点击下方卡片，加入会员全年无限制学习后台（MPC各矩阵的底层逻辑、MPC纵向控制、模型验证、MPC自适应巡航控制、非线性系统如何线性化及MPC动力学跟踪任何轨迹、约束添加及新求解器的求解、轨迹规划、纵向规划等80个系列）会员专享爆品课程及资源，同时获得分佣资格，可赚回自己的学费！
shape=2.4;%参数名称，用于参考轨迹生成
dx1=25;dx2=21.95;%没有任何实际意义，只是参数名称
dy1=4.05;dy2=5.7;%没有任何实际意义，只是参数名称
Xs1=27.19;Xs2=56.46;%参数名称
% X_phi=1:1:200;%这个点的区间是根据纵向速度（x_dot）来定的，如果速度为20m/s,采样时间0.05,则区间=20*0.05=1;跑Tsim=10秒
% X_phi=1:0.5:200;%这个点的区间是根据纵向速度（x_dot）来定的，如果速度为10m/s采样时间0.05；则区间=10*0.05=0.5；跑Tsim=20秒
X_phi=1:1:100;%这个点的区间是根据纵向速度（x_dot）来定的，如果速度为10m/s则区间=10*0.1=1；跑Tsim=10秒
z1=shape/dx1*(X_phi-Xs1)-shape/2;
z2=shape/dx2*(X_phi-Xs2)-shape/2;
Y_ref=dy1/2.*(1+tanh(z1))-dy2/2.*(1+tanh(z2));
figure(1);
plot(X_phi, Y_ref,'r--','LineWidth',2);
hold on
a=[X_phi',Y_ref'];%对比之后发现图像结果是一样的。通过调整速度，采样时间及总的仿真时间。如果速度为10m/s，则区间跨度=10*0.1=1；跑Tsim=10秒，总路程为100.
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3 0.00352504403322333
4 0.00427026140720779
5 0.00517281591200281
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100 -1.64543751267049如果速度为20m/s，则区间跨度=20*0.05=1；跑Tsim=10秒，总路程为200
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200 -1.64999999999871点击下方卡片，加入会员全年无限制学习后台（MPC各矩阵的底层逻辑、MPC纵向控制、模型验证、MPC自适应巡航控制、非线性系统如何线性化及MPC动力学跟踪任何轨迹、约束添加及新求解器的求解、轨迹规划、纵向规划等80个系列）会员专享爆品课程及资源，同时获得分佣资格，可赚回自己的学费！
