Project 2 Adaptive Cruise Control

MAIN PROJECT-ADAPTIVE CRUISE CONTROL

(ACC):

General overview:

Adaptive Cruise Control 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 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 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 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 speed and distance

from the vehicle in front.

AIM:

To develop a simulink model with adaptive cruise control feature in a vehicle which satisfies the given requirements.

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,SLLD creation,Configuration Parameter changes, Model Advisor check & Code Generation.

3. in Configuration parameters :enable"support Floating Number" 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.

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_drivevehcile ,

  Radarinput_Drive vehicle)& one signal coming as an input to this subsystem(signal

  Name:Acceleration_Mode)-three inputs into this requirement intotal.

. like the above requirement,sensor fusion techniqes will also be deployed here,for complexity reasons we are ignoring them.

. two output signals come from this subsystem

 (signal Name:Drive vehcile_speed & lead vehicle_detected).

. signal Drive vehicle_speed is summation of three input signals mentioned above & lead vehicle_detected is mentioned above & lead vehicle_detected is renamed from input

  signal radarinput _Drive vehicle 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 requrement has to be implemented as state machine

  logic in simulink.

. The input signals to this state machine system are(signals name:time _gap set_speed,set-gap,cruiseswitch,setswitch).

.  Also ,the  output signals (signal

  name :drivevehicle_speed &

   Lead vehicle _Detected)from requirement-2 is fed back as an input signal into singal into this state manchineblock.

. Additionally,output signal (signal

  Name :Lead vehicle _speed)from requirement-1 is given as an input signal to this state machine block as well.

. output from this subsystem is a signal(sighal 

  name :acceleration_mode )which governs the  vehicular speed of the drive vehicle which automatically adjusts its speed & velocity to match the laed 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 3a-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_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 

  LeadVehile_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

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 _speed<

 set_speed)||(time_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_speeddrivevehicle_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

((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_deteced_resume;

 input signal condition 

 is [(leadvehicle_detected==0)||

 (drivevehicle_speed<=set_speed)]

. condition to transit

  from leadvehicle_speed_equal_set_speed

 to leadvehicle_detected_resume;input signal

 coditions [(drivevehicle_speeddrivevehicle_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

(leadvehicle_speed

THEORY:

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 omn the driver by automatically controlling the vehicle 

speed&maintaining a prededing vehicle.as a consequence,the drive 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 is clear,cruise control 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 accelerates or actively engaging the  brake control system.if thr vehicle ahead

speeds up or changes lanes ,the cruise control automatically accelerates to the drivers desired speed.standard adaptive cruise control can be activated from speeds of around 

30km/hupwards and supports the driver,primarily on cross-country journeys or on freeways .the cruise control stop & go variant is also active at speeds below 30km/h.in

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 drive

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 drive

even in heavy traffic and traffic jams.since adaptive cruise control is a comfrot and convenience system,brake interventions and vehicle acceleration only take place adaptive

cruise control switched on,it remains the driver's responsibility to monitor the speed and distance from the vehicle in front.

SIMULATION:

There are some steps to be followed to develop the model of adaptive cruise control.they are mainly as follows;

step-1-Develop the simulink model:

Based on the given requirements separate subsystems are made for requirement 1,requirement 2,and requirement 3.

Requirement 1-lead vehicle:

. Lead vehicle is a vehicle which is driving in the road ahead of our drive vehicle.two input signals(signals 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:lead vehicle_speed).

. speed data of the lead vehicle is critical in implementing the adaptive cruise control algorithm.

Here ,the two input 

 signals camerainput_leadvehicle & radarinput_leadvehicle are added with an add block instead of using fusion techniques;due to complexity reasons and an output signal 

leadvehicle _speed is produced.

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 2input signals

  (signal

 name:camerainput_drivevehicle,radarinput_drivevehicle)&one signal coming as an input to this subsystem(signal

 Name:acceleration_mode)-three input 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 :drive vehicle _speed& leadvehicle _detected).

. signal drive vehicle _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.

