Project 2 Adaptive Cruise Control
Aim:
To develop an Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
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 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 of Main Project:
- 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
Requirements:
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 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)]<="" em=""></set_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 |
- |
- |
First open matlab version 2022a cracked version after that open simulink shown in below
Here click the blank model to create a new file
First given input and output signals should be creating in a SLDD file
1. we go to click and select modelling tab there is a open a new window
- after that click on new and give a name to the SLDD file like "directiontosldd.sldd" and uncheck the option given below "Enable model access to base workspace" then hit apply and ok
- Then go to External Data to create SLDD on leftbottom corner on system,then add all the signals as given in the Problem Statement.
- Add all the signals as given in the Problem Statement.
- After entering all the signals right click on direction to sldd and save changes as shown below.
DEVELOPMENT OF ADAPTIVE CRUISE CONTROL SIMULINK MODEL:
Adaptive_Cruise_Control_Mode subsystem consist of three requirement subsystems,
Lead vehicle subsystem(Requirement_1),Drive vehicle subsystem(Requirement_2) & Adaptive Cruise Control subsystem(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 (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 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.
As Requirement 3 connect all the connections accordingly.
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
after creating all the state flow in the chart block save the file.
RESOLVING & PROPAGATING:
By resolving and propagrating the signals we can migrate design attribbutes from existing simulink signal objects into the model by using block parameters and signal properties here in the model explorer we have designed the attributes in SLDD form. To force signal resolution for a signal in a MATLAB Function block, follow these steps:
- In the Simulink model, right-click the signal line connected to the respective input or output that you want to resolve and select Properties from the context menu.
- In the Signal Properties dialog, enter a name for the signal that corresponds to the signal object.
The following figure shows the process of signal Resolving. As said right click on signal go to properties then the followinng procedure should follow. Give exact same as the input or output we have used and click on resolve to simulink object. Then a symbol with name shows at the signal line.
- To propagate the signal, right click on it then select properties. And tick the option show propagated signals. Which is shown in the following figure.
or Double click on signal and type '<>' then click on enter button in the keyboard. Then it will appears as shown below.
Requirement_1, Requirement_2 and Requirement_3 subsystems are shown below after resolving and propagation of signals.
Requirement_1:
Requirement_2:Drive_vehicle
Requirement_3:Adaptive Cruise Control
All the requirement subsystems:
TAGGING:
To perform Tagging first we have to create a word file with all details reagarding about the model we are creating. Tagging enables us to view the procedure which is used to build the model or to know more details about the designed model. To tag the given requirement blocks the followinng procedure has been followed.
- First we need select the respective heading in the word file. Like in the followinng figure we can see that Requirement_1 is a heading in which the procedure to build the model has been given.
- The word file which is created must be saved in the same folder of our simulink model.
In the above figure it show the selection of word, now to tag this to the subsystem:
- Right click on the respective subsystem, as we have selected a word regarding about requirement_1 we are right clicking on 1st subsyetm.
- Go to Requirements option from the context. In requirements select Link to selection in word.
- If we click on that it is automatically tagged to the word in word file.
Now will be able to see the tagging. Repeat same procedure like right click on subsystem go to requirements and from the options, the top 1. represents the word which is tagged to the subsystem.
- To know about the subsytem building or any other details which are written in the word file, click on that 1st option it will take you to the word file requirement_1 section.
Repeat the same procedure for Drive vehicle subsystem(Requirement_2) & Adaptive Cruise Control subsystem(Requirement_3) subsystems also. Select the relatable heading in the word file and do the same procedure.
- Which is shown in the following figure.
Drive vehicle subsystem(Requirement_2) Tagging:
Adaptive Cruise Control subsystem(Requirement_3) Tagging:
SOLVER SETTINGS:
To open the solver settings, go to the Modeling section which is at the top of simulink window. And select the Model settings under the modeling section.
After clicking on model settings the following window will appears. The window presents the configuration of the parameters in our simulink mode.
- 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.
- These settings are shown in the following figure.
- In the same row set the Diagnostics settings change from none to error or warning.
- In the same row set the connectivity settings change from none to error or warning.
In the same configuration window there another settings to model, which is Code generation. Click on code generation,
- Choose the system targer file as ert.tlc (Embedded coder) by clicking on the browse option.
- Then click on Ok and close the window.
