1 package org.opentrafficsim.demo.carFollowing;
2
3 import java.awt.Frame;
4 import java.awt.geom.Rectangle2D;
5 import java.rmi.RemoteException;
6 import java.util.ArrayList;
7 import java.util.HashSet;
8 import java.util.LinkedHashSet;
9 import java.util.List;
10 import java.util.Random;
11 import java.util.Set;
12
13 import javax.naming.NamingException;
14 import javax.swing.JPanel;
15 import javax.swing.SwingUtilities;
16
17 import nl.tudelft.simulation.dsol.SimRuntimeException;
18 import nl.tudelft.simulation.dsol.gui.swing.TablePanel;
19 import nl.tudelft.simulation.dsol.simulators.SimulatorInterface;
20
21 import org.djunits.unit.UNITS;
22 import org.djunits.value.vdouble.scalar.Acceleration;
23 import org.djunits.value.vdouble.scalar.Duration;
24 import org.djunits.value.vdouble.scalar.Length;
25 import org.djunits.value.vdouble.scalar.Speed;
26 import org.djunits.value.vdouble.scalar.Time;
27 import org.opentrafficsim.base.modelproperties.ProbabilityDistributionProperty;
28 import org.opentrafficsim.base.modelproperties.Property;
29 import org.opentrafficsim.base.modelproperties.PropertyException;
30 import org.opentrafficsim.base.modelproperties.SelectionProperty;
31 import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
32 import org.opentrafficsim.core.dsol.OTSModelInterface;
33 import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
34 import org.opentrafficsim.core.geometry.OTSGeometryException;
35 import org.opentrafficsim.core.geometry.OTSPoint3D;
36 import org.opentrafficsim.core.gtu.GTUDirectionality;
37 import org.opentrafficsim.core.gtu.GTUException;
38 import org.opentrafficsim.core.gtu.GTUType;
39 import org.opentrafficsim.core.gtu.animation.GTUColorer;
40 import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
41 import org.opentrafficsim.core.network.LongitudinalDirectionality;
42 import org.opentrafficsim.core.network.NetworkException;
43 import org.opentrafficsim.core.network.OTSNetwork;
44 import org.opentrafficsim.core.network.OTSNode;
45 import org.opentrafficsim.graphs.FundamentalDiagram;
46 import org.opentrafficsim.road.gtu.animation.DefaultCarAnimation;
47 import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
48 import org.opentrafficsim.road.gtu.lane.tactical.LaneBasedGTUFollowingTacticalPlanner;
49 import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
50 import org.opentrafficsim.road.gtu.lane.tactical.following.IDMOld;
51 import org.opentrafficsim.road.gtu.lane.tactical.following.IDMPlusOld;
52 import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
53 import org.opentrafficsim.road.gtu.strategical.route.LaneBasedStrategicalRoutePlanner;
54 import org.opentrafficsim.road.network.factory.LaneFactory;
55 import org.opentrafficsim.road.network.lane.CrossSectionLink;
56 import org.opentrafficsim.road.network.lane.DirectedLanePosition;
57 import org.opentrafficsim.road.network.lane.Lane;
58 import org.opentrafficsim.road.network.lane.LaneType;
59 import org.opentrafficsim.road.network.lane.changing.OvertakingConditions;
60 import org.opentrafficsim.road.network.lane.object.sensor.Sensor;
61 import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor;
62 import org.opentrafficsim.simulationengine.AbstractWrappableAnimation;
63 import org.opentrafficsim.simulationengine.OTSSimulationException;
64 import org.opentrafficsim.simulationengine.SimpleSimulatorInterface;
65
66
67
68
69
70
71
72
73
74
75
76 public class FundamentalDiagrams extends AbstractWrappableAnimation implements UNITS
77 {
78
79 private static final long serialVersionUID = 1L;
80
81
82 private FundamentalDiagramPlotsModel model;
83
84
85 public FundamentalDiagrams()
86 {
87 try
88 {
89 this.properties.add(new SelectionProperty("CarFollowingModel", "Car following model",
90 "<html>The car following model determines "
91 + "the acceleration that a vehicle will make taking into account nearby vehicles, "
92 + "infrastructural restrictions (e.g. speed limit, curvature of the road) "
93 + "capabilities of the vehicle and personality of the driver.</html>",
94 new String[] { "IDM", "IDM+" }, 1, false, 500));
