carmaker/matlab联合仿真(三) 生成车道线点，拟合多项式方程

最新推荐文章于 2023-07-06 15:13:19 发布
最新推荐文章于 2023-07-06 15:13:19 发布
阅读量1.3k 收藏 12
点赞数 3
分类专栏： 自动驾驶仿真 matlab 文章标签： matlab
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/weixin_40497850/article/details/127669755
版权

carmaker/matlab联合仿真(三) 生成车道线点，拟合多项式方程

win10
matlab 2020b
carmaker 10.2.2

在carmaker/matlab仿真中，carmaker提供了摄像头、雷达等传感器模型，能够将场景中在传感器覆盖范围内的目标传送到simulink中供给算法模块利用。但是对于车道线信息，Line Sensor只能将车道类型、距离等属性信息，缺少对于车道线本身点的位置信息。而对于有横向控制的算法功能如LKA等就需要提供车道线的点或者车道线拟合成的多项式方程。对于这种情况，可以通过carmaker的拓展功能将当前车道左右侧车道线的点以UAQ的形式传送到simulink中，再做进一步的拟合，以便后续功能模块使用。
还是以前本系列前两篇内容中生成的工程文件为基础做演示。
1 由于在第一篇中创建工程时只勾选了Carmaker for Simulink Extras的选项，文件夹中缺少拓展的模块。所以需要重新在创建一次工程以补充缺少的模块。在工程文件夹下打开的simulink模型中通过点击GUI图标打开carmaker主界面。点击File -> Project Folder -> Create Project，将工程文件夹切换到之前建立的文件夹处，然后勾选所有五个选项，点击OK。警告框中选择Continue。此时在项目文件夹下会多出来一个src文件夹。
在这里插入图片描述
2 打开工程文件夹下的src文件夹，发现这是一个visual studio的工程文件。使用visual studio打开CarMaker.sln文件。选择项目->重定目标解决方案。在跳出的重定向目标中点击确定。点击生成->生成解决方案，在输出框中会出现生成成功的字样。
在这里插入图片描述

在这里插入图片描述
在这里插入图片描述
3 将下面三个文件放到src文件夹下，替换原来的文件。
User.c

/*
******************************************************************************
**  CarMaker - Version 10.2.2
**  Vehicle Dynamics Simulation Toolkit
**
**  Copyright (C)   IPG Automotive GmbH
**                  Bannwaldallee 60             Phone  +49.721.98520.0
**                  76185 Karlsruhe              Fax    +49.721.98520.99
**                  Germany                      WWW    www.ipg-automotive.com
******************************************************************************
**
** Functions
** ---------
**
** Initialization
**
**	User_Init_First ()
**	User_PrintUsage ()
**	User_ScanCmdLine ()
**
**	User_AppLogFilter ()
**
**	User_Init ()
**	User_Register ()
**	User_DeclQuants ()
**
**	User_Param_Add ()
**	User_Param_Get ()
**
**
** Main TestRun Start/End:
**
**	User_TestRun_Start_atBegin ()
**	User_TestRun_Start_atEnd ()
**	User_TestRun_Start_StaticCond_Calc ()
**	User_TestRun_Start_Finalize ()
**	User_TestRun_RampUp ()
**
**	User_TestRun_End_First ()
**	User_TestRun_End ()
**
**
** Main Cycle:
**
**	User_In ()
**
**	User_DrivMan_Calc ()
** 	User_Traffic_Calc ()
**	User_VehicleControl_Calc ()
**	User_Brake_Calc ()           in Vhcl_Calc ()
**	User_Calc ()
**	User_Check_IsIdle ()
**
**	User_Out ()
**
**
** APO Communication:
**
**	User_ApoMsg_Eval ()
**	User_ApoMsg_Send ()
**
**	User_ShutDown ()
**	User_End ()
**	User_Cleanup ()
**
**
******************************************************************************
*/

#include <Global.h>

#if defined(WIN32)
# include <windows.h>
#endif

#include <stdlib.h>
#include <string.h>
#include <math.h>

#if defined(XENO)
# include <mio.h>
#endif
# include <ioconf.h>

#include <CarMaker.h>
#include <Car/Vehicle_Car.h>

#include <ADASRP.h>

#include <rbs.h>

#include "IOVec.h"
#include "User.h"

/* @@PLUGIN-BEGIN-INCLUDE@@ - Automatically generated code - don't edit! */
/* @@PLUGIN-END@@ */
// Add the following inclusion at the beginning of the User.c file
#include "Lineds.h"

int UserCalcCalledByAppTestRunCalc = 0;


tUser	User;
//Add the following declaration at the beginning of the User.c file
tLds Lds;


/*
** User_Init_First ()
**
** First, low level initialization of the User module
**
** Call:
** - one times at start of program
** - no realtime conditions
**
*/

int
User_Init_First (void)
{
    memset (&User, 0, sizeof(User));

    return 0;
}



/*
** User_PrintUsage ()
**
** Print the user/application specific programm arguments
*/

void
User_PrintUsage (const char *Pgm)
{
    /* REMARK: 1 log statement for each usage line, no line breaks */
    LogUsage("\n");
    LogUsage("Usage: %s [options] [testrun]\n", Pgm);
    LogUsage("Options:\n");

#if defined(CM_HIL)
    {
	const tIOConfig *cf;
	const char *defio = IO_GetDefault();
	LogUsage(" -io %-12s Default I/O configuration (%s)\n", "default",
	    (defio!=NULL && strcmp(defio, "none")!=0) ? defio : "minimal I/O");
	for (cf=IO_GetConfigurations(); cf->Name!=NULL; cf++)
	    LogUsage(" -io %-12s %s\n", cf->Name, cf->Description);
    }
#endif
}



/*
** User_ScanCmdLine ()
**
** Scan application specific command line arguments
**
** Return:
** - argv: last unscanned argument
** - NULL: error or unknown argument
*/

char **
User_ScanCmdLine (int argc, char **argv)
{
    const char *Pgm = argv[0];

    /* I/O configuration to be used in case no configuration was
       specified on the command line. */
    IO_SelectDefault("default" /* or "demoapp", "demorbs,demofr" etc. */);

    while (*++argv) {
	if (strcmp(*argv, "-io") == 0 && argv[1] != NULL) {
	    if (IO_Select(*++argv) != 0)
		return NULL;
	} else if (strcmp(*argv, "-h") == 0 || strcmp(*argv, "-help") == 0) {
	    User_PrintUsage(Pgm);
	    SimCore_PrintUsage(Pgm); /* Possible exit(), depending on CM-platform! */
	    return  NULL;
	} else if ((*argv)[0] == '-') {
	    LogErrF(EC_General, "Unknown option '%s'", *argv);
	    return NULL;
	} else {
	    break;
	}
    }

    return argv;
}



/*
** User_Init ()
**
** Basic initialization of the module User.o
**
** Call:
** - once at program start
** - no realtime conditions
*/

int
User_Init (void)
{
    return 0;
}



int
User_Register (void)
{

    /* @@PLUGIN-BEGIN-REGISTER@@ - Automatically generated code - don't edit! */
    /* @@PLUGIN-END@@ */

    return 0;
}



/*
** User_DeclQuants ()
**
** Add user specific quantities to the dictionary
**
** Call:
** - once at program start
** - no realtime conditions
*/

void
User_DeclQuants (void)
{
    int i;
    // in the function User_DeclQuants (void), add the following lines:

    Lineds_DeclQuants();
    for (i=0; i<N_USEROUTPUT; i++) {
	char sbuf[32];
	sprintf (sbuf, "UserOut_%02d", i);
	DDefDouble (NULL, sbuf, "", &User.Out[i], DVA_IO_Out);
    }
    RBS_DeclQuants();
}