MAB GUIDEINES:
The MAB (MathWorks Advisory Board) Guidelines are a set of modeling guidelines developed by an independent industry working group for the usage of MATLAB, Simulink, Stateflow and Embedded Coder. The guidelines are the culmination of years of engineering expertise and best practices for developing, maintaining and documenting control algorithm models used in the development of production software.
- To perform the MAB guidelines test on our simulink model, go to modeling section and select Model Advisor which is at the top left corner of the window.
- You can use the Model Advisor to verify compliance of your model with the MathWorks Advisory Board (MAB) guidelines.
By clicking on the Model Advisor, a window will ask for confirmation if we click on Ok then it will opens a window which is shown in the following figure.
- In the Model advisor there are number of guidelines, among them will select only Modeling Standards fro MAB.
- If we expand the section will be able to see which are tested under the MAB guidelins. If we again expand there will be many sub sections in each section.
- After selecting MAB guidelines, click on Run Selected checks.
- Then it asks again for confirmation, click on continue. Then the testing will begins. It takes time to perform the guidelines test.
After the MAB guidelined test completion, it should be mandatory that 0 fail conditions. If any fail conditions are there rectify them and again make them to 0. The warnings are permittable to some limit.
- After getting 0 fails click on Generate report. This report will gives all data about the smulink model we have created.
Then click report to generate report.
- The report shows all the checks performed under MAB guidelines.
C CODING:
Now we are converting all our model in terms of C Code. To create C code of our simulink model, follow the procedure as explained below.
- Rightclick on the subsystem and select block parameters(subsystem).
- select treat as atomic unit and apply.
- Next right click on the subsystem and select c\c++code and click on build function.
- Code will be generated as shown in the figure and the file will be automatically saved in your folder.
Generated C/C++Code:
/*/*
* Event Support License -- for demonstration use and event support. Not
* for government, research, commercial, or other organizational use.
*
* File: Developedmodel.c
*
* Code generated for Simulink model 'Developedmodel'.
*
* Model version : 1.27
* Simulink Coder version : 9.7 (R2022a) 13-Nov-2021
* C/C++ source code generated on : Mon May 22 16:15:19 2023
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Developedmodel.h"
#include "rtwtypes.h"
#include "Developedmodel_private.h"
/* Named constants for Chart: '<S2>/ACC_Logic' */
#define Dev_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Developedmo_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Developedmod_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Developedmodel_IN_ACC_OFF_MODE ((uint8_T)1U)
#define Developedmodel_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; /* '<S1>/Unit Delay' */
uint8_T DriveVehicle_Speed; /* '<S3>/Add' */
uint8_T LeadVehicle_Detected; /* '<S3>/Signal Conversion' */
uint8_T LeadVehicle_Speed; /* '<S4>/Add' */
/* Block states (default storage) */
DW_Developedmodel_T Developedmodel_DW;
/* External outputs (root outports fed by signals with default storage) */
ExtY_Developedmodel_T Developedmodel_Y;
/* Real-time model */
static RT_MODEL_Developedmodel_T Developedmodel_M_;
RT_MODEL_Developedmodel_T *const Developedmodel_M = &Developedmodel_M_;
/* Model step function */
void Developedmodel_step(void)
{
/* Outputs for Atomic SubSystem: '<Root>/Adaptive_Cruise_Control' */
/* Sum: '<S4>/Add' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle1'
* Inport: '<Root>/RadarInput_LeadVehicle1'
*/
LeadVehicle_Speed = (uint8_T)(CameraInput_LeadVehicle + RadarInput_LeadVehicle);
/* UnitDelay: '<S1>/Unit Delay' */
Acceleration_Mode = Developedmodel_Y.Acceleration_Mode1;
/* Sum: '<S3>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle1'
* Inport: '<Root>/RadarInput_DriveVehicle1'
*/
DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +
Acceleration_Mode) + RadarInput_DriveVehicle);
/* SignalConversion: '<S3>/Signal Conversion' incorporates:
