Simulink智能驾驶场景实例：电动汽车自适应巡航控制系统仿真

 % 添加车辆动力学模块

    
 add_block('vehicleDynamics/Longitudinal Driver', [modelName '/Longitudinal_Driver']);
    
 add_block('vehicleDynamics/Electric Powertrain', [modelName '/Electric_Powertrain']);
    
 add_block('vehicleDynamics/Rigid Body', [modelName '/Rigid_Body']);

 % 添加雷达传感器模块

    
 add_block('sensorFusion/Radar Detection Generator', [modelName '/Radar_Sensor']);
    
 set_param([modelName '/Radar_Sensor'], 'MaxRange', '150'); % 设置最大检测范围为150米
    
 set_param([modelName '/Radar_Sensor'], 'MinRange', '5'); % 设置最小检测范围为5米
    
 set_param([modelName '/Radar_Sensor'], 'UpdateRate', '10'); % 设置更新频率为10Hz

 % 添加PID控制器模块

    
 add_block('simulink/Continuous/PID Controller', [modelName '/PID_Controller']);
    
 set_param([modelName '/PID_Controller'], 'P', '1'); % 设置比例系数Kp为1
    
 set_param([modelName '/PID_Controller'], 'I', '0.1'); % 设置积分系数Ki为0.1
    
 set_param([modelName '/PID_Controller'], 'D', '0.01'); % 设置微分系数Kd为0.01

 % 计算期望跟车距离

    
 desiredSpacing = calculateDesiredSpacing(leadVehicleSpeed, egoVehicleSpeed); % 自定义函数计算期望跟车距离
    
  
    
 % 添加跟车距离控制器
    
 add_block('simulink/User-Defined Functions/MATLAB Function', [modelName '/Spacing_Controller']);
    
  
    
 % 编写MATLAB Function代码
    
 function controlSignal = fcn(leadVehicleSpeed, egoVehicleSpeed)
    
     desiredSpacing = calculateDesiredSpacing(leadVehicleSpeed, egoVehicleSpeed);
    
     currentSpacing = getCurrentSpacing(); % 获取当前跟车距离
    
     error = desiredSpacing - currentSpacing;
    
     controlSignal = pid(error); % 使用PID控制器计算控制信号
    
 end

 % 连接各模块

    
 add_line(modelName, [modelName '/Radar_Sensor'], [modelName '/Spacing_Controller'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Spacing_Controller'], [modelName '/Electric_Powertrain'], 'autorouting', 'on');

 % 设置仿真参数

    
 set_param(modelName, 'StopTime', '60'); % 模拟运行时间为60秒
    
 set_param(modelName, 'Solver', 'ode45');

 % 获取车辆速度数据

    
 vehicleSpeed = getVehicleSpeed();
    
  
    
 % 计算上升时间和调节时间
    
 riseTime = calculateRiseTime(vehicleSpeed); % 自定义函数计算上升时间
    
 settlingTime = calculateSettlingTime(vehicleSpeed); % 自定义函数计算调节时间
    
  
    
 % 显示结果
    
 disp(['Rise Time: ', num2str(riseTime), ' seconds']);
    
 disp(['Settling Time: ', num2str(settlingTime), ' seconds']);

 % 计算超调量

    
 overshoot = calculateOvershoot(vehicleSpeed); // 自定义函数计算超调量
    
  
    
 // 显示结果
    
 disp(['Overshoot: ', num2str(overshoot), '%']);

 % 获取跟车距离数据

    
 spacing = getSpacing();
    
  
    
 % 检查跟车距离是否始终大于安全距离
    
 safeSpacing = 2; % 假设安全距离为2米
    
 if min(spacing) < safeSpacing
    
     disp('Warning: Spacing is less than the safe distance.');
    
 else
    
     disp('Spacing is always greater than the safe distance.');
    
 end

 % 调整PID控制器参数

    
 set_param([modelName '/PID_Controller'], 'P', '1.2'); % 增加比例系数Kp
    
 set_param([modelName '/PID_Controller'], 'I', '0.15'); % 增加积分系数Ki
    
 set_param([modelName '/PID_Controller'], 'D', '0.02'); % 增加微分系数Kd
    
  
    
 % 重新运行仿真
    
 sim(modelName);

 % 添加前馈控制模块

    
 add_block('simulink/User-Defined Functions/MATLAB Function', [modelName '/Feedforward_Controller']);
    
  
    
 % 编写MATLAB Function代码
    
 function feedforwardSignal = fcn(predictedLeadVehicleSpeed)
    
     feedforwardSignal = calculateFeedforward(predictedLeadVehicleSpeed); % 自定义函数计算前馈控制信号
    
 end

 % 使用模型预测控制（MPC）

    
 add_block('simulink/Control System Toolbox/Model Predictive Control Toolbox/MPC Controller', [modelName '/MPC_Controller']);