java模拟汽车驾驶场景_Unity平台模拟自动挡驾驶汽车

短命女 2022-10-22 12:56 158阅读 0赞

自动挡汽车功能分析：

(1)刹车数值用连续量0-255表示，连续量根据键盘按键按下时长进行递增，1秒后达到峰值，无论车辆处于前进挡还是倒挡，踩下刹车后车辆逐渐减速至0

(2)汽车分为四个挡位，停车挡P，倒挡R，空挡N，前进挡D

(3)汽车启动后，松开刹车，车辆进入怠速模式，速度从0逐步提升至12KM/H

(4)刹车数值用连续量0-255表示。车速对应1档0-10，2档11-20，3档21-40，4档41-60，5档61-80，6档81-最大值，对应峰值车速150KM/H

(5)挂住P档，拉起手刹车辆停止。

(6)挂住R档，车辆可进行倒车操作。

(7)通过键盘A和D可以控制车辆左右转向

运行结果图：

启动车辆，拉起手刹，挂前进挡，车辆进入怠速模式，缓慢进行加速。

![36a3642ef04ec70f77ec7b2f3725381b.gif][]

速度提升到12km/h后匀速行驶，继续加速需要踩下油门。

![e1ddb2cf3c45ec69891e9af1ffeab40a.gif][]

踩下油门后车辆快速加速，自行切换挡位：

![fd5a37bc15840a47867dbfb29b1812b7.gif][]

前进时踩下刹车后车子逐渐减速至0：

![07d330e4c372ebdd373744cabe220a1b.gif][]

切换至倒挡，踩下油门，车辆后退，踩下刹车，车子逐渐减速至0：

![bb1ba246575c7a826f8c2fe04cd3d0eb.gif][]

前进时左右转向：

![81486eaac55e01b910e612d45fa406f2.gif][]

倒挡时左右转型：

![34499fbc2a7878c6fb6134137d3d2dda.gif][]

源代码：

采用manager of manager的方式，使用了单例模式。

1.Car\_Mng类负责管理车辆的物理仿真

2.Input\_Mng类负责接受用户的键盘输入信息

3.UI\_Mng类负责更新UI界面的显示

Car\_Mng

using System.Collections;

using System.Collections.Generic;

using System.Diagnostics.Tracing;

using UnityEngine;

public class Car\_Mng : MonoBehaviour

static public Car\_Mng Instance;

public SpeedGear speedGear;

public float maxMotorTorque; //最大的前进力矩

public float maxSpeed; //车辆最大前进速度

public float maxReversMotorTorque; //最大的倒车力矩

public float maxBrakeToeque; //最大的刹车阻力

public float maxSteeringAngle; //主动轮最大的旋转角度

public Rigidbody car; //车辆的刚体

public WheelCollider\[\] coliders; //车轮碰撞器

public GameObject\[\] wheelMesh; //车轮模型

public CarState carState=CarState.Off; //车辆启动状态

public GearState gearState = GearState.ParkingGear; //车辆的挡位

public bool isHandBrakeON; //是否拉起手刹的标志位

public float currentSpeed=0; //计算当前车辆的速度

private bool currentHandBrakeState=true;

private void Awake()

Instance = this;

void Start()

/\* coliders\[0\].steerAngle = 30;

coliders\[1\].steerAngle = 30;

for (int i = 0; i < 4; i++)

Quaternion quat;

Vector3 position;

coliders\[i\].GetWorldPose(out position, out quat);

Debug.Log(position);

Debug.Log(quat.eulerAngles);

wheelMesh\[i\].transform.position = position;

wheelMesh\[i\].transform.rotation =

coliders\[i\].transform.rotation \* Quaternion.Euler(0, coliders\[i\].steerAngle, 0);

\}\*/

private void Update()

UpdateHandBrokeState(); //更新手刹状态

private void FixedUpdate()

if (gearState == GearState.ForwardGear || gearState == GearState.ReversGear)

BrakeCalculate(); //刹车计算 阻力

AccCalculate(); //油门计算 动力

SteerCalculate();

UpdateCarSpeed(); //更新车子的速度

AutoChangeGear(); //自动换挡 自动挡的车子

SynchronousWheelMesh(); //将车轮的状态同步给车的模型

void SynchronousWheelMesh()

for (int i = 0; i < 6; i++)

Quaternion quat;

