Project 2 Adaptive Cruise Control
The SLDD data files are related to the MATLAB/Simulink. Mathworks Simulink is a multidomain simulation and Model-Based Design for dynamic systems. The SLDD file stores some kind of data used by MATLAB. The following procedure shows how to create and add data to the SLDD file.
- To create a SLDD file, Open the simulink model and go to Modeling section.
- Then select Link to Data Dictionary option from Modeling section. Which is shown in the following figure.
After clicking on the Link to Data Dictionary, the following popup window will appears which ask us about data dictionary. If already created and to open SLDD, click on browse option and then select the respective file then click on ok. Here we are creating the new SLDD file so,
- Click on New and then save with a name. After saving the new SLDD file, uncheck the enable model access to base workspace because as it is new file there is no data to add workspace. If it is already created one then we can click on enable model access to base workspace.
After saving the file the above popup window will closes.
- To open the SLDD file go to the Modeling section and then select Model explorer. Which is showing in the following figure.
After clicking on the Model explorer, the following window will opens. Where we can see our created SLDD file at left side of the window if we extend that will be able to see Design Data. By clicking on that we can add our given signals or parameters.
- I have given the name as ACC to the SLDD file, if we extend the file design data option appears as shown in the following figure.
If we see at the top left side of the window, there are few option like file, edit, view, tools, add and help. If we click on add button it will show some options as shown in the following figure.
- From the options we can select our variable according to its natuure.
- If it is a signal then will select simulink signal if it is constant will select simulink parameter like that.
Now enter all signals and parameters according to the given signals and calibration data.
- To avoid the errors just copy paste the given signal/calibration name.
- And fill all the respective details accordingly.
- The given details are: Signal type, Data type, Dimension, Min & Max value, Storage class and Value for calibration parameter.
- The following figure shows the all designed data according to the given table.
This section of the dictionary stores variables that are visible to the Simulink models that reference this dictionary. These variables can be used to parameterize model, block and signal data.
After designing the SLDD file, right click on the SLDD form here it is saved as ACC. Righ click on it and save changes. Which is shown through following figure.
- After saving the data we can close the model explorer window and we can start modelling.
MODEL
The modeling can be done according to the given requirements. So as we have three given requirements, we are taking a main subsystem first and naming it as ACC_new.
- These three subsystems are named as Req1_Lead Vehicle, Req2_Cruise Vehicle and ACC_Algorithm.
- The inports and outports are considered according to the given data.
- Now will see how these subsystems are modeled.
Req1_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.
The signal names and calibration values are copy pasted to avoide the errors. Because we have taken exact values in SLDD form so to match them again i have did the same. All the ports and blocks are named according to the requirement. To add the given inputs we have taken an Add block. The following figure shows the model under requirement1 subsystem.
Req2_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.
The following figure shows the Drive_Vehicle subsytem modeled as per the given requirement data.
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.
The following figure shows the Drive_Vehicle subsytem modeled as per the given requirement data.
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.
The following figure shows the Drive_Vehicle subsytem modeled as per the given requirement data.
Req3_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.
The following figure shows the chart taken under ACC_Algorithm subsystem with the given inputs and output.
Req3a_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
The following figure shows the state logic of given requirement, marked in blue boarder.
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
The following figure shows the state logic of given inputs, which are taken under one state logic like a sub state logics.
Each state logic in the above figure is explained below.
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
The overall state diagram with their transitions and conditions as per the given requirements is shown in the following figure.
RESOLVING & PROPAGATING:
By resolving and propagrating the signals we can migrate design attributes from existing simulink signal objects into the model by using block parameters and signal properties here in the model explorer we have designed the attributes in SLDD form. To force signal resolution for a signal in a MATLAB Function block, follow these steps:
- In the Simulink model, right-click the signal line connected to the respective input or output that you want to resolve and select Properties from the context menu.
- In the Signal Properties dialog, enter a name for the signal that corresponds to the signal object.
The following figure shows the process of signal Resolving. As said right click on signal go to properties then the following procedure should follow. Give exact same as the input or output we have used and click on resolve to simulink object. Then a symbol with name shows at the signal line.
TAGGING:
To perform Tagging first we have to create a word file with all details reagarding about the model we are creating. Not only a word file we can also take excel sheet or MATLAB file etc, here we are taking word file. Tagging enables us to view the procedure which is used to build the model or to know more details about the designed model. To tag the given requirement blocks the followinng procedure has been followed.
- First we need select the respective heading in the word file. Like in the followinng figure we can see that Requirement1 is a heading in which the procedure to build the model has been given.
- The word file which is created must be saved in the same folder of our simulink model.
In the above figure it show the selection of word, now to tag this to the subsystem:
- Right click on the respective subsystem, as we have selected a word regarding about requirement1 we are right clicking on 1 subsyetm.
- Go to Requirements option from the context. In requirements select Link to selection in word.
- If we click on that it is automatically tagged to the word in word file.
Now will be able to see the tagging. Repeat same procedure like right click on subsystem go to requirements and from the options, the top 1. represents the word which is tagged to the subsystem.
- To know about the subsytem building or any other details which are written in the word file, click on that 1st option it will take you to the word file requirement1 section.
