用C++写一个ACC算法
时间: 2023-08-04 15:25:28 浏览: 90
以下是一个简单的用C++编写的ACC算法,仅供参考:
```c++
#include <iostream>
#include <cmath>
using namespace std;
// 定义常量
const double MAX_SPEED = 60.0; // km/h
const double MIN_SPEED = 0.0; // km/h
const double MAX_DISTANCE = 100.0; // m
const double MIN_DISTANCE = 0.0; // m
const double TIME_INTERVAL = 0.1; // s
const double MAX_ACCELERATION = 5.0; // m/s^2
const double MIN_ACCELERATION = -5.0; // m/s^2
const double SAFETY_TIME_HEADWAY = 2.0; // s
// 定义车辆结构体
struct Vehicle {
double speed; // 速度,单位:km/h
double distance; // 距离,单位:m
};
// 主函数
int main() {
// 初始化车辆
Vehicle egoVehicle = {50.0, 0.0}; // 自车
Vehicle frontVehicle = {50.0, 50.0}; // 前车
// 循环运行ACC算法
while (true) {
// 计算车辆之间的相对速度和距离
double relativeSpeed = egoVehicle.speed - frontVehicle.speed;
double relativeDistance = frontVehicle.distance - egoVehicle.distance;
// 计算期望的速度和加速度
double expectedSpeed = frontVehicle.speed;
double expectedAcceleration = 0.0;
// 如果前车在安全距离内,则根据速度差异计算加速度
if (relativeDistance <= SAFETY_TIME_HEADWAY * egoVehicle.speed) {
double deltaSpeed = egoVehicle.speed - frontVehicle.speed;
expectedAcceleration = -deltaSpeed / (SAFETY_TIME_HEADWAY * SAFETY_TIME_HEADWAY / 2.0);
}
// 如果前车在安全距离外,则加速到最高速度
else {
expectedSpeed = MAX_SPEED;
double deltaSpeed = expectedSpeed - egoVehicle.speed;
expectedAcceleration = deltaSpeed / TIME_INTERVAL;
}
// 限制加速度范围
expectedAcceleration = max(MIN_ACCELERATION, min(MAX_ACCELERATION, expectedAcceleration));
// 更新车辆的速度和距离
egoVehicle.speed += expectedAcceleration * TIME_INTERVAL;
egoVehicle.speed = max(MIN_SPEED, min(MAX_SPEED, egoVehicle.speed));
egoVehicle.distance += egoVehicle.speed * TIME_INTERVAL;
// 输出车辆状态
cout << "Ego vehicle speed: " << egoVehicle.speed << " km/h, distance: " << egoVehicle.distance << " m" << endl;
cout << "Front vehicle speed: " << frontVehicle.speed << " km/h, distance: " << frontVehicle.distance << " m" << endl;
// 等待一段时间
// 可以使用sleep函数等待一段时间
}
return 0;
}
```
需要注意的是,这只是一个简单的ACC算法实现,实际应用中还需要更加复杂的优化和改进。例如,需要考虑多车道行驶、转弯、变道等情况,并且需要考虑到车辆传感器的误差和噪声等问题。
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