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資源簡介

源代碼來源于輔助駕駛仿真軟件Prescan,主要涉及一些AEB的算法,比較基礎,屬于入門級別

資源截圖

代碼片段和文件信息

function?AEBS_EGOplot
%?Drawing?plot?of?velocity?and?acceleration?of?the?ego?vehicle?at?the?end?of?simulation.

%%?Data
V?=?load(‘plot_data_velocity.mat‘);
a?=?load(‘plot_data_acceleration.mat‘);
flag26?=?load(‘plot_data_flag26.mat‘);
flag16?=?load(‘plot_data_flag16.mat‘);
flag06?=?load(‘plot_data_flag06.mat‘);
t?=?load(‘plot_data_time.mat‘);
r?=?load(‘plot_data_range.mat‘);

V?=?V.velocity(2:);
a?=?a.acceleration(2:);
flag26?=?flag26.flag26(2:);
flag16?=?flag16.flag16(2:);
flag06?=?flag06.flag06(2:);
t?=?t.time(2:);
r?=?r.range(2:);

%%?Calculate?flags?and?impact?time
i?=?2;
T26=0;
while?(T26==0)?&&?(i????if?((flag26(i)?==?1)?&&?(flag26(i-1)?==?0))
????????T26?=?t(i);
????end
????i?=?i?+?1;
end

i?=?2;
T16=0;
while?(T16==0)?&&?(i????if?((flag16(i)?==?1)?&&?(flag16(i-1)?==?0)?&&?(flag26(i)?==?1))
????????T16?=?t(i);
????end
????i?=?i?+?1;
end

i?=?2;
T06=0;
while?(T06==0)?&&?(i????if?((flag06(i)?==?1)?&&?(flag06(i-1)?==?0)?&&?(flag16(i)?==?1))
????????T06?=?t(i);
????end
????i?=?i?+?1;
end

if?(T26?==?0)?&&?(T16?==?0)
????T06?=?0;
end

%%?Impact?speed
Timp?=?0;
Vimp?=?300;

r_temp?=?r;
indx?=?find(r==0);
r_temp(indx)?=?inf;???%#ok

exitflag?=?1;
i?=?2;
while?(i?????if??(r_temp(i)?<=?r_temp(i-1))?&&?flag06(i)
????????Timp?=?t(i);
????else
????????if?Timp?~=?0
????????????exitflag?=?0;
????????end
????end
????i?=?i?+?1;
end
i?=?i?-?1;

if?i?????if?r(i)?>?0.26
????????Timp?=?0;
????end
else
????if?r(i)?>?2
????????Timp?=?0;
????end
end

%?Impact?velocity
if(Timp?~=?0)
????Vimp?=?V(i);
end

%Time?conversion
t?=?t?-?Timp;

if?T06?~=?0
????T06?=?T06?-?Timp;
end
if?T16?~=?0
????T16?=?T16?-?Timp;
end
if?T26?~=?0
????T26?=?T26?-?Timp;
end

%%?Cut?off?needless?time?before?impact
k?=?0;
H?=?length(t);
for?i?=?1:H
????if?t(i)<-5
????????k?=?k+1;
????end
end
V?=?V(k+1:H);
a?=?a(k+1:H);
t?=?t(k+1:H);

%%?Compute?Vmin?i?Vmax
Vmin?=?500;
Vmax?=???0;
for?i?=?1:length(V)
????if?Vmin>V(i)
????????Vmin?=?V(i);
????end
????if?Vmax????????Vmax?=?V(i);
????end
end

%%?Plot?part

%?Close?old?figure?if?exists
FigureHandle?=?findobj(‘Name‘‘AEBS?Speed?Profile‘);
if?~isempty(FigureHandle)
????close(FigureHandle)
end

%?Draw?new?one
if?~isempty(t)
????h_fig?=?figure(‘Name‘‘AEBS?Speed?Profile‘?‘Numbertitle‘‘Off‘);
????[H?H1?H2]?=?plotyy(tVta);
????
????%?Set?axes?properties
????set(H(2)‘YTickMode‘‘auto‘);
????set(H(1)‘YTickMode‘‘auto‘);
????
????set(H?‘XGrid‘‘On‘);
????set(H(1)‘YGrid‘‘On‘);
????set(H(2)‘YGrid‘‘On‘);
????
????set(H1‘LineWidth‘2.5);
????set(H2‘LineWidth‘2.5);
????set(H1‘Color‘[0?0?1]);
????set(H2‘Color‘[0?0.5?0]);
????
????ylabel(H(1)‘Velocity?[km/h]‘);
????ylabel(H(2)‘Acceleration?[m/s^2]‘);
????
????H1Min?=?Vmin-3;?????H1Max?=?1.1*Vmax;
????axis([t(1)-0.5?t(length(t))+0.5?H1Min?H1Max]);
????set(H‘XLim‘[t(1)-0.5?t(length(t))+0.5]);
????
????H2Min?=?-13.2;??????H2Max?=??14.1;
????set(H(2)‘YLim‘[H2Min?H2Max]);
????H2a?=?(?H2Max?-?H

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????目錄??????????0??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Actors

?????文件?????244849??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\ADAC_AEBS_FailOperationTest_A1.pex

?????文件???????5793??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\ADAC_AEBS_FailOperationTest_A1.vwr

?????文件????????397??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\ADAC_AEBS_FailOperationTest_A1.vwrs

?????文件????3191757??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\ADAC_AEBS_FailOperationTest_A1_cs.mdl

?????文件???????2143??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\ADAC_AEBS_FailOperationTest_A1_hash.mat

?????文件??????51228??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\AsphaltStandard_256.png

?????文件????????124??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\IndianRed_2.png

?????文件???????1339??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\InformationBoard_1.jpg

?????文件???????2596??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\InformationBoard_1.osg

?????文件???????5851??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\J3.png

?????文件???????8419??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\J37.png

?????文件??????25023??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\Pavement.png

?????文件??????22411??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\Pavement_1.png

?????文件???????1760??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\Sphere_1.osg

?????文件???????1339??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSignPoleNL_1.jpg

?????文件??????13500??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSignPoleNL_1.osg

?????文件????????118??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSignPoleNL_1.rd.png

?????文件???????1339??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSignPoleNL_2.jpg

?????文件??????13501??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSignPoleNL_2.osg

?????文件????????124??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\TrafficSign_sideBack.png

?????文件????????121??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\White_2.png

?????文件?????193154??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Models\world.osg

?????目錄??????????0??2018-05-29?15:34??AEBS\ADAC_AEBS_FailOperationTest_A1\Models

?????文件??????21605??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Resources\InformationSign\ADAC_logo2.png

?????目錄??????????0??2018-05-29?15:34??AEBS\ADAC_AEBS_FailOperationTest_A1\Resources\InformationSign

?????文件????????464??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Resources\noTextureImg.png

?????目錄??????????0??2018-05-29?15:34??AEBS\ADAC_AEBS_FailOperationTest_A1\Resources

?????文件????????554??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Temp\ADAC_AEBS_FailOperationTest_A1.swi

?????文件??????????0??2018-05-29?15:33??AEBS\ADAC_AEBS_FailOperationTest_A1\Temp\ADAC_AEBS_FailOperationTest_A1.swt

............此處省略813個文件信息

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