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Project 2 Adaptive Cruise Control

PParthdhvajsinh Chudasama29 Dec 2021
MATLABMBD

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.

adaptive Cruise Control (ACC) is an automotive feature that allows a vehicle's cruise control system to adapt the vehicle's speed to the traffic environment. A radar system attached to the front of the vehicle is used to detect whether slower-moving vehicles are in the ACC vehicle's path.

Objective of Main Project:

  1. Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
  2. Follow all the MBD related processes: Requirement Tagging & Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check & Code Generation.
  3. In Configuration Parameters: enable “Support Floating Numbers” under Code Generation settings.
  4. Use Embedded Coder to generate the code.
  5. If choosing code generation, Storage class for Input signals: ImportedExtern; Storage class for Output signal: Export to File; Storage class for local signals: localizable; Storage class for calibration signals: Const.
  6. Choose sample time for all signals as 0.01s

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

-

-

Main model:

subsystem:

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)]

SLDD file:

MODEL ADVISORY REPORT:

Model Advisor Report - Adaptive_Cruise_Control.slx
Simulink version: 10.1 Model version: 1.9
System: Adaptive_Cruise_Control/Subsystem Current run: 29-Dec-2021 11:05:29
Treat as Referenced Model: off


Run Summary

Pass Fail Warning Not Run Total
95 0 23 23 141



Modeling Standards for MAB



1 Naming Conventions 14 0 3 3


1.1 General 2 0 2 0
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  • H:\parthdhavaj\adas\miniproject\1-0.pdf
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  • H:\parthdhavaj\adas\miniproject\4-1.pdf
  • H:\parthdhavaj\adas\miniproject\Adaptive_Cruise_Control.slx.autosave
  • H:\parthdhavaj\adas\miniproject\acc2-1.pdf
  • H:\parthdhavaj\adas\miniproject\acc2-2.pdf
  • H:\parthdhavaj\adas\miniproject\acc2-3.pdf
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_________________________________________________________________________________________

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_________________________________________________________________________________________

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The model file name is: Adaptive_Cruise_Control/Subsystem



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1.2 Content 12 0 1 3
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2 Simulink 37 0 12 13


2.1 Configuration Parameters 2 0 2 0
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2.5 Conditional Subsystem relations 4 0 0 1
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2.6 Operation Blocks 8 0 1 5
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2.7 Other blocks 5 0 1 4
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All variant subsystems in the model use default variants

Check use of single variable variant conditionals

Identify variant subsystems which use multi-variable compound conditions

Passed
No variant subsystems with multiple variable compound conditions found



3 Stateflow 38 0 8 5


3.1 Block/Data/Events 6 0 0 1
Check for Strong Data Typing with Simulink I/O

Check whether labeled input and output signals are strongly typed.

Passed
No Stateflow charts have Use Strong Data Typing with Simulink I/O cleared.

Check for names of Stateflow ports and associated signals

Not Run

Check execution timing for default transition path

'Execute (enter) Chart At Initialization' should be set to OFF.

Passed
All Stateflow Charts pass the check.

Check definition of Stateflow data

Identify the Scope value set on Stateflow data defined at machine level.

Passed
All Stateflow data at machine level has been defined as per guideline.

Check usable number for first index

Identify usage of first index of Stateflow data.

Passed
All Stateflow data first index values are uniform.

Check scope of data in parallel states

jc_0722: Guidelines for setting local variables in parallel states
The scope of local variables should be restricted to one parallel state unless it is being used by other parallel states.

Passed
No Stateflow States were found.

Check definition of Stateflow events

Stateflow events should be defined at the smallest possible scope of usage.

Passed
All Stateflow events are defined at their smallest scope.



3.2 Diagram 12 0 2 0
Check for unconnected objects in Stateflow Charts

Identify dangling transitions and unconnected Stateflow States and Junctions in Stateflow Charts.

Passed
No unconnected transitions, states or junctions found in Stateflow Charts.

Check usage of exclusive and default states in state machines

Identify Stateflow charts and substates that incorrectly use or define exclusive and default states.

_________________________________________________________________________________________

Check Stateflow charts for exclusive states
Identify Stateflow charts that have singular exclusive (OR) states.

Passed
The Stateflow charts do not have singular exclusive (OR) states.
_________________________________________________________________________________________

Check Stateflow charts for undefined default states
Identify Stateflow charts that do not define default states.

Passed
Each Stateflow chart defines a default state.
_________________________________________________________________________________________

Check for multiple states assigned as the default state
At the root level in the Stateflow hierarchy only one state should be assigned as the default.

Passed
The root level of the chart has only one default state assigned.
_________________________________________________________________________________________

Check for substates with singular OR states
States configured as OR should always be part of a group of states.

Passed
No singular OR states were detected.
_________________________________________________________________________________________

Check for substates without default states defined
At every level in the Stateflow hierarchy a default state should be assigned.

Passed
All substates have default states assigned.
_________________________________________________________________________________________

Check for substates with multiple default states defined
At every level in the Stateflow hierarchy only one state should be assigned as the default.

Passed
All levels of the chart have only one default state assigned.

Check for parallel Stateflow state used for grouping

jc_0721: Guidelines for using parallel states
Identify parallel Stateflow States used for grouping.

Passed
All Stateflow Charts pass the check.

Check Stateflow transition appearance

Check for transition lines that cross over one another

Warning
The following transition lines cross over one another:

Recommended Action
Consider remodeling so that transition lines do not cross over one another.
_________________________________________________________________________________________

Check orientation of transition lines

Warning
The following transitions are not vertical or horizontal and/or diagonal for flow chart loops:

Recommended Action
Consider remodeling using either horizontal or vertical transitions only and diagonal transitions for flow chart loops.
Check default transition placement in Stateflow charts

jc_0531: Placement of default transition.

Warning
The following destination states or junctions of default transitions are not on the top:

Recommended Action
The transition destination state or transition destination junction for the default transition must be positioned in the far upper left within the same level.
_________________________________________________________________________________________

jc_0531: Placement of default transition.

Warning
The following default transitions are not connected to the upper part of the state or junction:

Recommended Action
Default transitions must be directly connected to the upper part of the state or junction.
_________________________________________________________________________________________

jc_0531: Placement of default transition.

Warning
The following states have multiple default transitions at the same level:

Recommended Action
Multiple default transitions cannot be included in the same level.
Check usage of transitions to external states

Identify transitions ending on external child states.

Passed
No direct transitions found from external state to child state.

Check for unexpected backtracking in state transitions

Identify configuration parameter settings which identify unexpected backtracking in state transitions.

Passed
All constraints on model configuration parameters have been met.

Status Parameter Current Value Recommended Values
Pass Unexpected backtracking (SFUnexpectedBacktrackingDiag) error error

Check starting point of internal transition in Stateflow

jc_0760: In all state charts and flow charts, internal transitions from state boundaries must start from the left edge of the state.

Passed
No Stateflow transitions found that violate the guidelines for starting point of internal transition in Stateflow.

Check usage of internal transitions in Stateflow states

Identify Stateflow states using multiple internal transitions.

Passed
No Stateflow states found with multiple internal transitions

Check prohibited combination of state action and flow chart

jc_0762: State actions within states and flow chart statements should not be used in combination.

Passed
No Stateflow states found that combine state action and flow chart.

Check transition orientations in flow charts

Identify transitions in Stateflow flow charts that are drawn incorrectly.

_________________________________________________________________________________________

Check for conditions drawn horizontally
Condition expressions should be drawn on the horizontal segments of flow charts.

Passed
All condition expressions were drawn horizontally.
_________________________________________________________________________________________

Check for action transitions drawn vertically
Transitions with condition actions should be drawn on the vertical segments of flow charts.

Passed
All transitions with condition actions were drawn vertically.
_________________________________________________________________________________________

Check for transition actions in flow chart
Transition actions should not be used in flow charts.

Passed
No transition actions are used in flow charts.
_________________________________________________________________________________________

Check for junctions for default transitions
All Junctions in a flow chart should have a default exit transition.

Passed
All Junctions have a default exit transition.
_________________________________________________________________________________________

Check for transitions that combine condition and action
Flow charts should not combine condition evaluations and action expressions in a single transition.

Passed
No combined expressions were found in the chart.

Check usage of unconditional transitions in flow charts

Identify unconditional transitions in flow charts.

Passed
All unconditional transitions adhere to the guideline.

Check terminal junctions in Stateflow

Identify usage of terminal junctions in flow charts.

Passed
Multiple terminal junctions were not found.

