Project 2 Adaptive Cruise Control

Main Project – Adaptive Cruise Control (ACC)

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.

Objective of Main 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

STEPS TO START SIMULINK BLANK MODEL

1: CLICK ON SIMULINK ICON

2: CLICK ON BLANK MODEL

3:

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.
• Created model as per requirement and cretaed subsystem

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

Created model as per requirement and created subsystem of it

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.

SLDD CREATED

Then created chart to develop logic

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

Here in this chart all 6 subrequirements are created and model is now ready for model adviser report

next select run condition after that go to model advisor condition

After creating Html report it can be shown in your path folder way here i shwon from my created folder but we can also see it inside mtalba also.

After creating html report it can be shown in your foldermpath after that we go to code generation here

first go to modell settings after that select solver and cahnge the parameters after that we go to code generation

Finally go to C-code and perform a operator to build option see below figure its shows clarity finally check view code

/*
* File: PROJECT_ACC.c
*
* Code generated for Simulink model 'PROJECT_ACC'.
*
* Model version : 1.9
* Simulink Coder version : 9.0 (R2018b) 24-May-2018
* C/C++ source code generated on : Mon Jan 2 17:04:53 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/

#include "PROJECT_ACC.h"
#include "PROJECT_ACC_private.h"

/* Named constants for Chart: '<S2>/Chart' */
#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)
#define PROJECT_ACC_IN_ACC_OFF_MODE ((uint8_T)1U)
#define PROJECT_ACC_IN_ACC_ON_MODE ((uint8_T)2U)
#define PROJECT_ACC_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define PROJECT_ACC_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define PRO_IN_LeadVehicle_Not_Detected ((uint8_T)3U)

/* Block states (default storage) */
DW_PROJECT_ACC_T PROJECT_ACC_DW;

/* External outputs (root outports fed by signals with default storage) */
ExtY_PROJECT_ACC_T PROJECT_ACC_Y;

/* Real-time model */
RT_MODEL_PROJECT_ACC_T PROJECT_ACC_M_;
RT_MODEL_PROJECT_ACC_T *const PROJECT_ACC_M = &PROJECT_ACC_M_;

/* Forward declaration for local functions */
static void PROJECT_ACC_ACC_ON_MODE(const uint8_T *Add, const real_T *Add1);
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;
}

return y;
}

/* Function for Chart: '<S2>/Chart' */
static void PROJECT_ACC_ACC_ON_MODE(const uint8_T *Add, const real_T *Add1)
{
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;

/* Inport: '<Root>/SetSwitch' */
if (!SetSwitch) {
PROJECT_ACC_DW.is_ACC_ON_MODE = PROJECT_ACC_IN_NO_ACTIVE_CHILD;
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_ACC_STANDBY_MODE;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
} else {
switch (PROJECT_ACC_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 2.0;

/* Inport: '<Root>/RadarInput_DriveVehicle' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (((RadarInput_DriveVehicle == 1) && (*Add < Set_Speed)) || (Time_Gap <
Set_Gap)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 4.0;
} else {
if (RadarInput_DriveVehicle == 0) {
PROJECT_ACC_DW.is_ACC_ON_MODE = PRO_IN_LeadVehicle_Not_Detected;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
}
}
break;

case IN_LeadVehicle_Detected_Resume:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 3.0;

/* Inport: '<Root>/Set_Speed' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Time_Gap'
*/
if ((*Add1 == Set_Speed) && (*Add >= Set_Speed) && (Time_Gap >= Set_Gap))
{
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 2.0;
} else if (RadarInput_DriveVehicle == 0) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
} else {
if ((*Add1 < Set_Speed) && (*Add > *Add1) && (Time_Gap >= Set_Gap)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 5.0;
}
}
break;

case PRO_IN_LeadVehicle_Not_Detected:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;

/* Inport: '<Root>/RadarInput_DriveVehicle' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if ((RadarInput_DriveVehicle == 1) && (*Add1 == Set_Speed) && (*Add >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 2.0;
} else {
if (((RadarInput_DriveVehicle == 1) && (*Add < Set_Speed)) || (Time_Gap <
Set_Gap)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 4.0;
}
}
break;

case IN_LeadVehicle_Not_Detected_Res:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
break;

case IN_LeadVehicle_Speed_equal_Set_:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 5.0;

/* Inport: '<Root>/RadarInput_DriveVehicle' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if ((RadarInput_DriveVehicle == 0) || (*Add1 <= Set_Speed)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
} else if (((*Add1 < Set_Speed) && (*Add > *Add1)) || (Time_Gap >= Set_Gap))
{
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 3.0;
} else {
if (((*Add < Set_Speed) && (*Add < *Add1)) || (Time_Gap >= (int32_T)
rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 4.0;
}
}
break;

default:
/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 4.0;
tmp = (int32_T)rt_roundd_snf((real_T)*Add * 1.25);

