Project 2 Adaptive Cruise Control

Project 2:- Adaptive Cruise Control

Aim:- To create a Simulink Data Dictionary, develop an algorithm for Adaptive Cruise Control and generate a C code for it using Simulink.

Overview of ACC:-

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 a 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, the 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 stops & 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 stops & goes 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.

The objective of Main Project:-

• To develop an Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
• To follow all the MBD related processes like,
  • Requirement Tagging & Traceability
  • SLDD creation
  • Configuration Parameter changes
  • Model Advisor check &
  • Code Generation.
• To use Embedded Coder to generate the code.
• Storage classes to be chosen as,
  • For Input signals: ImportedExtern
  • For Output signal: Export to File
  • For local signals: localizable
  • For calibration signals: Const.
• To Choose sample time for all signals as 0.01s

Model-based on Requirement:-

Requirement 1– Lead Vehicle:-

• A lead vehicle is a vehicle that 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 cameras & 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 that has ACC algorithm in it.
• Like the Lead Vehicle, the Driver 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_Speedis 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, the 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) that governs the vehicular speed of the drive vehicle which automatically adjusts its speed & velocity to match the lead vehicle.
• 
• Inside Chart, there are other sub-requirement presents.
• 

Requirement 3a – ACC OFF MODE state logic:-

• This is the default state inside state machine logic. Output signal Acceleration_Modeis at value 0 in this state.
• This state is governed by the input signal CruiseSwitch.
• If CruiseSwitchis 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 the 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_Modeis equal to 1.
• Condition to transit from LeadVehicle_Not_Detectedto 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_Detectedto 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)]
• 

Tagged All the Requirement to its respective block:-

Like this for all the blocks requirements are done.

The requirement Traceability report is also attached.

Creation of SLDD:-

Signals & Calibration Data List:

Model Advisor Check:-

• Appropriate Setting is done before Advisor checks(Many more are settings are there).
• 

Performed Model Advisor checks for the following objects.

Report for Advisor Check :-

Generation of Code:-

Main File Code-

ert_main.c

/*
 * File: ert_main.c
 *
 * Code generated for Simulink model 'Cruise_Control_ADAS'.
 *
 * Model version                  : 1.31
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Thu Dec  9 10:03:59 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include <stddef.h>
#include <stdio.h>              /* This ert_main.c example uses printf/fflush */
#include "Cruise_Control_ADAS.h"       /* Model's header file */
#include "rtwtypes.h"

/*
 * Associating rt_OneStep with a real-time clock or interrupt service routine
 * is what makes the generated code "real-time".  The function rt_OneStep is
 * always associated with the base rate of the model.  Subrates are managed
 * by the base rate from inside the generated code.  Enabling/disabling
 * interrupts and floating point context switches are target specific.  This
 * example code indicates where these should take place relative to executing
 * the generated code step function.  Overrun behavior should be tailored to
 * your application needs.  This example simply sets an error status in the
 * real-time model and returns from rt_OneStep.
 */
void rt_OneStep(void);
void rt_OneStep(void)
{
  static boolean_T OverrunFlag = false;

  /* Disable interrupts here */

  /* Check for overrun */
  if (OverrunFlag) {
    rtmSetErrorStatus(Cruise_Control_ADAS_M, "Overrun");
    return;
  }

  OverrunFlag = true;

  /* Save FPU context here (if necessary) */
  /* Re-enable timer or interrupt here */
  /* Set model inputs here */

  /* Step the model */
  Cruise_Control_ADAS_step();

  /* Get model outputs here */

  /* Indicate task complete */
  OverrunFlag = false;

  /* Disable interrupts here */
  /* Restore FPU context here (if necessary) */
  /* Enable interrupts here */
}

/*
 * The example "main" function illustrates what is required by your
 * application code to initialize, execute, and terminate the generated code.
 * Attaching rt_OneStep to a real-time clock is target specific.  This example
 * illustrates how you do this relative to initializing the model.
 */
int_T main(int_T argc, const char *argv[])
{
  /* Unused arguments */
  (void)(argc);
  (void)(argv);

  /* Initialize model */
  Cruise_Control_ADAS_initialize();

