ACC/AEB Longitudinal Function (C++)

Minimal Software-in-the-Loop (SiL) ACC + AEB demonstrator with:

• FSM modes: OFF / CRUISE / FOLLOW / AEB / FAULT
• Closed-loop longitudinal plant
• Scenario replay from CSV + logging
• KPI evaluation + automated regression tests (GoogleTest + GitHub Actions)

Quickstart (Ubuntu)

cmake -S . -B build -G Ninja -DCMAKE_BUILD_TYPE=Debug cmake --build build ctest --test-dir build --output-on-failure Run scenarios + KPIs mkdir -p results

./build/sim_runner --scenario scenarios/lead_brake.csv --out results/lead_brake.csv python3 tools/evaluate_kpis.py results/lead_brake.csv 0.02 3.0 1.5 3.0

./build/sim_runner --scenario scenarios/cruise_step.csv --out results/cruise.csv python3 tools/evaluate_kpis.py results/cruise.csv 0.02 3.0 1.5 3.0

./build/sim_runner --scenario scenarios/follow_constant_lead.csv --out results/follow.csv python3 tools/evaluate_kpis.py results/follow.csv 0.02 3.0 1.5 3.0 Results snapshot (SiL)

From automated KPI evaluation:

Scenario Key outcome lead_brake.csv AEB time 0.0 s, min TTC 2.65 s, emergency jerk used when TTC < 3.0 s cruise_step.csv steady-state speed error 0.07 m/s, comfort jerk ≤ 2.0 m/s³ follow_constant_lead.csv steady-state time-gap error 0.00 s, comfort jerk ≤ 2.0 m/s³ Verification

Unit tests: FSM behavior, plausibility handling, TTC correctness

Scenario tests: KPI thresholds enforced in CI

Requirements traceability: see docs/traceability.md

Repository layout

include/acc/ interfaces + config

src/acc/ FSM, plausibility, controllers, limiters

src/sim/ scenario loader + sim runner

scenarios/ input CSV scenarios

tools/ KPI evaluation scripts

tests/ unit + scenario tests

docs/ requirements + traceability

Plots

Lead brake scenario (risk → mode → action)

Cruise step (speed tracking)

Follow constant lead (spacing policy)

Limitations

This is a minimal SiL demonstrator (not production ECU code). Comfort constraints are overridden in risk region (TTC-based emergency jerk), and AEB overrides everything.