MATLAB 开发项目实例 1000 例专栏之第124例：使用 Simulink 开发自动驾驶汽车的路径规划和跟随系统（Path Planning and Following System, PPF）

 % 创建车辆动力学模型

    
 add_block('vehicleDynamics/3DOF Vehicle Body', 'PPF_Model/Vehicle_Dynamics', [100 100]);

 % 加载地图数据

    
 load('map_data.mat'); % 假设 map_data.mat 包含地图数据
    
  
    
 % 创建路径规划模块
    
 add_block('robotics/Path Planner', 'PPF_Model/Path_Planner', [100 100]);
    
 set_param('PPF_Model/Path_Planner', 'Algorithm', 'RRT*', 'MapData', 'map_data');
    
  
    
 % 连接模块
    
 add_line('PPF_Model', 'Start_Point/1', 'Path_Planner/1');
    
 add_line('PPF_Model', 'Goal_Point/1', 'Path_Planner/2');

 % 创建路径跟随控制器

    
 add_block('simulink/Continuous/PID Controller', 'PPF_Model/PID_Controller', [100 100]);
    
 set_param('PPF_Model/PID_Controller', 'P', '1.0', 'I', '0.1', 'D', '0.01');
    
  
    
 % 创建路径跟随模块
    
 add_block('robotics/Path Follower', 'PPF_Model/Path_Follower', [100 100]);
    
 set_param('PPF_Model/Path_Follower', 'PathData', 'path_data');
    
  
    
 % 连接模块
    
 add_line('PPF_Model', 'Path_Planner/1', 'Path_Follower/1');
    
 add_line('PPF_Model', 'Vehicle_Position/1', 'Path_Follower/2');
    
 add_line('PPF_Model', 'Path_Follower/1', 'PID_Controller/1');
    
 add_line('PPF_Model', 'PID_Controller/1', 'Vehicle_Dynamics/1');

 % 加载雷达数据

    
 load('radar_data.mat'); % 假设 radar_data.mat 包含雷达数据
    
  
    
 % 加载摄像头数据
    
 load('camera_data.mat'); % 假设 camera_data.mat 包含摄像头数据
    
  
    
 % 创建雷达数据处理模块
    
 add_block('sensorFusionAndTracking/Radar Sensor', 'PPF_Model/Radar_Sensor', [100 100]);
    
 set_param('PPF_Model/Radar_Sensor', 'FieldOfView', '60', 'UpdateRate', '10');
    
  
    
 % 创建摄像头数据处理模块
    
 add_block('vision/Object Detector', 'PPF_Model/Camera_Sensor', [100 100]);
    
 set_param('PPF_Model/Camera_Sensor', 'DetectorType', 'YOLO v3');
    
  
    
 % 创建避障模块
    
 add_block('robotics/Obstacle Avoidance', 'PPF_Model/Obstacle_Avoidance', [100 100]);
    
 set_param('PPF_Model/Obstacle_Avoidance', 'SensorData', 'sensor_data');
    
  
    
 % 连接模块
    
 add_line('PPF_Model', 'Radar_Sensor/1', 'Obstacle_Avoidance/1');
    
 add_line('PPF_Model', 'Camera_Sensor/1', 'Obstacle_Avoidance/2');
    
 add_line('PPF_Model', 'Obstacle_Avoidance/1', 'Path_Follower/3');

 % 加载交通场景

    
 load('traffic_scenarios.mat'); % 假设 traffic_scenarios.mat 包含不同的交通场景
    
  
    
 % 创建 Scenario Reader 模块
    
 add_block('drivingScenario/Scenario Reader', 'PPF_Model/Scenario_Reader', [100 100]);
    
 set_param('PPF_Model/Scenario_Reader', 'ScenarioFile', 'traffic_scenarios.mat');
    
  
    
 % 连接模块
    
 add_line('PPF_Model', 'Scenario_Reader/1', 'Radar_Sensor/1');
    
 add_line('PPF_Model', 'Scenario_Reader/2', 'Camera_Sensor/1');

 % 设置仿真时间

    
 set_param('PPF_Model', 'SimulationMode', 'normal', 'StopTime', '30');
    
  
    
 % 运行仿真
    
 sim('PPF_Model');

 % 查看输出数据

    
 disp(output_data);