1 package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
2
3 import org.djunits.value.vdouble.scalar.Acceleration;
4 import org.djunits.value.vdouble.scalar.Length;
5 import org.djunits.value.vdouble.scalar.Speed;
6 import org.opentrafficsim.base.parameters.ParameterException;
7 import org.opentrafficsim.base.parameters.ParameterTypeAcceleration;
8 import org.opentrafficsim.base.parameters.ParameterTypeDouble;
9 import org.opentrafficsim.base.parameters.ParameterTypes;
10 import org.opentrafficsim.base.parameters.Parameters;
11 import org.opentrafficsim.core.gtu.perception.EgoPerception;
12 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
13 import org.opentrafficsim.core.network.LateralDirectionality;
14 import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
15 import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
16 import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
17 import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
18 import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
19 import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
20 import org.opentrafficsim.road.gtu.lane.tactical.util.CarFollowingUtil;
21 import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
22 import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsParameters;
23 import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsUtil;
24 import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.VoluntaryIncentive;
25 import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
26
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40
41 public class IncentiveCourtesy implements VoluntaryIncentive
42 {
43
44
45 protected static final ParameterTypeAcceleration B = ParameterTypes.B;
46
47
48 protected static final ParameterTypeDouble SOCIO = LmrsParameters.SOCIO;
49
50
51 protected static final ParameterTypeDouble DLEFT = LmrsParameters.DLEFT;
52
53
54 protected static final ParameterTypeDouble DRIGHT = LmrsParameters.DRIGHT;
55
56
57 @Override
58 public final Desire determineDesire(final Parameters parameters, final LanePerception perception,
59 final CarFollowingModel carFollowingModel, final Desireane/tactical/util/lmrs/Desire.html#Desire">Desire mandatoryDesire, final Desire voluntaryDesire)
60 throws ParameterException, OperationalPlanException
61 {
62
63 double dLeftYes = 0;
64 double dRightYes = 0;
65 double dLeftNo = 0;
66 double dRightNo = 0;
67 double socio = parameters.getParameter(SOCIO);
68 Acceleration b = parameters.getParameter(B);
69 NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
70 Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
71 InfrastructurePerception infra = perception.getPerceptionCategory(InfrastructurePerception.class);
72 SpeedLimitInfo sli = infra.getSpeedLimitProspect(RelativeLane.CURRENT).getSpeedLimitInfo(Length.ZERO);
73 boolean leftLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.LEFT).si > 0.0;
74 boolean rightLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.RIGHT).si > 0.0;
75 for (LateralDirectionality dir : new LateralDirectionality[] {LateralDirectionality.LEFT, LateralDirectionality.RIGHT})
76 {
77 Iterable<HeadwayGTU> leaders = neighbors.getLeaders(new RelativeLane(dir, 1));
78 if (leaders != null)
79 {
80 for (HeadwayGTU leader : leaders)
81 {
82 Parameters params = leader.getParameters();
83 double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
84 if (desire > 0)
85 {
86
87 Acceleration a =
88 CarFollowingUtil.followSingleLeader(carFollowingModel, parameters, ownSpeed, sli, leader);
89 if (a.lt0())
90 {
91 double d = desire * Math.min(-a.si / b.si, 1.0);
92 if (dir.isLeft() && rightLane)
93 {
94
95 dRightYes = dRightYes > d ? dRightYes : d;
96 }
97 else if (leftLane)
98 {
99
100 dLeftYes = dLeftYes > d ? dLeftYes : d;
101 }
102 }
103 }
104 }
105 }
106
107 Iterable<HeadwayGTU> followers = neighbors.getFollowers(new RelativeLane(dir, 2));
108 if (followers != null)
109 {
110 for (HeadwayGTU follower : followers)
111 {
112 Parameters params = follower.getParameters();
113 double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
114 Acceleration a = follower.getDistance().lt0() ? b.neg()
115 : LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed, desire, params,
116 follower.getSpeedLimitInfo(), follower.getCarFollowingModel());
117 if (a.lt0())
118 {
119 if (desire > 0)
120 {
121 double d = desire * Math.min(-a.si / b.si, 1.0);
122 if (dir.isLeft() && leftLane)
123 {
124
125 dLeftNo = dLeftNo > desire ? dLeftNo : d;
126 }
127 else if (rightLane)
128 {
129
130 dRightNo = dRightNo > desire ? dRightNo : d;
131 }
132 }
133 }
134 else
135 {
136
137 break;
138 }
139 }
140 }
141 leaders = neighbors.getLeaders(new RelativeLane(dir, 2));
142 if (leaders != null)
143 {
144 for (HeadwayGTU leader : leaders)
145 {
146 Parameters params = leader.getParameters();
147 double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
148 if (desire > 0)
149 {
150 Acceleration a = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(), desire,
151 params, sli, carFollowingModel);
152 if (a.lt0())
153 {
154 double d = desire * Math.min(-a.si / b.si, 1.0);
155 if (dir.isLeft() && leftLane)
156 {
157
158 dLeftNo = dLeftNo > d ? dLeftNo : d;
159 }
160 else if (rightLane)
161 {
162
163 dRightNo = dRightNo > d ? dRightNo : d;
164 }
165 }
166 }
167 }
168 }
169 }
170
171 dLeftYes *= socio;
172 dRightYes *= socio;
173 return new Desire(dLeftYes - dLeftNo, dRightYes - dRightNo);
174
175 }
176
177
178 @Override
179 public final String toString()
180 {
181 return "IncentiveCourtesy";
182 }
183
184 }