package org.opentrafficsim.demo.carFollowing; import static org.opentrafficsim.road.gtu.lane.RoadGTUTypes.CAR; import java.awt.Container; import java.awt.Frame; import java.io.IOException; import java.net.URL; import java.rmi.RemoteException; import java.util.ArrayList; import java.util.Arrays; import java.util.HashSet; import java.util.LinkedHashSet; import java.util.List; import java.util.Random; import java.util.Set; import javax.naming.NamingException; import javax.swing.JComponent; import javax.swing.JPanel; import javax.swing.JScrollPane; import javax.swing.SwingUtilities; import org.djunits.unit.UNITS; import org.djunits.value.vdouble.scalar.Acceleration; import org.djunits.value.vdouble.scalar.Duration; import org.djunits.value.vdouble.scalar.Length; import org.djunits.value.vdouble.scalar.Speed; import org.djunits.value.vdouble.scalar.Time; import org.opentrafficsim.base.modelproperties.BooleanProperty; import org.opentrafficsim.base.modelproperties.CompoundProperty; import org.opentrafficsim.base.modelproperties.ProbabilityDistributionProperty; import org.opentrafficsim.base.modelproperties.Property; import org.opentrafficsim.base.modelproperties.PropertyException; import org.opentrafficsim.base.modelproperties.SelectionProperty; import org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface; import org.opentrafficsim.core.dsol.OTSModelInterface; import org.opentrafficsim.core.dsol.OTSSimTimeDouble; import org.opentrafficsim.core.geometry.OTSGeometryException; import org.opentrafficsim.core.geometry.OTSLine3D; import org.opentrafficsim.core.geometry.OTSPoint3D; import org.opentrafficsim.core.gtu.GTUDirectionality; import org.opentrafficsim.core.gtu.GTUException; import org.opentrafficsim.core.gtu.GTUType; import org.opentrafficsim.core.gtu.animation.GTUColorer; import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics; import org.opentrafficsim.core.network.LongitudinalDirectionality; import org.opentrafficsim.core.network.NetworkException; import org.opentrafficsim.core.network.OTSNetwork; import org.opentrafficsim.core.network.OTSNode; import org.opentrafficsim.graphs.AccelerationContourPlot; import org.opentrafficsim.graphs.ContourPlot; import org.opentrafficsim.graphs.DensityContourPlot; import org.opentrafficsim.graphs.FlowContourPlot; import org.opentrafficsim.graphs.LaneBasedGTUSampler; import org.opentrafficsim.graphs.SpeedContourPlot; import org.opentrafficsim.graphs.TrajectoryPlot; import org.opentrafficsim.road.animation.AnimationToggles; import org.opentrafficsim.road.gtu.animation.DefaultCarAnimation; import org.opentrafficsim.road.gtu.lane.LaneBasedIndividualGTU; import org.opentrafficsim.road.gtu.lane.tactical.LaneBasedGTUFollowingTacticalPlanner; import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld; import org.opentrafficsim.road.gtu.lane.tactical.following.IDMOld; import org.opentrafficsim.road.gtu.lane.tactical.following.IDMPlusOld; import org.opentrafficsim.road.gtu.strategical.LaneBasedStrategicalPlanner; import org.opentrafficsim.road.gtu.strategical.route.LaneBasedStrategicalRoutePlanner; import org.opentrafficsim.road.modelproperties.IDMPropertySet; import org.opentrafficsim.road.network.factory.LaneFactory; import org.opentrafficsim.road.network.lane.CrossSectionLink; import org.opentrafficsim.road.network.lane.DirectedLanePosition; import org.opentrafficsim.road.network.lane.Lane; import org.opentrafficsim.road.network.lane.LaneType; import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor; import org.opentrafficsim.simulationengine.AbstractWrappableAnimation; import org.opentrafficsim.simulationengine.OTSSimulationException; import org.opentrafficsim.simulationengine.SimpleSimulatorInterface; import nl.tudelft.simulation.dsol.SimRuntimeException; import nl.tudelft.simulation.dsol.gui.swing.HTMLPanel; import nl.tudelft.simulation.dsol.gui.swing.TablePanel; import nl.tudelft.simulation.dsol.simulators.SimulatorInterface; /** * Single lane road consisting of three consecutive links.
