duochedao.zip_FVD_FVD模型代码_MIT_跟驰模型_跟驰模型仿真

%新模型 clear;clc; k=0.5;lamda=0.2;vmax=16.66;V1=6.75;V2=7.91;C1=0.13;C2=1.57;lc=9; %FVD跟车模型参数，（lc原来是5，被我改成了9，因为我觉得这样停车的车头空距才比较合理，约6.5m） N=20;gb=25;ge=60;C=85;dett=0.1;Stopline=500;detx0=50;vfree=14.66; %测试基本条件：N车辆数，gb绿灯开始时刻，ge绿灯结束时刻，C周期时长，dett仿真步长，Stopline停车线位置，detx0初始车头间距，vfree稳定时车速 D=500;vmin=6;hd=6.5;deltaone=0.5;deltatwo=2.9; %新模型所需的参数：D引导区域范围，vmin最小速度，hd停车的车头空距，deltaone加速策略时的safety interval，deltatwo启动时车头时距 Stopline2=[500 1000]; MaxT=200; %初始条件 for n=1:N if n==1 x(n,1)=0; %第一辆车初始位置 else x(n,1)=x(n-1,1)-detx0; end; detx(n,1)=detx0; %初始车头空距 a(n,1)=0; V(n,1)=V1+V2*tanh(C1*(detx(n,1)-lc)-C2); v(n,1)=V(n,1); detv(n,1)=0; Strategy(n)=0; %第n辆车采用的策略（仅用在实行减速策略） Strategyahead(n)=0; %第n辆车的前面所有车采用的策略（仅用在实行减速策略） nstoped(n)=n-1; %已停止车辆数 end %I(1)=1;I(2)=1;I(3)=1;I(4)=1;I(5)=1;I(6)=1;I(7)=1;I(8)=1;I(9)=1;I(10)=0;I(11)=0;I(12)=0;I(13)=0;I(14)=0;I(15)=0;%这15辆车都是智能车 %I(1)=0;I(2)=0;I(3)=1;I(4)=0;I(5)=1;I(6)=0;I(7)=1;I(8)=1;I(9)=1;I(10)=1;I(11)=1;;I(12)=1;I(13)=1;I(14)=1;I(15)=1 %智能车：3,8,13 %I(1)=0;I(2)=0;I(3)=0;I(4)=0;I(5)=0;I(6)=0;I(7)=0;I(8)=1;I(9)=1;I(10)=1;I(11)=1;I(12)=0;I(13)=1;I(14)=1;I(15)=1; %智能车：2,4,6,8,10,12,14 %I(1)=1;I(2)=1;I(3)=1;I(4)=0;I(5)=1;I(6)=1;I(7)=0;I(8)=1;I(9)=1;I(10)=1;I(11)=1;I(12)=1;I(13)=1;I(14)=1;I(15)=1; %智能车：1,2,4,5,6,8,9,10,12,13,14 %I(1)=1;I(2)=1;I(3)=1;I(4)=1;I(5)=1;I(6)=1;I(7)=1;I(8)=1;I(9)=1;I(10)=1;I(11)=1;I(12)=1;I(13)=1;I(14)=1;I(15)=1;I(16)=1;I(17)=1;I(18)=1;I(19)=1;I(20)=1;%I(21)=1;I(22)=1;I(23)=1;I(24)=1;I(25)=1;I(26)=1; for n=1:N I(n)=1; end time(1)=0; %演化 for t=1:MaxT/dett; time(t+1)=t*dett; ge=60+floor(time(t+1)/C)*C; %每过一个周期，绿灯结束时刻都要调整 if time(t+1)<ge %过了绿灯结束时刻后，绿灯开始时刻就要调整 gb=floor(time(t+1)/C)*C; else gb=ceil(time(t+1)/C)*C; end for n=1:N temp=find(Stopline2-x(n,t)>=0,1,'first'); if ~isempty(temp) Stopline=Stopline2(temp); if temp==1 Startline = -9999; else Startline = Stopline2(temp-1); end else Stopline=Stopline2(end); Startline =Stopline; end nstoped(n,t)=n-1; for m=1:n-1 if Strategy(m)==3 %计算第n辆车的前面所有车是否存在采用减速策略的情况（如果采用那后面的车就只能跟驶） Strategyahead(n)=3; end if (x(m,t)>Stopline || x(m,t)<Startline) && Strategy(m)~=3 %计算第n辆车的前面在停车排队的车辆数 % if (x(m,t)>Stopline ) && Strategy(m)~=3 nstoped(n,t)=nstoped(n,t)-1; end end if n==1 if Stopline-50<x(n,t) & x(n,t)<=Stopline & (ge-time(t+1))*v(n,t)<Stopline-x(n,t) & v(n,t)>0 & ge-time(t+1)<3 %在停车线前50m绿灯结束前3s，车辆判断过不了停车线，那么停车线就视为前车 detx(n,t)=Stopline-x(n,t); detv(n,t)=0-v(n,t); elseif v(n,t)==0 & ge<time(t+1) detx(n,t)=Stopline-x(n,t); detv(n,t)=0-v(n,t); else detx(n,t)=10000-x(n,t); detv(n,t)=0; end V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t); else if Stopline-D<x(n,t) & x(n,t)<=Stopline if v(n,t)==0 & ge<time(t+1) %停着的车总是停着 a(n,t)=0; elseif Strategyahead(n)==3 & I(n)==0 %前车采用减速策略，后车就只能跟驶 detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t); elseif (ge-time(t+1))*v(n,t)>=Stopline-x(n,t) & Strategy(n)~=2 & I(n)==0 & Strategy(n-1)~=2 & (Strategy(n)~=3 | v(n-1,t)>=v(n,t-1)) %不引导：按当前速度能在绿灯期间通过交叉口就无需引导 v(n-1,t)>14 detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t); elseif (ge-time(t+1))*v(n,t)<Stopline-x(n,t) &I(n)==1 &v(n,t)>0 & (ge-time(t+1)-deltaone)*vmax>=Stopline-x(n,t) | Strategy(n)==2 %加速策略：按当前速度无法在绿灯期间通过交叉口，但按最大允许速度能在绿灯期间通过交叉口 if Strategy(n)==2 | x(n-1,t)-x(n,t)>D/(vmax)*(vmax-vfree) Strategy(n)=2; %detv(n,t)=v(n-1,t)-v(n,t);%%%%%%%%%加速 a(n,t)=k*(vmax-v(n,t));%+lamda*detv(n,t); else detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t); end %elseif (Strategyahead(n)~=3 & (Stopline-x(n,t)-nstoped(n,401)*hd)>=(gb+deltatwo*nstoped(n,401)-time(t+1))*vmin & gb+deltatwo*nstoped(n,401)-time(t+1)>0 & v(n,t)>vmin) | (Strategy(n)==3 & (a(n-1,t)<=0 | v(n-1,t)<v(n,t-1))) %减速策略：一旦选择了减速策略就要一直执行下去（所以要凑好），直到前车开始加速或前车车速大于本车 elseif (t>400 & (Stopline-x(n,t)-nstoped(n,401)*hd)>=(gb+deltatwo*nstoped(n,401)-time(t+1))*vmin &I(n)==1 & gb+deltatwo*nstoped(n,401)-time(t+1)>0 & v(n,t)>vmin) | (Strategy(n)==3 & (a(n-1,t)<=0 | v(n-1,t)<v(n,t-1))) %减速策略：一旦选择了减速策略就要一直执行下去（所以要凑好），直到前车开始加速或前车车速大于本车 Strategy(n)=3; detv(n,t)=v(n-1,t)-v(n,t); a(n,t)=k*((D-(n-6)*hd)/(gb+deltatwo*(n-6)-(Stopline-D-x(n,1))/vfree)-v(n,t))+lamda*detv(n,t);%%%%%%%%%%%%%%重要改变 elseif x(n-1,t)>Stopline | (ge-time(t+1))*v(n-1,t)>=Stopline-x(n-1,t) | Strategy(n-1)==2 %前车已过了停车线或预计能过 if (ge-time(t+1))*v(n,t)<Stopline-x(n,t) & v(n,t)>0 & Stopline-x(n,t)<80 %车辆判断过不了停车线，那么停车线就视为前车 detx(n,t)=Stopline-x(n,t); detv(n,t)=0-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=(k+0.3*((D-Stopline+x(n,t))/D))*(V(n,t)-v(n,t))+lamda*detv(n,t);% elseif ge<time(t+1) %红灯了%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%重要改变 detx(n,t)=Stopline-(nstoped(n,t)-3)*hd-x(n,t);%%%%%%% detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=(k+0.3*((D-Stopline+x(n,t))/D))*(V(n,t)-v(n,t))+lamda*detv(n,t);%(k+0.3*((D-Stopline+x(n,t))/D)) elseif (ge-time(t+1))*v(n,t)<Stopline-x(n,t) & v(n,t)>0 %车辆判断过不了停车线，那么停车线就视为前车 a(n,t)=0; else detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=(k+0.3*((D-Stopline+x(n,t))/D))*(V(n,t)-v(n,t))+lamda*detv(n,t);%(k+0.3*((D-Stopline+x(n,t))/D)) end else detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t); end elseif Stopline-D>x(n,t) & a(n-1,t)>0 a(n,t)=0; Q=n-1; elseif Strategy(n)==2 & v(n,t)>vfree detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=vfree-v(n,t); V(n,t)=vfree; a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t)+0*detv(n-1,t); else detx(n,t)=x(n-1,t)-x(n,t); detv(n,t)=v(n-1,t)-v(n,t); V(n,t)=V1+V2*tanh(C1*(detx(n,t)-lc)-C2); a(n,t)=k*(V(n,t)-v(n,t))+lamda*detv(n,t)+0*detv(n-1,t); end end if a(n,t)>9 a(n,t)=9; end if a(n,t)<-9 a(n,t)=-9; end v(n,t+1)=v(n,t)+a(n,t)*dett; if v(n,t)>vmax v(n,t)=vmax; end if v(n,t+1)<0 v(n,t+1)=0; a(n,t)=0; end x(n,t+1)=x(n,t)+v(n,t)*dett+0.5*a(n,t)*dett^2; end end detx(n,t+1)=d