/*
** User_Param_Add ()
**
** Update all modified application specific parameters in the test stand
** parameter file (ECUParameters).
**
** If the variable SimCore.TestRig.ECUParam.Modified set to 1 somewhere else
** CarMaker calls this function to let the user add or change all necessary
** entries before the file is written.
** So, if writing the ECUParam file is necessary, set ECUParam.Modified to 1.
** The next TestRun start or end, CarMaker calls this function and writes
** the file to the harddisk.
**
** Call:
** - in a separate thread (no realtime contitions)
** - when starting a new test run
*/

int
User_Param_Add (void)
{
#if defined(CM_HIL)
    /* ECU parameters */
    if (SimCore.TestRig.ECUParam.Inf == NULL)
	return -1;
#endif

    return 0;
}



/*
** User_Param_Get ()
**
** Update all modified application specific parameters from the test stand
** parameter file (ECUParameters).
**
** Call:
** - in a separate thread (no realtime conditions)
** - if User_Param_Get() wasn't called
** - when starting a new test run, if
**   - the files SimParameters and/or
**   - ECUParameters
**   are modified since last reading
**
** return values:
**  0	ok
** -1	no testrig parameter file
** -2	testrig parameter error
** -3	i/o configuration specific error
** -4	no simulation parameters
** -5	simulation parameters error
** -6	FailSafeTester parameter/init error
*/

int
User_Param_Get (void)
{
    int rv = 0;

#if defined(CM_HIL)
    /*** testrig / ECU parameters */
    if (SimCore.TestRig.ECUParam.Inf == NULL)
	return -1;

    if (IO_Param_Get(SimCore.TestRig.ECUParam.Inf) != 0)
	rv = -2;
#endif

    /*** simulation parameters */
    if (SimCore.TestRig.SimParam.Inf == NULL)
	return -4;

    return rv;
}



/*
** User_TestRun_Start_atBegin ()
**
** Special things before a new simulation starts like
** - reset user variables to their default values
** - reset counters
** - ...
**
** Call:
** - in separate thread (no realtime conditions)
** - when starting a new test run
** - after (standard) infofiles are read in
** - before reading parameters for Environment, DrivMan, Car, ...
**   the models are NOT in the simulation-can-start-now state
**   (after Start(), before StaticCond())
*/

int
User_TestRun_Start_atBegin (void)
{
    int rv = 0;
    int i;

    for (i=0; i<N_USEROUTPUT; i++)
	User.Out[i] = 0.0;


    if (IO_None)
	return rv;

#if defined(CM_HIL)
    if (FST_New(SimCore.TestRig.ECUParam.Inf) != 0)
	rv = -6;
#endif

    return rv;
}




/*
** User_TestRun_Start_atEnd ()
**
** Special things before a new simulation starts like
** - reset user variables to there default values
** - reset counters
** - ...
**
** Call:
** - in separate thread (no realtime conditions)
** - when starting a new test run
** - at the end, behind reading parameters for Environment, DrivMan,
**   Car, ...
**   the models are NOT in the simulation-can-start-now state
**   (after Start(), before StaticCond())
*/

int
User_TestRun_Start_atEnd (void)
{
    int rv = 0;

    rv = Lineds_TestRun_Start_atEnd();

    
#if defined(XENO)
    IOConf_MapQuants();
#endif
    return rv;
}



/*
** User_TestRun_Start_StaticCond_Calc ()
**
** called in non RT context
*/

int
User_TestRun_Start_StaticCond_Calc (void)
{
    return 0;
}



/*
** User_TestRun_Start_Finalize ()
**
** called in RT context
*/

int
User_TestRun_Start_Finalize (void)
{
    return 0;
}



/*
** User_TestRun_RampUp ()
**
** Perform a smooth transition of variables (e.g. I/O)
** from their current state  to the new testrun.
** This function is called repeatedly, once during each cycle, until
** it returns true (or issues an error message), so the function should
** return true if transitioning is done, false otherwise.
**
** In case of an error the function should issue an apropriate
** error message and return false;
**
** Called in RT context, in state SCState_StartSim,
** after preprocessing is done, before starting the engine.
** Please note, that in this early initialization state no calculation
** of the vehicle model takes place.
*/

int
User_TestRun_RampUp (double dt)
{
    int IsReady = 1;

    return IsReady;
}



/*
** User_TestRun_End_First ()
**
** Invoked immediately after the end of a simulation is initiated,
** but before data storage ends and before transitioning into SCState_Idle.
** - Send Scratchpad-note
** - ...
**
** Call:
** - in main task, in the main loop (real-time conditions!)
** - when a test run is finished (SimCore.State is SCState_End)
*/

int
User_TestRun_End_First (void)
{
    return 0;
}



/*
** User_TestRun_End ()
**
** Special things after the end of a simulation like
** - switch off an air compressor
** - Write something to a file
** - ...
**
** Call:
** - in separate thread (no realtime conditions)
** - when a test run is finished (SimCore.State is SCState_End<xyz>)
*/

int
User_TestRun_End (void)
{
    return 0;
}



/*
** User_In ()
**
** Assign quantities of the i/o vector to model variables
**
** Call:
** - in the main loop
** - pay attention to realtime condition
** - just after IO_In()
*/

void
User_In (const unsigned CycleNo)
{
    if (SimCore.State != SCState_Simulate)
	return;
}



/*
** User_DrivMan_Calc ()
**
** called
** - in RT context
** - after DrivMan_Calc()
*/

int
User_DrivMan_Calc (double dt)
{
    /* Rely on the Vehicle Operator within DrivMan module to get
       the vehicle in driving state using the IPG's
       PowerTrain Control model 'Generic' or similar */
    if (Vehicle.OperationState != OperState_Driving)
	return 0;

    return 0;
}


/*
** User_VehicleControl_Calc ()
**
** called
** - in RT context
** - after VehicleControl_Calc()
*/

int
User_VehicleControl_Calc (double dt)
{
    /* Rely on the Vehicle Operator within DrivMan module to get
       the vehicle in driving state using the IPG's
       PowerTrain Control model 'Generic' or similar */
    if (Vehicle.OperationState != OperState_Driving)
	return 0;

    return 0;
}



/*
** User_Brake_Calc ()
**
** called
** - in RT context
** - after Brake_Calc() in Vhcl_Calc()
*/

int
User_Brake_Calc (double dt)
{
    /* Modify the total brake torque from the brake system model Brake.Trq_tot[]
       or the target drive source torque from the brake control unit
       Brake.HydBrakeCU_IF.Trq_DriveSrc_trg[]
    */

    return 0;
}



/*
** User_Traffic_Calc ()
**
** called
** - in RT context
** - after Traffic_Calc()
*/

int
User_Traffic_Calc (double dt)
{
    if (SimCore.State != SCState_Simulate)
	return 0;

    return 0;
}



/*
** User_Calc ()
**
** called in RT context
*/

int
User_Calc (double dt)
{
    /* Starting with CM 6.0 User_Calc() will be invoked in EVERY simulation
       state. Uncomment the following line in order to restore the behaviour
       of CM 5.1 and earlier. */
    /*if (!UserCalcCalledByAppTestRunCalc) return 0;*/

    int rv;
    rv = Lineds_Calc(dt);

    return rv;
}



/*
** User_Check_IsIdle ()
**
** Checking, if the simulation model is in idle conditions (stand still,
** steeringwheel angle zero, cluch pedal pressed, ...).
** If reached idle state, the calculation of vehicle model and driving
** manoevers is stopped.
** Ready for start new simulation.
**
** Return:
** 1  idle state reached
** 0  else
**
** Call:
** - in main task, in the main loop
** - pay attention to realtime condition
** - while SimCore.State==SCState_EndIdleGet
*/

int
User_Check_IsIdle (int IsIdle)
{
    double val;

    /*** ECU / carmodel signals */

    /* vehicle and wheels: stand still */
    val = 0.5*kmh2ms;
    if (Vehicle.v > val
     || fabs(Vehicle.Wheel[0]->vBelt) > val || fabs(Vehicle.Wheel[1]->vBelt) > val
     || fabs(Vehicle.Wheel[2]->vBelt) > val || fabs(Vehicle.Wheel[3]->vBelt) > val) {
	IsIdle = 0;
    }

