veh.java

自己用swarm开发的一个车辆跟驰的模型

import swarm.Globals;
import swarm.defobj.Zone;
import swarm.objectbase.SwarmObjectImpl;
import swarm.space.Grid2dImpl;

import java.util.*;
public class Veh extends SwarmObjectImpl
{
	final static double T=0.1;//仿真步长	
	final static double minBrakeGap=2000;
	final static double stopDistance=1.5;
	static double length=7.0;
	int id;
	float acc;
	float maxAcc;	
	float maxDcc;	
	double speed;
	double expSpeed;
	float distance;//车距离出发点的距离
	double angle=30;	
	boolean delFlag;
	Node position;
	Road road;
	public Veh(Zone aZone,Node pos,Road road,int id)
	{
		super(aZone);
		this.position=pos;
		this.road=road;
		
		this.id=id;
		acc=0;
		maxAcc=8;
		maxDcc=-8;
		speed=distance=0;
		expSpeed=20+10*Math.random();
		delFlag=false;
		
	
		
	}
	boolean addToRoad(Road road)
	{
		Random ran=new Random();
		
		double dis=50;
		
		Veh preVeh=getPreVeh();
		
		boolean addToRoad=false;
		
		if(!road.startFlag)
		{
			addToRoad=false;
		}
		else
		{
			if(preVeh==null)
			{
				this.road=road;
				this.position=road.from;
				road.vehChain.add(this);
				addToRoad=true;
				
			}
			else
			{
				if(preVeh.distance-dis-length>0)
				{
				  this.road=road;
				  this.position=road.from;
				  road.vehChain.add(this);
				  	addToRoad=true;
				  
		   	}
		   	else
		   	{
		   		addToRoad=false;
		   	}
		   }
		}
		if(speed==0.0)
		{
			speed=ran.nextInt(25);
		}
		angle=road.startAngle;
		distance=0;	
		return 	addToRoad;		
			
	}
	Veh getPreVeh()
	{
		LinkedList vehChain=road.vehChain;
		if(vehChain.size()>0)
		{
		  int index=vehChain.indexOf(this);
		  if(index<2)
		  {
		   	return null;
		  }
		  else
		  {
		  	 return (Veh)vehChain.get(index-1);
		  }
		  	 
	   }
	   else 
	   return null;
	}
	double calcGap()
	{
		
		double gap;
		Veh tempVeh,pre=getPreVeh();
		this.calcPosition();
		if(pre!=null)
		{
			tempVeh=pre;
			tempVeh.calcPosition();
			gap=tempVeh.distance-this.distance-this.length;
			return gap;
		}
		else
		{		  
		  return 200;	
	   }	
	}
	void calcPosition()
	{
		road.calculateLine(this.position,this.distance,this.angle);
	}
	public void follow()
	{
		double gap=calcGap();
		
		float tempAcc;
		
		double dis;
		boolean aa=true;
		if(checkRoad())
		{
			
			//return ;
		}
       
		//自由行驶
		if(gap>=2*(3600*speed/minBrakeGap))
		{
			System.out.println("the "+id+" Number Car is free");
			aa=false;
			if(speed>expSpeed)
			{
				acc= (float)(maxDcc*(1-Math.pow(expSpeed/speed,2)));
			}
			else
			{
				acc=(float)(maxAcc*(1-Math.pow(speed/expSpeed,2)));
				
			}
		}
		
		//一般跟驰
		else if(gap>(3600*speed/minBrakeGap)&&aa)
		{
			System.out.println("The"+id+"car is Normal following");
			Veh preVeh=getPreVeh();
			
		if(preVeh!=null)
		 {	
			if(preVeh.acc>0)//前车加速行驶
			{
				for(int n=1;n<10;n++)
				{
					tempAcc=maxAcc*(11-n)/10;
					dis=gap+preVeh.speed*T+Math.pow(preVeh.acc*T+preVeh.speed,2)/(2*preVeh.acc)-speed*T
					-Math.pow(speed+tempAcc*T,2)/(2*tempAcc);
					if(dis>stopDistance)
					{
						acc=tempAcc;
						break;
					}
				}
			}
		 }
			
			
			else if(preVeh.acc==0)//前车匀速行驶
			{
				for(int n=1;n<10;n++)
				{
					tempAcc=maxAcc*(11-n)/10;
					dis=gap+preVeh.speed*T-speed*T-Math.pow(speed+tempAcc*T,2)/(2*tempAcc);
					if(dis>stopDistance)
					{
						acc=tempAcc;
						break;
					}
				}					
			}
			
			
			else if(preVeh.acc<0)//前车减速行驶
			{
				for(int n=1;n<10;n++)
				{
					tempAcc=maxDcc*n/10;
					dis=gap+preVeh.speed*T+Math.pow(preVeh.acc*T+preVeh.speed,2)/(2*preVeh.acc)-speed*T
					-Math.pow(speed+tempAcc*T,2)/(2*tempAcc);
					if(dis>stopDistance)
					{
						acc=tempAcc;
						break;
					}
				}
			}
		}
		//紧密跟驰
		else if(0<gap&&gap<(3600*speed/minBrakeGap))
		{
			acc=maxDcc;
			System.out.println("The"+id+"car is too near");
		}
		//碰撞时
		else if(gap<0)
		{
			acc=0;
			speed=0;
		}
		
		distance+=speed*T+0.5*acc*T*T;
		speed+=acc*T;
		System.out.println("The"+id+"car's accelerate is"+acc+"    And now distance "+distance);				
	}
	
	
	boolean checkRoad()
	{
		if(distance>road.length)
		{
			delete();
			
			return false;
		}
		else
		{
		 
		 return true;
		 
      }
	}
	void delete()
	{
		delFlag=true;
	}
}