org.opentrafficsim.road.gtu.lane.control

Class LinearCACC

java.lang.Object

org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

org.opentrafficsim.road.gtu.lane.control.AbstractLinearFreeControl

org.opentrafficsim.road.gtu.lane.control.LinearCACC

All Implemented Interfaces:

LongitudinalControl

Direct Known Subclasses:

PloegCACC

public class LinearCACC
extends AbstractLinearFreeControl

Simple linear CACC implementation.

Copyright (c) 2013-2019 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 Mar 13, 2019

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Field Summary

Fields

Modifier and Type	Field and Description
static ParameterTypeDouble	KA Acceleration error gain parameter.
static ParameterTypeDouble	KS Gap error gain parameter.
static ParameterTypeDouble	KV Speed error gain parameter.

Fields inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractLinearFreeControl

KF

Fields inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

TDACC, TDCACC, X0

Constructor Summary

Constructors

Constructor and Description
LinearCACC(DelayedActuation delayedActuation) Constructor using default sensors with no delay.

Method Summary

Modifier and Type	Method and Description
Acceleration	getFollowingAcceleration(LaneBasedGTU gtu, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders) Returns the following acceleration of the longitudinal control.

Methods inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractLinearFreeControl

getDesiredAcceleration

Methods inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

delayActuation, getAcceleration

Methods inherited from class java.lang.Object

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

Field Detail

KS

public static final ParameterTypeDouble KS

Gap error gain parameter.

KV

public static final ParameterTypeDouble KV

Speed error gain parameter.

KA

public static final ParameterTypeDouble KA

Acceleration error gain parameter.

Constructor Detail

LinearCACC

public LinearCACC(DelayedActuation delayedActuation)

Constructor using default sensors with no delay.

Parameters:

delayedActuation - DelayedActuation; delayed actuation

Method Detail

getFollowingAcceleration

public Acceleration getFollowingAcceleration(LaneBasedGTU gtu,
                                             PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders)
                                      throws ParameterException

Returns the following acceleration of the longitudinal control. This method is only invoked if there is at least 1 leader.

Specified by:

getFollowingAcceleration in class AbstractLinearFreeControl

Parameters:

gtu - LaneBasedGTU; gtu

leaders - PerceptionCollectable<HeadwayGTU, LaneBasedGTU>; leaders

Returns:

Acceleration; following acceleration of the longitudinal control

Throws:

ParameterException - if parameter is not present