├── Code
    ├── I-75.results
    │   └── 1.db
    ├── DriverModel_DLL_HV
    │   ├── DriverModel.h
    │   ├── DriverModel.vcxproj.user
    │   ├── DriverModel_changes.txt
    │   ├── DriverModel.cpp
    │   └── DriverModel.vcxproj
    └── DriverModel_DLL_CAV
    │   ├── DriverModel.h
    │   ├── DriverModel.vcxproj.user
    │   ├── DriverModel_changes.txt
    │   ├── DriverModel.vcxproj
    │   └── DriverModel.cpp
├── USF Readme updated.docx
├── CONTRIBUTING.md
├── STOL II TO 22_algorithm description document_CAV Lane Changing Model_Final_v2_clean.pdf
├── README.md
└── LICENSE


/Code/I-75.results/1.db:
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https://raw.githubusercontent.com/STOL-AMS/TO-22-Lane-Changing/HEAD/Code/I-75.results/1.db


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/USF Readme updated.docx:
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https://raw.githubusercontent.com/STOL-AMS/TO-22-Lane-Changing/HEAD/USF Readme updated.docx


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/Code/DriverModel_DLL_HV/DriverModel.h:
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https://raw.githubusercontent.com/STOL-AMS/TO-22-Lane-Changing/HEAD/Code/DriverModel_DLL_HV/DriverModel.h


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/Code/DriverModel_DLL_CAV/DriverModel.h:
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https://raw.githubusercontent.com/STOL-AMS/TO-22-Lane-Changing/HEAD/Code/DriverModel_DLL_CAV/DriverModel.h


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/Code/DriverModel_DLL_CAV/DriverModel.vcxproj.user:
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1 | <?xml version="1.0" encoding="utf-8"?>
2 | <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
3 |   <PropertyGroup />
4 | </Project>


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/Code/DriverModel_DLL_HV/DriverModel.vcxproj.user:
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1 | <?xml version="1.0" encoding="utf-8"?>
2 | <Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
3 |   <PropertyGroup />
4 | </Project>


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/CONTRIBUTING.md:
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1 | # Contributing
2 | 
3 | When contributing to this repository, please first discuss the change you wish to make via issue, email, or any other method with the owners of this repository before making a change.


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/STOL II TO 22_algorithm description document_CAV Lane Changing Model_Final_v2_clean.pdf:
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https://raw.githubusercontent.com/STOL-AMS/TO-22-Lane-Changing/HEAD/STOL II TO 22_algorithm description document_CAV Lane Changing Model_Final_v2_clean.pdf


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/README.md:
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  1 | 
  2 | # Summary:
  3 | 
  4 | This repository contains the source code of a mixed traffic simulation model. The mixed traffic simulation model integrates vehicle car-following and lane-changing movements in mixed traffic with connected and automated vehicles of different cooperation behaviors. It is centered at a connected and automated vehicle lane changing model while fully considering the dynamics of surrounding vehicles under different mixed traffic scenarios. The source code was developed to generate two DLL files, which were imported into PTV VISSIM to conduct mixed traffic simulations. One of the DLL files is used for connected and automated vehicle (CAV) control and speed output. Another DLL is used for human-driven vehicle (HV) speed output. The source code was programmed in Microsoft Visual Studio 2017 with C++.  
  5 | 
  6 | # Organizational Outline:
  7 | * Project Title
  8 | * Release Notes
  9 | * Getting Started
 10 | * Prerequisites
 11 | * Installing
 12 | * Testing
 13 | * Authors
 14 | * License
 15 | * Acknowledgments
 16 | * Code.gov Registration
 17 | 
 18 | # Project Title
 19 | 
 20 | *Developing Analysis, Modeling, and Simulation (AMS) Tools for Connected Automated Vehicle Applications: PATH Model Description and Implementation in the Microscopic Traffic Simulation Platform*
 21 | 
 22 | As road users start to adopt different technologies, the traffic stream might consist of human vehicles (HV), connected vehicles (CV), autonomous vehicles (AV), and connected automated vehicles (CAV) at the same time. The interaction of various types of vehicle fleet may induce complex traffic flow patterns that have never been observed in the existing transportation system. Such complex traffic is difficult to model with existing microscopic simulation and evaluation approaches. To address the challenge, the Federal Highway Administration (FHWA) supported a research project entitled “Developing Analysis, Modeling, and Simulation (AMS) Tools for Connected Automated Vehicle Applications”.
 23 | 
 24 | ## Release Notes
 25 | 
 26 | #### Release 1.0.0 (April 5, 2020)
 27 | - Initial release
 28 | 
 29 | ## Getting Started
 30 | 
 31 | *Download the source code file and open it in Microsoft Visual Studio 2017 or higher.*
 32 | 
 33 | ### Prerequisites
 34 | 
 35 | Requires:
 36 | - PTV VISSIM 11 
 37 | - Microsoft Visual Studio 2017 or higher
 38 | 
 39 | ### Installing
 40 | 
 41 | Step 1: Install software tools. 
 42 | 
 43 | ```
 44 | - Install Microsoft Visual Studio 2017
 45 | - Install Visual Studio 2017
 46 | ```
 47 | 
 48 | Step 2: Generate CAV control and speed output DLL in Microsoft Visual Studio.
 49 | 
 50 | ```
 51 | - Open and run “DriverModel.vcxproj” in Microsoft Visual Studio, which is located at \source code\DriverModel_DLL_CAV
 52 | - Note: The generated DLL (DriverModel.dll) is located at \source code \DriverModel_DLL_CAV\x64\Debug
 53 | ```
 54 | 
 55 | Step 3: Generate HV speed output DLL in Microsoft Visual Studio.
 56 | 
 57 | ```
 58 | - Open and run “DriverModel.vcxproj” in Microsoft Visual Studio, which is located at \source code\DriverModel_DLL_HV
 59 | - Note: The generated DLL (DriverModel.dll) is located at \source code \DriverModel_DLL_HV\x64\Debug
 60 | ```
 61 | 
 62 | Step 4: Import generated DLLs into PTV VISSIM.
 63 | 
 64 | ```
 65 | - Open I-75.inpx using PTV VISSIM
 66 | - Right click on the AV row and then click “Edit”
 67 | - Click “External Driver Model” and locate the DLL generated in Step 2
 68 | - Right click on the HV row and then click “Edit”
 69 | - Click “External Driver Model” and locate the DLL generated in Step 3
 70 | ```
 71 | 
 72 | ## Testing
 73 | 
 74 | ```
 75 | Step 1: Run the simulation in PTV VISSIM.
 76 | Step 2: After the simulation (5 minutes), CAV and HV speed information will be generated and saved in data_put_out_AV.txt and data_put_out_HV.txt.
 77 | Step 3: In data_put_out_AV.txt every appearance of “630” represents the appearance of a new CAV. Numbers following 630 are the CAV speeds (m/s) measured at each 0.1 second.
 78 | Step 4: In data_put_out_HV.txt every appearance of “640” represents the appearance of a new HV. Numbers following 640 are the HV speeds (m/s) measured at each 0.1 second.
 79 | ```
 80 | 
 81 | ## Authors
 82 | 
 83 | Qianwen Li, Ph.D. student, Department of Civil and Environmental Engineering, University of South Florida.
 84 | Xiaopeng Li, Ph.D., Department of Civil and Environmental Engineering, University of South Florida.
 85 | 
 86 | ## License
 87 | 
 88 | This project is licensed under the Apache 2.0 License.
 89 | 
 90 | ## Acknowledgments
 91 | 
 92 | This research is supported by Federal Highway Administration  (FHWA) Office of Operations Research and Development HRDO program under the project entitled Developing Analysis, Modeling, and Simulation (AMS) Tools for Connected Automated Vehicle Applications (Project Number: DTFH61-16-D-00030-0022).
 93 | 
 94 | ## Code.gov Registration Info
 95 | 
 96 | Agency: DOT
 97 | Short Description: Source code of the USF traffic simulation model
 98 | Status: Alpha
 99 | Tags: Traffic simulation, Vissim, Lane Changing
100 | Labor hours: 0
101 | Contact Name: ??
102 | Contact Phone: ??


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/Code/DriverModel_DLL_HV/DriverModel_changes.txt:
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  1 | New features and bugfixes in the DriverModel.DLL API                (2017-09-15)
  2 | ====================================================
  3 | (+ = new features, - = bugs that have been fixed, 
  4 |  * = changes in the usage by VISSIM. 
  5 |  Details about the fixes are in brackets.)
  6 | 
  7 | (2017-09-15) [with VISSIM 10.00-02]
  8 | ------------
  9 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 10 |   Optional transfer of values of user-defined vehicle attributes:
 11 |   New types DRIVER_DATA_USE_UDA, DRIVER_DATA_VEH_UDA and DRIVER_DATA_NVEH_UDA.
 12 |   Optional transfer of values for *all* nearby vehicles found according to the
 13 |   driving behavior parameters. New type DRIVER_DATA_WANTS_ALL_NVEHS.
 14 |   Option to allow multithreaded simulation runs. 
 15 |   New type DRIVER_DATA_ALLOW_MULTITHREADING.
 16 | 
 17 | (2017-03-21) [with VISSIM 9.00-07 + 10.00]
 18 | ------------
 19 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 20 |   New types DRIVER_DATA_VEH_Z_COORDINATE and DRIVER_DATA_VEH_REAR_Z_COORDINATE.
 21 | 
 22 | (2016-12-14) [with VISSIM 9.00-05 + 10.00]
 23 | ------------
 24 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 25 |   New types DRIVER_DATA_VEH_INTAC_STATE, DRIVER_DATA_VEH_INTAC_TARGET_TYPE,
 26 |   DRIVER_DATA_VEH_INTAC_TARGET_ID, DRIVER_DATA_VEH_INTAC_HEADWAY,
 27 |   DRIVER_DATA_NVEH_TYPE, DRIVER_DATA_USE_INTERNAL_MODEL.
 28 | + DriverModel.cpp does now cause Vissim to handle the vehicles completely on its
 29 |   own with the internal models. (Previously, the limitation of the change of
 30 |   acceleration used in the internal model was not applied even when the driver 
 31 |   model DLL passed back the acceleration suggested by Vissim.)
 32 | 
 33 | (2016-08-23) [with VISSIM 8.00-13 + 9.00-03]
 34 | ------------
 35 | + DriverModel.h:
 36 |   Missing definitions of DRIVER_DATA_VEH_REAR_X_COORDINATE and
 37 |   DRIVER_DATA_VEH_REAR_Y_COORDINATE added. 
 38 |   (Not added to DriverModel.cpp because these are optional.)
 39 | 
 40 | (2014-07-29) [with VISSIM 6.00-20 + 7.00]
 41 | ------------
 42 | + DriverModelExample.cpp:
 43 |   Alternative version of DriverModel.cpp which contains its own very simple 
 44 |   car following model.
 45 | 
 46 | (2013-08-08) [with VISSIM 6.00-02]
 47 | ------------
 48 | + DriverModel.cpp:
 49 |   Back to default version which simply returns Vissim's suggestion.
 50 | * DriverModel.vcproj replaced by DriverModel.vcxproj
 51 |   Switched project file example to Visual Studio 10.
 52 | 
 53 | (2012-08-28) [with VISSIM 5.40-06]
 54 | ------------
 55 | + DriverModel.cpp:
 56 |   Contains a very simple car following model as an example.
 57 | + DriverModel.vxproj:
 58 |   Updated to Visual Studio 8.0 (2005)
 59 | 
 60 | (2010-07-29) [with VISSIM 5.20-11]
 61 | ------------
 62 | + New Interface_Description.pdf replacing DriverModel.txt 
 63 |   (saying VISSIM 5.30 but valid for 5.20-11, too).
 64 | + DriverModel.h + .cpp:
 65 |   New type code:
 66 |   DRIVER_DATA_PARAMETERFILE.
 67 |   Some comments improved.
 68 | * VISSIM: 
 69 |   All type codes added since 2005-05-24 are treated as optional, so there are 
 70 |   no error messages anymore about values which cannot be set or retrieved.
 71 | 
 72 | (2010-06-16) [released with VISSIM 5.20-10]
 73 | ------------
 74 | + DriverModel.h + .cpp (still old format):
 75 |   New type codes:
 76 |   DRIVER_DATA_STATUS, DRIVER_DATA_STATUS_DETAILS.
