Project 2 Adaptive Cruise Control
Question
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:
- 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.
- 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.
- 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.
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
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)>
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 |
- |
- |
ANSWER
SIMULATION BLOCK
There are three SubSystems namely Drive Vehicle, Lead Vehicle, and Adaptive Cruise Control Algorithm.
Lead Vehicle SubSystem:
Two Inputs from the Camera Input and Radar input of the Lead Vehicle are taken and added using Add block to get Lead Vehicle Speed.
Lead Vehicle is the vehicle going in ahead of our drive vehicle on road.
Drive Vehicle SubSystem:
Three different input is taken i.e., Camera Input of the Drive Vehicle, Radar Input of the Drive Vehicle, and Acceleration mode
All three signals are added to get the Drive Vehicle Speed, the Radar input of the drive vehicle is converted using signal conversion block to Lead Vehicle Detected signal.
Drive Vehicle is the test vehicle on which we are working to implement adaptive cruise control.
Adaptive Cruise Control Algorithm SubSystem
There is a total of eight inputs (Time gap, Set Speed, Set gap, Cruise switch, SetSwitch, Drive Vehicle Speed, Lead Vehicle Detected, and Lead Vehicle Speed ) that are considered to the algorithm to produce one output Acceleration Mode.
Time gap - is set by the user in between drive vehicle to follow the lead vehicle.
Set Speed - is set by the user to limit the speed for drive a vehicle.
Set gap - is set by the user to follow the gap in distance between to follow the lead vehicle.
Cruise switch - To on/off Cruise Contol.
SetSwitch - to set gap, speed by the user to follow in cruise control.
Drive Vehicle Speed- is output form second subSystem i.e., Drive Vehicle SubSysteem
Lead Vehicle Detected - is output form second subSystem i.e., Drive Vehicle SubSysteem
Lead Vehicle Speed - is output form first subSystem i.e., Lead Vehicle SubSysteem
STATEFLOW (CHART)
In state flow we have three condition mainly (ACC = Adaptive Cruise Control)
- In ACC OFF state Acceleration Mode =0.
- In ACC STANDBY state Acceleration Mode =1.
- In ACC ON state
- In LeadVehicle Deteccted Follow(ACC ON MODE) State Acceleration Mode= 2.
- In LeadVehicle Not Detected(ACC ON MODE) State Acceleration Mode= 1.
- In LeadVehicle Detected Resume(ACC ON MODE) State Acceleration Mode= 3.
- In LeadVehicle Not Detected Resume(ACC ON MODE) State Acceleration Mode= 1.
- In LeadVechicle Speed Lessthan Set Speed(ACC ON MODE) State Acceleration Mode= 4.
- In LeadVechicle Sped equal set Speed(ACC ON MODE) State Acceleration Mode= 5.
SLDD FILE
REQUIREMENT TAGGING
Requirement tagging is done for all requirements\
Reiquirement 1 : Lead Vehicle
Reiquirement 2 : Drive Vehicle
Reiquirement 3 : Adapative Cruise Control Algorithm
Reiquirement 3a : ACC OFF MODE state logic.
Reiquirement 3b : ACC STANDBY MODE state logic
Reiquirement 3c : ACC ON MODE state logic.
Reiquirement 3c (i) : LeadVehiccle Deteccted Follow(ACC ON MODE)
Reiquirement 3c (ii) : LeadVehicle Not Detected(ACC ON MODE)
Reiquirement 3c (iii) : LeadVehicle Detected Resume(ACC ON MODE)
Reiquirement 3c (iv) : LeadVehicle Not Detected Resume(ACC ON MODE)
Reiquirement 3c (v) : LeadVechicle Speed Lessthan Set Speed(ACC ON MODE)
Reiquirement 3c (vi) : LeadVechicle Sped equal set Speed(ACC ON MODE)
CODE GENERATED
/*
* File: Project_Adaptive_Cruise_Control.c
*
* Code generated for Simulink model 'Project_Adaptive_Cruise_Control'.
