Challenge

Project 2 Adaptive Cruise Control

SSaurabh Dubey8 Dec 2021

AIM - To develop a MATLAB Simulink Model Of Adaptive Cruise Control .

OBJECTIVE -

1). To Develop Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.

2). To Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.

3). TO Enable “Support Floating Numbers” under Code Generation settings,in the Confugration Parameter.

4).Use Embedded Coder to generate the code.

5). For Code Generation Choose , 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). To choose sample time for all signals as 0.01s.

OVERVIEW -

Adaptive Cruise Control (ACC) - Adaptive cruise control (ACC) is an available cruise control advanced driver assistence system for road vehicle that automatically adjusts the vehicle speed to maintain a safe distance from vehicles ahead.

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.

Requirements For The Model Development -

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

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

Simulink Data Dictionary Parameters -

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	-	-

MATLAB Simulink Model For Adaptive Cruise Control (ACC)-

Note - Advisor Check Generated Report In HTML Attached Below-

Code Generation -

Settings For Code Generation -

1). Solver Setting

Solver Setting Parameters are Highlighted by the Green Colour as shown -

2). Code Generation Settings are shown below-

3). Enabling 'Support Floating Point Number' -

Generating Code -

For code generation first click on APPS, under APPS goto Embedded Codder , after clicking on Embedded Codder goto To C- Code under it Goto Code Generation click on it Code will we generated

CODE -

* File: Main_Project_ACC.c

* Code generated for Simulink model 'Main_Project_ACC'.

* Model version : 1.26

* Simulink Coder version : 9.6 (R2021b) 14-May-2021

* C/C++ source code generated on : Wed Dec 8 12:12:31 2021

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

#include "Main_Project_ACC.h"

#include "Main_Project_ACC_private.h"

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

#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 Mai_IN_LeadVehicle_Not_Detected ((uint8_T)3U)

#define Main_Projec_IN_ACC_STANDBY_Mode ((uint8_T)3U)

#define Main_Project_ACC_IN_ACC_ON_Mode ((uint8_T)2U)

#define Main_Project_AC_IN_ACC_OFF_Mode ((uint8_T)1U)

#define Main_Project_IN_NO_ACTIVE_CHILD ((uint8_T)0U)

/* Exported data definition */

/* Definition for custom storage class: ExportToFile */

uint8_T Acceleration_Mode; /* '/Unit_Delay' */

/* Block states (default storage) */

DW_Main_Project_ACC_T Main_Project_ACC_DW;

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

ExtY_Main_Project_ACC_T Main_Project_ACC_Y;

/* Real-time model */

static RT_MODEL_Main_Project_ACC_T Main_Project_ACC_M_;

RT_MODEL_Main_Project_ACC_T *const Main_Project_ACC_M = &Main_Project_ACC_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 Main_Project_ACC_step(void)

{

/* local block i/o variables */

uint8_T LeadVehicle_Speed;

uint8_T DriveVehicle_Speed;

uint8_T LeadVehicle_Detected;

/* Sum: '/Add' incorporates:

* Inport: '/CameraInput_LeadVehicle'

* Inport: '/RadarInput_LeadVehicle'

LeadVehicle_Speed = (uint8_T)(CameraInput_LeadVehicle + RadarInput_LeadVehicle);

/* UnitDelay: '/Unit_Delay' */

Acceleration_Mode = Main_Project_ACC_Y.Acceleration_Mode_d;

/* Sum: '/Summation' incorporates:

* Inport: '/CameraInput_DriveVehicle'

* Inport: '/RadarInput_DriveVehicle'

DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +

Acceleration_Mode) + RadarInput_DriveVehicle);

/* SignalConversion: '/Signal Conversion' incorporates:

* Inport: '/RadarInput_DriveVehicle'

LeadVehicle_Detected = RadarInput_DriveVehicle;

/* Chart: '/ Adaptive_Cruise_Control_Algorithm' incorporates:

* Inport: '/CruiseSwitch'

* Inport: '/SetSwitch'

* Inport: '/Set_Gap'

* Inport: '/Set_Speed'

* Inport: '/Time_Gap'

* UnitDelay: '/Unit_Delay'

if (Main_Project_ACC_DW.is_active_c3_Main_Project_ACC == 0U) {

Main_Project_ACC_DW.is_active_c3_Main_Project_ACC = 1U;

Main_Project_ACC_DW.is_c3_Main_Project_ACC = Main_Project_AC_IN_ACC_OFF_Mode;

Main_Project_ACC_Y.Acceleration_Mode_d = 0U;

} else {

switch (Main_Project_ACC_DW.is_c3_Main_Project_ACC) {

case Main_Project_AC_IN_ACC_OFF_Mode:

Main_Project_ACC_Y.Acceleration_Mode_d = 0U;

if (CruiseSwitch) {

Main_Project_ACC_DW.is_c3_Main_Project_ACC =

Main_Projec_IN_ACC_STANDBY_Mode;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