  /* Attach rt_OneStep to a timer or interrupt service routine with
   * period 0.01 seconds (the model's base sample time) here.  The
   * call syntax for rt_OneStep is
   *
   *  rt_OneStep();
   */
  printf("Warning: The simulation will run forever. "
         "Generated ERT main won't simulate model step behavior. "
         "To change this behavior select the 'MAT-file logging' option.\n");
  fflush((NULL));
  while (rtmGetErrorStatus(Cruise_Control_ADAS_M) == (NULL)) {
    /*  Perform other application tasks here */
  }

  /* Disable rt_OneStep() here */

  /* Terminate model */
  Cruise_Control_ADAS_terminate();
  return 0;
}

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

File -

Cruise_Control_ADAS.c

/*
 * File: Cruise_Control_ADAS.c
 *
 * Code generated for Simulink model 'Cruise_Control_ADAS'.
 *
 * Model version                  : 1.31
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Thu Dec  9 10:03:59 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Cruise_Control_ADAS.h"
#include "Cruise_Control_ADAS_private.h"

/* Named constants for Chart: '<S1>/Chart' */
#define Cru_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Cruise_Cont_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Cruise_Contr_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Cruise_Control_A_IN_ACC_ON_MODE ((uint8_T)2U)
#define Cruise_Control__IN_ACC_OFF_MODE ((uint8_T)1U)
#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)

/* Block states (default storage) */
DW_Cruise_Control_ADAS_T Cruise_Control_ADAS_DW;

/* Real-time model */
static RT_MODEL_Cruise_Control_ADAS_T Cruise_Control_ADAS_M_;
RT_MODEL_Cruise_Control_ADAS_T *const Cruise_Control_ADAS_M =
  &Cruise_Control_ADAS_M_;

/* Model step function */
void Cruise_Control_ADAS_step(void)
{
  /* UnitDelay: '<Root>/Unit_Delay' */
  Acceleration_Mode = Cruise_Control_ADAS_DW.Unit_Delay_DSTATE;

  /* Sum: '<S2>/Add' incorporates:
   *  Inport: '<Root>/CameraInput_DriveVehicle'
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   */
  DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)Acceleration_Mode
    + CameraInput_DriveVehicle) + RadarInput_DriveVehicle);

  /* SignalConversion: '<S2>/Signal_Conversion' incorporates:
   *  Inport: '<Root>/RadarInput_DriveVehicle'
   */
  LeadVehicle_Detected = RadarInput_DriveVehicle;

  /* Sum: '<S3>/Add' incorporates:
   *  Inport: '<Root>/CameraInput_LeadVehicle'
   *  Inport: '<Root>/RadarInput_LeadVehicle'
   */
  LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
    RadarInput_LeadVehicle);

  /* Chart: '<S1>/Chart' incorporates:
   *  Inport: '<Root>/CruiseSwitch'
   *  Inport: '<Root>/SetSwitch'
   *  Inport: '<Root>/Set_Gap'
   *  Inport: '<Root>/Set_Speed'
   *  Inport: '<Root>/Time_Gap'
   *  UnitDelay: '<Root>/Unit_Delay'
   */
  if (Cruise_Control_ADAS_DW.is_active_c3_Cruise_Control_ADA == 0U) {
    Cruise_Control_ADAS_DW.is_active_c3_Cruise_Control_ADA = 1U;
    Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS =
      Cruise_Control__IN_ACC_OFF_MODE;
    Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 0U;
  } else {
    switch (Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS) {
     case Cruise_Control__IN_ACC_OFF_MODE:
      Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 0U;
      if (CruiseSwitch) {
        Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS =
          Cruise_Cont_IN_ACC_STANDBY_MODE;
        Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
      }
      break;

     case Cruise_Control_A_IN_ACC_ON_MODE:
      if (!CruiseSwitch) {
        Cruise_Control_ADAS_DW.is_ACC_ON_MODE = Cruise_Contr_IN_NO_ACTIVE_CHILD;
        Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS =
          Cruise_Control__IN_ACC_OFF_MODE;
        Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 0U;
      } else {
        switch (Cruise_Control_ADAS_DW.is_ACC_ON_MODE) {
         case IN_LeadVehicle_Detected_Follow:
          Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 2U;
          if (LeadVehicle_Detected == 0) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              Cru_IN_LeadVehicle_Not_Detected;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
          } else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
                       Set_Speed)) || (Time_Gap < Set_Gap)) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 4U;
          }
          break;

         case IN_LeadVehicle_Detected_Resume:
          Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 3U;
          if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
               Set_Speed) && (Time_Gap >= Set_Gap)) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Follow;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 2U;
          } else if (LeadVehicle_Detected == 0) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
          } else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                      DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_equal_Set_;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 5U;
          }
          break;