 77 | + DriverModel.cpp:
 78 |   DriverModelSetValue() handles DRIVER_DATA_VEH_ACTIVE_LANE_CHANGE and 
 79 |   DRIVER_DATA_VEH_REL_TARGET_LANE without returning zero.
 80 | 
 81 | (2010-02-17) [since VISSIM 5.20-07]
 82 | ------------
 83 | * VISSIM:
 84 |   DRIVER_DATA_STATUS and DRIVER_DATA_STATUS_DETAILS are treated as optional now.
 85 | 
 86 | (2010-01-14) [since VISSIM 5.20-06]
 87 | ------------
 88 | * VISSIM:
 89 |   DRIVER_DATA_VEH_DESTINATION_LINK, DRIVER_DATA_VEH_REAR_X_COORDINATE and 
 90 |   DRIVER_DATA_VEH_REAR_Y_COORDINATE are treated as optional now.
 91 | 
 92 | (2009-12-11) [since VISSIM 5.20-05]
 93 | ------------
 94 | * VISSIM:
 95 |   DRIVER_DATA_PARAMETERFILE is treated as optional now.
 96 | * VISSIM:
 97 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
 98 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
 99 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
100 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
101 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
102 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y
103 |   are not used anymore.
104 | 
105 | (2008-12-23) [since VISSIM 5.10-06]
106 | ------------
107 | * VISSIM:
108 |   DRIVER_DATA_USES_PEDESTRIAN_POLYGONS and DRIVER_DATA_VEH_LEAVES_NETWORK
109 |   are not used anymore.
110 | 
111 | (2007-09-19) [since VISSIM 5.00-00]
112 | ------------
113 | * VISSIM:
114 |   The DriverModel.DLL interface is not used anymore for the Pedestrian Module.
115 |   Support for DRIVER_DATA_USES_PEDESTRIAN_POLYGONS has been discontinued.
116 | * VISSIM:
117 |   DRIVER_DATA_VEH_Z_COORDINATE, DRIVER_DATA_VEH_HEIGHT,
118 |   DRIVER_DATA_VEH_REAR_Z_COORDINATE and DRIVER_DATA_PEDESTRIAN_POLYGON_*
119 |   are not used anymore.
120 | 
121 | (2007-04-12) [since 4.30-01]
122 | ------------
123 | * VISSIM:
124 |   DRIVER_DATA_VEH_REAR_X_COORDINATE, DRIVER_DATA_VEH_REAR_Y_COORDINATE are
125 |   used even if DriverModelGetValue (DRIVER_DATA_USES_PEDESTRIAN_POLYGONS, ...) 
126 |   set *long_value to 0, i.e. for lane-based driver models.
127 | 
128 | (2007-02-06) [not externally released]
129 | ------------     
130 | + DriverModel.h + .cpp:
131 |   New type code: 
132 |   DRIVER_DATA_VEH_REAR_Z_COORDINATE 
133 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS).
134 |   
135 | (2006-11-30) [not externally released] 
136 | ------------     
137 | + DriverModel.h + .cpp:
138 |   New type codes:
139 |   DRIVER_DATA_STATUS, DRIVER_DATA_STATUS_DETAILS.
140 | + DriverModel.cpp:
141 |   DriverModelGetValue() and DriverModelSetValue() must return 1 to almost
142 |   all calls (even with the new type codes added after 2005-05-24) 
143 |   to prevent VISSIM from stopping the simulation run with the error message 
144 |   "Could not send/retrieve ... to/from driver model"!
145 | 
146 | (2006-10-20) [not externally released]
147 | ------------     
148 | + DriverModel.h + .cpp:
149 |   New type code: 
150 |   DRIVER_DATA_VEH_HEIGHT 
151 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS).
152 |   
153 | (2006-09-21) [not externally released]
154 | ------------     
155 | + DriverModel.h + .cpp:
156 |   New type code: 
157 |   DRIVER_DATA_VEH_Z_COORDINATE 
158 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS). 
159 | 
160 | (2006-09-20) [not externally released]
161 | ------------     
162 | + DriverModel.h + .cpp:
163 |   DRIVER_DATA_SETS_XY_COORDINATES replaced by DRIVER_DATA_USES_PEDESTRIAN_POLYGONS.
164 |   New type codes: 
165 |   DRIVER_DATA_PEDESTRIAN_POLYGON_*
166 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS). 
167 | * VISSIM:
168 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
169 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
170 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
171 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
172 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
173 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y
174 |   are passed to the driver model DLL if DriverModelGetValue 
175 |   (DRIVER_DATA_USES_PEDESTRIAN_POLYGONS, ...) set *long_value to 0!
176 | 
177 | (2006-09-01) [since VISSIM 4.30-00, not externally released]
178 | ------------     
179 | + DriverModel.h + .cpp:
180 |   New format (created from an internal database).
181 | + DriverModel.h + .cpp:
182 |   New type code:
183 |   DRIVER_DATA_PARAMETERFILE.
184 | * VISSIM: The name of the DLL and a parameterfile can be selected for each
185 |   vehicle type.
186 | 
187 | (2005-11-09) [not externally released]
188 | ------------     
189 | + DriverModel.h + .cpp:
190 |   New type codes:
191 |   DRIVER_DATA_VEH_DESTINATION_LINK, DRIVER_DATA_SETS_XY_COORDINATES,
192 |   DRIVER_DATA_VEH_LEAVES_NETWORK, 
193 |   DRIVER_DATA_VEH_REAR_X_COORDINATE, DRIVER_DATA_VEH_REAR_Y_COORDINATE, 
194 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
195 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
196 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
197 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
198 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
199 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y.  
200 | + DriverModel.h + .cpp:
201 |   DRIVER_DATA_VEH_TURNING_INDICATOR is used by DriverModelGetValue(), too.
202 |   DRIVER_DATA_VEH_X_COORDINATE and DRIVER_DATA_VEH_Y_COORDINATE are
203 |   used by DriverModelGetValue(), too, if DriverModelGetValue 
204 |   (DRIVER_DATA_SETS_XY_COORDINATES, ...) set *long_value to 1.
205 | 
206 | (2005-05-24)
207 | ------------     
208 | + DriverModel.h: 
209 |   Comments for index values for DRIVER_DATA_NVEH_ values improved.
210 | 


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/Code/DriverModel_DLL_CAV/DriverModel_changes.txt:
--------------------------------------------------------------------------------
  1 | New features and bugfixes in the DriverModel.DLL API                (2018-09-06)
  2 | ====================================================
  3 | (+ = new features, - = bugs that have been fixed, 
  4 |  * = changes in the usage by VISSIM. 
  5 |  Details about the fixes are in brackets.)
  6 | 
  7 | (2018-09-06) [with VISSIM 11.00-01]
  8 | ------------
  9 | + DriverModel.h:
 10 |   New types DRIVER_DATA_PRIO_RULE_DISTANCE and DRIVER_DATA_PRIO_RULE_STATE
 11 |   which are not yet used by Vissim.
 12 |   New types DRIVER_DATA_ROUTE_SIGNAL_DISTANCE, DRIVER_DATA_ROUTE_SIGNAL_STATE
 13 |   and DRIVER_DATA_ROUTE_SIGNAL_SWITCH for information about the next signal
 14 |   head downstream on the route of the vehicle, including necessary lane changes
 15 |   required by the route/path of the vehicle.
 16 | 
 17 | (2017-11-02) [with VISSIM 10.00-03*]
 18 | ------------
 19 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 20 |   New types DRIVER_DATA_NVEH_X_COORDINATE, DRIVER_DATA_NVEH_Y_COORDINATE,
 21 |   DRIVER_DATA_NVEH_Z_COORDINATE, DRIVER_DATA_NVEH_REAR_X_COORDINATE,
 22 |   DRIVER_DATA_NVEH_REAR_Y_COORDINATE, DRIVER_DATA_NVEH_REAR_Z_COORDINATE,
 23 |   DRIVER_DATA_CURRENT_LANE_POLY_N, DRIVER_DATA_CURRENT_LANE_POLY_X,
 24 |   DRIVER_DATA_CURRENT_LANE_POLY_Y, DRIVER_DATA_CURRENT_LANE_POLY_Z.
 25 | 
 26 | (2017-09-15) [with VISSIM 10.00-02]
 27 | ------------
 28 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 29 |   Optional transfer of values of user-defined vehicle attributes:
 30 |   New types DRIVER_DATA_USE_UDA, DRIVER_DATA_VEH_UDA and DRIVER_DATA_NVEH_UDA.
 31 |   Optional transfer of values for *all* nearby vehicles found according to the
 32 |   driving behavior parameters. New type DRIVER_DATA_WANTS_ALL_NVEHS.
 33 |   Option to allow multithreaded simulation runs. 
 34 |   New type DRIVER_DATA_ALLOW_MULTITHREADING.
 35 | 
 36 | (2017-03-21) [with VISSIM 9.00-07 + 10.00]
 37 | ------------
 38 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 39 |   New types DRIVER_DATA_VEH_Z_COORDINATE and DRIVER_DATA_VEH_REAR_Z_COORDINATE.
 40 | 
 41 | (2016-12-14) [with VISSIM 9.00-05 + 10.00]
 42 | ------------
 43 | + DriverModel.h + .cpp + DriverModelExample.cpp:
 44 |   New types DRIVER_DATA_VEH_INTAC_STATE, DRIVER_DATA_VEH_INTAC_TARGET_TYPE,
 45 |   DRIVER_DATA_VEH_INTAC_TARGET_ID, DRIVER_DATA_VEH_INTAC_HEADWAY,
 46 |   DRIVER_DATA_NVEH_TYPE, DRIVER_DATA_USE_INTERNAL_MODEL.
 47 | + DriverModel.cpp does now cause Vissim to handle the vehicles completely on its
 48 |   own with the internal models. (Previously, the limitation of the change of
 49 |   acceleration used in the internal model was not applied even when the driver 
 50 |   model DLL passed back the acceleration suggested by Vissim.)
 51 | 
 52 | (2016-08-23) [with VISSIM 8.00-13 + 9.00-03]
 53 | ------------
 54 | + DriverModel.h:
 55 |   Missing definitions of DRIVER_DATA_VEH_REAR_X_COORDINATE and
 56 |   DRIVER_DATA_VEH_REAR_Y_COORDINATE added. 
 57 |   (Not added to DriverModel.cpp because these are optional.)
 58 | 
 59 | (2014-07-29) [with VISSIM 6.00-20 + 7.00]
 60 | ------------
 61 | + DriverModelExample.cpp:
 62 |   Alternative version of DriverModel.cpp which contains its own very simple 
 63 |   car following model.
 64 | 
 65 | (2013-08-08) [with VISSIM 6.00-02]
 66 | ------------
 67 | + DriverModel.cpp:
 68 |   Back to default version which simply returns Vissim's suggestion.
 69 | * DriverModel.vcproj replaced by DriverModel.vcxproj
 70 |   Switched project file example to Visual Studio 10.
 71 | 
 72 | (2012-08-28) [with VISSIM 5.40-06]
 73 | ------------
 74 | + DriverModel.cpp:
 75 |   Contains a very simple car following model as an example.
 76 | + DriverModel.vxproj:
 77 |   Updated to Visual Studio 8.0 (2005)
 78 | 
 79 | (2010-07-29) [with VISSIM 5.20-11]
 80 | ------------
 81 | + New Interface_Description.pdf replacing DriverModel.txt 
 82 |   (saying VISSIM 5.30 but valid for 5.20-11, too).
 83 | + DriverModel.h + .cpp:
 84 |   New type code:
 85 |   DRIVER_DATA_PARAMETERFILE.
 86 |   Some comments improved.
 87 | * VISSIM: 
 88 |   All type codes added since 2005-05-24 are treated as optional, so there are 
 89 |   no error messages anymore about values which cannot be set or retrieved.
 90 | 
 91 | (2010-06-16) [released with VISSIM 5.20-10]
 92 | ------------
 93 | + DriverModel.h + .cpp (still old format):
 94 |   New type codes:
 95 |   DRIVER_DATA_STATUS, DRIVER_DATA_STATUS_DETAILS.
 96 | + DriverModel.cpp:
 97 |   DriverModelSetValue() handles DRIVER_DATA_VEH_ACTIVE_LANE_CHANGE and 
 98 |   DRIVER_DATA_VEH_REL_TARGET_LANE without returning zero.
 99 | 
100 | (2010-02-17) [since VISSIM 5.20-07]
101 | ------------
102 | * VISSIM:
103 |   DRIVER_DATA_STATUS and DRIVER_DATA_STATUS_DETAILS are treated as optional now.
