ToledoCarFollowing.java
package org.opentrafficsim.road.gtu.lane.tactical.toledo;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.LengthUnit;
import org.djunits.unit.SpeedUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypeDouble;
import org.opentrafficsim.base.parameters.ParameterTypeDuration;
import org.opentrafficsim.base.parameters.ParameterTypeSpeed;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.base.parameters.constraint.ConstraintInterface;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
import org.opentrafficsim.road.gtu.lane.tactical.following.AbstractCarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.following.DesiredHeadwayModel;
import org.opentrafficsim.road.gtu.lane.tactical.following.DesiredSpeedModel;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* <p>
* Copyright (c) 2013-2018 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Jul 7, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public class ToledoCarFollowing extends AbstractCarFollowingModel
{
/** */
public static final ParameterTypeSpeed CDS = new ParameterTypeSpeed("C_DS", "Constant in desired speed.",
new Speed(17.636, SpeedUnit.SI), ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeSpeed BETADS = new ParameterTypeSpeed("BETA_DS", "Reduction of desired speed for trucks.",
new Speed(-1.458, SpeedUnit.SI), ConstraintInterface.NEGATIVE);
/** */
public static final ParameterTypeSpeed ALPHADS =
new ParameterTypeSpeed("ALPHA_DS", "Factor on error term of desired speed.", new Speed(-0.105, SpeedUnit.SI));
/** */
public static final ParameterTypeDuration HSTAR =
new ParameterTypeDuration("h*", "Desired time headway.", new Duration(2.579, DurationUnit.SI));
/** */
public static final ParameterTypeDouble LAMBDAFF =
new ParameterTypeDouble("Lambda_ff", "Free flow acceleration sensitivity.", 0.0881, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble SIGMAFF =
new ParameterTypeDouble("Sigma_ff", "Free flow acceleration standard deviation.", Math.exp(0.169));
/** */
public static final ParameterTypeDouble CCFACC = new ParameterTypeDouble("C_CF_ACC",
"Constant for car following acceleration.", 0.0355, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble BETAACC =
new ParameterTypeDouble("BETA_ACC", "Power on speed for acceleration.", 0.291, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble GAMMAACC = new ParameterTypeDouble("GAMMA_ACC",
"Power on distance headway for acceleration.", -0.166, ConstraintInterface.NEGATIVE);
/** */
public static final ParameterTypeDouble RHOACC =
new ParameterTypeDouble("RHO_ACC", "Power on density for acceleration.", 0.550, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble LAMBDAACC = new ParameterTypeDouble("LAMBDA_ACC",
"Power on speed difference for acceleration.", 0.520, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble SIGMAACC =
new ParameterTypeDouble("Sigma_acc", "Car-following acceleration standard deviation.", Math.exp(0.126));
/** */
public static final ParameterTypeDouble CCFDEC = new ParameterTypeDouble("C_CF_DEC",
"Constant for car following deceleration.", -0.860, ConstraintInterface.NEGATIVE);
/** */
public static final ParameterTypeDouble GAMMADEC = new ParameterTypeDouble("GAMMA_DEC",
"Power on distance headway for deceleration.", -0.565, ConstraintInterface.NEGATIVE);
/** */
public static final ParameterTypeDouble RHODEC =
new ParameterTypeDouble("RHO_DEC", "Power on density for deceleration.", 0.143, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble LAMBDADEC = new ParameterTypeDouble("LAMBDA_DEC",
"Power on speed difference for deceleration.", 0.834, ConstraintInterface.POSITIVE);
/** */
public static final ParameterTypeDouble SIGMADEC =
new ParameterTypeDouble("Sigma_DEC", "Car-following deceleration standard deviation.", Math.exp(0.156));
/** Toledo desired headway model. */
private static final DesiredHeadwayModel HEADWAY = new DesiredHeadwayModel()
{
@Override
public Length desiredHeadway(final Parameters parameters, final Speed speed) throws ParameterException
{
return parameters.getParameter(HSTAR).multiplyBy(speed);
}
};
/** Toledo desired speed model. */
private static final DesiredSpeedModel DESIRED_SPEED = new DesiredSpeedModel()
{
@Override
public Speed desiredSpeed(final Parameters parameters, final SpeedLimitInfo speedInfo) throws ParameterException
{
return parameters.getParameter(CDS).plus(parameters.getParameter(BETADS)).plus(parameters.getParameter(ALPHADS)
.multiplyBy(parameters.getParameter(ToledoLaneChangeParameters.ERROR_TERM)));
}
};
/**
* Constructor using Toledo models for desired headway ans speed.
*/
public ToledoCarFollowing()
{
super(HEADWAY, DESIRED_SPEED);
}
/** {@inheritDoc} */
@Override
protected final Acceleration followingAcceleration(final Parameters parameters, final Speed speed, final Speed desiredSpeed,
final Length desiredHeadway, final PerceptionIterable<? extends Headway> leaders) throws ParameterException
{
if (leaders.isEmpty() || leaders.first().getDistance().gt(desiredHeadway))
{
// free
double eff = Toledo.RANDOM.nextGaussian() * parameters.getParameter(SIGMAFF) * parameters.getParameter(SIGMAFF);
return new Acceleration(parameters.getParameter(LAMBDAFF) * (desiredSpeed.si - speed.si) + eff,
AccelerationUnit.SI);
}
// TODO speed difference with reaction time
if (leaders.first().getSpeed().ge(speed))
{
// accelerate
double eCfAcc =
Toledo.RANDOM.nextGaussian() * parameters.getParameter(SIGMAACC) * parameters.getParameter(SIGMAACC);
// {@formatter:off}
return new Acceleration(
parameters.getParameter(CCFACC)
* Math.pow(speed.si, parameters.getParameter(BETAACC))
* Math.pow(leaders.first().getDistance().si, parameters.getParameter(GAMMAACC))
* Math.pow(getDensity(leaders), parameters.getParameter(RHOACC))
* Math.pow(leaders.first().getSpeed().si - speed.si, parameters.getParameter(LAMBDAACC))
+ eCfAcc,
AccelerationUnit.SI);
// {@formatter:on}
}
// decelerate
double eCfDec = Toledo.RANDOM.nextGaussian() * parameters.getParameter(SIGMADEC) * parameters.getParameter(SIGMADEC);
// {@formatter:off}
return new Acceleration(
parameters.getParameter(CCFDEC)
* Math.pow(leaders.first().getDistance().si, parameters.getParameter(GAMMADEC))
* Math.pow(getDensity(leaders), parameters.getParameter(RHODEC))
* Math.pow(speed.si - leaders.first().getSpeed().si, parameters.getParameter(LAMBDADEC))
+ eCfDec,
AccelerationUnit.SI);
// {@formatter:on}
}
/** {@inheritDoc} */
@Override
public final String getName()
{
return "ToledoCFM";
}
/** {@inheritDoc} */
@Override
public final String getLongName()
{
return "Toledo car-following model";
}
/**
* Returns the density based on the leaders in veh/km.
* @param leaders leading vehicles
* @return density based on the leaders in veh/km
*/
private double getDensity(final PerceptionIterable<? extends Headway> leaders)
{
if (leaders.isEmpty())
{
return 0;
}
Headway last = null;
int n = 0;
for (Headway next : leaders)
{
n++;
last = next;
}
return last.getDistance().getInUnit(LengthUnit.KILOMETER) / n;
}
}