* Tests that GTUs correctly transfer themselves onto the next lane and that the graph samplers handle this situation. *

* Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* BSD-style license. See OpenTrafficSim License. *

* $LastChangedDate$, @version $Revision$, by $Author$, * initial version 30 jan. 2015
* @author Alexander Verbraeck * @author Peter Knoppers */ public class SequentialLanes extends AbstractWrappableAnimation implements UNITS { /** */ private static final long serialVersionUID = 1L; /** The model. */ private SequentialModel model; /** * Create a SequentialLanes simulation. * @throws PropertyException when the provided properties could not be handled */ public SequentialLanes() throws PropertyException { List> outputProperties = new ArrayList<>(); outputProperties.add(new BooleanProperty("DensityPlot", "Density", "Density contour plot", true, false, 0)); outputProperties.add(new BooleanProperty("FlowPlot", "Flow", "Flow contour plot", true, false, 1)); outputProperties.add(new BooleanProperty("SpeedPlot", "Speed", "Speed contour plot", true, false, 2)); outputProperties .add(new BooleanProperty("AccelerationPlot", "Acceleration", "Acceleration contour plot", true, false, 3)); outputProperties.add( new BooleanProperty("TrajectoryPlot", "Trajectories", "Trajectory (time/distance) diagram", true, false, 4)); this.properties.add(new CompoundProperty("OutputGraphs", "Output graphs", "Select the graphical output", outputProperties, true, 1000)); } /** {@inheritDoc} */ @Override public final void stopTimersThreads() { super.stopTimersThreads(); this.model = null; } /** * Main program. * @param args String[]; the command line arguments (not used) * @throws SimRuntimeException when simulation cannot be created with given parameters */ public static void main(final String[] args) throws SimRuntimeException { SwingUtilities.invokeLater(new Runnable() { @SuppressWarnings("synthetic-access") @Override public void run() { try { SequentialLanes sequential = new SequentialLanes(); List> localProperties = sequential.getProperties(); try { localProperties.add(new ProbabilityDistributionProperty("TrafficComposition", "Traffic composition", "Mix of passenger cars and trucks", new String[] { "passenger car", "truck" }, new Double[] { 0.8, 0.2 }, false, 10)); } catch (PropertyException exception) { exception.printStackTrace(); } localProperties.add(new SelectionProperty("CarFollowingModel", "Car following model", "The car following model determines " + "the acceleration that a vehicle will make taking into account " + "nearby vehicles, infrastructural restrictions (e.g. speed limit, " + "curvature of the road) capabilities of the vehicle and personality " + "of the driver.", new String[] { "IDM", "IDM+" }, 1, false, 1)); localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMCar", "Car", new Acceleration(1.0, METER_PER_SECOND_2), new Acceleration(1.5, METER_PER_SECOND_2), new Length(2.0, METER), new Duration(1.0, SECOND), 2)); localProperties.add(IDMPropertySet.makeIDMPropertySet("IDMTruck", "Truck", new Acceleration(0.5, METER_PER_SECOND_2), new Acceleration(1.25, METER_PER_SECOND_2), new Length(2.0, METER), new Duration(1.0, SECOND), 3)); sequential.buildAnimator(new Time(0.0, SECOND), new Duration(0.0, SECOND), new Duration(3600.0, SECOND), localProperties, null, true); sequential.panel.getTabbedPane().addTab("info", sequential.makeInfoPane()); } catch (SimRuntimeException | NamingException | OTSSimulationException | PropertyException exception) { exception.printStackTrace(); } } }); } /** {@inheritDoc} */ @Override protected final void addAnimationToggles() { AnimationToggles.setTextAnimationTogglesStandard(this); } /** {@inheritDoc} */ @Override protected final OTSModelInterface makeModel(final GTUColorer colorer) { this.model = new SequentialModel(this.savedUserModifiedProperties, colorer); return this.model; } /** * @return an info pane to be added to the tabbed pane. */ protected final JComponent makeInfoPane() { // Make the info tab String helpSource = "/" + StraightModel.class.getPackage().getName().replace('.', '/') + "/IDMPlus.html"; URL page = StraightModel.class.getResource(helpSource); if (page != null) { try { HTMLPanel htmlPanel = new HTMLPanel(page); return new JScrollPane(htmlPanel); } catch (IOException exception) { exception.printStackTrace(); } } return new JPanel(); } /** {@inheritDoc} */ @Override protected final void addTabs(final SimpleSimulatorInterface simulator) throws OTSSimulationException, PropertyException { // Make the tab with the plots Property output = new CompoundProperty("", "", "", this.properties, false, 0).findByKey("OutputGraphs"); if (null == output) { throw new Error("Cannot find output properties"); } ArrayList graphs = new ArrayList<>(); if (output instanceof CompoundProperty) { CompoundProperty outputProperties = (CompoundProperty) output; for (Property ap : outputProperties.getValue()) { if (ap instanceof BooleanProperty) { BooleanProperty bp = (BooleanProperty) ap; if (bp.getValue()) { graphs.add(bp); } } } } else { throw new Error("output properties should be compound"); } int graphCount = graphs.size(); int columns = (int) Math.ceil(Math.sqrt(graphCount)); int rows = 0 == columns ? 0 : (int) Math.ceil(graphCount * 1.0 / columns); TablePanel charts = new TablePanel(columns, rows); for (int i = 0; i < graphCount; i++) { String graphName = graphs.get(i).getKey(); Container container = null; LaneBasedGTUSampler graph; if (graphName.contains("Trajectories")) { TrajectoryPlot tp = new TrajectoryPlot("TrajectoryPlot", new Duration(0.5, SECOND), this.model.getPath(), simulator); tp.setTitle("Trajectory Graph"); tp.setExtendedState(Frame.MAXIMIZED_BOTH); graph = tp; container = tp.getContentPane(); } else { ContourPlot cp; if (graphName.contains("Density")) { cp = new DensityContourPlot("DensityPlot", this.model.getPath()); cp.setTitle("Density Contour Graph"); } else if (graphName.contains("Speed")) { cp = new SpeedContourPlot("SpeedPlot", this.model.getPath()); cp.setTitle("Speed Contour Graph"); } else if (graphName.contains("Flow")) { cp = new FlowContourPlot("FlowPlot", this.model.getPath()); cp.setTitle("Flow Contour Graph"); } else if (graphName.contains("Acceleration")) { cp = new AccelerationContourPlot("AccelerationPlot", this.model.getPath()); cp.setTitle("Acceleration Contour Graph"); } else { continue; // throw new Error("Unhandled type of contourplot: " + graphName); } graph = cp; container = cp.getContentPane(); } // Add the container to the matrix charts.setCell(container, i % columns, i / columns); this.model.getPlots().add(graph); } addTab(getTabCount(), "statistics", charts); } /** {@inheritDoc} */ @Override public final String shortName() { return "Sequential Lanes"; } /** {@inheritDoc} */ @Override public final String description() { return "

Simulation of a straight one-lane road consisting of three consecutive Links

" + "Simulation of a single lane road consisting of two 1 km stretches with a 1m stretch in between. " + "This will test transition of a GTU from one lane section onto the next.
" + "Vehicles are generated at a constant rate of 1500 veh/hour.
" + "Selected trajectory and contour plots are generated during the simulation."; } } /** * Build the sequential model. *

* Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* BSD-style license. See OpenTrafficSim License. *

* $LastChangedDate$, @version $Revision$, by $Author$, * initial version 0 jan. 2015
* @author Peter Knoppers */ class SequentialModel implements OTSModelInterface, UNITS { /** */ private static final long serialVersionUID = 20150130L; /** The simulator. */ private OTSDEVSSimulatorInterface simulator; /** The network. */ private final OTSNetwork network = new OTSNetwork("network"); /** The nodes of our network in the order that all GTUs will visit them. */ private List nodes = new ArrayList<>(); /** The car following model, e.g. IDM Plus for cars. */ private GTUFollowingModelOld carFollowingModelCars; /** The car following model, e.g. IDM Plus for trucks. */ private GTUFollowingModelOld carFollowingModelTrucks; /** The probability that the next generated GTU is a passenger car. */ private double carProbability; /** The headway (inter-vehicle time). */ private Duration headway; /** Number of cars created. */ private int carsCreated = 0; /** Type of all GTUs. */ private GTUType gtuType = CAR; /** Minimum