}

break;

case Main_Project_ACC_IN_ACC_ON_Mode:

{

if (!SetSwitch) {

Main_Project_ACC_DW.is_ACC_ON_Mode = Main_Project_IN_NO_ACTIVE_CHILD;

Main_Project_ACC_DW.is_c3_Main_Project_ACC =

Main_Projec_IN_ACC_STANDBY_Mode;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

} else if (!CruiseSwitch) {

Main_Project_ACC_DW.is_ACC_ON_Mode = Main_Project_IN_NO_ACTIVE_CHILD;

Main_Project_ACC_DW.is_c3_Main_Project_ACC =

Main_Project_AC_IN_ACC_OFF_Mode;

Main_Project_ACC_Y.Acceleration_Mode_d = 0U;

} else {

switch (Main_Project_ACC_DW.is_ACC_ON_Mode) {

case IN_LeadVehicle_Detected_Follow:

Main_Project_ACC_Y.Acceleration_Mode_d = 2U;

if (LeadVehicle_Detected == 0) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

Mai_IN_LeadVehicle_Not_Detected;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <

Set_Speed)) || (Time_Gap < Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Speed_lessthan_S;

Main_Project_ACC_Y.Acceleration_Mode_d = 4U;

}

break;

case IN_LeadVehicle_Detected_Resume:

Main_Project_ACC_Y.Acceleration_Mode_d = 3U;

if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=

Set_Speed) && (Time_Gap >= Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Detected_Follow;

Main_Project_ACC_Y.Acceleration_Mode_d = 2U;

} else if (LeadVehicle_Detected == 0) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Not_Detected_Res;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Speed_equal_Set_;

Main_Project_ACC_Y.Acceleration_Mode_d = 5U;

}

break;

case Mai_IN_LeadVehicle_Not_Detected:

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed)

&& (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Detected_Follow;

Main_Project_ACC_Y.Acceleration_Mode_d = 2U;

} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <

Set_Speed)) || (Time_Gap < Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Speed_lessthan_S;

Main_Project_ACC_Y.Acceleration_Mode_d = 4U;

}

break;

case IN_LeadVehicle_Not_Detected_Res:

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

break;

case IN_LeadVehicle_Speed_equal_Set_:

Main_Project_ACC_Y.Acceleration_Mode_d = 5U;

if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))

{

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Not_Detected_Res;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Detected_Resume;

Main_Project_ACC_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)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Speed_lessthan_S;

Main_Project_ACC_Y.Acceleration_Mode_d = 4U;

}

break;

default:

{

/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */

Main_Project_ACC_Y.Acceleration_Mode_d = 4U;

if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed ==

Set_Speed)) {

Main_Project_ACC_DW.is_ACC_ON_Mode =

Mai_IN_LeadVehicle_Not_Detected;

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

} else {

int32_T tmp;

int32_T tmp_0;

uint8_T tmp_1;

uint8_T tmp_2;

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)))

{

Main_Project_ACC_DW.is_ACC_ON_Mode =

IN_LeadVehicle_Speed_equal_Set_;

Main_Project_ACC_Y.Acceleration_Mode_d = 5U;

}

break;

}

break;

default:

/* case IN_ACC_STANDBY_Mode: */

Main_Project_ACC_Y.Acceleration_Mode_d = 1U;

if (!CruiseSwitch) {

Main_Project_ACC_DW.is_c3_Main_Project_ACC =

Main_Project_AC_IN_ACC_OFF_Mode;

Main_Project_ACC_Y.Acceleration_Mode_d = 0U;

} else if (SetSwitch) {

Main_Project_ACC_DW.is_c3_Main_Project_ACC =

Main_Project_ACC_IN_ACC_ON_Mode;

Main_Project_ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Detected_Follow;

Main_Project_ACC_Y.Acceleration_Mode_d = 2U;

}

break;

}

/* End of Chart: '/ Adaptive_Cruise_Control_Algorithm' */

}

/* Model initialize function */

void Main_Project_ACC_initialize(void)

{

/* (no initialization code required) */

}

/* Model terminate function */

void Main_Project_ACC_terminate(void)

{

/* (no terminate code required) */

}

* File trailer for generated code.

* [EOF]

NOTE- ZIP File of the Generated Code Attached Below -

Requirement And Tagging -

Procedure -

1).For Requirement and Tagging First Copy all the Data From The Given Question into the Doc File .

2).Select the required Tag from the doc file

3).After it Right click on the subsystem which has to be Tagged as shown.

Same Procedure will applied for all the Subsystem .

CONCLUSION -

1). Development Of Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink has been done .

2). All the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation has been completed .

3). Code has been generated using Embedded Coder .

Project 2 Adaptive Cruise Control

Ship work like this
in your own course.

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Ship work like thisin your own course.

Talk to a career counsellor

Ship work like this
in your own course.