Project 2 Adaptive Cruise Control
Question 1.
Aim: To make simulink model of adaptive cruise control as per given requirement.
Overview Of Adaptive Cruise Control :
Adaptive Cruise Control Feature for passenger cars allows the host vehicle to adapt to the speed in line with the flow oftraffic. 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.
Objective of Project:
1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter
changes, Model Advisor check & Code Generation.
3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
4. Use Embedded Coder to generate the code.
5. If choosing code generation, 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. Choose sample time for all signals as 0.01s.
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.
And Create a Subsystem of Requirement 1– Lead Vehicle and Requirement 2 – Drive Vehicle.
And Create one more Subsystem of Lead Vehicle and Drive Vehicle and name of this subsystem is Lead_and_Drive_Subsystem as shown in below.
Requirement 3a – ACC OFF MODE state logic: Tagging of Requirement 1– Lead Vehicle, Requirement 2 – Drive Vehicle, and Requirement 3a – ACC logic Subsystem: Final Model of Adative Cruise Control : Figure Below shows that the subsystem of Adaptive Cruise Control model : Creation Of SLDD : Chart Libraries :- Configuration Parameter changes : Enable the “Support Floating Numbers” in Code Generation Setting : Results of Model Advisory Report : Genrated Code :- /* #include "ACC.h" /* Named constants for Chart: ' /* Block states (auto storage) */ /* Real-time model */ /* Forward declaration for local functions */ return y; /* Function for Chart: ' /* Inport: ' /* Entry 'ACC_STANDBY_Mode': ' /* Entry 'LeadVehicle_Not_Detected': ' /* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': ' case IN_LeadVehicle_Detected_Resume: /* Entry 'LeadVehicle_Detected_Follow': ' /* Entry 'LeadVehicle_Not_Detected_Resume': ' /* Entry 'LeadVehicle_Speed_equal_Set_Speed': ' case ACC_IN_LeadVehicle_Not_Detected: /* Entry 'LeadVehicle_Detected_Follow': ' /* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': ' case IN_LeadVehicle_Not_Detected_Res: case IN_LeadVehicle_Speed_equal_Set_: /* Entry 'LeadVehicle_Not_Detected_Resume': ' /* Entry 'LeadVehicle_Detected_Resume': ' /* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': ' default: /* Inport: ' if (tmp_0 < 256) { /* Inport: ' /* Entry 'LeadVehicle_Speed_equal_Set_Speed': ' /* Entry 'LeadVehicle_Not_Detected': ' /* End of Inport: ' /* Model step function */ /* Sum: ' /* Sum: ' /* Chart: ' /* Entry Internal: Subsystem/Acc_Logic_Subsystem/Chart */ /* Entry 'ACC_OFF_Mode': ' /* Entry 'ACC_STANDBY_Mode': ' case ACC_IN_ACC_ON_Mode: default: /* Entry 'ACC_OFF_Mode': ' /* Entry Internal 'ACC_ON_Mode': ' /* Entry 'LeadVehicle_Detected_Follow': ' /* End of Chart: ' /* Update for UnitDelay: ' /* Model initialize function */ /* initialize error status */ /* block I/O */ /* custom signals */ /* states (dwork) */ /* InitializeConditions for Chart: ' /* Model terminate function */ /* CONCLUSION :- We had created the model as per given requirments also we had tagged the requirments with the given model . We had also created the SLDD , Model advisory report and a code genration.
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
* File: ACC.c
*
* Code generated for Simulink model 'ACC'.
*
* Model version : 1.3
* Simulink Coder version : 8.9 (R2015b) 13-Aug-2015
* C/C++ source code generated on : Fri Dec 16 11:13:00 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "ACC_private.h"
#define ACC_IN_ACC_OFF_Mode ((uint8_T)1U)
#define ACC_IN_ACC_ON_Mode ((uint8_T)2U)
#define ACC_IN_ACC_STANDBY_Mode ((uint8_T)3U)
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_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)
DW_ACC_T ACC_DW;
RT_MODEL_ACC_T ACC_M_;
RT_MODEL_ACC_T *const ACC_M = &ACC_M_;
static void ACC_ACC_ON_Mode(const uint8_T *DriveVehicle_Speed, const uint8_T
*LeadVehicle_Speed);
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;
}
}
static void ACC_ACC_ON_Mode(const uint8_T *DriveVehicle_Speed, const uint8_T
*LeadVehicle_Speed)
{
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
* Inport: '
* Inport: '
* Inport: '
* Inport: '
*/
/* During 'ACC_ON_Mode': '
if (!SetSwitch) {
/* Transition: '
/* Exit Internal 'ACC_ON_Mode': '
ACC_DW.is_ACC_ON_Mode = ACC_IN_NO_ACTIVE_CHILD;
ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_Mode;
Acceleration_Mode = 1U;