*
* Model version : 1.14
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sun Dec 12 17:59:56 2021
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Project_Adaptive_Cruise_Control.h"
#include "Project_Adaptive_Cruise_Control_private.h"
/* Named constants for Chart: '<S1>/Chart' */
#define IN_LeadVechile_Detected_Resume ((uint8_T)1U)
#define IN_LeadVechile_Not_Detected_Res ((uint8_T)2U)
#define IN_LeadVechile_Speed_Equal_Set_ ((uint8_T)3U)
#define IN_LeadVechile_Speed_LessThan_S ((uint8_T)4U)
#define IN_LeadVehicle_Detected_Follow ((uint8_T)5U)
#define Pro_IN_LeadVehicle_Not_Detected ((uint8_T)6U)
#define Project_Adap_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Project_Adaptive_Cru_IN_ACC_OFF ((uint8_T)1U)
#define Project_Adaptive_Crui_IN_ACC_ON ((uint8_T)2U)
#define Project_Adaptive_IN_ACC_STANDBY ((uint8_T)3U)
/* Exported data definition */
/* Definition for custom storage class: ExportToFile */
uint8_T Accleration_Mode; /* '<Root>/Accleration_Mode' */
uint8_T DriveVehicle_Speed; /* '<S2>/Add' */
/* Block states (default storage) */
DW_Project_Adaptive_Cruise_Co_T Project_Adaptive_Cruise_Cont_DW;
/* External inputs (root inport signals with default storage) */
ExtU_Project_Adaptive_Cruise__T Project_Adaptive_Cruise_Contr_U;
/* External outputs (root outports fed by signals with default storage) */
ExtY_Project_Adaptive_Cruise__T Project_Adaptive_Cruise_Contr_Y;
/* Real-time model */
static RT_MODEL_Project_Adaptive_Cru_T Project_Adaptive_Cruise_Cont_M_;
RT_MODEL_Project_Adaptive_Cru_T *const Project_Adaptive_Cruise_Cont_M =
&Project_Adaptive_Cruise_Cont_M_;
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;
}
/* Model step function */
void Project_Adaptive_Cruise_Control_step(void)
{
real_T rtb_LeadVehicle_Speed;
int32_T tmp;
uint8_T tmp_0;
/* Outputs for Atomic SubSystem: '<Root>/Drive Vehicle' */
/* Sum: '<S2>/Add' incorporates:
* Inport: '<Root>/Accleration_Mode'
* Inport: '<Root>/CameraInput_DriverVehicle'
* Inport: '<Root>/RadarInput_DriverVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriverVehicle + RadarInput_DriverVehicle) + Accleration_Mode);
/* End of Outputs for SubSystem: '<Root>/Drive Vehicle' */
/* Outputs for Atomic SubSystem: '<Root>/Lead Vehicle' */
/* Sum: '<S3>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
rtb_LeadVehicle_Speed = (real_T)CameraInput_LeadVehicle +
Project_Adaptive_Cruise_Contr_U.RadarInput_LeadVehicle;
/* End of Outputs for SubSystem: '<Root>/Lead Vehicle' */
/* Outputs for Atomic SubSystem: '<Root>/Adaptive Cruise Control Algorithm' */
/* Chart: '<S1>/Chart' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/RadarInput_DriverVehicle'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (Project_Adaptive_Cruise_Cont_DW.is_active_c3_Project_Adaptive_C == 0U) {
Project_Adaptive_Cruise_Cont_DW.is_active_c3_Project_Adaptive_C = 1U;
Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C =
Project_Adaptive_Cru_IN_ACC_OFF;
} else {
switch (Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C) {
case Project_Adaptive_Cru_IN_ACC_OFF:
if (CruiseSwitch) {
Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C =
Project_Adaptive_IN_ACC_STANDBY;
}
break;
case Project_Adaptive_Crui_IN_ACC_ON:
if (!SetSwitch) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
Project_Adap_IN_NO_ACTIVE_CHILD;
Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C =
Project_Adaptive_IN_ACC_STANDBY;
} else {
switch (Project_Adaptive_Cruise_Cont_DW.is_ACC_ON) {
case IN_LeadVechile_Detected_Resume:
if ((DriveVehicle_Speed < Set_Speed) && (rtb_LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Speed_Equal_Set_;
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 5U;
} else if (RadarInput_DriverVehicle == 0) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Not_Detected_Res;
} else if ((DriveVehicle_Speed == Set_Speed) && (rtb_LeadVehicle_Speed
>= Set_Speed) && (Time_Gap >= Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVehicle_Detected_Follow;
}
break;
case IN_LeadVechile_Not_Detected_Res:
break;
case IN_LeadVechile_Speed_Equal_Set_:
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 5U;
if (((rtb_LeadVehicle_Speed < Set_Speed) && (rtb_LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
Set_Gap) == Time_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Speed_LessThan_S;
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 4U;
} else if (((DriveVehicle_Speed < Set_Speed) && (rtb_LeadVehicle_Speed
> DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Detected_Resume;
} else if ((RadarInput_DriverVehicle == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Not_Detected_Res;
}
break;
case IN_LeadVechile_Speed_LessThan_S:
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 4U;
if ((RadarInput_DriverVehicle == 0) && (DriveVehicle_Speed ==
Set_Speed)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
Pro_IN_LeadVehicle_Not_Detected;
} else {
tmp = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Speed);
if (tmp < 256) {
tmp_0 = (uint8_T)tmp;
} else {
tmp_0 = MAX_uint8_T;
}
if ((rtb_LeadVehicle_Speed * 1.25 >= DriveVehicle_Speed) &&
(rtb_LeadVehicle_Speed * 0.75 <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_0) &&
(Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Speed_Equal_Set_;
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 5U;
}
}
break;
case IN_LeadVehicle_Detected_Follow:
if ((RadarInput_DriverVehicle == 1) && (DriveVehicle_Speed ==
Set_Speed) && (rtb_LeadVehicle_Speed >= Set_Speed) && (Time_Gap >=
Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
Pro_IN_LeadVehicle_Not_Detected;
} else if (((RadarInput_DriverVehicle == 1) && (rtb_LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Speed_LessThan_S;
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 4U;
}
break;
default:
/* case IN_LeadVehicle_Not_Detected: */
if (RadarInput_DriverVehicle == 0) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVehicle_Detected_Follow;
} else if (((RadarInput_DriverVehicle == 1) && (rtb_LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVechile_Speed_LessThan_S;
/* Outport: '<Root>/Outport' */
Project_Adaptive_Cruise_Contr_Y.Outport = 4U;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY: */
if (!CruiseSwitch) {
Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C =
Project_Adaptive_Cru_IN_ACC_OFF;
} else if (SetSwitch) {
Project_Adaptive_Cruise_Cont_DW.is_c3_Project_Adaptive_Cruise_C =
Project_Adaptive_Crui_IN_ACC_ON;
Project_Adaptive_Cruise_Cont_DW.is_ACC_ON =
IN_LeadVehicle_Detected_Follow;
}
break;
}
}
/* End of Chart: '<S1>/Chart' */
/* End of Outputs for SubSystem: '<Root>/Adaptive Cruise Control Algorithm' */
}
/* Model initialize function */
void Project_Adaptive_Cruise_Control_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Project_Adaptive_Cruise_Control_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/MODEL ADVISOR REPORT
Model Advisor is runned for "Modelling Standards for MAB"
RESULT
The MATLAB Simulink Model for Adaptive Cruuise Control is developed, Requirement tagging & tracebility, SlDD file is created, Model Advisor is checked and code is generated successfully.