Project 2 Adaptive Cruise Control
Solution:
Requirement-1
Requirement-2
Requirement-3
stateflow logic
requirements-3(1,2,3,4,5,6)
model(Adaptive cruise control)
Sldd
Model advisior report
(for MAB guidelines )
generated code
/*
* File: final_project.c
*
* Code generated for Simulink model 'final_project'.
*
* Model version : 1.7
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Mon Mar 27 15:23:37 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "final_project.h"
#include "final_project_private.h"
/* Named constants for Chart: '<S3>/Chart' */
#define IN_LeadVehicle_Detected_Follow ((uint8_T)1U)
#define IN_LeadVehicle_Detected_Resume ((uint8_T)2U)
#define IN_LeadVehicle_Not_Detected_Res ((uint8_T)4U)
#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)5U)
#define IN_LeadVehicle_Speed_lessthan_S ((uint8_T)6U)
#define fin_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define final_proje_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define final_projec_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define final_project_IN_ACC_OFF_MODE ((uint8_T)1U)
#define final_project_IN_ACC_ON_MODE ((uint8_T)2U)
/* Block states (default storage) */
DW_final_project_T final_project_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_final_project_T final_project_Y;
/* Real-time model */
static RT_MODEL_final_project_T final_project_M_;
RT_MODEL_final_project_T *const final_project_M = &final_project_M_;
/* Model step function */
void final_project_step(void)
{
/* local block i/o variables */
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;
uint8_T LeadVehicle_Speed;
/* Outputs for Atomic SubSystem: '<Root>/requirement_1'
*
* Block description for '<Root>/requirement_1':
* 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.
*/
/* Sum: '<S1>/Add1' incorporates:
* Inport: '<Root>/ RadarInput_LeadVehicle'
* Inport: '<Root>/CameraInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* End of Outputs for SubSystem: '<Root>/requirement_1' */
/* Outputs for Atomic SubSystem: '<Root>/requirement_2'
*
* Block description for '<Root>/requirement_2':
* 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.
*/
/* Sum: '<S2>/Add' incorporates:
* Delay: '<Root>/Delay'
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + RadarInput_DriveVehicle) +
final_project_Y.Acceleration_Mode);
/* SignalConversion: '<S2>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* End of Outputs for SubSystem: '<Root>/requirement_2' */
/* Outputs for Atomic SubSystem: '<Root>/requirement_3'
*
* Block description for '<Root>/requirement_3':
* 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<Set_Speed) && (LeadVehicle_Speed<DriveVehicle_Speed) || (Time_Gap == 0.75*Set_Gap)]
*/
/* Chart: '<S3>/Chart' incorporates:
* Delay: '<Root>/Delay'
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if (final_project_DW.is_active_c3_final_project == 0U) {
final_project_DW.is_active_c3_final_project = 1U;
final_project_DW.is_c3_final_project = final_project_IN_ACC_OFF_MODE;
final_project_Y.Acceleration_Mode = 0U;
} else {
switch (final_project_DW.is_c3_final_project) {
case final_project_IN_ACC_OFF_MODE:
final_project_Y.Acceleration_Mode = 0U;
if (CruiseSwitch) {
final_project_DW.is_c3_final_project = final_proje_IN_ACC_STANDBY_MODE;
final_project_Y.Acceleration_Mode = 1U;
}
break;
case final_project_IN_ACC_ON_MODE:
if (!CruiseSwitch) {
final_project_DW.is_ACC_ON_MODE = final_projec_IN_NO_ACTIVE_CHILD;
final_project_DW.is_c3_final_project = final_project_IN_ACC_OFF_MODE;
final_project_Y.Acceleration_Mode = 0U;
} else if (!SetSwitch) {
final_project_DW.is_ACC_ON_MODE = final_projec_IN_NO_ACTIVE_CHILD;
final_project_DW.is_c3_final_project = final_proje_IN_ACC_STANDBY_MODE;
final_project_Y.Acceleration_Mode = 1U;
} else {
switch (final_project_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
final_project_Y.Acceleration_Mode = 2U;
if (LeadVehicle_Detected == 0) {
final_project_DW.is_ACC_ON_MODE = fin_IN_LeadVehicle_Not_Detected;
final_project_Y.Acceleration_Mode = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
final_project_Y.Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Detected_Resume:
final_project_Y.Acceleration_Mode = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
final_project_Y.Acceleration_Mode = 2U;
} else if (LeadVehicle_Detected == 0) {
final_project_DW.is_ACC_ON_MODE = fin_IN_LeadVehicle_Not_Detected;
final_project_Y.Acceleration_Mode = 1U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
final_project_Y.Acceleration_Mode = 5U;
} else if (LeadVehicle_Detected == 0) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
final_project_Y.Acceleration_Mode = 1U;
}
break;
case fin_IN_LeadVehicle_Not_Detected:
final_project_Y.Acceleration_Mode = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
final_project_Y.Acceleration_Mode = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
final_project_Y.Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
final_project_Y.Acceleration_Mode = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
final_project_Y.Acceleration_Mode = 5U;
if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
{
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
final_project_Y.Acceleration_Mode = 1U;
} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
final_project_Y.Acceleration_Mode = 3U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
Time_Gap)) {
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
final_project_Y.Acceleration_Mode = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
final_project_Y.Acceleration_Mode = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
final_project_DW.is_ACC_ON_MODE = fin_IN_LeadVehicle_Not_Detected;
final_project_Y.Acceleration_Mode = 1U;
} else if (((real_T)LeadVehicle_Speed * 1.25 >= DriveVehicle_Speed) &&
((real_T)LeadVehicle_Speed * 0.75 <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && ((Time_Gap <= 1.25 *
(real_T)Set_Gap) && (Time_Gap >= 0.75 * (real_T)Set_Gap)))
{
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
final_project_Y.Acceleration_Mode = 5U;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
final_project_Y.Acceleration_Mode = 1U;
if (!CruiseSwitch) {
final_project_DW.is_c3_final_project = final_project_IN_ACC_OFF_MODE;
final_project_Y.Acceleration_Mode = 0U;
} else if (SetSwitch) {
final_project_DW.is_c3_final_project = final_project_IN_ACC_ON_MODE;
final_project_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
final_project_Y.Acceleration_Mode = 2U;
}
break;
}
}
/* End of Chart: '<S3>/Chart' */
/* End of Outputs for SubSystem: '<Root>/requirement_3' */
}
/* Model initialize function */
void final_project_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void final_project_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/