95 this.properties.add(new ProbabilityDistributionProperty("TrafficComposition", "Traffic composition",
96 "<html>Mix of passenger cars and trucks</html>", new String[] { "passenger car", "truck" }, new Double[] {
97 0.8, 0.2 }, false, 10));
98 }
99 catch (PropertyException exception)
100 {
101 exception.printStackTrace();
102 }
103 }
104
105
106 @Override
107 public final void stopTimersThreads()
108 {
109 super.stopTimersThreads();
110 this.model = null;
111 }
112
113
114
115
116
117
118 public static void main(final String[] args) throws SimRuntimeException
119 {
120
121 SwingUtilities.invokeLater(new Runnable()
122 {
123 @Override
124 public void run()
125 {
126 try
127 {
128 FundamentalDiagrams fundamentalDiagrams = new FundamentalDiagrams();
129 fundamentalDiagrams.buildAnimator(new Time(0.0, SECOND), new Duration(0.0, SECOND), new Duration(3600.0,
130 SECOND), fundamentalDiagrams.getProperties(), null, true);
131 }
132 catch (SimRuntimeException | NamingException | OTSSimulationException | PropertyException exception)
133 {
134 exception.printStackTrace();
135 }
136 }
137 });
138 }
139
140
141 @Override
142 protected final OTSModelInterface makeModel(final GTUColorer colorer)
143 {
144 this.model = new FundamentalDiagramPlotsModel(this.savedUserModifiedProperties, colorer);
145 return this.model;
146 }
147
148
149 @Override
150 protected final Rectangle2D.Double makeAnimationRectangle()
151 {
152 return new Rectangle2D.Double(0, -100, 5000, 200);
153 }
154
155
156 @Override
157 protected final JPanel makeCharts(SimpleSimulatorInterface simulator) throws OTSSimulationException
158 {
159 final int panelsPerRow = 3;
160 TablePanel charts = new TablePanel(4, panelsPerRow);
161 for (int plotNumber = 0; plotNumber < 10; plotNumber++)
162 {
163 Length detectorLocation = new Length(400 + 500 * plotNumber, METER);
164 FundamentalDiagram fd;
165 try
166 {
167 fd =
168 new FundamentalDiagram("Fundamental Diagram at " + detectorLocation.getSI() + "m", new Duration(1,
169 MINUTE), this.model.getLane(), detectorLocation, simulator);
170 fd.setTitle("Density Contour Graph");
171 fd.setExtendedState(Frame.MAXIMIZED_BOTH);
172 this.model.getFundamentalDiagrams().add(fd);
173 charts.setCell(fd.getContentPane(), plotNumber / panelsPerRow, plotNumber % panelsPerRow);
174 }
175 catch (NetworkException exception)
176 {
177 exception.printStackTrace();
178 }
179 }
180 return charts;
181 }
182
183
184 @Override
185 public final String shortName()
186 {
187 return "Fundamental Diagrams";
188 }
189
190
191 @Override
192 public final String description()
193 {
194 return "<html><h1>Fundamental Diagram Plots</H1>"
195 + "Simulation of a single lane road of 5 km length. Vechicles are generated at a constant rate of "
196 + "1500 veh/hour. At time 300s a blockade is inserted at position 4km; this blockade is removed at time "
197 + "500s. This blockade simulates a bridge opening.<br>"
198 + "The blockade causes a traffic jam that slowly dissolves after the blockade is removed.<br>"
199 + "Output is a set of Diagrams that plot observed density, flow and speed plots against each other.</html>";
200 }
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216 class FundamentalDiagramPlotsModel implements OTSModelInterface, UNITS
217 {
218
219 private static final long serialVersionUID = 20140820L;
220
221
222 private OTSDEVSSimulatorInterface simulator;
223
224
225 private OTSNetwork network = new OTSNetwork("network");
226
227
228 private Duration headway;
229
230
231 private int carsCreated = 0;
232
233
234 private GTUType gtuType = new GTUType("Car");
235
236
237 private GTUFollowingModelOld carFollowingModelCars;
238
239
240 private GTUFollowingModelOld carFollowingModelTrucks;
241
242
243 private double carProbability;
244
245
246 private LaneBasedIndividualGTU block = null;
247
248
249 private Length minimumDistance = new Length(0, METER);
250
251
252 private Length maximumDistance = new Length(5000, METER);
253
254
255 private Lane lane;
256
257
258 private Speed speedLimit = new Speed(100, KM_PER_HOUR);
259
260
261 private List<FundamentalDiagram> fundamentalDiagrams = new ArrayList<>();
