├── project
├── readme.md
├── resources
│ ├── readme.md
│ ├── Project.xml
│ ├── uuid-35465a2e-9b0e-4570-9823-25fbffa5f15d.xml
│ └── ProjectData.type.Info.xml
├── ACC.slx
├── ACC.slxc
├── ACC (2).slxc
├── VehicleFollowing.slx
├── VehicleFollowing_copy.slx
├── plotVehicle.m
├── Vehiclefollowingmodelwith3DAnimation.prj
├── license.txt
├── NiceVehicleFrame.m
├── trajectory_generator.m
└── PlatoonWorld.WRL
├── images
├── readme.md
├── P2.wrl.thumbnail.png
├── Stateflow_sequence_viewer.png
├── Free_Driving_Mode_Scenario.png
├── Adaptive_cruise_mode_Scenario.png
├── Relative_distance_and_velocity_graph.png
└── Simulink_Model_of_Adaptive_Cruise_Control_System.png
├── Main_files
├── main_files_readme.md
├── min_traj_planner.mlx
├── traj_controller.m
└── traj_planner_v2.m
├── P2.wrl.thumbnail.png
├── LICENSE
└── README.md
/project/readme.md:
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1 | Matlab Project
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/project/resources/readme.md:
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1 | Resources
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/images/readme.md:
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1 | Image files are stored here
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/Main_files/main_files_readme.md:
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1 | Main files are stored here
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/project/resources/Project.xml:
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/project/resources/uuid-35465a2e-9b0e-4570-9823-25fbffa5f15d.xml:
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/project/ACC.slx:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/project/ACC.slx
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/project/ACC.slxc:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/project/ACC.slxc
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/P2.wrl.thumbnail.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/P2.wrl.thumbnail.png
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/project/ACC (2).slxc:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/project/ACC (2).slxc
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/project/resources/ProjectData.type.Info.xml:
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/images/P2.wrl.thumbnail.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/P2.wrl.thumbnail.png
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/project/VehicleFollowing.slx:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/project/VehicleFollowing.slx
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/Main_files/min_traj_planner.mlx:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/Main_files/min_traj_planner.mlx
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/project/VehicleFollowing_copy.slx:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/project/VehicleFollowing_copy.slx
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/images/Stateflow_sequence_viewer.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/Stateflow_sequence_viewer.png
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/images/Free_Driving_Mode_Scenario.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/Free_Driving_Mode_Scenario.png
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/images/Adaptive_cruise_mode_Scenario.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/Adaptive_cruise_mode_Scenario.png
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/images/Relative_distance_and_velocity_graph.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/Relative_distance_and_velocity_graph.png
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/images/Simulink_Model_of_Adaptive_Cruise_Control_System.png:
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https://raw.githubusercontent.com/harshal-14/Adaptive_Cruise_Control_System_using_MATLAB/HEAD/images/Simulink_Model_of_Adaptive_Cruise_Control_System.png
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/project/plotVehicle.m:
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1 | function plotVehicle(x,y)
2 | a = x + y;
3 | if a == 0
4 | figure();
5 | hold on
6 | else
7 | plot(a);
8 | show(vehicle);
9 |
10 |
11 | end
12 |
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/project/Vehiclefollowingmodelwith3DAnimation.prj:
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1 |
2 |
3 |
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/LICENSE:
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1 | MIT License
2 |
3 | Copyright (c) 2023 Harshal Bhat
4 |
5 | Permission is hereby granted, free of charge, to any person obtaining a copy
6 | of this software and associated documentation files (the "Software"), to deal
7 | in the Software without restriction, including without limitation the rights
8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 |
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 |
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/project/license.txt:
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1 | Copyright (c) 2020, Mustafa Saraoglu
2 | All rights reserved.
3 |
4 | Redistribution and use in source and binary forms, with or without
5 | modification, are permitted provided that the following conditions are met:
6 |
7 | * Redistributions of source code must retain the above copyright notice, this
8 | list of conditions and the following disclaimer.
9 |
10 | * Redistributions in binary form must reproduce the above copyright notice,
11 | this list of conditions and the following disclaimer in the documentation
12 | and/or other materials provided with the distribution
13 | * Neither the name of nor the names of its
14 | contributors may be used to endorse or promote products derived from this
15 | software without specific prior written permission.
