Idm.java

package org.opentrafficsim.road.gtu.lane.tactical.following;

import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;

/**
 * Implementation of the IDM. See <a
 * href=https://en.wikipedia.org/wiki/Intelligent_driver_model>https://en.wikipedia.org/wiki/Intelligent_driver_model</a>
 * <p>
 * Copyright (c) 2013-2023 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
 * </p>
 * @author <a href="https://dittlab.tudelft.nl">Wouter Schakel</a>
 */
public class Idm extends AbstractIdm
{

    /**
     * Default constructor using default models for desired headway and desired speed.
     */
    public Idm()
    {
        super(HEADWAY, DESIRED_SPEED);
    }

    /**
     * Constructor with modular models for desired headway and desired speed.
     * @param desiredHeadwayModel DesiredHeadwayModel; desired headway model
     * @param desiredSpeedModel DesiredSpeedModel; desired speed model
     */
    public Idm(final DesiredHeadwayModel desiredHeadwayModel, final DesiredSpeedModel desiredSpeedModel)
    {
        super(desiredHeadwayModel, desiredSpeedModel);
    }

    /** {@inheritDoc} */
    @Override
    public final String getName()
    {
        return "IDM";
    }

    /** {@inheritDoc} */
    @Override
    public final String getLongName()
    {
        return "Intelligent Driver Model";
    }

    /** {@inheritDoc} */
    @Override
    protected final Acceleration combineInteractionTerm(final Acceleration aFree, final Parameters parameters,
            final Speed speed, final Speed desiredSpeed, final Length desiredHeadway,
            final PerceptionIterable<? extends Headway> leaders) throws ParameterException
    {
        Acceleration a = parameters.getParameter(A);
        Headway leader = leaders.first();
        double sRatio =
                dynamicDesiredHeadway(parameters, speed, desiredHeadway, leader.getSpeed()).si / leader.getDistance().si;
        double aInt = -a.si * sRatio * sRatio;
        return Acceleration.instantiateSI(aFree.si + aInt);
    }

}