资源简介
在simulink中搭建的基于相机和毫米波雷达的障碍物检测,检测前方车辆并进行ACC的整套模型。已在实车中进行验证。
代码片段和文件信息
%% Adaptive Cruise Control with Sensor Fusion
% This example shows how to implement a sensor fusion-based automotive
% adaptive cruise controller for a vehicle traveling on a curved road using
% sensor fusion.
%
% In this example you will:
%
% # Review a control system that combines sensor fusion and an adaptive
% cruise controller (ACC). Two variants of ACC are provided: a classical
% controller and an Adaptive Cruise Control System block from Model
% Predictive Control Toolbox.
% # Test the control system in a closed-loop Simulink model using synthetic
% data generated by the Automated Driving System Toolbox.
% # Configure the code generation settings for software-in-the-loop
% simulation and automatically generate code for the control algorithm.
% Copyright 2017 The MathWorks Inc.
%% Introduction
% An adaptive cruise control system is a control system that modifies the
% speed of the ego car in response to conditions on the road. As in regular
% cruise control the driver sets a desired speed for the car; in addition
% the adaptive cruise control system can slow the ego car down if there is
% another vehicle moving slower in the lane in front of it.
%
% For the ACC to work correctly the ego car has to determine how the lane
% in front of it curves and which car is the ‘lead car‘ that is in front
% of the ego car in the lane. A typical scenario from the viewpoint of the
% ego car is shown in the following figure. The ego car (blue) travels
% along a curved road. At the beginning the lead car is the pink car. Then
% the purple car cuts into the lane of the ego car and becomes the lead
% car. After a while the purple car changes to another lane and the pink
% car becomes the lead car again. The pink car remains the lead car
% afterward. The ACC design must react to the change in the lead car on
% the road.
%
% <<../scenario.png>>
%
%%
% Current ACC designs rely mostly on range and range rate measurements
% obtained from radar and are designed to work best along straight roads.
% An example of such a system is given in and
% in . Moving from ADAS designs
% to more autonomous systems the ACC must address the
% following challenges:
%
% # Estimating the relative positions and velocities of the cars that are
% near the ego car and that have significant lateral motion relative to the
% ego car.
% # Estimating the lane ahead of the ego car to find which car in front of
% the ego car is the closest one in the same lane.
% # Reacting to aggressive maneuvers by other vehicles in the environment
% in particular when another vehicle cuts into the ego car lane.
%
%%
% This example demonstrates two main additions to existing ACC designs that
% meet these challenges: adding a sensor fusion system and updating the
% controller design based on model predictive control (MPC). A sensor
% fusion and tracking system that uses both vision and radar sensors
% provides the follo
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