1 package org.opentrafficsim.demo.carFollowing;
2
3 import static org.opentrafficsim.road.gtu.lane.RoadGTUTypes.CAR;
4
5 import java.awt.geom.Rectangle2D;
6 import java.io.IOException;
7 import java.net.URL;
8 import java.rmi.RemoteException;
9 import java.util.HashMap;
10 import java.util.HashSet;
11 import java.util.LinkedHashSet;
12 import java.util.List;
13 import java.util.Map;
14 import java.util.Set;
15
16 import javax.naming.NamingException;
17 import javax.swing.JComponent;
18 import javax.swing.JPanel;
19 import javax.swing.JScrollPane;
20 import javax.swing.SwingUtilities;
21
22 import org.djunits.unit.DurationUnit;
23 import org.djunits.unit.LengthUnit;
24 import org.djunits.unit.SpeedUnit;
25 import org.djunits.unit.UNITS;
26 import org.djunits.value.vdouble.scalar.Acceleration;
27 import org.djunits.value.vdouble.scalar.Duration;
28 import org.djunits.value.vdouble.scalar.Length;
29 import org.djunits.value.vdouble.scalar.Speed;
30 import org.djunits.value.vdouble.scalar.Time;
31 import org.opentrafficsim.base.modelproperties.ProbabilityDistributionProperty;
32 import org.opentrafficsim.base.modelproperties.Property;
33 import org.opentrafficsim.base.modelproperties.PropertyException;
34 import org.opentrafficsim.base.modelproperties.SelectionProperty;
35 import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface;
36 import org.opentrafficsim.core.dsol.OTSModelInterface;
37 import org.opentrafficsim.core.dsol.OTSSimTimeDouble;
38 import org.opentrafficsim.core.geometry.OTSGeometryException;
39 import org.opentrafficsim.core.geometry.OTSPoint3D;
40 import org.opentrafficsim.core.gtu.GTUDirectionality;
41 import org.opentrafficsim.core.gtu.GTUException;
42 import org.opentrafficsim.core.gtu.GTUType;
43 import org.opentrafficsim.core.gtu.animation.GTUColorer;
44 import org.opentrafficsim.core.network.LongitudinalDirectionality;
45 import org.opentrafficsim.core.network.NetworkException;
46 import org.opentrafficsim.core.network.OTSNetwork;
47 import org.opentrafficsim.core.network.OTSNode;
48 import org.opentrafficsim.core.network.route.Route;
49 import org.opentrafficsim.core.units.distributions.ContinuousDistDoubleScalar;
50 import org.opentrafficsim.demo.PropertiesParser;
51 import org.opentrafficsim.road.animation.AnimationToggles;
52 import org.opentrafficsim.road.gtu.animation.DefaultCarAnimation;
53 import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU;
54 import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
55 import org.opentrafficsim.road.gtu.lane.tactical.lanechangemobil.LaneChangeModel;
56 import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner;
57 import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlannerFactory;
58 import org.opentrafficsim.road.modelproperties.IDMPropertySet;
59 import org.opentrafficsim.road.network.factory.LaneFactory;
60 import org.opentrafficsim.road.network.lane.DirectedLanePosition;
61 import org.opentrafficsim.road.network.lane.Lane;
62 import org.opentrafficsim.road.network.lane.LaneType;
63 import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor;
64 import org.opentrafficsim.road.network.lane.object.trafficlight.SimpleTrafficLight;
65 import org.opentrafficsim.road.network.lane.object.trafficlight.TrafficLight;
66 import org.opentrafficsim.road.network.lane.object.trafficlight.TrafficLightColor;
67 import org.opentrafficsim.simulationengine.AbstractWrappableAnimation;
68 import org.opentrafficsim.simulationengine.OTSSimulationException;
69
70 import nl.tudelft.simulation.dsol.SimRuntimeException;
71 import nl.tudelft.simulation.dsol.gui.swing.HTMLPanel;
72 import nl.tudelft.simulation.dsol.simulators.SimulatorInterface;
73 import nl.tudelft.simulation.jstats.distributions.DistTriangular;
74 import nl.tudelft.simulation.jstats.streams.MersenneTwister;
75 import nl.tudelft.simulation.jstats.streams.StreamInterface;
76
77
78
79
80
81
82
83
84
85
86
87 public class CrossingTrafficLights extends AbstractWrappableAnimation implements UNITS
