| 基于Carsim与Simulink的自动变道联合仿真 |
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| 引用本文： | 许阁.基于Carsim与Simulink的自动变道联合仿真[J].汽车实用技术,2021,46(8):18-20. |
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| 作者姓名： | 许阁 |
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| 作者单位： | 东风汽车公司技术中心,湖北 武汉 430058 |
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| 摘 要： | 文章通过Carsim搭建汽车模型并配置道路障碍物等环境信息,并通过模拟传感器输出车道线、障碍物和本车运动状态信息,并通过接口配置发送到Simulink,再通过在Simulink中搭建自动变道的路径规划和跟踪控制算法输出方向盘转角信号给Carsim,实现对汽车自动变道的闭环仿真。
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| 关 键 词： | 多项式拟合 前馈反馈控制 控制点预瞄 |
Automatic Lane Change Co-simulation Based on Carsim and Simulink |
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| Authors: | Xu Ge |
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| Institution: | (Dongfeng Motor Company Technology Center,Hubei Wuhan 430058) |
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| Abstract: | This paper through Carsim to build car models and configure environmental information such as road obstruc-tions,and through the analog sensor outputs lane lines,obstacles and vehicle motion state information,which will be sent to Simulink via interface configuration.Then the path planning and tracking control algorithm of automatic lane change was built in Simulink to output steering wheel angle signal to Carsim,so that the closed-loop simulation of auto lane change is realized. |
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| Keywords: | Polynomial fitting Feedforward feedback control Control point preview |
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