手把手教你学Simulink实例--手把手教你学Simulink实例--基于Simulink的自动驾驶车辆路径跟踪控制仿真

 % 创建新的Simulink模型

    
 modelName = 'PathFollowingControl';
    
 new_system(modelName);
    
 open_system(modelName);

 % 添加自行车模型模块

    
 add_block('automatedDriving/Bicycle Model', [modelName '/Vehicle']);
    
 set_param([modelName '/Vehicle'], 'Mass', '1500'); % 设置车辆质量为1500kg
    
 set_param([modelName '/Vehicle'], 'Inertia', '[1000, 0, 0; 0, 1500, 0; 0, 0, 1000]'); % 设置惯性矩矩阵
    
 set_param([modelName '/Vehicle'], 'Wheelbase', '2.8'); % 设置轮距为2.8米

 % 添加纵向控制模块

    
 add_block('automatedDriving/Longitudinal Driver', [modelName '/Longitudinal_Driver']);
    
 set_param([modelName '/Longitudinal_Driver'], 'MaxAcceleration', '3'); % 设置最大加速度为3m/s^2
    
  
    
 % 添加横向控制模块
    
 add_block('automatedDriving/Lateral Driver', [modelName '/Lateral_Driver']);
    
 set_param([modelName '/Lateral_Driver'], 'MaxSteeringRate', '0.5'); % 设置最大转向角速率为0.5rad/s

 % 连接纵向控制模块到车辆底盘模块

    
 add_line(modelName, [modelName '/Longitudinal_Driver'], [modelName '/Vehicle'], 'autorouting', 'on');
    
  
    
 % 连接横向控制模块到车辆底盘模块
    
 add_line(modelName, [modelName '/Lateral_Driver'], [modelName '/Vehicle'], 'autorouting', 'on');

 % 创建一个新的驾驶场景对象

    
 scenario = drivingScenario;
    
  
    
 % 添加一条曲线道路
    
 roadCenters = [0 0; 50 -10; 100 -20; 150 -30];
    
 roadWidth = 6;
    
 road(scenario, roadCenters, roadWidth);
    
  
    
 % 将场景保存为文件
    
 save('drivingScenario.mat', 'scenario');

 % 添加From Workspace模块

    
 add_block('simulink/Sources/From Workspace', [modelName '/FromWorkspace_Path']);
    
 set_param([modelName '/FromWorkspace_Path'], 'VariableName', 'scenario'); % 设置变量名为'scenario'
    
 set_param([modelName '/FromWorkspace_Path'], 'SampleTime', '0.1'); % 设置采样时间为0.1秒

 % 添加纯追踪控制器模块

    
 add_block('automatedDriving/Pure Pursuit Controller', [modelName '/PurePursuit_Controller']);
    
 set_param([modelName '/PurePursuit_Controller'], 'LookaheadDistance', '10'); % 设置前视距离为10米
    
 set_param([modelName '/PurePursuit_Controller'], 'MaxSteeringAngle', '0.5'); % 设置最大转向角为0.5弧度

 % 连接路径规划模块到纯追踪控制器模块

    
 add_line(modelName, [modelName '/FromWorkspace_Path'], [modelName '/PurePursuit_Controller'], 'autorouting', 'on');

 % 连接车辆底盘模块的状态输出到纯追踪控制器模块

    
 add_line(modelName, [modelName '/Vehicle'], [modelName '/PurePursuit_Controller'], 'autorouting', 'on');

 % 添加GPS传感器模块

    
 add_block('automatedDriving/GPS Sensor', [modelName '/GPS_Sensor']);
    
 set_param([modelName '/GPS_Sensor'], 'UpdateFrequency', '1'); % 设置更新频率为1Hz
    
 set_param([modelName '/GPS_Sensor'], 'NoiseLevel', '0.5'); % 设置噪声水平为0.5米

 % 添加IMU传感器模块

    
 add_block('automatedDriving/IMU Sensor', [modelName '/IMU_Sensor']);
    
 set_param([modelName '/IMU_Sensor'], 'SampleFrequency', '100'); % 设置采样频率为100Hz
    
 set_param([modelName '/IMU_Sensor'], 'NoiseLevel', '0.01'); % 设置噪声水平为0.01度/秒

 % 连接GPS传感器模块到车辆底盘模块

    
 add_line(modelName, [modelName '/GPS_Sensor'], [modelName '/Vehicle'], 'autorouting', 'on');
    
  
    
 % 连接IMU传感器模块到车辆底盘模块
    
 add_line(modelName, [modelName '/IMU_Sensor'], [modelName '/Vehicle'], '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');

 % 获取跟踪误差统计数据

    
 trackingError = getTrackingError(); // 自定义函数获取跟踪误差
    
  
    
 % 显示结果
    
 disp(['Average Tracking Error: ', num2str(mean(trackingError)), ' meters']);

 % 计算超调量

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

 % 获取车辆轨迹数据

    
 trajectory = getTrajectory();
    
  
    
 % 检查是否发生偏离
    
 if any(isDeviation(trajectory)) % 自定义函数检查是否发生偏离
    
     disp('Warning: Vehicle deviated from the planned path.');
    
 else
    
     disp('Vehicle successfully followed the planned path.');
    
 end

 % 修改纯追踪控制器中的前视距离

    
 set_param([modelName '/PurePursuit_Controller'], 'LookaheadDistance', '15'); % 更改为15米
    
  
    
 % 修改纯追踪控制器中的最大转向角
    
 set_param([modelName '/PurePursuit_Controller'], 'MaxSteeringAngle', '0.6'); % 更改为0.6弧度

 % 使用模型预测控制器

    
 add_block('controlSystem/MPC Controller', [modelName '/MPC_Controller']);

 % 添加激光雷达传感器模块

    
 add_block('automatedDriving/Lidar Sensor', [modelName '/Lidar_Sensor']);
    
 set_param([modelName '/Lidar_Sensor'], 'Range', '100'); % 设置激光雷达的最大探测范围为100米
    
  
    
 % 将激光雷达传感器模块的输出连接到车辆底盘模块
    
 add_line(modelName, [modelName '/Lidar_Sensor'], [modelName '/Vehicle'], 'autorouting', 'on');

 % 创建测试用例

    
 testCase = sltest.testmanager.TestFile('PathFollowing_TestCases');
    
 testCase.addTestSuite('PathFollowing_TestSuite');
    
 testCase.addTestCase('Scenario_1', 'Initial_Position_0_0');
    
  
    
 % 运行测试
    
 sltest.testmanager.run(testCase);