Unity平台模拟自动挡驾驶汽车

Nabila ·

更新时间:2024-11-14

· 770 次阅读

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。

速度提升到12km/h后匀速行驶，继续加速需要踩下油门。

踩下油门后车辆快速加速，自行切换挡位：

前进时踩下刹车后车子逐渐减速至0：

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：

前进时左右转向：

倒挡时左右转型：

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";
 }
}

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自动挡自动汽车 unity

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