16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
17 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
20 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
21 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
22 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
23 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
24 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
25 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 |
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/Main_files/traj_controller.m:
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1 | function yaw_angle = traj_controller(current_point,target_point,v_x)
2 | if target_point(1,1)<=current_point(1,1)
3 | yaw_angle = 0;
4 | return;
5 | end
6 |
7 | %% Waypoint generation
8 | dt = 0.1;
9 | T = abs(target_point(1,1)-current_point(1,1))/v_x;
10 |
11 | x_f = target_point(1,1); % Final x coordinate
12 | y_f = target_point(1,2); % Final y coordinate
13 |
14 | %% Vehicle next state in x direction (Longitudinal)
15 |
16 | x=current_point(1,1) + dt*v_x;
17 | x_dot=v_x;
18 | x_ddot=0;
19 |
20 | nextState_x=[x;x_dot;x_ddot];
21 |
22 | %% Minimun jerk trajectory function for the calculation in y direction (Lateral)
23 |
24 | a0=current_point(1,2);
25 | a1=0;
26 | a2=0;
27 | syms a3 a4 a5;
28 | [a3,a4,a5]=solve([a0+a3*T^3+a4*T^4+a5*T^5==y_f, ... % Boundary condition for lateral displacement
29 | 3*a3*T^2+4*a4*T^3+5*a5*T^4==0, ... % Boundary condition for lateral speed
30 | 6*a3*T+12*a4*T^2+20*a5*T^3==0,],[a3,a4,a5]); % Boundary condition for lateral acceleration
31 |
32 | % Solving for coefficients and conversion to double precision
33 | a3=double(a3);
34 | a4=double(a4);
35 | a5=double(a5);
36 |
37 | %% Vehicle states in y direction
38 | y=[];
39 | y_dot=[];
40 | y_ddot=[];
41 |
42 | t = dt;
43 | y = a0+a1*t+a2*t^2+a3*t^3+a4*t^4+a5*t^5;
44 | y_dot = a1+2*a2*t+3*a3*t^2+4*a4*t^3+5*a5*t^4;
45 | y_ddot = 2*a2+6*a3*t+12*a4*t^2+20*a5*t^3;
46 |
47 | nextState_y=[y;y_dot;y_ddot];
48 |
49 | %% Yaw angle reference
50 | yaw_angle=atan(y_dot/ x_dot);
51 |
52 | end
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/project/NiceVehicleFrame.m:
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1 | % axis equal;
2 | % axis square;
3 | % line([350,350,335,335,350,350,440,540,630,630,645,645,630,630,610,370,350],[150,415,415,425,435,600,650,650,600,435,425,415,415,150,100,100,150],'LineWidth',3);%framework
4 | % line([395,375,425,555,605,580,395],[415,490,505,505,490,415,415],'LineWidth',3);%front windshield
5 | % line([370,370,395,395,370],[265,440,380,265,265],'LineWidth',3);
6 | % line([610,610,585,585,610],[265,440,380,265,265],'LineWidth',3);%side window
7 | % line([375,410,570,605,555,425,375],[230,255,255,230,180,180,230],'LineWidth',3);%rear window
8 | % line([370,380,420],[130,110,110],'LineWidth',3);
9 | % line([610,600,560],[130,110,110],'LineWidth',3);%rear light
10 | % line([370,370,430,430,370],[580,600,630,610,580],'LineWidth',3);
11 | % line([610,610,550,550,610],[580,600,630,610,580],'LineWidth',3);%front light
12 |
13 | %%
14 | axis equal;
15 | axis square;
16 | line([350,350,335,335,350,350,440,540,630,630,645,645,630,630,610,370,350],[150,415,415,425,435,600,650,650,600,435,425,415,415,150,100,100,150],'LineWidth',3);%framework
17 | line([395,375,425,555,605,580,395],[415,490,505,505,490,415,415],'LineWidth',3);%front windshield
18 | line([370,370,395,395,370],[265,440,380,265,265],'LineWidth',3);
19 | line([610,610,585,585,610],[265,440,380,265,265],'LineWidth',3);%side window
20 | line([375,410,570,605,555,425,375],[230,255,255,230,180,180,230],'LineWidth',3);%rear window
21 | line([370,380,420],[130,110,110],'LineWidth',3);
22 | line([610,600,560],[130,110,110],'LineWidth',3);%rear light
23 | line([370,370,430,430,370],[580,600,630,610,580],'LineWidth',3);
24 | line([610,610,550,550,610],[580,600,630,610,580],'LineWidth',3);%front light
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/Main_files/traj_planner_v2.m:
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1 | function [state_x,state_y,yaw_angle]=traj_planner_v2(current_point,T,v_x,lane_width)
2 | %% Inputs:
3 |
4 | % current_point : a 1x2 array that represents vehicle's location at the
5 | %beginning of the lane-switching trajectory
6 |
7 | % T : total duration of the lane change trajectory
8 |
9 | % v_x : initial longitudinal speed at the beginning of the lane-switching
10 |
11 | % lane_width : is the distance between adjacent lane centerline
12 |
13 |
14 | %% Waypoint generation
15 | % frequency = 10;%Number of commands per sec (obsolete)
16 | dt = 0.1;
17 |
18 | x_f = current_point(1,1) + T*v_x; % Final x coordinate
19 | y_f = current_point(1,2) + lane_width; % Final y coordinate
20 |
21 | %% Vehicle states in x direction (Longitudinal)
22 | x=[];
23 | x_dot=[];
24 | x_ddot=[];
25 |
26 | for t=0:dt:T
27 | x=[x, current_point(1,1) + t*v_x];
28 | x_dot=[x_dot,v_x];
29 | x_ddot=[x_ddot,0];
30 | end
31 | state_x=[x;x_dot;x_ddot];
32 |
33 | %% Minimun jerk trajectory function for the calculation in y direction (Lateral)
34 | a0=current_point(1,2);
35 | a1=0;
36 | a2=0;
37 | syms a3 a4 a5;
38 | [a3,a4,a5]=solve([a0+a3*T^3+a4*T^4+a5*T^5==y_f, ... % Boundary condition for lateral displacement
39 | 3*a3*T^2+4*a4*T^3+5*a5*T^4==0, ... % Boundary condition for lateral speed
40 | 6*a3*T+12*a4*T^2+20*a5*T^3==0,],[a3,a4,a5]); % Boundary condition for lateral acceleration
