Project 2 Adaptive Cruise Control
Main Project – Adaptive Cruise Control (ACC)
Aim: To develop adaptive cruise control feature as per the requirement document using MATLAB simulink
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.
Model Developement:
Step1: Requirement Analysis
This is the main model subsystem that having 9 inputs
CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehi, Time_Gap,Set_Speed, Set_Gap, CruiseSwitch and SetSwitch entering in the Adaptive Cruise Control subsystem and 4 outputs Acceleration_Mode, LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected
Fig 1: 'Adaptive_Cruise_Control' subsystem
There are 3 requirements are designed in 3 subsystems as shown below;
Fig 2: Requirment1, 2 and Requirment3 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.
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
Step2: Creation of Simulink Data Dictionary file (SLDD):
- First you go to model then click to link to data dictionary. then click the new and put the sldd file name and browse the file.after browsing the sldd file go to model worksplace and put the all input and output signal in design data box.
- 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.
Step3: Requirement Tagging
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’.
Requirement 1– Lead Vehicle
Requirement 2 – Drive Vehicle:
Requirement 3 – Adaptive Cruise Control Algorithm
Requirement 3a – ACC OFF MODE state logic
Requirement 3b – ACC STANDBY MODE state logic
Requirement 3c – ACC ON MODE state logic
Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE)
Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE)
Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE)
Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE)
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE)
Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE)
Step4: Configuration Parameter Update:
Various configuration parameters are updated as per the code generation the solver type should be fixed for code generation.
After clicking on model settings the following window will appears. The window presents the configuration of the parameters in our simulink mode.
• In the configuration window, click on solver to model the solver parameters.
• Now change the type to Fixed-step, Solver to discrete (no continuous states) and take sample time as 0.01sec.
Then click Ok.
This settings are shown in the following figure.
In the same configuration window there another settings to model, which is Code generation. Click on code generation, Choose the system targer file as ert.lc (Embedded coder) by clicking on the browse option.
• Then click on Ok and close the window.
• Then click on Ok and close the window.
As per the objective of our model, we have to enable "Support Floating Numbers" under Code Generation settings. Which is shown in the following figure.
Step5: MAB Guidelines Check For Model Explorer:
A check is performed using ‘Model Advisor’ tool in Simulink to see whether the developed model meets the modeling standards for MAB. First go to model advisor and click on ‘MAB’ then run the programme.
Step6: Embedded Coder (Code Generation)
Using embedded coder convert the simulnik model as a ‘c code’ file. This file is code generation file.
Go to embedded coder then click on building option. Then c code file automatically was created.
After clicking on Build it will generate the C Code of our simulink as shown inn the following figure.
/*
* File: ACC_Project.c
*
* Code generated for Simulink model 'ACC_Project'.
*
* Model version : 1.85
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Wed Nov 23 15:41:56 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "ACC_Project.h"
#include "ACC_Project_private.h"
/* Named constants for Chart: '<S4>/ACC_MODE_ALGORITHM' */
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_Project_IN_ACC_OFF_MODE ((uint8_T)1U)
#define ACC_Project_IN_ACC_ON_MODE ((uint8_T)2U)
#define ACC_Project_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define ACC_Project_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#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' */
uint8_T DriveVehicle_Speed; /* '<S3>/Sum' */
uint8_T LeadVehicle_Detected; /* '<S3>/Signal Conversion' */
uint8_T LeadVehicle_Speed; /* '<S2>/Sum' */
/* Block states (default storage) */
DW_ACC_Project_T ACC_Project_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_ACC_Project_T ACC_Project_Y;
/* Real-time model */
RT_MODEL_ACC_Project_T ACC_Project_M_;
RT_MODEL_ACC_Project_T *const ACC_Project_M = &ACC_Project_M_;
/* Model step function */
void ACC_Project_step(void)
{
/* Sum: '<S2>/Sum' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* UnitDelay: '<S1>/Unit Delay' */
Acceleration_Mode = ACC_Project_Y.Acceleration_Mode_a;
/* Sum: '<S3>/Sum' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + RadarInput_DriveVehicle) + Acceleration_Mode);
/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '<S4>/ACC_MODE_ALGORITHM' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (ACC_Project_DW.is_active_c3_ACC_Project == 0U) {
ACC_Project_DW.is_active_c3_ACC_Project = 1U;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else {
switch (ACC_Project_DW.is_c3_ACC_Project) {
case ACC_Project_IN_ACC_OFF_MODE:
if (CruiseSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_STANDBY_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
}
break;
case ACC_Project_IN_ACC_ON_MODE:
if (!CruiseSwitch) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_Project_IN_NO_ACTIVE_CHILD;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else if (!SetSwitch) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_Project_IN_NO_ACTIVE_CHILD;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_STANDBY_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
switch (ACC_Project_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
if (LeadVehicle_Detected == 0) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
}
break;
case IN_LeadVehicle_Detected_Resume:
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
} else if (LeadVehicle_Detected == 0) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 3U;
}
break;
case ACC_IN_LeadVehicle_Not_Detected:
if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed ==
Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&
(Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 3U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
Time_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
ACC_Project_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 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)))
{
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
if (!CruiseSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else {
if (SetSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_ON_MODE;
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
}
}
break;
}
}
/* End of Chart: '<S4>/ACC_MODE_ALGORITHM' */
}
/* Model initialize function */
void ACC_Project_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void ACC_Project_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
/*
* File: ACC_Project.c
*
* Code generated for Simulink model 'ACC_Project'.