104 | 
105 | (2010-01-14) [since VISSIM 5.20-06]
106 | ------------
107 | * VISSIM:
108 |   DRIVER_DATA_VEH_DESTINATION_LINK, DRIVER_DATA_VEH_REAR_X_COORDINATE and 
109 |   DRIVER_DATA_VEH_REAR_Y_COORDINATE are treated as optional now.
110 | 
111 | (2009-12-11) [since VISSIM 5.20-05]
112 | ------------
113 | * VISSIM:
114 |   DRIVER_DATA_PARAMETERFILE is treated as optional now.
115 | * VISSIM:
116 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
117 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
118 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
119 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
120 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
121 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y
122 |   are not used anymore.
123 | 
124 | (2008-12-23) [since VISSIM 5.10-06]
125 | ------------
126 | * VISSIM:
127 |   DRIVER_DATA_USES_PEDESTRIAN_POLYGONS and DRIVER_DATA_VEH_LEAVES_NETWORK
128 |   are not used anymore.
129 | 
130 | (2007-09-19) [since VISSIM 5.00-00]
131 | ------------
132 | * VISSIM:
133 |   The DriverModel.DLL interface is not used anymore for the Pedestrian Module.
134 |   Support for DRIVER_DATA_USES_PEDESTRIAN_POLYGONS has been discontinued.
135 | * VISSIM:
136 |   DRIVER_DATA_VEH_Z_COORDINATE, DRIVER_DATA_VEH_HEIGHT,
137 |   DRIVER_DATA_VEH_REAR_Z_COORDINATE and DRIVER_DATA_PEDESTRIAN_POLYGON_*
138 |   are not used anymore.
139 | 
140 | (2007-04-12) [since 4.30-01]
141 | ------------
142 | * VISSIM:
143 |   DRIVER_DATA_VEH_REAR_X_COORDINATE, DRIVER_DATA_VEH_REAR_Y_COORDINATE are
144 |   used even if DriverModelGetValue (DRIVER_DATA_USES_PEDESTRIAN_POLYGONS, ...) 
145 |   set *long_value to 0, i.e. for lane-based driver models.
146 | 
147 | (2007-02-06) [not externally released]
148 | ------------     
149 | + DriverModel.h + .cpp:
150 |   New type code: 
151 |   DRIVER_DATA_VEH_REAR_Z_COORDINATE 
152 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS).
153 |   
154 | (2006-11-30) [not externally released] 
155 | ------------     
156 | + DriverModel.h + .cpp:
157 |   New type codes:
158 |   DRIVER_DATA_STATUS, DRIVER_DATA_STATUS_DETAILS.
159 | + DriverModel.cpp:
160 |   DriverModelGetValue() and DriverModelSetValue() must return 1 to almost
161 |   all calls (even with the new type codes added after 2005-05-24) 
162 |   to prevent VISSIM from stopping the simulation run with the error message 
163 |   "Could not send/retrieve ... to/from driver model"!
164 | 
165 | (2006-10-20) [not externally released]
166 | ------------     
167 | + DriverModel.h + .cpp:
168 |   New type code: 
169 |   DRIVER_DATA_VEH_HEIGHT 
170 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS).
171 |   
172 | (2006-09-21) [not externally released]
173 | ------------     
174 | + DriverModel.h + .cpp:
175 |   New type code: 
176 |   DRIVER_DATA_VEH_Z_COORDINATE 
177 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS). 
178 | 
179 | (2006-09-20) [not externally released]
180 | ------------     
181 | + DriverModel.h + .cpp:
182 |   DRIVER_DATA_SETS_XY_COORDINATES replaced by DRIVER_DATA_USES_PEDESTRIAN_POLYGONS.
183 |   New type codes: 
184 |   DRIVER_DATA_PEDESTRIAN_POLYGON_*
185 |   (only used with DRIVER_DATA_USES_PEDESTRIAN_POLYGONS). 
186 | * VISSIM:
187 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
188 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
189 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
190 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
191 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
192 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y
193 |   are passed to the driver model DLL if DriverModelGetValue 
194 |   (DRIVER_DATA_USES_PEDESTRIAN_POLYGONS, ...) set *long_value to 0!
195 | 
196 | (2006-09-01) [since VISSIM 4.30-00, not externally released]
197 | ------------     
198 | + DriverModel.h + .cpp:
199 |   New format (created from an internal database).
200 | + DriverModel.h + .cpp:
201 |   New type code:
202 |   DRIVER_DATA_PARAMETERFILE.
203 | * VISSIM: The name of the DLL and a parameterfile can be selected for each
204 |   vehicle type.
205 | 
206 | (2005-11-09) [not externally released]
207 | ------------     
208 | + DriverModel.h + .cpp:
209 |   New type codes:
210 |   DRIVER_DATA_VEH_DESTINATION_LINK, DRIVER_DATA_SETS_XY_COORDINATES,
211 |   DRIVER_DATA_VEH_LEAVES_NETWORK, 
212 |   DRIVER_DATA_VEH_REAR_X_COORDINATE, DRIVER_DATA_VEH_REAR_Y_COORDINATE, 
213 |   DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_UP_RIGHT_Y,
214 |   DRIVER_DATA_LINK_SEGMENT_UP_LEFT_X, DRIVER_DATA_LINK_SEGMENT_UP_LEFT_Y,
215 |   DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_RIGHT_Y,
216 |   DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_X, DRIVER_DATA_LINK_SEGMENT_DOWN_LEFT_Y,
217 |   DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_X, DRIVER_DATA_SIGNAL_HEAD_POS_RIGHT_Y,
218 |   DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_X, DRIVER_DATA_SIGNAL_HEAD_POS_LEFT_Y.  
219 | + DriverModel.h + .cpp:
220 |   DRIVER_DATA_VEH_TURNING_INDICATOR is used by DriverModelGetValue(), too.
221 |   DRIVER_DATA_VEH_X_COORDINATE and DRIVER_DATA_VEH_Y_COORDINATE are
222 |   used by DriverModelGetValue(), too, if DriverModelGetValue 
223 |   (DRIVER_DATA_SETS_XY_COORDINATES, ...) set *long_value to 1.
224 | 
225 | (2005-05-24)
226 | ------------     
227 | + DriverModel.h: 
228 |   Comments for index values for DRIVER_DATA_NVEH_ values improved.
229 | 


--------------------------------------------------------------------------------
/Code/DriverModel_DLL_HV/DriverModel.cpp:
--------------------------------------------------------------------------------
  1 | /*==========================================================================*/
  2 | /*  DriverModel.cpp                                  DLL Module for VISSIM  */
  3 | /*                                                                          */
  4 | /*  Interface module for external driver models.                            */
  5 | /*  Dummy version that does nothing (uses Vissim's internal model).         */
  6 | /*  export HV trajectory information                                        */
  7 | /*==========================================================================*/
  8 | 
  9 | #include "DriverModel.h"
 10 | #include <stdio.h>
 11 | #include <iostream> 
 12 | #include <fstream>
 13 | #include <list>
 14 | #include <math.h>
 15 | #include <ctime>
 16 | #include <map>  
 17 | #include <string> 
 18 | #include <stdlib.h>
 19 | #include <vector>
 20 | #include <cmath>
 21 | #include <iomanip>
 22 | /*==========================================================================*/
 23 | 
 24 | 
 25 | using namespace std;
 26 | using std::vector;
 27 | vector<long>::iterator iter;
 28 | 
 29 | vector<vector<float>> veh_data(500);
 30 | int www = 0;
 31 | 
 32 | 
 33 | double  desired_acceleration = 0.0;
 34 | double  desired_lane_angle   = 0.0;
 35 | long    active_lane_change   = 0;
 36 | long    rel_target_lane      = 0;
 37 | double  desired_velocity     = 0.0;
 38 | long    turning_indicator    = 0;
 39 | long    vehicle_color        = RGB(0,0,0);
 40 | long veh_type;
 41 | double  current_speed = 0.0;
 42 | long veh_id;
 43 | double time_run;
 44 | 
 45 | ofstream fout;
 46 | ifstream fin;
 47 | 
 48 | 
 49 | 
 50 | /*==========================================================================*/
 51 | 
 52 | BOOL APIENTRY DllMain (HANDLE  hModule,
 53 |                        DWORD   ul_reason_for_call,
 54 |                        LPVOID  lpReserved)
 55 | {
 56 |   switch (ul_reason_for_call) {
 57 |       case DLL_PROCESS_ATTACH:
 58 |       case DLL_THREAD_ATTACH:
 59 |       case DLL_THREAD_DETACH:
 60 |       case DLL_PROCESS_DETACH:
 61 |          break;
 62 |   }
 63 |   return TRUE;
 64 | }
 65 | 
 66 | /*==========================================================================*/
 67 | 
 68 | DRIVERMODEL_API  int  DriverModelSetValue (long   type,
 69 |                                            long   index1,
 70 |                                            long   index2,
 71 |                                            long   long_value,
 72 |                                            double double_value,
 73 |                                            char   *string_value)
 74 | {
 75 |   /* Sets the value of a data object of type <type>, selected by <index1> */
 76 |   /* and possibly <index2>, to <long_value>, <double_value> or            */
 77 |   /* <*string_value> (object and value selection depending on <type>).    */
 78 |   /* Return value is 1 on success, otherwise 0.                           */
 79 | 
 80 |   switch (type) {
 81 |     case DRIVER_DATA_PATH                   :
 82 |     case DRIVER_DATA_TIMESTEP               :
 83 |     case DRIVER_DATA_TIME                   :
 84 | 		time_run = double_value;
 85 |       return 1;
 86 |     case DRIVER_DATA_USE_UDA                :
 87 |       return 0; /* doesn't use any UDAs */
 88 |                 /* must return 1 for desired values of index1 if UDA values are to be sent from/to Vissim */
 89 |     case DRIVER_DATA_VEH_ID                 :
 90 | 		veh_id = long_value;
 91 | 		return 1;
 92 |     case DRIVER_DATA_VEH_LANE               :
 93 |     case DRIVER_DATA_VEH_ODOMETER           :
 94 |     case DRIVER_DATA_VEH_LANE_ANGLE         :
 95 |     case DRIVER_DATA_VEH_LATERAL_POSITION   :
 96 |     case DRIVER_DATA_VEH_VELOCITY           :
 97 | 		current_speed = double_value;
 98 | 		return 1;
 99 |     case DRIVER_DATA_VEH_ACCELERATION       :
100 |     case DRIVER_DATA_VEH_LENGTH             :
101 |     case DRIVER_DATA_VEH_WIDTH              :
102 |     case DRIVER_DATA_VEH_WEIGHT             :
103 |     case DRIVER_DATA_VEH_MAX_ACCELERATION   :
104 |       return 1;
105 |     case DRIVER_DATA_VEH_TURNING_INDICATOR  :
106 |       turning_indicator = long_value;
107 |       return 1;
108 |     case DRIVER_DATA_VEH_CATEGORY           :
109 |     case DRIVER_DATA_VEH_PREFERRED_REL_LANE :
110 |     case DRIVER_DATA_VEH_USE_PREFERRED_LANE :
111 |       return 1;
112 |     case DRIVER_DATA_VEH_DESIRED_VELOCITY   :
113 |       desired_velocity = double_value;
114 |       return 1;
115 |     case DRIVER_DATA_VEH_X_COORDINATE       :
116 |     case DRIVER_DATA_VEH_Y_COORDINATE       :
117 |     case DRIVER_DATA_VEH_Z_COORDINATE       :
118 |     case DRIVER_DATA_VEH_REAR_X_COORDINATE  :
119 |     case DRIVER_DATA_VEH_REAR_Y_COORDINATE  :
120 |     case DRIVER_DATA_VEH_REAR_Z_COORDINATE  :
121 |     case DRIVER_DATA_VEH_TYPE               :
122 | 		veh_type = long_value;