41 |
42 | % Solving for coefficients and conversion to double precision
43 | a3=double(a3);
44 | a4=double(a4);
45 | a5=double(a5);
46 |
47 | %% Vehicle states in y direction
48 | y=[];
49 | y_dot=[];
50 | y_ddot=[];
51 | for t=0:dt:T
52 | y=[y,a0+a1*t+a2*t^2+a3*t^3+a4*t^4+a5*t^5];
53 | y_dot=[y_dot,a1+2*a2*t+3*a3*t^2+4*a4*t^3+5*a5*t^4];
54 | y_ddot=[y_ddot,2*a2+6*a3*t+12*a4*t^2+20*a5*t^3];
55 | end
56 | state_y=[y;y_dot;y_ddot];
57 |
58 | %% Calculate yaw angle kinematically
59 | yaw_angle=zeros(length(x_dot),1); % Memory preallocation
60 |
61 | for t=1:length(x_dot)
62 | yaw_angle(t)=atan(y_dot(t)/ (x_dot(t)));
63 | end
64 | %% Visualization of the Minimum Jerk Optimal Trajectory
65 | %1. Position
66 | figure
67 | t=0:dt:T;
68 | subplot(4,1,1);
69 | plot(state_x(1,:),state_y(1,:));
70 | legend('pos');
71 | title("Minimum jerk trajectory");
72 | xlabel("x direction[m]");
73 | ylabel("y direction[m]");
74 |
75 | %2. Velocity
76 | subplot(4,1,2);
77 | plot(t,state_x(2,:))
78 | hold on;
79 | plot(t, state_y(2,:));
80 | legend('v_x','v_y');
81 | title("Velocity");
82 | xlabel("time[s]");
83 | ylabel("Velocity[m/s]");
84 |
85 | %3. Acceleration
86 | subplot(4,1,3);
87 | plot(t, state_x(3,:));
88 | hold on;
89 | plot(t, state_y(3,:));
90 | legend('a_x','a_y');
91 | title("Acceleration");
92 | xlabel("time[s]");
93 | ylabel("acceleration[m/s^2]");
94 |
95 | %4. Yaw angle
96 | subplot(4,1,4);
97 | plot(t, yaw_angle);
98 | hold on;
99 | plot(t, yaw_angle);
100 | legend('yaw angle');
101 | title("yaw angle");
102 | xlabel("time[s]");
103 | ylabel("yaw angle[rad]");
104 | end
105 |
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/project/trajectory_generator.m:
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1 | classdef trajectory_generator < matlab.System & matlab.system.mixin.Propagates & matlab.system.mixin.SampleTime
2 | % Untitled2 Add summary here
3 | %
4 | % This template includes the minimum set of functions required
5 | % to define a System object with discrete state.
6 |
7 | % Public, tunable properties
8 | properties
9 |
10 | end
11 |
12 | properties(DiscreteState)
13 |
14 | end
15 |
16 | % Pre-computed constants
17 | properties(Access = private)
18 |
19 | end
20 |
21 | methods(Access = protected)
22 | function setupImpl(obj)
23 | % Perform one-time calculations, such as computing constants
24 | end
25 |
26 | function yaw_angle = stepImpl(obj,current_point,target_point,v_x)
27 | % Implement algorithm. Calculate y as a function of input u and
28 | % discrete states.
29 | if target_point(1,1)<=current_point(1,1)
30 | if target_point(1,2)<= current_point(1,2)
31 | yaw_angle=0;
32 | return;
33 | else
34 | yaw_angle = 0.02;
35 | return;
36 | end
37 |
38 | end
39 |
40 | %% Waypoint generation
41 | dt = 0.1;
42 | T = abs(target_point(1,1)-current_point(1,1))/v_x;
43 |
44 | x_f = target_point(1,1); % Final x coordinate
45 | y_f = target_point(1,2); % Final y coordinate
46 |
47 | %% Vehicle next state in x direction (Longitudinal)
48 |
49 | x=current_point(1,1) + dt*v_x;
50 | x_dot=v_x;
51 | x_ddot=0;
52 |
53 | nextState_x=[x;x_dot;x_ddot];
54 |
55 | %% Minimun jerk trajectory function for the calculation in y direction (Lateral)
56 |
57 | a0=current_point(1,2);
58 | a1=0;
59 | a2=0;
60 | syms a3 a4 a5;
61 | [a3,a4,a5]=solve([a0+a3*T^3+a4*T^4+a5*T^5==y_f, ... % Boundary condition for lateral displacement
62 | 3*a3*T^2+4*a4*T^3+5*a5*T^4==0, ... % Boundary condition for lateral speed
63 | 6*a3*T+12*a4*T^2+20*a5*T^3==0,],[a3,a4,a5]); % Boundary condition for lateral acceleration
64 |
65 | % Solving for coefficients and conversion to double precision
66 | a3=double(a3);
67 | a4=double(a4);
68 | a5=double(a5);
69 |
70 | %% Vehicle states in y direction
71 | y=[];
72 | y_dot=[];
73 | y_ddot=[];
74 |
75 | t = dt;
76 | y = a0+a1*t+a2*t^2+a3*t^3+a4*t^4+a5*t^5;
77 | y_dot = a1+2*a2*t+3*a3*t^2+4*a4*t^3+5*a5*t^4;
78 | y_ddot = 2*a2+6*a3*t+12*a4*t^2+20*a5*t^3;
79 |
80 | nextState_y=[y;y_dot;y_ddot];
81 |
82 | %% Yaw angle reference
83 | yaw_angle=atan(y_dot/ x_dot);
84 |
85 |
86 | end
87 |
88 | function resetImpl(obj)
89 | % Initialize / reset discrete-state properties
90 | end
91 |
92 | function out = getOutputSizeImpl(obj)
93 | % Return size for each output port
94 | out = [1 1];
95 |
96 | % Example: inherit size from first input port
97 | % out = propagatedInputSize(obj,1);
98 | end
99 |
100 | function out = getOutputDataTypeImpl(obj)
101 | % Return data type for each output port
102 | out = "double";
103 |
104 | % Example: inherit data type from first input port
105 | % out = propagatedInputDataType(obj,1);
106 | end
107 |
108 | function out = isOutputComplexImpl(obj)
109 | % Return true for each output port with complex data
110 | out = false;
111 |
112 | % Example: inherit complexity from first input port
113 | % out = propagatedInputComplexity(obj,1);
114 | end
115 |
116 | function out = isOutputFixedSizeImpl(obj)
117 | % Return true for each output port with fixed size
118 | out = true;
119 |
120 | % Example: inherit fixed-size status from first input port
121 | % out = propagatedInputFixedSize(obj,1);
122 | end
123 |
124 | function sts = getSampleTimeImpl(obj)
125 | % Define sample time type and parameters
126 | sts = obj.createSampleTime("Type", "Discrete", "SampleTime", 0.1);
127 |
128 | % Example: specify discrete sample time
129 | % sts = obj.createSampleTime("Type", "Discrete", ...
