, model can be designed as,

Subsystem is taken and named as Subsystem_Project2_ACC with 9 input signals namely - CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehicle, Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch, LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected and one output Acceleration_Mode.

Also, according to the requirements, signals are to be resolved and propogated at every stage. Where signals are appearing for the first time, they are to be resolved and same are to be propogated further.

Here, Input signals CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehicle, Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch, LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected are resolved as they are appearing for the first time for the Project model.

To resolve the signal, right click on signal - select properties - state signal name - check the box below the name - select OK.

The subsytem Subsystem_Project2_ACC of the project model has modelled with 3 subsystems for the 3 given requirements.

These 3 subsystems are modelled as given requirements,

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) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]

After creating stateflow chart accoreding to the given requirements Signals are to be defined as input and output signal. This is done as - inside selected chart - select - Modeling - symbols Pane - define signals as input or output data with opened window at the right side of the chart.

Further more, data type for these signals are again defined with respect to the created so as to minimize the errors that might occure wile validating the model. This can be done as, with selected chart - select Modeling - Model explorer - expand chart name - and define the data type for signals as per the given data.

Now, after modelling the Subsystems for Project as per requirement, requirement tagging can be done as, State the given requirements and data in the word file and save the file in the same directory as that of the model. Open the word file and highlight the requirement name which is to be tagged with the perticular subsystem. Select subsystem - right click - select Requirements - select Link to Selection in Word. similarly, requirement tagging for other subsystems can be done.

Linked requirement can be seen as the top option in Requirement option selected for the selected subsystem and by clicking on it, word file having that requirement state will get open showing the requirement stated.

Further more, after modelling the Subsystems for Project as per requirement, model advisor check is performed - Modeling - Model Advisor - select Model name - OK

After selecting OK, a model advisor window will open. Select Model Advisor check by Task - unckeck all - select only Modeling standards for MAB - and hit the option - Run selected checks.

After running the checks, out of 141 checks, 131 are passed with 10 non-avoidable but acceptable warnings. Also, by selecting generated report option, report can be gaenerated and is named as MAB_Model_Advisor_Report.

Overview of Generated report is given as,

Now, to generated the C-code for the project model, Code generation also need to be set. It can be set as - select Modeling - Model settings - Code generation - browse system target file - select as ert.tlc Embedded Coder - Apply - OK.

Also, to enable the floating point numbers as per given condition, under code generation - select interface - and check only floating point numbers.

Also, it is required to set the project subsystem as Atomic subsystem. So, the subsystem can be set as Atomic subsystem - right click on the subsystem - select Block Parameters (Subsystem) - select Treat as Atomic Subsystem. Here, the if the sample time will be given as -1 by default which will select the model sample time as it is. Otherwise as we are setting the subsystem as Atomic, here also model sample time can be set.

Further more, model can be directly converted into the C code as - select Apps - Embedded Coder - select Build option

The generated C-code can be given as,

/*
 * File: Project2_ACC.c
 *
 * Code generated for Simulink model 'Project2_ACC'.
 *
 * Model version                  : 1.10
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Wed Jul 27 00:22:16 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Project2_ACC.h"
#include "Project2_ACC_private.h"

/* Named constants for Chart: '/ACC_State_Logic' */
#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)
#define Pro_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Project2_ACC_IN_ACC_OFF_MODE   ((uint8_T)1U)
#define Project2_ACC_IN_ACC_ON_MODE    ((uint8_T)2U)
#define Project2_ACC_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Project2_AC_IN_ACC_STANDBY_MODE ((uint8_T)3U)

/* 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_Project2_ACC_T Project2_ACC_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Project2_ACC_T Project2_ACC_Y;

/* Real-time model */
RT_MODEL_Project2_ACC_T Project2_ACC_M_;
RT_MODEL_Project2_ACC_T *const Project2_ACC_M = &Project2_ACC_M_;

/* Forward declaration for local functions */
static void Project2_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: '/ACC_State_Logic' */
static void Project2_ACC_ACC_ON_MODE(void)
{
  int32_T tmp;
  int32_T tmp_0;
  uint8_T tmp_1;
  uint8_T tmp_2;

  /* Inport: '/CruiseSwitch' incorporates:
   *  Inport: '/SetSwitch'
   */
  if (!CruiseSwitch) {
    Project2_ACC_DW.is_ACC_ON_MODE = Project2_ACC_IN_NO_ACTIVE_CHILD;
    Project2_ACC_DW.is_c3_Project2_ACC = Project2_ACC_IN_ACC_OFF_MODE;

    /* Outport: '/Acceleration_Mode' */
    Project2_ACC_Y.Acceleration_Mode_e = 0U;
  } else if (!SetSwitch) {
    Project2_ACC_DW.is_ACC_ON_MODE = Project2_ACC_IN_NO_ACTIVE_CHILD;
    Project2_ACC_DW.is_c3_Project2_ACC = Project2_AC_IN_ACC_STANDBY_MODE;