distance. */ private Length minimumDistance = new Length(0, METER); /** The Lane where newly created Cars initially placed on. */ private Lane initialLane; /** Maximum distance. */ private Length maximumDistance = new Length(2001, METER); /** The contour plots. */ private List plots = new ArrayList<>(); /** The random number generator used to decide what kind of GTU to generate. */ private Random randomGenerator = new Random(12345); /** User settable properties. */ private List> properties = null; /** The sequence of Lanes that all vehicles will follow. */ private List path = new ArrayList<>(); /** The speedLimit on all Lanes. */ private Speed speedLimit; /** The GTUColorer for the generated vehicles. */ private final GTUColorer gtuColorer; /** * @param properties the user settable properties * @param gtuColorer the default and initial GTUColorer, e.g. a DefaultSwitchableTUColorer. */ SequentialModel(final List> properties, final GTUColorer gtuColorer) { this.properties = properties; this.gtuColorer = gtuColorer; } /** * @return a newly created path (which all GTUs in this simulation will follow). */ public List getPath() { return new ArrayList<>(this.path); } /** {@inheritDoc} */ @Override public final void constructModel(final SimulatorInterface theSimulator) throws SimRuntimeException, RemoteException { this.simulator = (OTSDEVSSimulatorInterface) theSimulator; this.speedLimit = new Speed(100, KM_PER_HOUR); // TODO Bezier curves make 180 degree mistake when minus is true boolean minus = false; this.nodes = new ArrayList<>(); try { OTSNode n0 = new OTSNode(this.network, "Node(0,0)", new OTSPoint3D(0, 0)); OTSNode n1 = new OTSNode(this.network, "Node(1000,0)", new OTSPoint3D(1000, 0)); OTSNode n2 = new OTSNode(this.network, "Node(1020,3)", new OTSPoint3D(1020, 3)); OTSNode n3 = new OTSNode(this.network, "Node(2000,197)", new OTSPoint3D(2000, 197)); OTSNode n4 = new OTSNode(this.network, "Node(2020,200)", new OTSPoint3D(2020, 200)); OTSNode n5 = new OTSNode(this.network, "Node(2200,200)", new OTSPoint3D(2200, 200)); this.nodes.addAll(Arrays.asList(new OTSNode[] { n0, n1, n2, n3, n4, n5 })); Set compatibility = new HashSet<>(); compatibility.add(this.gtuType); LaneType laneType = new LaneType("CarLane", compatibility); // Now we can build a series of Links with one Lane on them ArrayList links = new ArrayList<>(); OTSLine3D l01 = new OTSLine3D(n0.getPoint(), n1.getPoint()); OTSLine3D l12 = LaneFactory.makeBezier(n0, n1, n2, n3); OTSLine3D l23 = minus ? new OTSLine3D(n3.getPoint(), n2.getPoint()) : new OTSLine3D(n2.getPoint(), n3.getPoint()); OTSLine3D l34 = LaneFactory.makeBezier(n2, n3, n4, n5); OTSLine3D l45 = new OTSLine3D(n4.getPoint(), n5.getPoint()); OTSLine3D[] lines = new OTSLine3D[] { l01, l12, l23, l34, l45 }; for (int i = 1; i < this.nodes.size(); i++) { OTSNode fromNode = this.nodes.get(i - 1); OTSNode toNode = this.nodes.get(i); OTSLine3D line = lines[i - 1]; String linkName = fromNode.getId() + "-" + toNode.getId(); LongitudinalDirectionality direction = line.equals(l23) && minus ? LongitudinalDirectionality.DIR_MINUS : LongitudinalDirectionality.DIR_PLUS; Lane[] lanes = LaneFactory.makeMultiLane(this.network, linkName, fromNode, toNode, line.getPoints(), 1, laneType, this.speedLimit, this.simulator, direction); if (i == this.nodes.size() - 1) { new SinkSensor(lanes[0], new Length(100.0, METER), this.simulator); } this.path.add(lanes[0]); links.add(lanes[0].getParentLink()); if (1 == i) { this.initialLane = lanes[0]; } } } catch (NamingException | NetworkException | OTSGeometryException exception) { exception.printStackTrace(); } // 1500 [veh / hour] == 2.4s headway this.headway = new Duration(3600.0 / 1500.0, SECOND); // Schedule creation of the first car (it will re-schedule itself one headway later, etc.). this.simulator.scheduleEventAbs(new Time(0.0, SECOND), this, this, "generateCar", null); // Schedule regular updates of the graphs for (int t = 1; t <= 1800; t++) { this.simulator.scheduleEventAbs(new Time(t - 0.001, SECOND), this, this, "drawGraphs", null); } try { String carFollowingModelName = null; CompoundProperty propertyContainer = new CompoundProperty("", "", "", this.properties, false, 