Algorithm_ActionDeduction

The action deduction module has the task of deriving the driver’s actions, based on the available information. For the driving task, this results in target values for the longitudinal and lateral dynamics (here: out_longitudinal_acc and out_lateral_displacement).

Mainly this module consists of the car-following-model and the lane-change-model, which are derived as separate classes and contain methods, parameters and objects to calculate the decisions.

As seen in the picture below, the process is divided into four parts:

  • 1: The car-following-model uses its methods to calculate an acceleration for the next timestep

  • 2: The lane-change-model uses its methods to calculate a lateral displacement for the next timestep. Therefore it needs access to the methods of the car-following-model within the calculation of each possible lane-change-reason.

  • 3: Depending on the calculations of the car-following-model and the possible adaption of the speed due lane-change decisions from the lane-change-model, an acceleration for the next timestep is set.

  • 4: Depending on the lane-change decision the lateral displacement for the next timestep is set.

|op| ActionDeduction

In Addition the Modular-Driver is capable of reacting on an oncoming intersection and the relevant agents. This is described in IntersectionBehavior.

This module can be parameterised with the following parameters through the static system configuration with the corresponding Ids. If the module doesn’t get the assessed information from the module situation-assessment (e.g. velocity-wish, speed-limit), when this isn’t used in the system-configuration, it will be calculated here, based on the duplicated parameters.

Parameter

Type

Unit

Id

Description

Defaults to

MaxComfortAcceleration

Double

m/s^2

4

Mean maximum acceleration during the normal ride

4

MinComfortDeceleration

Double

m/s^2

5

Mean minimum deceleration during the normal ride (must be negative)

-4

ComfortAccelerationDeviation

Double

m/s^2

6

Standard deviation of the comfort acceleration/deceleration

0.5

VelocityWish

Double

km/h

7

Mean velocity wish on a free road in the simulated scenario (e.g. motorway)

140

VelocityWishDeviation

Double

km/h

8

Standard deviation of the velocity wish

20

TGapWish

Integer

s

9

Mean wish time-gap to a leading vehicle

1.5

TGapWishDeviation

Integer

s

10

Standard deviation of the wish time-gap

0.3

MeanSpeedLimitViolation

Integer

km/h

11

Mean increment on the speed desire when the speed limit is in place

3

MeanSpeedLimitViolationDeviation

Integer

km/h

12

Standard deviation of the speed limit violation

0

MinDistance

Integer

m

13

Minimum distance to another agent

2

SpeedGain

Double

14

The eagerness for performing lane changing to gain speed

1

SpeedGainDeviation

Double

15

Standard deviation of the SpeedGain parameter

0

KeepRight

Double

16

The eagerness for following the obligation to keep right

1

KeepRightDeviation

Double

17

Standard deviation of the KeepRight parameter

0

Cooperative

Double

18

Willingness for performing cooperative lane changing

1

CooperativeDeviation

Double

19

Standard deviation of the Cooperative parameter

0

TtcThreshold_mean

Double

s

21

Mean limit below which the agent changes from the comfort deceleration potential to the emergency braking potential.

3

TtcThreshold_std

Double

s

22

Standard deviation of the ttc-threshold (only if no situation assessment module is used)

0

ReactionTimeMean

Integer

ms

34

Mean reaction time on suddenly hard braking leader

ReactionTimeStd

Integer

ms

35

Standard deviation of the reaction time

MinReactionTime

Integer

ms

36

Min reaction time on suddenly hard braking leader

The module action-deduction needs for the decision process the following components: