org.opentrafficsim.road.gtu.lane.control.LinearAcc Maven / Gradle / Ivy
package org.opentrafficsim.road.gtu.lane.control;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypeDouble;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.base.parameters.constraint.NumericConstraint;
import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
/**
*
* Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* BSD-style license. See OpenTrafficSim License.
*
* @author Alexander Verbraeck
* @author Peter Knoppers
* @author Wouter Schakel
*/
public class LinearAcc extends AbstractLinearFreeControl
{
/** Gap error gain parameter. */
public static final ParameterTypeDouble KS =
new ParameterTypeDouble("ks", "Gap error gain", 0.2, NumericConstraint.POSITIVE);
/** Speed error gain parameter. */
public static final ParameterTypeDouble KV =
new ParameterTypeDouble("kv", "Speed error gain", 0.4, NumericConstraint.POSITIVE);
/**
* Constructor using default sensors with no delay.
* @param delayedActuation DelayedActuation; delayed actuation
*/
public LinearAcc(final DelayedActuation delayedActuation)
{
super(delayedActuation);
}
/** {@inheritDoc} */
@Override
public Acceleration getFollowingAcceleration(final LaneBasedGtu gtu,
final PerceptionCollectable leaders, final Parameters settings) throws ParameterException
{
HeadwayGtu leader = leaders.first();
double es =
leader.getDistance().si - gtu.getSpeed().si * settings.getParameter(TDACC).si - settings.getParameter(X0).si;
double ev = leader.getSpeed().si - gtu.getSpeed().si;
return Acceleration.instantiateSI(settings.getParameter(KS) * es + settings.getParameter(KV) * ev);
}
}