123 | 		return 1;
124 |     case DRIVER_DATA_VEH_COLOR              :
125 |       vehicle_color = long_value;
126 |       return 1;
127 |     case DRIVER_DATA_VEH_CURRENT_LINK       :
128 |       return 0; /* (To avoid getting sent lots of DRIVER_DATA_VEH_NEXT_LINKS messages) */
129 |                 /* Must return 1 if these messages are to be sent from VISSIM!         */
130 |     case DRIVER_DATA_VEH_NEXT_LINKS         :
131 |     case DRIVER_DATA_VEH_ACTIVE_LANE_CHANGE :
132 |     case DRIVER_DATA_VEH_REL_TARGET_LANE    :
133 |     case DRIVER_DATA_VEH_INTAC_STATE        :
134 |     case DRIVER_DATA_VEH_INTAC_TARGET_TYPE  :
135 |     case DRIVER_DATA_VEH_INTAC_TARGET_ID    :
136 |     case DRIVER_DATA_VEH_INTAC_HEADWAY      :
137 |     case DRIVER_DATA_VEH_UDA                :
138 |     case DRIVER_DATA_NVEH_ID                :
139 |     case DRIVER_DATA_NVEH_LANE_ANGLE        :
140 |     case DRIVER_DATA_NVEH_LATERAL_POSITION  :
141 |     case DRIVER_DATA_NVEH_DISTANCE          :
142 |     case DRIVER_DATA_NVEH_REL_VELOCITY      :
143 |     case DRIVER_DATA_NVEH_ACCELERATION      :
144 |     case DRIVER_DATA_NVEH_LENGTH            :
145 |     case DRIVER_DATA_NVEH_WIDTH             :
146 |     case DRIVER_DATA_NVEH_WEIGHT            :
147 |     case DRIVER_DATA_NVEH_TURNING_INDICATOR :
148 |     case DRIVER_DATA_NVEH_CATEGORY          :
149 |     case DRIVER_DATA_NVEH_LANE_CHANGE       :
150 |     case DRIVER_DATA_NVEH_TYPE              :
151 |     case DRIVER_DATA_NVEH_UDA               :
152 |     case DRIVER_DATA_NO_OF_LANES            :
153 |     case DRIVER_DATA_LANE_WIDTH             :
154 |     case DRIVER_DATA_LANE_END_DISTANCE      :
155 |     case DRIVER_DATA_RADIUS                 :
156 |     case DRIVER_DATA_MIN_RADIUS             :
157 |     case DRIVER_DATA_DIST_TO_MIN_RADIUS     :
158 |     case DRIVER_DATA_SLOPE                  :
159 |     case DRIVER_DATA_SLOPE_AHEAD            :
160 |     case DRIVER_DATA_SIGNAL_DISTANCE        :
161 |     case DRIVER_DATA_SIGNAL_STATE           :
162 |     case DRIVER_DATA_SIGNAL_STATE_START     :
163 |     case DRIVER_DATA_SPEED_LIMIT_DISTANCE   :
164 |     case DRIVER_DATA_SPEED_LIMIT_VALUE      :
165 |       return 1;
166 |     case DRIVER_DATA_DESIRED_ACCELERATION :
167 |       desired_acceleration = double_value;
168 |       return 1;
169 |     case DRIVER_DATA_DESIRED_LANE_ANGLE :
170 |       desired_lane_angle = double_value;
171 |       return 1;
172 |     case DRIVER_DATA_ACTIVE_LANE_CHANGE :
173 |       active_lane_change = long_value;
174 |       return 1;
175 |     case DRIVER_DATA_REL_TARGET_LANE :
176 |       rel_target_lane = long_value;
177 |       return 1;
178 |     default :
179 |       return 0;
180 |   }
181 | }
182 | 
183 | /*--------------------------------------------------------------------------*/
184 | 
185 | DRIVERMODEL_API  int  DriverModelGetValue (long   type,
186 |                                            long   index1,
187 |                                            long   index2,
188 |                                            long   *long_value,
189 |                                            double *double_value,
190 |                                            char   **string_value)
191 | {
192 |   /* Gets the value of a data object of type <type>, selected by <index1> */
193 |   /* and possibly <index2>, and writes that value to <*double_value>,     */
194 |   /* <*float_value> or <**string_value> (object and value selection       */
195 |   /* depending on <type>).                                                */
196 |   /* Return value is 1 on success, otherwise 0.                           */
197 | 
198 |   switch (type) {
199 |     case DRIVER_DATA_STATUS :
200 |       *long_value = 0;
201 |       return 1;
202 |     case DRIVER_DATA_VEH_TURNING_INDICATOR :
203 |       *long_value = turning_indicator;
204 |       return 1;
205 |     case DRIVER_DATA_VEH_DESIRED_VELOCITY   :
206 |       *double_value = desired_velocity;
207 |       return 1;
208 |     case DRIVER_DATA_VEH_COLOR :
209 |       *long_value = vehicle_color;
210 |       return 1;
211 |     case DRIVER_DATA_VEH_UDA :
212 |       return 0; /* doesn't set any UDA values */
213 |     case DRIVER_DATA_WANTS_SUGGESTION :
214 |       *long_value = 1;
215 |       return 1;
216 |     case DRIVER_DATA_DESIRED_ACCELERATION :
217 |       *double_value = desired_acceleration;
218 |       return 1;
219 |     case DRIVER_DATA_DESIRED_LANE_ANGLE :
220 |       *double_value = desired_lane_angle;
221 |       return 1;
222 |     case DRIVER_DATA_ACTIVE_LANE_CHANGE :
223 |       *long_value = active_lane_change;
224 |       return 1;
225 |     case DRIVER_DATA_REL_TARGET_LANE :
226 |       *long_value = rel_target_lane;
227 |       return 1;
228 |     case DRIVER_DATA_SIMPLE_LANECHANGE :
229 |       *long_value = 1;
230 |       return 1;
231 |     case DRIVER_DATA_USE_INTERNAL_MODEL:
232 |       *long_value = 1; /* must be set to 0 if external model is to be applied */
233 |       return 1;
234 |     case DRIVER_DATA_WANTS_ALL_NVEHS:
235 |       *long_value = 0; /* must be set to 1 if data for more than 2 nearby vehicles per lane and upstream/downstream is to be passed from Vissim */
236 |       return 1;
237 |     case DRIVER_DATA_ALLOW_MULTITHREADING:
238 |       *long_value = 0; /* must be set to 1 to allow a simulation run to be started with multiple cores used in the simulation parameters */
239 |       return 1;
240 |     default:
241 |       return 0;
242 |   }
243 | }
244 | 
245 | /*==========================================================================*/
246 | 
247 | DRIVERMODEL_API  int  DriverModelExecuteCommand (long number)
248 | {
249 |   /* Executes the command <number> if that is available in the driver */
250 |   /* module. Return value is 1 on success, otherwise 0.               */
251 | 
252 |   switch (number) {
253 |     case DRIVER_COMMAND_INIT :
254 | 		fout.open("data_put_out_HV.txt", std::ios_base::out);
255 | 		fout.flush();
256 | 		for (int i = 0; i < veh_data.size(); i++)
257 | 			veh_data[i].resize(0);
258 |       return 1;
259 |     case DRIVER_COMMAND_CREATE_DRIVER :
260 |       return 1;
261 |     case DRIVER_COMMAND_KILL_DRIVER :
262 |       return 1;
263 |     case DRIVER_COMMAND_MOVE_DRIVER :
264 | 
265 | 		veh_data[veh_id].push_back(current_speed);
266 | 		fout.precision(4);
267 | 		if (time_run == 300 && www == 0)
268 | 		{
269 | 			for (int i = 0; i < veh_data.size(); i++)
270 | 			{
271 | 				
272 | 				//fout << "630   ";
273 | 				if (veh_data[i].empty())
274 | 				{
275 | 					;
276 | 				}
277 | 				else
278 | 				{
279 | 					fout << veh_type << "   ";
280 | 					for (int j = 0; j < veh_data[i].size(); j++)
281 | 					{
282 | 						fout << veh_data[i][j] << "  ";
283 | 					}
284 | 					fout << endl;
285 | 				}
286 | 			}
287 | 
288 | 			www = 1;
289 | 		}
290 |       return 1;
291 |     default :
292 |       return 0;
293 |   }
294 | }
295 | 
296 | /*==========================================================================*/
297 | /*  End of DriverModel.cpp                                                  */
298 | /*==========================================================================*/
299 | 


--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
/Code/DriverModel_DLL_CAV/DriverModel.cpp:
--------------------------------------------------------------------------------
   1 | /*==========================================================================*/
   2 | /*  DriverModel.cpp                                  DLL Module for VISSIM  */
   3 | /*                                                                          */
   4 | /*  Interface module for external driver models.                            */
   5 | /*  Implement CAV control model and export CAV trajectory information       */
   6 | /*==========================================================================*/
   7 | 
   8 | #include "DriverModel.h"
   9 | #include <stdio.h>
  10 | #include <iostream> 
  11 | #include <fstream>
  12 | #include <list>
  13 | #include <math.h>
  14 | #include <ctime>
  15 | #include <map>  
  16 | #include <string> 
  17 | #include <stdlib.h>
  18 | #include <vector>
  19 | #include <cmath>
  20 | #include <iomanip>
  21 | #define random(a,b) (rand()%(b-a+1)+a)
  22 | 
  23 | using namespace std;
  24 | using std::vector;
  25 | vector<long>::iterator iter;
  26 | 
  27 | vector<vector<float>> veh_data(1000);
  28 | int www = 0;
  29 | 
  30 | 
  31 | /*==========================================================================*/
  32 | float k_1 = 0.2; //ACC param1
  33 | float k_2 = 0.68; //ACC param2
  34 | float react_time = 0.9;//tau
  35 | float b_av = 4.5;//CAV max dec
  36 | float b_hv = 4.2;//max dec of preceding vehicle
  37 | float w_hv = 4.0;//max acc of following vehicle
  38 | float s_0 = 4.0;//min following gap
  39 | float time_gap=1.3;//time gap
  40 | float g_cav = 1.53;// CAV desired time gap
  41 | float veh_length = 4.6; //vehicle length for CAV and HV
  42 | float b = 0.2;//used for estimate LC duration
  43 | float lw = 3.5;//lane width
  44 | float av_off_main_rate = 0.2;//mainline CAV diverging rate
  45 | float av_off_ramp_rate = 0.2;//on ramp CAV diverging rate
  46 | float coop_rate = 0.5;// CAV cooperation rate
  47 | float d_a = 0.1;// incentive check threshold
  48 | float d_bias = 0.6;//incentive check bias
  49 | /*HV diverging rate; CAV penetration rate; Zone A and B length can be customized in PTV VISSIM user interface*/
  50 | 
  51 | 
  52 | double  current_speed        = 0.0;
  53 | double  desired_acceleration = 0.0;
  54 | double  desired_lane_angle   = 0.0;
  55 | long    active_lane_change   = 0;
  56 | long    rel_target_lane      = 0;
  57 | double  desired_velocity     = 0.0;
  58 | long    turning_indicator    = 0;
  59 | long    vehicle_color        = RGB(0,0,0);
  60 | double  lead_vehicle_distance         = 61;
  61 | double  lead_vehicle_speed_difference = -9.0;
  62 | double  lead_vehicle_length           =   0.0;
  63 | double time_run;
  64 | long current_lane;
  65 | double lateral_distance;
  66 | double net_distance;
  67 | double lead_vehicle_speed;
  68 | double desired_distance; /* times 1 s */
  69 | double veh_odometer;
  70 | long current_link;
  71 | long inter_model = 0;
  72 | double veh_angle;
  73 | 
  74 | long down_vehicle_type;
  75 | long up_vehicle_type;
  76 | long down_left_vehicle_type;
  77 | long down_right_vehicle_type;
  78 | long up_left_vehicle_type;
  79 | long up_right_vehicle_type;
  80 | long veh_type;
  81 | 
  82 | 
  83 | long veh_id;
  84 | 
