/// <summary>
/// 車間距離を-1から1正規化にする
/// </summary>
/// <param name="ID">車両ID</param>
/// <param name="sign">車間距離の場合分け</param>
/// <returns>正規化された値</returns>
private double __calculate_NG(int ID)
{
double NG;
DGap DG = driver[ID].running.gap;
double G = car[ID].running.gap;
double deltaG = driver[ID].running.delta.gap;
if (G <= DG.influenced)
{
driver[ID].running.RR.effectiveness = true;
}
if (deltaG <= 0)
{
NG = -2 * (G - DG.closest) / (DG.cruise - DG.closest) + 1;
}
else
{
NG = 2 * (G - DG.cruise) / (DG.influenced - DG.cruise) - 1;
}
if (NG < -1)
{
NG = -1;
}
else if (NG > 1)
{
NG = 1;
}
return(NG);
}
/// <summary>
/// 車間距離シリーズを計算する
/// </summary>
/// <param name="ID">車両ID</param>
/// <returns>true -> 内側，false -> 外側</returns>
private double _calculate_Gseries(int ID)
{
DGap DG = driver[ID].running.gap;
DEGap DEG = driver[ID].eigenvalue.gap;
int front = car[ID].running.around.front;
double v = car[ID].running.velocity.current;
double v_f = car[front].running.velocity.current;
double T = driver[ID].eigenvalue.operation_time;
double Ab = car[ID].eigenvalue.acceleration.braking;
double Ab_f = car[front].eigenvalue.acceleration.braking;
double Abs = driver[ID].eigenvalue.acceleration.deceleration;
double Didling = v * T;
double Dbrake = v * v / (2 * Ab);
double Dbrake_f = v_f * v_f / (2 * Ab_f);
DG.closest = Didling + Dbrake - Dbrake_f;
if (DG.closest < DEG.stop)
{
DG.closest = DEG.stop;
}
else
{
DG.closest += DEG.stop;
}
DG.cruise = Didling + v * v / (2 * Abs) + (DEG.stop + DEG.move) / 2;
if (DG.cruise - 10 > DG.closest)
{
DG.cruise = DG.closest + 10;
}
DG.influenced = 2 * DG.cruise - DG.closest;
return(car[ID].running.gap - DG.cruise);
}
/// <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>
/// ドライバーの特徴を初期化
/// </summary>
private void _initialize_driver_eigenvalue()
{
driver = new List <Driver_Structure>(N);
for (int i = 0; i < N; i++)
{
Change_Unit change = new Change_Unit();
DVelocity DV = new DVelocity();
DV.cruise = change.km_h__to__m_s(100);
DV.c_difference = change.km_h__to__m_s(15);
DV.s_difference = change.km_h__to__m_s(1);
Pedal pedal = new Pedal();
pedal.foot_position = FootPosition.accel_pedal;
pedal.time_elapsed = pedal.time_required = 0;
DGap dg = new DGap();
dg.closest = dg.cruise = dg.influenced = 0;
DEGap deg = new DEGap();
double operation_time;
if (Driver_Mode == DriverMode.Human)
{
operation_time = 0.75;
deg.stop = 3;
deg.move = 6;
}
else
{
operation_time = 0.05;
deg.stop = 1;
deg.move = 1.1;
}
Driver_Structure DS = new Driver_Structure();
DS.eigenvalue.acceleration.acceleration = change.km_h__to__m_s(60) / 10;
DS.eigenvalue.acceleration.deceleration = Math.Pow(change.km_h__to__m_s(100), 2) / 2 / 60;
DS.eigenvalue.operation_time = operation_time;
DS.eigenvalue.velocity = new DVelocity(DV);
DS.eigenvalue.gap = new DEGap(deg);
DS.running.pedal = new Pedal(pedal);
DS.running.gap = new DGap(dg);
DS.running.v_optimal = new DIC(0, 0);
DS.running.RR.random_value = new Random_Value(0, 0);
DS.running.RR.effectiveness = true;
DS.running.v_difference = new DVDifference(deg.stop, deg.stop);
driver.Add(DS);
}
}
public double A; //代表面積
/// <summary>
/// 車間距離の認識確率
/// </summary>
/// <param name="ID">車両ID</param>
/// <returns>車間距離の認識率</returns>
public double calculate_Rerecognition_Rate(int ID)
{
double P;
calculate_optimal_velocity(ID);
int front = car[ID].running.around.front;
double V = car[ID].running.velocity.current;
double V_f = car[front].running.velocity.current;
double NG = driver[ID].running.RR.fg.normalized;
if (NG < -1)
{
NG = -1;
}
else if (NG > 1)
{
NG = 1;
}
DGap DG = driver[ID].running.gap;
double Ag = (DG.influenced - DG.closest) * A;
double delta_G = driver[ID].running.delta.gap;
if (delta_G <= 0)
{
P = (DG.cruise - DG.closest) / Ag * Math.Log((1 + Math.Exp(-NG / 0.1)) / (1 + Math.Exp(-1 / 0.1)));
}
else
{
P = ((DG.cruise - DG.closest) * Math.Log((1 + Math.Exp(1 / 0.1)) / (1 + Math.Exp(-1 / 0.1))) + (DG.influenced - DG.cruise) * Math.Log((1 + Math.Exp(1 / 0.1)) / (1 + Math.Exp(-NG / 0.1)))) / Ag;
}
if (V > V_f)
{
P = 1 - P;
}
return(P);
}
/// <summary>
/// 値のコピーを作成する
/// </summary>
/// <param name="gap"></param>
public DGap(DGap gap)
{
closest = gap.closest;
cruise = gap.cruise;
influenced = gap.influenced;
}