    /* SteerAngle: drive  straight forward position */
    val = 1.0*deg2rad;
    if (Vehicle.Steering.Ang > val || Vehicle.Steering.Ang < -val)
	IsIdle = 0;

    return IsIdle;
}



/*
** User_Out ()
**
** Assigns model quantities to variables of the i/o vector
**
** call:
** - in the main loop
** - pay attention to realtime condition
** - just before IO_Out();
*/

void
User_Out (const unsigned CycleNo)
{
    RBS_OutMap(CycleNo);

    if (SimCore.State != SCState_Simulate)
	return;
}



/*
** User_ApoMsg_Eval ()
**
** Communication between the application and connected GUIs.
** Evaluate messages from GUIs
**
** Call:
** - in the main loop
** - pay attention to realtime condition
** - near the end of the main loop, if the function SimCore_ApoMsg_Eval()
**    skips the message
**
** Return:
**   0 : message evaluated
**  -1 : message not handled
*/

int
User_ApoMsg_Eval (int Ch, char *Msg, int len, int who)
{
#if defined(CM_HIL)
    /*** FailSafeTester */
    if (Ch == ApoCh_CarMaker) {
	if (FST_ApoMsgEval(Ch, Msg, len) <= 0)
	    return 0;
    }
#endif
    return -1;
}



/*
** User_ApoMsg_Send ()
**
** Communication between the application and connected GUIs.
** Sends messages to GUIs
**
** Call:
** - near the end of the main loop, in MainThread_FinishCycle()
** - pay attention to realtime condition
*/

void
User_ApoMsg_Send (double T, const unsigned CycleNo)
{
}



/*
** User_ShutDown ()
**
** Prepare application for shut down
**
** Call:
** - at end of program
** - no realtime conditions
*/

int
User_ShutDown (int ShutDownForced)
{
    int IsDown = 0;

    /* Prepare application for shutdown and return that
       shutdown conditions are reached */
    if (1) {
	IsDown = 1;
    }

    return IsDown;
}



/*
** User_End ()
**
** End all models of the user module
**
** Call:
** - one times at end of program
** - no realtime conditions
*/

int
User_End (void)
{
    return 0;
}



/*
** User_Cleanup ()
**
** Cleanup function of the User module
**
** Call:
** - one times at end of program, just before exit
** - no realtime conditions
*/

void
User_Cleanup (void)
{
}

Lineds.h


typedef struct tLds tLds;

struct tLds {

    struct {
        struct {
            double x;
            double y;
            double z;
        } p1, p2,p3,p4,p5,p6,p7,p8,p9,p10, p11, p12, p13, p14, p15, p16, p17, p18, p19, p20;
    } L1, L2, R1, R2;

};

extern tLds Lds;

int		Lineds_TestRun_Start_atEnd	(void);
void	Lineds_DeclQuants			(void);
int		Lineds_Calc					(double dt);

Lineds.c

#include "Lineds.h"
#include <CarMaker.h>
#include "Vehicle/Sensor_Line.h"

/*  
** call in User_DeclQuants ()
*/   

void
Lineds_DeclQuants (void)
{

    DDefDouble4  (NULL, "LineL1_p1_x",	"m", &Lds.L1.p1.x, DVA_None);
    DDefDouble4  (NULL, "LineL1_p1_y",	"m", &Lds.L1.p1.y, DVA_None);
    DDefDouble4  (NULL, "LineL1_p1_z",	"m", &Lds.L1.p1.z, DVA_None);
    DDefDouble4  (NULL, "LineL1_p2_x",	"m", &Lds.L1.p2.x, DVA_None);
    DDefDouble4  (NULL, "LineL1_p2_y",	"m", &Lds.L1.p2.y, DVA_None);
    DDefDouble4  (NULL, "LineL1_p2_z",	"m", &Lds.L1.p2.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p3_x", "m", &Lds.L1.p3.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p3_y", "m", &Lds.L1.p3.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p3_z", "m", &Lds.L1.p3.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p4_x", "m", &Lds.L1.p4.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p4_y", "m", &Lds.L1.p4.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p4_z", "m", &Lds.L1.p4.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p5_x", "m", &Lds.L1.p5.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p5_y", "m", &Lds.L1.p5.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p5_z", "m", &Lds.L1.p5.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p6_x", "m", &Lds.L1.p6.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p6_y", "m", &Lds.L1.p6.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p6_z", "m", &Lds.L1.p6.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p7_x", "m", &Lds.L1.p7.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p7_y", "m", &Lds.L1.p7.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p7_z", "m", &Lds.L1.p7.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p8_x", "m", &Lds.L1.p8.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p8_y", "m", &Lds.L1.p8.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p8_z", "m", &Lds.L1.p8.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p9_x", "m", &Lds.L1.p9.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p9_y", "m", &Lds.L1.p9.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p9_z", "m", &Lds.L1.p9.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p10_x", "m", &Lds.L1.p10.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p10_y", "m", &Lds.L1.p10.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p10_z", "m", &Lds.L1.p10.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p11_x", "m", &Lds.L1.p11.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p11_y", "m", &Lds.L1.p11.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p11_z", "m", &Lds.L1.p11.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p12_x", "m", &Lds.L1.p12.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p12_y", "m", &Lds.L1.p12.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p12_z", "m", &Lds.L1.p12.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p13_x", "m", &Lds.L1.p13.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p13_y", "m", &Lds.L1.p13.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p13_z", "m", &Lds.L1.p13.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p14_x", "m", &Lds.L1.p14.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p14_y", "m", &Lds.L1.p14.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p14_z", "m", &Lds.L1.p14.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p15_x", "m", &Lds.L1.p15.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p15_y", "m", &Lds.L1.p15.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p15_z", "m", &Lds.L1.p15.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p16_x", "m", &Lds.L1.p16.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p16_y", "m", &Lds.L1.p16.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p16_z", "m", &Lds.L1.p16.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p17_x", "m", &Lds.L1.p17.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p17_y", "m", &Lds.L1.p17.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p17_z", "m", &Lds.L1.p17.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p18_x", "m", &Lds.L1.p18.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p18_y", "m", &Lds.L1.p18.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p18_z", "m", &Lds.L1.p18.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p19_x", "m", &Lds.L1.p19.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p19_y", "m", &Lds.L1.p19.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p19_z", "m", &Lds.L1.p19.z, DVA_None);
	DDefDouble4(NULL, "LineL1_p20_x", "m", &Lds.L1.p20.x, DVA_None);
	DDefDouble4(NULL, "LineL1_p20_y", "m", &Lds.L1.p20.y, DVA_None);
	DDefDouble4(NULL, "LineL1_p20_z", "m", &Lds.L1.p20.z, DVA_None);

    DDefDouble4  (NULL, "LineL2_p1_x",	"m", &Lds.L2.p1.x, DVA_None);
    DDefDouble4  (NULL, "LineL2_p1_y",	"m", &Lds.L2.p1.y, DVA_None);
    DDefDouble4  (NULL, "LineL2_p1_z",	"m", &Lds.L2.p1.z, DVA_None);
    DDefDouble4  (NULL, "LineL2_p2_x",	"m", &Lds.L2.p2.x, DVA_None);
    DDefDouble4  (NULL, "LineL2_p2_y",	"m", &Lds.L2.p2.y, DVA_None);
    DDefDouble4  (NULL, "LineL2_p2_z",	"m", &Lds.L2.p2.z, DVA_None);

