手把手教你学Simulink实例--Simulink智能驾驶场景探索：车辆能耗优化策略仿真

 % 创建新的Simulink模型

    
 modelName = 'VehicleEnergyOptimization';
    
 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');

 % 示例：添加燃油车动力总成模块

    
 add_block('powertrainblockset/Conventional Powertrain', [modelName '/Conventional_Powertrain']);
    
  
    
 % 示例：添加电动车动力总成模块
    
 add_block('simscape_electrical/Electric Drive', [modelName '/Electric_Drive']);

 % 配置燃油车动力总成参数

    
 set_param([modelName '/Conventional_Powertrain'], 'EngineTorqueCurve', '[0, 100; 2000, 200; 4000, 300]'); % 设置发动机扭矩曲线
    
 set_param([modelName '/Conventional_Powertrain'], 'TransmissionRatio', '3.5'); % 设置变速箱传动比
    
  
    
 % 配置电动车动力总成参数
    
 set_param([modelName '/Electric_Drive'], 'BatteryCapacity', '60'); % 设置电池容量为60kWh
    
 set_param([modelName '/Electric_Drive'], 'MotorEfficiencyMap', '[0.9, 0.85; 0.8, 0.75]'); % 设置电机效率图

 % 连接燃油车动力总成模块到车辆底盘模块

    
 add_line(modelName, [modelName '/Conventional_Powertrain'], [modelName '/Vehicle'], 'autorouting', 'on');
    
  
    
 % 连接电动车动力总成模块到车辆底盘模块
    
 add_line(modelName, [modelName '/Electric_Drive'], [modelName '/Vehicle'], 'autorouting', 'on');

 % 添加能耗优化控制器模块

    
 add_block('powertrainblockset/Energy Management Controller', [modelName '/Energy_Management_Controller']);
    
 set_param([modelName '/Energy_Management_Controller'], 'OptimizationAlgorithm', 'Dynamic Programming'); % 设置优化算法为动态规划
    
 set_param([modelName '/Energy_Management_Controller'], 'ObjectiveFunction', 'Minimize Fuel Consumption'); % 设置目标函数为最小化燃油消耗

 % 连接动力总成模块到能耗优化控制器模块

    
 add_line(modelName, [modelName '/Conventional_Powertrain'], [modelName '/Energy_Management_Controller'], 'autorouting', 'on');
    
  
    
 % 或者对于电动车
    
 add_line(modelName, [modelName '/Electric_Drive'], [modelName '/Energy_Management_Controller'], 'autorouting', 'on');

 % 连接能耗优化控制器模块到车辆底盘模块

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

 % 添加驾驶循环模块

    
 add_block('automatedDriving/Driving Cycle', [modelName '/Driving_Cycle']);
    
 set_param([modelName '/Driving_Cycle'], 'CycleType', 'WLTC'); % 设置驾驶循环类型为WLTC

 % 连接驾驶循环模块到纵向控制模块

    
 add_line(modelName, [modelName '/Driving_Cycle'], [modelName '/Longitudinal_Driver'], 'autorouting', 'on');
    
  
    
 % 连接驾驶循环模块到横向控制模块
    
 add_line(modelName, [modelName '/Driving_Cycle'], [modelName '/Lateral_Driver'], 'autorouting', 'on');

 % 设置仿真参数

    
 set_param(modelName, 'StopTime', '600'); % 模拟运行时间为600秒
    
 set_param(modelName, 'Solver', 'ode45');

 function totalEnergyConsumption = calculateTotalEnergyConsumption(vehicleSpeed, vehicleAcceleration)

    
     % 示例：计算总能耗
    
     totalTime = length(vehicleSpeed) * 1; % 假设每秒采样一次
    
     totalEnergyConsumption = sum(0.5 * 1500 * (vehicleAcceleration .^ 2)); % 计算动能变化
    
 end
    
  
    
 % 获取车辆速度和加速度数据
    
 vehicleSpeed = getVehicleSpeed();
    
 vehicleAcceleration = getVehicleAcceleration();
    
  
    
 % 计算总能耗
    
 totalEnergyConsumption = calculateTotalEnergyConsumption(vehicleSpeed, vehicleAcceleration);
    
 disp(['Total Energy Consumption: ', num2str(totalEnergyConsumption), ' Joules']);

 function overshoot = calculateOvershoot(vehicleSpeed)

    
     % 示例：计算超调量
    
     targetSpeed = 30; % 目标速度
    
     overshoot = (max(vehicleSpeed) - targetSpeed) / targetSpeed * 100; % 计算超调量
    
 end
    
  
    
 % 计算超调量
    
 overshoot = calculateOvershoot(vehicleSpeed);
    
 disp(['Overshoot: ', num2str(overshoot), '%']);

 function collisionDetected = isCollision(trajectory)

    
     % 示例：检查是否发生碰撞
    
     obstacles = [5, 15, 25]; % 障碍物位置
    
     collisionDetected = any(abs(trajectory - obstacles) < 1); % 判断是否发生碰撞
    
 end
    
  
    
 % 获取车辆轨迹数据
    
 trajectory = getTrajectory();
    
  
    
 % 检查是否发生碰撞
    
 if isCollision(trajectory)
    
     disp('Warning: Collision detected.');
    
 else
    
     disp('Vehicle successfully avoided obstacles.');
    
 end

 % 修改能耗优化控制器模块中的优化算法

    
 set_param([modelName '/Energy_Management_Controller'], 'OptimizationAlgorithm', 'Genetic Algorithm');

 % 添加预测控制模块

    
 add_block('automatedDriving/Predictive Control', [modelName '/Predictive_Control']);
    
 set_param([modelName '/Predictive_Control'], 'PredictionHorizon', '10'); % 设置预测时域为10秒

 % 使用详细的动力总成模型

    
 add_block('powertrainblockset/Detailed Powertrain', [modelName '/Detailed_Powertrain']);

 % 创建测试用例

    
 testCase = sltest.testmanager.TestFile('VehicleEnergyOptimization_TestCases');
    
 testCase.addTestSuite('VehicleEnergyOptimization_TestSuite');
    
 testCase.addTestCase('Scenario_1', 'Standard_WLTC_Cycle');
    
  
    
 % 运行测试
    
 sltest.testmanager.run(testCase);