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智能交通系统（ITS）是一种典型的网络物理系统（CPS），通过网络和物理组件进行监控控制，例如互连的自动车辆（CAV）。

An intelligent transportation systems (ITS) is a typical cyber-physical system (CPS) in which physical components, for example, Connected Automated Vehicles (CAVs), are monitored and controlled through a network of cyber and physical components.

因此，此类系统包含事件驱动动力学和时间驱动动力学。

Such systems, therefore, contain event-driven dynamics along with time-driven dynamics.

基于SimEvents的离散事件和混合仿真框架有助于测试ITS的安全性和性能评估，并用于建立Mcity测试设施的交通仿真模型。

The proposed discrete-event and hybrid simulation framework based on SimEvents facilitates testing for safety and performance evaluation of an ITS and has been used to build a traffic simulation model of the Mcity test facility.

本代码专门为测试CAV而设计，包含各种道路/车道配置和完整的仪表系统。

It is specifically designed for testing CAVs and contains various road/lane configurations and a complete instrumentation system.

这使得用户能够在微观层面上研究交通，包括不同交通场景下CAV新控制算法的有效性、交通系统事件驱动方面以及通信延迟的影响。

This enables users to study traffic at the microscopic level, including the effectiveness of new control algorithms for CAVs under different traffic scenarios, the event-driven aspects of transportation systems, and the effects of communication delays.

该框架跨越多个工具箱，包括MATLAB、Simulink和SimEvents。

The framework spans multiple toolboxes including MATLAB, Simulink, and SimEvents.

包括三种主要的不同场景：

1. CAV通过两个相邻的无信号交叉口，采用最优控制策略

2. 使用（i）最优控制（ii）控制屏障函数在高速公路入口匝道处融合CAV

3. 使用最优控制（CAV）和智能驾驶模型（非CAV）通过信号交叉口的CAV和/或非CAV

通过指定Matlab离散事件系统（MATLAB DES）的模块参数，可以在特定场景下尝试不同的控制器。例如，对于在高速公路入口匝道上的CAV合流，可以选择最优控制器或基于控制屏障功能的控制器。此外，如果您想研究排队行为，可以观察信号交叉口2的排队长度。根据您的研究目的，您可以自由编辑或创建自己的流量场景。

Three major different scenarios are included:

1. CAVs crossing two adjacent unsignalized intersections using optimal control

2. CAVs merging at freeway on-ramp using (i) optimal control (ii) control barrier functions

3. CAVs and/or non-CAVs crossing a signalized intersection using optimal control (CAVs) and the intelligent driver model (non-CAVs)

By specifying the Block Parameters of the MATLAB Discrete-Event System (MATLAB DES), you may try different controllers given a particular scenario. For example, for CAVs merging at freeway on-ramp, you can select either an optimal controller or a control barrier function-based controller. In addition, you may observe the queue length of the signalized intersection 2 if you’d like to study the queueing behavior. Feel free to make edits or create your own traffic scenarios depending on your research purpose.

注意：

1. 在对某个场景（如信号交叉口1）进行仿真时，请将其他场景（如无信号交叉口、高速公路入口匝道等）的MATLAB离散事件系统模块设置为“xxx-Dummy”模式。

2. 如果CAV和INFO实体没有自动加载，双击初始化模块“init”。

NOTE:

1. When running simulation for a certain scenario, e.g., signalized intersection 1, please set the MATLAB Discrete-Event System blocks of other scenarios, e.g., unsignalized intersections, freeway on-ramp, etc., to “xxx_Dummy” mode.

2. Double click the initialization block “init” if the CAV and INFO entities are not load automatically

可视化是基于原始形式的。目前正在进行的工作包括改进可视化和为整个城市创建地图。

Visualization is primitive. Ongoing work includes improving the visualization and creating a map for the whole Mcity.

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