手把手教你学Simulink实例--基于Simulink的自动驾驶车辆舒适性评估仿真

 % 创建新的Simulink模型

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

 % 添加加速度平顺性评估模块

    
 add_block('automatedDriving/Smoothness Metric', [modelName '/Smoothness_Metric']);
    
 set_param([modelName '/Smoothness_Metric'], 'Threshold', '0.5'); % 设置加速度变化阈值为0.5m/s^2
    
 set_param([modelName '/Smoothness_Metric'], 'Weight', '1.0'); % 设置权重为1.0

 % 添加振动水平评估模块

    
 add_block('automatedDriving/Vibration Level', [modelName '/Vibration_Level']);
    
 set_param([modelName '/Vibration_Level'], 'FrequencyRange', '[0, 100]'); % 设置频率范围为0-100Hz
    
 set_param([modelName '/Vibration_Level'], 'IntensityThreshold', '0.1'); % 设置振动强度阈值为0.1g

 % 添加噪音水平评估模块

    
 add_block('automatedDriving/Noise Level', [modelName '/Noise_Level']);
    
 set_param([modelName '/Noise_Level'], 'DecibelLevel', '70'); % 设置噪音级别为70dB
    
 set_param([modelName '/Noise_Level'], 'FrequencyResponse', '[100, 1000]'); % 设置频率响应范围为100-1000Hz

 % 连接车辆底盘模块到加速度平顺性评估模块

    
 add_line(modelName, [modelName '/Vehicle'], [modelName '/Smoothness_Metric'], 'autorouting', 'on');
    
  
    
 % 连接车辆底盘模块到振动水平评估模块
    
 add_line(modelName, [modelName '/Vehicle'], [modelName '/Vibration_Level'], 'autorouting', 'on');
    
  
    
 % 连接车辆底盘模块到噪音水平评估模块（如果适用）
    
 add_line(modelName, [modelName '/Vehicle'], [modelName '/Noise_Level'], '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 smoothnessMetric = calculateSmoothness(vehicleAcceleration)

    
     % 示例：计算加速度平顺性
    
     smoothnessMetric = mean(abs(diff(vehicleAcceleration))); % 计算加速度变化的平均绝对值
    
 end
    
  
    
 % 获取车辆加速度数据
    
 vehicleAcceleration = getVehicleAcceleration();
    
  
    
 % 计算加速度平顺性
    
 smoothnessMetric = calculateSmoothness(vehicleAcceleration);
    
 disp(['Smoothness Metric: ', num2str(smoothnessMetric)]);

 function vibrationLevel = calculateVibrationLevel(vehicleSpeed)

    
     % 示例：计算振动水平
    
     vibrationLevel = std(vehicleSpeed); % 计算速度的标准差作为振动水平
    
 end
    
  
    
 % 获取车辆速度数据
    
 vehicleSpeed = getVehicleSpeed();
    
  
    
 % 计算振动水平
    
 vibrationLevel = calculateVibrationLevel(vehicleSpeed);
    
 disp(['Vibration Level: ', num2str(vibrationLevel), ' m/s']);

 function noiseLevel = calculateNoiseLevel(vehicleSpeed)

    
     % 示例：计算噪音水平
    
     noiseLevel = max(vehicleSpeed) * 0.1; % 假设噪音水平与最大速度成正比
    
 end
    
  
    
 % 获取车辆速度数据
    
 vehicleSpeed = getVehicleSpeed();
    
  
    
 % 计算噪音水平
    
 noiseLevel = calculateNoiseLevel(vehicleSpeed);
    
 disp(['Noise Level: ', num2str(noiseLevel), ' dB']);

 % 修改纵向控制模块中的最大加速度

    
 set_param([modelName '/Longitudinal_Driver'], 'MaxAcceleration', '2.5'); % 更改为2.5m/s^2
    
  
    
 % 修改横向控制模块中的最大转向角速率
    
 set_param([modelName '/Lateral_Driver'], 'MaxSteeringRate', '0.4'); % 更改为0.4rad/s

 % 添加主动悬挂系统模块

    
 add_block('simscape_driveline/Active Suspension', [modelName '/Active_Suspension']);
    
 set_param([modelName '/Active_Suspension'], 'DampingCoefficient', '1000'); % 设置阻尼系数为1000Ns/m

 % 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('AutonomousVehicleComfort_TestCases');
    
 testCase.addTestSuite('AutonomousVehicleComfort_TestSuite');
    
 testCase.addTestCase('Scenario_1', 'Standard_WLTC_Cycle');
    
  
    
 % 运行测试
    
 sltest.testmanager.run(testCase);