Project 2 Adaptive Cruise Control

Main Project – Adaptive Cruise Control (ACC)

Abstract:

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:

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

Given SLDD Data:

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	-	-

SOFTWARE VERSION USED:

MATLAB R2018a.

Procedure to design Simulink Model

• 1) Open the MATLAB à Open Simulink Blank Model à Open Simulink Library à From Library take required blocks as per requirement 1 and 2.

Requirement 1:

Open Simulink Blank Model à Add Inport, Outport, Add Block à Then Save this model as one Subsystem.

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:

• Open Simulink Blank Model à Add Inport, Outport, ADD Bock, Signal Conversion Blockà Then Save this model as one Subsystem.

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_Speedis 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:

Open Simulink Blank Model à Add Chart Block and Create the logic as per the given requirement à Then Save this model as one Subsystem.

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_Modeis at value 0 in this state.
• This state is governed by input signal CruiseSwitch.
• If CruiseSwitchis 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 CruiseSwitchis 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_Modeis equal to 2.
• Condition to transit from LeadVehicle_Detected_Followto LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
• Condition to transit from LeadVehicle_Detected_Followto 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_Modeis equal to 1.
• Condition to transit from LeadVehicle_Not_Detectedto 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_Detectedto 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_Modeis 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 toLeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
• Condition to transit from LeadVehicle_Detected_Resume toLeadVehicle_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_Modeis equal to 1.

Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):

• Output signal Acceleration_Modeis 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 toLeadVehicle_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_Modeis 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 toLeadVehicle_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 toLeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]

• Then Combine the all the requirement 1, 2 and requirement 3 block as one file.

• Then Create the SLDD file as per the given Data.

• As per the given data SLDD is created.
• Creating the Requirement Tagging from the given DATA.

• By clicking on signal properties à Creating Signal Propagation and Signal name can resolved by the following screen shots.
• Creating the Signal Propagation and must resolve the Simulink Signal.

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.
• 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.

• Doing Coverage testing.

• Doing Model advisor for the model.

• Creating Model Advisor à Upgrade Advisor report and Code Generation Advisor

Code Generation:

• Use Build Model to generate Code

• 3) Open the given Simulink file “Adaptive_CC.slx” à Press Run à Open Model Explorer à Click on ‘Link to Data Dictionary’ à Select New à save the files and update the Data Dictionary which had created
• It will take Time click on Show report à Click on Run Selected Task à Click on Generate Report à Click on the Report and Save it as a File. This report also sharing as a attachment.

Click on Model Configuration Parameters à Check the Solver and Select the Type of the Solver à Click on Data Import and Export à Click on Diagnosticsà Click on Simulation Target à Click on Code Generation à Click on Coverage Check all the requirements as per the MAAB Guidelines à Click on Apply à Then click on OK.

• As per the Above Screen shot Coverage and Model Advisor reports also generated.
• Coverage report is created
• Build the function so that code is generated

Code:

/*

* File: Adaptive_CC.c

*

* Code generated for Simulink model 'Adaptive_CC'.

*

* Model version : 1.18

* Simulink Coder version : 8.14 (R2018a) 06-Feb-2018

* C/C++ source code generated on : Sat Mar 11 00:37:04 2023

*

* Target selection: ert.tlc

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

*/

#include "Adaptive_CC.h"

#include "Adaptive_CC_private.h"

/* Named constants for Chart: '<S4>/Requirement3_Logic' */

#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)

#define Adaptive_CC_IN_ACC_OFF_MODE ((uint8_T)1U)

#define Adaptive_CC_IN_ACC_ON_MODE ((uint8_T)2U)

#define Adaptive_CC_IN_ACC_STANDBY_MODE ((uint8_T)3U)

#define Adaptive_CC_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)

/* Block states (default storage) */

DW_Adaptive_CC_T Adaptive_CC_DW;

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

ExtY_Adaptive_CC_T Adaptive_CC_Y;

/* Real-time model */

RT_MODEL_Adaptive_CC_T Adaptive_CC_M_;