Vector3 position;

coliders\[i\].GetWorldPose(out position, out quat);

wheelMesh\[i\].transform.position = position;

wheelMesh\[i\].transform.rotation = quat;

void UpdateHandBrokeState()

if (currentHandBrakeState != isHandBrakeON)

currentHandBrakeState = isHandBrakeON;

if (currentHandBrakeState)

PullupHandbrake();

else

PullDownHandbrake();

\} //更新手刹状态

public void StartCar() //启动车辆

carState = CarState.On;

public void StopCar() //停车

carState = CarState.Off; //停止接收油门、方向盘、刹车信号

gearState = GearState.ParkingGear; //挂上停车挡

PullupHandbrake(); //拉起手刹

void PullupHandbrake() //拉起手刹，相当于阻力矩最大，直接Freeze车辆刚体的运动

isHandBrakeON = true; //设置标志位

//仅保留y轴向的运动

car.constraints = RigidbodyConstraints.FreezeRotation

| RigidbodyConstraints.FreezePositionX | RigidbodyConstraints.FreezePositionZ;

void PullDownHandbrake() //放下手刹，解锁运动

isHandBrakeON = false;

//解锁所有运动

car.constraints = RigidbodyConstraints.None;

void BrakeCalculate() //计算刹车的阻力

var value = Input\_Mng.Instance.GetBrakeValue(); //读取刹车阻力

var brakeToequePerWheel = maxBrakeToeque / 2 \* value / 255; //计算一个车轮的阻力

coliders\[0\].motorTorque = 0;

coliders\[1\].motorTorque = 0;

for (int i = 0; i < 6; i++)

coliders\[i\].brakeTorque = brakeToequePerWheel;

// Debug.Log("刹车阻力："+ brakeToequePerWheel);

void AccCalculate() //油门动力计算

if (gearState == GearState.ForwardGear) //前进

var value = Input\_Mng.Instance.GetAcceleratorValue();

if (value != 0) //加速行驶

if(MeterPerSeconds2KmPerHour(currentSpeed) <= 150)

var accToequePerWheel = maxMotorTorque \* value / 255; //计算一个车轮的动力

coliders\[0\].motorTorque = accToequePerWheel;

coliders\[1\].motorTorque = accToequePerWheel;

else //不能超过速度上限

coliders\[0\].motorTorque = 0;

coliders\[1\].motorTorque = 0;

else //怠速驾驶

if (MeterPerSeconds2KmPerHour(currentSpeed) < 12)

coliders\[0\].motorTorque = 100;

coliders\[1\].motorTorque = 100;

else

Debug.Log("无动力");

for (int i = 0; i < 6; i++)

coliders\[i\].motorTorque = 0;

else //倒车

var value = Input\_Mng.Instance.GetAcceleratorValue();

var accToequePerWheel = maxReversMotorTorque / 2 \* value / 255; //计算一个车轮的动力

coliders\[0\].motorTorque = -accToequePerWheel;

coliders\[1\].motorTorque = -accToequePerWheel;

void SteerCalculate() //计算转向

var value= Input\_Mng.Instance.GetSteerValue();

var steerAngle = (value - 128) / 128 \* maxSteeringAngle; //计算旋转角度

coliders\[0\].steerAngle = steerAngle;

coliders\[1\].steerAngle = steerAngle;

void AutoChangeGear() //自动挡，前进时根据车辆的速度自动切换挡位

if (gearState == GearState.ForwardGear)

var speed = MeterPerSeconds2KmPerHour(currentSpeed);

if (speed <= 10 && speed > 0)

speedGear = SpeedGear.Speed01;

if (speed <= 20 && speed > 10)

speedGear = SpeedGear.Speed02;

if (speed <= 40 && speed > 20)

speedGear = SpeedGear.Speed03;

if (speed <= 60 && speed > 40)

speedGear = SpeedGear.Speed04;

if (speed <= 80 && speed > 60)

speedGear = SpeedGear.Speed05;

if (speed <= 155 && speed > 80)

speedGear = SpeedGear.Speed06;

else

speedGear = SpeedGear.none;

void UpdateCarSpeed()

currentSpeed = car.velocity.magnitude;

static public float MeterPerSeconds2KmPerHour(float speed) //切换单位 m/s换算成 km/h

return speed\*3.6f;

static float KmPerHour2MeterPerSeconds(float speed) //切换单位 km/h换算成m/s

return speed/3.6f;

public enum CarState

Off = 0, //关机状态

On = 1, //运行状态

public enum GearState

ParkingGear = 1, //停车挡

ReversGear = 2, //倒挡

NeutralGear = 3, //空挡

ForwardGear = 4, //前进挡

public enum SpeedGear

none,

Speed01,

Speed02,

Speed03,

Speed04,

Speed05,

Speed06

Input\_Mng

using System.Collections;

