roadDrivingLogic.h

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/*******************************************************************************
** Copyright (c) 2017 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "vrfmodel/vrfmodelDefines.h"
#include "vrfmodel/roadSegment.h"

class DtRoadMovementController;
class DtRoadObstructionFinder;
class DtMovingObjectParameters;

class DT_DLL_vrfmodel DtRoadDrivingLogic
{
public:
   DtRoadDrivingLogic(DtRoadMovementController * parentController);
   ~DtRoadDrivingLogic();


   virtual double maxDesignDriverLateralAcceleration_G(){ return 0.15; }

   virtual double desiredDecelerationFractionOfMax(){ return 0.3; }
   virtual double desiredAccelerationFractionOfMax(){ return 0.5; }
   virtual double desiredLateralAccelerationFractionOfMax(){ return 0.4; }

   virtual double desiredFixedHeadway(){ return 1.0; }

   virtual double minimumCurveSpeed(){ return 1.0; }

   virtual double maximumLaneChangeTurnAngle(){ return 0.8; }

   virtual double laneChangeFractionToClearLane(){ return 0.4; }

   virtual double laneEndCheckLookaheadTime(){ return 15.0; }

   virtual double laneSwitchDecisionAccelThreshold(){ return 2.0; }

   virtual double maxForcedDecelForGapAcceptance(){ return -4.0; }



   virtual double combinedAcceleration(
      DtRoadSegment* currentRoadSegment,
      const double desiredDecelToUse,
      const double tickPeriod,
      const double currentSpeed,
      const double orderedSpeed,
      const int laneNumber,
      const double positionInLane,
      const double laneSpaceRequired,
      const double laneChangeWidth,
      const double maxAcceleration,
      const double maxLateralAccel,
      bool &laneContinues,
      bool & pathContinues,
      double & distanceToLaneEnd,
      double & freeFlowAccel,
      double &orderedSpeedAccel,
      bool debug = false);

   virtual int selectedLane(
      DtRoadSegment* currentRoadSegment,
      const int roadLaneN,
      const bool currentLaneContinues,
      const double distanceToLaneEnd,
      const double positionInLane,
      const double currentSpeed,
      const double currentLaneAcceleration,
      const double freeFlowAcceleration,
      const double tickPeriod,
      const double desiredDecelToUse,
      const double maxLateralAccel,
      const DtVrfObject* convoyTgt,
      int& desiredFutureLane,
      bool debug = false
      );

   virtual double oldLaneObstacleConstraint(
      DtRoadSegment* currentSegment, const DtMovingObjectParameters* params, 
      const double currentPosition, const double currentOffset,
      const DtRoadObstructionFinder* obstructionFinder,
      const double desiredDecelToUse, const double dt,
      const double accelForNoObstacle, const double currentSpeed,
      const int currentLaneN, std::vector<DtVector>& obstacleLocations, 
      std::vector<std::vector<DtVector> >& debugBoxes, bool debug = false);

   virtual double distanceNeededToChangeLanes(
      const double minTurnRadius,
      const double distanceBetweenLanes,
      const double speed,
      bool debug = false);


protected:

     
   double followConvoyAcceleration(
      const double currentSpeed, const double tickPeriod,
      const double deceleration,
      const double convoyGap,
      const DtVrfObject* leadVehicle, bool debug = false);

   virtual double orderedSpeedAcceleration(const double currentSpeed,
      const double orderedSpeed,
      const double dt,
      bool debug = false);

   virtual double extraAccelConstraint(const double currentSpeed,
      const double dt, bool debug = false)
   { return 1e8; }

   double downstreamTcdAccelConstraint(
      DtRoadSegment* startSegment,
      const double desiredDecelToUse,
      const double dt, const double currentSpeed, const int roadLaneN,
      const double positionAlongLane,
      const double maxAccel, const double maxLateralAccel,
      bool debug = false);
      
      
   virtual double downstreamCurveAccelConstraint(
      DtRoadSegment* startSegment,
      const double desiredDecelToUse,
      const double dt, const double currentSpeed, const int roadLaneN,
      const double positionAlongLane,
      const double maxAccel, const double maxLateralAccel, bool debug = false);

   virtual double downstreamSpeedLimitAccelConstraint(DtRoadSegment* currentSegment,
      const double desiredDecelToUse,
      const double dt, const double currentSpeed, bool debug = false);

   virtual double laneEndAccelConstraint(
      DtRoadSegment* currentSegment, const double orderedSpeed,
      const double desiredDecelToUse,
      const double dt, const double currentSpeed, const int roadLaneN,
      const double positionAlongLane,
      const double extraSpaceRequired,
      const double maxAccel,
      bool & laneContinues,
      double & distanceToLaneEnd, bool & pathContinues, bool debug = false);

   virtual double obstacleAccelConstraint(
      DtRoadSegment* currentSegment,
      const DtRoadObstructionFinder* obstructionFinder,
      const double maxAcceleration,
      const double desiredDecelToUse, const double dt, const double currentSpeed,
      const int roadLaneN, const double positionAlongLane,
      const double spaceNeeded,
      double& obstacleDistanceAhead,
      double& obstacleSpeed, std::vector<std::vector<DtVector> > & debugBoxes, std::vector<DtVector>& obstacleLocations, bool debug = false);

   virtual double completeLaneChangeMnvrAccelConstraint(
      DtRoadSegment* currentSegment, const double currentOffset,
      const double desiredDecelToUse, const DtMovingObjectParameters* params,
      const double dt,
      const double accelForNoObstacle, const double currentSpeed,
      const double completionFraction,
      const double completionDistance, bool debug = false);

   
   
   virtual bool laneConstrainedBelowFreeFlow(const double currentLaneAcceleration,
      const double otherLaneAcceleration,
      const double tickPeriod,
      const double currentSpeed);

   virtual bool mergeGapAvailableBehind(const DtRoadSegment* currentRoadSegment,
      const int roadLaneNum, const double positionInLane,
      const double nominalDecel, const double tickPeriod,
      const double ownSpeed, bool debug = false);


protected:
   DtRoadMovementController* myParentController;
};