Project 2 Adaptive Cruise Control
Adaptive Cruise Control
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 from 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. Consequently, the driver enjoys more comfort & can concentrate on the road a 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, the 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 stops & 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 stops longer, the driver needs only to reactivate the system by briefly stepping on the gas pedal to return to cruise control mode. In this way, cruise control stops & go supports the driver even in heavy traffic and traffic jams.
Since Adaptive Cruise Control is a comfort and convenience system, so brake interventions and vehicle acceleration only occur 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: The Following things have to be created in MATLAB SIMULINK Environment
- 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.
Model Design:
1. open MATLAB and create a new Simulink Model
2. Create a Subsystem with two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle). & one OutPut(Signal Name: LeadVehicle_Speed).
As given in the requirement 1, simply use an add block with the above two inputs and the output will be Signal Named LeadVehicle_Speed.
The Internal connections in Requirement 1 block can be seen below
3. Click on Subsystem, Go To Block Parameters & Convert the Substem to Atomic Sub system
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.
Model Design:
1. Create a new Subsystem with three input signals (2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode)). & one OutPut(Signal Name: LeadVehicle_Speed).
2.As given in the requirement 2, simply use an add block with the above three inputs and the output will be Signal Named DriveVehicle_Speed. while the another output is LeadVehicle Detected which is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block
The Internal connections in Requirement 2 block can be seen below
3.Click on Subsystem, Go To Block Parameters & Convert the Substem to Atomic Sub system
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
- 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
Model Design:
1. Adaptive Cruise Control has 3 modes of Operation they are ACC_ON Mode, ACC_OFF Mode & ACC_StandBy Mode.
2. To create an Adaptive Cruise Control Algorithm, a Chart has to be drawn with connections between ACC_ON Mode, ACC_OFF Mode & ACC_StandBy Mode satisfying all the conditions listed in Requirement 3a,3b,3c,3c(i),3c(ii),3c(iii),3c(iv),3c(v) & 3c(vi).
3. create a subsystem in MATLAB Simulink Environment simply by selecting SubSystem from Simulink Library.
4. Open the Subsystem & type "CHART", it will create a chart inside the subsystem. (Chart can also be created by selecting chart option from simulink library).
5. inside the chart, Connect the Three ACC modes in such a way that all the above conditions in Requirements are satisfied.
The Internal Connections of Chart will be as follows
Now Add all the input Signals to the Chart & Take the output signal i.e., Acceleration_Mode.
then the Subsystem Looks like Below
6.Click on Subsystem, Go To Block Parameters & Convert the Substem to Atomic Sub system
The InterConnection between all the Requirements can be seen below
The Main Adaptive Cruise Control System comprising all the above is as follows
Steps to Create a SLDD File :
1. Go to Model Settings
2. click model properties and create a new SLDD File
3. Now a Cylindrical Symbol will appear below the Left Corner of SIMULINK Model indicating the SLDD file.
4. Click on the Cylindrical Symbol, Click External Data.
5. Click on Design data & ADD the signals which are given in the Question. the SLDD File will be as follows
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 |
- |
- |
6. After adding all the Inputs, Outputs & Local variables, Save the SLDD File.
MODEL ADVISOR REPORT :
1. To verify the model, Go to MODELLING & Click Model Advisor then the following screen will appear
2. Click on the model name & Click OK, In By Task Click "MODELLING STANDARDS FOR MAB" & click "RUN CHECKS" it will generates the report.
3. this report can be saved as a html file or a PDF file or a Word Document.
Signal Resolve & Propogation:
1. Right Click on the Signal & go to Properties
2. Type the signal name & Click the Check Box "SIGNAL NAME MUST RESOLVE TO SIMULINK SIGNAL OBJECT".
3. To Propogate the signal, Right Click on the Signal & Click the check box "SHOW PROPOGATED SIGNALS".
4. Repeat the Above steps for all the Signals.
Requirement Tagging:
1. For Requirement Tagging, An Microsoft Word Document has to be created with the data that is to be tagged.
2. Select the data(in WORD Document) to be tagged and open the MATLAB SIMULINK file
3. Right click on the Sub System and Go to Requirements and click "LINK TO SELECTION IN WORD"
4. this will tag the data in word document with the requirement block in MATLAB.
5. Repeat the above steps for all the SUBSYSTEMS.
Code Generation Process :
Go to Model Settings(Ctrl+E) and select system Target file from "grt.tlc" to "ert.tlc EMBEDDED CODER"
To set the simulation time of the given System, Open both init file & Slx file given and follow the steps below
> Go to MODEL SETTINGS which can be accessed by clicking settings button or just by clicking Ctrl+E
> In that screen, the user can define Start Time, and Stop Time.
