AbstractIdm.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.ParameterTypeAcceleration;
import org.opentrafficsim.base.parameters.ParameterTypeDouble;
import org.opentrafficsim.base.parameters.ParameterTypeDuration;
import org.opentrafficsim.base.parameters.ParameterTypeLength;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.base.parameters.constraint.ConstraintInterface;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
import org.opentrafficsim.road.gtu.lane.tactical.util.SpeedLimitUtil;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* 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) 2013-2024 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://github.com/averbraeck">Alexander Verbraeck</a>
* @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
* @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
*/
//@docs/06-behavior/parameters.md
public abstract class AbstractIdm extends AbstractCarFollowingModel
{
/** Acceleration parameter type. */
// @docs/06-behavior/parameters.md
protected static final ParameterTypeAcceleration A = ParameterTypes.A;
/** Comfortable deceleration parameter type. */
protected static final ParameterTypeAcceleration B = ParameterTypes.B;
/** Desired headway parameter type. */
protected static final ParameterTypeDuration T = ParameterTypes.T;
/** Stopping distance parameter type. */
protected static final ParameterTypeLength S0 = ParameterTypes.S0;
/** Adjustment deceleration parameter type. */
protected static final ParameterTypeAcceleration B0 = ParameterTypes.B0;
/** Speed limit adherence factor parameter type. */
protected static final ParameterTypeDouble FSPEED = ParameterTypes.FSPEED;
/** Acceleration flattening. */
// @docs/06-behavior/parameters.md
public static final ParameterTypeDouble DELTA = new ParameterTypeDouble("delta",
"Acceleration flattening exponent towards desired speed", 4.0, ConstraintInterface.POSITIVE);
/** Default IDM desired headway model. */
public static final DesiredHeadwayModel HEADWAY = new DesiredHeadwayModel()
{
@Override
public Length desiredHeadway(final Parameters parameters, final Speed speed) throws ParameterException
{
return Length.instantiateSI(parameters.getParameter(S0).si + speed.si * parameters.getParameter(T).si);
}
};
/** Default IDM desired speed model. */
public static final DesiredSpeedModel DESIRED_SPEED = new DesiredSpeedModel()
{
@Override
public Speed desiredSpeed(final Parameters parameters, final SpeedLimitInfo speedInfo) throws ParameterException
{
Speed consideredSpeed = SpeedLimitUtil.getLegalSpeedLimit(speedInfo).times(parameters.getParameter(FSPEED));
Speed maxVehicleSpeed = SpeedLimitUtil.getMaximumVehicleSpeed(speedInfo);
return consideredSpeed.le(maxVehicleSpeed) ? consideredSpeed : maxVehicleSpeed;
}
};
/**
* Constructor with modular models for desired headway and desired speed.
* @param desiredHeadwayModel DesiredHeadwayModel; desired headway model
* @param desiredSpeedModel DesiredSpeedModel; desired speed model
*/
public AbstractIdm(final DesiredHeadwayModel desiredHeadwayModel, final DesiredSpeedModel desiredSpeedModel)
{
super(desiredHeadwayModel, desiredSpeedModel);
}
/**
* Determination of car-following acceleration, possibly based on multiple leaders. This implementation calculates the IDM
* free term, which is returned if there are no leaders. If there are leaders <code>combineInteractionTerm()</code> is
* invoked to combine the free term with some implementation specific interaction term. The IDM free term is limited by a
* deceleration of <code>B0</code> for cases where the current speed is above the desired speed. This method can be
* overridden if the free term needs to be redefined.
* @param parameters Parameters; Parameters.
* @param speed Speed; Current speed.
* @param desiredSpeed Speed; Desired speed.
* @param desiredHeadway Length; Desired headway.
* @param leaders PerceptionIterable<? extends Headway>; Set of leader headways (guaranteed positive) and speeds,
* ordered by headway (closest first).
* @throws ParameterException If parameter exception occurs.
