Challenge

Project 2 Adaptive Cruise Control

DDurga Prasad Sunnam4 Dec 2024

Adaptive Cruise Control

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:

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

Requirement 1– Lead Vehicle:

• Lead Vehicle is a vehicle which is driving in the road ahead of our drive vehicle. Two input signals (Signal Name: CameraInput_LeadVehicle & RadarInput_LeadVehicle).

• Ideally sensor fusion techniques will be deployed to process & analyze data from camera & radar. For complexity reasons, let’s not adapt to any such algorithms.

• We can simply add both the radar & camera inputs & the corresponding output is read as Speed profile output (Signal Name: LeadVehicle_Speed).

• Speed data of the lead vehicle is critical in implementing the Adaptive Cruise Control algorithm.

Requirement 2 – Drive Vehicle:

• Drive Vehicle is the vehicle driven by the user & this is the vehicle which has ACC algorithm in it.

• Like the Lead Vehicle, Drive Vehicle algorithm also has 2 input signals (Signal Name: CameraInput_DriveVehicle, RadarInput_DriveVehicle) & one signal coming as an Input to this subsystem (Signal Name: Acceleration_Mode) – three inputs into this requirement in total.

• Like the above requirement, sensor fusion techniques will also be deployed here, for complexity reasons we are ignoring them.

• Two output signals come from this subsystem (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected).

• Signal DriveVehicle_Speed is summation of three input signals mentioned above & LeadVehicle_Detected is renamed from Input Signal RadarInput_DriveVehicle by mere use of Signal Conversion block.

Requirement 3 – Adaptive Cruise Control Algorithm:

• Adaptive Cruise Control feature has 3 major modes of operation: OFF Mode, STANDBY Mode & ON Mode. This particular requirement has to be implemented as state machine logic in Simulink.

• The input signals to this state machine system are (Signal Name: Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch).

• Also, the output signals (Signal Name: DriveVehicle_Speed & LeadVehicle_Detected) from requirement-2 is fed back as an input signal into this state machine block.

• Additionally, output signal (Signal Name: LeadVehicle_Speed) from requirement-1 is given as an input signal to this state machine block as well.

• Output from this subsystem is a signal (Signal Name: Acceleration_Mode) which governs the vehicular speed of the drive vehicle which automatically adjusts its speed & velocity to match the lead vehicle.

Requirement 3a – ACC OFF MODE state logic:

• This is the default state inside state machine logic. Output signal Acceleration_Mode is at value 0 in this state.

• This state is governed by input signal CruiseSwitch.

• If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode.

Requirement 3b – ACC STANDBY MODE state logic:

• This is the second activated state inside state machine logic. Output signal Acceleration_Mode is at value 1 in this state.

• This state is governed by both input signals CruiseSwitch & SetSwitch.

• If CruiseSwitch is equal to 1, state ACC STANDBY mode will get activated. If CruiseSwitch is equal to 0, state ACC OFF mode will get activated, from either ACC ON mode or ACC STANDBY mode

• If SetSwitch is equal to 1, state ACC ON mode will get activated. If SetSwitch is equal to 0, state ACC STANDBY mode will get activated.

Requirement 3c – ACC ON MODE state logic:

This state will be activated when input signal SetSwitch is equal to 1. There are 6 sub states to this state logic: They are:

• LeadVehicle_Detected_Follow (Default)

• LeadVehicle_Not_Detected

• LeadVehicle_Detected_Resume

• LeadVehicle_Not_Detected_Resume

• LeadVehicle_Speed_lessthan_Set_Speed

• LeadVehicle_Speed_equal_Set_Speed

Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):

• This is the default sub state inside ACC ON MODE state. Output signal Acceleration_Mode is equal to 2.

• Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Not_Detected; Input signal condition LeadVehicle_Detected == 0.

• Condition to transit from LeadVehicle_Detected_Follow to LeadVehicle_Speed_lessthan_Set_Speed; Input Signals condition (LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap).

Requirement 3c (ii) – LeadVehicle_Not_Detected (ACC ON MODE):

• Output signal Acceleration_Mode is equal to 1.

• Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Detected_Follow; Input signals condition [(LeadVehicle_Detected==1) && (DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)]

• Condition to transit from LeadVehicle_Not_Detected to LeadVehicle_Speed_lessthan_Set_Speed; Input signals condition [(LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed) || (Time_Gap < Set_Gap)]

Requirement 3c (iii) – LeadVehicle_Detected_Resume (ACC ON MODE):

• Output signal Acceleration_Mode is equal to 3.

• Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Detected_Follow; Input signals condition [(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >= Set_Speed) && (Time Gap >= Set_Gap)]

• Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Not_Detected_Resume; Input signal condition LeadVehicle_Detected==0.

• Condition to transit from LeadVehicle_Detected_Resume to LeadVehicle_Speed_equal_Set_Speed; Input Signal condition [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap)]

Requirement 3c (iv) - LeadVehicle_Not_Detected_Resume (ACC ON MODE):

• Output signal Acceleration_Mode is equal to 1.

Requirement 3c (v) - LeadVehicle_Speed_lessthan_Set_Speed (ACC ON MODE):

• Output signal Acceleration_Mode is equal to 4.

• Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Not_Detected; Input signal condition [(LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed)]

• Condition to transit from LeadVehicle_Speed_lessthan_Set_Speed to LeadVehicle_Speed_equal_Set_Speed; Input signals condition [((LeadVehicle_Speed*1.25>=DriveVehicle_Speed) && (LeadVehicle_Speed * 0.75<=DriveVehicle_Speed)) && (DriveVehicle_Speed < Set_Speed) && ((Time_Gap<=1.25*Set_Gap) && (Time_Gap >=0.75*Set_Gap))]

Requirement 3c (vi) - LeadVehicle_Speed_equal_Set_Speed (ACC ON MODE):

• Output signal Acceleration_Mode is equal to 5.

• Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Not_Detected_Resume; Input signal conditions is [(LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed)]

• Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Detected_Resume; Input signal conditions [(DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed > DriveVehicle_Speed) || (Time_Gap >= Set_Gap)]

• Condition to transit from LeadVehicle_Speed_equal_Set_Speed to LeadVehicle_Speed_lessthan_Set_Speed; Input signals conditions [(LeadVehicle_Speed<="" em="">

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 - -

Model:

The whole model consists of 2 subsystems for requirement 1 and 2 and for requirement 3 there is state machine.

Requirement 1:

As per the document lead vehicle inputs from sensor i.e. camera and radar is given to addition block since we are avoiding complex algorithm. The output of addition will be considered as a speed of lead vehicle.

Requirement 2

Here we are dealing with drive vehicle which has ACC algorithm.

The two inputs camera and radar along with the signal Acceleration mode which is coming from the final output.

Requirement 3

Input signals given to the system are as follows:

Time_Gap, Set_Speed, Set_Gap, CruiseSwitch, SetSwitch

The output signals coming from requirement 1 subsystem are given as input:

LeadVehicle_Speed

Also the output signal coming from requirement 2 subsystem are given as input to state machine

DriveVehicle_Speed & LeadVehicle_Detected

The output of state machine will be acceleration mode which will automatically adjust its speed and velocity to match the lead vehicle.

ACC algorithm: It has 3 modes of operation

OFF mode

STANDBY mode

ON mode

Configuration parameter settings:

* AdaptiveCruiseControl.h

* Trial License - for use to evaluate programs for possible purchase as

* an end-user only.

* Code generation for model "AdaptiveCruiseControl".

* Model version : 1.3

* Simulink Coder version : 24.2 (R2024b) 21-Jun-2024

* C source code generated on : Wed Dec 4 12:47:35 2024

* Target selection: grt.tlc

* Note: GRT includes extra infrastructure and instrumentation for prototyping

* Embedded hardware selection: Intel->x86-64 (Windows64)

* Code generation objectives: Unspecified

* Validation result: Not run

#ifndef AdaptiveCruiseControl_h_

#define AdaptiveCruiseControl_h_

#ifndef AdaptiveCruiseControl_COMMON_INCLUDES_

#define AdaptiveCruiseControl_COMMON_INCLUDES_

#include "rtwtypes.h"

#include "rtw_continuous.h"

#include "rtw_solver.h"

#include "rt_logging.h"

#include "rt_nonfinite.h"

#include "math.h"

#endif /* AdaptiveCruiseControl_COMMON_INCLUDES_ */

#include "AdaptiveCruiseControl_types.h"