    DDefDouble4  (NULL, "LineR1_p1_x",	"m", &Lds.R1.p1.x, DVA_None);
    DDefDouble4  (NULL, "LineR1_p1_y",	"m", &Lds.R1.p1.y, DVA_None);
    DDefDouble4  (NULL, "LineR1_p1_z",	"m", &Lds.R1.p1.z, DVA_None);
    DDefDouble4  (NULL, "LineR1_p2_x",	"m", &Lds.R1.p2.x, DVA_None);
    DDefDouble4  (NULL, "LineR1_p2_y",	"m", &Lds.R1.p2.y, DVA_None);
    DDefDouble4  (NULL, "LineR1_p2_z",	"m", &Lds.R1.p2.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p3_x", "m", &Lds.R1.p3.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p3_y", "m", &Lds.R1.p3.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p3_z", "m", &Lds.R1.p3.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p4_x", "m", &Lds.R1.p4.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p4_y", "m", &Lds.R1.p4.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p4_z", "m", &Lds.R1.p4.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p5_x", "m", &Lds.R1.p5.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p5_y", "m", &Lds.R1.p5.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p5_z", "m", &Lds.R1.p5.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p6_x", "m", &Lds.R1.p6.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p6_y", "m", &Lds.R1.p6.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p6_z", "m", &Lds.R1.p6.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p7_x", "m", &Lds.R1.p7.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p7_y", "m", &Lds.R1.p7.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p7_z", "m", &Lds.R1.p7.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p8_x", "m", &Lds.R1.p8.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p8_y", "m", &Lds.R1.p8.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p8_z", "m", &Lds.R1.p8.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p9_x", "m", &Lds.R1.p9.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p9_y", "m", &Lds.R1.p9.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p9_z", "m", &Lds.R1.p9.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p10_x", "m", &Lds.R1.p10.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p10_y", "m", &Lds.R1.p10.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p10_z", "m", &Lds.R1.p10.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p11_x", "m", &Lds.R1.p11.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p11_y", "m", &Lds.R1.p11.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p11_z", "m", &Lds.R1.p11.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p12_x", "m", &Lds.R1.p12.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p12_y", "m", &Lds.R1.p12.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p12_z", "m", &Lds.R1.p12.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p13_x", "m", &Lds.R1.p13.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p13_y", "m", &Lds.R1.p13.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p13_z", "m", &Lds.R1.p13.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p14_x", "m", &Lds.R1.p14.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p14_y", "m", &Lds.R1.p14.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p14_z", "m", &Lds.R1.p14.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p15_x", "m", &Lds.R1.p15.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p15_y", "m", &Lds.R1.p15.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p15_z", "m", &Lds.R1.p15.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p16_x", "m", &Lds.R1.p16.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p16_y", "m", &Lds.R1.p16.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p16_z", "m", &Lds.R1.p16.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p17_x", "m", &Lds.R1.p17.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p17_y", "m", &Lds.R1.p17.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p17_z", "m", &Lds.R1.p17.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p18_x", "m", &Lds.R1.p18.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p18_y", "m", &Lds.R1.p18.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p18_z", "m", &Lds.R1.p18.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p19_x", "m", &Lds.R1.p19.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p19_y", "m", &Lds.R1.p19.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p19_z", "m", &Lds.R1.p19.z, DVA_None);
	DDefDouble4(NULL, "LineR1_p20_x", "m", &Lds.R1.p20.x, DVA_None);
	DDefDouble4(NULL, "LineR1_p20_y", "m", &Lds.R1.p20.y, DVA_None);
	DDefDouble4(NULL, "LineR1_p20_z", "m", &Lds.R1.p20.z, DVA_None);

    DDefDouble4  (NULL, "LineR2_p1_x",	"m", &Lds.R2.p1.x, DVA_None);
    DDefDouble4  (NULL, "LineR2_p1_y",	"m", &Lds.R2.p1.y, DVA_None);
    DDefDouble4  (NULL, "LineR2_p1_z",	"m", &Lds.R2.p1.z, DVA_None);
    DDefDouble4  (NULL, "LineR2_p2_x",	"m", &Lds.R2.p2.x, DVA_None);
    DDefDouble4  (NULL, "LineR2_p2_y",	"m", &Lds.R2.p2.y, DVA_None);
    DDefDouble4  (NULL, "LineR2_p2_z",	"m", &Lds.R2.p2.z, DVA_None);
}


/*
** Lineds_TestRun_Start_atEnd ()
**
** initialises struct at the start of a new TestRun
**
** call in User_TestRun_Start_atEnd ()
*/
int
Lineds_TestRun_Start_atEnd (void)
{
     Lds.L1.p1.x = 0; 
     Lds.L1.p1.y = 0; 
     Lds.L1.p1.z = 0;
     Lds.L1.p2.x = 0;
     Lds.L1.p2.y = 0;
     Lds.L1.p2.z = 0;
	 Lds.L1.p3.x = 0;
	 Lds.L1.p3.y = 0;
	 Lds.L1.p3.z = 0;
	 Lds.L1.p4.x = 0;
	 Lds.L1.p4.y = 0;
	 Lds.L1.p4.z = 0;
	 Lds.L1.p5.x = 0;
	 Lds.L1.p5.y = 0;
	 Lds.L1.p5.z = 0;
	 Lds.L1.p6.x = 0;
	 Lds.L1.p6.y = 0;
	 Lds.L1.p6.z = 0;
	 Lds.L1.p7.x = 0;
	 Lds.L1.p7.y = 0;
	 Lds.L1.p7.z = 0;
	 Lds.L1.p8.x = 0;
	 Lds.L1.p8.y = 0;
	 Lds.L1.p8.z = 0;
	 Lds.L1.p9.x = 0;
	 Lds.L1.p9.y = 0;
	 Lds.L1.p9.z = 0;
	 Lds.L1.p10.x = 0;
	 Lds.L1.p10.y = 0;
	 Lds.L1.p10.z = 0;
	 Lds.L1.p11.x = 0;
	 Lds.L1.p11.y = 0;
	 Lds.L1.p11.z = 0;
	 Lds.L1.p12.x = 0;
	 Lds.L1.p12.y = 0;
	 Lds.L1.p12.z = 0;
	 Lds.L1.p13.x = 0;
	 Lds.L1.p13.y = 0;
	 Lds.L1.p13.z = 0;
	 Lds.L1.p14.x = 0;
	 Lds.L1.p14.y = 0;
	 Lds.L1.p14.z = 0;
	 Lds.L1.p15.x = 0;
	 Lds.L1.p15.y = 0;
	 Lds.L1.p15.z = 0;
	 Lds.L1.p16.x = 0;
	 Lds.L1.p16.y = 0;
	 Lds.L1.p16.z = 0;
	 Lds.L1.p17.x = 0;
	 Lds.L1.p17.y = 0;
	 Lds.L1.p17.z = 0;
	 Lds.L1.p18.x = 0;
	 Lds.L1.p18.y = 0;
	 Lds.L1.p18.z = 0;
	 Lds.L1.p19.x = 0;
	 Lds.L1.p19.y = 0;
	 Lds.L1.p19.z = 0;
	 Lds.L1.p20.x = 0;
	 Lds.L1.p20.y = 0;
	 Lds.L1.p20.z = 0;

     Lds.L2.p1.x = 0;
     Lds.L2.p1.y = 0;
     Lds.L2.p1.z = 0;
     Lds.L2.p2.x = 0; 
     Lds.L2.p2.y = 0; 
     Lds.L2.p2.z = 0;

