《基于Prescan Simulink的车辆超车换道研究：主车速度15m/s与障碍物（运动与固定）下的决策与控制》,prescan simulink 车辆超车道，主车速度15m s，一个运动障碍车速度
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《基于Prescan Simulink的车辆超车换道研究：主车速度15m/s与障碍物（运动与固定）下的决策与控制》,prescan simulink 车辆超车道，主车速度15m s，一个运动障碍车速度5m s，一个固定障碍车，超车加油门后回到原车道,核心关键词：prescan; simulink; 车辆超车换道; 主车速度15m/s; 运动障碍车速度5m/s; 固定障碍车; 超车加油门; 回到原车道。结果形式：关键词以分号分隔分号分隔的关键词结果为：prescan;simulink;车辆超车换道;主车速度15m/s;运动障碍车;固定障碍车;超车加油门;回到原车道。,Simulink中车辆超车换道模拟：速度与障碍物处理 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90341923/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90341923/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">基于<span class="_ _0"> </span><span class="ff2">Prescan Simulink<span class="_ _1"> </span></span>的车辆超车换道模拟</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">一<span class="ff3">、</span>引言</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">随着自动驾驶技术的不断发展<span class="ff4">，</span>车辆在复杂道路环境下的超车换道行为成为了研究的热点<span class="ff3">。</span>本文将利</div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">用<span class="_ _0"> </span><span class="ff2">Prescan Simulink<span class="_ _1"> </span></span>这一强大的仿真工具<span class="ff4">，</span>模拟车辆在超车换道过程中的行为<span class="ff4">，</span>主要关注主车速</div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">度为<span class="_ _0"> </span><span class="ff2">15m/s<span class="_ _1"> </span></span>时<span class="ff4">，</span>面对一个运动障碍车<span class="ff4">（</span>速度<span class="_ _0"> </span><span class="ff2">5m/s<span class="ff4">）</span></span>和一个固定障碍车的情况<span class="ff3">。</span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">二<span class="ff3">、</span>模拟环境设置</div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">主车设置<span class="ff4">：</span>主车采用自动驾驶系统<span class="ff4">，</span>速度设定为<span class="_ _0"> </span></span>15m/s<span class="ff3">。<span class="ff1">主车的动力学模型</span>、<span class="ff1">传感器配置等参</span></span></div><div class="t m0 x2 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">数需根据实际车辆进行设定<span class="ff3">。</span></div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">障碍车设置<span class="ff4">：</span>设置一个运动障碍车和一个固定障碍车<span class="ff3">。</span>运动障碍车速度为<span class="_ _0"> </span></span>5m/s<span class="ff4">，<span class="ff1">用于模拟道路</span></span></div><div class="t m0 x2 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">上的其他行驶车辆<span class="ff4">；</span>固定障碍车则代表路边的固定物体或道路标志等<span class="ff3">。</span></div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff1">环境设置<span class="ff4">：</span>利用<span class="_ _0"> </span></span>Prescan<span class="_ _1"> </span><span class="ff1">软件构建道路环境<span class="ff4">，</span>包括车道线<span class="ff3">、</span>交通标志<span class="ff3">、</span>其他车辆等<span class="ff3">。</span>同时<span class="ff4">，</span>设</span></div><div class="t m0 x2 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">置合适的天气和光照条件<span class="ff4">，</span>以模拟真实驾驶环境<span class="ff3">。</span></div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">三<span class="ff3">、</span>超车换道过程模拟</div><div class="t m0 x1 h2 ye ff2 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">超车决策<span class="ff4">：</span>当主车检测到前方有可超车的空间时<span class="ff4">，</span>自动驾驶系统将做出超车决策<span class="ff3">。</span>此时<span class="ff4">，</span>主车会</span></div><div class="t m0 x2 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">进行加速<span class="ff4">，</span>准备超越前方的运动障碍车<span class="ff3">。</span></div><div class="t m0 x1 h2 y10 ff2 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">加速过程<span class="ff4">：</span>主车逐渐加速至安全速度<span class="ff4">，</span>准备进行超车动作<span class="ff3">。</span>在这个过程中<span class="ff4">，</span>主车的加速度<span class="ff3">、</span>油门</span></div><div class="t m0 x2 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">开度等参数需根据实际车辆性能进行设定<span class="ff3">。</span></div><div class="t m0 x1 h2 y12 ff2 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff1">换道过程<span class="ff4">：</span>当主车达到一定速度时<span class="ff4">，</span>开始进行换道动作<span class="ff3">。</span>此时<span class="ff4">，</span>主车需确保后方无来车或来车距</span></div><div class="t m0 x2 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">离足够远<span class="ff4">，</span>以避免碰撞事故的发生<span class="ff3">。</span></div><div class="t m0 x1 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">4.<span class="_ _2"> </span><span class="ff1">避障与回归原车道<span class="ff4">：</span>在超车过程中<span class="ff4">，</span>主车需时刻关注前方的运动障碍车和固定障碍车<span class="ff4">，</span>确保安全</span></div><div class="t m0 x2 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">避障<span class="ff3">。</span>完成超车后<span class="ff4">，</span>主车需逐渐减速并回归原车道<span class="ff3">。</span></div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">四<span class="ff3">、</span>仿真结果分析</div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">超车过程分析<span class="ff4">：</span>通过<span class="_ _0"> </span></span>Simulink<span class="_ _1"> </span><span class="ff1">仿真<span class="ff4">，</span>可以观察到主车在超车过程中的速度变化<span class="ff3">、</span>加速度变化</span></div><div class="t m0 x2 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0">以及油门开度等参数的变化情况<span class="ff3">。</span>这些数据可以用于评估自动驾驶系统在超车过程中的性能表现</div><div class="t m0 x2 h3 y19 ff3 fs0 fc0 sc0 ls0 ws0">。</div><div class="t m0 x1 h2 y1a ff2 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">避障与回归原车道分析<span class="ff4">：</span>在超车过程中<span class="ff4">，</span>主车需时刻关注障碍车的动态变化<span class="ff4">，</span>确保安全避障<span class="ff3">。</span>同</span></div><div class="t m0 x2 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0">时<span class="ff4">，</span>完成超车后<span class="ff4">，</span>主车需逐渐减速并准确回归原车道<span class="ff3">。</span>这些过程的数据也可以用于评估自动驾驶</div><div class="t m0 x2 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0">系统的性能表现<span class="ff3">。</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>