Repeat the same procedure for other subsystem also. Select the relatable heading in the word file and do the same procedure.
- After the proccedure will be able to see the word which is tagged at the top of requirements section.
- Which are shown in the following figure.
SOLVER SETTINGS:
Solver settings are important to simulate the model. To open the solver setings, go to the Modeling section which is at the top of simulink window. And select the Model settings under the modeling section. Which is shown in the following figure.
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.tlc (Embedded coder) by clicking on the browse option.
- 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.
MAB GUIDEINES:
The MAB (MathWorks Advisory Board) Guidelines are a set of modeling guidelines developed by an independent industry working group for the usage of MATLAB, Simulink, Stateflow and Embedded Coder. The guidelines are the culmination of years of engineering expertise and best practices for developing, maintaining and documenting control algorithm models used in the development of production software.
- To perform the MAB guidelines test on our simulink model, go to modeling section and select Model Advisor which is at the top left corner of the window.
- You can use the Model Advisor to verify compliance of your model with the MathWorks Advisory Board (MAB) guidelines.
By clicking on the Model Advisor, a window will ask us to confirmation if we click on Ok then it will opens a window which is shown in the following figure.
In the Model advisor there are number of guidelines, among them will select only Modeling Standards fro MAB.
- If we expand the section will be able to see which are tested under the MAB guidelins. If we again expand there will be many sub sections in each section.
- After selecting MAB guidelines, click on Run Selected checks.
- Then it asks again for confirmation, click on continue. Then the testing will begins. It takes time to perform the guidelines test.
After the MAB guidelined test completion, it should be mandatory that 0 fail conditions. If any fail conditions are there rectify them and again make them to 0. The warnings are permittable to some limit.
- After getting 0 fails click on Generate report. This report will gives all data about the smulink model we have created.
After clicking Generate report in the above window, a popup window will appears as shown in the followinng figure.
- It shows the directory, at where the report is going to save. It will save in the same folder of our simulink model.
- Give a name to the report. Then click on OK.
After clicking on Ok. It will save in the folder and opens as shown in the followig diagram.
- The report shows all the checks performed under MAB guidelines.
C CODING:
Now we are converting all our model in terms of C Code. To create C code of our simulink model, follow the procedure as explained below.
- Go to the Apps section which is at top of the window.
- Under Apps section, click on Embedder coder which is shown in the followinng figure.
After clicking on EMbedded codel option, aother window will creates as C CODE, which is shown in the following figure.
- Go to the C Code section, and click on Build option to build the code.
After clicking on Build it will generate the C Code of our simulink as shown inn the following figure.
- 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.
CODE
/*
* File: ACC_new.c
*
* Code generated for Simulink model 'ACC_new'.
*
* Model version : 1.5
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sun Dec 18 16:43:56 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "ACC_new.h"
#include "ACC_new_private.h"
/* Named constants for Chart: '/Adaptive Cruise Control' */
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_new_IN_ACC_OFF ((uint8_T)1U)
#define ACC_new_IN_ACC_ON ((uint8_T)2U)
#define ACC_new_IN_ACC_STANDBY ((uint8_T)3U)
#define ACC_new_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_Lessthan_S ((uint8_T)5U)
#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)6U)
/* Block states (default storage) */
DW_ACC_new_T ACC_new_DW;
/* Real-time model */
static RT_MODEL_ACC_new_T ACC_new_M_;
RT_MODEL_ACC_new_T *const ACC_new_M = &ACC_new_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 ACC_new_step(void)
{
/* local block i/o variables */
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Speed;
uint8_T LeadVehicle_Detected;
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_DriveVehicle'
* Inport: '/RadarInput_DriveVehicle'
* UnitDelay: '/Unit Delay'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_LeadVehicle'
* Inport: '/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* SignalConversion: '/Signal Conversion' incorporates:
* Inport: '/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '/Adaptive Cruise Control' incorporates:
* Inport: '/CruiseSwitch'
* Inport: '/SetSwitch'
* Inport: '/Set_Gap'
* Inport: '/Set_Speed'
* Inport: '/Time_Gap'
*/
if (ACC_new_DW.is_active_c3_ACC_new == 0U) {
ACC_new_DW.is_active_c3_ACC_new = 1U;
ACC_new_DW.is_c3_ACC_new = ACC_new_IN_ACC_OFF;
} else {
switch (ACC_new_DW.is_c3_ACC_new) {
case ACC_new_IN_ACC_OFF:
if (CruiseSwitch) {
ACC_new_DW.is_c3_ACC_new = ACC_new_IN_ACC_STANDBY;
}
break;
case ACC_new_IN_ACC_ON:
if (!CruiseSwitch) {
ACC_new_DW.is_ACC_ON = ACC_new_IN_NO_ACTIVE_CHILD;
ACC_new_DW.is_c3_ACC_new = ACC_new_IN_ACC_OFF;
} else if (!SetSwitch) {
ACC_new_DW.is_ACC_ON = ACC_new_IN_NO_ACTIVE_CHILD;
ACC_new_DW.is_c3_ACC_new = ACC_new_IN_ACC_STANDBY;