用c++实现ACC功能

ACC（Adaptive Cruise Control）是一种车辆自动驾驶辅助系统，主要用于在高速公路上维持车辆的安全距离和速度。以下是一个简单的用 C++ 实现 ACC 功能的示例代码：

#include <iostream>
#include <cmath>

using namespace std;

const double dt = 0.1; // 时间间隔
const double max_speed = 25.0; // 最大速度
const double min_distance = 5.0; // 最小安全距离

class ACC {
public:
    ACC(double desired_speed, double desired_distance) :
        desired_speed(desired_speed),
        desired_distance(desired_distance),
        current_speed(0),
        current_distance(0),
        previous_distance(0),
        previous_speed(0)
    {}

    void update(double current_speed, double current_distance) {
        // 计算加速度
        double acceleration = calculate_acceleration(current_speed, current_distance);

        // 更新速度和距离
        double new_speed = current_speed + acceleration * dt;
        double new_distance = current_distance + (current_speed + new_speed) * dt / 2.0;

        // 打印输出
        cout << "当前速度：" << current_speed << "，当前距离：" << current_distance << endl;
        cout << "期望速度：" << desired_speed << "，期望距离：" << desired_distance << endl;
        cout << "加速度：" << acceleration << "，新速度：" << new_speed << "，新距离：" << new_distance << endl;

        // 更新状态
        previous_speed = current_speed;
        previous_distance = current_distance;
        this->current_speed = new_speed;
        this->current_distance = new_distance;
    }

private:
    double desired_speed; // 期望速度
    double desired_distance; // 期望距离
    double current_speed; // 当前速度
    double current_distance; // 当前距离
    double previous_speed; // 上一次的速度
    double previous_distance; // 上一次的距离

    // 计算加速度
    double calculate_acceleration(double current_speed, double current_distance) {
        double speed_error = desired_speed - current_speed;
        double distance_error = current_distance - desired_distance;
        double delta_speed = current_speed - previous_speed;
        double delta_distance = current_distance - previous_distance;

        double acceleration = 0.5 * speed_error + 0.5 * distance_error / delta_distance * delta_speed;

        // 限制加速度在 [-1, 1] 的范围内
        acceleration = max(-1.0, min(1.0, acceleration));

        return acceleration;
    }
};

int main() {
    double current_speed = 0.0; // 初始速度为 0
    double current_distance = 50.0; // 初始距离为 50
    ACC acc(20.0, 10.0); // 期望速度为 20，期望距离为 10

    for (int i = 0; i < 100; i++) {
        acc.update(current_speed, current_distance);

        // 限制速度在 [0, max_speed] 的范围内
        current_speed = max(0.0, min(max_speed, current_speed + acc.calculate_acceleration(current_speed, current_distance) * dt));
        current_distance += (current_speed - acc.calculate_acceleration(current_speed, current_distance) * dt) * dt;
    }

    return 0;
}

这个示例代码中，我们定义了一个 ACC 类来实现 ACC 功能。ACC 类中，我们通过计算加速度来控制车辆的速度和距离。在主函数中，我们模拟了车辆行驶的过程，并且通过调用 ACC 类的 update 函数来更新 ACC 系统的状态。最后，我们通过限制速度和距离的范围来确保车辆安全行驶。