88 {
89
90 private static final long serialVersionUID = 1L;
91
92
93 private CrossingTrafficLightstModel model;
94
95
96 protected static final Duration TGREEN = new Duration(39.0, DurationUnit.SI);
97
98
99 protected static final Duration TYELLOW = new Duration(6.0, DurationUnit.SI);
100
101
102 protected static final Duration TRED = new Duration(45.0, DurationUnit.SI);
103
104
105
106
107
108 public CrossingTrafficLights() throws PropertyException
109 {
110 this.properties.add(new SelectionProperty("LaneChanging", "Lane changing",
111 "<html>The lane change strategies vary in politeness.<br>"
112 + "Two types are implemented:<ul><li>Egoistic (looks only at personal gain).</li>"
113 + "<li>Altruistic (assigns effect on new and current follower the same weight as "
114 + "the personal gain).</html>",
115 new String[] { "Egoistic", "Altruistic" }, 0, false, 500));
116 this.properties.add(new SelectionProperty("TacticalPlanner", "Tactical planner",
117 "<html>The tactical planner determines if a lane change is desired and possible.</html>",
118 new String[] { "IDM", "MOBIL/IDM", "DIRECTED/IDM", "LMRS", "Toledo" }, 0, false, 600));
119 }
120
121
122 @Override
123 public final void stopTimersThreads()
124 {
125 super.stopTimersThreads();
126 this.model = null;
127 }
128
129
130
131
132
133
134 public static void main(final String[] args) throws SimRuntimeException
135 {
136 SwingUtilities.invokeLater(new Runnable()
137 {
138 @SuppressWarnings("synthetic-access")
139 @Override
140 public void run()
141 {
142 try
143 {
144 CrossingTrafficLights crossingTrafficLights = new CrossingTrafficLights();
145 List<Property<?>> localProperties = crossingTrafficLights.getProperties();
146 try
147 {
148 localProperties.add(new ProbabilityDistributionProperty("TrafficComposition", "Traffic composition",
149 "<html>Mix of passenger cars and trucks</html>", new String[] { "passenger car", "truck" },
150 new Double[] { 0.8, 0.2 }, false, 10));
151 }
152 catch (PropertyException exception)
153 {
154 exception.printStackTrace();
155 }
156 localProperties.add(new SelectionProperty("CarFollowingModel", "Car following model",
157 "<html>The car following model determines "
158 + "the acceleration that a vehicle will make taking into account "
159 + "nearby vehicles, infrastructural restrictions (e.g. speed limit, "
160 + "curvature of the road) capabilities of the vehicle and personality "
161 + "of the driver.</html>",
162 new String[] { "IDM", "IDM+" }, 1, false, 1));
163 localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMCar", "Car",
164 new Acceleration(1.0, METER_PER_SECOND_2), new Acceleration(1.5, METER_PER_SECOND_2),
165 new Length(2.0, METER), new Duration(1.0, SECOND), 2));
166 localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMTruck", "Truck",
167 new Acceleration(0.5, METER_PER_SECOND_2), new Acceleration(1.25, METER_PER_SECOND_2),
168 new Length(2.0, METER), new Duration(1.0, SECOND), 3));
169
170 crossingTrafficLights.buildAnimator(Time.ZERO, Duration.ZERO, new Duration(3600.0, SECOND), localProperties,
171 null, true);
172
173 crossingTrafficLights.panel.getTabbedPane().addTab("info", crossingTrafficLights.makeInfoPane());
174 }
175 catch (SimRuntimeException | NamingException | OTSSimulationException | PropertyException exception)
176 {
177 exception.printStackTrace();
178 }
179 }
180 });
181 }
182
183
184 @Override
185 protected final void addAnimationToggles()
186 {
187 AnimationToggles.setTextAnimationTogglesStandard(this);
188 }
189
190
191 @Override
192 protected final Rectangle2D makeAnimationRectangle()
193 {
194 return new Rectangle2D.Double(-50, -50, 100, 100);
195 }
196
197
198 @Override
199 protected final OTSModelInterface makeModel(final GTUColorer colorer)
200 {
201 this.model = new CrossingTrafficLightstModel(this.savedUserModifiedProperties, colorer);
202 return this.model;
203 }
204
205
206
207
208 protected final JComponent makeInfoPane()
209 {
210
