//Simplify IDM
public static double IDM(IDMVehicle self, IDMVehicle front)
{
double vehicleLength = Simulator.VehicleManager.vehicleLength;
double minSafeDistance = Simulator.VehicleManager.vehicleLength / 2;
double safeTime = Simulator.VehicleManager.vehicleSafeTime;
double vehicleAccelerationFactor = ((Simulator.VehicleManager.vehicleAccelerationFactor_KMH * 1000) / 3600);
double vehicleBrakeFactor = ((Simulator.VehicleManager.vehicleBrakeFactor_KMH * 1000) / 3600);
double speedLimit = Simulator.VehicleManager.vehicleMaxSpeed_KMH;
double deltaV = .0, netD = 0, sFunction = 0, velocity = 0;
if (front == null)
{
velocity = vehicleAccelerationFactor * (1 - Math.Pow(self.vehicle_speed_KMH / speedLimit, 4));
}
else
{
deltaV = self.vehicle_speed_KMH - front.vehicle_speed_KMH;
netD = front.location - self.location - vehicleLength;
if (netD < minSafeDistance)
netD = minSafeDistance;
sFunction = minSafeDistance +
self.vehicle_speed_KMH * safeTime +
(self.vehicle_speed_KMH * deltaV / (2 * Math.Sqrt(vehicleAccelerationFactor * vehicleBrakeFactor)));
velocity = vehicleAccelerationFactor * (1 - Math.Pow(self.vehicle_speed_KMH / speedLimit, 4) - Math.Pow(sFunction / netD, 2));
}
velocity = Math.Round(velocity, 1, MidpointRounding.AwayFromZero);
if (velocity < 0 && (velocity * -1) > vehicleBrakeFactor)
velocity = vehicleBrakeFactor * -1;
double nextSpeed = self.vehicle_speed_KMH + velocity;
if (nextSpeed < 0)
nextSpeed = 0;
return nextSpeed;
}
public int ReservationTime(int vehicles)
{
double vehicleLength = Simulator.VehicleManager.vehicleLength;
double minSafeDistance = Simulator.VehicleManager.vehicleLength / 2;
int signalLocation = System.Convert.ToInt16(vehicles * (vehicleLength + minSafeDistance));
List<IDMVehicle> vehicleQueue = new List<IDMVehicle>();
//Initial vehicles on the road
int reservationTime = 0;
for (int ID = 0; ID < vehicles; ID++)
{
IDMVehicle vehicle = new IDMVehicle();
vehicle.vehicle_ID = ID;
vehicle.location = System.Convert.ToInt16(signalLocation - (ID * (vehicleLength + minSafeDistance) + minSafeDistance));
vehicleQueue.Add(vehicle);
}
//Calculate
do
{
reservationTime++;
//All vehicles run
for (int i = 0; i < vehicleQueue.Count; i++)
{
if (i == 0)
{
vehicleQueue[i].Run(null);
}
else
{
vehicleQueue[i].Run(vehicleQueue[i - 1]);
}
}
} while (vehicleQueue[vehicleQueue.Count() - 1].location < (signalLocation + vehicleLength)); //If the last vehicle exit, end
return reservationTime;
}
public void Run(IDMVehicle front)
{
double nextSpeed = ReservationTimeCalculation.IDM(this, front);
int runDistance = System.Convert.ToInt16(Math.Round(((((vehicle_speed_KMH + nextSpeed) / 2) * 10 / 36)), 0, MidpointRounding.AwayFromZero));
location += runDistance;
this.vehicle_speed_KMH = nextSpeed;
speedRecord.Add(vehicle_speed_KMH);
}