using System.Collections.Generic;

using UnityEngine;

public class Input\_Mng : MonoBehaviour

static public Input\_Mng Instance; //单例模式

private KeyCode braKeyCode=KeyCode.M; //刹车对应的键盘按键

public float brakeValue = 0; //刹车值

public bool isBra = false;

private KeyCode accKeyCode=KeyCode.W; //油门对应的键盘按键

public float acceleratorValue = 0; //油门值

public bool isAcc = false;

private KeyCode leftSteerKeyCode = KeyCode.A;

private KeyCode rightSteerKeyCode = KeyCode.D;

public float steerValue = 128;

private KeyCode parkingKeyCode = KeyCode.Alpha1; //停车对应的按键

private KeyCode reversKeyCode = KeyCode.Alpha2; //倒车对应的按键

private KeyCode neutralKeyCode = KeyCode.Alpha3; //空挡对应的按键

private KeyCode forwardKeyCode = KeyCode.Alpha4; //前进挡对应的按键

private KeyCode handBrakeKeyCode = KeyCode.H; //手刹对应的按键

public float GetBrakeValue() //获取刹车值

return brakeValue;

public float GetAcceleratorValue() //获取油门值

return acceleratorValue;

public float GetSteerValue()

return steerValue;

\} //获取转弯值

private void Awake()

Instance = this;

private void Update()

if (Car\_Mng.Instance.carState == CarState.On) //当车辆启动后，检测油门刹车和挡位变换

UpdateGeerState();

UpdateSteerValue();

UpdateHandBrakeState();

UpdateAcceleratorValue(accKeyCode);

UpdateBrakeValue(braKeyCode);

void UpdateHandBrakeState()

if (Input.GetKeyDown(handBrakeKeyCode))

if (Car\_Mng.Instance.isHandBrakeON)

Car\_Mng.Instance.isHandBrakeON = false;

else

Car\_Mng.Instance.isHandBrakeON = true;

void UpdateAcceleratorValue(KeyCode AccCode)

if (Input.GetKey(AccCode))

acceleratorValue += 255 \* Time.deltaTime;

acceleratorValue = Mathf.Clamp(acceleratorValue, 0, 255);

isAcc = true;

else

acceleratorValue = 0;

isAcc = false;

\} //更新油门状态

void UpdateBrakeValue(KeyCode BraCode) //更新刹车状态

if (Input.GetKey(BraCode))

brakeValue += 255 \* Time.deltaTime;

brakeValue = Mathf.Clamp(brakeValue, 0, 255);

isBra = true;

else

brakeValue = 0;

isBra = false;

void UpdateSteerValue() //更新方向盘状态

if (Input.GetKey(leftSteerKeyCode))

steerValue -= 255 \* Time.deltaTime; //0.5秒左侧打死

steerValue = Mathf.Clamp(steerValue, 0, 255);

\}else if(Input.GetKey(rightSteerKeyCode))

steerValue += 255 \* Time.deltaTime; //0.5秒右侧打死

steerValue = Mathf.Clamp(steerValue, 0, 255);

else

steerValue = 128;

void UpdateGeerState() //更新挡位状态

if (Input.GetKeyDown(parkingKeyCode)) //设置为停车档

Car\_Mng.Instance.gearState = GearState.ParkingGear;

if (Input.GetKeyDown(reversKeyCode)) //倒车档

Car\_Mng.Instance.gearState = GearState.ReversGear;

if (Input.GetKeyDown(neutralKeyCode)) //空挡

Car\_Mng.Instance.gearState = GearState.NeutralGear;

if (Input.GetKeyDown(forwardKeyCode)) //前进挡

Car\_Mng.Instance.gearState = GearState.ForwardGear;

UI\_Mng

using System.Collections;

using System.Collections.Generic;

using System.Drawing;

using UnityEngine;

using UnityEngine.UI;

public class UI\_Mng : MonoBehaviour

static public UI\_Mng Instance;

public Image ParkingBg; //停车档

public Image ForwardBg; //前进挡

public Image NeutralBg; //空挡

public Image ReversBg; //倒车档

public Image HandBrakeBg; //手刹

public Text speedText; //速度显示

public Text speedGearText; //挡位显示

public Image SwitchBg; //开关背景

public Text Switchtext; //开关显示文字

public Image AccBg; //油门

public Image BraBg; //刹车

private GearState currentGearState;

private bool currentBrakeState;

private void Awake()

