private float getAcceleration(StreetMobilityInfo smi, StreetMobilityInfo nextCar) {
float accel;
if (nextCar == null) return smi.acceleration;
accel =
(float)
(2
* (smi.getRemainingDist() - nextCar.getRemainingDist() - smi.getCarSpacing())
/ smi.stepTime
- 2 * (smi.currSpeed - nextCar.currSpeed));
if (accel > smi.acceleration) return smi.acceleration;
else return accel;
}
public StreetMobilityInfo getClosestCarInfo(StreetMobilityInfo smi, Integer id) {
StreetMobilityInfo returnValue = null;
LaneChangeInfo lci = (LaneChangeInfo) laneChangers.get(id);
if (lci == null) return null; // this is wrong "currentlane"
lci.nextCar = getNextCar(smi.current.getLanes(smi)[lci.nextLane], smi);
if (lci.nextCar == null) return null;
// float spacing = (float)smi.getCarSpacing()-1; // floating point imprecision here...
if (lci.nextCar.getRemainingDist() + RoadSegment.CAR_LENGTH + RoadSegment.SPACE
> smi.getRemainingDist()) throw new RuntimeException("Wrong next car!");
if (smi.nextCar == null || smi.nextCar.getRemainingDist() < lci.nextCar.getRemainingDist())
returnValue = lci.nextCar;
else returnValue = smi.nextCar;
if (smi.getRemainingDist() <= returnValue.getRemainingDist())
throw new RuntimeException("Wrong car picked!");
return returnValue;
}
/**
* According to the following criterium: acc' (M') - acc (M) > p [ acc (B) + acc (B') - acc' (B) -
* acc' (B') ] + athr
*
* @param smi
* @return
*/
public boolean incentiveToChange(StreetMobilityInfo smi) {
float accMPrime, accM, accB = 0, accBPrime, accPrimeB = 0, accPrimeBPrime;
// no need to change lanes
if (smi.nextCar == null || smi.nextCar.currSpeed > smi.currSpeed) {
return false;
}
int currentLane = smi.current.getLane(smi.currentLane);
// get available lanes
LinkedList lanes[] = smi.current.getLanes(smi);
int laneNumber = -1;
for (int i = 0; i < 2; i++) {
if (i == 0 && safeLeft) laneNumber = currentLane - 1;
else if (i == 1 && safeRight) laneNumber = currentLane + 1;
else continue;
ListIterator li = lanes[laneNumber].listIterator();
StreetMobilityInfo back = null, front = null;
while (li.hasNext()) {
back = (StreetMobilityInfo) li.next();
// is there room behind?
if (back.getRemainingDist() > smi.getRemainingDist()) {
// set next car info
if (li.hasPrevious()) front = back.nextCar;
break;
}
}
// use acceleration over next second
accM = getAcceleration(smi, smi.nextCar);
if (accM < 0) accM = 0;
accMPrime = getAcceleration(smi, front);
if (accMPrime < 0) accM = 0;
// before going further, see if there's any advantage at all
if (accMPrime - accM > ACC_THRESHOLD) {
if (back == null) return true; // no worries if there is no one back there
int index = smi.currentLane.indexOf(smi) + 1;
StreetMobilityInfo currentBack = null;
if (index < smi.currentLane.size())
currentBack = (StreetMobilityInfo) smi.currentLane.get(index);
if (currentBack != null) {
accB = getAcceleration(currentBack, smi);
accPrimeB = getAcceleration(currentBack, smi.nextCar);
}
accBPrime = getAcceleration(back, front);
accPrimeBPrime = getAcceleration(back, smi);
// finally, we can tell if there is enough incentive
float incentive =
POLITENESS * (accB + accBPrime - accPrimeB - accPrimeBPrime) + ACC_THRESHOLD;
if (accMPrime - accM > incentive) return true;
} else if (i == 0) safeLeft = false; // indicate no incentive to go into left lane
}
return false;
}
private boolean canChangeToLane(LinkedList list, StreetMobilityInfo smi) {
ListIterator li = list.listIterator();
StreetMobilityInfo back = null;
while (li.hasNext()) {
back = (StreetMobilityInfo) li.next();
// is it safe to the side?
if (back.getRemainingDist() + smi.getCarSpacing() > smi.getRemainingDist()) return false;
// is there a car behind?
if (back.getRemainingDist() > smi.getRemainingDist()) {
// make sure there is room in front, too.
if (back.nextCar != null
&& back.getRemainingDist() - back.nextCar.getRemainingDist()
< smi.getCarSpacing() // is there room between cars?
|| back.getRemainingDist() - smi.getCarSpacing() <= smi.getRemainingDist()) {
return false;
}
// case where node is near end of segment
if (back.nextCar == null && smi.getRemainingDist() < smi.getCarSpacing()) {
// get back car from next road
int index = smi.current.getLane(list);
LinkedList lanes[];
if (smi.nextEnd.distance(smi.nextRS.getEndPoint()) == 0) lanes = smi.nextRS.carsToEnd;
else lanes = smi.nextRS.carsToEnd;
if (lanes.length > index) { // there is another lane like this one
if (lanes[index].size() > 0) {
StreetMobilityInfo last = (StreetMobilityInfo) lanes[index].getLast();
if (last.current.length - last.getRemainingDist() + smi.getRemainingDist()
< smi.getCarSpacing()) return false; // too little space
}
} else { // lane will end, don't try to change
return false;
}
}
break;
}
}
if (back == null) return true; // no cars in lane
// all cars in lane are in front of the current car
else if (smi.getRemainingDist() > back.getRemainingDist()) {
// is it too close?
if (smi.getRemainingDist() - back.getRemainingDist() < smi.getCarSpacing()) {
return false;
}
} else { // is it safe behind?
float backSpeed = back.currSpeed;
if (backSpeed > smi.currSpeed) { // will back car have to decelerate?
double dist = back.getRemainingDist() - smi.getRemainingDist();
double time = dist / (0.5 * (backSpeed - smi.currSpeed));
if ((backSpeed - smi.currSpeed) / (2 * time) < B_SAVE) return true;
} else return true;
}
return false;
}
