Project 2 Adaptive Cruise Control
Main Project – Adaptive Cruise Control (ACC)
Adaptive cruise control:
The main reason behind cruise control technology is to make driver relax behind the wheel. Because of this, their driving experience becomes safer, thrilling and also saves the fuel consumption. By monitoring other vehicles and objects on the road, adaptive cruise control enables a safe and comfortable driving experience. It helps the driver keep a steady vehicle speed at a given moment. The driver can set their preference regarding certain factors, such as the distance to the car in front, driving mode. Together with information about speed limits, road curvature, accidents data and more, these choices influence the automatically selected speed. As less expensive sensors reached the market, adaptive cruise control is steadily becoming a standard feature in new vehicles today.
In slow-moving traffic, it automatically stops or starts vehicle movement under driver supervision. The car will brake and accelerate on its own, while maintaining a safe distance from the vehicle in front. Intelligent cruise control can automatically adjust the set speed to the newly detected speed limit when the driver is passing a speed limit sign. This is done by fusing camera observation and map data to provide reliable speed restriction information.
Radar-based systems work by placing radar-based sensors on or around plastic fascia's to detect your vehicle's surroundings. Each radar sensor works together to create a comprehensive picture of the vehicle's proximity to other cars or potentially hazardous objects. This type of sensor can look different pending on the design and model of the car.
ACC that uses sensory data to predict the actions of neighbouring vehicles. This means that your car might slow down to brake for another vehicle suddenly switching lanes and, in doing so, promotes passenger safety.
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
Model:
Subsystem:
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<set_speed) &&="" (leadvehicle_speed<drivevehicle_speed)="" ||="" (time_gap="=0.75*Set_Gap)]</em"></set_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 |
- |
- |
Data Dictionary:
For Generating the Model Advisor Report As per the MAAB guideline:-
1.Click on Model Advisor-
2.Then click on Ok-
3.Then Select Modelling standard For MAB
Requirement Tagging & Traceability:
1.To create the Word file for Requirement Tagging in Model.
2.Highlight the contain which we have to tag for subsytem.
3.Right Click on subsytem and selecte Requirement option and selecte Link To Selection in Word.
Code Generation for Model:-
/*
* File: Adaptive_Cruise_Control.c
*
* Code generated for Simulink model 'Adaptive_Cruise_Control'.
*
* Model version : 1.2
* Simulink Coder version : 9.5 (R2021a) 14-Nov-2020
* C/C++ source code generated on : Tue Feb 15 18:29:06 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: '<S3>/ACC_Logic' */
#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)
/* Block states (default storage) */
DW_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_DW;
/* External inputs (root inport signals with default storage) */
ExtU_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_U;
/* External outputs (root outports fed by signals with default storage) */
ExtY_Adaptive_Cruise_Control_T Adaptive_Cruise_Control_Y;
/* 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_;
/* Model step function */
void Adaptive_Cruise_Control_step(void)
{
real_T rtb_Add;
boolean_T rtb_LogicalOperator;
/* Logic: '<S4>/Logical Operator' incorporates:
* Inport: '<Root>/CameraInput_LeadVehicle'
* Inport: '<Root>/RadarInput_LeadVehicle'
*/
rtb_LogicalOperator = (Adaptive_Cruise_Control_U.CameraInput_LeadVehicle &&
Adaptive_Cruise_Control_U.RadarInput_LeadVehicle);
/* Sum: '<S2>/Add' incorporates:
* Inport: '<Root>/CameraInput_DriveVehicle'
* Inport: '<Root>/RadarInput_DriveVehicle'
* UnitDelay: '<S1>/Unit Delay'
*/
rtb_Add = (Adaptive_Cruise_Control_U.CameraInput_DriveVehicle +
Adaptive_Cruise_Control_U.RadarInput_DriveVehicle) +
Adaptive_Cruise_Control_Y.Acceleration_mode;
/* Chart: '<S3>/ACC_Logic' incorporates:
* Inport: '<Root>/CruiseSwitch'
* Inport: '<Root>/RadarInput_DriveVehicle'
* Inport: '<Root>/SetSwitch'
* Inport: '<Root>/Set_Gap'
* Inport: '<Root>/Set_Speed'
* Inport: '<Root>/Time_Gap'
* UnitDelay: '<S1>/Unit Delay'
*/
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;
Adaptive_Cruise_Control_Y.Acceleration_mode = 0.0;
} else {
switch (Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control) {
case Adaptive_Cruise_IN_ACC_OFF_MODE:
Adaptive_Cruise_Control_Y.Acceleration_mode = 0.0;
