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.

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: