Project 2 Adaptive Cruise Control

Aim:- Create a simulink model of Adaptive Cruise Control (ACC), Generate C-Code and Create the Model Advisor report .

Objectives:-

• Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink.
• Requirement Tagging & Traceability.
• SLDD creation.
• Configuration Parameter changes.
• Embedded Code:- Generate C code.
• Model Advisor check and generate Report.

1) Developing Adaptive Cruise Control feature as per the Requirement Document using MATLAB Simulink:-

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

2)Requirement Tagging & Traceability:- Process of Requrements tagging is just right click on the subsytem, and follwing option is available select requirements then link to selection word before tha we have to open the word file in our system and select the data which we want to tagged as shown below.

This is shown for one repeate this process for all the subsystem in this their are three subsystem i.e we have to tagged three requirements.

3)SLDD creation:- SLDD is necessory for all the input , output, localizable signal we have to define By selecting Data type, Resolution, Minimum and max value ,Dimention, Storage class according to given data as shown below. Which are used in the simulink model .

The process of sldd creation is shown below.

1. In modeling tab we have to select link to data dictionary as shown below

2.Then select new, select location give the name and select sldd axtension save the file and add then we appeare the link to path or add to path select add to path and proced.

3.Select add to path.

4.In the left hand side corner we have following option select the external data as shown below.

5.Following window is open click on Add and select the variable, parameter, lookup table,etc. select according to our requirement.

6.After creating the sldd save the changes and Resolve and propogate the signal and Run the model.

4)Configuration Parameter changes:-

1.Before Run the model and code generation we have to change following Configuration Parameter.

2.In solver select the Fixed-step type and discrete solver as shown below.

3.In Code generation Select ert.tlc Embedded Coder to generate a embedded code .

4.In Code Generation select interface check the following boxes i.e floating-point numbers and others as shown below.

5. Sample time for our system set to 0.01 as shown below as per our project objectives.

Before Run the simulink model and before generate a embedded code we have to change above parameter in Configuration.

5)Embedded Code:- Generate C code

To create the code we have to follow following steps as shown below.

1. First go to app then select Embedded Coder .

2.Subsystem Block will open Select Generate code

3.After select this option wait for some time and the code will appeare in right hand side as shown below.

The following C-code will generated after executing the above steps.

/*
 * File: Adaptive_Cruise_Control.c
 *
 * Code generated for Simulink model 'Adaptive_Cruise_Control'.
 *
 * Model version                  : 1.10
 * Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
 * C/C++ source code generated on : Mon Jan 17 01:40:55 2022
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Intel->x86-64 (Windows64)
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#include "Adaptive_Cruise_Control.h"
#include "Adaptive_Cruise_Control_private.h"

/* Named constants for Chart: '/ACC' */
#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define Adaptive_Cr_IN_ACC_STANDBY_MODE ((uint8_T)3U)
#define Adaptive_Cru_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define Adaptive_Cruise_IN_ACC_OFF_MODE ((uint8_T)1U)
#define Adaptive_Cruise__IN_ACC_ON_MODE ((uint8_T)2U)
#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)

/* Exported data definition */

/* Definition for custom storage class: Localizable */
uint8_T Acceleration_Mode;             /* '/ACC' */

/* Block states (default storage) */
DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;

/* Real-time model */
static RT_MODEL_Adaptive_Cruise_Cont_T Adaptive_Cruise_Control_M_;
RT_MODEL_Adaptive_Cruise_Cont_T *const Adaptive_Cruise_Control_M =
  &Adaptive_Cruise_Control_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 Adaptive_Cruise_Control_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 + Acceleration_Mode) + RadarInput_DriveVehicle);

  /* SignalConversion: '/Signal Conversion' incorporates:
   *  Inport: '/RadarInput_DriveVehicle'
   */
  LeadVehicle_Detected = RadarInput_DriveVehicle;

