Project 2 Adaptive Cruise Control
AIM: To develop an Adaptive Cruise Control feature as per requirement.
OBJECTIVE:
- 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:
- 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 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 that has ACC algorithm in it.
- Like the Lead Vehicle, the 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 are 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 block as well.
- Output from this subsystem is a signal (Signal Name: Acceleration_Mode) that 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 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
- LeadVehicle_Speed_equal_Set_Speed
Requirement 3c (i) – LeadVehicle_Detected_Follow (ACC ON MODE):
- This is the default sub-state 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*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))]
SIGNAL & 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 |
- |
- |
SIMULINK MODEL:
Main Model:
Subsystem:
Lead Vehicle subsystem:
Drive Vehicle subsystem:
Adaptive Cruise Control Algorithm Subsystem:
ACC Algorithm Stateflow chart:
REQUIREMENT TAGGING:
The following are the step involved in tagging a requirement to a model:
1. Highlight the requirement stated in the Word File.
2. Right-click on the subsystem into which the particular requirement has to be tagged.
3. Select 'Requirements' and then select 'Link to Selection in Word'.
SLDD File:
The signal & calibration data have been defined in the Simulink Data Dictionary as under and linked to the model.
MAAB Guidelines Test in Model Advisor:
This test is done using the 'Model Advisor' option in Simulink to check whether the model meets the MAAB standards.
The following are the steps to be followed:
1. Click on Model Advisor, a System selector window pops up.
2. Select the entire Model and then click ok.
3. After some time the Model Advisor window will open.
4. Navigate to 'Modeling standards for MAB' and then select the checkbox.
5. Now, click on 'Run Selected Checks'
6. Model Advisor will check the model and generate a report.
The report in .html format is attached with the challenge section.
C-Code Generation:
The following steps must be followed to Generate C-Code:
1. In the configuration block set the Solver to Fixed-step & Discrete, select step size, (I took 0.01)
2. Then under the Code Generation tab, change the System target file to 'ert.tlc' and check the Generate Code only checkbox and click on apply and ok.
3. From the apps section navigate to Embedded Coder.
4. C Code section opens up, select 'Generate Code'
Note: C-Code generation will be successful only if the MAB test has no Failures, else C-Code won't be generated.
/*
* File: ACC_Proj.c
*
* Code generated for Simulink model 'ACC_Proj'.
*
* Model version : 1.16
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Sat Jan 15 21:00:01 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "ACC_Proj.h"
#include "ACC_Proj_private.h"
/* Named constants for Chart: '/ACC_Algo' */
#define ACC_IN_LeadVehicle_Not_Detected ((uint8_T)1U)
#define ACC_Proj_IN_ACC_OFF_MODE ((uint8_T)1U)
#define ACC_Proj_IN_ACC_ON_MODE ((uint8_T)2U)
#define ACC_Proj_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define ACC_Proj_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define IN_LeadVehicle_Speed_equal_Set_ ((uint8_T)2U)
#define IN_LeadVehicle_Speed_lessthan_S ((uint8_T)3U)
#define IN_LoadVehicle_Detected_Follow ((uint8_T)4U)
#define IN_LoadVehicle_Detected_Resume ((uint8_T)5U)
#define IN_LoadVehicle_Not_Detected_Res ((uint8_T)6U)
/* Block states (default storage) */
DW_ACC_Proj_T ACC_Proj_DW;
/* Real-time model */
static RT_MODEL_ACC_Proj_T ACC_Proj_M_;
RT_MODEL_ACC_Proj_T *const ACC_Proj_M = &ACC_Proj_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 ACC_Proj_step(void)
{
/* local block i/o variables */
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;
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 + RadarInput_DriveVehicle) + Acceleration_Mode);
/* SignalConversion: '/Signal Conversion' incorporates:
* Inport: '/RadarInput_DriveVehicle'
*/
LeadVehicle_Detected = RadarInput_DriveVehicle;
/* Chart: '/ACC_Algo' incorporates:
* Inport: '/CruiseSwitch'
* Inport: '/SetSwitch'
* Inport: '/Set_Gap'
* Inport: '/Set_Speed'
* Inport: '/Time_Gap'
*/
if (ACC_Proj_DW.is_active_c3_ACC_Proj == 0U) {
ACC_Proj_DW.is_active_c3_ACC_Proj = 1U;
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_OFF_MODE;
Acceleration_Mode = 0U;
} else {
switch (ACC_Proj_DW.is_c3_ACC_Proj) {
case ACC_Proj_IN_ACC_OFF_MODE:
Acceleration_Mode = 0U;
if (!CruiseSwitch) {
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_STANDBY_MODE;
Acceleration_Mode = 1U;
} else if (!CruiseSwitch) {
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_ON_MODE;
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
}
break;
case ACC_Proj_IN_ACC_ON_MODE:
if (!SetSwitch) {
ACC_Proj_DW.is_ACC_ON_MODE = ACC_Proj_IN_NO_ACTIVE_CHILD;
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_STANDBY_MODE;
Acceleration_Mode = 1U;
} else {
switch (ACC_Proj_DW.is_ACC_ON_MODE) {
case ACC_IN_LeadVehicle_Not_Detected:
Acceleration_Mode = 1U;
if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed <
Set_Speed)) || (Time_Gap < Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
}
break;
case IN_LeadVehicle_Speed_equal_Set_:
Acceleration_Mode = 5U;
if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || ((int32_T)rt_roundd_snf(0.75 * (real_T)
Set_Gap) == Time_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
} else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
Set_Speed)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Detected_Resume;
Acceleration_Mode = 3U;
}
break;
case IN_LeadVehicle_Speed_lessthan_S:
Acceleration_Mode = 4U;
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
ACC_Proj_DW.is_ACC_ON_MODE = ACC_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))) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
}
break;
case IN_LoadVehicle_Detected_Follow:
Acceleration_Mode = 2U;
if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_lessthan_S;
Acceleration_Mode = 4U;
} else if (LeadVehicle_Detected == 0) {
ACC_Proj_DW.is_ACC_ON_MODE = ACC_IN_LeadVehicle_Not_Detected;
Acceleration_Mode = 1U;
}
break;
case IN_LoadVehicle_Detected_Resume:
Acceleration_Mode = 3U;
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
} else if (LeadVehicle_Detected == 0) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Not_Detected_Res;
Acceleration_Mode = 1U;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
ACC_Proj_DW.is_ACC_ON_MODE = IN_LeadVehicle_Speed_equal_Set_;
Acceleration_Mode = 5U;
}
break;
default:
/* case IN_LoadVehicle_Not_Detected_Resume: */
Acceleration_Mode = 1U;
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Acceleration_Mode = 1U;
if (CruiseSwitch) {
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_OFF_MODE;
Acceleration_Mode = 0U;
} else if (SetSwitch) {
ACC_Proj_DW.is_c3_ACC_Proj = ACC_Proj_IN_ACC_ON_MODE;
ACC_Proj_DW.is_ACC_ON_MODE = IN_LoadVehicle_Detected_Follow;
Acceleration_Mode = 2U;
}
break;
}
}
/* End of Chart: '/ACC_Algo' */
}
/* Model initialize function */
void ACC_Proj_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void ACC_Proj_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
CONCLUSION:
After completing this project, I have learned to create Multilayered Complex Simulink models, Simulink Stateflow modeling, signal labeling, resolving of signals, testing a model for MAB, generation of MAB report, generation of C-code for the models. Also, I have gained an in-depth knowledge of designing Adaptive Control Algorithm.