MATLAB 开发项目实例 1000 例专栏之第107例：使用 Simulink 开发智能驾驶汽车的自动泊车系统（Automatic Parking System, APS

 % 创建车辆动力学模型

    
 add_block('vehicleDynamics/3DOF Vehicle Body', 'APS_Model/Vehicle_Dynamics', [100 100]);
    
    
    
    
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 % 加载摄像头数据

    
 load('camera_data.mat'); % 假设 camera_data.mat 包含摄像头数据
    
  
    
 % 加载超声波传感器数据
    
 load('ultrasonic_data.mat'); % 假设 ultrasonic_data.mat 包含超声波传感器数据
    
  
    
 % 创建摄像头数据处理模块
    
 add_block('vision/Object Detector', 'APS_Model/Camera_Sensor', [100 100]);
    
 set_param('APS_Model/Camera_Sensor', 'DetectorType', 'Parking Space Detection');
    
  
    
 % 创建超声波传感器数据处理模块
    
 add_block('ultrasonic/Ultrasonic Sensor', 'APS_Model/Ultrasonic_Sensor', [100 100]);
    
 set_param('APS_Model/Ultrasonic_Sensor', 'Range', '200', 'UpdateRate', '10');
    
  
    
 % 连接模块
    
 add_line('APS_Model', 'Camera_Sensor/1', 'Sensor_Fusion/1');
    
 add_line('APS_Model', 'Ultrasonic_Sensor/1', 'Sensor_Fusion/2');
    
    
    
    
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 % 创建停车位检测模块

    
 add_block('simulink/Logic and Bit Operations/Relational Operator', 'APS_Model/Parking_Space_Detection', [100 100]);
    
 set_param('APS_Model/Parking_Space_Detection', 'Operator', '<', 'Inputs', '2');
    
  
    
 % 创建停车位位置和角度计算模块
    
 add_block('simulink/Math Operations/Subtract', 'APS_Model/Parking_Space_Relative_Position', [100 100]);
    
 add_block('simulink/Math Operations/Gain', 'APS_Model/Parking_Space_Distance_Gain', [100 100]);
    
 set_param('APS_Model/Parking_Space_Distance_Gain', 'Gain', '1.0');
    
  
    
 % 连接模块
    
 add_line('APS_Model', 'Sensor_Fusion/1', 'Parking_Space_Relative_Position/1');
    
 add_line('APS_Model', 'Vehicle_Position/1', 'Parking_Space_Relative_Position/2');
    
 add_line('APS_Model', 'Parking_Space_Relative_Position/1', 'Parking_Space_Distance_Gain/1');
    
 add_line('APS_Model', 'Parking_Space_Distance_Gain/1', 'Parking_Space_Detection/1');
    
 add_line('APS_Model', 'Threshold/1', 'Parking_Space_Detection/2');
    
    
    
    
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 % 创建转向控制模块

    
 add_block('simulink/Continuous/PID Controller', 'APS_Model/Steering_Controller', [100 100]);
    
 set_param('APS_Model/Steering_Controller', 'P', '1.0', 'I', '0.1', 'D', '0.01');
    
  
    
 % 创建油门控制模块
    
 add_block('simulink/Continuous/PID Controller', 'APS_Model/Throttle_Controller', [100 100]);
    
 set_param('APS_Model/Throttle_Controller', 'P', '1.0', 'I', '0.1', 'D', '0.01');
    
  
    
 % 创建刹车控制模块
    
 add_block('simulink/Continuous/PID Controller', 'APS_Model/Brake_Controller', [100 100]);
    
 set_param('APS_Model/Brake_Controller', 'P', '1.0', 'I', '0.1', 'D', '0.01');
    
  
    
 % 创建转向执行器模型
    
 add_block('simulink/Continuous/Transfer Fcn', 'APS_Model/Steering_Actuator', [100 100]);
    
 set_param('APS_Model/Steering_Actuator', 'Numerator', '[1]', 'Denominator', '[1 0.1]');
    
  
    
 % 创建油门执行器模型
    
 add_block('simulink/Continuous/Transfer Fcn', 'APS_Model/Throttle_Actuator', [100 100]);
    
 set_param('APS_Model/Throttle_Actuator', 'Numerator', '[1]', 'Denominator', '[1 0.1]');
    
  
    
 % 创建刹车执行器模型
    
 add_block('simulink/Continuous/Transfer Fcn', 'APS_Model/Brake_Actuator', [100 100]);
    
 set_param('APS_Model/Brake_Actuator', 'Numerator', '[1]', 'Denominator', '[1 0.1]');
    
  
    
 % 连接模块
    
 add_line('APS_Model', 'Parking_Space_Detection/1', 'Steering_Controller/1');
    
 add_line('APS_Model', 'Parking_Space_Detection/1', 'Throttle_Controller/1');
    
 add_line('APS_Model', 'Parking_Space_Detection/1', 'Brake_Controller/1');
    
 add_line('APS_Model', 'Steering_Controller/1', 'Steering_Actuator/1');
    
 add_line('APS_Model', 'Throttle_Controller/1', 'Throttle_Actuator/1');
    
 add_line('APS_Model', 'Brake_Controller/1', 'Brake_Actuator/1');
    
 add_line('APS_Model', 'Steering_Actuator/1', 'Vehicle_Dynamics/2');
    
 add_line('APS_Model', 'Throttle_Actuator/1', 'Vehicle_Dynamics/3');
    
 add_line('APS_Model', 'Brake_Actuator/1', 'Vehicle_Dynamics/4');
    
    
    
    
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 % 加载泊车场景

    
 load('parking_scenarios.mat'); % 假设 parking_scenarios.mat 包含不同的泊车场景
    
  
    
 % 创建 Scenario Reader 模块
    
 add_block('drivingScenario/Scenario Reader', 'APS_Model/Scenario_Reader', [100 100]);
    
 set_param('APS_Model/Scenario_Reader', 'ScenarioFile', 'parking_scenarios.mat');
    
  
    
 % 连接模块
    
 add_line('APS_Model', 'Scenario_Reader/1', 'Camera_Sensor/1');
    
 add_line('APS_Model', 'Scenario_Reader/2', 'Ultrasonic_Sensor/1');
    
    
    
    
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 % 设置仿真时间

    
 set_param('APS_Model', 'SimulationMode', 'normal', 'StopTime', '60');
    
  
    
 % 运行仿真
    
 sim('APS_Model');
    
    
    
    
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 % 查看输出数据

    
 disp(output_data);
    
    
    
    
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