Project 2 Adaptive Cruise Control

Main Project – Adaptive Cruise Control (ACC)

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

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

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)]

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	-	-

Solution:

The main objective of Main Project was to Develop Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink..

Following all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation the simulation was done.

In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings is also enabled. Shown below:

Using Embedded Coder the generated the code is obtained.

The simulation has three requirements:

First requirement is about lead vehicle a subsystem is created using the condition given below:

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.

Second requirement is about drive vehicle a subsystem is created using the condition given below:

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.

Third requirement is about creating a Adaptive Cruise Control Algorithm a subsystem is created using the condition given below:

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.

The algorithm is has three conditions ON Mode, OFF Mode, and Standby Mode. The ON Mode is further divided in six condition using this condition the algorithm is created.

The complete MBD of adaptive cruise control is shown below

The system has 9 inputs these inputs and outputs are add to data dictionary attaches to the simulink. Requirement Tagging & Traceability is also done.

SLDD file:

Tagging & Traceability:

Model advisor:

Modal advisor report generated shows warning of 75 and zero fail if 0.

Conclusion: The modal based design of adaptive cruise control is designed using MATLAB simulink. The tagging and tracing of document is also done. An embedded coder is used to generate code. The model advisor report is also generated for the same.

Code Generated:

/*
 * File: ACC.c
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.44
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Tue Dec 28 12:46:49 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "ACC.h"
#include "ACC_private.h"

/* Named constants for Chart: '<S1>/AdaptiveCruiseControl Algorithm' */
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define ACC_IN_NO_ACTIVE_CHILD         ((uint8_T)0U)
#define ACC_IN_OFFMode                 ((uint8_T)1U)
#define ACC_IN_ONMODE                  ((uint8_T)2U)
#define ACC_IN_STANDBYMode             ((uint8_T)3U)
#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_ACC_T ACC_DW;

/* Real-time model */
RT_MODEL_ACC_T ACC_M_;
RT_MODEL_ACC_T *const ACC_M = &ACC_M_;
static void rate_scheduler(void);

/*
 *   This function updates active task flag for each subrate.
 * The function is called at model base rate, hence the
 * generated code self-manages all its subrates.
 */
static void rate_scheduler(void)
{
  /* Compute which subrates run during the next base time step.  Subrates
   * are an integer multiple of the base rate counter.  Therefore, the subtask
   * counter is reset when it reaches its limit (zero means run).
   */
  (ACC_M->Timing.TaskCounters.TID[1])++;
  if ((ACC_M->Timing.TaskCounters.TID[1]) > 999) {/* Sample time: [0.01s, 0.0s] */
    ACC_M->Timing.TaskCounters.TID[1] = 0;
  }
}

/* Model step function */
void ACC_step(void)
{
  uint8_T rtb_LeadVehicle_Speed;
  uint8_T rtb_DriveVehicle_Speed;
  if (ACC_M->Timing.TaskCounters.TID[1] == 0) {
    /* Sum: '<S3>/Add' incorporates:
     *  DataStoreRead: '<S1>/DataStoreRead'
     *  Inport: '<Root>/CameraInput_DriveVehicle'
     *  Inport: '<Root>/RadarInput_DriveVehicle'
     */
    rtb_DriveVehicle_Speed = (uint8_T)(((uint32_T)((uint8_T)(((uint32_T)
      CameraInput_DriveVehicle) + ((uint32_T)RadarInput_DriveVehicle)))) +
      ((uint32_T)ACC_DW.Acceleration_Mode_m));

    /* Sum: '<S4>/Add' incorporates:
     *  Inport: '<Root>/CameraInput_LeadVehicle'
     *  Inport: '<Root>/RadarInput_LeadVehicle'
     */
    rtb_LeadVehicle_Speed = (uint8_T)(((uint32_T)CameraInput_LeadVehicle) +
      ((uint32_T)RadarInput_LeadVehicle));

    /* Chart: '<S1>/AdaptiveCruiseControl Algorithm' incorporates:
     *  Inport: '<Root>/CruiseSwitch'
     *  Inport: '<Root>/RadarInput_DriveVehicle'
     *  Inport: '<Root>/SetSwitch'
     *  Inport: '<Root>/Set_Gap'
     *  Inport: '<Root>/Set_Speed'
     *  Inport: '<Root>/Time_Gap'
     *
     * Block requirements for '<S1>/AdaptiveCruiseControl Algorithm':
     *  1. 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 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)]
     */
    if (((uint32_T)ACC_DW.is_active_c3_ACC) == 0U) {
      ACC_DW.is_active_c3_ACC = 1U;
      ACC_DW.is_c3_ACC = ACC_IN_OFFMode;
      Acceleration_Mode = 0U;
    } else {
      switch (ACC_DW.is_c3_ACC) {
       case ACC_IN_OFFMode:
        Acceleration_Mode = 0U;
        if (CruiseSwitch) {
          ACC_DW.is_c3_ACC = ACC_IN_STANDBYMode;
          Acceleration_Mode = 1U;
        }
        break;