211 String helpSource = "/" + CrossingTrafficLightstModel.class.getPackage().getName().replace('.', '/') + "/IDMPlus.html";
212 URL page = CrossingTrafficLightstModel.class.getResource(helpSource);
213 if (page != null)
214 {
215 try
216 {
217 HTMLPanel htmlPanel = new HTMLPanel(page);
218 return new JScrollPane(htmlPanel);
219 }
220 catch (IOException exception)
221 {
222 exception.printStackTrace();
223 }
224 }
225 return new JPanel();
226 }
227
228
229 @Override
230 public final String shortName()
231 {
232 return "Crossing with Traffic Lights";
233 }
234
235
236 @Override
237 public final String description()
238 {
239 return "<html><h1>Simulation of a crossing with traffic lights</h1>"
240 + "Simulation of four double lane roads with a crossing in the middle.</html>";
241 }
242
243 }
244
245
246
247
248
249
250
251
252
253
254
255 class CrossingTrafficLightstModel implements OTSModelInterface, UNITS
256 {
257
258 private static final long serialVersionUID = 20140815L;
259
260
261 private OTSDEVSSimulatorInterface simulator;
262
263
264 private final OTSNetwork network = new OTSNetwork("network");
265
266
267 private StreamInterface stream = new MersenneTwister(555);
268
269
270 private ContinuousDistDoubleScalar.Rel<Duration, DurationUnit> headwayDistribution =
271 new ContinuousDistDoubleScalar.Rel<>(new DistTriangular(this.stream, 7, 9, 15), DurationUnit.SECOND);
272
273
274 private ContinuousDistDoubleScalar.Rel<Speed, SpeedUnit> speedDistribution =
275 new ContinuousDistDoubleScalar.Rel<>(new DistTriangular(this.stream, 50, 60, 70), SpeedUnit.KM_PER_HOUR);
276
277
278 private int carsCreated = 0;
279
280
281 private GTUType gtuType = CAR;
282
283
284 private GTUFollowingModelOld carFollowingModel;
285
286
287 private LaneChangeModel laneChangeModel;
288
289
290 private List<Property<?>> properties = null;
291
292
293 private final GTUColorer gtuColorer;
294
295
296 private LaneBasedStrategicalPlannerFactory<LaneBasedStrategicalPlanner> strategicalPlannerFactory;
297
298
299 private Speed speedLimit = new Speed(80, KM_PER_HOUR);
300
301
302
303
304
305 CrossingTrafficLightstModel(final List<Property<?>> properties, final GTUColorer gtuColorer)
306 {
307 this.properties = properties;
308 this.gtuColorer = gtuColorer;
309 }
310
311
312 @Override
313 public final void constructModel(final SimulatorInterface<Time, Duration, OTSSimTimeDouble> theSimulator)
314 throws SimRuntimeException, RemoteException
315 {
316 this.simulator = (OTSDEVSSimulatorInterface) theSimulator;
317 try
318 {
319 OTSNode[][] nodes = new OTSNode[4][4];
320 nodes[0][0] = new OTSNode(this.network, "sn1", new OTSPoint3D(10, -500));
321 nodes[0][1] = new OTSNode(this.network, "sn2", new OTSPoint3D(10, -20));
322 nodes[0][2] = new OTSNode(this.network, "sn3", new OTSPoint3D(10, +20));
323 nodes[0][3] = new OTSNode(this.network, "sn4", new OTSPoint3D(10, +5000));
324
325 nodes[1][0] = new OTSNode(this.network, "we1", new OTSPoint3D(-500, -10));
326 nodes[1][1] = new OTSNode(this.network, "we2", new OTSPoint3D(-20, -10));
327 nodes[1][2] = new OTSNode(this.network, "we3", new OTSPoint3D(+20, -10));
328 nodes[1][3] = new OTSNode(this.network, "we4", new OTSPoint3D(+5000, -10));
329
330 nodes[2][0] = new OTSNode(this.network, "ns1", new OTSPoint3D(-10, +500));
331 nodes[2][1] = new OTSNode(this.network, "ns2", new OTSPoint3D(-10, +20));
332 nodes[2][2] = new OTSNode(this.network, "ns3", new OTSPoint3D(-10, -20));
333 nodes[2][3] = new OTSNode(this.network, "ns4", new OTSPoint3D(-10, -5000));
334
335 nodes[3][0] = new OTSNode(this.network, "ew1", new OTSPoint3D(+500, 10));
336 nodes[3][1] = new OTSNode(this.network, "ew2", new OTSPoint3D(+20, 10));
337 nodes[3][2] = new OTSNode(this.network, "ew3", new OTSPoint3D(-20, 10));
338 nodes[3][3] = new OTSNode(this.network, "ew4", new OTSPoint3D(-5000, 10));
339
340 Set<GTUType> compatibility = new HashSet<>();
341 compatibility.add(this.gtuType);
342 LaneType laneType = new LaneType("CarLane", compatibility);
343