  /* Chart: '/ACC' incorporates:
   *  Inport: '/CruiseSwitch'
   *  Inport: '/SetSwitch'
   *  Inport: '/Set_Gap'
   *  Inport: '/Set_Speed'
   *  Inport: '/Time_Gap'
   */
  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_IN_ACC_OFF_MODE;
    Acceleration_Mode = 0U;
  } else {
    switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
     case Adaptive_Cruise_IN_ACC_OFF_MODE:
      Acceleration_Mode = 0U;
      if (CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cr_IN_ACC_STANDBY_MODE;
        Acceleration_Mode = 1U;
      }
      break;

     case Adaptive_Cruise__IN_ACC_ON_MODE:
      if (!CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          Adaptive_Cru_IN_NO_ACTIVE_CHILD;
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise_IN_ACC_OFF_MODE;
        Acceleration_Mode = 0U;
      } else if (!SetSwitch) {
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          Adaptive_Cru_IN_NO_ACTIVE_CHILD;
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cr_IN_ACC_STANDBY_MODE;
        Acceleration_Mode = 1U;
      } else {
        switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
         case IN_LeadVehicle_Detected_Follow:
          Acceleration_Mode = 2U;
          if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
              (Time_Gap < Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
          } else if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              Ada_IN_LeadVehicle_Not_Detected;
            Acceleration_Mode = 1U;
          } else if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
                      Set_Speed) && (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Resume;
            Acceleration_Mode = 3U;
          }
          break;

         case IN_LeadVehicle_Detected_Resume:
          Acceleration_Mode = 3U;
          if (LeadVehicle_Detected == 0) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Acceleration_Mode = 1U;
          } else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                      DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_equal_Set_;
            Acceleration_Mode = 5U;
          }
          break;

         case Ada_IN_LeadVehicle_Not_Detected:
          Acceleration_Mode = 1U;
          if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
              (Time_Gap < Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
          } else if ((LeadVehicle_Detected == 1) && (DriveVehicle_Speed ==
                      Set_Speed) && (LeadVehicle_Speed >= Set_Speed) &&
                     (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Follow;
            Acceleration_Mode = 2U;
          }
          break;

         case IN_LeadVehicle_Not_Detected_Res:
          Acceleration_Mode = 1U;
          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)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Speed_lessthan_S;
          } else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
                       DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Detected_Resume;
            Acceleration_Mode = 3U;
          } else if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <=
                      Set_Speed)) {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              IN_LeadVehicle_Not_Detected_Res;
            Acceleration_Mode = 1U;
          }
          break;

         default:
          /* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
          if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
          {
            Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
              Ada_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))) {
              Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
                IN_LeadVehicle_Speed_equal_Set_;
              Acceleration_Mode = 5U;
            }
          }
          break;
        }
      }
      break;

     default:
      /* case IN_ACC_STANDBY_MODE: */
      Acceleration_Mode = 1U;
      if (!CruiseSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise_IN_ACC_OFF_MODE;
        Acceleration_Mode = 0U;
      } else if (SetSwitch) {
        Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
          Adaptive_Cruise__IN_ACC_ON_MODE;
        Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
          IN_LeadVehicle_Detected_Follow;
        Acceleration_Mode = 2U;
      }
      break;
    }
  }

  /* End of Chart: '/ACC' */
}

/* 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]
 */

6)Model Advisor check and generate Report:-

To perfoem model advisor check and generate report following steps we have to follow.

1.First go to the modeling and select the Model Advisor.

2.Then select Adaptive_Cruise_Control and click ok.

3.Then select By Task and check Modelling Standard for MAAB and click on Run Selected checks and wait.

4.In summary If fail i equal to 0 the click on generate Report in htmk,word,pdf as per our requirements, otherwise modify the error and repeate the process until the fail in summary shows 0.

5. After genarating report The model advisor report is look like as shown below.

Conclusion:-

Hence we understood the adaptive cruise control model and completing project objectives i.e, create Simulink model, Requirements tagging , Creation of SLDD,Configuration setting , C-Code generation, Model Advisor Report. In the model advisor report Fail=0 means our model is correct and their is no mistake according standard for MAAB.