/**
* Calculates the acceleration of vehicle me.
*
* @param me
* @param laneSegment
* @param alphaT
* @param alphaV0
* @param alphaA
* @return the calculated acceleration
*/
public double calcAcc(
Vehicle me, LaneSegment laneSegment, double alphaT, double alphaV0, double alphaA) {
// By default only consider the vehicle in front when calculating acceleration.
// LDMs that consider more than the front vehicle should override this method.
final Vehicle frontVehicle = laneSegment.frontVehicle(me);
return calcAcc(me, frontVehicle, alphaT, alphaV0, alphaA);
}
/**
* Calculates the acceleration of vehicle me, under European lane changing rules (no
* "undertaking").
*
* @param vCritEur critical speed under which European rules no longer apply
* @param me
* @param laneSegment
* @param leftLaneSegment
* @param alphaT
* @param alphaV0
* @param alphaA
* @return the acceleration of vehicle me
*/
public double calcAccEur(
double vCritEur,
Vehicle me,
LaneSegment laneSegment,
LaneSegment leftLaneSegment,
double alphaT,
double alphaV0,
double alphaA) {
// calculate normal acceleration in own lane
final double accInOwnLane = calcAcc(me, laneSegment, alphaT, alphaV0, alphaA);
// no lane on left-hand side
if (leftLaneSegment == null) {
return accInOwnLane;
}
// check left-vehicle's speed
final Vehicle newFrontLeft = leftLaneSegment.frontVehicle(me);
if (newFrontLeft == null) {
return accInOwnLane;
}
final double speedFront = newFrontLeft.getSpeed();
if (speedFront <= vCritEur) {
return accInOwnLane;
}
// condition me.getSpeed() > speedFront will be evaluated by softer tanh
// condition below
final double accLeft = calcAcc(me, leftLaneSegment, alphaT, alphaV0, alphaA);
// avoid hard switching by condition vMe>vLeft needed in European
// acceleration rule
final double frac = calcSmoothFraction(me.getSpeed(), speedFront);
final double accResult = frac * Math.min(accInOwnLane, accLeft) + (1 - frac) * accInOwnLane;
// if (speedFront != -1) {
// LOG.debug(String
// .format("pos=%.4f, accLeft: frac=%.4f, acc=%.4f, accLeft=%.4f, accResult=%.4f, meSpeed=%.2f,
// frontLeftSpeed=%.2f\n",
// me.getPosition(), frac, accInOwnLane, accLeft, accResult, me.getSpeed(), speedFront));
// }
return accResult;
}