130 | % "SampleTime", 1);
131 | end
132 | end
133 | end
134 |
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/README.md:
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1 | # Adaptive Cruise Control System using MATLAB and Simulink
2 |
3 | ## Overview
4 |
5 | The Adaptive Cruise Control (ACC) System developed in MATLAB and Simulink utilizes Model Predictive Control (MPC) to enable longitudinal speed control for the follower vehicle over a range of speed profiles. The ACC system aims to maintain a safe distance from the leader vehicle while optimizing the gas pedal actuation sequence for a comfortable ride with minimal overshoot.
6 |
7 | 
8 | *Fig.1 Simulink Model of Adaptive Cruise Control System*
9 |
10 | ## Model Design
11 |
12 | The following steps provide an overview of how the complete ACC model was designed from scratch:
13 |
14 | 1. **Developing Preliminary Vehicle Model:**
15 |
16 | - A transfer function is used to convert acceleration to speed, simulating the gas pedal's effect on the vehicle's acceleration.
17 | - An integrator block is added to model the integration of acceleration to obtain speed.
18 | - A first-order low-pass filter is used to modify, reshape, or reject unwanted frequencies in the acceleration signal.
19 | - A saturation block is introduced to mimic realistic acceleration and deceleration characteristics of actual vehicles.
20 |
21 | 2. **Using Linear MPC to Model ACC:**
22 |
23 | - The model obtains the relative distance between the leader and follower vehicle.
24 | - The MPC block takes inputs such as set velocity, time gap, longitudinal velocity, and relative distance, and provides longitudinal acceleration as output.
25 |
26 | 3. **Tuning MPC:**
27 |
28 | - This step focuses on optimizing the computation time and robustness of the MPC block.
29 | - Sample time and prediction horizon steps are adjusted to achieve efficient control.
30 | - A stop block is introduced to halt the simulation if the relative distance falls below 0, indicating a potential collision.
31 |
32 | 4. **VR Sink Block and Signal Expander Block:**
33 |
34 | - The VR sink block is fed a .WRL extension file representing the environment, where vehicles are designed using the VR-Realm editor.
35 | - The signal expander matches the signal dimensions with the VR sink block, enabling the longitudinal velocity vector to control the axis of movement.
36 |
37 | ## Vehicle Behavior Planner using Stateflow
38 |
39 | The ACC system includes different driving modes to ensure safe and smooth driving based on the relative distance between the leader and follower vehicle.
40 |
41 | 
42 | *Fig.2 Stateflow sequence viewer*
43 |
44 | - **Free Mode:** This mode is activated when the distance between vehicles is greater than a threshold value. The follower vehicle drives freely with a linear time-invariant vehicle model as the leader vehicle. A switch function block toggles between free mode and ACC mode.
45 |
46 | - **ACC Mode:** This mode activates when the relative vehicle distance falls below a specified threshold (e.g., 10 m). The follower vehicle maintains a safer distance from the leader vehicle with an optimum speed profile determined by the MPC control module.
47 |
48 | - **Emergency Brake Mode:** When a collision is imminent, the vehicle applies emergency brakes to prevent accidents.
49 |
50 | ## Optimization with MPC
51 |
52 | By solving the optimization problem, MPC minimizes the error between the reference velocity and the predicted velocity. The cost function J is minimized to achieve a comfortable ride with minimal overshoot. The predicted velocity with the minimum cost function represents the optimal gas pedal actuation sequence.
53 |
54 | ## Graphs and Scenarios
55 |
56 | The following graphs illustrate the behavior of the ACC system in different scenarios:
57 |
58 | 1. **Relative Distance and Velocity Graph:**
59 |
60 | 
61 | *Fig.3 Relative distance and velocity graph*
62 |
63 | This graph provides an understanding of the inter-vehicular distance and velocity over time.
64 |
65 | 2. **Free Driving Mode Scenario:**
66 |
67 | 
68 | *Fig.4a Free driving mode Scenario*
69 |
70 | This scenario depicts the free driving mode when the relative vehicle distance is 20 m. In this mode, the follower vehicle's velocity gradually increases as it approaches the rear of the leader vehicle.