344 Map<Lane, SimpleTrafficLight> trafficLights = new HashMap<>();
345
346 for (int i = 0; i < 4; i++)
347 {
348 for (int j = 0; j < 3; j++)
349 {
350 Lane[] lanes = LaneFactory.makeMultiLane(this.network,
351 "Lane_" + nodes[i][j].getId() + "-" + nodes[i][j + 1].getId(), nodes[i][j], nodes[i][j + 1], null,
352 2, laneType, this.speedLimit, this.simulator, LongitudinalDirectionality.DIR_PLUS);
353 if (j == 0)
354 {
355 for (Lane lane : lanes)
356 {
357 this.simulator.scheduleEventRel(this.headwayDistribution.draw(), this, this, "generateCar",
358 new Object[] { lane });
359 SimpleTrafficLight tl = new SimpleTrafficLight(lane.getId() + "_TL", lane,
360 new Length(lane.getLength().minus(new Length(10.0, LengthUnit.METER))), this.simulator);
361 trafficLights.put(lane, tl);
362 if (i == 0 || i == 2)
363 {
364 this.simulator.scheduleEventRel(Duration.ZERO, this, this, "changeTL", new Object[] { tl });
365 }
366 else
367 {
368 this.simulator.scheduleEventRel(CrossingTrafficLights.TRED, this, this, "changeTL",
369 new Object[] { tl });
370 }
371 }
372 }
373 if (j == 2)
374 {
375 for (Lane lane : lanes)
376 {
377 new SinkSensor(lane, new Length(500.0, METER), this.simulator);
378 }
379 }
380 }
381 }
382
383 this.carFollowingModel = PropertiesParser.parseGTUFollowingModelOld(this.properties, "Car");
384 this.laneChangeModel = PropertiesParser.parseLaneChangeModel(this.properties);
385 this.strategicalPlannerFactory = PropertiesParser.parseStrategicalPlannerFactory(this.properties,
386 this.carFollowingModel, this.laneChangeModel);
387 }
388 catch (SimRuntimeException | NamingException | NetworkException | OTSGeometryException | PropertyException
389 | GTUException exception)
390 {
391 exception.printStackTrace();
392 }
393 }
394
395
396
397
398
399
400 protected final void changeTL(final TrafficLight tl) throws SimRuntimeException
401 {
402 if (tl.getTrafficLightColor().isRed())
403 {
404 tl.setTrafficLightColor(TrafficLightColor.GREEN);
405 this.simulator.scheduleEventRel(CrossingTrafficLights.TGREEN, this, this, "changeTL", new Object[] { tl });
406 }
407 else if (tl.getTrafficLightColor().isGreen())
408 {
409 tl.setTrafficLightColor(TrafficLightColor.YELLOW);
410 this.simulator.scheduleEventRel(CrossingTrafficLights.TYELLOW, this, this, "changeTL", new Object[] { tl });
411 }
412 else if (tl.getTrafficLightColor().isYellow())
413 {
414 tl.setTrafficLightColor(TrafficLightColor.RED);
415 this.simulator.scheduleEventRel(CrossingTrafficLights.TRED, this, this, "changeTL", new Object[] { tl });
416 }
417 }
418
419
420
421
422
423 protected final void generateCar(final Lane lane)
424 {
425 Length initialPosition = new Length(10, METER);
426 Speed initialSpeed = new Speed(0, KM_PER_HOUR);
427 Set<DirectedLanePosition> initialPositions = new LinkedHashSet<>(1);
428 try
429 {
430 initialPositions.add(new DirectedLanePosition(lane, initialPosition, GTUDirectionality.DIR_PLUS));
431 Length vehicleLength = new Length(4, METER);
432 LaneBasedIndividualGTU gtu = new LaneBasedIndividualGTU("" + (++this.carsCreated), this.gtuType, vehicleLength,
433 new Length(1.8, METER), this.speedDistribution.draw(), this.simulator, this.network);
434 Route route = null;
435 LaneBasedStrategicalPlanner strategicalPlanner = this.strategicalPlannerFactory.create(gtu, route);
436 gtu.initWithAnimation(strategicalPlanner, initialPositions, initialSpeed, DefaultCarAnimation.class,
437 this.gtuColorer);
438 this.simulator.scheduleEventRel(this.headwayDistribution.draw(), this, this, "generateCar", new Object[] { lane });
439 }
440 catch (SimRuntimeException | NamingException | NetworkException | GTUException | OTSGeometryException exception)
441 {
442 exception.printStackTrace();
443 }
444 }
445
446
447 @Override
448 public final SimulatorInterface<Time, Duration, OTSSimTimeDouble> getSimulator() throws RemoteException
449 {
450 return this.simulator;
451 }
452
453
454 @Override
455 public OTSNetwork getNetwork()
456 {
457 return this.network;
458 }
459
460 }