262
263
264 private List<Property<?>> fundamentalDiagramProperties = null;
265
266
267 private Random randomGenerator = new Random(12345);
268
269
270 private final GTUColorer gtuColorer;
271
272
273
274
275
276 FundamentalDiagramPlotsModel(final List<Property<?>> properties, final GTUColorer gtuColorer)
277 {
278 this.fundamentalDiagramProperties = properties;
279 this.gtuColorer = gtuColorer;
280 }
281
282
283 @Override
284 public final void constructModel(final SimulatorInterface<Time, Duration, OTSSimTimeDouble> theSimulator)
285 throws SimRuntimeException, RemoteException
286 {
287 try
288 {
289 this.simulator = (OTSDEVSSimulatorInterface) theSimulator;
290 OTSNode from = new OTSNode(this.network, "From", new OTSPoint3D(getMinimumDistance().getSI(), 0, 0));
291 OTSNode to = new OTSNode(this.network, "To", new OTSPoint3D(getMaximumDistance().getSI(), 0, 0));
292 OTSNode end = new OTSNode(this.network, "End", new OTSPoint3D(getMaximumDistance().getSI() + 50.0, 0, 0));
293 Set<GTUType> compatibility = new HashSet<>();
294 compatibility.add(this.gtuType);
295 LaneType laneType = new LaneType("CarLane", compatibility);
296 this.lane =
297 LaneFactory.makeLane(this.network, "Lane", from, to, null, laneType, this.speedLimit, this.simulator,
298 LongitudinalDirectionality.DIR_PLUS);
299 CrossSectionLink endLink =
300 LaneFactory.makeLink(this.network, "endLink", to, end, null, LongitudinalDirectionality.DIR_PLUS);
301
302 Lane sinkLane =
303 new Lane(endLink, "sinkLane", this.lane.getLateralCenterPosition(1.0),
304 this.lane.getLateralCenterPosition(1.0), this.lane.getWidth(1.0), this.lane.getWidth(1.0),
305 laneType, LongitudinalDirectionality.DIR_PLUS, this.speedLimit, new OvertakingConditions.None());
306 Sensor sensor = new SinkSensor(sinkLane, new Length(10.0, METER), this.simulator);
307 sinkLane.addSensor(sensor, GTUType.ALL);
308 }
309 catch (NamingException | NetworkException | OTSGeometryException exception)
310 {
311 exception.printStackTrace();
312 }
313
314
315
316 for (Property<?> p : this.fundamentalDiagramProperties)
317 {
318 if (p instanceof SelectionProperty)
319 {
320 SelectionProperty sp = (SelectionProperty) p;
321 if ("CarFollowingModel".equals(sp.getKey()))
322 {
323 String modelName = sp.getValue();
324 if (modelName.equals("IDM"))
325 {
326 this.carFollowingModelCars =
327 new IDMOld(new Acceleration(1, METER_PER_SECOND_2), new Acceleration(1.5,
328 METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d);
329 this.carFollowingModelTrucks =
330 new IDMOld(new Acceleration(0.5, METER_PER_SECOND_2), new Acceleration(1.5,
331 METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d);
332 }
333 else if (modelName.equals("IDM+"))
334 {
335 this.carFollowingModelCars =
336 new IDMPlusOld(new Acceleration(1, METER_PER_SECOND_2), new Acceleration(1.5,
337 METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d);
338 this.carFollowingModelTrucks =
339 new IDMPlusOld(new Acceleration(0.5, METER_PER_SECOND_2), new Acceleration(1.5,
340 METER_PER_SECOND_2), new Length(2, METER), new Duration(1, SECOND), 1d);
341 }
342 else
343 {
344 throw new Error("Car following model " + modelName + " not implemented");
345 }
346 }
347 else
348 {
349 throw new Error("Unhandled SelectionProperty " + p.getKey());
350 }
351 }
352 else if (p instanceof ProbabilityDistributionProperty)
353 {
354 ProbabilityDistributionProperty pdp = (ProbabilityDistributionProperty) p;
355 String modelName = p.getKey();
356 if (modelName.equals("TrafficComposition"))
357 {
358 this.carProbability = pdp.getValue()[0];
359 }
360 else
361 {
362 throw new Error("Unhandled ProbabilityDistributionProperty " + p.getKey());
363 }
364 }
365 else
366 {
367 throw new Error("Unhandled property: " + p);
368 }
369 }
370
371
372 this.headway = new Duration(3600.0 / 1500.0, SECOND);
373
374 try
375 {
376
377 this.simulator.scheduleEventAbs(new Time(0.0, SECOND), this, this, "generateCar", null);
378
379 this.simulator.scheduleEventAbs(new Time(300, SECOND), this, this, "createBlock", null);
380
381 this.simulator.scheduleEventAbs(new Time(420, SECOND), this, this, "removeBlock", null);