RT_MODEL_Adaptive_CC_T *const Adaptive_CC_M = &Adaptive_CC_M_;

/* Forward declaration for local functions */

static void Adaptive_CC_ACC_ON_MODE(void);

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: '<S4>/Requirement3_Logic' */

static void Adaptive_CC_ACC_ON_MODE(void)

{

int32_T tmp;

int32_T tmp_0;

uint8_T tmp_1;

uint8_T tmp_2;

/* Inport: '<Root>/SetSwitch' */

/* During 'ACC_ON_MODE': '<S5>:9' */

/* '<S5>:16:1' sf_internal_predicateOutput = ... */

/* '<S5>:16:1' SetSwitch==0; */

if (!SetSwitch) {

/* Transition: '<S5>:16' */

/* Exit Internal 'ACC_ON_MODE': '<S5>:9' */

Adaptive_CC_DW.is_ACC_ON_MODE = Adaptive_CC_IN_NO_ACTIVE_CHILD;

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_ACC_STANDBY_MODE;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'ACC_STANDBY_MODE': '<S5>:6' */

/* '<S5>:6:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

} else {

switch (Adaptive_CC_DW.is_ACC_ON_MODE) {

case IN_LeadVehicle_Detected_Follow:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 2U;

/* During 'LeadVehicle_Detected_Follow': '<S5>:18' */

/* '<S5>:21:1' sf_internal_predicateOutput = ... */

/* '<S5>:21:1' LeadVehicle_Detected==0; */

if (LeadVehicle_Detected == 0) {

/* Transition: '<S5>:21' */

Adaptive_CC_DW.is_ACC_ON_MODE = Ada_IN_LeadVehicle_Not_Detected;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Not_Detected': '<S5>:20' */

/* '<S5>:20:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

} else {

/* Inport: '<Root>/Set_Speed' incorporates:

* Inport: '<Root>/Set_Gap'

* Inport: '<Root>/Time_Gap'

*/

/* . */

/* '<S5>:24:1' sf_internal_predicateOutput = ... */

/* '<S5>:24:1' (LeadVehicle_Detected==1)&&.... */

/* '<S5>:24:1' (LeadVehicle_Speed<Set_Speed)||.... */

/* '<S5>:24:1' (Time_Gap<Set_Gap); */

if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||

(Time_Gap < Set_Gap)) {

/* Transition: '<S5>:24' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': '<S5>:23' */

/* '<S5>:23:1' Acceleration_Mode=4 */

Adaptive_CC_Y.Acceleration_Mode_d = 4U;

}

}

break;

case IN_LeadVehicle_Detected_Resume:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 3U;

/* Inport: '<Root>/Set_Speed' incorporates:

* Inport: '<Root>/Set_Gap'

* Inport: '<Root>/Time_Gap'

*/

/* During 'LeadVehicle_Detected_Resume': '<S5>:27' */

/* . */

/* '<S5>:28:1' sf_internal_predicateOutput = ... */

/* '<S5>:28:1' (DriveVehicle_Speed==Set_Speed)&&.... */

/* '<S5>:28:1' (LeadVehicle_Speed>=Set_Speed)&&.... */

/* '<S5>:28:2' (Time_Gap>=Set_Gap); */

if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&

(Time_Gap >= Set_Gap)) {

/* Transition: '<S5>:28' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Detected_Follow': '<S5>:18' */

/* '<S5>:18:1' Acceleration_Mode=2 */

Adaptive_CC_Y.Acceleration_Mode_d = 2U;

} else {

/* '<S5>:32:1' sf_internal_predicateOutput = ... */

/* '<S5>:32:1' LeadVehicle_Detected==0; */

if (LeadVehicle_Detected == 0) {

/* Transition: '<S5>:32' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Not_Detected_Resume': '<S5>:31' */

/* '<S5>:31:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

} else {

/* . */

/* '<S5>:35:1' sf_internal_predicateOutput = ... */

/* '<S5>:35:1' (DriveVehicle_Speed<Set_Speed)&&.... */

/* '<S5>:35:1' (LeadVehicle_Speed>DriveVehicle_Speed)&&.... */

/* '<S5>:35:2' (Time_Gap>=Set_Gap); */

if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {

/* Transition: '<S5>:35' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Speed_equal_Set_Speed': '<S5>:33' */

