基于CarSim和Simulink智能驾驶的ADAS环境搭建及控制策略开发

【实例简介】
包含Carsim入门教程，仿真参数设置教程，ESP算法推导，控制策略仿真，适用于出初学者
CarSim快速入门 @[Carsim20161_Data] CarSim Run Control; (**Quick Start Guide Example)Baseline × File Edit Datasets Libraries Go To View Tools Help Run 6d8c5fd6 4-2201813:5350 ? a Back Forward Home Previous Next Duplicate Undo Redo Lib Too Parsfile debar Refresh Help Use this example when you follow the w Simulated lest specifications Run control: built-In solvers Analyze Results (Post Processing) teps in the Quick Start Guide. (This Vehicle Configuration: Ind_Ind as last revised for version g a un Math Mod Models: T vude口 video plot till applicable fo 20156,) C-Class. Hatchback 201 Open the Quick Start Guide from th d deg Azimuth, Veh. Ref lelp menu it's near the botom Procedure Do not set output type here 团 Write all outputs Plot More p:1口 Only these pl do to Help-> Release Note Carsim 2016 new features to read Longitudinal speed about the updates to th J Show more options on this screen he softare 日 xample checke E: CarSim Run Control: Baseline w 车辆参数化建模 求解器 仿真后处理 仿真工况及道路建模运行仿真工况 曲线和动画 +. Plot: Setup: Longitudinal Speed 仿真车辆 Overlay animations and plots with other runs 模型配置信息 间 carsIM class hatchback 2012 mports into math model (Excel) lapse RefreshEs MECHANICAL SIMULATION CarSim菜单栏 @ [CarSim20161 Data] CarSim Run Control; 1** Quick Start Guide Example)Baseline Eile Edit Datasets Libraries Go To View Tools Heelp New Database(Empty) Run 6d8c5fdo 04-9-201813:53:50 New Database from a Consolidated Parstile Partile ? New database from this dataset d Test specifications Run Control: built-In solvers Analyze Results( Post Processing upen Existing Database. Run math mo Models Pat□ Set color Hatchback 2 New Dataset(Duplicate of Current Dataset) Ctrl+N 13 deg Azimuth, Yeh. Ref New Dataset(Empty) Do not set output type here v Write all outputs Plot More plots: 1 Only these plots New dataset plus All Linked Data sets ongitudinal Speed Delete Dataset. Ctrl+D tions on this screen Delete Many Datasets. Toggle Locked status Ctrl+L Save Pending Changes to Parsfile Now Ctrl+s view Parsfile in Text Editor Ctrl+p Export Consolidated Parsfile. Export Expanded Parsfile (Legacy).. Export Expanded Notes Export Encrypted Expanded Parsfile Import Parsfile (Any Export Type). Overlay animations and plots with other runs Print Screen Image. Y Enable Recent Database window Recent Databases Exit Ctrl+O carsIM CCas5. Hatch如ack201 Imports into math model Expand Collapse Ref Heset MECHANICAL SIMULATION i CoCLass H CarIn菜单栏 [CarSim20161 Data] CarSim Run Control; [k Quick Start Guide Example baseline Eile Edit Data ibra aTo View Fools Help Quick Start Guide Example Home Carsim Run control Ctrl+H CS 2016-ADAS Undo ADAS Sensors and Moving Objects c 2016- Euro NCAP Autonomous Braking C ? a Redo tr+Ypad· CS 201593 Closed Loop Aerodynamics Refresh He p Lock *CS 2016- External Steer w/Open Lou Animator Cut Ctrl+x Results(Post Processing ste fioulCS2016-FMU/FMI SthN Batch was Copy Ctrl+c vieo+Fot□ Set color stl‖ Hatc'CS 2016-MF-Tyre/MF-Swift v7 (Extra License) Brakes Paste Ctrl+v *C5 2016- Restoring to a Previous State 3 deg Azimuth Veh. Ref CS2016· Road Options Calculator Help Select All Ctrl+A pc m/“Cs2016- Twist Beam MpE More plots Control 1口 Only these plots Car l change Iitle or Category of This Dataset Ctrl+TI s CS 2016-User Tire ModelsTl Custom Forces and Motion Sensors Longitudinal Speed on 'More Examples( Extra License Options about the updates to this version ot Engine Mounts the software Aero Effects Generic Note: this example has the box Alternate Vehicle Data Measurement Hitches checked to" write all outputs. That y Brake Tests l/o Channels Data Output Options aiCarSim Run Control: Baseline Driver Speed from Path Preview Models E+. Animator: Camera Setup: 13 deg Extended models t Wehicle: Assembly. C-Class, Hat Paths and road surfaces 由 Procedures: Cross External Control of Runs Payloads t Plot Setup: Longitudinal Speed Handling and Stability Tests Kinematic and Compliance Tests Plot Linearization Powertrain Non-Car Vehicle Types Procedures animations and plots with other runs Payloads Powertrain Tests Steering Reference Points, Accel, and Rate Sensors suspensions Roads Tires Simulink and LabVIEW Models vehicles Steering Tests Wind Suspension and Ride Tests Tire Models Tire Tester carsIM Trailers(Extra License Needed) ass, Hatchback 2012 View Imports into math model (Excel) and Collar MECHANICAL SIMULATIONL vS