/// <summary>
/// Get the Intelligent Driver Model from a lane, just a helper method
/// </summary>
/// <returns>Force based on acceleration given by IDM</returns>
private Vector2 IdmAcceleration(int laneIdx)
{
return(IntelligentDriverModel.ComputeAccelerationIntensity(
car,
Path.TangentOfProjectedPosition(car.Position),
LeaderVehicleInfo[laneIdx].DistToNextCar,
LeaderVehicleInfo[laneIdx].ApproachingRate
));
}
/// <summary>
/// Apply Intelligent Driver Model based acceleration to the vehicle
/// </summary>
/// <returns>Acceleration given by IDM</returns>
protected override Vector2 ComputeTangentialAcceleration()
{
Vector2 laneDir = lane.Path.TangentOfProjectedPosition(car.Position);
Vector2 laneDirAcc = IntelligentDriverModel.ComputeAccelerationIntensity(
car,
laneDir,
LeaderVehicleInfo[lane.LaneIdx].DistToNextCar,
LeaderVehicleInfo[lane.LaneIdx].ApproachingRate
);
Vector2 vehicleDir = Path.TangentOfProjectedPosition(car.Position);
Vector2 longitudinalAcc = Vector2.Dot(laneDirAcc, vehicleDir) * vehicleDir;
return(longitudinalAcc);
}