/* '<S5>:33:1' Acceleration_Mode=5 */

Adaptive_CC_Y.Acceleration_Mode_d = 5U;

}

}

}

break;

case Ada_IN_LeadVehicle_Not_Detected:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

/* Inport: '<Root>/Set_Speed' incorporates:

* Inport: '<Root>/Set_Gap'

* Inport: '<Root>/Time_Gap'

*/

/* During 'LeadVehicle_Not_Detected': '<S5>:20' */

/* . */

/* '<S5>:22:1' sf_internal_predicateOutput = ... */

/* '<S5>:22:1' (LeadVehicle_Detected==1)&&.... */

/* '<S5>:22:1' (DriveVehicle_Speed==Set_Speed)&&.... */

/* '<S5>:22:1' (LeadVehicle_Speed>=Set_Speed)&&... */

/* '<S5>:22:2' (Time_Gap>=Set_Gap); */

if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&

(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {

/* Transition: '<S5>:22' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Detected_Follow': '<S5>:18' */

/* '<S5>:18:1' Acceleration_Mode=2 */

Adaptive_CC_Y.Acceleration_Mode_d = 2U;

} else {

/* . */

/* '<S5>:29:1' sf_internal_predicateOutput = ... */

/* '<S5>:29:1' (LeadVehicle_Detected==1)&&... */

/* '<S5>:29:1' (LeadVehicle_Speed<Set_Speed)||.... */

/* '<S5>:29:1' (Time_Gap<Set_Gap); */

if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||

(Time_Gap < Set_Gap)) {

/* Transition: '<S5>:29' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': '<S5>:23' */

/* '<S5>:23:1' Acceleration_Mode=4 */

Adaptive_CC_Y.Acceleration_Mode_d = 4U;

}

}

break;

case IN_LeadVehicle_Not_Detected_Res:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

/* During 'LeadVehicle_Not_Detected_Resume': '<S5>:31' */

break;

case IN_LeadVehicle_Speed_equal_Set_:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 5U;

/* Inport: '<Root>/Set_Speed' */

/* During 'LeadVehicle_Speed_equal_Set_Speed': '<S5>:33' */

/* . */

/* '<S5>:36:1' sf_internal_predicateOutput = ... */

/* '<S5>:36:1' (LeadVehicle_Detected==0)||.... */

/* '<S5>:36:1' (DriveVehicle_Speed<=Set_Speed); */

if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)) {

/* Transition: '<S5>:36' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Not_Detected_Resume': '<S5>:31' */

/* '<S5>:31:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

} else {

/* Inport: '<Root>/Time_Gap' incorporates:

* Inport: '<Root>/Set_Gap'

*/

/* . */

/* '<S5>:37:1' sf_internal_predicateOutput = ... */

/* '<S5>:37:1' (DriveVehicle_Speed<Set_Speed)&&.... */

/* '<S5>:37:1' (LeadVehicle_Speed>DriveVehicle_Speed)||.... */

/* '<S5>:37:2' (Time_Gap>=Set_Gap); */

if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >

DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {

/* Transition: '<S5>:37' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Detected_Resume': '<S5>:27' */

/* '<S5>:27:1' Acceleration_Mode=3 */

Adaptive_CC_Y.Acceleration_Mode_d = 3U;

} else {

/* '<S5>:38:1' sf_internal_predicateOutput = ... */

/* '<S5>:38:1' (LeadVehicle_Speed<Set_Speed)&&... */

/* '<S5>:38:1' (LeadVehicle_Speed<DriveVehicle_Speed)||... */

/* '<S5>:38:2' (Time_Gap==0.75*Set_Gap); */

if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <

DriveVehicle_Speed)) || ((uint8_T)(int32_T)rt_roundd_snf(0.75 *

(real_T)Set_Gap) == Time_Gap)) {

/* Transition: '<S5>:38' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Speed_lessthan_Set_Speed': '<S5>:23' */