       case ACC_IN_ONMODE:
        if (!SetSwitch) {
          ACC_DW.is_ONMODE = ACC_IN_NO_ACTIVE_CHILD;
          ACC_DW.is_c3_ACC = ACC_IN_STANDBYMode;
          Acceleration_Mode = 1U;
        } else {
          switch (ACC_DW.is_ONMODE) {
           case IN_LeadVehicle_Detected_Follow:
            Acceleration_Mode = 2U;
            if (((int32_T)RadarInput_DriveVehicle) == 0) {
              ACC_DW.is_ONMODE = ACC_IN_LeadVehicle_Not_Detected;
              Acceleration_Mode = 1U;
            } else {
              /*   */
              if (((((int32_T)RadarInput_DriveVehicle) == 1) &&
                   (rtb_LeadVehicle_Speed < Set_Speed)) || (Time_Gap < Set_Gap))
              {
                ACC_DW.is_ONMODE = IN_LeadVehicle_Speed_lessthan_S;
                Acceleration_Mode = 4U;
              }
            }
            break;

           case IN_LeadVehicle_Detected_Resume:
            Acceleration_Mode = 3U;
            if (((rtb_DriveVehicle_Speed == Set_Speed) && (rtb_LeadVehicle_Speed
                  >= Set_Speed)) && (Time_Gap >= Set_Gap)) {
              ACC_DW.is_ONMODE = IN_LeadVehicle_Detected_Follow;
              Acceleration_Mode = 2U;
            } else if (((int32_T)RadarInput_DriveVehicle) == 0) {
              ACC_DW.is_ONMODE = IN_LeadVehicle_Not_Detected_Res;
              Acceleration_Mode = 1U;
            } else {
              if (((rtb_DriveVehicle_Speed < Set_Speed) &&
                   (rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed)) &&
                  (Time_Gap >= Set_Gap)) {
                ACC_DW.is_ONMODE = IN_LeadVehicle_Speed_equal_Set_;
                Acceleration_Mode = 5U;
              }
            }
            break;

           case ACC_IN_LeadVehicle_Not_Detected:
            Acceleration_Mode = 1U;

            /*   */
            if ((((((int32_T)RadarInput_DriveVehicle) == 1) &&
                  (rtb_DriveVehicle_Speed == Set_Speed)) &&
                 (rtb_LeadVehicle_Speed >= Set_Speed)) && (Time_Gap >= Set_Gap))
            {
              ACC_DW.is_ONMODE = IN_LeadVehicle_Detected_Follow;
              Acceleration_Mode = 2U;
            } else {
              if (((((int32_T)RadarInput_DriveVehicle) == 1) &&
                   (rtb_LeadVehicle_Speed < Set_Speed)) || (Time_Gap < Set_Gap))
              {
                ACC_DW.is_ONMODE = IN_LeadVehicle_Speed_lessthan_S;
                Acceleration_Mode = 4U;
              }
            }
            break;

           case IN_LeadVehicle_Not_Detected_Res:
            Acceleration_Mode = 1U;
            break;

           case IN_LeadVehicle_Speed_equal_Set_:
            Acceleration_Mode = 5U;
            if ((((int32_T)RadarInput_DriveVehicle) == 0) ||
                (rtb_DriveVehicle_Speed <= Set_Speed)) {
              ACC_DW.is_ONMODE = IN_LeadVehicle_Not_Detected_Res;
              Acceleration_Mode = 1U;
            } else if (((rtb_DriveVehicle_Speed < Set_Speed) &&
                        (rtb_LeadVehicle_Speed > rtb_DriveVehicle_Speed)) ||
                       (Time_Gap >= Set_Gap)) {
              ACC_DW.is_ONMODE = IN_LeadVehicle_Detected_Resume;
              Acceleration_Mode = 3U;
            } else {
              if (((rtb_LeadVehicle_Speed < Set_Speed) && (rtb_LeadVehicle_Speed
                    < rtb_DriveVehicle_Speed)) || (((real_T)Time_Gap) == (0.75 *
                    ((real_T)Set_Gap)))) {
                ACC_DW.is_ONMODE = IN_LeadVehicle_Speed_lessthan_S;
                Acceleration_Mode = 4U;
              }
            }
            break;

           default:
            /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
            Acceleration_Mode = 4U;
            if ((((int32_T)RadarInput_DriveVehicle) == 0) &&
                (rtb_DriveVehicle_Speed == Set_Speed)) {
              ACC_DW.is_ONMODE = ACC_IN_LeadVehicle_Not_Detected;
              Acceleration_Mode = 1U;
            } else {
              if (((((((real_T)rtb_LeadVehicle_Speed) * 1.25) >= ((real_T)
                      rtb_DriveVehicle_Speed)) && ((((real_T)
                       rtb_LeadVehicle_Speed) * 0.75) <= ((real_T)
                      rtb_DriveVehicle_Speed))) && (rtb_DriveVehicle_Speed <
                    Set_Speed)) && ((((real_T)Time_Gap) <= (1.25 * ((real_T)
                      Set_Gap))) && (((real_T)Time_Gap) >= (0.75 * ((real_T)
                      Set_Gap))))) {
                ACC_DW.is_ONMODE = IN_LeadVehicle_Speed_equal_Set_;
                Acceleration_Mode = 5U;
              }
            }
            break;
          }
        }
        break;

