PloegCACC.java
- package org.opentrafficsim.road.gtu.lane.control;
- import org.djunits.value.vdouble.scalar.Acceleration;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.base.parameters.ParameterTypeDouble;
- import org.opentrafficsim.base.parameters.Parameters;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
- import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
- /**
- * Linear CACC implementation based on derivatives by Jeroen Ploeg.
- * <p>
- * Copyright (c) 2013-2020 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 Mar 13, 2019 <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 PloegCACC extends PloegACC
- {
- /** Acceleration error gain parameter. */
- public static final ParameterTypeDouble KA = LinearCACC.KA;
- /**
- * Constructor using default sensors with no delay.
- * @param delayedActuation DelayedActuation; delayed actuation
- */
- public PloegCACC(final DelayedActuation delayedActuation)
- {
- super(delayedActuation);
- }
- /** {@inheritDoc} */
- @Override
- public Acceleration getFollowingAcceleration(final LaneBasedGTU gtu,
- final PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders, final Parameters settings) throws ParameterException
- {
- HeadwayGTU leader = leaders.first();
- if (leader.getAcceleration() == null)
- {
- return super.getFollowingAcceleration(gtu, leaders, settings);
- }
- double es =
- leader.getDistance().si - gtu.getSpeed().si * settings.getParameter(TDCACC).si - settings.getParameter(X0).si;
- double esd = leader.getSpeed().si - gtu.getSpeed().si - gtu.getAcceleration().si * settings.getParameter(TDCACC).si;
- double kaui = settings.getParameter(KA) * leader.getAcceleration().si;
- return Acceleration.instantiateSI(settings.getParameter(KS) * es + settings.getParameter(KD) * esd + kaui);
- }
- }