IncentiveCourtesy.java
package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
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.ParameterTypes;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.core.gtu.perception.EgoPerception;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.util.CarFollowingUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Desire;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsParameters;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.VoluntaryIncentive;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* Determines lane change desire for courtesy lane changes, which are performed to supply space for other drivers. In case
* drivers in adjacent lanes have desire to change to the current lane, the driver has desire to change to the other adjacent
* lane. The level of desire depends on lane change courtesy, as well as the distance of the leading vehicle for which desire
* exists. This desire exists for only a single vehicle, i.e. the one giving maximum desire. A negative desire may also result
* for leaders in the 2nd adjacent lane desiring to change to the 1st adjacent lane. By not changing to the 1st adjacent lane,
* room is reserved for the leader on the 2nd adjacent lane.
* <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/wjschakel">Wouter Schakel</a>
*/
public class IncentiveCourtesy implements VoluntaryIncentive
{
/** Comfortable deceleration parameter type. */
protected static final ParameterTypeAcceleration B = ParameterTypes.B;
/** Socio-speed sensitivity parameter. */
protected static final ParameterTypeDouble SOCIO = LmrsParameters.SOCIO;
/** Current left lane change desire. */
protected static final ParameterTypeDouble DLEFT = LmrsParameters.DLEFT;
/** Current right lane change desire. */
protected static final ParameterTypeDouble DRIGHT = LmrsParameters.DRIGHT;
/** {@inheritDoc} */
@Override
public final Desire determineDesire(final Parameters parameters, final LanePerception perception,
final CarFollowingModel carFollowingModel, final Desire mandatoryDesire, final Desire voluntaryDesire)
throws ParameterException, OperationalPlanException
{
double dLeftYes = 0;
double dRightYes = 0;
double dLeftNo = 0;
double dRightNo = 0;
double socio = parameters.getParameter(SOCIO);
Acceleration b = parameters.getParameter(B);
NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
Speed ownSpeed = perception.getPerceptionCategory(EgoPerception.class).getSpeed();
InfrastructurePerception infra = perception.getPerceptionCategory(InfrastructurePerception.class);
SpeedLimitInfo sli = infra.getSpeedLimitProspect(RelativeLane.CURRENT).getSpeedLimitInfo(Length.ZERO);
boolean leftLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.LEFT).si > 0.0;
boolean rightLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.RIGHT).si > 0.0;
for (LateralDirectionality dir : new LateralDirectionality[] {LateralDirectionality.LEFT, LateralDirectionality.RIGHT})
{
Iterable<HeadwayGtu> leaders = neighbors.getLeaders(new RelativeLane(dir, 1));
if (leaders != null)
{
for (HeadwayGtu leader : leaders)
{
Parameters params = leader.getParameters();
double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
if (desire > 0)
{
// TODO factor -a/b as influence factor is heavy in calculation, consider v<vEgo & 1-s/x0
Acceleration a =
CarFollowingUtil.followSingleLeader(carFollowingModel, parameters, ownSpeed, sli, leader);
if (a.lt0())
{
double d = desire * Math.min(-a.si / b.si, 1.0);
if (dir.isLeft() && rightLane)
{
// leader in left lane wants to change right, so we change right
dRightYes = dRightYes > d ? dRightYes : d;
}
else if (leftLane)
{
// leader in right lane wants to change left, so we change left
dLeftYes = dLeftYes > d ? dLeftYes : d;
}
}
}
}
}
// consider close followers on 2 lanes away
Iterable<HeadwayGtu> followers = neighbors.getFollowers(new RelativeLane(dir, 2));
if (followers != null)
{
for (HeadwayGtu follower : followers)
{
Parameters params = follower.getParameters();
double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
Acceleration a = follower.getDistance().lt0() ? b.neg()
: LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed, desire, params,
follower.getSpeedLimitInfo(), follower.getCarFollowingModel());
if (a.lt0())
{
if (desire > 0)
{
double d = desire * Math.min(-a.si / b.si, 1.0);
if (dir.isLeft() && leftLane)
{
// follower in second left lane wants to change right, so we do not change left
dLeftNo = dLeftNo > d ? dLeftNo : d;
}
else if (rightLane)
{
// follower in second right lane wants to change left, so we do not change right
dRightNo = dRightNo > d ? dRightNo : d;
}
}
}
else
{
// ignore further followers
break;
}
}
}
leaders = neighbors.getLeaders(new RelativeLane(dir, 2));
if (leaders != null)
{
for (HeadwayGtu leader : leaders)
{
Parameters params = leader.getParameters();
double desire = dir.isLeft() ? params.getParameter(DRIGHT) : params.getParameter(DLEFT);
if (desire > 0)
{
Acceleration a = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(), desire,
params, sli, carFollowingModel);
if (a.lt0())
{
double d = desire * Math.min(-a.si / b.si, 1.0); // (1 - leader.getDistance().si / x0.si) * desire;
if (dir.isLeft() && leftLane)
{
// leader in second left lane wants to change right, so we do not change left
dLeftNo = dLeftNo > d ? dLeftNo : d;
}
else if (rightLane)
{
// leader in second right lane wants to change left, so we do not change right
dRightNo = dRightNo > d ? dRightNo : d;
}
}
}
}
}
}
// note: noLeft and noRight weighted with 1 always
dLeftYes *= socio;
dRightYes *= socio;
return new Desire(dLeftYes - dLeftNo, dRightYes - dRightNo);
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "IncentiveCourtesy";
}
}