     Lds.R1.p1.x = 0;
     Lds.R1.p1.y = 0;
     Lds.R1.p1.z = 0;
     Lds.R1.p2.x = 0;
     Lds.R1.p2.y = 0;
     Lds.R1.p2.z = 0;
	 Lds.R1.p3.x = 0;
	 Lds.R1.p3.y = 0;
	 Lds.R1.p3.z = 0;
	 Lds.R1.p4.x = 0;
	 Lds.R1.p4.y = 0;
	 Lds.R1.p4.z = 0;
	 Lds.R1.p5.x = 0;
	 Lds.R1.p5.y = 0;
	 Lds.R1.p5.z = 0;
	 Lds.R1.p6.x = 0;
	 Lds.R1.p6.y = 0;
	 Lds.R1.p6.z = 0;
	 Lds.R1.p7.x = 0;
	 Lds.R1.p7.y = 0;
	 Lds.R1.p7.z = 0;
	 Lds.R1.p8.x = 0;
	 Lds.R1.p8.y = 0;
	 Lds.R1.p8.z = 0;
	 Lds.R1.p9.x = 0;
	 Lds.R1.p9.y = 0;
	 Lds.R1.p9.z = 0;
	 Lds.R1.p10.x = 0;
	 Lds.R1.p10.y = 0;
	 Lds.R1.p10.z = 0;
	 Lds.R1.p11.x = 0;
	 Lds.R1.p11.y = 0;
	 Lds.R1.p11.z = 0;
	 Lds.R1.p12.x = 0;
	 Lds.R1.p12.y = 0;
	 Lds.R1.p12.z = 0;
	 Lds.R1.p13.x = 0;
	 Lds.R1.p13.y = 0;
	 Lds.R1.p13.z = 0;
	 Lds.R1.p14.x = 0;
	 Lds.R1.p14.y = 0;
	 Lds.R1.p14.z = 0;
	 Lds.R1.p15.x = 0;
	 Lds.R1.p15.y = 0;
	 Lds.R1.p15.z = 0;
	 Lds.R1.p16.x = 0;
	 Lds.R1.p16.y = 0;
	 Lds.R1.p16.z = 0;
	 Lds.R1.p17.x = 0;
	 Lds.R1.p17.y = 0;
	 Lds.R1.p17.z = 0;
	 Lds.R1.p18.x = 0;
	 Lds.R1.p18.y = 0;
	 Lds.R1.p18.z = 0;
	 Lds.R1.p19.x = 0;
	 Lds.R1.p19.y = 0;
	 Lds.R1.p19.z = 0;
	 Lds.R1.p20.x = 0;
	 Lds.R1.p20.y = 0;
	 Lds.R1.p20.z = 0;

     Lds.R2.p1.x = 0; 
     Lds.R2.p1.y = 0; 
     Lds.R2.p1.z = 0;
     Lds.R2.p2.x = 0;
     Lds.R2.p2.y = 0;
     Lds.R2.p2.z = 0;
     
    return 0;
}    
     
     
/*  
** call in User_Calc ()
*/   
     
int  
Lineds_Calc (double dt)
{    
     
    /*Execute only during simulation*/
    if (SimCore.State != SCState_Simulate) return 0;
     
    /*Execute only if at least 1 line is detected on the left or  right side*/
    if (LineSensor[0].RLines.nLine == 0 || LineSensor[0].LLines.nLine == 0) {
       Lds.L1.p1.x  = 0; 
       Lds.L1.p1.y  = 0; 
       Lds.L1.p1.z  = 0;
       Lds.L1.p2.x  = 0;
       Lds.L1.p2.y  = 0;
       Lds.L1.p2.z  = 0;
	   Lds.L1.p3.x = 0;
	   Lds.L1.p3.y = 0;
	   Lds.L1.p3.z = 0;
	   Lds.L1.p4.x = 0;
	   Lds.L1.p4.y = 0;
	   Lds.L1.p4.z = 0;
	   Lds.L1.p5.x = 0;
	   Lds.L1.p5.y = 0;
	   Lds.L1.p5.z = 0;
	   Lds.L1.p6.x = 0;
	   Lds.L1.p6.y = 0;
	   Lds.L1.p6.z = 0;
	   Lds.L1.p7.x = 0;
	   Lds.L1.p7.y = 0;
	   Lds.L1.p7.z = 0;
	   Lds.L1.p8.x = 0;
	   Lds.L1.p8.y = 0;
	   Lds.L1.p8.z = 0;
	   Lds.L1.p9.x = 0;
	   Lds.L1.p9.y = 0;
	   Lds.L1.p9.z = 0;
	   Lds.L1.p10.x = 0;
	   Lds.L1.p10.y = 0;
	   Lds.L1.p10.z = 0;
	   Lds.L1.p11.x = 0;
	   Lds.L1.p11.y = 0;
	   Lds.L1.p11.z = 0;
	   Lds.L1.p12.x = 0;
	   Lds.L1.p12.y = 0;
	   Lds.L1.p12.z = 0;
	   Lds.L1.p13.x = 0;
	   Lds.L1.p13.y = 0;
	   Lds.L1.p13.z = 0;
	   Lds.L1.p14.x = 0;
	   Lds.L1.p14.y = 0;
	   Lds.L1.p14.z = 0;
	   Lds.L1.p15.x = 0;
	   Lds.L1.p15.y = 0;
	   Lds.L1.p15.z = 0;
	   Lds.L1.p16.x = 0;
	   Lds.L1.p16.y = 0;
	   Lds.L1.p16.z = 0;
	   Lds.L1.p17.x = 0;
	   Lds.L1.p17.y = 0;
	   Lds.L1.p17.z = 0;
	   Lds.L1.p18.x = 0;
	   Lds.L1.p18.y = 0;
	   Lds.L1.p18.z = 0;
	   Lds.L1.p19.x = 0;
	   Lds.L1.p19.y = 0;
	   Lds.L1.p19.z = 0;
	   Lds.L1.p20.x = 0;
	   Lds.L1.p20.y = 0;
	   Lds.L1.p20.z = 0;

       Lds.L2.p1.x  = 0;
       Lds.L2.p1.y  = 0;
       Lds.L2.p1.z  = 0;
       Lds.L2.p2.x  = 0; 
       Lds.L2.p2.y  = 0; 
       Lds.L2.p2.z  = 0;

       Lds.R1.p1.x  = 0;
       Lds.R1.p1.y  = 0;
       Lds.R1.p1.z  = 0;
       Lds.R1.p2.x  = 0;
       Lds.R1.p2.y  = 0;
       Lds.R1.p2.z  = 0;
	   Lds.R1.p3.x = 0;
	   Lds.R1.p3.y = 0;
	   Lds.R1.p3.z = 0;
	   Lds.R1.p4.x = 0;
	   Lds.R1.p4.y = 0;
	   Lds.R1.p4.z = 0;
	   Lds.R1.p5.x = 0;
	   Lds.R1.p5.y = 0;
	   Lds.R1.p5.z = 0;
	   Lds.R1.p6.x = 0;
	   Lds.R1.p6.y = 0;
	   Lds.R1.p6.z = 0;
	   Lds.R1.p7.x = 0;
	   Lds.R1.p7.y = 0;
	   Lds.R1.p7.z = 0;
	   Lds.R1.p8.x = 0;
	   Lds.R1.p8.y = 0;
	   Lds.R1.p8.z = 0;
	   Lds.R1.p9.x = 0;
	   Lds.R1.p9.y = 0;
	   Lds.R1.p9.z = 0;
	   Lds.R1.p10.x = 0;
	   Lds.R1.p10.y = 0;
	   Lds.R1.p10.z = 0;
	   Lds.R1.p11.x = 0;
	   Lds.R1.p11.y = 0;
	   Lds.R1.p11.z = 0;
	   Lds.R1.p12.x = 0;
	   Lds.R1.p12.y = 0;
	   Lds.R1.p12.z = 0;
	   Lds.R1.p13.x = 0;
	   Lds.R1.p13.y = 0;
	   Lds.R1.p13.z = 0;
	   Lds.R1.p14.x = 0;
	   Lds.R1.p14.y = 0;
	   Lds.R1.p14.z = 0;
	   Lds.R1.p15.x = 0;
	   Lds.R1.p15.y = 0;
	   Lds.R1.p15.z = 0;
	   Lds.R1.p16.x = 0;
	   Lds.R1.p16.y = 0;
	   Lds.R1.p16.z = 0;
	   Lds.R1.p17.x = 0;
	   Lds.R1.p17.y = 0;
	   Lds.R1.p17.z = 0;
	   Lds.R1.p18.x = 0;
	   Lds.R1.p18.y = 0;
	   Lds.R1.p18.z = 0;
	   Lds.R1.p19.x = 0;
	   Lds.R1.p19.y = 0;
	   Lds.R1.p19.z = 0;
	   Lds.R1.p20.x = 0;
	   Lds.R1.p20.y = 0;
	   Lds.R1.p20.z = 0;