0); Property cfmp = propertyContainer.findByKey("CarFollowingModel"); if (null == cfmp) { throw new Error("Cannot find \"Car following model\" property"); } if (cfmp instanceof SelectionProperty) { carFollowingModelName = ((SelectionProperty) cfmp).getValue(); } else { throw new Error("\"Car following model\" property has wrong type"); } for (Property ap : new CompoundProperty("", "", "", this.properties, false, 0)) { if (ap instanceof SelectionProperty) { SelectionProperty sp = (SelectionProperty) ap; if ("CarFollowingModel".equals(sp.getKey())) { carFollowingModelName = sp.getValue(); } } else if (ap instanceof ProbabilityDistributionProperty) { ProbabilityDistributionProperty pdp = (ProbabilityDistributionProperty) ap; if (ap.getKey().equals("TrafficComposition")) { this.carProbability = pdp.getValue()[0]; } } else if (ap instanceof CompoundProperty) { CompoundProperty cp = (CompoundProperty) ap; if (ap.getKey().equals("OutputGraphs")) { continue; // Output settings are handled elsewhere } if (ap.getKey().contains("IDM")) { // System.out.println("Car following model name appears to be " + ap.getKey()); Acceleration a = IDMPropertySet.getA(cp); Acceleration b = IDMPropertySet.getB(cp); Length s0 = IDMPropertySet.getS0(cp); Duration tSafe = IDMPropertySet.getTSafe(cp); GTUFollowingModelOld gtuFollowingModel = null; if (carFollowingModelName.equals("IDM")) { gtuFollowingModel = new IDMOld(a, b, s0, tSafe, 1.0); } else if (carFollowingModelName.equals("IDM+")) { gtuFollowingModel = new IDMPlusOld(a, b, s0, tSafe, 1.0); } else { throw new Error("Unknown gtu following model: " + carFollowingModelName); } if (ap.getKey().contains("Car")) { this.carFollowingModelCars = gtuFollowingModel; } else if (ap.getKey().contains("Truck")) { this.carFollowingModelTrucks = gtuFollowingModel; } else { throw new Error("Cannot determine gtu type for " + ap.getKey()); } } } } } catch (Exception e) { System.out.println("Caught exception " + e); } } /** {@inheritDoc} */ @Override public SimulatorInterface getSimulator() throws RemoteException { return this.simulator; } /** {@inheritDoc} */ @Override public OTSNetwork getNetwork() { return this.network; } /** * @return contourPlots */ public final List getPlots() { return this.plots; } /** * @return minimumDistance */ public final Length getMinimumDistance() { return this.minimumDistance; } /** * @return maximumDistance */ public final Length getMaximumDistance() { return this.maximumDistance; } /** * Notify the contour plots that the underlying data has changed. */ protected final void drawGraphs() { for (LaneBasedGTUSampler plot : this.plots) { plot.reGraph(); } } /** * Generate cars at a fixed rate (implemented by re-scheduling this method). */ protected final void generateCar() { boolean generateTruck = this.randomGenerator.nextDouble() > this.carProbability; Length initialPosition = new Length(0, METER); Speed initialSpeed = new Speed(100, KM_PER_HOUR); Set initialPositions = new LinkedHashSet<>(1); try { initialPositions.add(new DirectedLanePosition(this.initialLane, initialPosition, GTUDirectionality.DIR_PLUS)); Length vehicleLength = new Length(generateTruck ? 15 : 4, METER); GTUFollowingModelOld gtuFollowingModel = generateTruck ? this.carFollowingModelTrucks : this.carFollowingModelCars; if (null == gtuFollowingModel) { throw new Error("gtuFollowingModel is null"); } BehavioralCharacteristics behavioralCharacteristics = DefaultsFactory.getDefaultBehavioralCharacteristics(); LaneBasedIndividualGTU gtu = new LaneBasedIndividualGTU("" + (++this.carsCreated), this.gtuType, vehicleLength, new Length(1.8, METER), new Speed(200, KM_PER_HOUR), this.simulator, this.network); LaneBasedStrategicalPlanner strategicalPlanner = new LaneBasedStrategicalRoutePlanner(behavioralCharacteristics, new LaneBasedGTUFollowingTacticalPlanner(gtuFollowingModel, gtu), gtu); gtu.initWithAnimation(strategicalPlanner, initialPositions, initialSpeed, DefaultCarAnimation.class, this.gtuColorer); this.simulator.scheduleEventRel(this.headway, this, this, "generateCar", null); } catch (SimRuntimeException | NamingException | NetworkException | GTUException | OTSGeometryException exception) { exception.printStackTrace(); } } }