摄像头智能车仿真平台的设计与实现  

Design and implementation of simulation platform for intelligent vehicle with camera

作　　者：吴秋轩[1] 赵俊晓 刘碧川[1] 袁文婷[1] 王坚[1] 

机构地区：[1]杭州电子科技大学自动化学院,浙江杭州310018

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期392-395,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：浙江省自然科学基金资助项目(Y1090353;LQ13F030014)

摘　　要：设计并实现了一种摄像头智能车仿真平台,包括Matlab中智能车的控制算法仿真、MRDS三维仿真系统仿真和硬件在环仿真.将Matlab中开发的控制算法移植入MRDS三维仿真系统,利用更真实的模型和环境调试控制算法及模拟系统中各部分可调参数,提高了调试效率.硬件在环仿真通过引入车模底层硬件,按MRDS三维仿真系统中完善的算法修改Matlab中的模型参数,把RTW生成的底层代码及参数下载至车模中运行,通过上位机可实时观察并记录车体运行状态和相关参数,实现了软件仿真和硬件仿真的交互调试.Simulation platform was designed and developed for an intelligent vehicle with camera,including the control algorithm simulation in Matlab,three-dimensional simulation based on microsoft robotics developer studio(MRDS)and the hardware-in-the-loop simulation.The debugging efficiency was improved by transplanting the control algorithm developed in Matlab into the MRDS where the more realistic models and environment were used to debug control algorithm and analog tunable parameters.The hardware-in-the-loop simulation was realized by introducing the underlying hardware of intelligent vehicle model.According to the improved algorithm in MRDS,changed model parameters in Matlab.By downloading the underlying code and parameters obtained in real-time workshop to the intelligent vehicle model and running,the users can observe and record the running status and related parameters of the vehicle in the principal computer in real time,then the interactive debugging between software simulation and hardware simulation was realized.

关 键 词：智能车 仿真平台 摄像头 三维仿真 硬件在环仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]