       default:
        /* case IN_STANDBYMode: */
        Acceleration_Mode = 1U;
        if (!CruiseSwitch) {
          ACC_DW.is_c3_ACC = ACC_IN_OFFMode;
          Acceleration_Mode = 0U;
        } else {
          if (SetSwitch) {
            ACC_DW.is_c3_ACC = ACC_IN_ONMODE;
            ACC_DW.is_ONMODE = IN_LeadVehicle_Detected_Follow;
            Acceleration_Mode = 2U;
          }
        }
        break;
      }
    }

    /* End of Chart: '<S1>/AdaptiveCruiseControl Algorithm' */

    /* DataStoreWrite: '<S1>/DataStoreWrite' */
    ACC_DW.Acceleration_Mode_m = Acceleration_Mode;
  }

  rate_scheduler();
}

/* Model initialize function */
void ACC_initialize(void)
{
  /* (no initialization code required) */
}

/*
 * File trailer for generated code.
 *
 * [EOF]
 */

Header file:

/*
 * File: ACC.h
 *
 * Code generated for Simulink model 'ACC'.
 *
 * Model version                  : 1.44
 * Simulink Coder version         : 9.3 (R2020a) 18-Nov-2019
 * C/C++ source code generated on : Tue Dec 28 12:46:49 2021
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_ACC_h_
#define RTW_HEADER_ACC_h_
#ifndef ACC_COMMON_INCLUDES_
# define ACC_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif                                 /* ACC_COMMON_INCLUDES_ */

#include "ACC_types.h"

/* Includes for objects with custom storage classes. */
#include "ACC_Function.h"

/* Macros for accessing real-time model data structure */

/* Block states (default storage) for system '<Root>' */
typedef struct {
  uint8_T Acceleration_Mode_m;         /* '<S1>/DataStoreMemory' */
  uint8_T is_active_c3_ACC;         /* '<S1>/AdaptiveCruiseControl Algorithm' */
  uint8_T is_c3_ACC;                /* '<S1>/AdaptiveCruiseControl Algorithm' */
  uint8_T is_ONMODE;                /* '<S1>/AdaptiveCruiseControl Algorithm' */
} DW_ACC_T;

/* Real-time Model Data Structure */
struct tag_RTM_ACC_T {
  /*
   * Timing:
   * The following substructure contains information regarding
   * the timing information for the model.
   */
  struct {
    struct {
      uint16_T TID[2];
    } TaskCounters;
  } Timing;
};

/* Block states (default storage) */
extern DW_ACC_T ACC_DW;

/* Model entry point functions */
extern void ACC_initialize(void);
extern void ACC_step(void);

/* Real-time Model object */
extern RT_MODEL_ACC_T *const ACC_M;

/*-
 * These blocks were eliminated from the model due to optimizations:
 *
 * Block '<S3>/SignalConversion' : Eliminate redundant signal conversion block
 */

/*-
 * The generated code includes comments that allow you to trace directly
 * back to the appropriate location in the model.  The basic format
 * is <system>/block_name, where system is the system number (uniquely
 * assigned by Simulink) and block_name is the name of the block.
 *
 * Use the MATLAB hilite_system command to trace the generated code back
 * to the model.  For example,
 *
 * hilite_system('<S3>')    - opens system 3
 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
 *
 * Here is the system hierarchy for this model
 *
 * '<Root>' : 'ACC'
 * '<S1>'   : 'ACC/AdaptiveCruiseControl'
 * '<S2>'   : 'ACC/AdaptiveCruiseControl/AdaptiveCruiseControl Algorithm'
 * '<S3>'   : 'ACC/AdaptiveCruiseControl/DriveVehicle'
 * '<S4>'   : 'ACC/AdaptiveCruiseControl/LeadVehicle'
 */

/*-
 * Requirements for '<Root>': ACC
 *
 * Inherited requirements for '<Root>/AdaptiveCruiseControl':
 *  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. 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 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)]
 *
 * Inherited requirements for '<S1>/DriveVehicle':
 *  1. 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.
 *
 * Inherited requirements for '<S1>/LeadVehicle':
 *  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.
 *
 * Inherited requirements for '<S1>/AdaptiveCruiseControl Algorithm':
 *  1. 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 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)]

 */
#endif                                 /* RTW_HEADER_ACC_h_ */

/*
 * File trailer for generated code.
 *
 * [EOF]
 */