基于模型的自主交通仿真matlab代码.zip

# **MOBATSim** MOBATSim (Model-based Autonomous Traffic Simulation Framework) is a framework based on MATLAB® Simulink® that allows users to develop automated driving algorithms and assess their safety and performance. By running a traffic simulation, the safety of the implemented component or algorithm can be measured on both the vehicle level and the traffic level, supported by 2D and 3D visualization options. **Consider [starring our GitHub Repositories](https://github.com/MOBATSim/MOBATSim/stargazers) and [subscribing to our MOBATSim YouTube Channel](https://www.youtube.com/c/MOBATSim) to support us!** [](https://github.com/MOBATSim/MOBATSim) [](https://github.com/MOBATSim/MOBATSim) [](https://github.com/MOBATSim/MOBATSim/pulls) [](https://github.com/MOBATSim/MOBATSim/stargazers) [](https://github.com/MOBATSim/MOBATSim/fork) [](https://www.youtube.com/c/MOBATSim) [](https://www.youtube.com/c/MOBATSim) [](https://www.mathworks.com/matlabcentral/fileexchange/78444-mobatsim_opensource) [](https://github.com/MOBATSim/MOBATSim/releases/tag/v1.0.2) [](https://github.com/MOBATSim/MOBATSim/releases/) [](#citation) **Autonomous Vehicle Modeling and Simulation in Simulink Tutorials** [](https://github.com/MustafaSaraoglu/AutonomousVehicleModeling) [](https://github.com/MustafaSaraoglu/AutonomousVehicleModeling/stargazers) [](https://github.com/MustafaSaraoglu/AutonomousVehicleModeling/fork) [](https://github.com/MustafaSaraoglu) [](https://www.youtube.com/watch?v=MS66nlDOmRY&list=PLNNL3443z4lHTmBFrrur6aYhJnwvITqWM) <img src="img/logo_big.jpg" alt="Combined Image" /> # Table of contents 1. [Introduction](#introduction) 2. [Requirements](#requirements) 3. [Citation](#citation) 4. [Contributing to MOBATSim](#contribution) 5. [Release Notes](#releasenotes) 6. [Getting Started](#gettingstarted) <a name="introduction"></a> ## Introduction Automated driving systems tend to be more critical and sophisticated in the nearest future. The functional safety assessment for these systems becomes an urgent necessity for the transition to full autonomy. Testing these functions consisting of decision and control algorithms with many variables and parameters in a unified manner is a daunting task. Threat assessment has to be made for vehicles to avoid hazardous situations actively. This requires analyzing complex operational profiles such as routing, intersection management, and collision prediction in an environment where multiple vehicles are in different positions and traveling at different speeds. There is a need for a comprehensive traffic simulation framework that models the functionality of the vehicles and the interactions between them. More detailed information about the scientific papers related to MOBATSim can be found on the [website](https://mobatsim.com/) or you can visit our YouTube Channel where we publish the latest updates with tutorial videos: [](https://www.youtube.com/c/MOBATSim) <a name="requirements"></a> ## **MATLAB Version and Toolbox Requirements** MOBATSim is continuously updated with the latest version of MATLAB®. Therefore the requirement is **MATLAB R2021a** or **MATLAB R2020b**. The following toolboxes are required for running MOBATSim: * Simulink® and Stateflow® * Automated Driving Toolbox™ * Robotics System Toolbox™ * Control System Toolbox™ * Deep Learning Toolbox™ * Symbolic Math Toolbox™ * Model Predictive Control Toolbox™ (only if MPC-Cruise Controller Block is used) * Simulink 3D Animation Toolbox™ (only required for the 3D Animation Virtual World) <a name="citation"></a> ## Authors and Contact **Main Author:** Mustafa Saraoğlu **Contributors:** Johannes Pintscher, Laura Slabon, Qianwei Yang, Qihang Shi, Wenkai Wu, Maoxuan Zhao, Erik Noack, Fabian Hart, Müjdat Korkmaz, Marta Valdes Martin Message us via the [contact form](https://mobatsim.com/contact/) on our website! Copyright © 2017 MOBATSim. ### Please Cite Our Related Paper as: Saraoglu, M., Morozov, A., & Janschek, K. (2019). MOBATSim: MOdel-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis. IFAC-PapersOnLine, 52(8), 239–244. Elsevier BV. Retrieved from https://doi.org/10.1016%2Fj.ifacol.2019.08.077 BibTex: ``` @article{MOBATSim, title = {{MOBATSim}: {MOdel}-Based Autonomous Traffic Simulation Framework for Fault-Error-Failure Chain Analysis}, journal = "IFAC-PapersOnLine", volume = "52", number = "8", pages = "239 - 244", year = "2019", note = "10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019", issn = "2405-8963", doi = "https://doi.org/10.1016/j.ifacol.2019.08.077", url = "http://www.sciencedirect.com/science/article/pii/S2405896319304100", author = "Mustafa Saraoglu and Andrey Morozov and Klaus Janschek", keywords = "Autonomous driving, Fault injection, Error propagation, Safety analysis, Traffic simulator", } ``` <a name="contribution"></a> ## Contributing to MOBATSim If you find MOBATSim useful and you would like to improve it by implementing your own automated driving algorithms: 1. **"Fork"** the repository from the top right corner. 2. Go to your **forked repository** and switch to the **development branch**. 3. Make your changes in the development branch. Make sure your contributions fit the format in terms of coding or input/output properties of the Simulink blocks. 4. To make sure that your changes work, you should run `MOBATSimAutoTesting.m` in `src/Scripts` folder and if you get `passed` from all the tests, you should **"commit"** and then **"Push"** to your forked repository. 5. Then if you would like to contribute, send a **"Pull Request"** to the corresponding branch on the MOBATSim/MOBATSim repository. 6. Once it is reviewed, it will be **approved** or **changes will be requested along with the comments of the reviewer** regarding the issue with your **Pull Request**. We would like to encourage everyone who would like to contribute, so you can also contact us for a more detailed explan