Check usage of Stateflow comments

Identify comments that are nested or contain newline(s) in the middle in Stateflow for action language 'C'.

Passed
No comments found that are either nested or contain newline(s) in the middle.



3.3 Condition Transition/Action 10 0 2 4
Check Stateflow chart action language

Check if the action language of Stateflow charts is set to 'C'.

Warning
The following Stateflow Charts do not have action language set to 'C':

Recommended Action
Consider setting Stateflow Chart action language to 'C'.
Check usage of numeric literals in Stateflow

Check for numeric literals in Stateflow

Warning
The following expressions contain numeric literals:

Block Path Expression
..../On_mode/LeadVehicle_Not_Detected Acceleration_Mode =1;
..../On_mode/LeadVehicle_Detected_Follow Acceleration_Mode =2;
..../LeadVehicle_Speed_lessthan_Set_Speed Acceleration_Mode =4;
..../LeadVehicle_Speed_equal_Set_Speed Acceleration_Mode=5;
..../On_mode/LeadVehicle_Detected_Resume Acceleration_Mode=3;
..../On_mode/LeadVehicle_Not_Detected_Resume Acceleration_Mode =1;
..../Requriment3/On_mode/transition(#32) LeadVehicle_Detected == 0
..../Requriment3/On_mode/transition(#33) (LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)
..../Requriment3/On_mode/transition(#35) (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)
..../Requriment3/On_mode/transition(#36) (LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)
..../Requriment3/On_mode/transition(#37) (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)
..../Requriment3/On_mode/transition(#38) (LeadVehicle_Speed < Set_Speed)&&(LeadVehicle_Speed < DriveVehicle_Speed)||(Time_Gap== 0.75* Set_Gap)
..../Requriment3/On_mode/transition(#39) ((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))
..../Requriment3/On_mode/transition(#42) (LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)
..../Requriment3/On_mode/transition(#43) LeadVehicle_Detected==0
..../Subsystem/Requriment3/Standby_mode Acceleration_Mode =1;
..../Subsystem/Requriment3/transition(#59) SetSwitch==1
..../Subsystem/Requriment3/transition(#60) SetSwitch==0
∧ Less


Recommended Action
Consider remodeling to use named parameters and constants instead of numeric literals.
Check for pointers in Stateflow charts

Identify pointer operations on custom code variables.
Note: This check applies only to Stateflow charts that use C as the action language.

Passed
No pointer operations were found.

Check for usage of events and broadcasting events in Stateflow charts

Identify undirected event broadcasts in Stateflow

Passed
No instances of undirected event broadcast were found.

Check order of state action types

Identify out of order state action types in Stateflow states.

Passed
No Stateflow states found with out of order state action types

Check repetition of Action types

jc_0734: Number of state action types
Identifies repeated action types in a Stateflow State.

Passed
All Stateflow States pass the check.

Check if state action type 'exit' is used in the model

Check if state action type 'exit' is used in the model.

Passed
State action type 'exit' is not used in the model.

Check updates to variables used in state transition conditions

jc_0741: Variables used in state transition conditions must not perform an update by "during" state action type.

Passed
No Stateflow states found that violate the guidelines for updating the variables used in state transition conditions.

Check usage of transition conditions in Stateflow transitions

jc_0772: Identify unconditional Stateflow transitions with higher priority than conditional transitions

Passed
No unconditional Stateflow transitions found with higher priority than conditional transitions

Check condition actions and transition actions in Stateflow

Identify usage of transition actions in Stateflow.

Passed
No Stateflow charts have transition actions.

Check for MATLAB expressions in Stateflow blocks

Identify MATLAB expressions that are not suitable for code generation in Stateflow blocks.

Passed
No Stateflow objects found using MATLAB expressions unsuitable for code generation.

Check usage of floating-point expressions in Stateflow charts

Not Run

Check Stateflow operators

Not Run

Check prohibited comparison operation of logical type signals

Identify boolean variables in Stateflow charts using comparison operations.

Passed
No boolean variables use comparison operations of logical type in the model.

Check usage of unary minus operations in Stateflow charts

Not Run

Check for implicit type casting in Stateflow

Not Run



3.4 Label Description 6 0 4 0
Check uniqueness of Stateflow State and Data names

jc_0732: Distinction between state name and data item name
Identify Stateflow State and Stateflow Data that have identical names in a given chart.

