IncentiveSocioSpeed.java
- package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
- import org.djunits.value.vdouble.scalar.Length;
- import org.djunits.value.vdouble.scalar.Speed;
- import org.djutils.exceptions.Try;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.base.parameters.ParameterTypeDouble;
- import org.opentrafficsim.base.parameters.ParameterTypeLength;
- import org.opentrafficsim.base.parameters.ParameterTypeSpeed;
- 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.LaneBasedGtu;
- import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
- import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
- 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.lmrs.Desire;
- import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsParameters;
- import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.Tailgating;
- import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.VoluntaryIncentive;
- /**
- * Lane change incentive based on social pressure. Drivers may refrain from changing left to not hinder faster traffic, or
- * drivers may change right to get out of the way. When drivers are on the left lane, this is considered 'overtaking', and
- * related to this the desired speed could be increased by using {@code SocioDesiredSpeedModel}.
- * <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://github.com/peter-knoppers">Peter Knoppers</a>
- * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
- */
- // TODO keep left or right rules
- public class IncentiveSocioSpeed implements VoluntaryIncentive
- {
- /** Social pressure applied to the leader. */
- protected static final ParameterTypeDouble RHO = Tailgating.RHO;
- /** Hierarchy parameter. */
- protected static final ParameterTypeDouble SOCIO = LmrsParameters.SOCIO;
- /** Speed threshold below which traffic is considered congested. */
- protected static final ParameterTypeSpeed VCONG = ParameterTypes.VCONG;
- /** Vgain parameter; ego-speed sensitivity. */
- protected static final ParameterTypeSpeed VGAIN = LmrsParameters.VGAIN;
- /** Look-ahead distance. */
- protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
- @Override
- public final Desire determineDesire(final Parameters parameters, final LanePerception perception,
- final CarFollowingModel carFollowingModel, final Desire mandatoryDesire, final Desire voluntaryDesire)
- throws ParameterException, OperationalPlanException
- {
- double dLeft = 0;
- double dRight = 0;
- Speed vCong = parameters.getParameter(VCONG);
- Speed ownSpeed = perception.getPerceptionCategoryOrNull(EgoPerception.class).getSpeed();
- if (ownSpeed.gt(vCong))
- {
- double sigma = parameters.getParameter(SOCIO);
- NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
- InfrastructurePerception infra = perception.getPerceptionCategory(InfrastructurePerception.class);
- boolean leftLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.LEFT).si > 0.0;
- boolean rightLane = infra.getLegalLaneChangePossibility(RelativeLane.CURRENT, LateralDirectionality.RIGHT).si > 0.0;
- // change right to get out of the way
- if (rightLane && mandatoryDesire.right() >= 0.0)
- {
- PerceptionCollectable<HeadwayGtu, LaneBasedGtu> followers = neighbors.getFollowers(RelativeLane.CURRENT);
- if (!followers.isEmpty())
- {
- double rho = parameters.getParameter(RHO);
- HeadwayGtu follower = followers.first();
- double rhoFollower = follower.getParameters().getParameter(RHO);
- if (rhoFollower * sigma > rho)
- {
- dRight = rhoFollower * sigma;
- }
- }
- }
- // stay right to keep out of the way
- if (leftLane && mandatoryDesire.left() <= 0.0)
- {
- PerceptionCollectable<HeadwayGtu, LaneBasedGtu> followers = neighbors.getFollowers(RelativeLane.LEFT);
- if (followers != null && !followers.isEmpty())
- {
- double rho;
- PerceptionCollectable<HeadwayGtu, LaneBasedGtu> leaders = neighbors.getLeaders(RelativeLane.LEFT);
- if (leaders != null && !leaders.isEmpty())
- {
- HeadwayGtu leader = leaders.first();
- Speed vDes = Try.assign(() -> perception.getGtu().getDesiredSpeed(),
- "Could not obtain GTU from perception.");
- Speed vGain = parameters.getParameter(VGAIN);
- Length x0 = parameters.getParameter(LOOKAHEAD);
- rho = Tailgating.socialPressure(ownSpeed, vCong, vDes, leader.getSpeed(), vGain, leader.getDistance(),
- x0);
- }
- else
- {
- rho = 0.0;
- }
- HeadwayGtu follower = followers.first();
- Speed vGainFollower = follower.getParameters().getParameter(VGAIN);
- Length x0Follower = follower.getParameters().getParameter(LOOKAHEAD);
- double rhoFollower = Tailgating.socialPressure(follower.getSpeed(), vCong, follower.getDesiredSpeed(),
- ownSpeed, vGainFollower, follower.getDistance(), x0Follower);
- if (rhoFollower * sigma > rho)
- {
- dLeft = -rhoFollower * sigma;
- }
- }
- }
- }
- return new Desire(dLeft, dRight);
- }
- @Override
- public final String toString()
- {
- return "IncentiveSocioSpeed";
- }
- }