Project 2 Adaptive Cruise Control
1. Procedure:
As per the Requirement document, implemented the Adaptive Cruise Control feature.
Lead vehicle
• To detect the lead vehicle speed, simply added both the radar & camera inputs & the corresponding output is read as Speed profile output.
Drive Vehicle
To regulate the "Drive Vehicle speed, as per the Requirement Document added Cameralnput. Radarinput & Acceleration Mode feedback from ACC Algorithm.
• To detect the Lead vehicle. Radarinput is converted using "Signal Conversion Block
• To avoid the algebraic error "Unit delay block is used for the Acceleration Mode feedback.
ACC 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 the 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, the output signal (Signal Name LeadVehicle Speed) from requirement-1 is given as an input signal to this state machine
• Output from this subsystem a signal (Signal Name Acceleration Model which governs the vehicular speed of the drive vehicle which automatically adjust to speed & velocity to match the lead vehicle.
• The rest of the signal developed as per the Requirement
2. DEVELOPMENT OF MATLAB MODEL
This is the main model subsystem that having 9 inputs CameraInput_LeadVehicle, RadarInput_LeadVehicle, CameraInput_DriveVehicle, RadarInput_DriveVehi, Time_Gap, Set_Speed, Set_Gap, CruiseSwitch and SetSwitch entering into the Adaptive Cruise Control subsystem and 4 outputs Acceleration_Mode, LeadVehicle_Speed, DriveVehicle_Speed, LeadVehicle_Detected
There are 3 requirements are designed in 2 subsystems and one state machine flow chart
Requirement 1– Lead Vehicle:
- A lead vehicle is a vehicle that 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 cameras & 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 that has ACC algorithm in it.
- Like the Lead Vehicle, the Driver 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 the 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:
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 the 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 the 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 substate inside the ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.
- Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).
Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]
Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 3.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.
- Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]
Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 1.
Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 4.
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]
- Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]
Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):
- Output signal Acceleration_Mode is equal to 5.
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]
- Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<set_speed) &&="" (leadvehicle_speed<drivevehicle_speed)="" ||="" (time_gap="=0.75*Set_Gap)]</em"></set_speed)
3. Requirement Tagging and Tracebility report
all the requirements are tagged for better understandability, anyone who is reviewing the model or who is trying to update the model can get a clear idea of what logic is used in the system. from the requirement manager, we can see what are all are tagged and the description.
Traceability report
I am only sharing 2 or 3 snapshots of the report here but the whole report is attached below
4. Developing SLDD
all the inputs, outputs, calibration parameters are saved in SLDD so while simulation the model takes all the values and its parameters from the Simulink Data Dictionary
5. Signal Resolution for inputs and outputs
the inputs and output signals are resolved so the signals will take the values from sldd and pass them to the logical blocks. Otherwise, it may take some junk values if it is unresolved
6. Model Update.
The model update is done by Ctrl-D. this is done to check for any static errors. If no errors are coming the model is working fine without any errors.
7. Simulation
The model is simulated too for checking for errors and warnings
8. Configuration Parameter Update
Various configuration parameters are updated as per the code generation the solver type should be fixed for code generation
9. Model Advisory Report
By running the model advisor tool, we can see commonly made modelling errors.
10. Code generation
Build a model for generating code
Generated Code
/*
* File: Project_2_Adaptive_Cruise_Control.c
*
* Code generated for Simulink model 'Project_2_Adaptive_Cruise_Control'.
