自适应巡航Carsim与Simulink联合仿真：两车固定间距的ACC控制策略纯电车研究,自适应巡航Carsim与Simulink联合仿真：固定间距下的两车纯电车PID控制ACC策略研究,自适应巡航C
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自适应巡航Carsim与Simulink联合仿真：两车固定间距的ACC控制策略纯电车研究,自适应巡航Carsim与Simulink联合仿真：固定间距下的两车纯电车PID控制ACC策略研究,自适应巡航Carsim+simulink联合仿真，两车仿真不支持三车固定间距，carsim纯电车，PID控制。ACC固定间距策略。,自适应巡航;Carsim+simulink联合仿真;两车仿真;固定间距;纯电车;PID控制;ACC固定间距策略,Carsim+Simulink联合仿真：固定间距PID控制的纯电车自适应巡航 <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/90434798/2/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/90434798/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">**<span class="ff2">自适应巡航<span class="_ _0"> </span></span>Carsim<span class="_ _0"> </span><span class="ff2">与<span class="_ _0"> </span></span>Simulink<span class="_ _0"> </span><span class="ff2">联合仿真：两车固定间距<span class="_ _0"> </span></span>PID<span class="_ _0"> </span><span class="ff2">控制策略</span>**</div><div class="t m0 x1 h2 y2 ff2 fs0 fc0 sc0 ls0 ws0">随着智能交通系统的快速发展，<span class="_ _1"></span>自适应巡航<span class="_ _1"></span>（<span class="ff1">ACC</span>）<span class="_ _1"></span>技术已经成为现代汽车领域研究的热点。</div><div class="t m0 x1 h2 y3 ff2 fs0 fc0 sc0 ls0 ws0">本文将介绍使用<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>联合仿真平台进行两车固定间距的自适应巡航系统设计</div><div class="t m0 x1 h2 y4 ff2 fs0 fc0 sc0 ls0 ws0">与仿真。由于技术限制，本仿真不支持三车仿真。</div><div class="t m0 x1 h2 y5 ff2 fs0 fc0 sc0 ls0 ws0">一、系统概述</div><div class="t m0 x1 h2 y6 ff2 fs0 fc0 sc0 ls0 ws0">本系统采用<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>纯电车模型作为仿真对象，通过<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>进行控制策略的搭建与仿真。</div><div class="t m0 x1 h2 y7 ff2 fs0 fc0 sc0 ls0 ws0">主要目标是实现车辆在道路行驶过程中，<span class="_ _2"></span>能够根据前方车辆的距离自动调整车速，<span class="_ _2"></span>保持安全</div><div class="t m0 x1 h2 y8 ff2 fs0 fc0 sc0 ls0 ws0">的固定间距。</div><div class="t m0 x1 h2 y9 ff2 fs0 fc0 sc0 ls0 ws0">二、<span class="ff1">Carsim<span class="_ _0"> </span></span>模型设置</div><div class="t m0 x1 h2 ya ff2 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>软件中，我们建立了纯电车的<span class="_ _3"></span>模型，并设置了相<span class="_ _3"></span>应的车辆参数，<span class="_ _3"></span>如质量、惯性、</div><div class="t m0 x1 h2 yb ff2 fs0 fc0 sc0 ls0 ws0">轮胎摩擦系数等。<span class="_ _4"></span>同时，<span class="_ _4"></span>为了模拟真实道路环境，<span class="_ _4"></span>我们设置了道路的曲线、<span class="_ _4"></span>坡度以及交通标</div><div class="t m0 x1 h2 yc ff2 fs0 fc0 sc0 ls0 ws0">志等参数。</div><div class="t m0 x1 h2 yd ff2 fs0 fc0 sc0 ls0 ws0">三、<span class="ff1">Simulink<span class="_ _0"> </span></span>控制策略设计</div><div class="t m0 x1 h2 ye ff2 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>中，我们设计了基于<span class="_ _0"> </span><span class="ff1">PID</span>（比例<span class="ff1">-</span>积分<span class="ff1">-</span>微分）控制的自适应巡航策略。