Automatic-Parking-自动泊车matlab模拟.7z

clc close all clearvars %% Declare global variables global wl; global ww; global D; global L; global WSeta; wl=7; ww=2; A=15; L=20; D=5; F=8; B=L+D+F; %% Rectangle Coordinates for Parked car 1 Parked_Car1x1=0; Parked_Car1y1=40; Parked_Car1x2=Parked_Car1x1; Parked_Car1y2=75; Parked_Car1x3=15; Parked_Car1y3=Parked_Car1y2; Parked_Car1x4=Parked_Car1x3; Parked_Car1y4=Parked_Car1y1; %% Rectangle Coordinates for Parked car 2 Parked_Car2x1=40; Parked_Car2y1=40; Parked_Car2x2=Parked_Car2x1; Parked_Car2y2=75; Parked_Car2x3=55; Parked_Car2y3=Parked_Car2y2; Parked_Car2x4=Parked_Car2x3; Parked_Car2y4=Parked_Car2y1; %% Rectangle Coordinates for Parked car 3 Parked_Car3x1=-40; Parked_Car3y1=40; Parked_Car3x2=Parked_Car3x1; Parked_Car3y2=75; Parked_Car3x3=-25; Parked_Car3y3=Parked_Car3y2; Parked_Car3x4=Parked_Car3x3; Parked_Car3y4=Parked_Car3y1; %% Tuning Parameters WSeta=50; WSeta=(WSeta/180)*pi; % degree to radians xi=Parked_Car1x2-3; yi=Parked_Car1y2+25; f1e=40; %% Simulation Setup axis([-60 100 -20 100],'equal'); t=0:0.01:pi; seta=2*t; Xc=xi-(L/tan(WSeta)); Yc=yi+D; Rbl=sqrt(D^2+(L/tan(WSeta))^2); phi=atan(D/(L/tan(WSeta))); %% Initialize start scenario i=1; x=Xc+Rbl*cos(seta(i)+phi); y=Yc-Rbl*sin(seta(i)+phi); patch([Parked_Car2x1 Parked_Car2x2 Parked_Car2x3 Parked_Car2x4],[Parked_Car2y1 Parked_Car2y2 Parked_Car2y3 Parked_Car2y4],[1 0 0]); patch([Parked_Car1x1 Parked_Car1x2 Parked_Car1x3 Parked_Car1x4],[Parked_Car1y1 Parked_Car1y2 Parked_Car1y3 Parked_Car1y4],[0 0 1]); patch([Parked_Car3x1 Parked_Car3x2 Parked_Car3x3 Parked_Car3x4],[Parked_Car3y1 Parked_Car3y2 Parked_Car3y3 Parked_Car3y4],[1 0 1]); title("Automatic parking Assistance System"); text(Parked_Car1x2,Parked_Car1y2+5,"Car 1"); text(Parked_Car2x2,Parked_Car2y2+5,"Car 2"); text(Parked_Car3x2,Parked_Car3y2+5,"Car 3"); text(Parked_Car2x2,Parked_Car2y2+40,"Parking Lot",'Color','red','FontSize',16); Turn1(x,y,A,B,seta(i)); pause(4); %% Car Parking Simulation Scenario for i=2:f1e x=Xc+Rbl*cos(seta(i)+phi); y=Yc-Rbl*sin(seta(i)+phi); cla; patch([Parked_Car2x1 Parked_Car2x2 Parked_Car2x3 Parked_Car2x4],[Parked_Car2y1 Parked_Car2y2 Parked_Car2y3 Parked_Car2y4],[1 0 0]); patch([Parked_Car1x1 Parked_Car1x2 Parked_Car1x3 Parked_Car1x4],[Parked_Car1y1 Parked_Car1y2 Parked_Car1y3 Parked_Car1y4],[0 0 1]); patch([Parked_Car3x1 Parked_Car3x2 Parked_Car3x3 Parked_Car3x4],[Parked_Car3y1 Parked_Car3y2 Parked_Car3y3 Parked_Car3y4],[1 0 1]); text(Parked_Car1x2,Parked_Car1y2+5,"Car 