       Lds.R2.p1.x  = 0; 
       Lds.R2.p1.y  = 0; 
       Lds.R2.p1.z  = 0;
       Lds.R2.p2.x  = 0;
       Lds.R2.p2.y  = 0;
       Lds.R2.p2.z  = 0;

        return 0;
    };

        Lds.L1.p1.x = LineSensor[0].LLines.L[0].ds[0][0];
        Lds.L1.p1.y = LineSensor[0].LLines.L[0].ds[0][1];
        Lds.L1.p1.z = LineSensor[0].LLines.L[0].ds[0][2];
        Lds.L1.p2.x = LineSensor[0].LLines.L[0].ds[1][0];
        Lds.L1.p2.y = LineSensor[0].LLines.L[0].ds[1][1];
        Lds.L1.p2.z = LineSensor[0].LLines.L[0].ds[1][2];
		Lds.L1.p3.x = LineSensor[0].LLines.L[0].ds[2][0];
		Lds.L1.p3.y = LineSensor[0].LLines.L[0].ds[2][1];
		Lds.L1.p3.z = LineSensor[0].LLines.L[0].ds[2][2];
		Lds.L1.p4.x = LineSensor[0].LLines.L[0].ds[3][0];
		Lds.L1.p4.y = LineSensor[0].LLines.L[0].ds[3][1];
		Lds.L1.p4.z = LineSensor[0].LLines.L[0].ds[3][2];
		Lds.L1.p5.x = LineSensor[0].LLines.L[0].ds[4][0];
		Lds.L1.p5.y = LineSensor[0].LLines.L[0].ds[4][1];
		Lds.L1.p5.z = LineSensor[0].LLines.L[0].ds[4][2];
		Lds.L1.p6.x = LineSensor[0].LLines.L[0].ds[5][0];
		Lds.L1.p6.y = LineSensor[0].LLines.L[0].ds[5][1];
		Lds.L1.p6.z = LineSensor[0].LLines.L[0].ds[5][2];
		Lds.L1.p7.x = LineSensor[0].LLines.L[0].ds[6][0];
		Lds.L1.p7.y = LineSensor[0].LLines.L[0].ds[6][1];
		Lds.L1.p7.z = LineSensor[0].LLines.L[0].ds[6][2];
		Lds.L1.p8.x = LineSensor[0].LLines.L[0].ds[7][0];
		Lds.L1.p8.y = LineSensor[0].LLines.L[0].ds[7][1];
		Lds.L1.p8.z = LineSensor[0].LLines.L[0].ds[7][2];
		Lds.L1.p9.x = LineSensor[0].LLines.L[0].ds[8][0];
		Lds.L1.p9.y = LineSensor[0].LLines.L[0].ds[8][1];
		Lds.L1.p9.z = LineSensor[0].LLines.L[0].ds[8][2];
		Lds.L1.p10.x = LineSensor[0].LLines.L[0].ds[9][0];
		Lds.L1.p10.y = LineSensor[0].LLines.L[0].ds[9][1];
		Lds.L1.p10.z = LineSensor[0].LLines.L[0].ds[9][2];
		Lds.L1.p11.x = LineSensor[0].LLines.L[0].ds[10][0];
		Lds.L1.p11.y = LineSensor[0].LLines.L[0].ds[10][1];
		Lds.L1.p11.z = LineSensor[0].LLines.L[0].ds[10][2];
		Lds.L1.p12.x = LineSensor[0].LLines.L[0].ds[11][0];
		Lds.L1.p12.y = LineSensor[0].LLines.L[0].ds[11][1];
		Lds.L1.p12.z = LineSensor[0].LLines.L[0].ds[11][2];
		Lds.L1.p13.x = LineSensor[0].LLines.L[0].ds[12][0];
		Lds.L1.p13.y = LineSensor[0].LLines.L[0].ds[12][1];
		Lds.L1.p13.z = LineSensor[0].LLines.L[0].ds[12][2];
		Lds.L1.p14.x = LineSensor[0].LLines.L[0].ds[13][0];
		Lds.L1.p14.y = LineSensor[0].LLines.L[0].ds[13][1];
		Lds.L1.p14.z = LineSensor[0].LLines.L[0].ds[13][2];
		Lds.L1.p15.x = LineSensor[0].LLines.L[0].ds[14][0];
		Lds.L1.p15.y = LineSensor[0].LLines.L[0].ds[14][1];
		Lds.L1.p15.z = LineSensor[0].LLines.L[0].ds[14][2];
		Lds.L1.p16.x = LineSensor[0].LLines.L[0].ds[15][0];
		Lds.L1.p16.y = LineSensor[0].LLines.L[0].ds[15][1];
		Lds.L1.p16.z = LineSensor[0].LLines.L[0].ds[15][2];
		Lds.L1.p17.x = LineSensor[0].LLines.L[0].ds[16][0];
		Lds.L1.p17.y = LineSensor[0].LLines.L[0].ds[16][1];
		Lds.L1.p17.z = LineSensor[0].LLines.L[0].ds[16][2];
		Lds.L1.p18.x = LineSensor[0].LLines.L[0].ds[17][0];
		Lds.L1.p18.y = LineSensor[0].LLines.L[0].ds[17][1];
		Lds.L1.p18.z = LineSensor[0].LLines.L[0].ds[17][2];
		Lds.L1.p19.x = LineSensor[0].LLines.L[0].ds[18][0];
		Lds.L1.p19.y = LineSensor[0].LLines.L[0].ds[18][1];
		Lds.L1.p19.z = LineSensor[0].LLines.L[0].ds[18][2];
		Lds.L1.p20.x = LineSensor[0].LLines.L[0].ds[19][0];
		Lds.L1.p20.y = LineSensor[0].LLines.L[0].ds[19][1];
		Lds.L1.p20.z = LineSensor[0].LLines.L[0].ds[19][2];

        Lds.L2.p1.x = LineSensor[0].LLines.L[1].ds[0][0];
        Lds.L2.p1.y = LineSensor[0].LLines.L[1].ds[0][1];
        Lds.L2.p1.z = LineSensor[0].LLines.L[1].ds[0][2];
        Lds.L2.p2.x = LineSensor[0].LLines.L[1].ds[1][0];
        Lds.L2.p2.y = LineSensor[0].LLines.L[1].ds[1][1];
        Lds.L2.p2.z = LineSensor[0].LLines.L[1].ds[1][2];