*
* Model version : 1.85
* Simulink Coder version : 9.3 (R2020a) 18-Nov-2019
* C/C++ source code generated on : Wed Nov 23 15:41:56 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "ACC_Project.h"
#include "ACC_Project_private.h"
/* Named constants for Chart: '<S4>/ACC_MODE_ALGORITHM' */
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_Project_IN_ACC_OFF_MODE ((uint8_T)1U)
#define ACC_Project_IN_ACC_ON_MODE ((uint8_T)2U)
#define ACC_Project_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define ACC_Project_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#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' */
uint8_T DriveVehicle_Speed; /* '<S3>/Sum' */
uint8_T LeadVehicle_Detected; /* '<S3>/Signal Conversion' */
uint8_T LeadVehicle_Speed; /* '<S2>/Sum' */
/* Block states (default storage) */
DW_ACC_Project_T ACC_Project_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_ACC_Project_T ACC_Project_Y;
/* Real-time model */
RT_MODEL_ACC_Project_T ACC_Project_M_;
RT_MODEL_ACC_Project_T *const ACC_Project_M = &ACC_Project_M_;
/* Model step function */
void ACC_Project_step(void)
{
/* Sum: '<S2>/Sum' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* UnitDelay: '<S1>/Unit Delay' */
Acceleration_Mode = ACC_Project_Y.Acceleration_Mode_a;
/* Sum: '<S3>/Sum' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + RadarInput_DriveVehicle) + Acceleration_Mode);
/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '<S4>/ACC_MODE_ALGORITHM' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (ACC_Project_DW.is_active_c3_ACC_Project == 0U) {
ACC_Project_DW.is_active_c3_ACC_Project = 1U;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else {
switch (ACC_Project_DW.is_c3_ACC_Project) {
case ACC_Project_IN_ACC_OFF_MODE:
if (CruiseSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_STANDBY_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
}
break;
case ACC_Project_IN_ACC_ON_MODE:
if (!CruiseSwitch) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_Project_IN_NO_ACTIVE_CHILD;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else if (!SetSwitch) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_Project_IN_NO_ACTIVE_CHILD;
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_STANDBY_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
switch (ACC_Project_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
if (LeadVehicle_Detected == 0) {
ACC_Project_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
}
break;
case IN_LeadVehicle_Detected_Resume:
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
} else if (LeadVehicle_Detected == 0) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 3U;
}
break;
case ACC_IN_LeadVehicle_Not_Detected:
if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed ==
Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&
(Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 3U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
Time_Gap)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 1U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
ACC_Project_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 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)))
{
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 5U;
} else {
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 4U;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
if (!CruiseSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_OFF_MODE;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 0U;
} else {
if (SetSwitch) {
ACC_Project_DW.is_c3_ACC_Project = ACC_Project_IN_ACC_ON_MODE;
ACC_Project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
/* Outport: '<Root>/Acceleration_Mode' */
ACC_Project_Y.Acceleration_Mode_a = 2U;
}
}
break;
}
}
/* End of Chart: '<S4>/ACC_MODE_ALGORITHM' */
}
/* Model initialize function */
void ACC_Project_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void ACC_Project_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
The C code shows all the data of our simulink model. The C code file is also saved in the same folder of our simulink model.
Results & Conclusion:
The simulation will be run for a total of 10 seconds. We can see that the model runs successfully and there are no errors obtained, so we can conclude that the model is built and created as per the requirements given in the objectives.
The Adaptive Cruise Control is modeled as per the given requirements, all the signals and calibrated values are defined in the Simulink Data Dictionary (SLDD). All input and output signals are resolved and propagated. The respective subsystems are Tagged according to their requirement. Model Advisory check is done with MAB guidelines and there is 0 fail conditions. Since there are no errors in Model Advisory report C Code has been generated by using Embedded coder.
The link to the model along with the sldd, slmx, and the model advisory report is attached.