/* '<S5>:23:1' Acceleration_Mode=4 */

Adaptive_CC_Y.Acceleration_Mode_d = 4U;

}

}

}

break;

default:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 4U;

/* Inport: '<Root>/Set_Speed' */

/* During 'LeadVehicle_Speed_lessthan_Set_Speed': '<S5>:23' */

/* '<S5>:30:1' sf_internal_predicateOutput = ... */

/* '<S5>:30:1' (LeadVehicle_Detected==0)&&... */

/* '<S5>:30:1' (DriveVehicle_Speed==Set_Speed); */

if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)) {

/* Transition: '<S5>:30' */

Adaptive_CC_DW.is_ACC_ON_MODE = Ada_IN_LeadVehicle_Not_Detected;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Not_Detected': '<S5>:20' */

/* '<S5>:20:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

} else {

/* . */

/* '<S5>:34:1' sf_internal_predicateOutput = ... */

/* '<S5>:34:1' ((LeadVehicle_Speed*1.25>=DriveVehicle_Speed)&&.... */

/* '<S5>:34:1' (LeadVehicle_Speed*0.75<=DriveVehicle_Speed))&&.... */

/* '<S5>:34:2' (DriveVehicle_Speed<Set_Speed)&&.... */

/* '<S5>:34:3' ((Time_Gap<=1.25*Set_Gap)&&.... */

/* '<S5>:34:4' (Time_Gap>=0.75*Set_Gap)); */

tmp = (int32_T)rt_roundd_snf((real_T)LeadVehicle_Speed * 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>/Time_Gap' incorporates:

* Inport: '<Root>/Set_Gap'

*/

if ((tmp_1 >= DriveVehicle_Speed) && ((uint8_T)(int32_T)rt_roundd_snf

((real_T)LeadVehicle_Speed * 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: '<S5>:34' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Speed_equal_Set_Speed': '<S5>:33' */

/* '<S5>:33:1' Acceleration_Mode=5 */

Adaptive_CC_Y.Acceleration_Mode_d = 5U;

}

}

break;

}

}

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

}

/* Model step function */

void Adaptive_CC_step(void)

{

/* Sum: '<S2>/Add' incorporates:

* Inport: '<Root>/CameraInput_LeadVehicle'

* Inport: '<Root>/RadarInput_LeadVehicle'

*/

LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +

RadarInput_LeadVehicle);

/* UnitDelay: '<S1>/Unit Delay' */

Acceleration_Mode = Adaptive_CC_DW.UnitDelay_DSTATE;

/* Sum: '<S3>/Add' incorporates:

* Inport: '<Root>/CameraInput_DriveVehicle'

* Inport: '<Root>/RadarInput_DriveVehicle'

*/

DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)

CameraInput_DriveVehicle + RadarInput_DriveVehicle) + Acceleration_Mode);

/* SignalConversion: '<S3>/Signal Conversion_' */

LeadVehicle_Detected = Acceleration_Mode;

/* Chart: '<S4>/Requirement3_Logic' incorporates:

* Inport: '<Root>/CruiseSwitch'

* Inport: '<Root>/SetSwitch'

*/

/* Gateway: Adaptive_C_C/Requirement3/Requirement3_Logic */

/* During: Adaptive_C_C/Requirement3/Requirement3_Logic */

if (Adaptive_CC_DW.is_active_c3_Adaptive_CC == 0U) {

/* Entry: Adaptive_C_C/Requirement3/Requirement3_Logic */

Adaptive_CC_DW.is_active_c3_Adaptive_CC = 1U;

/* Entry Internal: Adaptive_C_C/Requirement3/Requirement3_Logic */

/* Transition: '<S5>:4' */

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_ACC_OFF_MODE;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'ACC_OFF_MODE': '<S5>:3' */

/* '<S5>:3:1' Acceleration_Mode=0 */

Adaptive_CC_Y.Acceleration_Mode_d = 0U;

} else {

switch (Adaptive_CC_DW.is_c3_Adaptive_CC) {

case Adaptive_CC_IN_ACC_OFF_MODE:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 0U;