382
383 for (int t = 1; t <= 1800; t++)
384 {
385 this.simulator.scheduleEventAbs(new Time(t - 0.001, SECOND), this, this, "drawGraphs", null);
386 }
387 }
388 catch (SimRuntimeException exception)
389 {
390 exception.printStackTrace();
391 }
392 }
393
394
395
396
397
398 protected final void createBlock() throws RemoteException
399 {
400 Length initialPosition = new Length(4000, METER);
401 Set<DirectedLanePosition> initialPositions = new LinkedHashSet<>(1);
402 try
403 {
404 initialPositions.add(new DirectedLanePosition(this.getLane(), initialPosition, GTUDirectionality.DIR_PLUS));
405 BehavioralCharacteristics behavioralCharacteristics = DefaultsFactory.getDefaultBehavioralCharacteristics();
406
407
408
409 this.block =
410 new LaneBasedIndividualGTU("999999", this.gtuType, new Length(4, METER), new Length(1.8, METER),
411 new Speed(0.0, KM_PER_HOUR), this.simulator, this.network);
412 LaneBasedStrategicalPlanner strategicalPlanner =
413 new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics,
414 new LaneBasedGTUFollowingTacticalPlanner(this.carFollowingModelCars, this.block), this.block);
415 this.block.initWithAnimation(strategicalPlanner, initialPositions, new Speed(0.0, KM_PER_HOUR),
416 DefaultCarAnimation.class, this.gtuColorer);
417 }
418 catch (SimRuntimeException | NamingException | NetworkException | GTUException | OTSGeometryException exception)
419 {
420 exception.printStackTrace();
421 }
422 }
423
424
425
426
427 protected final void removeBlock()
428 {
429 this.block.destroy();
430 this.block = null;
431 }
432
433
434
435
436 protected final void generateCar()
437 {
438 boolean generateTruck = this.randomGenerator.nextDouble() > this.carProbability;
439 Length initialPosition = new Length(0, METER);
440 Speed initialSpeed = new Speed(100, KM_PER_HOUR);
441 Set<DirectedLanePosition> initialPositions = new LinkedHashSet<>(1);
442 try
443 {
444 initialPositions.add(new DirectedLanePosition(this.getLane(), initialPosition, GTUDirectionality.DIR_PLUS));
445 Length vehicleLength = new Length(generateTruck ? 15 : 4, METER);
446 GTUFollowingModelOld gtuFollowingModel =
447 generateTruck ? this.carFollowingModelTrucks : this.carFollowingModelCars;
448 if (null == gtuFollowingModel)
449 {
450 throw new Error("gtuFollowingModel is null");
451 }
452 BehavioralCharacteristics behavioralCharacteristics = DefaultsFactory.getDefaultBehavioralCharacteristics();
453
454
455
456 LaneBasedIndividualGTU gtu =
457 new LaneBasedIndividualGTU("" + (++this.carsCreated), this.gtuType, vehicleLength, new Length(1.8,
458 METER), new Speed(200, KM_PER_HOUR), this.simulator, this.network);
459 LaneBasedStrategicalPlanner strategicalPlanner =
460 new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics,
461 new LaneBasedGTUFollowingTacticalPlanner(gtuFollowingModel, gtu), gtu);
462 gtu.initWithAnimation(strategicalPlanner, initialPositions, initialSpeed, DefaultCarAnimation.class,
463 this.gtuColorer);
464
465 this.simulator.scheduleEventRel(this.headway, this, this, "generateCar", null);
466 }
467 catch (SimRuntimeException | NamingException | NetworkException | GTUException | OTSGeometryException exception)
468 {
469 exception.printStackTrace();
470 }
471 }
472
473
474
475
476 protected final void drawGraphs()
477 {
478
479 for (FundamentalDiagram fd : this.fundamentalDiagrams)
480 {
481 fd.reGraph();
482 }
483 }
484
485
486 @Override
487 public final SimulatorInterface<Time, Duration, OTSSimTimeDouble> getSimulator() throws RemoteException
488 {
489 return null;
490 }
491
492
493
494
495 public final List<FundamentalDiagram> getFundamentalDiagrams()
496 {
497 return this.fundamentalDiagrams;
498 }
499
500
501
502
503 public final Length getMinimumDistance()
504 {
505 return this.minimumDistance;
506 }
507
508
509
510
511 public final Length getMaximumDistance()
512 {
513 return this.maximumDistance;
514 }
515
516
517
518
519 public Lane getLane()
520 {
521 return this.lane;
522 }
523 }
524
525
526 @Override
527 public final String toString()
528 {
529 return "FundamentalDiagrams [model=" + this.model + "]";
530 }
531 }