Project 2 Adaptive Cruise Control
Aim: To Create a Simulink Model for Adaptive Cruise Control and Generating code for it.
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 [(LeadVehicle_Speed
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 |
- |
- |
* Simulink Model:
The above image shows the first layer of the model , having a subsystem with 9 inputs and 4 outputs.
The Adaptive subsystem block consists 3 subsystems in it which are Requirement 1 and Requirement 2 and Requirement 3 .
Requirement 1:
- here camera input lead vehicle and Radar input of lead vehicle are the input.
- the output of this requirement 1 subsystem is lead vehicle speed.
- so by using the inputs we are able to find speed of the lead vehicle.
- here we are adding the two input to get the output
Requirement 2:
- here the inputs are camera input and radar input of the driving vehicle for the requirement subsystem 2.
- the output which we are taking out are speed of the driving vehicle and detection of the lead vehicle.
- here the vehicle driving speed is found from addition of the two signals of camera and radar inputs.
- Detection of the lead vehicle is the conversion of radarinput signal of the driving vehicle.
- here we give Acceleration mode as input which is signal coming from the output used as a feed back.
Requirement 3:
- 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<set_speed) &&="" (leadvehicle_speed<drivevehicle_speed)="" ||="" (time_gap="=0.75*Set_Gap)]</em"></set_speed)>
Tagging Requirements:
we are taggigng the main subsystem of the model.
we should define the document in an saved word document format , and highlight the header of the paragraph related to the one which you are going to tag.
as shown in the above image ,we are tagging the main subsystem, then the subsystem will look like this.
now like that we can tag Requirement 1 and Requirement 2 and Requirement 3 also in the same manner.
Tagging requirement 1.
Now Tagging Requirement 2:
Now Tagging Requirement 3.:
By doing so we have completed tagging the requirements to the respective subsystems.
Building of SLDD:
now we need to link the model with the simulink data dictionary.
1. click on link to data dictionary in the modelling tab.
2. click on new and create a new file for sldd.
3. so a file for sldd has linked with your simulink model.
4. Now going to Model Explorer, add the given data values for the given signals and save the changes.
Resolving signals:
The signals are resolved so that it can values from the SLDD file to avoid junk value to be entered int he logical blocks.
model Update:
The model update is done by clicking Ctrl+D. this checks for any static errors in the model , if there no warning then our model is fine without any static errors.
Updating configuration Prameters:
the type of solver is changed to fixed step and discrete (no continuous states), with sample time of 0.01 seconds.
the system target file is changed to embedded coder : ert.tlc
Now run the model for model advisor reort.
we get
Code Generation:
goto apps select EMBEDDED CODER, and from build Icon select Generate Code.
The Generated Code is
/*
* Academic License - for use in teaching, academic research, and meeting
* course requirements at degree granting institutions only. Not for
* government, commercial, or other organizational use.
*
* File: AdaptiveCruiseControl.c
*
* Code generated for Simulink model 'AdaptiveCruiseControl'.
*
* Model version : 1.7
* Simulink Coder version : 9.6 (R2021b) 14-May-2021
* C/C++ source code generated on : Sun Feb 13 23:35:31 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: Intel->x86-64 (Windows64)
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "AdaptiveCruiseControl.h"
#include "AdaptiveCruiseControl_private.h"
/* Named constants for Chart: '/Requirement3' */
#define Ada_IN_LeadVehicle_Not_Detected ((uint8_T)3U)
#define AdaptiveCrui_IN_AC_STANDBY_MODE ((uint8_T)3U)
#define AdaptiveCrui_IN_NO_ACTIVE_CHILD ((uint8_T)0U)
#define AdaptiveCruiseCo_IN_ACC_ON_MODE ((uint8_T)1U)
#define AdaptiveCruiseCo_IN_AC_OFF_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: ExportToFile */
uint8_T LeadVehicle_Detected; /* '/Signal Conversion' */
/* Definition for custom storage class: Localizable */
uint8_T Acceleration_Mode; /* '/Requirement3' */
uint8_T DriveVehicle_Speed; /* '/Add' */