* Inport: '<Root>/RadarInput_DriveVehicle1'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '<S2>/ACC_Logic' incorporates:
* Inport: '<Root>/CruiseSwitch1'
* Inport: '<Root>/SetSwitch1'
* Inport: '<Root>/Set_Gap1'
* Inport: '<Root>/Set_Speed1'
* Inport: '<Root>/Time_Gap1'
* UnitDelay: '<S1>/Unit Delay'
*/
if (Developedmodel_DW.is_active_c1_Developedmodel == 0U) {
Developedmodel_DW.is_active_c1_Developedmodel = 1U;
Developedmodel_DW.is_c1_Developedmodel = Developedmodel_IN_ACC_OFF_MODE;
Developedmodel_Y.Acceleration_Mode1 = 0U;
} else {
switch (Developedmodel_DW.is_c1_Developedmodel) {
case Developedmodel_IN_ACC_OFF_MODE:
Developedmodel_Y.Acceleration_Mode1 = 0U;
if (CruiseSwitch) {
Developedmodel_DW.is_c1_Developedmodel = Developedmo_IN_ACC_STANDBY_MODE;
Developedmodel_Y.Acceleration_Mode1 = 1U;
}
break;
case Developedmodel_IN_ACC_ON_MODE:
if (!SetSwitch) {
Developedmodel_DW.is_ACC_ON_MODE = Developedmod_IN_NO_ACTIVE_CHILD;
Developedmodel_DW.is_c1_Developedmodel = Developedmo_IN_ACC_STANDBY_MODE;
Developedmodel_Y.Acceleration_Mode1 = 1U;
} else if (!CruiseSwitch) {
Developedmodel_DW.is_ACC_ON_MODE = Developedmod_IN_NO_ACTIVE_CHILD;
Developedmodel_DW.is_c1_Developedmodel = Developedmodel_IN_ACC_OFF_MODE;
Developedmodel_Y.Acceleration_Mode1 = 0U;
} else {
switch (Developedmodel_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Developedmodel_Y.Acceleration_Mode1 = 2U;
if (LeadVehicle_Detected == 0) {
Developedmodel_DW.is_ACC_ON_MODE = Dev_IN_LeadVehicle_Not_Detected;
Developedmodel_Y.Acceleration_Mode1 = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Developedmodel_Y.Acceleration_Mode1 = 4U;
}
break;
case IN_LeadVehicle_Detected_Resume:
Developedmodel_Y.Acceleration_Mode1 = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Developedmodel_Y.Acceleration_Mode1 = 2U;
} else if (LeadVehicle_Detected == 0) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
Developedmodel_Y.Acceleration_Mode1 = 1U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Developedmodel_Y.Acceleration_Mode1 = 5U;
}
break;
case Dev_IN_LeadVehicle_Not_Detected:
Developedmodel_Y.Acceleration_Mode1 = 1U;
/* */
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Developedmodel_Y.Acceleration_Mode1 = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Developedmodel_Y.Acceleration_Mode1 = 4U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Developedmodel_Y.Acceleration_Mode1 = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
Developedmodel_Y.Acceleration_Mode1 = 5U;
if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Resume;
Developedmodel_Y.Acceleration_Mode1 = 3U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Not_Detected_Res;
Developedmodel_Y.Acceleration_Mode1 = 1U;
/* */
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
Time_Gap)) {
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Developedmodel_Y.Acceleration_Mode1 = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Developedmodel_Y.Acceleration_Mode1 = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
Developedmodel_DW.is_ACC_ON_MODE = Dev_IN_LeadVehicle_Not_Detected;
Developedmodel_Y.Acceleration_Mode1 = 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)))
{
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Developedmodel_Y.Acceleration_Mode1 = 5U;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Developedmodel_Y.Acceleration_Mode1 = 1U;
if (!CruiseSwitch) {
Developedmodel_DW.is_c1_Developedmodel = Developedmodel_IN_ACC_OFF_MODE;
Developedmodel_Y.Acceleration_Mode1 = 0U;
} else if (SetSwitch) {
Developedmodel_DW.is_c1_Developedmodel = Developedmodel_IN_ACC_ON_MODE;
Developedmodel_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
Developedmodel_Y.Acceleration_Mode1 = 2U;
}
break;
}
}
/* End of Chart: '<S2>/ACC_Logic' */
/* End of Outputs for SubSystem: '<Root>/Adaptive_Cruise_Control' */
}
/* Model initialize function */
void Developedmodel_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Developedmodel_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*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.
CONCLUSION:
Hence we Developed Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink . Followed all the MBD-related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation. Used Embedded Coder to generate the code.