Project 2 Adaptive Cruise Control

Aim: To develop an Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.

i) As per the objective of the project the model has benn developed :-

Requirement 1– Lead Vehicle:

• Lead Vehicle is a vehicle which is driving in the road ahead of our drive vehicle. Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).
• Ideally sensor fusion techniques will be deployed to process & analyze data from camera & radar. For complexity reasons, let’s not adapt to any such algorithms.
• We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed).
• Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.

Requirement 2 – Drive Vehicle:

• Drive Vehicle is the vehicle driven by the user & this is the vehicle which has ACC algorithm in it.
• Like the Lead Vehicle, Drive Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.
• Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.
• Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).
• Signal DriveVehicle_Speed is summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

Requirement 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

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	-	-

Configuration Parameter settings:-

Requirement Tagging:-

Model Advisor Report Generation:-

Code Generation:-

Results:-After implementing the ACC model run the simulation. If the model is running successfully without any errors then the Adaptive Cruise Control is works as per the requirement. The model is running successfully without any error.