if (Adaptive_Cruise_Control_U.CruiseSwitch == 1.0) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cr_IN_ACC_STANDBY_MODE;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
}
break;
case Adaptive_Cruise__IN_ACC_ON_MODE:
if (Adaptive_Cruise_Control_U.SetSwitch == 0.0) {
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;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
} else {
switch (Adaptive_Cruise_Control_DW.is_ACC_ON_MODE) {
case IN_LeadVehicle_Detected_Follow:
Adaptive_Cruise_Control_Y.Acceleration_mode = 2.0;
if (Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 0.0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
}
break;
case IN_LeadVehicle_Detected_Resume:
Adaptive_Cruise_Control_Y.Acceleration_mode = 3.0;
if ((rtb_Add == Adaptive_Cruise_Control_U.Set_Speed) && ((real_T)
rtb_LogicalOperator >= Adaptive_Cruise_Control_U.Set_Speed) &&
(Adaptive_Cruise_Control_U.Time_Gap >=
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_mode = 2.0;
} else if (Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 0.0) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
} else if ((rtb_Add < Adaptive_Cruise_Control_U.Set_Speed) && ((real_T)
rtb_LogicalOperator > rtb_Add) &&
(Adaptive_Cruise_Control_U.Time_Gap >=
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_mode = 5.0;
}
break;
case Ada_IN_LeadVehicle_Not_Detected:
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
if ((Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 1.0) &&
(rtb_Add == Adaptive_Cruise_Control_U.Set_Speed) && ((real_T)
rtb_LogicalOperator >= Adaptive_Cruise_Control_U.Set_Speed) &&
(Adaptive_Cruise_Control_U.Time_Gap >=
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Follow;
Adaptive_Cruise_Control_Y.Acceleration_mode = 2.0;
} else if (((Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 1.0)
&& ((real_T)rtb_LogicalOperator <
Adaptive_Cruise_Control_U.Set_Speed)) ||
(Adaptive_Cruise_Control_U.Time_Gap <
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control_Y.Acceleration_mode = 4.0;
}
break;
case IN_LeadVehicle_Not_Detected_Res:
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
break;
case IN_LeadVehicle_Speed_equal_Set_:
Adaptive_Cruise_Control_Y.Acceleration_mode = 5.0;
if ((Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 0.0) ||
(rtb_Add <= Adaptive_Cruise_Control_U.Set_Speed)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Not_Detected_Res;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
} else if (((rtb_Add < Adaptive_Cruise_Control_U.Set_Speed) &&
((real_T)rtb_LogicalOperator > rtb_Add)) ||
(Adaptive_Cruise_Control_U.Time_Gap >=
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Detected_Resume;
Adaptive_Cruise_Control_Y.Acceleration_mode = 3.0;
} else if ((((real_T)rtb_LogicalOperator <
Adaptive_Cruise_Control_U.Set_Speed) && ((real_T)
rtb_LogicalOperator < rtb_Add)) || (0.75 *
Adaptive_Cruise_Control_U.Set_Gap ==
Adaptive_Cruise_Control_U.Time_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_lessthan_S;
Adaptive_Cruise_Control_Y.Acceleration_mode = 4.0;
}
break;
default:
/* case IN_LeadVehicle_Speed_lessthan_Set_Speed: */
Adaptive_Cruise_Control_Y.Acceleration_mode = 4.0;
if ((Adaptive_Cruise_Control_U.RadarInput_DriveVehicle == 0.0) &&
(rtb_Add == Adaptive_Cruise_Control_U.Set_Speed)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
Ada_IN_LeadVehicle_Not_Detected;
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
} else if (((real_T)rtb_LogicalOperator * 1.25 >= rtb_Add) && ((real_T)
rtb_LogicalOperator * 0.75 <= rtb_Add) && (rtb_Add <
Adaptive_Cruise_Control_U.Set_Speed) &&
(Adaptive_Cruise_Control_U.Time_Gap <= 1.25 *
Adaptive_Cruise_Control_U.Set_Gap) &&
(Adaptive_Cruise_Control_U.Time_Gap >= 0.75 *
Adaptive_Cruise_Control_U.Set_Gap)) {
Adaptive_Cruise_Control_DW.is_ACC_ON_MODE =
IN_LeadVehicle_Speed_equal_Set_;
Adaptive_Cruise_Control_Y.Acceleration_mode = 5.0;
}
break;
}
}
break;
default:
/* case IN_ACC_STANDBY_MODE: */
Adaptive_Cruise_Control_Y.Acceleration_mode = 1.0;
if (Adaptive_Cruise_Control_U.CruiseSwitch == 0.0) {
Adaptive_Cruise_Control_DW.is_c3_Adaptive_Cruise_Control =
Adaptive_Cruise_IN_ACC_OFF_MODE;
Adaptive_Cruise_Control_Y.Acceleration_mode = 0.0;
} else if (Adaptive_Cruise_Control_U.SetSwitch == 0.0) {
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;
Adaptive_Cruise_Control_Y.Acceleration_mode = 2.0;
}
break;
}
}
/* End of Chart: '<S3>/ACC_Logic' */
}
/* 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]
*/
Results:
After implementing the ACC model run the simulation. So the model is running successfully without any errors then the Adaptive Cruise
Control works as per the requirement
The model is running successfully without any error.
Conclusion:
Hence. The Adaptive Cruise Control feature is developed as per the Requirement Document using MATLAB Simulink