手把手教你学AUTOSAR（15.6）--自动驾驶场景实例：基于AUTOSAR的自动驾驶车道保持辅助系统（LKA）

 % 创建SWC

    
 laneDetection_SWC = createSWC('LaneDetection_SWC');
    
  
    
 % 添加端口
    
 addPort(laneDetection_SWC, 'CameraData', 'in');
    
 addPort(laneDetection_SWC, 'DetectedLanes', 'out');
    
  
    
 % 添加行为
    
 addBehavior(laneDetection_SWC, 'onCameraData', 'detectLanes');
    
  
    
 % 实现行为
    
 function detectLanes(cameraData)
    
     % 处理摄像头数据，检测车道线
    
     fprintf('Detecting lanes...\n');
    
     detectedLanes = processImage(cameraData);
    
     sendToPort(laneDetection_SWC, 'DetectedLanes', detectedLanes);
    
 end
    
  
    
 % 辅助函数：处理摄像头数据
    
 function lanes = processImage(cameraData)
    
     % 使用OpenCV处理摄像头数据
    
     image = cameraData.Image;
    
     grayImage = rgb2gray(image);
    
     edges = edge(grayImage, 'Canny');
    
     lines = houghLines(edges);
    
     lanes = filterLanes(lines);
    
 end
    
  
    
 % 辅助函数：过滤车道线
    
 function lanes = filterLanes(lines)
    
     % 过滤出可能的车道线
    
     lanes = [];
    
     for i = 1:length(lines)
    
     line = lines(i);
    
     if isLaneLine(line)
    
         lanes = [lanes; line];
    
     end
    
     end
    
 end
    
  
    
 % 辅助函数：判断是否为车道线
    
 function isLane = isLaneLine(line)
    
     % 使用角度和长度等特征判断是否为车道线
    
     isLane = false;
    
     % 示例：假设车道线的角度在一定范围内
    
     angle = atan2(line.y2 - line.y1, line.x2 - line.x1);
    
     if abs(angle) > minAngle && abs(angle) < maxAngle
    
     isLane = true;
    
     end
    
 end

 % 创建SWC

    
 lanePositionEstimation_SWC = createSWC('LanePositionEstimation_SWC');
    
  
    
 % 添加端口
    
 addPort(lanePositionEstimation_SWC, 'DetectedLanes', 'in');
    
 addPort(lanePositionEstimation_SWC, 'VehicleState', 'in');
    
 addPort(lanePositionEstimation_SWC, 'LanePosition', 'out');
    
  
    
 % 添加行为
    
 addBehavior(lanePositionEstimation_SWC, 'onDetectedLanes', 'estimateLanePosition');
    
  
    
 % 实现行为
    
 function estimateLanePosition(detectedLanes, vehicleState)
    
     % 估计车辆相对于车道线的位置
    
     fprintf('Estimating lane position...\n');
    
     lanePosition = calculateLanePosition(detectedLanes, vehicleState);
    
     sendToPort(lanePositionEstimation_SWC, 'LanePosition', lanePosition);
    
 end
    
  
    
 % 辅助函数：计算车道位置
    
 function position = calculateLanePosition(detectedLanes, vehicleState)
    
     % 使用几何计算和车道线数据估计车辆位置
    
     position = [];
    
     % 示例：假设车辆状态包含车辆位置和方向
    
     vehiclePosition = vehicleState.Position;
    
     vehicleHeading = vehicleState.Heading;
    
     
    
     leftLane = findLeftLane(detectedLanes);
    
     rightLane = findRightLane(detectedLanes);
    
     
    
     if ~isempty(leftLane) && ~isempty(rightLane)
    
     leftDistance = calculateDistance(vehiclePosition, leftLane);
    
     rightDistance = calculateDistance(vehiclePosition, rightLane);
    
     position = (leftDistance + rightDistance) / 2;
    
     end
    
 end
    
  
    
 % 辅助函数：查找左侧车道线
    
 function lane = findLeftLane(detectedLanes)
    
     % 查找左侧车道线
    
     lane = [];
    
     for i = 1:length(detectedLanes)
    
     line = detectedLanes(i);
    
     if isLeftLane(line)
    
         lane = line;
    
         break;
    
     end
    
     end
    
 end
    
  
    
 % 辅助函数：查找右侧车道线
    
 function lane = findRightLane(detectedLanes)
    
     % 查找右侧车道线
    
     lane = [];
    
     for i = 1:length(detectedLanes)
    
     line = detectedLanes(i);
    
     if isRightLane(line)
    
         lane = line;
    
         break;
    
     end
    
     end
    
 end
    
  
    
 % 辅助函数：判断是否为左侧车道线
    
 function isLeft = isLeftLane(line)
    
     % 使用角度和位置等特征判断是否为左侧车道线
    
     isLeft = false;
    
     % 示例：假设左侧车道线的角度在一定范围内
    
     angle = atan2(line.y2 - line.y1, line.x2 - line.x1);
    
     if angle > minLeftAngle && angle < maxLeftAngle
    
     isLeft = true;
    
     end
    
 end
    
  
    
 % 辅助函数：判断是否为右侧车道线
    
 function isRight = isRightLane(line)
    
     % 使用角度和位置等特征判断是否为右侧车道线
    
     isRight = false;
    
     % 示例：假设右侧车道线的角度在一定范围内
    
     angle = atan2(line.y2 - line.y1, line.x2 - line.x1);
    
     if angle > minRightAngle && angle < maxRightAngle
    
     isRight = true;
    
     end
    
 end
    
  
    
 % 辅助函数：计算距离
    
 function distance = calculateDistance(point1, point2)
    
     % 计算两点之间的距离
    
     distance = norm([point1.x - point2.x, point1.y - point2.y]);
    
 end

 % 创建SWC

    
 steeringControl_SWC = createSWC('SteeringControl_SWC');
    
  
    
 % 添加端口
    
 addPort(steeringControl_SWC, 'LanePosition', 'in');
    
 addPort(steeringControl_SWC, 'ControlCommand', 'out');
    
  
    
 % 添加行为
    
 addBehavior(steeringControl_SWC, 'onLanePosition', 'controlSteering');
    
  
    
 % 实现行为
    
 function controlSteering(lanePosition)
    
     % 根据车辆的位置调整转向
    
     fprintf('Controlling steering...\n');
    
     controlCommand = generateControlCommand(lanePosition);
    
     sendToPort(steeringControl_SWC, 'ControlCommand', controlCommand);
    
 end
    
  
    
 % 辅助函数：生成控制命令
    
 function command = generateControlCommand(lanePosition)
    
     % 使用PID控制器进行转向控制
    
     Kp = 0.1; % 比例系数
    
     Ki = 0.01; % 积分系数
    
     Kd = 0.05; % 微分系数
    
     error = calculateError(lanePosition);
    
     command = Kp * error + Ki * integral(error) + Kd * derivative(error);
    
 end
    
  
    
 % 辅助函数：计算误差
    
 function error = calculateError(lanePosition)
    
     % 计算车辆位置与车道中心线的偏差
    
     error = lanePosition - targetPosition;
    
 end