    /* Outport: '/Acceleration_Mode' */
    Project2_ACC_Y.Acceleration_Mode_e = 1U;
  } else {
    switch (Project2_ACC_DW.is_ACC_ON_MODE) {
     case IN_LeadVehicle_Detected_Follow:
      /* Outport: '/Acceleration_Mode' */
      /* Inport: '/Set_Gap' incorporates:
       *  Inport: '/Set_Speed'
       *  Inport: '/Time_Gap'
       */
      Project2_ACC_Y.Acceleration_Mode_e = 2U;
      if (LeadVehicle_Detected == 0) {
        Project2_ACC_DW.is_ACC_ON_MODE = Pro_IN_LeadVehicle_Not_Detected;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 1U;
      } else {
        if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
            (Time_Gap < Set_Gap)) {
          Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 4U;
        }
      }
      break;

     case IN_LeadVehicle_Detected_Resume:
      /* Outport: '/Acceleration_Mode' */
      Project2_ACC_Y.Acceleration_Mode_e = 3U;

      /* Inport: '/Set_Speed' incorporates:
       *  Inport: '/Set_Gap'
       *  Inport: '/Time_Gap'
       */
      if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&
          (Time_Gap >= Set_Gap)) {
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 2U;
      } else if (LeadVehicle_Detected == 0) {
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 1U;
      } else {
        if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
             DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
          Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 5U;
        }
      }
      break;

     case Pro_IN_LeadVehicle_Not_Detected:
      /* Outport: '/Acceleration_Mode' */
      Project2_ACC_Y.Acceleration_Mode_e = 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)) {
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 2U;
      } else {
        if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
            (Time_Gap < Set_Gap)) {
          Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 4U;
        }
      }
      break;

     case IN_LeadVehicle_Not_Detected_Res:
      /* Outport: '/Acceleration_Mode' */
      Project2_ACC_Y.Acceleration_Mode_e = 1U;
      break;

     case IN_LeadVehicle_Speed_equal_Set_:
      /* Outport: '/Acceleration_Mode' */
      Project2_ACC_Y.Acceleration_Mode_e = 5U;

      /* Inport: '/Set_Speed' incorporates:
       *  Inport: '/Set_Gap'
       *  Inport: '/Time_Gap'
       */
      if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)) {
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 1U;
      } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                   DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 3U;
      } else {
        if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
              DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
              Set_Gap) == Time_Gap)) {
          Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 4U;
        }
      }
      break;

     default:
      /* Outport: '/Acceleration_Mode' */
      /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
      Project2_ACC_Y.Acceleration_Mode_e = 4U;

      /* Inport: '/Set_Speed' */
      if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)) {
        Project2_ACC_DW.is_ACC_ON_MODE = Pro_IN_LeadVehicle_Not_Detected;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 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))) {
          Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 5U;
        }
      }
      break;
    }
  }

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

/* Model step function */
void Project2_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 = Project2_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 + RadarInput_DriveVehicle) + Acceleration_Mode);

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

  /* Chart: '/ACC_State_Logic' incorporates:
   *  Inport: '/CruiseSwitch'
   *  Inport: '/SetSwitch'
   */
  if (Project2_ACC_DW.is_active_c3_Project2_ACC == 0U) {
    Project2_ACC_DW.is_active_c3_Project2_ACC = 1U;
    Project2_ACC_DW.is_c3_Project2_ACC = Project2_ACC_IN_ACC_OFF_MODE;

    /* Outport: '/Acceleration_Mode' */
    Project2_ACC_Y.Acceleration_Mode_e = 0U;
  } else {
    switch (Project2_ACC_DW.is_c3_Project2_ACC) {
     case Project2_ACC_IN_ACC_OFF_MODE:
      /* Outport: '/Acceleration_Mode' */
      Project2_ACC_Y.Acceleration_Mode_e = 0U;
      if (CruiseSwitch) {
        Project2_ACC_DW.is_c3_Project2_ACC = Project2_AC_IN_ACC_STANDBY_MODE;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 1U;
      }
      break;

     case Project2_ACC_IN_ACC_ON_MODE:
      Project2_ACC_ACC_ON_MODE();
      break;

     default:
      /* Outport: '/Acceleration_Mode' */
      /* case IN_ACC_STANDBY_MODE: */
      Project2_ACC_Y.Acceleration_Mode_e = 1U;
      if (SetSwitch) {
        Project2_ACC_DW.is_c3_Project2_ACC = Project2_ACC_IN_ACC_ON_MODE;
        Project2_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

        /* Outport: '/Acceleration_Mode' */
        Project2_ACC_Y.Acceleration_Mode_e = 2U;
      } else {
        if (!CruiseSwitch) {
          Project2_ACC_DW.is_c3_Project2_ACC = Project2_ACC_IN_ACC_OFF_MODE;

          /* Outport: '/Acceleration_Mode' */
          Project2_ACC_Y.Acceleration_Mode_e = 0U;
        }
      }
      break;
    }
  }

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

  /* Update for UnitDelay: '/Unit Delay' incorporates:
   *  Outport: '/Acceleration_Mode'
   */
  Project2_ACC_DW.UnitDelay_DSTATE = Project2_ACC_Y.Acceleration_Mode_e;
}

/* Model initialize function */
void Project2_ACC_initialize(void)
{
  /* (no initialization code required) */
}

/* Model terminate function */
void Project2_ACC_terminate(void)
{
  /* (no terminate code required) */
}

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