MATLAB目标跟踪_matlab_目标检测_用matlab模拟出十字路口的车辆通行情况_车辆检测

clear;clc; width=30 %道路宽 rl=5*width/8; %左转虚拟车道 rr=1*width/8; %右转虚拟车道 drr=pi/2*rr; dstr=width-sqrt(rl^2-(width/8)^2); %直行距离 dl=(acos(width/8/rl))*rl; %左拐距离 ck=1.8 ; %车宽 cl=3.8 ; %车长 ddstr=sqrt((rl+ck/2)^2-(width/8+ck/2)^2)-sqrt(rl^2-(width/8)^2); ddl=(acos(width/8/rl)-acos((width/8+ck/2)/(rl+ck/2)))*rl; sl=dl; sstr=dstr; onetime=160; dmin=2; azb=[]; bzb=[]; alcar=[]; %行车矩阵 arcar=[]; astrcar=[]; blcar=[]; brcar=[]; bstrcar=[]; cjjlal=[]; cjjlar=[]; cjjlastr=[];%车间距 cjjlbl=[]; cjjlbr=[]; cjjlbstr=[];%车间距 red=30; yel=10; val0=4 ; %a左行车速度（此处设未冲突速度） var0=5 ; %a右行车速度（此处设未冲突速度） vastr0=6 ; %a直行车速度（此处设未冲突速度） vbl0=val0 ; %b左行车速度（此处设未冲突速度） vbr0=var0 ; %b右行车速度（此处设未冲突速度） vbstr0= vastr0 ; %b直行车速度（此处设未冲突速度） val=[]; val(1)=val0 ; var=[]; var(1)=var0 ; vastr=[] ; vastr(1)=vastr0; vbl=[] ; vbl(1)=vbl0; vbr=[]; vbr(1)=vbr0 ; vbstr=[] vbstr(1)=vbstr0 ; dt=0.1 ; %时间步长 alcar(1)=val*dt; arcar(1)=vbr(1)*dt; astrcar(1)=vastr(1)*dt; blcar(1)=vbl(1)*dt; brcar(1)=vbr(1)*dt; bstrcar(1)=vbstr(1)*dt; T=dt; sumal=1; sumar=1; sumastr=1; sumbl=1; sumbr=1; sumbstr=1; kal=1; kar=1; kastr=1; kbl=1; kbr=1; kbstr=1; dertal=0; dertas=0; %外部条件参数=========================================================================================================== yctime=0.5;%加速延迟时间 jsxs=0.7;%减速系数 ajia=8;%最大加速度 ajian=8;%最大减速度 azxgl=1; ayzxgl=1; bzxgl=1; byzxgl=1; pro=0.02; sigma=1; n=20;%画图中的模拟车！！！！！！！！！！！！！！！！！！！！！ ttt=0.000000001; while T<=onetime T=T+dt; lor=mod(floor(T/(red+yel)),2); goy=mod(T,red+yel); %虚拟交警================================================================================================================ if kal~=0 cjjlal(1)=0;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%555 end if kar~=0 cjjlar(1)=0;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%555 end if kastr~=0 cjjlastr(1)=0;%%%%%%%%%%%%%%%%%%%%%%5 end if kbl~=0 cjjlbl(1)=0;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%555 end if kbr~=0 cjjlbr(1)=0;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%555 end if kbstr~=0 cjjlbstr(1)=0;%%%%%%%%%%%%%%%%%%%%%%5 end if kbl~=0&&kastr~=0 pbl=dl-blcar(1)-sl; pastr=dstr-astrcar(1)-sstr; if pbl<=0&&pastr<=0 ttsl=(dl-blcar(1)-ddl)/vbl(1)+dertal; ttsstr=(dstr-astrcar(1)-ddstr)/vastr(1)+dertas; if(ttsstr<=ttsl) if vastr(1)<vastr0 vastr(1)=min(vastr(1)+ajia*dt,vastr0); end xvbl=[(dl-blcar(1)-ddl)/((dstr-astrcar(1)+ddstr+cl)/vastr(1)),vbl0]; vbl(1)=min(xvbl); jishi1=dt; elseif(ttsstr>ttsl) if vbl(1)<vbl0 vbl(1)=min(vbl(1)+ajia*dt,vbl0); end xvastr=[(dstr-astrcar(1)-ddstr)/((dl-blcar(1)+ddl+cl)/vbl(1)),vastr0]; vastr(1)=min(xvastr); jishi1=dt; end end end if kal~=0 