float GetFollowerIDMAcc(IDMInfo myIDMInfo, DriverBehavior followingDriver)
{
if (myIDMInfo.followingS <= 0)
{
return(-Algebra.Infinity);
}
float desiredDist = followingDriver.s0 +
Mathf.Max(0f, myIDMInfo.followingV * followingDriver.T + myIDMInfo.followingV * myIDMInfo.followingDeltaV / (2 * Mathf.Sqrt(followingDriver.a * followingDriver.b)));
return(followingDriver.a * (1f - Mathf.Pow(myIDMInfo.followingV / followingDriver.v0, followingDriver.delta) - Mathf.Pow(desiredDist / myIDMInfo.followingS, 2)));
}
float GetFollowerIDMAccWithoutMe(IDMInfo myIDMInfo, DriverBehavior followingDriver)
{
IDMInfo partialInfoForFollower = new IDMInfo
{
laneNo = myIDMInfo.laneNo,
leadingS = myIDMInfo.followingS + myIDMInfo.leadingS,
leadingV = myIDMInfo.leadingV,
myV = myIDMInfo.followingV
};
return(GetIDMAcc(partialInfoForFollower, followingDriver));
}
float GetIDMAcc(IDMInfo iDMInfo, DriverBehavior driver)
{
if (iDMInfo.leadingS <= 0)
{
//if would collide
return(-Algebra.Infinity);
}
float desiredDist = driver.s0 +
Mathf.Max(0f, iDMInfo.myV * driver.T + iDMInfo.myV * iDMInfo.deltaV / (2 * Mathf.Sqrt(driver.a * driver.b)));
return(driver.a * (1f - Mathf.Pow(iDMInfo.myV / driver.v0, driver.delta) - Mathf.Pow(desiredDist / iDMInfo.leadingS, 2)));
}
