| With the advancement of artificial intelligence and automation technologies,the application scenarios of intelligent vehicles are becoming increasingly extensive.The presence of intelligent vehicles can be observed in areas such as logistics and distribution,intelligent inspections,and smart warehousing.The sensors and actuators of intelligent vehicles are becoming more complex,leading to challenges in development with high difficulty and long cycles.Consequently,there is a growing demand for rapid development of intelligent vehicles.Traditional intelligent vehicle control systems rely on hardware devices such as PLCs and MCUs,often employing simple control methods like PID.Complex control algorithms,due to lack of suitable application platforms and intricate programming,face difficulties in implementation within intelligent vehicles.Conversely,an intelligent vehicle control system based on rapid control prototyping can accelerate the validation of control algorithms,thereby reducing development cycles.This paper presents the development of a rapid control prototyping platform for intelligent vehicles.Combining code generation techniques and model-based control system design methods,a rapid control prototyping toolchain was developed,facilitating automatic conversion from models to executable files.An intelligent vehicle toolbox module library embedded within Simulink was developed,enabling the control of intelligent vehicle motion.A cross-compilation environment was established to enable the generated code to run on different operating systems.An intelligent vehicle monitoring software was also developed,enabling connection with intelligent vehicles,acquiring their models and parameters,facilitating parameter installation,monitoring real-time operational status,and displaying real-time operational data.Furthermore,this paper introduces the development of an intelligent vehicle digital twin system.Through the creation of kinematic,dynamic,3D visualization,and environmental models,an intelligent vehicle digital twin system was constructed.The effectiveness of the rapid control prototyping platform and the intelligent vehicle digital twin system were verified through both physical experiments with intelligent vehicles and virtual simulation experiments. |
