Project 2 Adaptive Cruise Control

ANS:

Adaptive Cruise Control (ACC)

AIM:

• Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
• Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
• In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
• Use Embedded Coder to generate the code.

SCOPE OF PROJECT:

• 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.

MODELING:

Step1) Change Model setting:

• Before going to do modelling we have to change model setting
• For the model based development needs to change the configuration parameters as per our requirement. For changing the model configuration parameters go to the modeling section select model setting and a new configuration parameters window will be opened.

• In the solver change the solver type as Fixed-step, in solver choose discrete (no continuous states) and Fixed step size is 0.01. Then for code generation we required some changes in the code generation section.

• For code generation settings go to the code generation section select system target file as ert.tlc (Embedded Coder) by click on browse. Also as per mention in the question enable support floating numbers. For that goto the code generation > > Interface and select support floating point numbers.

Step2) :Create SLDD file

From signal and Calibration ist given below we create SLDD file

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	-	-

• To creating the SLDD got the modeling then design section select >> link to the data dictionary then one window popup, in that type the name >> disable the ‘Enable model access to base workspace’ and click on new then this SLDD file >> save in the same folder where simulink model are present.
• so SLDD file created we can click on the left bottom corner sign, open the SLDD file and make changes as per our requirement.

Following is The created SLDD file

Step 3) :Now create model as per given requirement

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.

As per reqirement there are 8 input (Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch, DriveVehicle_Speed & LeadVehicle_Detected) to the chart and 1 output (Acceleration_Mode)

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)]<="" em=""></set_speed)>

Above is ACC_ON_MODE Requirement logic with 6 sub states (LeadVehicle_Detected_Follow (Default); LeadVehicle_Not_Detected; LeadVehicle_Detected_Resume; LeadVehicle_Not_Detected_Resume; LeadVehicle_Speed_lessthan_Set_Speed; LeadVehicle_Speed_equal_Set_Speed) as per Reqirement in Requirement 3c

The whole ACC logic AS per requirement 3 is as below:

Step 4): defining input/output values in symbol plane & also update in Model Explorer >> chart

Step5) : Signal Resolution And Propagation:

• To resolve the signal >> right click on signal line >> chose properties then >> signal properties block will open >> write name or select name of signal >> check on >> Signal name must be resolve in Simulink signal object >> OK
• After resolving signal if this signal comes again in model then at that time we have to propagate that signal.
• For Propagation, we can choose direct method by typing <> and press enter key the signal will automatically propagate OR repeated above signal resolution process but dont enter signal name and check on >> show propagated signal >> OK
• Below fig shows how this done

Step 6): Requirement Tagging

For requirement tagging and traceability at beginning we want write all requirement in the word file, then select those position which we want to link to the respective any one subsystem, then goto the model subsystem >> right click on the subsystem and click on >> the requirement and select the >> link to selection in word. Now our subsyste is tagged to our requirement.

Step 7): Model Advisor Check

For model advisor test click on modeling select model advisor then select our model>> now new model advisor window will open >> select the Modelling Standard for MAB >> click on the run selected check then automatically testing will start after completing minimize the warning by changing recommended change and generate report

Step 8): Code Generation:

• Below fig shows how this doneFor code generation we already change the model configuration parameters, so now go to the Apps section select >> Embedded coder then >> new section open >> C Code in that click on >> build and select the >>Generate Code. Now automatically code will be generated and displayed on the right hand side of the model.

/*
* Event Support License -- for demonstration use and event support. Not
* for government, research, commercial, or other organizational use.
*
* File: Adaptive_Curise_Control1.c
*
* Code generated for Simulink model 'Adaptive_Curise_Control1'.
*
* Model version : 1.27
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Sun Dec 11 20:23:06 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "Adaptive_Curise_Control1.h"
#include "rtwtypes.h"
#include "Adaptive_Curise_Control1_private.h"
#include <math.h>