1"); text(Parked_Car2x2,Parked_Car2y2+5,"Car 2"); text(Parked_Car3x2,Parked_Car3y2+5,"Car 3"); text(Parked_Car2x2,Parked_Car2y2+40,"Parking Lot",'Color','red','FontSize',16); Turn1(x,y,A,B,seta(i)); pause(.05); end xi=x+A*cos(seta(f1e)); yi=y-A*sin(seta(f1e)); Xc=xi+Rbl*cos(seta(f1e)); Yc=yi-Rbl*sin(seta(f1e)); pause(1); for i=f1e:-1:1 x=Xc-Rbl*cos(seta(i)); y=Yc+Rbl*sin(seta(i)); cla; patch([Parked_Car2x1 Parked_Car2x2 Parked_Car2x3 Parked_Car2x4],[Parked_Car2y1 Parked_Car2y2 Parked_Car2y3 Parked_Car2y4],[1 0 0]); patch([Parked_Car1x1 Parked_Car1x2 Parked_Car1x3 Parked_Car1x4],[Parked_Car1y1 Parked_Car1y2 Parked_Car1y3 Parked_Car1y4],[0 0 1]); patch([Parked_Car3x1 Parked_Car3x2 Parked_Car3x3 Parked_Car3x4],[Parked_Car3y1 Parked_Car3y2 Parked_Car3y3 Parked_Car3y4],[1 0 1]); text(Parked_Car1x2,Parked_Car1y2+5,"Car 1"); text(Parked_Car2x2,Parked_Car2y2+5,"Car 2"); text(Parked_Car3x2,Parked_Car3y2+5,"Car 3"); text(Parked_Car2x2,Parked_Car2y2+40,"Parking Lot",'Color','red','FontSize',16); [xa1, xb1, xb2, xa2, ya1, yb1, yb2, ya2]=Turn2(x,y,A,B,seta(i)); pause(.05); end pause(1); for i=1:50 ya1=ya1-.5; yb1=yb1-.5; ya2=ya2-.5; yb2=yb2-.5; cla; patch([Parked_Car2x1 Parked_Car2x2 Parked_Car2x3 Parked_Car2x4],[Parked_Car2y1 Parked_Car2y2 Parked_Car2y3 Parked_Car2y4],[1 0 0]); patch([Parked_Car1x1 Parked_Car1x2 Parked_Car1x3 Parked_Car1x4],[Parked_Car1y1 Parked_Car1y2 Parked_Car1y3 Parked_Car1y4],[0 0 1]); patch([Parked_Car3x1 Parked_Car3x2 Parked_Car3x3 Parked_Car3x4],[Parked_Car3y1 Parked_Car3y2 Parked_Car3y3 Parked_Car3y4],[1 0 1]); patch([xa1 xb1 xb2 xa2],[ya1 yb1 yb2 ya2],[0 1 0]); text(Parked_Car1x2,Parked_Car1y2+5,"Car 1"); text(Parked_Car2x2,Parked_Car2y2+5,"Car 2"); text(Parked_Car3x2,Parked_Car3y2+5,"Car 3"); text(Parked_Car2x2,Parked_Car2y2+40,"Parking Lot",'Color','red','FontSize',16); ya11=ya1+(D-wl/2); yb11=ya11+wl; ya21=ya2+(D-wl/2); yb21=ya21+wl; xa11=xa2+(ww/2); xb11=xa2+(ww/2); xa21=xa2-(ww/2); xb21=xa2-(ww/2); patch([xa11 xb11 xb21 xa21],[ya11 yb11 yb21 ya21],[0 0 0]); xa22=xa1-(ww/2); xb22=xa1-(ww/2); xa12=xa1+(ww/2); xb12=xa1+(ww/2); patch([xa12 xb12 xb22 xa22],[ya11 yb11 yb21 ya21],[0 0 0]); ya13=ya11+L; yb13=yb11+L; patch([xa11 xb11 xb21 xa21],[ya13 yb13 yb13 ya13],[0 0 0]); patch([xa12 xb12 xb22 xa22],[ya13 yb13 yb13 ya13],[0 0 0]); pause(.02); end disp("The car is parked in between Purple and Blue car as it is the Shortest distance from the Car's Initial position to avilable Parking space")