71 |
72 | 3. **Adaptive Cruise Mode Scenario:**
73 |
74 | 
75 | *Fig.4b Adaptive cruise mode Scenario*
76 |
77 | This scenario shows the Adaptive Cruise Control mode, which activates when the relative vehicle distance falls below 10 m. The follower vehicle maintains a safe distance from the leader vehicle with an optimum speed profile determined by the MPC control module.
78 |
79 | ## Getting Started
80 |
81 | To run the ACC system simulation in MATLAB and Simulink, follow these steps:
82 |
83 | 1. Clone or download this repository.
84 |
85 | 2. Open the main Simulink model file.
86 |
87 | 3. Set the required parameters and initial conditions.
88 |
89 | 4. Run the simulation to observe the ACC system's behavior.
90 |
91 | Feel free to explore and modify the model as per your requirements.
92 |
93 | ## License
94 |
95 | This ACC system is provided under the MIT License. Please see the [LICENSE](path/to/LICENSE) file for more details.
96 |
97 | For any inquiries or feedback, please contact [hsbhat_b18@me.vjti.ac.in].
98 |
--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
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4 | #Integrated Data Systems Inc.
5 | #www.ids-net.com
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3508 | appearance Appearance {
3509 | material Material {
3510 | ambientIntensity 0.2318
3511 | diffuseColor 0.9 0.6229 0.2278
3512 | shininess 1
3513 | specularColor 0.4612 0.4193 0.2673
3514 | }
3515 |
3516 | }
3517 |
3518 | geometry IndexedFaceSet {
3519 | coord USE Alfa_Romeo_IFS_Coord
3520 | creaseAngle 1
3521 | coordIndex [ 17, 16, 15, -1, 16, 17, 18, -1,
3522 | 17, 15, 19, -1, 15, 16, 19, -1,
3523 | 16, 18, 19, -1, 19, 18, 17, -1,
3524 | -1 ]
3525 | }
3526 |
3527 | }
3528 | }
3529 |
3530 | Transform {
3531 | children Shape {
3532 | appearance Appearance {
3533 | material Material {
3534 | ambientIntensity 0.2318
3535 | diffuseColor 0.9 0.6229 0.2278
3536 | shininess 1
3537 | specularColor 0.4612 0.4193 0.2673
3538 | }
3539 |
3540 | }
3541 |
3542 | geometry IndexedFaceSet {
3543 | coord USE Alfa_Romeo_IFS_Coord
3544 | creaseAngle 1
3545 | coordIndex [ 1, 2, 0, -1, 3, 0, 2, -1,
3546 | 4, 1, 0, -1, 4, 2, 1, -1,
3547 | 4, 3, 2, -1, 0, 3, 4, -1,
3548 | -1 ]
3549 | }
3550 |
3551 | }
3552 | }
3553 |
3554 | Transform {
3555 | children Shape {
3556 | appearance Appearance {
3557 | material Material {
3558 | ambientIntensity 0.4
3559 | diffuseColor 0.0245 0.0245 0.0245
3560 | shininess 0.3
3561 | specularColor 0.3 0.3 0.3
3562 | }
3563 |
3564 | }
3565 |
3566 | geometry IndexedFaceSet {
3567 | coord USE Alfa_Romeo_IFS_Coord
3568 | creaseAngle 1
3569 | coordIndex [ 92, 98, 97, -1, 85, 91, 86, -1,
3570 | 96, 90, 89, -1, 95, 94, 96, -1,
3571 | 89, 95, 96, -1, 85, 87, 91, -1,
3572 | 97, 81, 92, -1, -1 ]
3573 | }
3574 |
3575 | }
3576 | }
3577 |
3578 | Transform {
3579 | children Shape {
3580 | appearance Appearance {
3581 | material Material {
3582 | ambientIntensity 1
3583 | diffuseColor 0.502 0.502 0.502
3584 | shininess 0.96125
3585 | specularColor 1 1 1
3586 | }
3587 |
3588 | }
3589 |
3590 | geometry IndexedFaceSet {
3591 | coord USE Alfa_Romeo_IFS_Coord
3592 | creaseAngle 1
3593 | coordIndex [ 122, 119, 118, -1, 117, 121, 116, -1,
3594 | 117, 120, 121, -1, 122, 123, 119, -1,
3595 | 119, 123, 120, -1, 120, 117, 119, -1,
3596 | 123, 122, 118, -1, 118, 116, 121, -1,
3597 | 119, 117, 118, -1, 117, 116, 118, -1,
3598 | 118, 120, 123, -1, 121, 120, 118, -1,
3599 | -1 ]
3600 | }
3601 |
3602 | }
3603 | }
3604 |
3605 | Transform {
3606 | children Shape {
3607 | appearance Appearance {
3608 | material Material {
3609 | ambientIntensity 0.4
3610 | diffuseColor 0.0245 0.0245 0.0245
3611 | shininess 0.3
3612 | specularColor 0.3 0.3 0.3
3613 | }
3614 |
3615 | }
3616 |