Passed
All Stateflow charts pass the check.

Check uniqueness of State names

jc_0730: Independence of state name in charts
Identifies identical State names within a Stateflow Chart.

Passed
All Stateflow charts pass the check.

Check usage of State names

jc_0731: Slash (/) in the state name
Identify state names with '/' at its end.

Passed
All State names pass the check.

Check entry formatting in State blocks in Stateflow charts

Identify missing line breaks between entry action (en), during action (du), and exit action (ex) entries in states. Identify missing line breaks after semicolons (;) in statements.

Warning
The following entries use incorrect formatting.

Action Entry or Statement State

en: Acceleration_Mode =0;

 Adaptive_Cruise_Control/Subsystem/Requriment3/Off_mode

en: Acceleration_Mode =1;

 Adaptive_Cruise_Control/Subsystem/Requriment3/Standby_mode

en: Acceleration_Mode =1;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Not_Detected

en: Acceleration_Mode =2;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Detected_Follow

en: Acceleration_Mode =4;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Speed_lessthan_Set_Speed

en: Acceleration_Mode=5;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Speed_equal_Set_Speed

en: Acceleration_Mode=3;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Detected_Resume

en: Acceleration_Mode =1;

 Adaptive_Cruise_Control/Subsystem/Requriment3/On_mode/LeadVehicle_Not_Detected_Resume


Recommended Action
Ensure that the entries (en:,du:,ex:) and each statement begin on a new line.
Check indentation of code in Stateflow states

Check for uniform indentation of action language in Stateflow states

Warning
The following Stateflow states do not have uniform indentation:

Block Path Expression
..../On_mode/LeadVehicle_Not_Detected LeadVehicle_Not_Detected<br >
en:Acceleration_Mode =1;</br >
..../On_mode/LeadVehicle_Detected_Follow LeadVehicle_Detected_Follow<br >
en:Acceleration_Mode =2;</br >
..../LeadVehicle_Speed_lessthan_Set_Speed LeadVehicle_Speed_lessthan_Set_Speed<br >
en:Acceleration_Mode =4;</br >
..../On_mode/LeadVehicle_Detected_Resume LeadVehicle_Detected_Resume <br >
en:Acceleration_Mode=3;</br >
..../On_mode/LeadVehicle_Not_Detected_Resume LeadVehicle_Not_Detected_Resume<br >
en:Acceleration_Mode =1;</br >


Recommended Action
Consider deleting the blank spaces before state action types and adding 1 single byte space before executable statements.
Check for usage of text inside states

Identify Stateflow states with text exceeding the boundary of the state

Warning
The following Stateflow states have text exceeding the boundary of the state:

Recommended Action
Ensure the text inside the Stateflow state is not described outside the boundary of the state.
Check position of label string in Stateflow transition

Transition labels should be placed near the point of origin of the transition

Warning
The following transitions do not have label string placed near the origin of the transition:

∧ Less
Recommended Action
Consider placing the label string near the point of origin of the transition.
Check position of comments in transition labels

Identify comments in transition labels that are not positioned uniformly.

Passed
Comments in transition labels are positioned uniformly.

Check usage of parentheses in Stateflow transitions

jc_0752: Start new line before and after parentheses for condition actions in Stateflow transitions.

Passed
No Stateflow Transitions found that violate the requirement for new line for condition actions.

Check for comments in unconditional transitions

Identify comments in unconditional transitions without action statements.

Passed
All unconditional transitions without action statements have comments.



3.5 Miscellaneous 4 0 0 0
Check return value assignments in Stateflow graphical functions

Identify graphical functions with multiple assignments of return values in Stateflow charts.

Passed
No multiple assignments of return values were found.

Check uniqueness of Stateflow State and Data names

jc_0732: Distinction between state name and data item name
Identify Stateflow State and Stateflow Data that have identical names in a given chart.

Passed
All Stateflow charts pass the check.

Check usage of Simulink functions in Stateflow

Usage of Simulink Functions in Stateflow.

Passed
All Simulink Functions in Stateflow are defined according to the guideline.

Check use of Simulink in Stateflow charts

na_0039: Limitation on Simulink functions in Chart blocks

Check use of Stateflow charts nested inside Simulink functions used in Stateflow.