        Lds.R1.p1.x = LineSensor[0].RLines.L[0].ds[0][0];
        Lds.R1.p1.y = LineSensor[0].RLines.L[0].ds[0][1]; 
        Lds.R1.p1.z = LineSensor[0].RLines.L[0].ds[0][2];  
        Lds.R1.p2.x = LineSensor[0].RLines.L[0].ds[1][0];  
        Lds.R1.p2.y = LineSensor[0].RLines.L[0].ds[1][1];
        Lds.R1.p2.z = LineSensor[0].RLines.L[0].ds[1][2];
		Lds.R1.p3.x = LineSensor[0].RLines.L[0].ds[2][0];
		Lds.R1.p3.y = LineSensor[0].RLines.L[0].ds[2][1];
		Lds.R1.p3.z = LineSensor[0].RLines.L[0].ds[2][2];
		Lds.R1.p4.x = LineSensor[0].RLines.L[0].ds[3][0];
		Lds.R1.p4.y = LineSensor[0].RLines.L[0].ds[3][1];
		Lds.R1.p4.z = LineSensor[0].RLines.L[0].ds[3][2];
		Lds.R1.p5.x = LineSensor[0].RLines.L[0].ds[4][0];
		Lds.R1.p5.y = LineSensor[0].RLines.L[0].ds[4][1];
		Lds.R1.p5.z = LineSensor[0].RLines.L[0].ds[4][2];
		Lds.R1.p6.x = LineSensor[0].RLines.L[0].ds[5][0];
		Lds.R1.p6.y = LineSensor[0].RLines.L[0].ds[5][1];
		Lds.R1.p6.z = LineSensor[0].RLines.L[0].ds[5][2];
		Lds.R1.p7.x = LineSensor[0].RLines.L[0].ds[6][0];
		Lds.R1.p7.y = LineSensor[0].RLines.L[0].ds[6][1];
		Lds.R1.p7.z = LineSensor[0].RLines.L[0].ds[6][2];
		Lds.R1.p8.x = LineSensor[0].RLines.L[0].ds[7][0];
		Lds.R1.p8.y = LineSensor[0].RLines.L[0].ds[7][1];
		Lds.R1.p8.z = LineSensor[0].RLines.L[0].ds[7][2];
		Lds.R1.p9.x = LineSensor[0].RLines.L[0].ds[8][0];
		Lds.R1.p9.y = LineSensor[0].RLines.L[0].ds[8][1];
		Lds.R1.p9.z = LineSensor[0].RLines.L[0].ds[8][2];
		Lds.R1.p10.x = LineSensor[0].RLines.L[0].ds[9][0];
		Lds.R1.p10.y = LineSensor[0].RLines.L[0].ds[9][1];
		Lds.R1.p10.z = LineSensor[0].RLines.L[0].ds[9][2];
		Lds.R1.p11.x = LineSensor[0].RLines.L[0].ds[10][0];
		Lds.R1.p11.y = LineSensor[0].RLines.L[0].ds[10][1];
		Lds.R1.p11.z = LineSensor[0].RLines.L[0].ds[10][2];
		Lds.R1.p12.x = LineSensor[0].RLines.L[0].ds[11][0];
		Lds.R1.p12.y = LineSensor[0].RLines.L[0].ds[11][1];
		Lds.R1.p12.z = LineSensor[0].RLines.L[0].ds[11][2];
		Lds.R1.p13.x = LineSensor[0].RLines.L[0].ds[12][0];
		Lds.R1.p13.y = LineSensor[0].RLines.L[0].ds[12][1];
		Lds.R1.p13.z = LineSensor[0].RLines.L[0].ds[12][2];
		Lds.R1.p14.x = LineSensor[0].RLines.L[0].ds[13][0];
		Lds.R1.p14.y = LineSensor[0].RLines.L[0].ds[13][1];
		Lds.R1.p14.z = LineSensor[0].RLines.L[0].ds[13][2];
		Lds.R1.p15.x = LineSensor[0].RLines.L[0].ds[14][0];
		Lds.R1.p15.y = LineSensor[0].RLines.L[0].ds[14][1];
		Lds.R1.p15.z = LineSensor[0].RLines.L[0].ds[14][2];
		Lds.R1.p16.x = LineSensor[0].RLines.L[0].ds[15][0];
		Lds.R1.p16.y = LineSensor[0].RLines.L[0].ds[15][1];
		Lds.R1.p16.z = LineSensor[0].RLines.L[0].ds[15][2];
		Lds.R1.p17.x = LineSensor[0].RLines.L[0].ds[16][0];
		Lds.R1.p17.y = LineSensor[0].RLines.L[0].ds[16][1];
		Lds.R1.p17.z = LineSensor[0].RLines.L[0].ds[16][2];
		Lds.R1.p18.x = LineSensor[0].RLines.L[0].ds[17][0];
		Lds.R1.p18.y = LineSensor[0].RLines.L[0].ds[17][1];
		Lds.R1.p18.z = LineSensor[0].RLines.L[0].ds[17][2];
		Lds.R1.p19.x = LineSensor[0].RLines.L[0].ds[18][0];
		Lds.R1.p19.y = LineSensor[0].RLines.L[0].ds[18][1];
		Lds.R1.p19.z = LineSensor[0].RLines.L[0].ds[18][2];
		Lds.R1.p20.x = LineSensor[0].RLines.L[0].ds[19][0];
		Lds.R1.p20.y = LineSensor[0].RLines.L[0].ds[19][1];
		Lds.R1.p20.z = LineSensor[0].RLines.L[0].ds[19][2];

        Lds.R2.p1.x = LineSensor[0].RLines.L[1].ds[0][0]; 
        Lds.R2.p1.y = LineSensor[0].RLines.L[1].ds[0][1]; 
        Lds.R2.p1.z = LineSensor[0].RLines.L[1].ds[0][2]; 
        Lds.R2.p2.x = LineSensor[0].RLines.L[1].ds[1][0]; 
        Lds.R2.p2.y = LineSensor[0].RLines.L[1].ds[1][1];  
        Lds.R2.p2.z = LineSensor[0].RLines.L[1].ds[1][2];  

        return 0;
}

4 打开src文件夹下的Makefile文件，将

OBJS =			CM_Main.o CM_Vehicle.o User.o

改为

OBJS = CM_Main.o CM_Vehicle.o User.o Lineds.o

5 打开工程文件CarMaker.sln，将Lineds.c加入到工程源文件列表中，点击生成->重新生成解决方案，成功的话会生成CarMaker.win64.exe文件。
在这里插入图片描述
6 通过快捷方式或者开始菜单打开carmaker,点击Application->Configuration/Status,在Command(executable)下面的框中选择生成的CarMaker.win64.exe文件，点击start&connect,然后点击close
在这里插入图片描述
在这里插入图片描述
7 回到主界面后，点击Application -> Direct variable access,按住Quantity下的向下箭头就能看到L1\L2\R1\R2四条车道线的x,y,z的坐标点，可以选取几个进行观察。关闭carmaker。
在这里插入图片描述
8 通过simulink模型中的CM图标打开carmaker，点击File->Open打开之前我们新建的testrun。
在这里插入图片描述
9 打开IPGMovie观察动画，打开Direct Variable Access观察变量。点击Start开始运行仿真。可以看到已经能够读取车道线的坐标点。
在这里插入图片描述
10 在simulink模型中接收车道线点的数据。simulink模型中集成控制算法的位置为generic/CarMaker/VehicleControl/CreateBus VhclCtrl，所以在这里接受车道线的数据，通过Read CM Dict模块读取carmaker变量。
在这里插入图片描述
11 拟合左右车道线数据，生成车道线方程
在这里插入图片描述

使用matlab自带的拟合函数，一般采用三次拟合的方式，即可输出车道线方程。

function [l1c,r1c] = fcn(l1x,l1y,r1x,r1y)

