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9bb230d7c8
All of these code samples currently are mis-identified in my repositories. I'm donating them to the cause.
57 lines
1.7 KiB
Matlab
57 lines
1.7 KiB
Matlab
function [x, y, t] = lane_change(start, width, slope, pathLength, speed, num, ...
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type, varargin)
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% Generates the time and coordinates for either a single or double lane change
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% manuever at a particular speed.
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%
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% Parameters
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% ----------
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% start : float
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% The starting point along the x axis in meters.
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% width : float
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% The width of the lane deviation.
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% slope : float
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% The slope of the lane change.
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% pathLength : float
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% The length of path.
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% speed : float
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% Speed of travel.
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% num : integer
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% Number of time steps.
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% type : string
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% Either 'single' or 'double'. A double lane change return to x = 0.
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% laneLength : float, optional
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% Length of the lane for a double lane change.
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%
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% Returns
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% -------
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% x : matrix, (num, 1)
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% The longitudinal path.
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% y : matrix, (num, 1)
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% The lateral path.
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% t : matrix, (num, 1)
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% Time.
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x = 0:pathLength / num:pathLength;
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x = x';
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t = x / speed;
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y = zeros(length(x), 1);
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endOfSlope = width / slope + start;
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slopeInd = find((x > start) & (x <= endOfSlope));
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y(slopeInd) = slope * (x(slopeInd) - start);
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if strcmp(type, 'single')
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theRest = slopeInd(end) + 1:length(y);
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y(theRest) = width * ones(length(theRest), 1);
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elseif strcmp(type, 'double');
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if length(varargin) < 1
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error('Double lane change needs length of lane.')
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else
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laneLength = varargin{1};
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startOfSlope = start + laneLength - width / slope;
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lane = find((x > endOfSlope) & (x <= startOfSlope));
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y(lane) = width * ones(length(lane), 1);
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downSlope = find((x > startOfSlope) & (x <= start + laneLength));
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y(downSlope) = slope * (start + laneLength - x(downSlope));
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end
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end
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