MTGermany
commented
11 months ago Adding new models is a good idea! I implemented your model in models.js and you can test it by setting testNewModel=true in control_gui.js. Since your CACC model presently is just the IDM, I set v0=3 m/s in the truck version to see any effects. Of course you are not done just by implementing the new model. You also need the gui and the simulation tell to use it. To do this, just look at all code pieces where testNewModel is used.
In fact, this is the first step of a user-controlled possibility to change models. For this, a multi-valued version of testNewModel could be made accessible to the user, e.g., by a choicebox (select) html element
Greetings, Dr. MT. Firstly，This is a great job for you. Secondly, I am going to replace the default following model（IDM and ACC model）, I added the CACC code in the model.js file, but I'm not sure if I configured it correctly in the other files and enabled it successfully. I am preparing to implement the vehicle CACC model in the ring.js file. Below is my configured CACC model code, I hope I can get your answer. Thanks!
//################################# // CACC model //#################################
/** CACC (Cooperative Adaptive Cruise Control) constructor
@param v0: desired speed [m/s] @param T: desired time gap [s] @param s0: minimum gap [m] @param a: maximum acceleration [m/s^2] @param b: comfortable deceleration [m/s^2] @param delta: headway time constant [s] @param alpha: cooperative parameter [1/s] @return: CACC instance (constructor) */
function CACC(v0, T, s0, a, b, delta, alpha) { this.QnoiseAccel = QnoiseAccel; // m^2/s^3 this.driverfactor = 1; // if no transfer of driver individuality from master veh this.v0 = v0; this.T = T; this.s0 = s0; this.a = a; this.b = b; this.delta = delta; this.alpha = alpha; this.alpha_v0 = 1; // multiplicator for temporary reduction
// possible restrictions (value 1000 => initially no restriction) this.speedlimit = 1000; // if effective speed limits, speedlimit<v0 this.speedmax = 1000; // if engine restricts speed, speedmax<speedlimit, v0 this.bmax = 18; // (2022) was=16 }
/** CACC acceleration function
@param s: actual gap [m] @param v: actual speed [m/s] @param vl: leading speed [m/s] @param al: leading acceleration [m/s^2] (only for common interface; ignored) @return: acceleration [m/s^2] */
CACC.prototype.calcAcc = function (s, v, vl, al) { var accRnd = s < this.s0 ? 0 : Math.sqrt(this.QnoiseAccel / dt) * (Math.random() - 0.5); return accRnd + this.calcAccDet(s, v, vl, al); };
CACC.prototype.calcAccDet = function (s, v, vl, al) { var v0eff = this.v0 this.driverfactor this.alpha_v0; // (MT 2023-11) v0eff = Math.min(v0eff, this.speedlimit, this.speedmax); var aeff = this.a * this.driverfactor;
var accFree = v < v0eff ? aeff (1 - Math.pow(v / v0eff, 4)) : aeff (1 - v / v0eff); var sstar = this.s0 + Math.max(0, v this.T + 0.5 v (v - vl) / Math.sqrt(aeff this.b)); var accInt = -aeff * Math.pow(sstar / Math.max(s, this.s0), 2);
return v0eff < 0.00001 ? 0 : Math.max(-this.bmax, accFree + accInt); };
// Example Usage: // var caccModel = new CACC(30, 1.5, 2, 2, 1, 1, 0.1); // var acceleration = caccModel.calcAcc(s, v, vl, al);