3617 | geometry IndexedFaceSet {
3618 | coord USE Alfa_Romeo_IFS_Coord
3619 | creaseAngle 1
3620 | coordIndex [ 59, 72, 88, -1, 84, 83, 86, -1,
3621 | 82, 92, 81, -1, 88, 91, 87, -1,
3622 | 70, 90, 72, -1, 80, 84, 82, -1,
3623 | 70, 89, 90, -1, 59, 70, 72, -1,
3624 | 87, 59, 88, -1, 83, 85, 86, -1,
3625 | 80, 83, 84, -1, 81, 80, 82, -1,
3626 | -1 ]
3627 | }
3628 |
3629 | }
3630 | }
3631 |
3632 | Transform {
3633 | children Shape {
3634 | appearance Appearance {
3635 | material Material {
3636 | ambientIntensity 0.4
3637 | diffuseColor 1 0.7837 0
3638 | shininess 0.3
3639 | specularColor 0.3 0.3 0.3
3640 | }
3641 |
3642 | }
3643 |
3644 | geometry IndexedFaceSet {
3645 | coord USE Alfa_Romeo_IFS_Coord
3646 | creaseAngle 1
3647 | coordIndex [ 71, 64, 74, -1, 77, 69, 65, -1,
3648 | 65, 108, 79, -1, 75, 109, 71, -1,
3649 | 69, 67, 65, -1, 71, 63, 64, -1,
3650 | 69, 68, 67, -1, 63, 61, 64, -1,
3651 | 111, 77, 65, -1, 108, 76, 79, -1,
3652 | 75, 73, 109, -1, 71, 74, 110, -1,
3653 | 65, 79, 111, -1, 110, 75, 71, -1,
3654 | -1 ]
3655 | }
3656 |
3657 | }
3658 | }
3659 |
3660 | Transform {
3661 | children Shape {
3662 | appearance Appearance {
3663 | material Material {
3664 | ambientIntensity 0
3665 | diffuseColor 0.21 0.21 0.21
3666 | shininess 0.3
3667 | specularColor 0.3 0.3 0.3
3668 | }
3669 |
3670 | }
3671 |
3672 | geometry IndexedFaceSet {
3673 | coord USE Alfa_Romeo_IFS_Coord
3674 | creaseAngle 1
3675 | coordIndex [ 5, 13, 14, -1, 5, 6, 9, -1,
3676 | 10, 8, 14, -1, 14, 11, 10, -1,
3677 | 11, 12, 10, -1, 6, 7, 10, -1,
3678 | 6, 8, 7, -1, 9, 13, 5, -1,
3679 | 10, 7, 8, -1, 14, 8, 5, -1,
3680 | 10, 9, 6, -1, 6, 5, 8, -1,
3681 | 12, 9, 10, -1, 11, 14, 13, -1,
3682 | 11, 9, 12, -1, 20, 13, 21, -1,
3683 | 22, 23, 24, -1, 22, 25, 26, -1,
3684 | 27, 28, 24, -1, 24, 29, 27, -1,
3685 | 29, 30, 27, -1, 25, 31, 27, -1,
3686 | 25, 28, 31, -1, 26, 23, 22, -1,
3687 | 27, 31, 28, -1, 24, 28, 22, -1,
3688 | 27, 26, 25, -1, 25, 22, 28, -1,
3689 | 30, 26, 27, -1, 29, 24, 23, -1,
3690 | 29, 26, 30, -1, 32, 23, 33, -1,
3691 | 36, 35, 34, -1, 38, 37, 34, -1,
3692 | 36, 40, 39, -1, 39, 41, 36, -1,
3693 | 39, 42, 41, -1, 39, 43, 37, -1,
3694 | 43, 40, 37, -1, 34, 35, 38, -1,
3695 | 40, 43, 39, -1, 34, 40, 36, -1,
3696 | 37, 38, 39, -1, 40, 34, 37, -1,
3697 | 39, 38, 42, -1, 35, 36, 41, -1,
3698 | 42, 38, 41, -1, 45, 35, 44, -1,
3699 | 48, 47, 46, -1, 50, 49, 46, -1,
3700 | 48, 52, 51, -1, 51, 53, 48, -1,
3701 | 51, 54, 53, -1, 51, 55, 49, -1,
3702 | 55, 52, 49, -1, 46, 47, 50, -1,
3703 | 52, 55, 51, -1, 46, 52, 48, -1,
3704 | 49, 50, 51, -1, 52, 46, 49, -1,
3705 | 51, 50, 54, -1, 47, 48, 53, -1,
3706 | 54, 50, 53, -1, 57, 47, 56, -1,
3707 | -1 ]
3708 | }
3709 |
3710 | }
3711 | }
3712 |
3713 | Transform {
3714 | children Shape {
3715 | appearance Appearance {
3716 | material Material {
3717 | ambientIntensity 0
3718 | diffuseColor 0.52 0 0
3719 | shininess 0.3
3720 | specularColor 0.249 0 0
3721 | }
3722 |
3723 | }
3724 |
3725 | geometry IndexedFaceSet {
3726 | coord USE Alfa_Romeo_IFS_Coord
3727 | creaseAngle 1
3728 | coordIndex [ 62, 73, 93, -1, 106, 104, 99, -1,
3729 | 76, 66, 93, -1, 109, 73, 62, -1,
3730 | 68, 72, 90, -1, 59, 87, 83, -1,
3731 | 58, 59, 83, -1, 81, 97, 107, -1,
3732 | 84, 86, 91, -1, 89, 62, 95, -1,
3733 | 66, 67, 68, -1, 66, 76, 108, -1,
3734 | 62, 63, 71, -1, 73, 114, 93, -1,
3735 | 82, 105, 92, -1, 80, 107, 106, -1,
3736 | 104, 105, 82, -1, 106, 100, 80, -1,
3737 | 84, 88, 102, -1, 99, 82, 84, -1,
3738 | 100, 83, 80, -1, 99, 104, 82, -1,
3739 | 90, 96, 66, -1, 66, 68, 90, -1,
3740 | 89, 70, 61, -1, 89, 61, 62, -1,
3741 | 77, 78, 72, -1, 72, 69, 77, -1,
3742 | 99, 100, 106, -1, 107, 80, 81, -1,
3743 | 105, 98, 92, -1, 83, 100, 58, -1,
3744 | 102, 99, 84, -1, 87, 85, 83, -1,
3745 | 91, 88, 84, -1, 78, 102, 88, -1,