/* During 'ACC_OFF_MODE': '<S5>:3' */

/* '<S5>:7:1' sf_internal_predicateOutput = ... */

/* '<S5>:7:1' CruiseSwitch==1; */

if (CruiseSwitch) {

/* Transition: '<S5>:7' */

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_ACC_STANDBY_MODE;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'ACC_STANDBY_MODE': '<S5>:6' */

/* '<S5>:6:1' Acceleration_Mode=1 */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

}

break;

case Adaptive_CC_IN_ACC_ON_MODE:

Adaptive_CC_ACC_ON_MODE();

break;

default:

/* Outport: '<Root>/Acceleration_Mode' */

Adaptive_CC_Y.Acceleration_Mode_d = 1U;

/* During 'ACC_STANDBY_MODE': '<S5>:6' */

/* '<S5>:8:1' sf_internal_predicateOutput = ... */

/* '<S5>:8:1' CruiseSwitch==0; */

if (!CruiseSwitch) {

/* Transition: '<S5>:8' */

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_ACC_OFF_MODE;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'ACC_OFF_MODE': '<S5>:3' */

/* '<S5>:3:1' Acceleration_Mode=0 */

Adaptive_CC_Y.Acceleration_Mode_d = 0U;

} else {

/* '<S5>:15:1' sf_internal_predicateOutput = ... */

/* '<S5>:15:1' SetSwitch==1; */

if (SetSwitch) {

/* Transition: '<S5>:15' */

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_ACC_ON_MODE;

/* Entry Internal 'ACC_ON_MODE': '<S5>:9' */

/* Transition: '<S5>:19' */

Adaptive_CC_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;

/* Outport: '<Root>/Acceleration_Mode' */

/* Entry 'LeadVehicle_Detected_Follow': '<S5>:18' */

/* '<S5>:18:1' Acceleration_Mode=2 */

Adaptive_CC_Y.Acceleration_Mode_d = 2U;

}

}

break;

}

}

/* End of Chart: '<S4>/Requirement3_Logic' */

/* Update for UnitDelay: '<S1>/Unit Delay' incorporates:

* Outport: '<Root>/Acceleration_Mode'

*/

Adaptive_CC_DW.UnitDelay_DSTATE = Adaptive_CC_Y.Acceleration_Mode_d;

}

/* Model initialize function */

void Adaptive_CC_initialize(void)

{

/* Registration code */

/* initialize error status */

rtmSetErrorStatus(Adaptive_CC_M, (NULL));

/* block I/O */

/* custom signals */

LeadVehicle_Speed = 0U;

Acceleration_Mode = 0U;

DriveVehicle_Speed = 0U;

LeadVehicle_Detected = 0U;

/* states (dwork) */

(void) memset((void *)&Adaptive_CC_DW, 0,

sizeof(DW_Adaptive_CC_T));

/* external outputs */

(void) memset((void *)&Adaptive_CC_Y, 0,

sizeof(ExtY_Adaptive_CC_T));

/* SystemInitialize for Chart: '<S4>/Requirement3_Logic' */

Adaptive_CC_DW.is_ACC_ON_MODE = Adaptive_CC_IN_NO_ACTIVE_CHILD;

Adaptive_CC_DW.is_active_c3_Adaptive_CC = 0U;

Adaptive_CC_DW.is_c3_Adaptive_CC = Adaptive_CC_IN_NO_ACTIVE_CHILD;

}

/* Model terminate function */

void Adaptive_CC_terminate(void)

{

/* (no terminate code required) */

}

/*

* File trailer for generated code.

*

* [EOF]

*/

RESULT:

• As per the given Requirement1, 2 and Rquirement3 the Project has designed.
• As per the Above Screen shot Coverage and Model Advisor reports also generated.
• The constant block is saved in sub-system and the output is seen by using Display block (To see in Digital) and Scope block (To see in Graph).
• The model is created as per the requirements.
• Output screen shots are attached.

Conclusion:

As per the given requirement the model have been designed. 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.

Note:

Related t this model all the files have attached.