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

         case IN_LeadVehicle_Not_Detected_Res:
          Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
          break;

         case IN_LeadVehicle_Speed_equal_Set_:
          Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 5U;
          if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
          {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
          } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                       DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Resume;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 3U;
          } else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
                       DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
                      Time_Gap)) {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 4U;
          }
          break;

         default:
          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
          Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 4U;
          if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
          {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              Cru_IN_LeadVehicle_Not_Detected;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 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)))
          {
            Cruise_Control_ADAS_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_equal_Set_;
            Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 5U;
          }
          break;
        }
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 1U;
      if (!CruiseSwitch) {
        Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS =
          Cruise_Control__IN_ACC_OFF_MODE;
        Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 0U;
      } else if (SetSwitch) {
        Cruise_Control_ADAS_DW.is_c3_Cruise_Control_ADAS =
          Cruise_Control_A_IN_ACC_ON_MODE;
        Cruise_Control_ADAS_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
        Cruise_Control_ADAS_DW.Unit_Delay_DSTATE = 2U;
      }
      break;
    }
  }

  /* End of Chart: '<S1>/Chart' */
}

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

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

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

/*
 * File: Cruise_Control_ADAS.h
 *
 * Code generated for Simulink model 'Cruise_Control_ADAS'.
 *
 * Model version                  : 1.31
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Thu Dec  9 10:03:59 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_Cruise_Control_ADAS_h_
#define RTW_HEADER_Cruise_Control_ADAS_h_
#ifndef Cruise_Control_ADAS_COMMON_INCLUDES_
#define Cruise_Control_ADAS_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif                                /* Cruise_Control_ADAS_COMMON_INCLUDES_ */

#include "Cruise_Control_ADAS_types.h"

/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
#define rtmGetErrorStatus(rtm)         ((rtm)->errorStatus)
#endif

#ifndef rtmSetErrorStatus
#define rtmSetErrorStatus(rtm, val)    ((rtm)->errorStatus = (val))
#endif

/* Block states (default storage) for system '<Root>' */
typedef struct {
  uint8_T Unit_Delay_DSTATE;           /* '<Root>/Unit_Delay' */
  uint8_T is_active_c3_Cruise_Control_ADA;/* '<S1>/Chart' */
  uint8_T is_c3_Cruise_Control_ADAS;   /* '<S1>/Chart' */
  uint8_T is_ACC_ON_MODE;              /* '<S1>/Chart' */
} DW_Cruise_Control_ADAS_T;

/* Real-time Model Data Structure */
struct tag_RTM_Cruise_Control_ADAS_T {
  const char_T * volatile errorStatus;
};

/* Block states (default storage) */
extern DW_Cruise_Control_ADAS_T Cruise_Control_ADAS_DW;

/* Model entry point functions */
extern void Cruise_Control_ADAS_initialize(void);
extern void Cruise_Control_ADAS_step(void);
extern void Cruise_Control_ADAS_terminate(void);

/* Real-time Model object */
extern RT_MODEL_Cruise_Control_ADAS_T *const Cruise_Control_ADAS_M;

/*-
 * The generated code includes comments that allow you to trace directly
 * back to the appropriate location in the model.  The basic format
 * is <system>/block_name, where system is the system number (uniquely
 * assigned by Simulink) and block_name is the name of the block.
 *
 * Use the MATLAB hilite_system command to trace the generated code back
 * to the model.  For example,
 *
 * hilite_system('<S3>')    - opens system 3
 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
 *
 * Here is the system hierarchy for this model
 *
 * '<Root>' : 'Cruise_Control_ADAS'
 * '<S1>'   : 'Cruise_Control_ADAS/ACC_ON_MODE_State_Logic'
 * '<S2>'   : 'Cruise_Control_ADAS/Drive_Vehicle'
 * '<S3>'   : 'Cruise_Control_ADAS/Lead_Vehicle'
 * '<S4>'   : 'Cruise_Control_ADAS/ACC_ON_MODE_State_Logic/Chart'
 */
#endif                                 /* RTW_HEADER_Cruise_Control_ADAS_h_ */

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

Conclusion:-
Thus, a Simulink Data Dictionary file has been created, an algorithm for Adaptive Cruise Control has been made, and the C code for the model has been generated using Simulink satisfactorily.