* @return Car-following acceleration.
*/
@Override
@SuppressWarnings("checkstyle:designforextension")
protected Acceleration followingAcceleration(final Parameters parameters, final Speed speed, final Speed desiredSpeed,
final Length desiredHeadway, final PerceptionIterable<? extends Headway> leaders) throws ParameterException
{
Acceleration a = parameters.getParameter(A);
Acceleration b0 = parameters.getParameter(B0);
double delta = parameters.getParameter(DELTA);
double aFree = a.si * (1 - Math.pow(speed.si / desiredSpeed.si, delta));
// limit deceleration in free term (occurs if speed > desired speed)
aFree = aFree > -b0.si ? aFree : -b0.si;
// return free term if there are no leaders
if (leaders.isEmpty())
{
return Acceleration.instantiateSI(aFree);
}
// return combined acceleration
return combineInteractionTerm(Acceleration.instantiateSI(aFree), parameters, speed, desiredSpeed, desiredHeadway,
leaders);
}
/**
* Combines an interaction term with the free term. There should be at least 1 leader for this method.
* @param aFree Acceleration; Free term of acceleration.
* @param parameters Parameters; Parameters.
* @param speed Speed; Current speed.
* @param desiredSpeed Speed; Desired speed.
* @param desiredHeadway Length; Desired headway.
* @param leaders PerceptionIterable<? extends Headway>; Set of leader headways (guaranteed positive) and speeds,
* ordered by headway (closest first).
* @return Combination of terms into a single acceleration.
* @throws ParameterException In case of parameter exception.
*/
protected abstract Acceleration combineInteractionTerm(Acceleration aFree, Parameters parameters, Speed speed,
Speed desiredSpeed, Length desiredHeadway, PerceptionIterable<? extends Headway> leaders) throws ParameterException;
/**
* Determines the dynamic desired headway, which is non-negative.
* @param parameters Parameters; Parameters.
* @param speed Speed; Current speed.
* @param desiredHeadway Length; Desired headway.
* @param leaderSpeed Speed; Speed of the leading vehicle.
* @return Dynamic desired headway.
* @throws ParameterException In case of parameter exception.
*/
protected final Length dynamicDesiredHeadway(final Parameters parameters, final Speed speed, final Length desiredHeadway,
final Speed leaderSpeed) throws ParameterException
{
double sStar = desiredHeadway.si + dynamicHeadwayTerm(parameters, speed, leaderSpeed).si;
/*
* Due to a power of 2 in the IDM, negative values of sStar are not allowed. A negative sStar means that the leader is
* faster to such an extent, that the equilibrium headway (s0+vT) is completely compensated by the dynamic part in
* sStar. This might occur if a much faster leader changes lane closely in front. The compensation is limited to the
* equilibrium headway minus the stopping distance (i.e. sStar > s0), which means the driver wants to follow with
* acceleration. Note that usually the free term determines acceleration in such cases.
*/
Length s0 = parameters.getParameter(S0);
/*
* Limit used to be 0, but the IDM is very sensitive there. With a decelerating leader, an ok acceleration in one time
* step, may results in acceleration < -10 in the next.
*/
return Length.instantiateSI(sStar >= s0.si ? sStar : s0.si);
}
/**
* Determines the dynamic headway term. May be used on individual leaders for multi-anticipative following.
* @param parameters Parameters; Parameters.
* @param speed Speed; Current speed.
* @param leaderSpeed Speed; Speed of the leading vehicle.
* @return Dynamic headway term.
* @throws ParameterException In case of parameter exception.
*/
protected final Length dynamicHeadwayTerm(final Parameters parameters, final Speed speed, final Speed leaderSpeed)
throws ParameterException
{
Acceleration a = parameters.getParameter(A);
Acceleration b = parameters.getParameter(B);
return Length.instantiateSI(speed.si * (speed.si - leaderSpeed.si) / (2 * Math.sqrt(a.si * b.si)));
}
}