org.opentrafficsim.road.gtu.lane.tactical.following

Class AbstractIDM

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.following.AbstractCarFollowingModel

org.opentrafficsim.road.gtu.lane.tactical.following.AbstractIDM

All Implemented Interfaces:

CarFollowingModel

Direct Known Subclasses:

IDM, IDMPlus, IDMPlusMulti

public abstract class AbstractIDM
extends AbstractCarFollowingModel

Implementation of the IDM. See https://en.wikipedia.org/wiki/Intelligent_driver_model

Copyright (c) 2013-2017 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision$, $LastChangedDate$, by $Author$, initial version Apr 22, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Field Summary

Fields

Modifier and Type	Field and Description
static org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypeDouble	DELTA Speed limit adherence factor.

Constructor Summary

Constructors

Constructor and Description
AbstractIDM()

Method Summary

Modifier and Type	Method and Description
protected abstract org.djunits.value.vdouble.scalar.Acceleration	combineInteractionTerm(org.djunits.value.vdouble.scalar.Acceleration aFree, org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Speed desiredSpeed, org.djunits.value.vdouble.scalar.Length desiredHeadway, SortedMap<org.djunits.value.vdouble.scalar.Length,org.djunits.value.vdouble.scalar.Speed> leaders) Combines an interaction term with the free term.
org.djunits.value.vdouble.scalar.Length	desiredHeadway(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, org.djunits.value.vdouble.scalar.Speed speed) Determines the desired headway in equilibrium conditions, i.e.
org.djunits.value.vdouble.scalar.Speed	desiredSpeed(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, SpeedLimitInfo speedInfo) Determines the desired speed.
protected org.djunits.value.vdouble.scalar.Length	dynamicDesiredHeadway(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Length desiredHeadway, org.djunits.value.vdouble.scalar.Speed leaderSpeed) Determines the dynamic desired headway, which is non-negative.
protected org.djunits.value.vdouble.scalar.Length	dynamicHeadwayTerm(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Speed leaderSpeed) Determines the dynamic headway term.
protected org.djunits.value.vdouble.scalar.Acceleration	followingAcceleration(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Speed desiredSpeed, org.djunits.value.vdouble.scalar.Length desiredHeadway, SortedMap<org.djunits.value.vdouble.scalar.Length,org.djunits.value.vdouble.scalar.Speed> leaders) Determination of car-following acceleration, possibly based on multiple leaders.

Methods inherited from class org.opentrafficsim.road.gtu.lane.tactical.following.AbstractCarFollowingModel

followingAcceleration, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel

getLongName, getName

Field Detail

DELTA

public static final org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypeDouble DELTA

Speed limit adherence factor.

Constructor Detail

AbstractIDM

public AbstractIDM()

Method Detail

desiredSpeed

public final org.djunits.value.vdouble.scalar.Speed desiredSpeed(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                 SpeedLimitInfo speedInfo)
                                                          throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Determines the desired speed.

Parameters:

behavioralCharacteristics - behavioral characteristics

speedInfo - info regarding the desired speed for car-following

Returns:

desired speed

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter exception occurs

desiredHeadway

public final org.djunits.value.vdouble.scalar.Length desiredHeadway(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                    org.djunits.value.vdouble.scalar.Speed speed)
                                                             throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Determines the desired headway in equilibrium conditions, i.e. no speed difference with the leader.

Parameters:

behavioralCharacteristics - behavioral characteristics

speed - speed to determine the desired headway at

Returns:

desired headway

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter exception occurs

followingAcceleration

protected org.djunits.value.vdouble.scalar.Acceleration followingAcceleration(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                              org.djunits.value.vdouble.scalar.Speed speed,
                                                                              org.djunits.value.vdouble.scalar.Speed desiredSpeed,
                                                                              org.djunits.value.vdouble.scalar.Length desiredHeadway,
                                                                              SortedMap<org.djunits.value.vdouble.scalar.Length,org.djunits.value.vdouble.scalar.Speed> leaders)
                                                                       throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Determination of car-following acceleration, possibly based on multiple leaders. This implementation calculates the IDM free term, which is returned if there are no leaders. If there are leaders combineInteractionTerm() is invoked to combine the free term with some implementation specific interaction term. The IDM free term is limited by a deceleration of B0 for cases where the current speed is above the desired speed. This method can be overridden if the free term needs to be redefined.

Specified by:

followingAcceleration in class AbstractCarFollowingModel

Parameters:

behavioralCharacteristics - Behavioral characteristics.

speed - Current speed.

desiredSpeed - Desired speed.

desiredHeadway - Desired headway.

leaders - Set of leader headways (guaranteed positive) and speeds, ordered by headway (closest first).

Returns:

Car-following acceleration.

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - If parameter exception occurs.

combineInteractionTerm

protected abstract org.djunits.value.vdouble.scalar.Acceleration combineInteractionTerm(org.djunits.value.vdouble.scalar.Acceleration aFree,
                                                                                        org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                                        org.djunits.value.vdouble.scalar.Speed speed,
                                                                                        org.djunits.value.vdouble.scalar.Speed desiredSpeed,
                                                                                        org.djunits.value.vdouble.scalar.Length desiredHeadway,
                                                                                        SortedMap<org.djunits.value.vdouble.scalar.Length,org.djunits.value.vdouble.scalar.Speed> leaders)
                                                                                 throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Combines an interaction term with the free term. There should be at least 1 leader for this method.

Parameters:

aFree - Free term of acceleration.

behavioralCharacteristics - Behavioral characteristics.

speed - Current speed.

desiredSpeed - Desired speed.

desiredHeadway - Desired headway.

leaders - Set of leader headways (guaranteed positive) and speeds, ordered by headway (closest first).

Returns:

Combination of terms into a single acceleration.

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - In case of parameter exception.

dynamicDesiredHeadway

protected final org.djunits.value.vdouble.scalar.Length dynamicDesiredHeadway(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                              org.djunits.value.vdouble.scalar.Speed speed,
                                                                              org.djunits.value.vdouble.scalar.Length desiredHeadway,
                                                                              org.djunits.value.vdouble.scalar.Speed leaderSpeed)
                                                                       throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Determines the dynamic desired headway, which is non-negative.

Parameters:

behavioralCharacteristics - Behavioral characteristics.

speed - Current speed.

desiredHeadway - Desired headway.

leaderSpeed - Speed of the leading vehicle.

Returns:

Dynamic desired headway.

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - In case of parameter exception.

dynamicHeadwayTerm

protected final org.djunits.value.vdouble.scalar.Length dynamicHeadwayTerm(org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics behavioralCharacteristics,
                                                                           org.djunits.value.vdouble.scalar.Speed speed,
                                                                           org.djunits.value.vdouble.scalar.Speed leaderSpeed)
                                                                    throws org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Determines the dynamic headway term. May be used on individual leaders for multi-anticipative following.

Parameters:

behavioralCharacteristics - Behavioral characteristics.

speed - Current speed.

leaderSpeed - Speed of the leading vehicle.

Returns:

Dynamic headway term.

Throws:

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - In case of parameter exception.