#include <float.h>

#include <string.h>

#include <stddef.h>

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

#ifndef rtmGetFinalTime

#define rtmGetFinalTime(rtm) ((rtm)->Timing.tFinal)

#endif

#ifndef rtmGetRTWLogInfo

#define rtmGetRTWLogInfo(rtm) ((rtm)->rtwLogInfo)

#endif

#ifndef rtmGetErrorStatus

#define rtmGetErrorStatus(rtm) ((rtm)->errorStatus)

#endif

#ifndef rtmSetErrorStatus

#define rtmSetErrorStatus(rtm, val) ((rtm)->errorStatus = (val))

#endif

#ifndef rtmGetStopRequested

#define rtmGetStopRequested(rtm) ((rtm)->Timing.stopRequestedFlag)

#endif

#ifndef rtmSetStopRequested

#define rtmSetStopRequested(rtm, val) ((rtm)->Timing.stopRequestedFlag = (val))

#endif

#ifndef rtmGetStopRequestedPtr

#define rtmGetStopRequestedPtr(rtm) (&((rtm)->Timing.stopRequestedFlag))

#endif

#ifndef rtmGetT

#define rtmGetT(rtm) ((rtm)->Timing.taskTime0)

#endif

#ifndef rtmGetTFinal

#define rtmGetTFinal(rtm) ((rtm)->Timing.tFinal)

#endif

#ifndef rtmGetTPtr

#define rtmGetTPtr(rtm) (&(rtm)->Timing.taskTime0)

#endif

/* Block signals (default storage) */

typedef struct {

uint8_T LeadVehicle_Speed; /* '<S4>/add' */

uint8_T Acceleration_Mode; /* '<S1>/unit _delay' */

uint8_T DriveVehicle_Speed; /* '<S3>/Add' */

uint8_T LeadVehicle_Detected; /* '<S3>/Signal_Conversion' */

} B_AdaptiveCruiseControl_T;

/* Block states (default storage) for system '<Root>' */

typedef struct {

uint8_T Acceleration_Mode; /* '<S1>/unit _delay' */

uint8_T is_active_c1_AdaptiveCruiseCont;/* '<S2>/Modes_operation' */

uint8_T is_c1_AdaptiveCruiseControl; /* '<S2>/Modes_operation' */

} DW_AdaptiveCruiseControl_T;

/* External outputs (root outports fed by signals with default storage) */

typedef struct {

uint8_T Acceleration_Mode; /* '<Root>/Acceleration_Mode' */

} ExtY_AdaptiveCruiseControl_T;

/* Real-time Model Data Structure */

struct tag_RTM_AdaptiveCruiseControl_T {

const char_T *errorStatus;

RTWLogInfo *rtwLogInfo;

* Timing:

* The following substructure contains information regarding

* the timing information for the model.

struct {

time_T taskTime0;

uint32_T clockTick0;

uint32_T clockTickH0;

time_T stepSize0;

time_T tFinal;

boolean_T stopRequestedFlag;

} Timing;

};

/* Block signals (default storage) */

extern B_AdaptiveCruiseControl_T AdaptiveCruiseControl_B;

/* Block states (default storage) */

extern DW_AdaptiveCruiseControl_T AdaptiveCruiseControl_DW;

/* External outputs (root outports fed by signals with default storage) */

extern ExtY_AdaptiveCruiseControl_T AdaptiveCruiseControl_Y;

/* Model entry point functions */

extern void AdaptiveCruiseControl_initialize(void);

extern void AdaptiveCruiseControl_step(void);

extern void AdaptiveCruiseControl_terminate(void);

/* Real-time Model object */

extern RT_MODEL_AdaptiveCruiseContro_T *const AdaptiveCruiseControl_M;

/*-

* 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>' : 'AdaptiveCruiseControl'

* '<S1>' : 'AdaptiveCruiseControl/Subsystem'

* '<S2>' : 'AdaptiveCruiseControl/Subsystem/ACCAlgorithm'

* '<S3>' : 'AdaptiveCruiseControl/Subsystem/DriveVehicle'

* '<S4>' : 'AdaptiveCruiseControl/Subsystem/LeadVehicle'

* '<S5>' : 'AdaptiveCruiseControl/Subsystem/ACCAlgorithm/Modes_operation'

#endif /* AdaptiveCruiseControl_h_ */

Project 2 Adaptive Cruise Control

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in your own course.