/* Named constants for Chart: '<S2>/Chart' */
#define Ada_IN_LeadVehicle_DetectedFlow ((uint8_T)1U)
#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)4U)
#define Adaptive_Cu_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Adaptive_Cur_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Adaptive_Curise_IN_ACC_OFF_MODE ((uint8_T)1U)
#define Adaptive_Curise__IN_ACC_ON_MODE ((uint8_T)2U)
#define IN_LeadVehicle_Detected_Not_Res ((uint8_T)2U)
#define IN_LeadVehicle_Detected_Resume ((uint8_T)3U)
#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_Curise_Control1_T Adaptive_Curise_Control1_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Curise_Control1_T Adaptive_Curise_Control1_Y;

/* Real-time model */
static RT_MODEL_Adaptive_Curise_Cont_T Adaptive_Curise_Control1_M_;
RT_MODEL_Adaptive_Curise_Cont_T *const Adaptive_Curise_Control1_M =
&Adaptive_Curise_Control1_M_;
real_T rt_roundd(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 = 0.0;
} else {
y = ceil(u - 0.5);
}
} else {
y = u;
}

return y;
}

/* Model step function */
void Adaptive_Curise_Control1_step(void)
{
/* local block i/o variables */
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;

/* Sum: '<S4>/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_Curise_Control1_Y.Acceleration_Mode_g;

/* Sum: '<S3>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +
Acceleration_Mode) + RadarInput_DriveVehicle);

/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;

/* Chart: '<S2>/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_Curise_Control1_DW.is_active_c3_Adaptive_Curise_Co == 0U) {
Adaptive_Curise_Control1_DW.is_active_c3_Adaptive_Curise_Co = 1U;
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Curise_IN_ACC_OFF_MODE;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 0U;
} else {
switch (Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1) {
case Adaptive_Curise_IN_ACC_OFF_MODE:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 0U;
if (CruiseSwitch) {
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Cu_IN_ACC_STANDBY_MODE;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
}
break;

case Adaptive_Curise__IN_ACC_ON_MODE:
{
if (!SetSwitch) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Adaptive_Cur_IN_NO_ACTIVE_CHILD;
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Cu_IN_ACC_STANDBY_MODE;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
} else if (!CruiseSwitch) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Adaptive_Cur_IN_NO_ACTIVE_CHILD;
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Curise_IN_ACC_OFF_MODE;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 0U;
} else {
switch (Adaptive_Curise_Control1_DW.is_ACC_ON_MODE) {
case Ada_IN_LeadVehicle_DetectedFlow:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 2U;
if (LeadVehicle_Detected == 0) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 4U;
}
break;

case IN_LeadVehicle_Detected_Not_Res:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
break;

case IN_LeadVehicle_Detected_Resume:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 3U;
if (LeadVehicle_Detected == 0) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Not_Res;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
} else if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_DetectedFlow;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 2U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 5U;
}
break;

case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed)
&& (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_DetectedFlow;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 4U;
}
break;

case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 5U;
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Resume;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 3U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Not_Res;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd(0.75 *
(real_T)Set_Gap) == Time_Gap)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 4U;
}
break;

default:
{
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed ==
Set_Speed)) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
} else {
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
tmp = (int32_T)rt_roundd((real_T)LeadVehicle_Speed * 1.25);
tmp_0 = (int32_T)rt_roundd(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((real_T)
LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
(Time_Gap >= (int32_T)rt_roundd(0.75 * (real_T)Set_Gap))) {
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 5U;
}
}
}
break;
}
}
}
break;

default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 1U;
if (!CruiseSwitch) {
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Curise_IN_ACC_OFF_MODE;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 0U;
} else if (SetSwitch) {
Adaptive_Curise_Control1_DW.is_c3_Adaptive_Curise_Control1 =
Adaptive_Curise__IN_ACC_ON_MODE;
Adaptive_Curise_Control1_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_DetectedFlow;
Adaptive_Curise_Control1_Y.Acceleration_Mode_g = 2U;
}
break;
}
}

/* End of Chart: '<S2>/Chart' */
}

/* Model initialize function */
void Adaptive_Curise_Control1_initialize(void)
{
/* (no initialization code required) */
}

/* Model terminate function */
void Adaptive_Curise_Control1_terminate(void)
{
/* (no terminate code required) */
}

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

Result & Conclusion:

Adaptive Cruise Control Feature Project completed as per requirements and Model is compiled without error.