problem in creating transition probability matrix .please I need someones help .Thank you

Hi..I am working on creating a driving cycle for a car using markov property.In order to create a transition probability matrix I need acceleration and velocity data(2D).Initally I had velocity and time data ,I used this formula to generate acceleration diff(Speed)./diff(Time).now I have data on acc and velocity to create TPM.I have to generate a one TPM matrix and move to the next TPM matrix with some probability.I have attached a picture of the matrix which exactly I need .In the picture each cell of the matrix contain one TPM.Each cell represents the conditional Probability. P(vk+1 = v2,ak+1 = a2|vk = v1,ak = a1)

at a given cycle velocity and acceleration EXAMPLE for the specific cell: starting at a state characterized by 41 mi/h and 0.2 m/s2, the probability of acceleration increasing in the next step to 0.4 and velocity to 42 mi/h is 0.343, while the probability of cruising at exactly the same speed with zero acceleration is only 0.0132 How do I implement this .I could not succeed .Please someone you has already dealt with it help me .Thanks.

Kind regards , H.P