*
* Model version : 1.16
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sun Oct 17 16:38:07 2021
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "Project_2_Adaptive_Cruise_Control.h"
#include "Project_2_Adaptive_Cruise_Control_private.h"
/* Named constants for Chart: '/Requirement3' */
#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)
#define Pro_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Project_2_Ad_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Project_2_Adapt_IN_Standby_mode ((uint8_T)3U)
#define Project_2_Adaptive_C_IN_ON_mode ((uint8_T)2U)
#define Project_2_Adaptive__IN_OFF_mode ((uint8_T)1U)
/* Block states (default storage) */
DW_Project_2_Adaptive_Cruise__T Project_2_Adaptive_Cruise_Co_DW;
/* Real-time model */
static RT_MODEL_Project_2_Adaptive_C_T Project_2_Adaptive_Cruise_Co_M_;
RT_MODEL_Project_2_Adaptive_C_T *const Project_2_Adaptive_Cruise_Co_M =
&Project_2_Adaptive_Cruise_Co_M_;
real_T rt_roundd_snf(real_T u)
{
real_T y;
if (fabs(u) < 4.503599627370496E+15) {
if (u >= 0.5) {
y = floor(u + 0.5);
} else if (u > -0.5) {
y = u * 0.0;
} else {
y = ceil(u - 0.5);
}
} else {
y = u;
}
return y;
}
/* Model step function */
void Project_2_Adaptive_Cruise_Control_step(void)
{
int32_T tmp;
int32_T tmp_0;
uint8_T tmp_1;
uint8_T tmp_2;
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_LeadVehicle'
* Inport: '/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_DriveVehicle'
* Inport: '/RadarInput_DriveVehicle'
* UnitDelay: '/Unit_Delay'
*/
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + Acceleration_Mode) + RadarInput_DriveVehicle);
/* SignalConversion: '/Signal_Conversion' incorporates:
* Inport: '/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '/Requirement3' incorporates:
* Inport: '/CruiseSwitch'
* Inport: '/SetSwitch'
* Inport: '/Set_Gap'
* Inport: '/Set_Speed'
* Inport: '/Time_Gap'
*/
if (Project_2_Adaptive_Cruise_Co_DW.is_active_c3_Project_2_Adaptive == 0U) {
Project_2_Adaptive_Cruise_Co_DW.is_active_c3_Project_2_Adaptive = 1U;
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adaptive__IN_OFF_mode;
Acceleration_Mode = 0U;
} else {
switch (Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise) {
case Project_2_Adaptive__IN_OFF_mode:
Acceleration_Mode = 0U;
if (CruiseSwitch) {
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adapt_IN_Standby_mode;
Acceleration_Mode = 1U;
}
break;
case Project_2_Adaptive_C_IN_ON_mode:
if (!CruiseSwitch) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
Project_2_Ad_IN_NO_ACTIVE_CHILD;
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adaptive__IN_OFF_mode;
Acceleration_Mode = 0U;
} else if (!SetSwitch) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
Project_2_Ad_IN_NO_ACTIVE_CHILD;
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adapt_IN_Standby_mode;
Acceleration_Mode = 1U;
} else {
switch (Project_2_Adaptive_Cruise_Co_DW.is_ON_mode) {
case IN_LeadVehicle_Detected_Follow:
Acceleration_Mode = 2U;
if (LeadVehicle_Detected == 0) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
Pro_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Detected_Resume:
Acceleration_Mode = 3U;
if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
} else if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (LeadVehicle_Detected == 0) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
}
break;
case Pro_IN_LeadVehicle_Not_Detected:
Acceleration_Mode = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
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 ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
{
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Detected_Resume;
Acceleration_Mode = 3U;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 *
(real_T)Set_Gap) == Time_Gap)) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Acceleration_Mode = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
Pro_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
} else {
tmp = (int32_T)rt_roundd_snf((real_T)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 >= DriveVehicle_Speed) && ((int32_T)rt_roundd_snf((real_T)
LeadVehicle_Speed * 0.75) <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && (Time_Gap <= tmp_2) &&
(Time_Gap >= (int32_T)rt_roundd_snf(0.75 * (real_T)Set_Gap))) {
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
}
break;
}
}
break;
default:
/* case IN_Standby_mode: */
Acceleration_Mode = 1U;
if (!CruiseSwitch) {
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adaptive__IN_OFF_mode;
Acceleration_Mode = 0U;
} else if (SetSwitch) {
Project_2_Adaptive_Cruise_Co_DW.is_c3_Project_2_Adaptive_Cruise =
Project_2_Adaptive_C_IN_ON_mode;
Project_2_Adaptive_Cruise_Co_DW.is_ON_mode =
IN_LeadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
}
break;
}
}
/* End of Chart: '/Requirement3' */
}
/* Model initialize function */
void Project_2_Adaptive_Cruise_Control_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void Project_2_Adaptive_Cruise_Control_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/Results:
• After implementing the ACC model run the simulation. So the model is running successfully without any errors then the Adaptive Cruise Control works as per the requirement
• The model is running successfully without any error.
Conclusion:
Hence. The Adaptive Cruise Control feature is developed as per the Requirement Document using MATLAB Simulink