3746 | 60, 58, 113, -1, 73, 75, 113, -1,
3747 | 70, 60, 74, -1, 74, 64, 70, -1,
3748 | 76, 102, 112, -1, 72, 68, 69, -1,
3749 | 64, 61, 70, -1, 66, 65, 67, -1,
3750 | 62, 61, 63, -1, 59, 58, 60, -1,
3751 | 62, 71, 109, -1, 108, 65, 66, -1,
3752 | 70, 59, 60, -1, 78, 88, 72, -1,
3753 | 111, 112, 78, -1, 110, 60, 113, -1,
3754 | 102, 78, 112, -1, 112, 111, 79, -1,
3755 | 78, 77, 111, -1, 110, 74, 60, -1,
3756 | 75, 110, 113, -1, 114, 76, 93, -1,
3757 | 114, 115, 76, -1, 115, 58, 102, -1,
3758 | 115, 114, 73, -1, 113, 58, 73, -1,
3759 | 112, 79, 76, -1, 115, 102, 76, -1,
3760 | 73, 58, 115, -1, -1 ]
3761 | }
3762 |
3763 | }
3764 | }
3765 | ]
3766 | }
3767 |
3768 | DEF Cam_RedCar Viewpoint {
3769 | orientation 0 -1 0 0.174532
3770 | position 0 3.7 9.3
3771 | description "Cam_CarLotus"
3772 | }
3773 | ]
3774 | }
3775 | DEF Car_Blue Transform {
3776 | translation 0 0 0
3777 | scale 4 4 4
3778 | children [
3779 | DEF rear-wing Transform {
3780 | translation 0 0 0
3781 | children Shape {
3782 | appearance Appearance {
3783 | material Material {
3784 | ambientIntensity 0.124444
3785 | diffuseColor 0 0 0.733333
3786 | shininess 0.5
3787 | specularColor 0.1 0.1 1
3788 | }
3789 |
3790 | }
3791 |
3792 | geometry IndexedFaceSet {
3793 | coord Coordinate {
3794 | point [ 0.688987 1.06659 -1.98007,
3795 | 0.756345 0.889592 -1.85754,
3796 | 0.756345 0.889592 -2.21153,
3797 | 0.688987 1.06659 -2.1843,
3798 | -0.756345 0.889592 -2.21153,
3799 | -0.756345 0.889592 -1.85754,
3800 | -0.688987 1.06659 -1.98007,
3801 | -0.688987 1.06659 -2.1843,
3802 | 0.661233 1.07907 -2.19792,
3803 | 0.661233 1.07907 -1.99369,
3804 | -0.661233 1.07907 -1.99369,
3805 | -0.661233 1.07907 -2.19792,
3806 | -0.59511 1.08361 -2.24784,
3807 | -0.59511 1.08361 -1.99369,
3808 | 0 1.08814 -1.99369,
3809 | 0 1.08814 -2.24784,
3810 | 0.59511 1.08361 -1.99369,
3811 | 0.59511 1.08361 -2.24784 ]
3812 | }
3813 |
3814 | normal Normal {
3815 | vector [ 0.893719 0.448628 0,
3816 | 0.934611 0.355671 0,
3817 | 0.904676 0.426101 0,
3818 | -0.934611 0.355671 0,
3819 | -0.854312 0.519761 0,
3820 | -0.919696 0.392631 0,
3821 | 0.127591 0.991827 0,
3822 | 0.235629 0.971843 0,
3823 | -0.127591 0.991827 0,
3824 | -0.235629 0.971843 0,
3825 | -0.017809 0.999841 0,
3826 | -0.010837 0.999941 0,
3827 | 0.002542 0.999997 0,
3828 | -0.002542 0.999997 0,
3829 | 0.017809 0.999841 0,
3830 | 0.010837 0.999941 0 ]
3831 | }
3832 |
3833 | solid FALSE
3834 | coordIndex [ 0, 1, 2, 3, -1, 4, 5, 6,
3835 | 7, -1, 8, 9, 0, 3, -1, 10,
3836 | 11, 7, 6, -1, 12, 13, 14, 15,
3837 | -1, 16, 17, 15, 14, -1, 17, 16,
3838 | 9, 8, -1, 13, 12, 11, 10, -1 ]
3839 | normalIndex [ 0, 1, 1, 2, -1, 3, 3, 4,
3840 | 5, -1, 6, 7, 0, 2, -1, 8,
3841 | 9, 5, 4, -1, 10, 11, 12, 13,
3842 | -1, 14, 15, 13, 12, -1, 15, 14,
3843 | 7, 6, -1, 11, 10, 9, 8, -1 ]
3844 | }
3845 |
3846 | }
3847 | }
3848 |
3849 | DEF frontvent Transform {
3850 | children Shape {
3851 | appearance Appearance {
3852 | material Material {
3853 | ambientIntensity 0.1
3854 | diffuseColor 0 0 0
3855 | }
3856 |
3857 | }
3858 |
3859 | geometry IndexedFaceSet {
3860 | coord Coordinate {
3861 | point [ 0.77097 0.250047 1.83863,
3862 | 0 0.296731 1.94979,
3863 | 0 0.250857 1.95551,
3864 | 0.735631 0.29754 1.83178,
3865 | -0.77097 0.250047 1.83863,
3866 | -0.735631 0.29754 1.83178 ]
3867 | }
3868 |
3869 | solid FALSE
3870 | coordIndex [ 0, 1, 2, -1, 3, 1, 0, -1,
3871 | 2, 1, 4, -1, 4, 1, 5, -1 ]
3872 | }
3873 |
3874 | }
3875 | }
3876 |
3877 | DEF tires Transform {
3878 | children Shape {
3879 | appearance Appearance {
3880 | material Material {
3881 | ambientIntensity 0.126667
3882 | diffuseColor 0.266667 0.266667 0.266667
3883 | }
3884 |
3885 | }
3886 |
3887 | geometry IndexedFaceSet {
3888 | coord Coordinate {
