Project 2 Adaptive Cruise Control
AIM:
To create a Adaptive Cruise Control model for a passenger vehicle.In this model we are going to develope model to select the acceleration mode for Adaptive Cruise Control base on the lead and host vehicle speed.To develope a model,do requirement tagging generate a model Advisior report and to Generate a c code for this model.
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:
- 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:
- 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
Lead_Vehicle:
- This subsystem is to detect the speed of the lead vehicle speed,the input signal to the system is the radar and the camera signal,the sensor fusion technique s orginally implemented to obtain the output for simplicity we use a sum block.
- The output signal is LEAD VEHICLE SPEED.
Drive_Vehicle:
- This subsystem to get the drive vehicle speed and wheather the lead vehicle is detected or not.
- The logic is obtained by using summation block for drive vehicle speed and a signal conversion block is used for detecting lead vehicle.
ACC_Algorithm:
- This subsystem is to select the acceleration mode for drive vehicle,this is achived by using state flow chart.
- The output of this subsystem is Acceleration mode.
The states are
- ACC OFF MODE
- ACC STANDBY MODE
- ACC ON MODE
ACC ON MODE has 6 substates are
- LeadVehicle_Detected_Follow (Default)
- LeadVehicle_Not_Detected
- LeadVehicle_Detected_Resume
- LeadVehicle_Not_Detected_Resume
- LeadVehicle_Speed_lessthan_Set_Speed
- LeadVehicle_Speed_equalto_Set_Speed
DATA DICTIONARY CREATION:
- A new SLDD is created as Vehicle_Direction_Detection_DD and it is linked with the model.
- All the simulink input/output signal calib_parameters and local signals which are used in model are created and their respective storage class are given as per requirement.
MODEL CONFIGURATION SETTING:
- The basic configuration setting is shown below
REQUIREMENTS TAGGING:
- Right click the subsystem/block you want to tag for the requirement tagging select the requirement and select the tagging with word document.
- For this we want the requirement as a word/exel/in matlab model file.
- It will create a link between the subsystem/block with the document in .slxc format.
- The linked .slxc is attached below.
CODE GENERATION:
- The code generation setting is shown above
- the generated main c code is shown below the code will generate along with comments but purposly i removed the comments.
#include "Adaptive_Cruise_control.h"
#include "Adaptive_Cruise_control_private.h"
#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)
DW_Adaptive_Cruise_control_T Adaptive_Cruise_control_DW;
ExtY_Adaptive_Cruise_control_T Adaptive_Cruise_control_Y;
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_;
static void rate_scheduler(void);
static void rate_scheduler(void)
{
(Adaptive_Cruise_control_M->Timing.TaskCounters.TID[1])++;
if ((Adaptive_Cruise_control_M->Timing.TaskCounters.TID[1]) > 99) {
Adaptive_Cruise_control_M->Timing.TaskCounters.TID[1] = 0;
}
}
real_T rt_roundd(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 = 0.0;
} else {
y = ceil(u - 0.5);
}
} else {
y = u;
}
return y;
}
void Adaptive_Cruise_control_step(void)
{
uint8_T LeadVehicle_Speed;
uint8_T DriveVehicle_Speed;
uint8_T LeadVehicle_Detected;
boolean_T i_sf_internal_predicateOutput;
if (Adaptive_Cruise_control_M->Timing.TaskCounters.TID[1] == 0) {
LeadVehicle_Speed = (uint8_T)((uint32_T)CameraInput_LeadVehicle +
RadarInput_LeadVehicle);
Acceleration_Mode = Adaptive_Cruise_control_Y.Acceleration_Mode_i;
DriveVehicle_Speed = (uint8_T)((uint32_T)(uint8_T)((uint32_T)
CameraInput_DriveVehicle + RadarInput_DriveVehicle) + Acceleration_Mode);
LeadVehicle_Detected = RadarInput_DriveVehicle;
if (Adaptive_Cruise_control_DW.bitsForTID1.is_active_c3_Adaptive_Cruise_co ==
0U) {
Adaptive_Cruise_control_DW.bitsForTID1.is_active_c3_Adaptive_Cruise_co =
1U;
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cruise_IN_ACC_OFF_Mode;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 0U;
} else {
switch
(Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control) {
