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