/// <summary>
/// 値のコピーを作成する
/// </summary>
/// <param name="running">DRunning</param>
public DRunning(DRunning running)
{
acceleration = new DAcceleration(running.acceleration);
v_optimal = new DIC(running.v_optimal);
v_difference = new DVDifference(running.v_difference);
gap = new DGap(running.gap);
delta = new DDelta(running.delta);
RR = new Recognition_Rate(running.RR);
pedal = new Pedal(running.pedal);
}
public Pedal pedal; //ペダルの踏みかえ関係
/// <summary>
/// 実態を持たせる
/// </summary>
public DRunning()
{
acceleration = new DAcceleration();
v_optimal = new DIC();
v_difference = new DVDifference();
gap = new DGap();
delta = new DDelta();
RR = new Recognition_Rate();
pedal = new Pedal();
}
/// <summary>
/// 最適速度へ加速度の再調節処理
/// </summary>
/// <param name="ID">車両ID</param>
private void _redecide_acceleration(int ID)
{
DVDifference DVD = driver[ID].running.v_difference;
double Voptimal = driver[ID].running.v_optimal.current;
double V = car[ID].running.velocity.current;
double Nv_n = 2 / DVD.current * (Voptimal - V) - 1;
double fv_n = 1 / (1 + Math.Exp(-Nv_n / 0.1));
double fg = driver[ID].running.RR.fg.value;
double a_max = __calculate_maximum_acceleration(ID) * DVD.current / DVD.at_firtst_time;
double deltaG = driver[ID].running.delta.gap;
double minimum_a = car[ID].eigenvalue.acceleration.minimum;
double f, next_a;
if (deltaG <= 0)
{
f = (1 - fv_n) * fg + fv_n;
}
else
{
f = (fv_n - 1) * fg + 1;
}
next_a = a_max * f;
if (Math.Abs(next_a) < minimum_a)
{
if (a_max > 0)
{
next_a = minimum_a;
}
else
{
next_a = -minimum_a;
}
}
driver[ID].running.acceleration.value = next_a;
__pedal_changing(ID);
if (Driver_Mode == DriverMode.Human)
{
driver[ID].running.RR.random_value.Pv = random.NextDouble();
}
double ABS = Math.Abs(Voptimal - V);
if (ABS < driver[ID].running.v_difference.current)
{
if (ABS > driver[ID].eigenvalue.velocity.s_difference)
{
DVD.current = ABS;
}
else
{
DVD.current = driver[ID].eigenvalue.velocity.s_difference;
}
}
}
/// <summary>
/// 最適速度の再認識処理
/// </summary>
/// <param name="ID">車両ID</param>
private void _recognition_optimal_velocity(int ID)
{
double Voptimal_previous = driver[ID].running.v_optimal.current;
double Voptimal = driver[ID].running.v_optimal.current = driver[ID].running.v_optimal.instantaneous;
DDelta delta = driver[ID].running.delta;
delta.velocity = car[ID].running.velocity.current - Voptimal;
DVDifference DVD = driver[ID].running.v_difference;
double Vd_n = DVD.current;
double Nv_ = 2 / Vd_n * Math.Abs(Voptimal_previous - Voptimal) - 1;
double fv_ = 1 / (1 + Math.Exp(-Nv_ / 0.1));
DVelocity DV = driver[ID].eigenvalue.velocity;
double Vd_optimal = (DV.c_difference - DV.s_difference) / DV.cruise * Voptimal + DV.s_difference;
double Vd = (Vd_optimal - Vd_n) * fv_ + Vd_n;
if (Vd > Vd_optimal)
{
DVD.at_firtst_time = DVD.current = Vd_optimal;
}
else
{
if (Vd > DV.s_difference)
{
DVD.at_firtst_time = DVD.current = Vd;
}
else
{
DVD.at_firtst_time = DVD.current = DV.s_difference;
}
}
if (Driver_Mode == DriverMode.Human)
{
driver[ID].running.RR.random_value.Pg = random.NextDouble();
}
driver[ID].running.RR.random_value.Pv = 0;
if (car[ID].running.gap > driver[ID].running.gap.influenced)
{
driver[ID].running.RR.effectiveness = false;
}
}
/// <summary>
/// 値のコピーを作成する
/// </summary>
/// <param name="difference">DVDifference</param>
public DVDifference(DVDifference difference)
{
at_firtst_time = difference.at_firtst_time;
current = difference.current;
}