case Adaptive_Cruise_IN_ACC_OFF_Mode:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 0U;
if (CruiseSwitch) {
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cr_IN_ACC_StandBy_Mode;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
}
break;
case Adaptive_Cruise__IN_ACC_ON_Mode:
if (!CruiseSwitch) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cruise_IN_ACC_OFF_Mode;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 0U;
} else if (!SetSwitch) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
Adaptive_Cru_IN_NO_ACTIVE_CHILD;
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cr_IN_ACC_StandBy_Mode;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
} else {
switch (Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 2U;
if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
} else {
i_sf_internal_predicateOutput = (((LeadVehicle_Detected == 1) &&
(LeadVehicle_Speed < Set_Speed)) || (Time_Gap < Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 4U;
}
}
break;
case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 3U;
i_sf_internal_predicateOutput = ((DriveVehicle_Speed == Set_Speed) &&
(LeadVehicle_Speed >= Set_Speed) && (Time_Gap >= Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 2U;
} else if (LeadVehicle_Detected == 0) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
} else {
i_sf_internal_predicateOutput = ((DriveVehicle_Speed < Set_Speed) &&
(LeadVehicle_Speed > DriveVehicle_Speed) && (Time_Gap >= Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 4U;
}
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
i_sf_internal_predicateOutput = ((LeadVehicle_Detected == 1) &&
(DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 2U;
} else {
i_sf_internal_predicateOutput = (((LeadVehicle_Detected == 1) &&
(LeadVehicle_Speed < Set_Speed)) || (Time_Gap < Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 4U;
}
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
break;
case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 5U;
i_sf_internal_predicateOutput = ((LeadVehicle_Detected == 0) ||
(DriveVehicle_Speed <= Set_Speed));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
} else {
i_sf_internal_predicateOutput = (((DriveVehicle_Speed < Set_Speed)
&& (LeadVehicle_Speed > DriveVehicle_Speed)) || (Time_Gap >=
Set_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Detected_Resume;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 3U;
} else {
i_sf_internal_predicateOutput = (((LeadVehicle_Speed < Set_Speed)
&& (LeadVehicle_Speed < DriveVehicle_Speed)) || ((int32_T)
rt_roundd(0.75 * (real_T)Set_Gap) == Time_Gap));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 4U;
}
}
}
break;
default:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 4U;
i_sf_internal_predicateOutput = ((LeadVehicle_Detected == 0) &&
(DriveVehicle_Speed == Set_Speed));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
} else {
i_sf_internal_predicateOutput = (((uint8_T)rt_roundd((real_T)
LeadVehicle_Speed * 1.25) >= DriveVehicle_Speed) && ((int32_T)
rt_roundd((real_T)LeadVehicle_Speed * 0.75) <=
DriveVehicle_Speed) && (DriveVehicle_Speed < Set_Speed) &&
(Time_Gap <= (uint8_T)rt_roundd(1.25 * (real_T)Set_Gap)) &&
(Time_Gap >= (int32_T)rt_roundd(0.75 * (real_T)Set_Gap)));
if (i_sf_internal_predicateOutput) {
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 5U;
}
}
break;
}
}
break;
default:
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 1U;
if (!CruiseSwitch) {
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cruise_IN_ACC_OFF_Mode;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 0U;
} else if (SetSwitch) {
Adaptive_Cruise_control_DW.bitsForTID1.is_c3_Adaptive_Cruise_control =
Adaptive_Cruise__IN_ACC_ON_Mode;
Adaptive_Cruise_control_DW.bitsForTID1.is_ACC_ON_Mode =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_control_Y.Acceleration_Mode_i = 2U;
}
break;
}
}
}
rate_scheduler();
}
void Adaptive_Cruise_control_initialize(void)
{
}
void Adaptive_Cruise_control_terminate(void)
{
}
MODEL ADVISIOR:
- The model advisior will help to check the model with respect to MAAB guidelines.
RESULT:
Thus a model to detect the acceleration mode for ACC is developed as per requirements.