Passed
No Stateflow charts found nested inside Simulink functions used in Stateflow.



4 MATLAB 6 0 0 2


4.1 Data and Operations 2 0 0 1
Check MATLAB code for global variables

Check for global variables in MATLAB code

_________________________________________________________________________________________

Check for global variables in MATLAB code used in MATLAB Function blocks

Passed
No MATLAB Function blocks found
_________________________________________________________________________________________

Check for global variables in MATLAB functions defined in Stateflow charts

Passed
No MATLAB functions defined in Stateflow charts found
_________________________________________________________________________________________

Check for global variables in called MATLAB functions

Passed
No external MATLAB functions found
_________________________________________________________________________________________

Check usage of enumerated values

Not Run

Check input and output settings of MATLAB Functions

Identify MATLAB Functions that have inputs, outputs, or parameters with inherited complexity, data type, or size properties.

Passed
No MATLAB Functions found in the model or subsystem.



4.2 Usage 4 0 0 1
Check MATLAB Function metrics

Identify MATLAB Functions that violate complexity limits.

Passed
No MATLAB Functions were found.

Input Parameters Selection
Name Value
Maximum effective lines of code per function 60
Minimum density of comments 0.2
Maximum cyclomatic complexity per function 15
Check the number of function calls in MATLAB Function blocks

Checks whether number of function calls in MATLAB Function blocks is less than 3.

Passed
Number of function calls in MATLAB Function blocks is less than 3.

Check usage of character vector inside MATLAB Function block

Checks whether character vectors are being used inside MATLAB Function blocks

Passed
No character vectors found in MATLAB Function block

Check usage of recommended patterns for Switch/Case statements

Checks whether non-constant variables are used in Switch/Case arguments.

Passed
Non-constant variables are not used as Switch/Case arguments

CODE GENERATION:

Adaptive_Cruise_Control_DW.is_On_mode = IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_Mode=5U;
} else {
if (Adaptive_Cruise_Control_Y.LeadVehicle_Detected == 0) {
Adaptive_Cruise_Control_DW.is_On_mode=
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
}
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
/* Update for Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
/* Outport: '<Root>/LeadVehicle_Detected' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if ((Adaptive_Cruise_Control_Y.LeadVehicle_Detected == 1) &&
(Adaptive_Cruise_Control_Y.DriveVehicle_Speed == Time_Gap) &&
(Adaptive_Cruise_Control_Y.LeadVehicle_Speed >= Time_Gap) &&
(Set_Speed >= Set_Gap)) {
Adaptive_Cruise_Control_DW.is_On_mode = IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_Mode=2U;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
/* Update for Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
/* Update for Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=5U;
/* Outport: '<Root>/LeadVehicle_Detected' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if ((Adaptive_Cruise_Control_Y.LeadVehicle_Detected == 0) ||
(Adaptive_Cruise_Control_Y.DriveVehicle_Speed <= Time_Gap)) {
Adaptive_Cruise_Control_DW.is_On_mode = IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
} else if (((Adaptive_Cruise_Control_Y.DriveVehicle_Speed < Time_Gap) &&
(Adaptive_Cruise_Control_Y.LeadVehicle_Speed >
Adaptive_Cruise_Control_Y.DriveVehicle_Speed)) || (Set_Speed >=
Set_Gap)) {
Adaptive_Cruise_Control_DW.is_On_mode = IN_LeadVehicle_Detected_Resume;
Adaptive_Cruise_Control_Y.Acceleration_Mode=3U;
} else {
if (((Adaptive_Cruise_Control_Y.LeadVehicle_Speed < Time_Gap) &&
(Adaptive_Cruise_Control_Y.LeadVehicle_Speed <
Adaptive_Cruise_Control_Y.DriveVehicle_Speed)) || ((int32_T)
rt_roundd_snf(0.75 * (real_T)Set_Gap) == Set_Speed)) {
Adaptive_Cruise_Control_DW.is_On_mode=
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control_Y.Acceleration_Mode=4U;
}
}
break;
default:
/* Update for Outport: '<Root>/Acceleration_Mode' */
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control_Y.Acceleration_Mode=4U;
/* Outport: '<Root>/LeadVehicle_Detected' incorporates:
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
*/
if ((Adaptive_Cruise_Control_Y.LeadVehicle_Detected == 0) &&
(Adaptive_Cruise_Control_Y.DriveVehicle_Speed == Time_Gap)) {
Adaptive_Cruise_Control_DW.is_On_mode = Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
} else {
tmp = (int32_T)rt_roundd_snf((real_T)
Adaptive_Cruise_Control_Y.LeadVehicle_Speed *1.25);
tmp_0 = (int32_T)rt_roundd_snf(1.25 * (real_T)Set_Gap);
if (tmp < 256) {
tmp_1 = (uint8_T)tmp;
} else {
tmp_1 = MAX_uint8_T;
}
if (tmp_0 < 256) {
tmp_2 = (uint8_T)tmp_0;
} else {
tmp_2 = MAX_uint8_T;
}
if ((tmp_1 >= Adaptive_Cruise_Control_Y.DriveVehicle_Speed) && ((int32_T)
rt_roundd_snf((real_T)Adaptive_Cruise_Control_Y.LeadVehicle_Speed *
0.75)<= Adaptive_Cruise_Control_Y.DriveVehicle_Speed)
&& (Adaptive_Cruise_Control_Y.DriveVehicle_Speed < Time_Gap) &&
(Set_Speed <= tmp_2) && (Set_Speed >= (int32_T)rt_roundd_snf(0.75 *
(real_T)Set_Gap))) {
Adaptive_Cruise_Control_DW.is_On_mode=
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_Mode=5U;
}
}
break;
}
}
/* End of Inport: '<Root>/ SetSwitch' */
}
/* Model step function */
void Adaptive_Cruise_Control_step(void)
{
/* Outport: '<Root>/LeadVehicle_Speed' incorporates:
* Sum: '<S2>/Add'
*/
Adaptive_Cruise_Control_Y.LeadVehicle_Speed = (uint8_T)((uint32_T)
CameraInput_LeadVehicle + RadarInput_LeadVehicle);
/* Outport: '<Root>/DriveVehicle_Speed' incorporates:
* Sum: '<S3>/Add'
* UnitDelay: '<S1>/Unit Delay'
*/
Adaptive_Cruise_Control_Y.DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)
((uint32_T)CameraInput_DriveVehicle + RadarInput_DriveVehicle) +
Adaptive_Cruise_Control_DW.UnitDelay_DSTATE);
/* Outport: '<Root>/LeadVehicle_Detected' incorporates:
* SignalConversion: '<S3>/Signal Conversion'
*/
Adaptive_Cruise_Control_Y.LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '<S1>/Requriment3' incorporates:
* Inport: '<Root>/ SetSwitch'
*/
if (Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co == 0U) {
Adaptive_Cruise_Control_DW.is_active_c3_Adaptive_Cruise_Co=1U;
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control=
Adaptive_Cruise_Con_IN_Off_mode;
/* Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=0U;
} else {
switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
case Adaptive_Cruise_Con_IN_Off_mode:
/* Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=0U;
if (CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control=
Adaptive_Cruise_Cont_IN_On_mode;
Adaptive_enter_internal_On_mode();
} else {
if (CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control=
Adaptive_Cruise_IN_Standby_mode;
/* Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
}
}
break;
case Adaptive_Cruise_Cont_IN_On_mode:
Adaptive_Cruise_Control_On_mode();
break;
default:
/* Outport: '<Root>/Acceleration_Mode' */
/* case IN_Standby_mode: */
Adaptive_Cruise_Control_Y.Acceleration_Mode=1U;
if (SetSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control=
Adaptive_Cruise_Cont_IN_On_mode;
Adaptive_enter_internal_On_mode();
} else {
if (!CruiseSwitch) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control=
Adaptive_Cruise_Con_IN_Off_mode;
/* Outport: '<Root>/Acceleration_Mode' */
Adaptive_Cruise_Control_Y.Acceleration_Mode=0U;
}
}
break;
}
}
/* End of Chart: '<S1>/Requriment3' */
/* Update for UnitDelay: '<S1>/Unit Delay' incorporates:
*/
Adaptive_Cruise_Control_DW.UnitDelay_DSTATE=
Adaptive_Cruise_Control_Y.Acceleration_Mode;
}
/* Model initialize function */
void Adaptive_Cruise_Control_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Adaptive_Cruise_Control_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Conclusion:
The model is running successfully without any error. So, the ACC feature is developed as per requirements.
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