  85 | double down_left_veh_distance;
  86 | double down_right_veh_distance;
  87 | double up_left_veh_distance;
  88 | double up_right_veh_distance;
  89 | double up_vehicle_distance;
  90 | 
  91 | long up_vehicle_lane_change;
  92 | long down_left_vehicle_lane_change;
  93 | long down_right_vehicle_lane_change;
  94 | long up_left_vehicle_lane_change;
  95 | long up_right_vehicle_lane_change;
  96 | 
  97 | double down_right_veh_sp_diff;
  98 | double down_left_veh_sp_diff;
  99 | double up_left_veh_sp_diff;
 100 | double up_right_veh_sp_diff;
 101 | 
 102 | double down_right_veh_sp;
 103 | double down_left_veh_sp;
 104 | double up_left_veh_sp;
 105 | double up_right_veh_sp;
 106 | 
 107 | double veh_x_po;
 108 | double veh_y_po;
 109 | 
 110 | float acc_follow_own_lane;
 111 | float acc_follow_nveh_lane;
 112 | int change_right_condition = 0;
 113 | int change_left_condition = 0;
 114 | float angle = 0.05;
 115 | map<long, int> target_lane;
 116 | map<long, float> active_change_time;
 117 | map<long, float> change_lane_period;
 118 | map<long, long> last_link;
 119 | map<long, float> last_angel;
 120 | float start_pos_1 = 0;
 121 | float dist_adjust = 0;
 122 | map<long, int>veh_aim;
 123 | map<long, int>coop;
 124 | 
 125 | 
 126 | float right_change_follow;
 127 | float left_change_follow;
 128 | float suiji;
 129 | 
 130 | float right_future_fol_dist = 88;
 131 | float right_future_fol_acc = -10;
 132 | float left_future_fol_dist = 88;
 133 | float left_future_fol_acc = -10;
 134 | 
 135 | ofstream fout,fav_out;
 136 | ifstream fin;
 137 | /*==========================================================================*/
 138 | 
 139 | BOOL APIENTRY DllMain (HANDLE  hModule,
 140 |                        DWORD   ul_reason_for_call,
 141 |                        LPVOID  lpReserved)
 142 | {
 143 |   switch (ul_reason_for_call) {
 144 |       case DLL_PROCESS_ATTACH:
 145 |       case DLL_THREAD_ATTACH:
 146 |       case DLL_THREAD_DETACH:
 147 |       case DLL_PROCESS_DETACH:
 148 |          break;
 149 |   }
 150 |   return TRUE;
 151 | }
 152 | 
 153 | /*==========================================================================*/
 154 | 
 155 | DRIVERMODEL_API  int  DriverModelSetValue (long   type,
 156 |                                            long   index1,
 157 |                                            long   index2,
 158 |                                            long   long_value,
 159 |                                            double double_value,
 160 |                                            char   *string_value)
 161 | {
 162 |   /* Sets the value of a data object of type <type>, selected by <index1> */
 163 |   /* and possibly <index2>, to <long_value>, <double_value> or            */
 164 |   /* <*string_value> (object and value selection depending on <type>).    */
 165 |   /* Return value is 1 on success, otherwise 0.                           */
 166 | 
 167 |   switch (type) {
 168 |     case DRIVER_DATA_PATH                   :
 169 |     case DRIVER_DATA_TIMESTEP               :
 170 |     case DRIVER_DATA_TIME                   :
 171 | 		time_run = double_value;
 172 |       return 1;
 173 |     case DRIVER_DATA_USE_UDA                :
 174 |       return 0; /* doesn't use any UDAs */
 175 |                 /* must return 1 for desired values of index1 if UDA values are to be sent from/to Vissim */
 176 |     case DRIVER_DATA_VEH_ID:
 177 | 		veh_id = long_value;
 178 |       lead_vehicle_distance         = 70.0;
 179 | 	  down_left_veh_distance=70;
 180 | 	  down_right_veh_distance=70;
 181 | 	  up_left_veh_distance = -70;
 182 | 	  up_right_veh_distance = -70;
 183 | 	  up_vehicle_distance = -70;
 184 |       lead_vehicle_speed_difference = 0;
 185 | 	  lead_vehicle_speed = 32;
 186 |       lead_vehicle_length           =   4.6;
 187 | 	  down_right_veh_sp=32;
 188 | 	  down_left_veh_sp = 32;
 189 | 	  up_left_veh_sp = 29;
 190 | 	  up_right_veh_sp = 29;
 191 |       return 1;
 192 |     case DRIVER_DATA_VEH_LANE               :
 193 | 		current_lane = long_value;
 194 |     case DRIVER_DATA_VEH_ODOMETER           :
 195 | 		veh_odometer = double_value;
 196 |     case DRIVER_DATA_VEH_LANE_ANGLE         :
 197 | 		veh_angle = double_value;
 198 |     case DRIVER_DATA_VEH_LATERAL_POSITION   :
 199 | 		lateral_distance = double_value;
 200 |       return 1;
 201 |     case DRIVER_DATA_VEH_VELOCITY           :
 202 |       current_speed = double_value;
 203 |       return 1;
 204 |     case DRIVER_DATA_VEH_ACCELERATION       :
 205 |     case DRIVER_DATA_VEH_LENGTH             :
 206 |     case DRIVER_DATA_VEH_WIDTH              :
 207 |     case DRIVER_DATA_VEH_WEIGHT             :
 208 |     case DRIVER_DATA_VEH_MAX_ACCELERATION   :
 209 |       return 1;
 210 |     case DRIVER_DATA_VEH_TURNING_INDICATOR  :
 211 |       turning_indicator = long_value;     //LC signal
 212 |       return 1;
 213 |     case DRIVER_DATA_VEH_CATEGORY           :
 214 |     case DRIVER_DATA_VEH_PREFERRED_REL_LANE :
 215 |     case DRIVER_DATA_VEH_USE_PREFERRED_LANE :
 216 |       return 1;
 217 |     case DRIVER_DATA_VEH_DESIRED_VELOCITY   :
 218 |       desired_velocity = double_value;
 219 |       return 1;
 220 |     case DRIVER_DATA_VEH_X_COORDINATE       :
 221 | 		veh_x_po = double_value;
 222 | 		return 1;
 223 |     case DRIVER_DATA_VEH_Y_COORDINATE       :
 224 | 		veh_y_po = double_value;
 225 | 		return 1;
 226 |     case DRIVER_DATA_VEH_Z_COORDINATE       :
 227 |     case DRIVER_DATA_VEH_REAR_X_COORDINATE  :
 228 |     case DRIVER_DATA_VEH_REAR_Y_COORDINATE  :
 229 |     case DRIVER_DATA_VEH_REAR_Z_COORDINATE  :
 230 |     case DRIVER_DATA_VEH_TYPE               :
 231 | 		veh_type = long_value;
 232 |       return 1;
 233 |     case DRIVER_DATA_VEH_COLOR              :
 234 |       vehicle_color = long_value;
 235 |       return 1;
 236 |     case DRIVER_DATA_VEH_CURRENT_LINK       :
 237 | 		current_link = long_value;
 238 |       return 0; /* (To avoid getting sent lots of DRIVER_DATA_VEH_NEXT_LINKS messages) */
 239 |                 /* Must return 1 if these messages are to be sent from VISSIM!         */
 240 |     case DRIVER_DATA_VEH_NEXT_LINKS         :
 241 |     case DRIVER_DATA_VEH_ACTIVE_LANE_CHANGE :
 242 |     case DRIVER_DATA_VEH_REL_TARGET_LANE    :
 243 |     case DRIVER_DATA_VEH_INTAC_STATE        :
 244 |     case DRIVER_DATA_VEH_INTAC_TARGET_TYPE  :
 245 |     case DRIVER_DATA_VEH_INTAC_TARGET_ID    :
 246 |     case DRIVER_DATA_VEH_INTAC_HEADWAY      :
 247 |     case DRIVER_DATA_VEH_UDA                :
 248 |     case DRIVER_DATA_NVEH_ID                :
 249 |     case DRIVER_DATA_NVEH_LANE_ANGLE        :
 250 |     case DRIVER_DATA_NVEH_LATERAL_POSITION  :
 251 |       return 1;
 252 |     case DRIVER_DATA_NVEH_DISTANCE          :
 253 |       if (index1 == 0 && index2 == 1) { /* leading vehicle on own lane */
 254 |         lead_vehicle_distance = double_value;
 255 |       }
 256 | 	  else if (index1 == 0 && index2 == -1)
 257 | 	  {
 258 | 		  up_vehicle_distance = double_value;
 259 | 	  }
 260 | 	  else if (index1 == -1 && index2 == 1) { /* right lane leading veh */
 261 | 		  down_right_veh_distance = double_value;
 262 | 
 263 | 	  }
 264 | 	  else if (index1 == -1 && index2 == -1) { /* right lane following veh */
 265 | 		  up_right_veh_distance = double_value;
 266 | 
 267 | 	  }
 268 | 	  else if (index1 == 1 && index2 == 1) { /* left lane leading veh */
 269 | 		  down_left_veh_distance = double_value;
 270 | 
 271 | 	  }
 272 | 	  else if (index1 == 1 && index2 == -1) { /* left lane following veh */
 273 | 		  up_left_veh_distance = double_value;
 274 | 
 275 | 	  }
 276 |       return 1;
 277 |     case DRIVER_DATA_NVEH_REL_VELOCITY      :
 278 | 		/* double: speed difference [m/s] (veh. speed - nveh. speed) */
 279 |       if (index1 == 0 && index2 == 1) { /* leading vehicle on own lane */
 280 |         lead_vehicle_speed_difference = double_value;
 281 | 		lead_vehicle_speed = current_speed - lead_vehicle_speed_difference;
 282 |       }
 283 | 	  else if (index1 == -1 && index2 == 1) { /* right lane leading veh */
 284 | 		  down_right_veh_sp_diff = double_value;
 285 | 		  down_right_veh_sp = current_speed - down_right_veh_sp_diff;
 286 | 	  }
 287 | 	  else if (index1 == -1 && index2 == -1) { /* right lane follwoing veh */
 288 | 		  up_right_veh_sp_diff = double_value;
 289 | 		  up_right_veh_sp = current_speed - up_right_veh_sp_diff;
 290 | 	  }
 291 | 	  else if (index1 == 1 && index2 == 1) { /* left lane leading veh */
 292 | 		  down_left_veh_sp_diff = double_value;
 293 | 		  down_left_veh_sp = current_speed - down_left_veh_sp_diff;
 294 | 	  }
 295 | 	  else if (index1 == 1 && index2 == -1) { /* left lane follwoing veh */
 296 | 		  up_left_veh_sp_diff = double_value;
 297 | 		  up_left_veh_sp = current_speed - up_left_veh_sp_diff;
 298 | 	  }
 299 |       return 1;
 300 |     case DRIVER_DATA_NVEH_ACCELERATION      :
 301 |       return 1;
 302 |     case DRIVER_DATA_NVEH_LENGTH            :
 303 |       if (index1 == 0 && index2 == 1) { /* leading vehicle on own lane */
 304 |         lead_vehicle_length = double_value;
 305 |       }
 306 |       return 1;
 307 |     case DRIVER_DATA_NVEH_WIDTH             :
 308 |     case DRIVER_DATA_NVEH_WEIGHT            :
 309 |     case DRIVER_DATA_NVEH_TURNING_INDICATOR :
 310 |     case DRIVER_DATA_NVEH_CATEGORY          :
 311 |     case DRIVER_DATA_NVEH_LANE_CHANGE       :
 312 | 		if (index1 == 0 && index2 == -1) { /* following vehicle on own lane */
 313 | 			up_vehicle_lane_change = long_value;
 314 | 		}
 315 | 		else if (index1 == -1 && index2 == 1) { /* right lane leading veh */
 316 | 			down_right_vehicle_lane_change = long_value;
 317 | 		}
 318 | 		else if (index1 == -1 && index2 == -1) { /* right lane following veh */
 319 | 			up_right_vehicle_lane_change = long_value;
 320 | 		}
 321 | 		else if (index1 == 1 && index2 == 1) { /* left lane leading veh */
 322 | 			down_left_vehicle_lane_change = long_value;
 323 | 		}
 324 | 		else if (index1 == 1 && index2 == -1) { /* left lane following veh */
 325 | 			up_left_vehicle_lane_change = long_value;
 326 | 		}
 327 | 		return 1;
 328 |     case DRIVER_DATA_NVEH_TYPE              :
 329 | 		if (index1 == 0 && index2 == 1) { /* leading veh on own lane */
 330 | 			down_vehicle_type = long_value;
 331 | 		}
 332 | 		else if (index1 == 0 && index2 == -1) { /* following vehicle on own lane */
 333 | 			up_vehicle_type = long_value;
 334 | 		}
 335 | 		else if (index1 == -1 && index2 == 1) { /* right lane leading veh */
 336 | 			down_right_vehicle_type = long_value;