/* Inport: '<Root>/Set_Gap' */
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;
}

if (tmp_0 < 256) {
tmp_2 = (uint8_T)tmp_0;
} else {
tmp_2 = MAX_uint8_T;
}

/* Inport: '<Root>/Set_Speed' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Time_Gap'
*/
if ((tmp_1 >= *Add1) && (rt_roundd_snf((real_T)*Add * 0.75) <= *Add1) && (*
Add1 < Set_Speed) && (Time_Gap <= tmp_2) && (Time_Gap >= (int32_T)
rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 5.0;
} else {
if ((RadarInput_DriveVehicle == 0) && (*Add1 == Set_Speed)) {
PROJECT_ACC_DW.is_ACC_ON_MODE = PRO_IN_LeadVehicle_Not_Detected;

/* Update for Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
}
}
break;
}
}

/* End of Inport: '<Root>/SetSwitch' */
}

/* Model step function */
void PROJECT_ACC_step(void)
{
uint8_T Add;
real_T Add1;

/* Sum: '<S4>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
Add = (uint8_T)((uint32_T)CameraInput_LeadVehicle + RadarInput_LeadVehicle);

/* Sum: '<S3>/Add1' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
* UnitDelay: '<S1>/Unit delay'
*/
Add1 = (real_T)(CameraInput_DriveVehicle + RadarInput_DriveVehicle) +
PROJECT_ACC_DW.Unitdelay_DSTATE;

/* Chart: '<S2>/Chart' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
*/
if (PROJECT_ACC_DW.is_active_c3_PROJECT_ACC == 0U) {
PROJECT_ACC_DW.is_active_c3_PROJECT_ACC = 1U;
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_ACC_OFF_MODE;

/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 0.0;
} else {
switch (PROJECT_ACC_DW.is_c3_PROJECT_ACC) {
case PROJECT_ACC_IN_ACC_OFF_MODE:
/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 0.0;
if (CruiseSwitch) {
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_ACC_STANDBY_MODE;

/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
}
break;

case PROJECT_ACC_IN_ACC_ON_MODE:
PROJECT_ACC_ACC_ON_MODE(&Add, &Add1);
break;

default:
/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 1.0;
if (SetSwitch) {
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_ACC_ON_MODE;
PROJECT_ACC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 2.0;
} else {
if (!CruiseSwitch) {
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_ACC_OFF_MODE;

/* Outport: '<Root>/Acceleration_Mode ' */
PROJECT_ACC_Y.Acceleration_Mode = 0.0;
}
}
break;
}
}

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

/* Update for UnitDelay: '<S1>/Unit delay' incorporates:
* Outport: '<Root>/Acceleration_Mode '
*/
PROJECT_ACC_DW.Unitdelay_DSTATE = PROJECT_ACC_Y.Acceleration_Mode;
}

/* Model initialize function */
void PROJECT_ACC_initialize(void)
{
/* Registration code */

/* initialize error status */
rtmSetErrorStatus(PROJECT_ACC_M, (NULL));

/* states (dwork) */
(void) memset((void *)&PROJECT_ACC_DW, 0,
sizeof(DW_PROJECT_ACC_T));

/* external outputs */
PROJECT_ACC_Y.Acceleration_Mode = 0.0;

/* SystemInitialize for Chart: '<S2>/Chart' */
PROJECT_ACC_DW.is_ACC_ON_MODE = PROJECT_ACC_IN_NO_ACTIVE_CHILD;
PROJECT_ACC_DW.is_active_c3_PROJECT_ACC = 0U;
PROJECT_ACC_DW.is_c3_PROJECT_ACC = PROJECT_ACC_IN_NO_ACTIVE_CHILD;
}

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

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

Procedure:

As per the Requirement document, implemented the Adaptive Cruise Control feature.

Lead vehicle:

• To detect the lead vehicle speed, simply added both the radar & camera inputs & the corresponding output is read as Speed profile output.

Drive Vehicle:

• To regulate the "Drive Vehicle speed", as per the Requirement Dicument added CameraInput, RadarInput & Acceleration_Mode feedback from ACC Algorithm.
• To detect the Lead vehicle, RadarInput is converted using "Signal Conversion Block".
• To avoid the algebraic error "Unit delay" block is used for the Acceleration_Mode feedback.

ACC 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.
• Rest of the alogorithm is developed as per the Requirement.

Results:

After implementing the ACC model run the simulation. If the model is running successfully without any errors then the Adaptive Cruise Control is works as per the requirement.

• The model is running successfully without any error.

Conclusion:

Hence, The Adaptive Cruise Control feature is developed as per the Requirement Document using MATLAB Simulink

All files and generated reports are uploaded in drive link is attached below

https://drive.google.com/drive/folders/11OF_F9agrmMM4ZjD5LypEqtOgMVE4mLu?usp=share_link

https://drive.google.com/drive/folders/11OF_F9agrmMM4ZjD5LypEqtOgMVE4mLu?usp=share_link