Visualizer Examples ICS CCass h CarSim莱单栏 @[CarSim20161 Data] Preferences: Default Settings VsV Eile Edit Datasets Libraries Go To View IoolsHelp ·合合↓ Library Iool me Previous Next Duplicate Calculator ? r Batch Matrix. ary) will be Global Settings for the vs Browser Batch runs I Show full pathname of database in window title bar De卡 VS/ERD File Utili vScan for IMP and EXP commands and send last to math model OtherwIse I Alays save Simulink model automatically when using the"Send to Simulink, button Select matlab version q什H2) L Disable the autometic activation of output variables to animate the current vehicle Create shortcut to this Database 100 Disable the automatic warning of bad links when making runs or animations Disable the automatic warning when exiting the vs Browser Re-Index This Library. Show data inks for the"Windows Classic"theme Re-Index Entire Database step Maximum screen width (used to size images with animator): 1920 Re-Write This Library. Maximum number of rows in a spreadsheet table editor. 1250 DE Re-Write entire Database START Maximum number of points in spline for showing symbols: 100 BlCarSirm Run Control: Baseline t Animator, Camera Setup: 13 deg Defau Eind All References to This Dataset Default for importing a Parstile: Keep original names of imported datasets v c Vehicle Assembly. C-Class, Hat Find All Broken Links in the database. Procedures: DLC 120 kmh(O Default Datasets E Plot Setup: Long itudinal Speed Find Text in the Database. Ctrl+F Plot format: Default Plot Settings 1-m cube shape Misce Lock Everything in the Database. Cube (Translucent) Un-Lock Everything in the Database. l-m radius cylinder shape Cylinder (1 m d. z axis) Decrypt Existing Encrypted Parsfile Associated Programs and Folders License Settings. Use winEP for plotting simulation results instead of vS visualizer Use SurtAnim for video of simul ation results instead of vs visualizer Alternate Library Folder Locations. Edit Text File For Help Menu Teot editor Solvers folder Show Log File. Help folder Clear Log File Live Animation: ProgramsvsVisualizervsVisualizer, exe Expand Collapse Refresh Reset Preferences. Library tool ry Datasets Library Datasets Carsim Run control Baseline CarSim Run Control ACC, 4-Lane Road, Fwd and Opp, Trac Categories Categories ACC 5-Lane road 3 Lanes fwd Traffic Blind Spot Warning. Reversing in Parking Lot a Quick Start Guide Example aQuick Start Guide Example Lane Departure in Double Lane change CS 2016-ADAS 9S2016-ADAS Lane Departure Warning. 4 Lanes Divided CS 2016-Euro NCAP Autonomous Braking CS- Euro NCAP Autonomous Braking Lane Departure Waning. 4 Lanes. Adjacent CS 2016-Exemal Steer w Closed Loop CS 2016-Exermal Steer w Closed Loop Mony Sensors, 5-Lane Road, 3 Lanes Fwd CS 2016-Exermal Steer Open Loop CS 2016-FMU/FMI Library Tool "CS 2016-MF-TyreMF-Swift v7(Extra License) CS 2016-Restonng to a Previous Stete Library Datasets Cs2016-Road Options Carsim Run Control Lone Departure Warning. 4 Lanes Divided Selected Datasets Lone Departure Warning. 4 Lanes, Adjacent Mamy Sensors. 5-Lane Road, 3 Lanes Fwd Quick Start Guide Example F-CS 2016-ADAS Add whole CS 2016-Euro NCAP Autonomous Braking atery CS 2016-Exdemal Steer Closed Loop CS 2016-Exernal Steer wOpen Loop CS 2016-FMU/FMI add whole CS 2016-MF-Tyre/MF-Swift v7(Extra License) CS 2016-Restoning to a Previous State CS 2016-Road Options Selected Datasets Clear (CS 2016-ADAS) ACC, 4-Lane Rood, Fwd ond Opp. Traffic Change Category (CS 2016-ADAS)ACC, 5-Lane Road. 3 Lanes Fwd Trafic ("CS2016-ADAS) Blind Spot warning Reversing in Parking Lot Add whole led Parsfle (Legacy Unloc Re-wWnte arsines (C5 2016-ADAS) Lane Departure in Double Lane Change category solidated Parsite LoCH Create New Database ndto Existing Arshile Close Delete Change Category Export to Expanded Parsfle (Legacy Unlock Re-Wrte Parsfiles Export to Consolidated Parsfile ? Lock Create New Database. Export and Append to Existing Parsfile. Close VS<→ ERD TOO Ee VS/ERD File Uti File Help put Files (st d Copy) ERD文件 Format: ERD& Binary v Add files to list Scan folder Remove 1 File Clear list The binary data are C5 2016-Road Optior P5 Short Road Import Run De0t5ce-jdaU-45ec-00td-347abbc701ad erd 六 recorded using 32-bit floating-point numbers VS文件 Output File Properties VS files support binary Format: Excel CSY File Copy all channels T Filename suffix files with either 32-bit if ou are copying from s to ys. RD to ERD, or cSV to CSy len you must provide