uint8_T LeadVehicle_Speed; /* '/Add' */
/* Block states (default storage) */
DW_AdaptiveCruiseControl_T AdaptiveCruiseControl_DW;
/* Real-time model */
static RT_MODEL_AdaptiveCruiseContro_T AdaptiveCruiseControl_M_;
RT_MODEL_AdaptiveCruiseContro_T *const AdaptiveCruiseControl_M =
&AdaptiveCruiseControl_M_;
/* Model step function */
void AdaptiveCruiseControl_step(void)
{
/* Outputs for Atomic SubSystem: '/Adaptive Cruise Control' */
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_LeadVehicle'
* Inport: '/RadarInput_LeadVehicle'
*/
LeadVehicle_Speed = (uint8_T)(CameraInput_LeadVehicle + RadarInput_LeadVehicle);
/* Sum: '/Add' incorporates:
* Inport: '/CameraInput_DriveVehicle'
* Inport: '/RadarInput_DriveVehicle'
* UnitDelay: '/Unit Delay'
*/
DriveVehicle_Speed = (uint8_T)((uint8_T)(CameraInput_DriveVehicle +
RadarInput_DriveVehicle) + Acceleration_Mode);
/* 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 (AdaptiveCruiseControl_DW.is_active_c3_AdaptiveCruiseCont == 0U) {
AdaptiveCruiseControl_DW.is_active_c3_AdaptiveCruiseCont = 1U;
AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl =
AdaptiveCruiseCo_IN_AC_OFF_MODE;
} else {
switch (AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl) {
case AdaptiveCruiseCo_IN_ACC_ON_MODE:
if (!SetSwitch) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
AdaptiveCrui_IN_NO_ACTIVE_CHILD;
AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl =
AdaptiveCrui_IN_AC_STANDBY_MODE;
} else {
switch (AdaptiveCruiseControl_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
} else if (LeadVehicle_Detected == 0) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
}
break;
case IN_LeadVehicle_Detected_Resume:
if ((DriveVehicle_Speed == Set_Speed) && (LeadVehicle_Speed >=
Set_Speed) && (Time_Gap >= Set_Gap)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
} else if ((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed) && (Time_Gap >= Set_Gap)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
} else if (LeadVehicle_Detected == 0) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
if (((LeadVehicle_Detected == 1) && (LeadVehicle_Speed < Set_Speed)) ||
(Time_Gap < Set_Gap)) {
AdaptiveCruiseControl_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)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
break;
case IN_LeadVehicle_Speed_equal_Set_:
if ((LeadVehicle_Detected == 0) || (DriveVehicle_Speed <= Set_Speed))
{
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
} else if (((DriveVehicle_Speed < Set_Speed) && (LeadVehicle_Speed >
DriveVehicle_Speed)) || (Time_Gap >= Set_Gap)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Resume;
} else if (((LeadVehicle_Speed < Set_Speed) && (LeadVehicle_Speed <
DriveVehicle_Speed)) || (0.75 * (real_T)Set_Gap ==
Time_Gap)) {
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
if ((LeadVehicle_Detected == 0) && (DriveVehicle_Speed == Set_Speed))
{
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
} else if (((real_T)LeadVehicle_Speed * 1.25 >= DriveVehicle_Speed) &&
((real_T)LeadVehicle_Speed * 0.75 <= DriveVehicle_Speed) &&
(DriveVehicle_Speed < Set_Speed) && ((Time_Gap <= 1.25 *
(real_T)Set_Gap) && (Time_Gap >= 0.75 * (real_T)Set_Gap)))
{
AdaptiveCruiseControl_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
}
break;
}
}
break;
case AdaptiveCruiseCo_IN_AC_OFF_MODE:
if (CruiseSwitch) {
AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl =
AdaptiveCrui_IN_AC_STANDBY_MODE;
}
break;
default:
/* case IN_AC_STANDBY_MODE: */
if (!CruiseSwitch) {
AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl =
AdaptiveCruiseCo_IN_AC_OFF_MODE;
} else if (SetSwitch) {
AdaptiveCruiseControl_DW.is_c3_AdaptiveCruiseControl =
AdaptiveCruiseCo_IN_ACC_ON_MODE;
AdaptiveCruiseControl_DW.is_ACC_ON_MODE = IN_LeadVehicle_Detected_Follow;
}
break;
}
}
/* End of Chart: '/Requirement3' */
/* End of Outputs for SubSystem: '/Adaptive Cruise Control' */
}
/* Model initialize function */
void AdaptiveCruiseControl_initialize(void)
{
/* (no initialization code required) */
}
/* Model terminate function */
void AdaptiveCruiseControl_terminate(void)
{
/* (no terminate code required) */
}
/*
* File trailer for generated code.
*
* [EOF]
*/
Conclusion:-
Hence , the model for the Adaptive Cruise Control has been modeled as per the given requirements. and code has been generated.