 337 | 		}
 338 | 		else if (index1 == -1 && index2 == -1) { /* right lane following veh */
 339 | 			up_right_vehicle_type = long_value;
 340 | 		}
 341 | 		else if (index1 == 1 && index2 == 1) { /* left lane leading veh */
 342 | 			down_left_vehicle_type = long_value;
 343 | 		}
 344 | 		else if (index1 == 1 && index2 == -1) { /* left lane following veh */
 345 | 			up_left_vehicle_type = long_value;
 346 | 		}
 347 | 		return 1;
 348 |     case DRIVER_DATA_NVEH_UDA               :
 349 |     case DRIVER_DATA_NVEH_X_COORDINATE      :
 350 |     case DRIVER_DATA_NVEH_Y_COORDINATE      :
 351 |     case DRIVER_DATA_NVEH_Z_COORDINATE      :
 352 |     case DRIVER_DATA_NVEH_REAR_X_COORDINATE :
 353 |     case DRIVER_DATA_NVEH_REAR_Y_COORDINATE :
 354 |     case DRIVER_DATA_NVEH_REAR_Z_COORDINATE :
 355 |     case DRIVER_DATA_NO_OF_LANES            :
 356 |     case DRIVER_DATA_LANE_WIDTH             :
 357 |     case DRIVER_DATA_LANE_END_DISTANCE      :
 358 |     case DRIVER_DATA_CURRENT_LANE_POLY_N    :
 359 |     case DRIVER_DATA_CURRENT_LANE_POLY_X    :
 360 |     case DRIVER_DATA_CURRENT_LANE_POLY_Y    :
 361 |     case DRIVER_DATA_CURRENT_LANE_POLY_Z    :
 362 |     case DRIVER_DATA_RADIUS                 :
 363 |     case DRIVER_DATA_MIN_RADIUS             :
 364 |     case DRIVER_DATA_DIST_TO_MIN_RADIUS     :
 365 |     case DRIVER_DATA_SLOPE                  :
 366 |     case DRIVER_DATA_SLOPE_AHEAD            :
 367 |     case DRIVER_DATA_SIGNAL_DISTANCE        :
 368 |     case DRIVER_DATA_SIGNAL_STATE           :
 369 |     case DRIVER_DATA_SIGNAL_STATE_START     :
 370 |     case DRIVER_DATA_SPEED_LIMIT_DISTANCE   :
 371 |     case DRIVER_DATA_SPEED_LIMIT_VALUE      :
 372 |       return 1;
 373 |     case DRIVER_DATA_DESIRED_ACCELERATION :
 374 |       desired_acceleration = double_value;
 375 |       return 1;
 376 |     case DRIVER_DATA_DESIRED_LANE_ANGLE :
 377 |       desired_lane_angle = double_value;
 378 |       return 1;
 379 |     case DRIVER_DATA_ACTIVE_LANE_CHANGE :
 380 |       active_lane_change = long_value;
 381 |       return 1;
 382 |     case DRIVER_DATA_REL_TARGET_LANE :
 383 |       rel_target_lane = long_value;
 384 |       return 1;
 385 |     default :
 386 |       return 0;
 387 |   }
 388 | }
 389 | 
 390 | /*--------------------------------------------------------------------------*/
 391 | 
 392 | DRIVERMODEL_API  int  DriverModelGetValue (long   type,
 393 |                                            long   index1,
 394 |                                            long   index2,
 395 |                                            long   *long_value,
 396 |                                            double *double_value,
 397 |                                            char   **string_value)
 398 | {
 399 |   /* Gets the value of a data object of type <type>, selected by <index1> */
 400 |   /* and possibly <index2>, and writes that value to <*double_value>,     */
 401 |   /* <*float_value> or <**string_value> (object and value selection       */
 402 |   /* depending on <type>).                                                */
 403 |   /* Return value is 1 on success, otherwise 0.                           */
 404 | 
 405 |   switch (type) {
 406 |     case DRIVER_DATA_STATUS :
 407 |       *long_value = 0;
 408 |       return 1;
 409 |     case DRIVER_DATA_VEH_TURNING_INDICATOR :
 410 |       *long_value = turning_indicator;
 411 |       return 1;
 412 |     case DRIVER_DATA_VEH_DESIRED_VELOCITY   :
 413 | 		desired_velocity = 27;
 414 | 		*double_value = desired_velocity + (rand() % 6 - 3);//-3~3 random number
 415 |       return 1;
 416 |     case DRIVER_DATA_VEH_COLOR :
 417 |       *long_value = vehicle_color;
 418 |       return 1;
 419 |     case DRIVER_DATA_VEH_UDA :
 420 |       return 0; /* doesn't set any UDA values */
 421 |     case DRIVER_DATA_WANTS_SUGGESTION :
 422 |       *long_value = 1;  
 423 |       return 1;
 424 |     case DRIVER_DATA_DESIRED_ACCELERATION : 
 425 |       *double_value = desired_acceleration;
 426 |       return 1;
 427 |     case DRIVER_DATA_DESIRED_LANE_ANGLE :
 428 |       *double_value = desired_lane_angle;
 429 |       return 1;
 430 |     case DRIVER_DATA_ACTIVE_LANE_CHANGE :
 431 |       *long_value = active_lane_change;
 432 |       return 1;
 433 |     case DRIVER_DATA_REL_TARGET_LANE :
 434 | 		if (rel_target_lane*desired_lane_angle < 0)
 435 | 		{
 436 | 			fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "??????????999999" << endl;
 437 | 		}
 438 |       *long_value = rel_target_lane;
 439 |       return 1;
 440 |     case DRIVER_DATA_SIMPLE_LANECHANGE :
 441 |       *long_value = 0;  
 442 |       return 1;
 443 |     case DRIVER_DATA_USE_INTERNAL_MODEL:
 444 | 	 *long_value = 0;/* must be set to 1 if the internal behavior model of Vissim is to be applied */
 445 |     case DRIVER_DATA_WANTS_ALL_NVEHS:
 446 |       *long_value = 0; /* must be set to 1 if data for more than 2 nearby vehicles per lane and upstream/downstream is to be passed from Vissim */
 447 |       return 1;
 448 |     case DRIVER_DATA_ALLOW_MULTITHREADING:
 449 |       *long_value = 0; /* must be set to 1 to allow a simulation run to be started with multiple cores used in the simulation parameters */
 450 |       return 1;
 451 |     default:
 452 |       return 0;
 453 |   }
 454 | }
 455 | 
 456 | 
 457 | 
 458 | 
 459 | 
 460 | void follow_turn()
 461 | {
 462 | 	
 463 | 	if (current_speed > (desired_velocity + 0.2))
 464 | 	{
 465 | 		acc_follow_own_lane = -(current_speed - desired_velocity);
 466 | 	}
 467 | 	else
 468 | 	{
 469 | 		if (lead_vehicle_distance > 69)
 470 | 		{
 471 | 			acc_follow_own_lane = 0.5;
 472 | 		}
 473 | 		else
 474 | 		{
 475 | 			acc_follow_own_lane = k_1 * (lead_vehicle_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * lead_vehicle_speed_difference;
 476 | 		}
 477 | 		
 478 | 	}
 479 | 
 480 | 
 481 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "--" << current_lane << "  " << current_speed << "   " << acc_follow_own_lane << "  " << desired_acceleration << "  " << lead_vehicle_distance << "  " << lead_vehicle_speed_difference << "  " << active_lane_change << "+++111111" << endl;
 482 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "--" << current_lane << acc_follow_own_lane << "  " << desired_acceleration << "  " << lead_vehicle_distance << "  " << lead_vehicle_speed_difference << "  " << active_lane_change << endl;
 483 | 
 484 | 	if (active_lane_change == 0)
 485 | 	{
 486 | 		if ((down_right_vehicle_lane_change > 0) && (down_right_vehicle_type == 630) && (coop[veh_id] == 1))
 487 | 		{
 488 | 			left_change_follow = k_1 * (down_right_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_right_veh_sp_diff;
 489 | 		}
 490 | 		else
 491 | 		{
 492 | 			left_change_follow = 4.5;
 493 | 		}
 494 | 		if ((down_left_vehicle_lane_change < 0) && (down_left_vehicle_type == 630) && (coop[veh_id] == 1))
 495 | 		{
 496 | 			right_change_follow = k_1 * (down_left_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_left_veh_sp_diff;
 497 | 		}
 498 | 		else
 499 | 		{
 500 | 			right_change_follow = 4.5;
 501 | 		}
 502 | 
 503 | 
 504 | 		desired_acceleration = min(min(left_change_follow, right_change_follow), acc_follow_own_lane);
 505 | 		//desired_acceleration = acc_follow_own_lane;
 506 | 	}
 507 | 	else
 508 | 	{
 509 | 		if (current_lane != target_lane[veh_id])
 510 | 		{
 511 | 
 512 | 			if (active_lane_change > 0)
 513 | 			{
 514 | 				//acc_follow_nveh_lane = k_1 * (down_left_veh_distance - current_speed * react_time) - k_2 * down_left_veh_sp_diff;
 515 | 				
 516 | 				acc_follow_nveh_lane = k_1 * (down_left_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_left_veh_sp_diff;
 517 | 
 518 | 			}
 519 | 			else
 520 | 			{
 521 | 				//acc_follow_nveh_lane = k_1 * (down_right_veh_distance - current_speed * react_time) - k_2 * down_right_veh_sp_diff;
 522 | 				
 523 | 				acc_follow_nveh_lane = k_1 * (down_right_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_right_veh_sp_diff;
 524 | 			}
 525 | 
 526 | 		}
 527 | 		else
 528 | 		{
 529 | 			
 530 | 			if ((active_lane_change > 0) && (lateral_distance < (-1.75 - 1.3*sin(veh_angle))))
 531 | 			{
 532 | 				//acc_follow_nveh_lane = k_1 * (down_right_veh_distance - current_speed * react_time) - k_2 * down_right_veh_sp_diff;
 533 | 				acc_follow_nveh_lane = k_1 * (down_right_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_right_veh_sp_diff;
 534 | 				
 535 | 			}
 536 | 			else if ((active_lane_change < 0) && (lateral_distance > (1.75 + 1.3*sin(veh_angle))))
 537 | 			{
 538 | 				//acc_follow_nveh_lane = k_1 * (down_left_veh_distance - current_speed * react_time) - k_2 * down_left_veh_sp_diff;
 539 | 				acc_follow_nveh_lane = k_1 * (down_left_veh_distance - lead_vehicle_length - dist_adjust - current_speed * g_cav) - k_2 * down_left_veh_sp_diff;
 540 | 				
 541 | 			}
 542 | 				else
 543 | 			{
 544 | 				acc_follow_nveh_lane = 9;
 545 | 			}
 546 | 		}
 547 | 
 548 | 		desired_acceleration = max(min(acc_follow_own_lane, acc_follow_nveh_lane), -b_av);
 549 | 
 550 | 	}
 551 | 
 552 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << acc_follow_own_lane << "  " << desired_acceleration << "  " << lead_vehicle_distance << "  " << lead_vehicle_speed_difference << "  " << active_lane_change << endl;
 553 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "--" << current_lane << "  " << current_speed << "   " << acc_follow_own_lane << "  " << desired_acceleration << "  " << lead_vehicle_distance << "  " << lead_vehicle_speed_difference << "  " << active_lane_change << "+++111111" << endl;
 554 | }
 555 | 
 556 | void turn_judge()
 557 | {
 558 | 	//if ((right_future_fol_dist <= (down_right_veh_distance - veh_length)) && (right_future_fol_acc >= -b_hv) && (up_right_veh_distance < -5) && ((down_right_veh_distance - lead_vehicle_distance) > -1.5) && ((down_right_veh_distance - lead_vehicle_distance) < 1.5))
 559 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_left_condition << "  " << left_future_fol_dist << "  " << down_left_veh_distance << "  " << left_future_fol_acc << "  " << down_left_veh_sp << "  " << up_left_veh_sp << "====11111" << endl;
 560 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_right_condition << "  " << right_future_fol_dist << "  " << down_right_veh_distance << "  " << right_future_fol_acc << "  " << down_right_veh_sp << "  " << up_right_veh_sp << "====11111" << endl;
 561 | 
 562 | 
