Cooperation.java

  1. package org.opentrafficsim.road.gtu.lane.tactical.util.lmrs;

  3. import org.djunits.unit.AccelerationUnit;
  4. import org.djunits.value.vdouble.scalar.Acceleration;
  5. import org.djunits.value.vdouble.scalar.Speed;
  6. import org.opentrafficsim.base.parameters.ParameterException;
  7. import org.opentrafficsim.base.parameters.ParameterTypes;
  8. import org.opentrafficsim.base.parameters.Parameters;
  9. import org.opentrafficsim.core.gtu.perception.EgoPerception;
  10. import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  11. import org.opentrafficsim.core.network.LateralDirectionality;
  12. import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  13. import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  14. import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
  15. import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  16. import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
  17. import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
  18. import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  19. import org.opentrafficsim.road.network.speed.SpeedLimitInfo;

  21. /**
  22.  * Different forms of cooperation.
  23.  * <p>
  24.  * Copyright (c) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
  25.  * BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
  26.  * <p>
  27.  * @version $Revision$, $LastChangedDate$, by $Author$, initial version 2 mrt. 2018 <br>
  28.  * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
  29.  * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
  30.  * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
  31.  */
  32. public interface Cooperation extends LmrsParameters
  33. {

  35.     /** Simple passive cooperation. */
  36.     Cooperation PASSIVE = new Cooperation()
  37.     {
  38.         @Override
  39.         public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
  40.                 final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
  41.                 throws ParameterException, OperationalPlanException
  42.         {
  43.             if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
  44.                     || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
  45.             {
  46.                 return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  47.             }
  48.             Acceleration b = params.getParameter(ParameterTypes.B);
  49.             Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  50.             double dCoop = params.getParameter(DCOOP);
  51.             Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
  52.             RelativeLane relativeLane = new RelativeLane(lat, 1);
  53.             for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(Synchronization.removeAllUpstreamOfConflicts(
  54.                     perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(relativeLane), perception,
  55.                     relativeLane), perception, RelativeLane.CURRENT))
  56.             {
  57.                 Parameters params2 = leader.getParameters();
  58.                 double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
  59.                         : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
  60.                 if (desire >= dCoop && (leader.getSpeed().gt0() || leader.getDistance().gt0()))
  61.                 {
  62.                     Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
  63.                             desire, params, sli, cfm);
  64.                     a = Acceleration.min(a, aSingle);
  65.                 }
  66.             }
  67.             return Acceleration.max(a, b.neg());
  68.         }
  69.     };

  71.     /** Same as passive cooperation, except that cooperation is fully ignored if the potential lane changer brakes heavily. */
  72.     Cooperation PASSIVE_MOVING = new Cooperation()
  73.     {
  74.         @Override
  75.         public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
  76.                 final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
  77.                 throws ParameterException, OperationalPlanException
  78.         {
  79.             if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
  80.                     || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
  81.             {
  82.                 return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  83.             }
  84.             Acceleration bCrit = params.getParameter(ParameterTypes.BCRIT);
  85.             Acceleration b = params.getParameter(ParameterTypes.B);
  86.             Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  87.             double dCoop = params.getParameter(DCOOP);
  88.             Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
  89.             RelativeLane relativeLane = new RelativeLane(lat, 1);
  90.             NeighborsPerception neighbours = perception.getPerceptionCategory(NeighborsPerception.class);
  91.             PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders = neighbours.getLeaders(RelativeLane.CURRENT);
  92.             Speed thresholdSpeed = Speed.instantiateSI(40.0 / 3.6);
  93.             boolean leaderInCongestion = leaders.isEmpty() ? false : leaders.first().getSpeed().lt(thresholdSpeed);
  94.             for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(
  95.                     Synchronization.removeAllUpstreamOfConflicts(neighbours.getLeaders(relativeLane), perception, relativeLane),
  96.                     perception, RelativeLane.CURRENT))
  97.             {
  98.                 Parameters params2 = leader.getParameters();
  99.                 double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
  100.                         : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
  101.                 // TODO: only cooperate if merger still quite fast or there's congestion downstream anyway (which we can better
  102.                 // estimate than only considering the direct leader
  103.                 if (desire >= dCoop && (leader.getSpeed().gt0() || leader.getDistance().gt0())
  104.                         && (leader.getSpeed().ge(thresholdSpeed) || leaderInCongestion))
  105.                 {
  106.                     Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
  107.                             desire, params, sli, cfm);
  108.                     a = Acceleration.min(a, aSingle);
  109.                 }
  110.             }
  111.             return Acceleration.max(a, bCrit.neg());
  112.         }
  113.     };

  115.     /** Cooperation similar to the default, with nuanced differences of when to ignore. */
  116.     Cooperation ACTIVE = new Cooperation()
  117.     {
  118.         @Override
  119.         public Acceleration cooperate(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
  120.                 final CarFollowingModel cfm, final LateralDirectionality lat, final Desire ownDesire)
  121.                 throws ParameterException, OperationalPlanException
  122.         {

  124.             if ((lat.isLeft() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.LEFT))
  125.                     || (lat.isRight() && !perception.getLaneStructure().getExtendedCrossSection().contains(RelativeLane.RIGHT)))
  126.             {
  127.                 return new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  128.             }
  129.             Acceleration a = new Acceleration(Double.MAX_VALUE, AccelerationUnit.SI);
  130.             double dCoop = params.getParameter(DCOOP);
  131.             Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
  132.             RelativeLane relativeLane = new RelativeLane(lat, 1);
  133.             for (HeadwayGTU leader : Synchronization.removeAllUpstreamOfConflicts(Synchronization.removeAllUpstreamOfConflicts(
  134.                     perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(relativeLane), perception,
  135.                     relativeLane), perception, RelativeLane.CURRENT))
  136.             {
  137.                 Parameters params2 = leader.getParameters();
  138.                 double desire = lat.equals(LateralDirectionality.LEFT) ? params2.getParameter(DRIGHT)
  139.                         : lat.equals(LateralDirectionality.RIGHT) ? params2.getParameter(DLEFT) : 0;
  140.                 if (desire >= dCoop && leader.getDistance().gt0()
  141.                         && leader.getAcceleration().gt(params.getParameter(ParameterTypes.BCRIT).neg()))
  142.                 {
  143.                     Acceleration aSingle = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(),
  144.                             desire, params, sli, cfm);
  145.                     a = Acceleration.min(a, Synchronization.gentleUrgency(aSingle, desire, params));
  146.                 }
  147.             }
  148.             return a;
  149.         }
  150.     };

  152.     /**
  153.      * Determine acceleration for cooperation.
  154.      * @param perception LanePerception; perception
  155.      * @param params Parameters; parameters
  156.      * @param sli SpeedLimitInfo; speed limit info
  157.      * @param cfm CarFollowingModel; car-following model
  158.      * @param lat LateralDirectionality; lateral direction for cooperation
  159.      * @param ownDesire Desire; own lane change desire
  160.      * @return acceleration for synchronization
  161.      * @throws ParameterException if a parameter is not defined
  162.      * @throws OperationalPlanException perception exception
  163.      */
  164.     Acceleration cooperate(LanePerception perception, Parameters params, SpeedLimitInfo sli, CarFollowingModel cfm,
  165.             LateralDirectionality lat, Desire ownDesire) throws ParameterException, OperationalPlanException;
  166. }
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