基于Simulink的自动驾驶路径规划与决策仿真

 % 添加车辆动力学模块

    
 add_block('vehicleDynamics/Longitudinal Driver', [modelName '/Longitudinal_Driver']);
    
 add_block('vehicleDynamics/Electric Powertrain', [modelName '/Electric_Powertrain']);
    
 add_block('vehicleDynamics/Rigid Body', [modelName '/Rigid_Body']);

 % 添加激光雷达传感器模块

    
 add_block('sensorFusion/Lidar Point Cloud Generator', [modelName '/Lidar_Sensor']);
    
 set_param([modelName '/Lidar_Sensor'], 'MaxRange', '100'); % 设置最大检测范围为100米
    
 set_param([modelName '/Lidar_Sensor'], 'MinRange', '1'); % 设置最小检测范围为1米
    
 set_param([modelName '/Lidar_Sensor'], 'UpdateRate', '10'); % 设置更新频率为10Hz

 % 添加摄像头传感器模块

    
 add_block('automatedDriving/Camera Sensor', [modelName '/Camera_Sensor']);
    
 set_param([modelName '/Camera_Sensor'], 'FOV', '90'); % 设置视场角为90度
    
 set_param([modelName '/Camera_Sensor'], 'Resolution', '[640, 480]'); % 设置分辨率为640x480

 % 添加GPS传感器模块

    
 add_block('sensorFusion/GPS Receiver', [modelName '/GPS_Sensor']);
    
 set_param([modelName '/GPS_Sensor'], 'UpdateRate', '1'); % 设置更新频率为1Hz

 % 创建驾驶场景

    
 scenario = drivingScenario;
    
 roadCenters = [-10 0; 10 0]; % 定义道路中心线
    
 roadWidth = 5; % 定义道路宽度
    
 road = road(scenario, roadCenters, 'Width', roadWidth);
    
  
    
 % 加载地图数据到Simulink
    
 add_block('navigation/Load Map Data', [modelName '/Load_Map_Data']);
    
 set_param([modelName '/Load_Map_Data'], 'MapFile', 'drivingScenario.mat'); % 假设地图数据存储在drivingScenario.mat文件中

 % 添加路径规划模块

    
 add_block('navigation/RRT Planner', [modelName '/Path_Planner']);
    
 set_param([modelName '/Path_Planner'], 'MaxIterations', '1000'); % 设置最大迭代次数为1000
    
 set_param([modelName '/Path_Planner'], 'StepSize', '1'); % 设置步长为1米

 % 连接各模块

    
 add_line(modelName, [modelName '/Load_Map_Data'], [modelName '/Path_Planner'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Path_Planner'], [modelName '/Decision_Module'], 'autorouting', 'on');

 % 添加决策模块

    
 add_block('simulink/User-Defined Functions/MATLAB Function', [modelName '/Decision_Module']);
    
  
    
 % 编写MATLAB Function代码
    
 function controlSignal = fcn(sensorData, pathPlan)
    
     % 解析传感器数据
    
     lidarData = sensorData.lidar;
    
     cameraData = sensorData.camera;
    
     gpsData = sensorData.gps;
    
  
    
     % 根据路径规划结果和传感器数据做出决策
    
     if isObstacleInFront(lidarData) % 自定义函数判断前方是否有障碍物
    
     controlSignal = decelerate(); % 自定义函数减速
    
     elseif isTrafficLightRed(cameraData) % 自定义函数判断红绿灯状态
    
     controlSignal = stop(); % 自定义函数停车
    
     else
    
     controlSignal = followPath(pathPlan); % 自定义函数跟随路径
    
     end
    
 end

 % 自定义函数解析激光雷达数据

    
 function isObstacle = isObstacleInFront(lidarData)
    
     % 实现解析逻辑
    
 end
    
  
    
 % 自定义函数解析摄像头数据
    
 function isRed = isTrafficLightRed(cameraData)
    
     % 实现解析逻辑
    
 end

 % 连接各模块

    
 add_line(modelName, [modelName '/Lidar_Sensor'], [modelName '/Decision_Module'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Camera_Sensor'], [modelName '/Decision_Module'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/GPS_Sensor'], [modelName '/Decision_Module'], 'autorouting', 'on');
    
 add_line(modelName, [modelName '/Decision_Module'], [modelName '/Electric_Powertrain'], 'autorouting', 'on');

 % 设置仿真参数

    
 set_param(modelName, 'StopTime', '120'); % 模拟运行时间为120秒
    
 set_param(modelName, 'Solver', 'ode45');

 % 获取车辆速度数据

    
 vehicleSpeed = getVehicleSpeed();
    
  
    
 % 计算上升时间和调节时间
    
 riseTime = calculateRiseTime(vehicleSpeed); % 自定义函数计算上升时间
    
 settlingTime = calculateSettlingTime(vehicleSpeed); % 自定义函数计算调节时间
    
  
    
 % 显示结果
    
 disp(['Rise Time: ', num2str(riseTime), ' seconds']);
    
 disp(['Settling Time: ', num2str(settlingTime), ' seconds']);

 % 计算超调量

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

 % 获取车辆轨迹数据

    
 trajectory = getTrajectory();
    
  
    
 % 检查是否避开障碍物
    
 if any(isCloseToObstacle(trajectory)) % 自定义函数检查是否靠近障碍物
    
     disp('Warning: Vehicle is too close to an obstacle.');
    
 else
    
     disp('Vehicle successfully avoided all obstacles.');
    
 end

 % 调整路径规划算法参数

    
 set_param([modelName '/Path_Planner'], 'MaxIterations', '2000'); % 增加最大迭代次数
    
 set_param([modelName '/Path_Planner'], 'StepSize', '0.5'); % 减小步长
    
  
    
 % 重新运行仿真
    
 sim(modelName);

 % 添加毫米波雷达传感器模块

    
 add_block('sensorFusion/Radar Detection Generator', [modelName '/Radar_Sensor']);
    
 set_param([modelName '/Radar_Sensor'], 'MaxRange', '150'); % 设置最大检测范围为150米
    
 set_param([modelName '/Radar_Sensor'], 'MinRange', '5'); % 设置最小检测范围为5米
    
 set_param([modelName '/Radar_Sensor'], 'UpdateRate', '10'); % 设置更新频率为10Hz
    
  
    
 % 连接毫米波雷达传感器模块
    
 add_line(modelName, [modelName '/Radar_Sensor'], [modelName '/Decision_Module'], 'autorouting', 'on');

 % 使用强化学习进行决策

    
 add_block('simulink/Reinforcement Learning Toolbox/Reinforcement Learning Agent', [modelName '/RL_Agent']);