a filename suffix so the output files are or 64-bit floating distinct from the input files. For example, with the suffix _mod, an input file" data. erd"would be used to generate an output file named data moder point numbers ou can copy all channels or specify the channels that are used to make the output file. To do this, choose the op channels from the above drop-down list control This will display a field for a reference file that will be scanned Once a reference 卩 ath is specified. the available channel names are shown in Only those that are specitied wll be included in the output til ples specity different start and stop times in the output files, to remove data outside the specified range. To do this you m also identify a reference file that will be scanned to show reference time parameters(start, stop time range convert Filets) Preferences e [CarSim20161 Data] Preferences; Default Settings VsV File Edit Datasets Libraries Go To View Tools Help ? The most recently viewed preferences dataset (from this library will be Global Settings for the Vs Browser activeted when you leave this screen I Show full pathname of database in window title bar Default Settings for Math Models M Scan for IMP- and EXP- commands and send last to math model Settings made here will be used by default unless specified otherwise I ANays save Simulink model automatically when using the"Send to Simulink"button Time step (s) Freq (Hz) L Disable the automatic activation of output variables to animate the current vehide Math model 0.001 1000 I Disable the automatic warning of bad links when making runs or animations Output hle. 025 4 I Disable the automatic warning when exiting the Vs Browser I Show data links for the"Windows Classic"theme Numerical Integration method for built-in models: AM-2(2 updates per step Maximum screen width (used to size images with animator): 1920 v Maximum number of rows in a spreadsheet table editor.1250 Default time to start writing output TSTART_WRITE- TSTART Maximum number of points in spline for showing symbols: 100 e CarSim Run Control: Baseline Animator, Camera Setup: 13 deg Default file type for simulation output Output: ERD 32-bit Default for importing a Parsfile: Keep original names of imported datasets o Vehicle: Assembly. C-Class, Hat .Procedures: DLC@120 km/h(o Default Datasets c Plot Setup: Longitudinal Speed Plot format Default Plot Setings Miscellaneous default settings 1-m cube shape Cube(Translucent l-m radius cylinder shape Cylinder (l d, Z axis Associated Programs and Folders Use WinEP for plotting simulation results instead of vS visualizer Use SurtAnim for video of simulation results instead of vs visualizer Texteditor Solvers folder Help folder LMe Animation: Programs\svisualizerysvisualizer exe Expand CcllapseRefethReset Help e [CarSim20161 Data] CarSim Run Control; * Quick Star About This Screen. File Edit Datasets Libraries Go To View Tools Help Search Help 重排窗囗 Table of Contents for Screens 查找内容 Home: The Run Screen ADAs,位于:名为 arSim_Help pdx"的索引 Simulated Tes. ADAS Sensors and Moving Objects 结果 在8个文档中找到90处 e Results( Post Processing) steps in the Quick Start Guide ( Thi last revised for version g and i ehicle Contigo Aerodynamics icea+Pat□ Set colo Animator 新建搜索 till applicable for version 201 6.) 13 deg Azimuth, veh. Ref the Quick start guide from th Brake Systems Help menu it's near the botton 结果 Driver Controls More plots +t ADAS Sensors and Moving Objects 1□ Only these plots →> Release n OLC@120 km! Generic Data Screens +T Multiple Ports for Sensors in Simulink Longitudinal speed □ Show more options or Hitch +7 CarSim 2016 Release Notes lout th n of the softwa Model Extensions and RT +7 VS Commands Reference Manual +7 CarSim 2016. 1 Release Notes Paths and Road Surfaces ote: this example has the box +" CarSim Math Models checked to Write all outputs. That v Payloads #t Version 9 Backward Compatibility: Paths and Roads Plot setup +7 Paths. Roads and Ground aCarSim Run Control: Baseline A Po pertain animator. Camera s甲p13dg 由vehd Procedures and events Procedures: DLC @120 km/h(Q Steering Systems Plot: Setup: Longitudinal speed Suspension Systems Tire Models Tools animations and plots with other runs Vehicles Quick Start Guide Reference Manuals 排序依据:相关程度 Technical memos 折叠文件路径 Real-Time and DS Systems Release notes 优化搜索结里 面少伍 carsiM Check Web Site for Updates. Imports into math model (Excel) V MECHANICAL SIMULATON- About CarSim. 【实例截图】
【核心代码】