 563 | 	if (((current_lane > 1) && (current_link != 1) && (current_link != 3) && (current_link != 10002)) || ((current_lane > 3) && ((current_link == 3) || (current_link == 10002))) || ((current_lane > 2) && (current_link ==1 || current_link == 10000)))
 564 | 	{
 565 | 		right_future_fol_dist = current_speed * react_time + current_speed * current_speed*0.5 / b_av - down_right_veh_sp * down_right_veh_sp*0.5 / b_hv;
 566 | 		right_future_fol_acc = w_hv * (1 - pow((up_right_veh_sp / down_right_veh_sp), 4) - pow(((s_0 + max(0, (up_right_veh_sp*time_gap + up_right_veh_sp * (down_right_veh_sp - up_right_veh_sp)*0.5 / sqrt(w_hv*b_hv)))) / right_future_fol_dist), 2));
 567 | 		if (current_link == 6 && current_lane > 1 && veh_aim[veh_id] == 1)
 568 | 		
 569 | 		{
 570 | 	
 571 | 
 572 | 			right_future_fol_acc = -3;
 573 | 		}
 574 | 	}
 575 | 	else
 576 | 	{
 577 | 		right_future_fol_dist = 200;
 578 | 		right_future_fol_acc = -20;
 579 | 	}
 580 | 
 581 | 
 582 | 
 583 | 
 584 | 	if ((((veh_aim[veh_id] != 1) && (current_lane < 3) && (current_link != 2) && (current_link != 10001) && (current_link != 10) && (current_link != 10007))) || ((current_link == 3 || current_link == 10003) && current_lane == 1))
 585 | 	{
 586 | 	
 587 | 		left_future_fol_dist = current_speed * react_time + current_speed * current_speed*0.5 / b_av - down_left_veh_sp * down_left_veh_sp*0.5 / b_hv;
 588 | 		left_future_fol_acc = w_hv * (1 - pow((up_left_veh_sp / down_left_veh_sp), 4) - pow(((s_0 + max(0, (up_left_veh_sp*time_gap + up_left_veh_sp * (down_left_veh_sp - up_left_veh_sp)*0.5 / sqrt(w_hv*b_hv)))) / left_future_fol_dist), 2));
 589 | 
 590 | 		//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_left_condition << "  " << left_future_fol_dist << "  " << down_left_veh_distance << "  " << left_future_fol_acc << "  " << down_left_veh_sp << "  " << up_left_veh_sp <<"==333333"<< endl;
 591 | 	}
 592 | 	else
 593 | 	{
 594 | 		left_future_fol_dist = 200;
 595 | 		left_future_fol_acc = -20;
 596 | 	}
 597 | 
 598 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_right_condition << "  " << right_future_fol_dist << "  " << down_right_veh_distance << "  " << right_future_fol_acc << "  " << down_right_veh_sp << "  " << up_right_veh_sp << "====22222" << endl;
 599 | 
 600 | 	if (down_left_veh_distance > 69 || down_right_veh_distance > 69)
 601 | 	{
 602 | 		down_left_veh_sp = up_left_veh_sp;
 603 | 		left_future_fol_acc = -3;
 604 | 		down_right_veh_sp = up_right_veh_sp;
 605 | 		right_future_fol_acc = -3;
 606 | 		//left_future_fol_dist = 8;
 607 | 		//right_future_fol_dist = 8;
 608 | 	}
 609 | 	
 610 | 	
 611 | 
 612 | 	
 613 | 	if ((right_future_fol_dist <= (down_right_veh_distance - veh_length)) && (right_future_fol_acc >= -b_hv))
 614 | 	{
 615 | 
 616 | 		if ((current_link == 3 || current_link == 10002) && current_lane == 2)
 617 | 		{
 618 | 				change_right_condition = 0;
 619 | 				
 620 | 		}
 621 | 		else
 622 | 		{
 623 | 			
 624 | 			if (down_right_veh_distance > 6 && up_right_veh_distance < -10)
 625 | 			{
 626 | 				if (current_link == 6 && current_lane > 1)
 627 | 				{
 628 | 					change_right_condition = 1;
 629 | 				}
 630 | 				else
 631 | 				{
 632 | 					//incentive check
 633 | 					acc_follow_nveh_lane = k_1 * (down_right_veh_distance - lead_vehicle_length - dist_adjust - current_speed * react_time) - k_2 * down_right_veh_sp_diff;
 634 | 					if ((acc_follow_nveh_lane - acc_follow_own_lane) > (d_a - d_bias))
 635 | 					{
 636 | 						change_right_condition = 1;
 637 | 					}
 638 | 					else
 639 | 					{
 640 | 						change_right_condition = 0;
 641 | 					}
 642 | 				}
 643 | 
 644 | 			}
 645 | 			else
 646 | 			{
 647 | 				change_right_condition = 0;
 648 | 			}
 649 | 			
 650 | 		}
 651 | 
 652 | 	}
 653 | 	else if ((left_future_fol_dist <= (down_left_veh_distance - veh_length)) && (left_future_fol_acc >= -b_hv))
 654 | 	{
 655 | 	
 656 | 		if (down_left_veh_distance > 8  && (up_left_veh_distance < -10 || down_left_veh_sp < 1))
 657 | 		{
 658 | 			if (current_link == 3 && current_lane == 1)
 659 | 			{
 660 | 				change_left_condition = 1;
 661 | 			}
 662 | 			else
 663 | 			{
 664 | 				//incentive check
 665 | 				acc_follow_nveh_lane = k_1 * (down_left_veh_distance - lead_vehicle_length - dist_adjust - current_speed * react_time) - k_2 * down_left_veh_sp_diff;
 666 | 				if ((acc_follow_nveh_lane - acc_follow_own_lane) > (d_a + d_bias))
 667 | 				{
 668 | 					change_left_condition = 1;
 669 | 				}
 670 | 				else
 671 | 				{
 672 | 					change_left_condition = 0;
 673 | 				}
 674 | 
 675 | 			}
 676 | 		}
 677 | 		else
 678 | 		{
 679 | 			change_left_condition = 0;
 680 | 		}
 681 | 
 682 | 		//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_left_condition << "  " << active_lane_change <<"   5555555"<< endl;
 683 | 	}
 684 | 	else
 685 | 	{
 686 | 		change_right_condition = 0;
 687 | 		change_left_condition = 0;
 688 | 	}
 689 | 
 690 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_left_condition << "  " << left_future_fol_dist << "  " << down_left_veh_distance << "  " << left_future_fol_acc << "  " << down_left_veh_sp << "  " << up_left_veh_sp << "====666666"<<endl;
 691 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "----" << current_lane << "  " << change_right_condition << "  " << right_future_fol_dist << "  " << down_right_veh_distance << "  " << right_future_fol_acc << "  " << down_right_veh_sp << "  " << up_right_veh_sp << "====3333333" << endl;
 692 | }
 693 | 
 694 | 
 695 | void acc_angle()
 696 | {
 697 | 	if (active_lane_change*desired_lane_angle < 0 || rel_target_lane * desired_lane_angle < 0)
 698 | 	{
 699 | 		fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "  " << rel_target_lane << "  " << target_lane[veh_id] << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "????????????111111" << endl;
 700 | 	}
 701 | 
 702 | 
 703 | 
 704 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "--" << current_lane << "  " << active_lane_change << "  " << change_left_condition << "  " << desired_lane_angle << "  " << lateral_distance << endl;
 705 | 	//fout << time_run << "  " << veh_id << "  " << current_lane << "  " << active_lane_change << "  " << desired_lane_angle << "  " << veh_angle << "  " << "3333333" << endl;
 706 | 	//fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "===1111111" << endl;
 707 | 	if (active_lane_change == 0)
 708 | 	{
 709 | 		//if ((change_right_condition == 1) && (right_hv_con == 1))
 710 | 		if (change_right_condition == 1)
 711 | 		{
 712 | 
 713 | 			active_lane_change = -1;
 714 | 			rel_target_lane = -1;
 715 | 
 716 | 			target_lane[veh_id] = current_lane + rel_target_lane;
 717 | 			desired_lane_angle = active_lane_change * 0.05;
 718 | 			active_change_time[veh_id] = time_run;
 719 | 			change_lane_period[veh_id] = b * current_speed;
 720 | 
 721 | 
 722 | 		}
 723 | 		//else if ((change_left_condition == 1) && (left_hv_con == 1))
 724 | 		else if (change_left_condition == 1)
 725 | 		{
 726 | 			active_lane_change = 1;
 727 | 			rel_target_lane = 1;
 728 | 			//change_left_condition = 0;
 729 | 
 730 | 			target_lane[veh_id] = current_lane + rel_target_lane;
 731 | 			desired_lane_angle = active_lane_change * 0.05;
 732 | 			active_change_time[veh_id] = time_run;
 733 | 			change_lane_period[veh_id] = b * current_speed;
 734 | 
 735 | 		}
 736 | 		else
 737 | 		{
 738 | 			active_lane_change = 0;
 739 | 			rel_target_lane = 0;
 740 | 			target_lane[veh_id] = 0;
 741 | 			desired_lane_angle = 0;
 742 | 		}
 743 | 
 744 | 	}
 745 | 	else
 746 | 	{
 747 | 
 748 | 		if ((active_lane_change == -1) && (target_lane[veh_id] == current_lane) && (lateral_distance < 0.03))
 749 | 		{
 750 | 			//LC to right ends
 751 | 			active_lane_change = 0;
 752 | 			rel_target_lane = 0;
 753 | 			target_lane[veh_id] = 0;
 754 | 
 755 | 		}
 756 | 		else if ((active_lane_change == 1) && (target_lane[veh_id] == current_lane) && (lateral_distance > -0.03))
 757 | 		{
 758 | 			//LC to left ends 
 759 | 			active_lane_change = 0;
 760 | 			rel_target_lane = 0;
 761 | 			target_lane[veh_id] = 0;
 762 | 
 763 | 		}
 764 | 		else if ((active_lane_change != 0) && (target_lane[veh_id] == 0))
 765 | 		{
 766 | 
 767 | 			active_lane_change = 0;
 768 | 			rel_target_lane = 0;
 769 | 			desired_lane_angle = 0;	
 770 | 		}
 771 | 		
 772 | 		else if ((target_lane[veh_id] < current_lane) && (active_lane_change == -1))
 773 | 		{
 774 | 			if (change_right_condition == 0)
 775 | 			{
 776 | 				active_lane_change = 0;
 777 | 				rel_target_lane = 0;
 778 | 				target_lane[veh_id] = 0;
 779 | 				desired_lane_angle = 0;
 780 | 			}
 781 | 			else
 782 | 			{
 783 | 				//angle = (lw + lateral_distance) / ((change_lane_period[veh_id] - time_run)*current_speed + 0.5*desired_acceleration*(change_lane_period[veh_id] - time_run)*(change_lane_period[veh_id] - time_run));
 784 | 				angle = (lw + lateral_distance) / (down_right_veh_distance - right_future_fol_dist + down_right_veh_sp * (change_lane_period[veh_id] - time_run + active_change_time[veh_id]));
 785 | 				desired_lane_angle = active_lane_change * atan(angle);
 786 | 				//historical angle value
 787 | 				if (active_lane_change*desired_lane_angle < 0)
 788 | 				{
 789 | 					desired_lane_angle = last_angel[veh_id];
 790 | 				}
 791 | 			}
 792 | 		}
 793 | 		else if ((target_lane[veh_id] > current_lane) && (active_lane_change == 1))
 794 | 		{
 795 | 			if (change_left_condition == 0)
 796 | 			{
 797 | 				active_lane_change = 0;
 798 | 				rel_target_lane = 0;
 799 | 				target_lane[veh_id] = 0;
 800 | 				desired_lane_angle = -0.03;
 801 | 				//vehicle_color = RGB(128, 128, 128) + 255 * 16777216;
 802 | 			}
 803 | 			else
 804 | 			{
 805 | 				angle = (lw - lateral_distance) / (down_left_veh_distance - left_future_fol_dist + down_left_veh_sp * (change_lane_period[veh_id] - time_run + active_change_time[veh_id]));
 806 | 				desired_lane_angle = active_lane_change * atan(angle);
 807 | 				//historical angle value
 808 | 				if (active_lane_change*desired_lane_angle < 0)
 809 | 				{
 810 | 					desired_lane_angle = last_angel[veh_id];
 811 | 				}
 812 | 			
 813 | 			}
 814 | 		}
 815 | 		else if (target_lane[veh_id] == current_lane)
 816 | 		{
 817 | 			if ((active_lane_change == -1) && (lateral_distance > (1.75 + 1.3*sin(veh_angle))))
 818 | 			{
 819 | 				// LC to right
 820 | 				right_future_fol_dist = current_speed * react_time + current_speed * current_speed*0.5 / b_av - lead_vehicle_speed * lead_vehicle_speed*0.5 / b_hv;
 821 | 				angle = lateral_distance / (lead_vehicle_distance - right_future_fol_dist + lead_vehicle_speed * (change_lane_period[veh_id] - time_run + active_change_time[veh_id]));
