GapAcceptance.java
package org.opentrafficsim.road.gtu.lane.tactical.util.lmrs;
import static org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.GapAcceptance.egoAcceleration;
import org.djunits.unit.AccelerationUnit;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Speed;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.categories.NeighborsPerception;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* Interface for LMRS gap-acceptance models.
* <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/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version 9 okt. 2017 <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 interface GapAcceptance
{
/** Being informed of the model and parameters of other drivers (default LMRS). */
GapAcceptance INFORMED = new GapAcceptance()
{
@Override
public boolean acceptGap(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
final CarFollowingModel cfm, final double desire, final Speed ownSpeed, final Acceleration ownAcceleration,
final LateralDirectionality lat) throws ParameterException, OperationalPlanException
{
NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
if (neighbors.isGtuAlongside(lat))
{
// gtu alongside
return false;
}
// TODO
/*-
* Followers and are accepted if the acceleration and speed is 0, a leader is accepted if the ego speed is 0. This
* is in place as vehicles that provide courtesy, will decelerate for us and overshoot the stand-still distance. As
* a consequence, they will cease cooperation as they are too close. A pattern will arise where followers slow down
* to (near) stand-still, and accelerate again, before we could ever accept the gap.
*
* By accepting the gap in the moment that they reach stand-still, this vehicle can at least accept the gap at some
* point. All of this is only a problem if the own vehicle is standing still. Otherwise the stand-still distance is
* not important and movement of our own will create an acceptable situation.
*
* What needs to be done, is to find a better way to deal with the cooperation and gap-acceptance, such that this
* hack is not required.
*/
Acceleration b = params.getParameter(ParameterTypes.B);
Acceleration aFollow = new Acceleration(Double.POSITIVE_INFINITY, AccelerationUnit.SI);
for (HeadwayGTU follower : neighbors.getFirstFollowers(lat))
{
if (follower.getSpeed().gt0() || follower.getAcceleration().gt0())
{
Acceleration a = LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed, desire,
follower.getParameters(), follower.getSpeedLimitInfo(), follower.getCarFollowingModel());
aFollow = Acceleration.min(aFollow, a);
}
}
Acceleration aSelf = egoAcceleration(perception, params, sli, cfm, desire, ownSpeed, lat);
Acceleration threshold = b.multiplyBy(-desire);
return aFollow.ge(threshold) && aSelf.ge(threshold) && ownAcceleration.ge(threshold);
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "INFORMED";
}
};
/** Being informed of the model and parameters of other drivers, but applying own headway value. */
GapAcceptance EGO_HEADWAY = new GapAcceptance()
{
@Override
public boolean acceptGap(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
final CarFollowingModel cfm, final double desire, final Speed ownSpeed, final Acceleration ownAcceleration,
final LateralDirectionality lat) throws ParameterException, OperationalPlanException
{
NeighborsPerception neigbors = perception.getPerceptionCategory(NeighborsPerception.class);
if (neigbors.isGtuAlongside(lat))
{
// gtu alongside
return false;
}
Acceleration b = params.getParameter(ParameterTypes.B);
Acceleration aFollow = new Acceleration(Double.POSITIVE_INFINITY, AccelerationUnit.SI);
for (HeadwayGTU follower : neigbors.getFirstFollowers(lat))
{
if (follower.getSpeed().gt0() || follower.getAcceleration().gt0())
{
// Change headway parameter
Parameters folParams = follower.getParameters();
folParams.setParameterResettable(ParameterTypes.TMIN, params.getParameter(ParameterTypes.TMIN));
folParams.setParameterResettable(ParameterTypes.TMAX, params.getParameter(ParameterTypes.TMAX));
Acceleration a = LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed, desire,
folParams, follower.getSpeedLimitInfo(), follower.getCarFollowingModel());
aFollow = Acceleration.min(aFollow, a);
folParams.resetParameter(ParameterTypes.TMIN);
folParams.resetParameter(ParameterTypes.TMAX);
}
}
Acceleration aSelf = egoAcceleration(perception, params, sli, cfm, desire, ownSpeed, lat);
Acceleration threshold = b.multiplyBy(-desire);
return aFollow.ge(threshold) && aSelf.ge(threshold);
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "EGO_HEADWAY";
}
};
/**
* Determine whether a gap is acceptable.
* @param perception perception
* @param params parameters
* @param sli speed limit info
* @param cfm car-following model
* @param desire level of lane change desire
* @param ownSpeed own speed
* @param lat lateral direction for synchronization
* @return whether a gap is acceptable
* @throws ParameterException if a parameter is not defined
* @throws OperationalPlanException perception exception
*/
static Acceleration egoAcceleration(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
final CarFollowingModel cfm, final double desire, final Speed ownSpeed, final LateralDirectionality lat)
throws ParameterException, OperationalPlanException
{
Acceleration aSelf = new Acceleration(Double.POSITIVE_INFINITY, AccelerationUnit.SI);
if (ownSpeed.gt0())
{
for (
HeadwayGTU leader : perception.getPerceptionCategory(NeighborsPerception.class).getFirstLeaders(lat))
{
Acceleration a = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(), desire, params,
sli, cfm);
aSelf = Acceleration.min(aSelf, a);
}
}
return aSelf;
}
/**
* Determine whether a gap is acceptable.
* @param perception perception
* @param params parameters
* @param sli speed limit info
* @param cfm car-following model
* @param desire level of lane change desire
* @param ownSpeed own speed
* @param ownAcceleration current car-following acceleration
* @param lat lateral direction for synchronization
* @return whether a gap is acceptable
* @throws ParameterException if a parameter is not defined
* @throws OperationalPlanException perception exception
*/
boolean acceptGap(LanePerception perception, Parameters params, SpeedLimitInfo sli, CarFollowingModel cfm, double desire,
Speed ownSpeed, Acceleration ownAcceleration, LateralDirectionality lat)
throws ParameterException, OperationalPlanException;
}