<span class="ff1">PID<span class="_ _0"> </span></span>控制</div><div class="t m0 x1 h2 yf ff2 fs0 fc0 sc0 ls0 ws0">器根据前方车辆的距离和相对速度信息，<span class="_ _2"></span>计算出期望的加速度，<span class="_ _2"></span>并通过控制车辆的油门和刹</div><div class="t m0 x1 h2 y10 ff2 fs0 fc0 sc0 ls0 ws0">车来实现车速的调整。</div><div class="t m0 x1 h2 y11 ff2 fs0 fc0 sc0 ls0 ws0">四、固定间距策略实现</div><div class="t m0 x1 h2 y12 ff2 fs0 fc0 sc0 ls0 ws0">固定间距策略<span class="_ _3"></span>是<span class="_ _0"> </span><span class="ff1">ACC<span class="_"> </span></span>系统的重要功能之<span class="_ _3"></span>一。我们通过<span class="_ _3"></span>设定一个固<span class="_ _3"></span>定的安全间距<span class="_ _3"></span>，利用雷达</div><div class="t m0 x1 h2 y13 ff2 fs0 fc0 sc0 ls0 ws0">或摄像头等传感器实时检测前方车辆的位置和速度。<span class="_ _2"></span>当检测到前方车辆时，<span class="_ _2"></span>系统将根据设定</div><div class="t m0 x1 h2 y14 ff2 fs0 fc0 sc0 ls0 ws0">的安全间距和相对速度计算出期望的车速，<span class="_ _2"></span>并通过<span class="_ _0"> </span><span class="ff1">PID<span class="_"> </span></span>控制器进行调整。<span class="_ _2"></span>如果前方车辆突然</div><div class="t m0 x1 h2 y15 ff2 fs0 fc0 sc0 ls0 ws0">减速或停止，系统将立即响应，使本车减速或刹车，保持安全距离。</div><div class="t m0 x1 h2 y16 ff2 fs0 fc0 sc0 ls0 ws0">五、<span class="ff1">Carsim<span class="_ _0"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>联合仿真</div><div class="t m0 x1 h2 y17 ff2 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>的联合仿真中，我们设置了两车仿真的场景。两车分别运行在相同的</div><div class="t m0 x1 h2 y18 ff2 fs0 fc0 sc0 ls0 ws0">道路<span class="_ _3"></span>上，<span class="_ _3"></span>并保<span class="_ _3"></span>持一<span class="_ _3"></span>定的<span class="_ _3"></span>安全<span class="_ _3"></span>间距<span class="_ _3"></span>。通<span class="_ _3"></span>过<span class="_ _0"> </span><span class="ff1">Simulink<span class="_"> </span></span>中的<span class="_ _3"></span>控制<span class="_ _3"></span>器对<span class="_ _3"></span>纯电<span class="_ _3"></span>车的<span class="_ _3"></span>油门<span class="_ _3"></span>和刹<span class="_ _3"></span>车进<span class="_ _3"></span>行控</div><div class="t m0 x1 h2 y19 ff2 fs0 fc0 sc0 ls0 ws0">制，使车辆能够根据前方车辆的距离和速度自动调整车速，实现自适应巡航的功能。</div><div class="t m0 x1 h2 y1a ff2 fs0 fc0 sc0 ls0 ws0">六、结论</div><div class="t m0 x1 h2 y1b ff2 fs0 fc0 sc0 ls0 ws0">通过<span class="_ _0"> </span><span class="ff1">Carsim<span class="_"> </span></span>与<span class="_ _0"> </span><span class="ff1">Simulink<span class="_ _0"> </span></span>的联合仿真，我们成功地实现了两车固定间距的自适应巡航系统。</div><div class="t m0 x1 h2 y1c ff2 fs0 fc0 sc0 ls0 ws0">该系统采用了<span class="_ _0"> </span><span class="ff1">PID<span class="_ _0"> </span></span>控制策略，<span class="_ _2"></span>能够根据前方车辆的距离和速度自动调整车速，<span class="_ _2"></span>保持安全的固</div><div class="t m0 x1 h2 y1d ff2 fs0 fc0 sc0 ls0 ws0">定间距。该研究为智能交通系统的进一步发展提供了重要的参考和借鉴。</div><div class="t m0 x1 h2 y1e ff2 fs0 fc0 sc0 ls0 ws0">需要注意的是，<span class="_ _5"></span>由于技术限制，<span class="_ _5"></span>本仿真目前仅支持两车仿真，<span class="_ _5"></span>未来将进一步研究三车甚至更</div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div>