手把手教你学simulink（23.3）--simulink智能驾驶场景实使用 Simulink 开发智能驾驶汽车的盲点监测系统（Blind Spot Monitoring System, BSM）

 % 创建车辆动力学模型

    
 add_block('vehicleDynamics/3DOF Vehicle Body', 'BSM_Model/Vehicle_Dynamics', [100 100]);

 % 加载摄像头数据

    
 load('camera_data.mat'); % 假设 camera_data.mat 包含摄像头数据
    
  
    
 % 加载雷达数据
    
 load('radar_data.mat'); % 假设 radar_data.mat 包含雷达数据
    
  
    
 % 创建摄像头数据处理模块
    
 add_block('vision/Object Detector', 'BSM_Model/Camera_Sensor', [100 100]);
    
 set_param('BSM_Model/Camera_Sensor', 'DetectorType', 'YOLO v3');
    
  
    
 % 创建雷达数据处理模块
    
 add_block('sensorFusionAndTracking/Radar Sensor', 'BSM_Model/Radar_Sensor', [100 100]);
    
 set_param('BSM_Model/Radar_Sensor', 'FieldOfView', '120', 'UpdateRate', '10');
    
  
    
 % 连接模块
    
 add_line('BSM_Model', 'Camera_Sensor/1', 'Sensor_Fusion/1');
    
 add_line('BSM_Model', 'Radar_Sensor/1', 'Sensor_Fusion/2');

 % 创建盲区检测模块

    
 add_block('simulink/Logic and Bit Operations/Relational Operator', 'BSM_Model/Blind_Spot_Detection', [100 100]);
    
 set_param('BSM_Model/Blind_Spot_Detection', 'Operator', '<', 'Inputs', '2');
    
  
    
 % 创建盲区距离和速度计算模块
    
 add_block('simulink/Math Operations/Subtract', 'BSM_Model/Blind_Spot_Relative_Position', [100 100]);
    
 add_block('simulink/Math Operations/Gain', 'BSM_Model/Blind_Spot_Distance_Gain', [100 100]);
    
 set_param('BSM_Model/Blind_Spot_Distance_Gain', 'Gain', '1.0');
    
  
    
 % 连接模块
    
 add_line('BSM_Model', 'Sensor_Fusion/1', 'Blind_Spot_Relative_Position/1');
    
 add_line('BSM_Model', 'Vehicle_Position/1', 'Blind_Spot_Relative_Position/2');
    
 add_line('BSM_Model', 'Blind_Spot_Relative_Position/1', 'Blind_Spot_Distance_Gain/1');
    
 add_line('BSM_Model', 'Blind_Spot_Distance_Gain/1', 'Blind_Spot_Detection/1');
    
 add_line('BSM_Model', 'Threshold/1', 'Blind_Spot_Detection/2');

 % 创建警告模块

    
 add_block('simulink/Sinks/Scope', 'BSM_Model/Warning_Light', [100 100]);
    
  
    
 % 创建警告逻辑模块
    
 add_block('simulink/Logic and Bit Operations/Logical Operator', 'BSM_Model/Warning_Logic', [100 100]);
    
 set_param('BSM_Model/Warning_Logic', 'Operator', 'OR', 'Inputs', '2');
    
  
    
 % 连接模块
    
 add_line('BSM_Model', 'Blind_Spot_Detection/1', 'Warning_Logic/1');
    
 add_line('BSM_Model', 'Blind_Spot_Detection/2', 'Warning_Logic/2');
    
 add_line('BSM_Model', 'Warning_Logic/1', 'Warning_Light/1');

 % 加载驾驶场景

    
 load('driving_scenarios.mat'); % 假设 driving_scenarios.mat 包含不同的驾驶场景
    
  
    
 % 创建 Scenario Reader 模块
    
 add_block('drivingScenario/Scenario Reader', 'BSM_Model/Scenario_Reader', [100 100]);
    
 set_param('BSM_Model/Scenario_Reader', 'ScenarioFile', 'driving_scenarios.mat');
    
  
    
 % 连接模块
    
 add_line('BSM_Model', 'Scenario_Reader/1', 'Camera_Sensor/1');
    
 add_line('BSM_Model', 'Scenario_Reader/2', 'Radar_Sensor/1');

 % 设置仿真时间

    
 set_param('BSM_Model', 'SimulationMode', 'normal', 'StopTime', '30');
    
  
    
 % 运行仿真
    
 sim('BSM_Model');

 % 查看输出数据

    
 disp(output_data);