Here three input

signals camerainput_drivevehicle,radarinput_drivevehicle and acceleration_mode are added with an add block where 

the radarinput_drivevehicle  is also given to a signals conversion block and produces an output

signal leadvehicle_detected.the output signal drivevehicle_speed is produced from the summation of the three input signals.

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.

Here the input signals time _gap ,set_speed,set_gap,cruiseswitch,setswitch,along with the output signals drivevehicle _speed,leadvehicle _detected and leadvehicle _speed are given as input signals to a chart block and an output signal acceleration_mode is drawn from the chart block.

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 MODE ON OR

  ACC STANDBY MODE.

Here,the default state is taken as ACC_OFF with the entry state as acceleration_mode=0 and the transition is done from ACC_OFF state to ACC_STANDBY mode when the cruiseswitch==1 and the transition reverses when the cruiseswitch==0.

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 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.

Here,the default state is taken as ACC_OFF with the entry state as acceleration_mode=0 and the transition is done from ACC_OFF state to ACC_STANDBY mode when the 

cruiseswitch==1 and the transition reverses when the cruiseswitch==0.the transition occurs

from ACC_STANDBY mode to ACC_ON mode when setswitch==1 and the transition reverses 

when setswitch==0.

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

requirement 3c(ii)-leadvehicle_not_detected(ACC ON MODE):

. output singnal acceleration_mode is equal to 1.

. condition to transit

  from leadvehicle_not_detected==1)&&(drivevehicle_speed==set_speed)&&(leadvehicle_speed>=set_speed)&&(time_gap>=set_gap)]

. condition to transit

  from leadvehicle_not_detected to le advehicle_speed_lessthan_set_speed;input signals condition [(leadvehicle_detected==1)&&(leadvehicle_speed

 

 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 [(drive vehicle_speed>=set_speed)&&(leadvehicle_speed>=set_speed)&&(time_gap>=set_gap)]

. condition to transit

  from leadvehicle_detected_resume to leadvehicle_speed_equal_set_speed;input signal

  condition leadvehicle_detected==0.

. condition to transit

  from leadvehicle_detected_resume to leadvehicle_speed_equal_set_speed;input signal

  condition to transit

  from leadvehicle_detected_resume to leadvehicle_speed_equal_set_speed;input signal

  condition [(drivevehicle_speeddrivevehicle_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

 _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

condition[(drivevehicle_speeddrivevehicle_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

  (leadvehicle_speed

here,the ACC_ON mode 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_lessthan_set_speed

depending on the conditions given in the requirements 3c(i)to 3c(vi)the states and the transitions are done and the state flow logic is created.

then ,the signals and transition conditions are give as output and input data in the symbols pane.

step-2-change the model settings to MBD compliance changes:

there are some steps to be folllowed to develop the model of adaptive cruise control.first,changed the model  settings  TO MBD compliance changes.MBD

settings includes solver type to be changed to fixed setup discrete(no continuous states)and fixed step size to 0.01s.under the code generation the target 

file is changed to embedded coder

step-3-develop the simulink data library for the model from the given data:

under modelling ,link to data dictionary enables us to create a new SLDD for our model.the SLDD IS designed based on the data given:

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         uint 8               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         uint 8                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        -        -

signal resolving and propagation:

determine resolved signals and propagate signals in the model.

step-4- model advisory check for MAB standards:

under model advisor window , choose by task and select modeling standards for MAB and select run selected checks option on the right.

step-5- code generation:

the code for the entire vehicle direction determination model is developed by generating s-function.

step-6-requirement tagging:

the subsystems are tagged to the respective requirements provided in a word file.

CONCLUSION:

THE SIMULINK MODEL FOR ADAPTIVE CRUISE CONTROL WAS DEVELOPED UNDER FOLLOWING THE REQUIREMENTS GIVEN.ALSO MODEL ADVISORY CHECKS 

ARE DONE FOR MAB STANDARDS.THE REPORT SHOWED ABOUT 21 WARNINGS WITH ZERO FAILED CONDITIONS.THE ADVISORY REPORT AND THE CODE 

GENERATED ARE ATTACHED WITH THIS PROJECT REPORT.THE CODE GENERATED IS PROVIDED AS A C FILE AND H FILE.