Project 2 Adaptive Cruise Control

Aim:

• Develop an Adaptive cruise control feature as per the requirement document using MATLAB Simulink
• Requirement tagging& Traceability, SLDD creation, Configuration Parameter changes, Model Advisor check, and code generation are to be followed
• Enable 'Support Floating Numbers' under code generation settings in Configuration Parameters
• Use embedder coder to generate code
• if choosing code generation, the Storage class for input signals: ImportedExtern; the Storage class for Output signals: Export to File; Storage class for local signals: localizable; the Storage class for calibration signals: Const
• Choose sample time for all signals as 0.01s

Adaptive Cruise Control

• Adaptive cruise control (ACC) is a system designed to help vehicles maintain a safe following distance and stay within the speed limit.
• This system adjusts a car's speed automatically so drivers don't have to.
• ACC functions by sensory technology installed within vehicles such as cameras, lasers, and radar equipment, which creates an idea of how close one car is to another, or other objects on the roadway.

1)Development of Matlab Model

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 Cruide 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_Dettected_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)]
• The subsystem including Lead Vehicle (Requirement 1), Drive Vehicle (Requirement 2), and ACC Algorithm (Requirement 3) is shown in Figure 4
• The entire MATLAB model for Adaptive Cruise Control is made

2)Requirement Tagging

• The MATLAB Model is developed according to the requirements provided and the requirements are to be tagged with the respective subsystems
• The requirement to be tagged in a word file and link the selected requirement in a word with the respective subsytem

• The requirement tagged appears on selecting the subsystem as the respective word file opens alongside the model which is via ACC Algorithm

3)Linking of SLDD

• For Linking of Simulink data dictionary select modeling then click the icon link to the data dictionary, then browse the data dictionary file in .sld format
• The sldd file created is saved in the same location as the MATLAB Model for Adaptive Cruise Control

• An icon is created on the edge of the model select it and the go-to model workspace
• Enter the data type, minimum, and maximum values respectively for the output and input signals
• The data dictionary is created

4) Signal resolving and signal propagation for input and output

• The signal propagation and resolving are done for input and output signals

5)Configuration Parameter settings

• The solver is selected fixed step with a step size of 0.01s and stops time of 1.0s,the target file for code generation is selected
• The coverage analysis is enabled for the entire system and the device type for hardware implementation is selected as x86-64(Windows64)

6)Model Advisor Check

• After setting the configuration parameters, the model is updated by selecting the update model icon in the modeling

• Once the model is updated, it is made to run and an advisory report is generated if no errors

• Select Model Advisor in Modeling and select our model, as the model advisor window opens select the modeling standard and click run and the report can be generated

7)Code Generation

• Followed by Model advisory report code is generated by clicking code generation in embedded coder
• For code generation select apps, then embedded coder, then select C Code, then select build and generate code
• The code will be automatically generated on the right side alongside the model

Result:

• Developed an Adaptive cruise control feature as per the requirement document using MATLAB Simulink concerning the requirements
• The model is updated, coverage analysis is done and is followed by code generation
• The files related to the project along with the respective pictures, Simulink model as well as the code generated are attached along with this and have been mailed to Raju Mangalwede.