cjjlal(1)=0;%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%555 end if kbstr~=0 cjjlbstr(1)=0;%%%%%%%%%%%%%%%%%%%%%%5 end if kal~=0&&kbstr~=0 pal=dl-alcar(1)-sl; pbstr=dstr-bstrcar(1)-sstr; if pal<=0&&pbstr<=0 ttsl=(dl-alcar(1)-ddl)/val(1)+dertal; ttsstr=(dstr-bstrcar(1)-ddstr)/vbstr(1)+dertas; if(ttsstr<=ttsl) if vbstr(1)<vbstr0 vbstr(1)=min(vbstr(1)+ajia*dt,vbstr0); end xval=[(dl-alcar(1)-ddl)/((dstr-bstrcar(1)+ddstr+cl)/vbstr(1)),val0]; val(1)=min(xval); jishi1=dt; elseif(ttsstr>ttsl) if val(1)<val0 val(1)=min(val(1)+ajia*dt,val0); end xvbstr=[(dstr-bstrcar(1)-ddstr)/((dl-alcar(1)+ddl+cl)/val(1)),vbstr0]; vbstr(1)=min(xvbstr); jishi1=dt; end end end if kar~=0 if var(1)<var0 var(1)=min(var(1)+ajia*dt,var0); end end if kbr~=0 if vbr(1)<vbr0 vbr(1)=min(vbr(1)+ajia*dt,vbr0); end end %虚拟交警================================================================================================================ if goy<=red %a左行车辆运行段================================================================================================================ ppal=rand; if kal==0 if ppal<=azxgl val(1)=val0 ; alcar(kal+1)=val(1)*dt; kal=kal+1; cjjlal(kal)=0; end else for i=1:kal if i~=1 cjjlal(i)=alcar(i-1)-alcar(i); if cjjlal(i)-(normrnd(cheju(val(i-1)),sigma))<0 val(i)=max(val(i)-ajian*dt,jsxs*val(i-1)); else val(i)=min(val(i)+ajia*dt,val(i-1)+(cjjlal(i)-(normrnd(cheju(val(i-1)),sigma)))/yctime); end end alcar(i)=alcar(i)+val(i)*dt; end if alcar(kal)>=(normrnd(cheju(val(kal)),sigma))+val(kal)*dt if ppal<=azxgl alcar(kal+1)=val(kal)*dt; val(kal+1)=val(kal);%%%%%%%%%%%%%%%%%%%%%%%%%%55 cjjlal(kal+1)=(normrnd(cheju(val(kal)),sigma)); end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%% all=normrnd(all0,sigma); end kal=length(alcar); end %a右行车辆运行段================================================================================================================ ppasr=rand; pa=rand; if kar==0 if ppasr<=ayzxgl if pa<=pro if kastr==0||astrcar(kastr)>=cl+dmin var(1)=var0 ; arcar(kar+1)=var(1)*dt; kar=kar+1; cjjlar(kar)=0;%%%%%%%%%%%%%%%%%%%%%%%% end end end else for i=1:kar if i~=1 cjjlar(i)=arcar(i-1)-arcar(i); if cjjlar(i)-(normrnd(cheju(var(i-1)),sigma))<0 % if cjjlar(i)=cl+twj var(i)=max(var(i)-ajian*dt,jsxs*var(i-1)); else var(i)=min(var(i)+ajia*dt,var(i-1)+(cjjlar(i)-normrnd(cheju(var(i-1)),sigma))/yctime); end end arcar(i)=arcar(i)+var(i)*dt; end if arcar(kar)>=(normrnd(cheju(var(kar)),sigma))+var(kar)*dt&&(kastr==0||astrcar(kastr)>=cl+dmin) if ppasr<=ayzxgl if pa<=pro arcar(kar+1)=var(kar)*dt; var(kar+1)=var(kar); cjjlar(kar+1)=(normrnd(cheju(var(kar)),sigma));%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% end end %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%