l1c = polyfit(l1x,l1y,3);
r1c = polyfit(r1x,r1y,3);
end

运行效果如图

在这里插入图片描述

NeilSwift
关注
专栏目录
CarMaker与Simulink联合仿真样例
11-16
CarMaker与Simulink联合仿真的一个很简单的样例，部分数据在模块里可以直接观测到，也可以修改车辆接受的数据，教程地址：https://blog.csdn.net/qq_37400312/article/details/121321743
carmaker/matlab联合仿真(一) 新建工程，运行自带example
weixin_40497850的博客
11-03 1498
carmaker matlab 联合仿真 新建工程 testrun
carmaker/matlab联合仿真(二) 新建测试场景
weixin_40497850的博客
11-03 1354
carmaker/simulink 联合仿真 测试场景
2：Carmaker+Simulink+Canoe联合仿真，搭建ADAS HIL测试环境
ljhgz的博客
01-22 3701
一：整体思路介绍 Carmaker+Simulink+Canoe联合仿真，能够搭建出一套低成本的HIL测试方案，能够实现单摄像头暗箱测试，或者带角雷达的多R1V方案的HIL测试。 Carmaker使用Carmaker For Simulink。在方案中，提供Simulink整车模型，IPG Movie提供仿真场景，供显示器播放。 Simulink中，会搭建整车信号传递给ADAS控制器信号的接口，ADAS控制器发给车辆模型控制信号的接口。分别命名为SimulinkToCanoe，CanoeToSimulin
CarMaker - 导入外部地图数据，构造车道信息
最新发布
SuperYmh的博客
07-06 1619
如果你希望在CarMaker中使用RoadRunner创建的环境，你需要首先在RoadRunner中创建并导出环境，然后在CarMaker中导入这个环境。转换OSM数据：接下来，你需要将处理过的地图数据转换为CarMaker可以接受的格式。RoadRunner可以创建复杂的环境，包括路线、建筑、车辆和其他道路用户，然后将这些环境导出为不同格式的文件，以便在其他仿真软件中使用。一旦你完成了地图的编辑，你就可以使用RoadRunner将地图数据导出为.rd5文件，然后在CarMaker中加载它。
CarMaker快速入门第三课创建车辆动力学仿真
小明师兄的博客
06-13 1787
在本章中，将介绍如何建立分离路面制动试验的一个例子。
carmaker/matlab联合仿真工程，将车道线给到simulink中进行拟合
11-03
工程文件实现了carmaker/matlab联合仿真，通过C编码的方式将车道线数据传输到simulink中进行拟合。实现将carmaker中的车道线信息给到simulink中进行拟合，便于后续算法模块使用。
PreScan与CarMaker联合仿真教程
09-01
在本教程中，我们将探讨如何联合使用PreScan和CarMaker进行仿真。这一教程对初学者来说是很好的参考资料，可以帮助理解PreScan和CarMaker软件之间的联合仿真过程。 首先，我们要了解PreScan和CarMaker的基本概念...
carmaker车道线传输教程
11-03
在本文中，我们将深入探讨"Carmaker车道线传输教程"，这是一个专为汽车模拟软件Carmaker设计的教程，旨在帮助用户理解和实现车道线的计算与传输。Carmaker是一款强大的车辆动力学仿真工具，广泛应用于汽车研发和验证...
自动驾驶仿真软件CarMaker 6.0的用户手册
02-20
IPG 的三大产品线 CarMaker、TruckMaker、MotorcycleMaker 分别是针对小型乘用车、多轴车辆、摩托车的车辆动力学仿真软件。既可用于 V 流程前期的模型在环、软件在环仿真，也可以运行于实时仿真系统，用作硬件在环...
基于Matlab的车道线检测.完整代码+数据
06-24
基于Matlab的车道线检测.完整代码+数据
CarMaker与NS3联合仿真平台--安装
乐观的阿锡的博客
07-11 2062
CarMaker与NS3联合仿真平台之-安装NS3安装思路Ubuntu18更换国内源安装组件和依赖库安装ns3ns3官网下载ns-3.28安装包（关于版本推荐3.28以上）在终端输入命名下载解压编译安装配置编译，我们先进行配置ns3过程，再进行编译ns3过程脚本测试CarMaker安装教程下载CarMaker9.0安装包和手册申请licencesCarMaker安装 NS3安装思路 这么久以来第一次写博客，有些不足请谅解。首先Ubuntu18.04 apt-get换源，以提高下载速度，在终端输入命令安装NS
【CarMaker学习笔记】与Simulink联合仿真
qq_37400312的博客
11-16 5928
CarMaker与Simulink联合仿真，部分数据在模块里可以直接观测到，也可以修改车辆接受的数据
基于CarMaker的C-NCAP主动安全系统试验仿真（二）
自动驾驶仿真工程师
12-09 5853
上一篇文章《基于CarMaker的C-NCAP主动安全系统试验仿真（一）》介绍了车辆追尾自动紧急制动系统CCR的仿真过程，本篇继续介绍C-NCAP中行人自动紧急制动系统（AEB VRU_Ped）测试过程。 缩写：VRU_Ped——Vulnerable Road Users 弱势道路使用者 AEB VRU_Ped 系统测试场景包括CPFA-25、CPFA-50、CPNA-25、CPNA-75、CPLA-50 和CPLA-25 六个场景，测试场景列表如下： AEB VRU_Ped C...
基于CarMaker的C-NCAP主动安全系统试验仿真（一）
自动驾驶仿真工程师
12-06 4878
C-NCAP简介：C-NCAP是为了促进中国汽车产业的健康发展，加速国内汽车市场的全球化进程，中国汽车技术研究中心于2006年3月2日正式发布的首版中国新车评价规程（C-NCAP）。C-NCAP以更严格、更全面的要求，对车辆进行全方位安全性能测试，包括乘员保护、行人保护、主动安全等，从而给予消费者更加系统、客观的车辆安全信息，促进汽车企业不断提升整车安全性能。 来源：百度百科，ADAS：高级驾驶辅助系统 其中ADAS试验场景包括如下： 车辆追尾自动紧急制动系统（AEB CCR） 行人自动紧急制动系统
CarMaker入门——【第1讲】运行TestRuns示例
qq_40781408的博客
09-03 3387
CarMaker是由德国IPG公司开发的一款专门针对乘用车的车辆动力学仿真软件，旗下还有TruckMaker和MotorMaker分别用于商用车和摩托车仿真。同其它车辆仿真软件如DSpace、CarSim/TruckSim等一样，能够与MATLAB/Simulink进行联合仿真，为车辆ECU以及智能驾驶开发提供了很好的平台。可以将Simulink搭建的控制策略编译成C代码并下载到ECU中，并与其配套的实时目标机中，能够进行实时仿真测试。 在CarMaker中进...
CarMaker快速入门
热门推荐
小明师兄的博客
06-12 1万+
本合集是小明师兄推出的CarMaker汽车仿真，CarMaker无论是传统动力学、动力系统开发、底盘系统开发还是目前智能驾驶辅助系统及智能驾驶系统开发有着非常重要的作用，可以有效节省开发周期和开发成本，基于仿真快速实现算法开发和系统验证。...
车道线滑动窗口及拟合多项式实现
qq_40429562的博客
07-11 5420
准备： 经过“灰度——阈值化——感兴趣区域”后的车道线图片一张 实现代码如下： 代码讲解（按照代码顺序讲解）： 1、导入包，读取准备好的图片 2、定义一个函数：查找车道线像素位置 （1）截取图片下半部分，使用np.sum()实现图片下半部分像素按列相加，得到[1554 1306 1292 … 5091 5097 5347]，即每列像素总和，此时若使用plt.plot(histogram)绘制直方...
MATLAB强化学习实战(三) 使用并行计算训练DQN智能体进行车道保持辅助(LKA)
wangyifan123456zz的博客
11-09 7655
使用并行计算训练DQN智能体进行车道保持辅助[LKA]DQN并行训练概述Ego Car 的 Simulink 模型创建环境接口创建DQN智能体训练选项并行计算选项训练智能体DQN智能体仿真 此示例显示了如何使用并行训练在Simulink®中训练深度Q学习网络（DQN）智能体以保持车道辅助（LKA）。 有关显示如何在不使用并行训练的情况下训练智能体的示例，请参阅 Train DQN Agent for Lane Keeping Assist。 DQN并行训练概述 在DQN智能体中，每个工作人员都从其智能体副本
carmaker能与其他软件联合仿真嘛
05-12
是的，Carmaker可以与其他软件进行联合仿真。Carmaker支持与其他仿真软件（如Simulink、Matlab、ADAMS、AMESim等）进行联合仿真，可以实现更加复杂和全面的仿真分析。此外，Carmaker还支持与不同的仿真环境进行联合仿真，例如车辆动力学仿真、路面仿真、交通仿真等。通过联合仿真，可以更加准确地模拟车辆在不同情况下的行驶性能，为汽车设计和测试提供更加可靠的数据支持。
评论 2
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包

打赏作者

NeilSwift

你的鼓励将是我创作的最大动力

¥1 ¥2 ¥4 ¥6 ¥10 ¥20
扫码支付：¥1
获取中
扫码支付

您的余额不足，请更换扫码支付或充值

打赏作者

实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值