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Project 2 Adaptive Cruise Control

SSanju Shaw6 Aug 2022

Creation of Simulink Data Dictionary file (SLDD):

A Simulink Data Dictionary (SLDD) file is created that contains input, output signals and calibration parameters used in the model. SLDD file is created by clicking on Modeling, then ‘Model Properties’, then ‘External Data’ and specifying a file name for the Data Dictionary.

Fig 1: Data Dictionary file in Model Explorer.

  • Adaptive Cruise Control Model:

Fig 2: Adaptive Cruise Control Model.

Fig 3: Lead_Vehicle, Drive_Vehicle and ACC_Algorithm subsystems present inside Adaptive_Cruise Control Subsystem.

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.

Fig 4: Lead_Vehicle Subsystem.

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.

Fig 5: Drive_Vehicle Subsystem.

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)]

Fig 6: State machine chart ACC_Logic in ACC_Algorithm subsystem for Requirement 3.

Fig 7: ACC_Logic chart in ACC_Algorithm subsystem.

Requirement Tagging of Simulink Model:

The requirements ‘Requirement 1’ , ‘Requirement 2’ , and ‘Requirement 3’ as provided in the Requirements Word document are tagged to their corresponding subsystem in the Simulink Model.

The steps involved in tagging a requirement in the Simulink model is to first highlight the requirement statement in the Word document, then right click on the subsystem in the model that has to be tagged, then select ‘Requirements’ and then ‘Link to Selection in Word’.

  • Configuaration Parameter Update:-

Various configuration parameters are updated as per the code generation the solver type should be fixed for code generation.

  • Model Advisory Report
    By running the model advisor tool, we can see commonly made modeling errors.

  • Generated Code:-

/*
* File: Adaptive_Cruise_Control0.c
*
* Code generated for Simulink model 'Adaptive_Cruise_Control0'.
*
* Model version : 1.10
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Sat Aug 6 01:32:51 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "Adaptive_Cruise_Control0.h"
#include "rtwtypes.h"
#include "Adaptive_Cruise_Control0_private.h"

/* Named constants for Chart: '<S3>/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)

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */
uint8_T Acceleration_Mode; /* '<S1>/Unit Delay' */

/* Block states (default storage) */
DW_Adaptive_Cruise_Control0_T Adaptive_Cruise_Control0_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Cruise_Control0_T Adaptive_Cruise_Control0_Y;

/* Real-time model */
static RT_MODEL_Adaptive_Cruise_Cont_T Adaptive_Cruise_Control0_M_;
RT_MODEL_Adaptive_Cruise_Cont_T *const Adaptive_Cruise_Control0_M =
&Adaptive_Cruise_Control0_M_;

/* Model step function */
void Adaptive_Cruise_Control0_step(void)
{
/* local block i/o variables */
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;

/* Outputs for Atomic SubSystem: '<Root>/Adaptive_Cruise_Control'
*
* Block description for '<Root>/Adaptive_Cruise_Control':
*
*/
/* Sum: '<S2>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)(CameraInput_LeadVehicle + RadarInput_LeadVehicle);

/* UnitDelay: '<S1>/Unit Delay' */
Acceleration_Mode = Adaptive_Cruise_Control0_Y.Acceleration_Mode_c;

/* Sum: '<S4>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +
Acceleration_Mode) + RadarInput_DriveVehicle);

/* SignalConversion: '<S4>/Signal_Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;

/* Chart: '<S3>/Chart' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
* UnitDelay: '<S1>/Unit Delay'
*/
if (Adaptive_Cruise_Control0_DW.is_active_c3_Adaptive_Cruise_Co == 0U) {
Adaptive_Cruise_Control0_DW.is_active_c3_Adaptive_Cruise_Co = 1U;
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 0U;
} else {
switch (Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0) {
case Adaptive_Cruise_IN_ACC_OFF_MODE:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 0U;
if (CruiseSwitch) {
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
}
break;

case Adaptive_Cruise__IN_ACC_ON_MODE:
if (!SetSwitch) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
} else if (!CruiseSwitch) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 0U;
} else {
switch (Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 2U;
if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 4U;
}
break;

case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 2U;
} else if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
}
break;

case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 4U;
}
break;

case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
break;

case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 5U;
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Resume;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 3U;
} else if ((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 4U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
}
break;

default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
} else if (((real_T)LeadVehicle_Speed * 1.25 >= DriveVehicle_Speed) &&
((real_T)LeadVehicle_Speed * 0.75 <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && ((Time_Gap <= 1.25 *
(real_T)Set_Gap) && (Time_Gap >= 0.75 * (real_T)Set_Gap)))
{
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 5U;
}
break;
}
}
break;

default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 1U;
if (!CruiseSwitch) {
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 0U;
} else if (SetSwitch) {
Adaptive_Cruise_Control0_DW.is_c3_Adaptive_Cruise_Control0 =
Adaptive_Cruise__IN_ACC_ON_MODE;
Adaptive_Cruise_Control0_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control0_Y.Acceleration_Mode_c = 2U;
}
break;
}
}

/* End of Chart: '<S3>/Chart' */
/* End of Outputs for SubSystem: '<Root>/Adaptive_Cruise_Control' */
}

/* Model initialize function */
void Adaptive_Cruise_Control0_initialize(void)
{
/* (no initialization code required) */
}

/* Model terminate function */
void Adaptive_Cruise_Control0_terminate(void)
{
/* (no terminate code required) */
}

/*
* File trailer for generated code.

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