> In this case, Solver Type is taken as "Fixed - Step" & Solver as "Discrete(No Continuos States)"
> In the Same Screen, by clicking solver details button one can set the Step Size(Fundamental Sample Time) of the Simulation. which is the same as "SIMULATION TIME".
> In This Case, Start Time is considered to be "0.0", Stop Time as "10.0" with a fixed Step size of "0.01"
Now
1. Go to Apps
2. Click Embedded Coder
3. Click Generate Code
4. Click Build Icon (
)
5. this will generate the code.
the generated code for the given project is as follows
*
* Event Support License -- for demonstration use and event support. Not
* for government, research, commercial, or other organizational use.
*
* File: Adaptive_Cruise_Control.c
*
* Code generated for Simulink model 'Adaptive_Cruise_Control'.
*
* Model version : 1.110
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Sun Mar 5 22:51:01 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/#include "Adaptive_Cruise_Control.h"
#include "rtwtypes.h"
#include "Adaptive_Cruise_Control_private.h"
#include
/* Named constants for Chart: '/Chart1' */
#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Adaptive_Cr_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Adaptive_Cru_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Adaptive_Cruise_IN_ACC_OFF_MODE ((uint8_T)1U)
#define Adaptive_Cruise__IN_ACC_ON_MODE ((uint8_T)2U)
#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)
/* Exported data definition */
/* Definition for custom storage class: ExportToFile */
uint8_T Acceleration_Mode; /* '/Unit Delay' */
/* Block states (default storage) */
DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_Y;
/* Real-time model */
static RT_MODEL_Adaptive_Cruise_Cont_T Adaptive_Cruise_Control_M_;
RT_MODEL_Adaptive_Cruise_Cont_T *const Adaptive_Cruise_Control_M =
&Adaptive_Cruise_Control_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 Adaptive_Cruise_Control_step(void)
{
/* local block i/o variables */
uint8_T LeadVehicle_Detected;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Speed;
/* Outputs for Atomic SubSystem: '/Requirement1' */
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_LeadVehicle'
* Inport: '/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)(CameraInput_LeadVehicle + RadarInput_LeadVehicle);
/* End of Outputs for SubSystem: '/Requirement1' */
/* UnitDelay: '/Unit Delay' */
Acceleration_Mode = Adaptive_Cruise_Control_Y.Acceleration_Mode_n;
/* Outputs for Atomic SubSystem: '/Requirement2' */
/* SignalConversion: '/Signal Conversion' incorporates:
* Inport: '/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Sum: '/Sum' incorporates:
* Inport: '/CameraInput_DriveVehicle'
* Inport: '/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +
Acceleration_Mode) + RadarInput_DriveVehicle);
/* End of Outputs for SubSystem: '/Requirement2' */
/* Outputs for Atomic SubSystem: '/ACC' */
/* Chart: '/Chart1' incorporates:
* Inport: '/CruiseSwitch'
* Inport: '/SetSwitch'
* Inport: '/Set_Gap'
* Inport: '/Set_Speed'
* Inport: '/Time_Gap'
* UnitDelay: '/Unit Delay'
*/
if (Adaptive_Cruise_Control_DW.is_active_c1_Adaptive_Cruise_Co == 0U) {
Adaptive_Cruise_Control_DW.is_active_c1_Adaptive_Cruise_Co = 1U;
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 0U;
} else {
switch (Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control) {
case Adaptive_Cruise_IN_ACC_OFF_MODE:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 0U;
if (CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
}
break;
case Adaptive_Cruise__IN_ACC_ON_MODE:
{
if (!SetSwitch) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
} else if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 0U;
} else {
switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 2U;
if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
}
break;
case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 2U;
} else if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 5U;
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed)
&& (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 5U;
if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
Set_Gap) == Time_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 4U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Resume;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 3U;
}
break;
default:
{
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed ==
Set_Speed)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
} else {
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 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;
}
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_snf
((real_T)LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
(Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap)))
{
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 5U;
} else if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed ==
Set_Speed)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 2U;
}
}
}
break;
}
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 1U;
if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 0U;
} else if (SetSwitch) {
Adaptive_Cruise_Control_DW.is_c1_Adaptive_Cruise_Control =
Adaptive_Cruise__IN_ACC_ON_MODE;
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_Mode_n = 2U;
}
break;
}
}
/* End of Chart: '/Chart1' */
/* End of Outputs for SubSystem: '/ACC' */
}
/* Model initialize function */
void Adaptive_Cruise_Control_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Adaptive_Cruise_Control_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Result: Thus the step by step procedure for creating the MATLAB Simulink Model along with the SLDD file comprising all the given data, Requirement Tagging, Tracebility, Model Advisor report along with Code is generated and attached in the ZIP File below.