 822 | 				desired_lane_angle = active_lane_change * atan(angle);
 823 | 
 824 | 				//historical angle value
 825 | 				if (active_lane_change*desired_lane_angle < 0)
 826 | 				{
 827 | 					desired_lane_angle = last_angel[veh_id];
 828 | 				}
 829 | 
 830 | 			}
 831 | 			else if ((active_lane_change == 1) && (lateral_distance < (-1.75 - 1.3*sin(veh_angle))))
 832 | 			{
 833 | 				//LC to left
 834 | 				left_future_fol_dist = current_speed * react_time + current_speed * current_speed*0.5 / b_av - lead_vehicle_speed * lead_vehicle_speed*0.5 / b_hv;
 835 | 				angle = -lateral_distance / (lead_vehicle_distance - left_future_fol_dist + lead_vehicle_speed * (change_lane_period[veh_id] - time_run + active_change_time[veh_id]));
 836 | 				desired_lane_angle = active_lane_change * atan(angle);
 837 | 
 838 | 				//historical angle value
 839 | 				if (active_lane_change*desired_lane_angle < 0)
 840 | 				{
 841 | 					desired_lane_angle = last_angel[veh_id];
 842 | 				}
 843 | 			}
 844 | 		}
 845 | 		else
 846 | 		{
 847 | 		active_lane_change = 0;
 848 | 		rel_target_lane = 0;
 849 | 		target_lane[veh_id] = 0;
 850 | 		desired_lane_angle = 0;
 851 | 
 852 | 		}
 853 | 
 854 | 	}
 855 | 
 856 | 	last_angel[veh_id] = desired_lane_angle;
 857 | 
 858 | 	//fout << time_run << "  " << veh_id << "  " << current_link << "--" << current_lane << "  " << active_lane_change << "  " << change_left_condition << "  " << desired_lane_angle << "  " << lateral_distance << endl;
 859 | 	//fout << time_run << "  " << veh_id << "  "  << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << down_left_veh_distance << "  " << left_future_fol_dist << "  " << down_left_veh_sp << "  " << lead_vehicle_speed << "===222222" << endl;
 860 | 
 861 | 	//fout << right_future_fol_dist << "  " << current_speed << "  " << lead_vehicle_speed << "  " << lateral_distance << "  " << lead_vehicle_distance << "  " << change_lane_period[veh_id] << "  " << active_change_time[veh_id] << "  " << angle << endl;
 862 | 	//fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition <<"===3333333"<<endl;
 863 | 	//==========================================================================
 864 | 	if (active_lane_change*desired_lane_angle < 0 || rel_target_lane * desired_lane_angle < 0)
 865 | 	{
 866 | 		fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "  " << rel_target_lane << "  " << target_lane[veh_id] << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "????????????555555" << endl;
 867 | 	}
 868 | 
 869 | }
 870 | 
 871 | 
 872 | //=====================================correct the LC angle
 873 | void correction_angle()
 874 | {
 875 | 	
 876 | 	if (active_lane_change == 0)
 877 | 	{
 878 | 		if (lateral_distance > 0.5)
 879 | 		{
 880 | 			desired_lane_angle = -0.1;
 881 | 			//rel_target_lane = 0;
 882 | 			target_lane[veh_id] = current_lane;
 883 | 		}
 884 | 		else if (lateral_distance < -0.5)
 885 | 		{
 886 | 			desired_lane_angle = 0.1;
 887 | 			//rel_target_lane = 0;
 888 | 			target_lane[veh_id] = current_lane;
 889 | 		}
 890 | 		else
 891 | 		{
 892 | 			desired_lane_angle = 0;
 893 | 		}
 894 | 	}
 895 | }
 896 | 
 897 | 
 898 | 
 899 | 
 900 | 
 901 | 
 902 | 
 903 | /*==========================================================================*/
 904 | 
 905 | DRIVERMODEL_API  int  DriverModelExecuteCommand (long number)
 906 | {
 907 |   /* Executes the command <number> if that is available in the driver */
 908 |   /* module. Return value is 1 on success, otherwise 0.               */
 909 | 
 910 | 	switch (number) {
 911 | 	case DRIVER_COMMAND_INIT:
 912 | 		fout.open("data_put_out_AV.txt", std::ios_base::out);
 913 | 		fout.flush();
 914 | 		for (int i = 0; i < veh_data.size(); i++)
 915 | 			veh_data[i].resize(0);
 916 | 		return 1;
 917 | 	case DRIVER_COMMAND_CREATE_DRIVER:
 918 | 		target_lane[veh_id] = 0;
 919 | 		active_change_time[veh_id] = 0;
 920 | 		change_lane_period[veh_id] = 0;
 921 | 		
 922 | 		veh_aim[veh_id] = 0;
 923 | 		last_link[veh_id] = 0;
 924 | 		last_angel[veh_id] = 0;
 925 | 		coop[veh_id] = 0;
 926 | 		return 1;
 927 | 	case DRIVER_COMMAND_KILL_DRIVER:
 928 | 		target_lane.erase(veh_id);
 929 | 		active_change_time.erase(veh_id);
 930 | 		change_lane_period.erase(veh_id);
 931 | 		
 932 | 		veh_aim.erase(veh_id);
 933 | 		last_link.erase(veh_id);
 934 | 		last_angel.erase(veh_id);
 935 | 		coop.erase(veh_id);
 936 | 		return 1;
 937 | 	case DRIVER_COMMAND_MOVE_DRIVER:
 938 | 
 939 | 		net_distance = lead_vehicle_distance - lead_vehicle_length;
 940 | 		desired_distance = 15 + lead_vehicle_length; /* times 1 s */
 941 | 		change_left_condition = 0;
 942 | 		change_right_condition = 0;
 943 | 
 944 | 		//right_future_fol_dist = 999;
 945 | 		//right_future_fol_acc = -8;
 946 | 		//left_future_fol_dist = 999;
 947 | 		//left_future_fol_acc = -8;
 948 | 		
 949 | 
 950 | 		//for checking states==========================================================================
 951 | 		if (active_lane_change*desired_lane_angle < 0)
 952 | 		{
 953 | 			fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "??????????888888" << endl;
 954 | 		}
 955 | 
 956 | 
 957 | 
 958 | 		if (current_link == 1 && veh_y_po < -250 && veh_aim[veh_id] == 0)
 959 | 		{
 960 | 			if ((time_run - floor(time_run)) < av_off_main_rate)
 961 | 			{
 962 | 				veh_aim[veh_id] = 1;//diverge
 963 | 				vehicle_color = RGB(0, 255, 255) + 255 * 16777216;
 964 | 				
 965 | 			}
 966 | 			else
 967 | 			{
 968 | 				veh_aim[veh_id] = 2;//through
 969 | 				vehicle_color = RGB(0, 180, 255) + 255 * 16777216;
 970 | 			}
 971 | 
 972 | 
 973 | 			suiji = random(0, 100);
 974 | 			if (suiji < coop_rate *100)
 975 | 			{
 976 | 				coop[veh_id] = 1;
 977 | 			}
 978 | 			else
 979 | 			{
 980 | 				coop[veh_id] = 2;
 981 | 			}
 982 | 
 983 | 
 984 | 		}
 985 | 		else if (current_link == 2 && veh_y_po < 460 && veh_aim[veh_id] == 0)
 986 | 		{
 987 | 			if ((time_run - floor(time_run)) < av_off_ramp_rate)
 988 | 			{
 989 | 				veh_aim[veh_id] = 1;
 990 | 				vehicle_color = RGB(0, 255, 255) + 255 * 16777216;
 991 | 			}
 992 | 			else
 993 | 			{
 994 | 				veh_aim[veh_id] = 2;
 995 | 				vehicle_color = RGB(0, 180, 255) + 255 * 16777216;
 996 | 			}
 997 | 			suiji = random(0, 100);
 998 | 			if (suiji < coop_rate * 100)
 999 | 			{
1000 | 				coop[veh_id] = 1;
1001 | 			}
1002 | 			else
1003 | 			{
1004 | 				coop[veh_id] = 2;
1005 | 			}
1006 | 		}
1007 | 
1008 | 
1009 | 
1010 | 	
1011 | 		if (active_lane_change != 0)
1012 | 		{
1013 | 			if ((current_link != last_link[veh_id]) && (current_link == 3 || current_link == 7) && (active_change_time[veh_id]<time_run))
1014 | 			{
1015 | 				target_lane[veh_id] = target_lane[veh_id] + 1;
1016 | 			}
1017 | 			else if ((current_link != last_link[veh_id]) && (current_link == 10003 || current_link == 10006) && (active_change_time[veh_id] < time_run))
1018 | 			{
1019 | 				target_lane[veh_id] = target_lane[veh_id] - 1;
1020 | 			}
1021 | 		}
1022 | 
1023 | 
1024 | 
1025 | 
1026 | 		if ((current_link == 3 || current_link == 10002) && current_lane == 1)
1027 | 		{
1028 | 			//on ramp merging check
1029 | 			if (veh_y_po < 720)
1030 | 			{
1031 | 				follow_turn();
1032 | 				turn_judge();
1033 | 				acc_angle();
1034 | 
1035 | 			}
1036 | 			else
1037 | 			{
1038 | 				follow_turn();
1039 | 				turn_judge();
1040 | 				if (change_left_condition == 1)
1041 | 				{
1042 | 
1043 | 					//active_lane_change = 1;
1044 | 					//rel_target_lane = 1;
1045 | 					//target_lane[veh_id] = 2;
1046 | 					//desired_lane_angle = 0.1;
1047 | 					//turn_judge();
1048 | 					desired_acceleration = 3;
1049 | 					acc_angle();
1050 | 				}
1051 | 				else
1052 | 				{
1053 | 					desired_acceleration = -4;
1054 | 				}
1055 | 			}
1056 | 		}
1057 | 		//else if ((current_link == 8 || current_link == 10005) && current_lane == 2)
1058 | 		//else if ((((current_link == 7 || current_link == 10005) && current_lane == 2) || ((current_link == 6 || current_link == 10004) && current_lane == 1)) && veh_x_po > 4700)
1059 | 		else if ((current_link == 7 || current_link == 10005) && current_lane == 2 && veh_y_po > 4420)
1060 | 		{
1061 | 			//diverging
1062 | 			if (down_right_veh_distance > 6 && veh_aim[veh_id] == 1)
1063 | 			{
1064 | 				
1065 | 				change_right_condition = 1;
1066 | 				//vehicle_color = RGB(255, 188, 0) + 255 * 16777216;
1067 | 				follow_turn();
1068 | 				//turn_judge();
1069 | 				right_future_fol_dist = 7;
1070 | 				right_future_fol_acc = -3;
1071 | 				acc_angle();
1072 | 				//active_lane_change = -1;
1073 | 				//rel_target_lane = -1;
1074 | 				//target_lane[veh_id] = 1;
1075 | 				//desired_lane_angle = -0.1;
1076 | 
1077 | 			}
1078 | 			else
1079 | 			{
1080 | 				follow_turn();
1081 | 				turn_judge();
1082 | 				acc_angle();
1083 | 			}
1084 | 
1085 | 		}
1086 | 		else
1087 | 		{
1088 | 			follow_turn();
1089 | 			turn_judge();
1090 | 			acc_angle();
1091 | 		}
1092 | 
1093 | 
1094 | 		correction_angle();
1095 | 
1096 | 
1097 | 
1098 | 
1099 | 		//for checking==========================================================================
1100 | 		if (active_lane_change*desired_lane_angle < 0)
1101 | 		{
1102 | 			fout << time_run << "  " << veh_id << "  " << veh_aim[veh_id] << "  " << current_link << "----" << current_lane << "  " << active_lane_change << "<LC direction，angle>" << desired_lane_angle << "  " << change_right_condition << "  " << change_left_condition << "??????????999999" << endl;
1103 | 		}
1104 | 
1105 | 
1106 | 	
1107 | 
1108 | 		
1109 | 		last_link[veh_id] = current_link;
1110 | 
1111 | 
1112 | 		veh_data[veh_id].push_back(current_speed);
1113 | 		fout.precision(4);
1114 | 		if (time_run == 300 && www == 0)
1115 | 		{
1116 | 			for (int i = 0; i < veh_data.size(); i++)
1117 | 			{
1118 | 
1119 | 				//fout << "630   ";
1120 | 				if (veh_data[i].empty())
1121 | 				{
1122 | 					;
1123 | 				}
1124 | 				else
1125 | 				{
1126 | 					fout << veh_type << "   ";
1127 | 					for (int j = 0; j < veh_data[i].size(); j++)
1128 | 					{
1129 | 						fout << veh_data[i][j] << "  ";
1130 | 					}
1131 | 					fout << endl;
1132 | 				}
1133 | 			}
1134 | 
1135 | 			www = 1;
1136 | 		}
1137 | 
1138 | 	
1139 | 		
1140 |       return 1;
1141 |     default :
1142 |       return 0;
1143 |     }
1144 | }
1145 | 
1146 | /*==========================================================================*/
1147 | /*  End of DriverModel.cpp                                                  */
1148 | /*==========================================================================*/


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