carmaker/matlab联合仿真工程，将车道线给到simulink中进行拟合

UserVehicle_RTW =============== In this example a simple vehicle model was implemented in Simulink. Relevant files and places to look at ------------------------------------ . |-- Data | |-- TestRun | | `-- Examples | | `-- BasicFunctions | | `-- Simulink | | `-- Hockenheim_UserVehicle_RTW | `-- Vehicle | `-- Examples | `-- UserVehicle_RTW `-- src |-- Makefile |-- README-UserVehicle_RTW.txt |-- tire_lin.c |-- tire_lin.mexa64 (Linux) OR .mexw64 (MS Windows) |-- User.c |-- UserVehicle_RTW.mdl `-- UserVehicle_RTW_CarMaker_rtw |-- UserVehicle_RTW_wrap.c `-- UserVehicle_RTW_wrap.h o src/UserVehicle_RTW.mdl The Simulink model itself. o src/tire_lin.c src/tire_lin.mexa64 (Linux) OR .mexw64 (MS Windows) An S-function of a simple, linear tire model used in UserVehicle_RTW.mdl plus a ready-to-use, precompiled mex-binary of the S-function. In case you want to compile the S-function yourself please see the instructions in the comments at the top of the source file. o src/UserVehicle_RTW_CarMaker_rtw/UserVehicle_RTW_wrap.h src/UserVehicle_RTW_CarMaker_rtw/UserVehicle_RTW_wrap.c The wrapper source code. o src/User.c #include of the wrapper header file. Registration of the UserVehicle_RTW model in function User_Register(). The corresponding statements are added automatically by the RTW build process. o src/Makefile libUserVehicle_RTW_$(ARCH).a is added to the list of files that make up the CarMaker executable. The corresponding statements are added automatically by the RTW build process. o Data/Vehicle/Examples/UserVehicle_RTW The vehicle data set for the vehicle model. In the vehicle data editor see also the "Additional Parameters" on the "Misc." tab. o Data/TestRun/Examples/BasicFunctions/Simulink/Hockenheim_UserVehicle_RTW A copy of the Hockenheim testrun which uses the UserVehicle_RTW vehicle data set. Almost all places where modifications were made to existing files can be found by doing a textual search for "UserVehicle_RTW". Implementation details ---------------------- o The model is connected to CarMaker by "registering" it, i.e. adding it to the list of available vehicle models. Registering is done in the model wrapper's central interface function UserVehicle_RTW_Register(), which is called from User_Register() in src/User.c. Once it is registered, the UserVehicle_RTW module can be activated with the right FileIdent entry in the vehicle's configuration file. CarMaker then automatically calls the functions of our vehicle model using the function pointers in the tModelClassDescr struct. o The instance pointer of the Simulink model is returned as the function value of the UserVehicle_RTW_New() function. It is automatically passed via the MP argument, when any of the other functions are called by CarMaker, hence no local instance pointer variable is needed. o Since CarMaker communicates with our vehicle model mainly via the module's Calc() function and the parameters passed to it, the connection between the Simulink model and CarMaker is implemented accordingly. The toplevel diagram of the Simulink model contains only Inport and Outport blocks. In the generated C code their counterpart can be found in the model's ExternalInputs and ExternalOutputs structs. As a consequence, the UserVehicle_RTW_Calc() function in UserVehicle_RTW_wrap.c consists mainly of statements shuffling data between the function's IF interface parameter and the model.