Instance = this;

private void Update()

UpdateGearUI();

UpdateHandBrakeUI();

UpdateAccBra();

UpdateSpeed();

void UpdateSpeed()

speedText.text = Car\_Mng.MeterPerSeconds2KmPerHour(Car\_Mng.Instance.currentSpeed).ToString("F2")

\+ " Km/h";

SpeedGear speedGear = Car\_Mng.Instance.speedGear;

switch (speedGear)

case SpeedGear.none:

speedGearText.text = "自动挡";

break;

case SpeedGear.Speed01:

speedGearText.text = "1挡";

break;

case SpeedGear.Speed02:

speedGearText.text = "2挡";

break;

case SpeedGear.Speed03:

speedGearText.text = "3挡";

break;

case SpeedGear.Speed04:

speedGearText.text = "4挡";

break;

case SpeedGear.Speed05:

speedGearText.text = "5挡";

break;

case SpeedGear.Speed06:

speedGearText.text = "6挡";

break;

default:

break;

void UpdateAccBra()

if (Input\_Mng.Instance.isAcc)

AccBg.color = UnityEngine.Color.green;

else

AccBg.color = UnityEngine.Color.white;

if (Input\_Mng.Instance.isBra)

BraBg.color = UnityEngine.Color.green;

else

BraBg.color = UnityEngine.Color.white;

void UpdateHandBrakeUI()

if (currentBrakeState != Car\_Mng.Instance.isHandBrakeON)

currentBrakeState = Car\_Mng.Instance.isHandBrakeON;

if (currentBrakeState)

HandBrakeBg.color = UnityEngine.Color.red;

else

HandBrakeBg.color = UnityEngine.Color.white;

private void Start()

Car\_Mng.Instance.StopCar(); //关闭车辆

OnCarShutDown();//更新UI

void UpdateGearUI()

if (currentGearState != Car\_Mng.Instance.gearState)

currentGearState = Car\_Mng.Instance.gearState;

ClearGearUI();

SetGearUI(currentGearState);

void ClearGearUI()

ParkingBg.color = UnityEngine.Color.white;

ForwardBg.color = UnityEngine.Color.white;

NeutralBg.color = UnityEngine.Color.white;

ReversBg.color = UnityEngine.Color.white;

void SetGearUI(GearState state)

switch (state)

case GearState.ForwardGear:

ForwardBg.color = UnityEngine.Color.red;

break;

case GearState.ReversGear:

ReversBg.color = UnityEngine.Color.red;

break;

case GearState.NeutralGear:

NeutralBg.color = UnityEngine.Color.red;

break;

case GearState.ParkingGear:

ParkingBg.color = UnityEngine.Color.red;

break;

public void ChangeCarState()

if (Car\_Mng.Instance.carState == CarState.On) //如果处于开机状态，则停机

Car\_Mng.Instance.StopCar(); //关闭车辆

OnCarShutDown();//更新UI

\}else

Car\_Mng.Instance.StartCar(); //启动车子

OnCarStart();//更新UI

private void OnCarStart() //车辆启动时更新ui

SwitchBg.color = UnityEngine.Color.red;

Switchtext.text = "关闭车辆";

private void OnCarShutDown() //车辆关闭时执行的逻辑

SwitchBg.color = UnityEngine.Color.green;

Switchtext.text = "启动车辆";

以上就是本文的全部内容，希望对大家的学习有所帮助，也希望大家多多支持脚本之家。

[36a3642ef04ec70f77ec7b2f3725381b.gif]: /images/20221022/29de5d5c726b4a00904299a013054d26.png
[e1ddb2cf3c45ec69891e9af1ffeab40a.gif]: /images/20221022/5d3dedbe9b94431884c70d7931edb065.png
[fd5a37bc15840a47867dbfb29b1812b7.gif]: /images/20221022/fca412e479ef423d90e1e0ef0b3f56c3.png
[07d330e4c372ebdd373744cabe220a1b.gif]: /images/20221022/2e50c1b687d5414c949e5ec0182a97dd.png
[bb1ba246575c7a826f8c2fe04cd3d0eb.gif]: /images/20221022/75ccb58de72b4e1ca6d0d30f616051ac.png
[81486eaac55e01b910e612d45fa406f2.gif]: /images/20221022/16fce20c0f494e67b6558dcf08218bb3.png
[34499fbc2a7878c6fb6134137d3d2dda.gif]: /images/20221022/e68d3067024547c9826806a172c01658.png