3889 | point [ -0.45495 0.340367 -1.81147,
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3910 | -0.896711 0.585089 -1.22066,
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3921 | -0.912126 0.340367 -1.76484,
3922 | -0.912126 0.128619 -1.67713,
3923 | -0.912126 0.04091 -1.46538,
3924 | -0.912126 0.128619 -1.25363,
3925 | -0.912126 0.340367 -1.16592,
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3927 | -0.912126 0.639824 -1.46538,
3928 | -0.912126 0.552115 -1.67713,
3929 | -0.583586 0.340367 0.696056,
3930 | -0.566142 0.340367 0.713361,
3931 | -0.566142 0.107881 0.80966,
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3933 | -0.566142 0.011582 1.04215,
3934 | -0.583586 -0.005722 1.04215,
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3936 | -0.583586 0.095645 1.28687,
3937 | -0.566142 0.340367 1.37093,
3938 | -0.583586 0.340367 1.38823,
3939 | -0.566142 0.572852 1.27463,
3940 | -0.583586 0.585089 1.28687,
3941 | -0.566142 0.669151 1.04215,
3942 | -0.583586 0.686456 1.04215,
3943 | -0.566142 0.572853 0.80966,
3944 | -0.583586 0.585089 0.797424,
3945 | -0.896711 0.340367 0.696056,
3946 | -0.896711 0.095645 0.797424,
3947 | -0.896711 -0.005722 1.04215,
3948 | -0.896711 0.095645 1.28687,
3949 | -0.896711 0.340367 1.38823,
3950 | -0.896711 0.585089 1.28687,
3951 | -0.896711 0.686456 1.04215,
3952 | -0.896711 0.585089 0.797424,
3953 | -0.918798 0.340367 0.713361,
3954 | -0.918798 0.107881 0.80966,
3955 | -0.918798 0.011582 1.04215,
3956 | -0.918798 0.107881 1.27463,
3957 | -0.918798 0.340367 1.37093,
3958 | -0.918798 0.572852 1.27463,
3959 | -0.918798 0.669151 1.04215,
3960 | -0.918798 0.572853 0.80966,
3961 | -0.912126 0.340367 0.742689,
3962 | -0.912126 0.128619 0.830398,
3963 | -0.912126 0.04091 1.04215,
3964 | -0.912126 0.128619 1.25389,
3965 | -0.912126 0.340367 1.3416,
3966 | -0.912126 0.552115 1.25389,
3967 | -0.912126 0.639824 1.04215,
3968 | -0.912126 0.552115 0.830397,
3969 | 0.45495 0.340367 -1.81147,
3970 | 0.45495 0.095645 -1.7101,
3971 | 0.437506 0.107881 -1.69786,
3972 | 0.437506 0.340367 -1.79416,
3973 | 0.45495 -0.005722 -1.46538,
3974 | 0.437506 0.011582 -1.46538,
3975 | 0.45495 0.095645 -1.22066,
3976 | 0.437506 0.107881 -1.23289,
3977 | 0.45495 0.340367 -1.11929,
3978 | 0.437506 0.340367 -1.13659,
3979 | 0.45495 0.585089 -1.22066,
3980 | 0.437506 0.572853 -1.23289,
3981 | 0.45495 0.686456 -1.46538,
3982 | 0.437506 0.669152 -1.46538,
3983 | 0.45495 0.585089 -1.7101,
3984 | 0.437506 0.572853 -1.69786,
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3986 | 0.896711 0.095645 -1.7101,
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3988 | 0.896711 0.095645 -1.22066,
3989 | 0.896711 0.340367 -1.11929,
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3992 | 0.896711 0.585089 -1.7101,
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4000 | 0.918798 0.572853 -1.69786,
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4012 | 0.566142 0.340367 0.713361,
4013 | 0.583586 -0.005722 1.04215,
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4015 | 0.583586 0.095645 1.28687,
4016 | 0.566142 0.107881 1.27463,
4017 | 0.583586 0.340367 1.38823,
4018 | 0.566142 0.340367 1.37093,
4019 | 0.583586 0.585089 1.28687,
4020 | 0.566142 0.572852 1.27463,
4021 | 0.583586 0.686456 1.04215,
4022 | 0.566142 0.669151 1.04215,
4023 | 0.583586 0.585089 0.797424,
4024 | 0.566142 0.572853 0.80966,
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4026 | 0.896711 0.095645 0.797424,
4027 | 0.896711 -0.005722 1.04215,
4028 | 0.896711 0.095645 1.28687,
4029 | 0.896711 0.340367 1.38823,
4030 | 0.896711 0.585089 1.28687,
4031 | 0.896711 0.686456 1.04215,
4032 | 0.896711 0.585089 0.797424,
4033 | 0.918798 0.340367 0.713361,
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