} else {
switch (ACC_DW.is_ACC_ON_Mode) {
case IN_LeadVehicle_Detected_Follow:
/* During 'LeadVehicle_Detected_Follow': '
if (*LeadVehicle_Speed == 0) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = ACC_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
} else {
if (((*LeadVehicle_Speed == 1) && (RadarInput_DriveVehicle < Set_Speed))
|| (Time_Gap < Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
}
break;
/* Inport: '
* Inport: '
* Inport: '
* Inport: '
*/
/* During 'LeadVehicle_Detected_Resume': '
if ((*DriveVehicle_Speed == Set_Speed) && (RadarInput_DriveVehicle >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (*LeadVehicle_Speed == 0) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else {
if ((*DriveVehicle_Speed < Set_Speed) && (RadarInput_DriveVehicle >
*DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
}
break;
/* Inport: '
* Inport: '
* Inport: '
* Inport: '
*/
/* During 'LeadVehicle_Not_Detected': '
if ((*LeadVehicle_Speed == 1) && (*DriveVehicle_Speed == Set_Speed) &&
(RadarInput_DriveVehicle >= Set_Speed) && (Time_Gap >= Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else {
if (((*LeadVehicle_Speed == 1) && (RadarInput_DriveVehicle < Set_Speed))
|| (Time_Gap < Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
}
break;
/* During 'LeadVehicle_Not_Detected_Resume': '
break;
/* Inport: '
/* During 'LeadVehicle_Speed_equal_Set_Speed': '
if ((*LeadVehicle_Speed == 0) || (*DriveVehicle_Speed <= Set_Speed)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else {
/* Inport: '
* Inport: '
* Inport: '
*/
/* .. */
if (((*DriveVehicle_Speed < Set_Speed) && (RadarInput_DriveVehicle >
*DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Detected_Resume;
Acceleration_Mode = 3U;
} else {
if (((RadarInput_DriveVehicle < Set_Speed) && (RadarInput_DriveVehicle
< *DriveVehicle_Speed)) || ((uint8_T)(int32_T)rt_roundd_snf(0.75
* (real_T)Set_Gap) == Time_Gap)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
}
}
break;
/* Inport: '
/* During 'LeadVehicle_Speed_lessthan_Set_Speed': '
tmp = (int32_T)rt_roundd_snf((real_T)RadarInput_DriveVehicle * 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;
}
tmp_2 = (uint8_T)tmp_0;
} else {
tmp_2 = MAX_uint8_T;
}
* Inport: '
* Inport: '
* Inport: '
*/
if ((tmp_1 >= *DriveVehicle_Speed) && ((uint8_T)(int32_T)rt_roundd_snf
((real_T)RadarInput_DriveVehicle * 0.75) <= *DriveVehicle_Speed) && (*
DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) && (Time_Gap >=
(uint8_T)(int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
} else {
if ((*LeadVehicle_Speed == 0) && (*DriveVehicle_Speed == Set_Speed)) {
/* Transition: '
ACC_DW.is_ACC_ON_Mode = ACC_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
}
}
break;
}
}
}
void ACC_step(void)
{
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Speed;
* Inport: '
* Inport: '
* UnitDelay: '
*/
DriveVehicle_Speed = (uint8_T)(((uint32_T)CameraInput_DriveVehicle +
ACC_DW.UnitDelay_DSTATE) + RadarInput_DriveVehicle);
* Inport: '
* Inport: '
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
* Inport: '
* Inport: '
*/
/* Gateway: Subsystem/Acc_Logic_Subsystem/Chart */
/* During: Subsystem/Acc_Logic_Subsystem/Chart */
if (ACC_DW.is_active_c3_ACC == 0U) {
/* Entry: Subsystem/Acc_Logic_Subsystem/Chart */
ACC_DW.is_active_c3_ACC = 1U;
/* Transition: '
ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_Mode;
Acceleration_Mode = 0U;
} else {
switch (ACC_DW.is_c3_ACC) {
case ACC_IN_ACC_OFF_Mode:
/* During 'ACC_OFF_Mode': '
if (CruiseSwitch) {
/* Transition: '
ACC_DW.is_c3_ACC = ACC_IN_ACC_STANDBY_Mode;
Acceleration_Mode = 1U;
}
break;
ACC_ACC_ON_Mode(&DriveVehicle_Speed, &LeadVehicle_Speed);
break;
/* During 'ACC_STANDBY_Mode': '
if (!CruiseSwitch) {
/* Transition: '
ACC_DW.is_c3_ACC = ACC_IN_ACC_OFF_Mode;
Acceleration_Mode = 0U;
} else {
if (SetSwitch) {
/* Transition: '
ACC_DW.is_c3_ACC = ACC_IN_ACC_ON_Mode;
/* Transition: '
ACC_DW.is_ACC_ON_Mode = IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
}
}
break;
}
}
ACC_DW.UnitDelay_DSTATE = Acceleration_Mode;
}
void ACC_initialize(void)
{
/* Registration code */
rtmSetErrorStatus(ACC_M, (NULL));
Acceleration_Mode = 0U;
(void) memset((void *)&ACC_DW, 0,
sizeof(DW_ACC_T));
ACC_DW.is_ACC_ON_Mode = ACC_IN_NO_ACTIVE_CHILD;
ACC_DW.is_active_c3_ACC = 0U;
ACC_DW.is_c3_ACC = ACC_IN_NO_ACTIVE_CHILD;
}
void ACC_terminate(void)
{
/* (no terminate code required) */
}
* File trailer for generated code.
*
* [EOF]
*/