"""
Platoon Vehicle
===============
This module contains information on a vehicle platoon.
The platoon vehicle model acts as an instance to trace individual vehicle data and modify vehicle behavior according to given dynamics.
"""
# ============================================================================
# STANDARD IMPORTS
# ============================================================================
# from ensemble.component.vehicles import Vehicle
from dataclasses import dataclass
from ensemble.component.vehicle import Vehicle
# ============================================================================
# INTERNAL IMPORTS
# ============================================================================
from ensemble.tools.constants import DCT_PLT_CONST, DCT_XO_DEFAUT
from ensemble.metaclass.dynamics import AbsDynamics
from ensemble.component.dynamics import TruckDynamics, RegularDynamics
from ensemble.metaclass.stream import DataQuery
# ============================================================================
# CLASS AND DEFINITIONS
# ============================================================================
[docs]@dataclass
class PlatoonVehicle(Vehicle):
"""This is a vehicle class defined for storing data on a single platoon vehicle.
You need a Publisher from where the vehicle is going to take data:
Args:
request (Publisher): Parser or object publishing data
Returns:
vehicle (PlatoonVehicle): A Dataclass with vehicle parameters
============================ =====================================
**Variable** **Description**
---------------------------- -------------------------------------
``abscissa`` Current coordinate on y axis
``acceleration`` Current acceleration
``distance`` Current distance traveled on link
``elevation`` Current elevation
``lane`` Current lane
``link`` Current road vehicle is traveling
``ordinate`` Current coordinate x axis
``speed`` Current speed
``vehid`` Vehicle id
``vehtype`` Vehicle class
``ego_position`` Position of the ego vehicle
``platoon_length`` Length of the platoon
``desired_platoon_speed`` Desired platoon speed
``maximum_speed`` Maximum speed of ego vehicle
``maximum_acceleration`` Maximum acceleration ego vehicle
``maximum_deceleration`` Maximum decceleration ego vehicle
``state`` Truck platoon status
``intruder`` Presence of an intruder
``split_request`` Request to split
============================ =====================================
Example:
This is one example on how to register a new vehicle ::
>>> req = SimulatorRequest()
>>> veh = Vehicle(req)
>>> req.dispatch() # This will update vehicle data
When having multiple vehicles please indicate the `vehid` before launching the dispatch method. This is because the vehicle object is looks for a vehicle id within the data.
Example:
This is one example on how to register two vehicles ::
>>> req = SimulatorRequest()
>>> veh1 = Vehicle(req, vehid=0)
>>> veh2 = Vehicle(req, vehid=1)
>>> req.dispatch() # This will update vehicle data on both vehicles
"""
ego_position: int = 1
platoon_length: int = 1
desired_platoon_speed: float = 20
maximum_speed: float = 25
maximum_acceleration: float = 2.0
maximum_deceleration: float = -2.0
state: str = "STANDALONE"
intruder: bool = False
split_request: bool = False
def __init__(
self, request: DataQuery, **kwargs,
):
dynamics = TruckDynamics(
vehid=kwargs.get("vehid", 0),
x=kwargs.get("distance", DCT_XO_DEFAUT.get("x", 0)),
v=kwargs.get("speed", DCT_XO_DEFAUT.get("v", 0)),
a=kwargs.get("acceleration", DCT_XO_DEFAUT.get("a", 0)),
)
Vehicle.__init__(self, request=request, dynamics=dynamics, **kwargs)
def __hash__(self):
return hash((type(self), self.vehid))
[docs] def evolve(self, control: float):
"""Compute evolution in time of the truck dynamics
Args:
control (float): [description]
"""
state = self.dynamics(self.state, control)
dct_state = {
"distance": state[0],
"speed": state[1],
"acceleration": state[2],
}
self.update_no_request(**dct_state)
[docs] def joinable(self):
if (
self.leader.ego_position() < DCT_PLT_CONST["max_platoon_length"]
) and (
self.gap_distance_error() < DCT_PLT_CONST["max_connection_distance"]
):
return True
else:
return False
[docs] def relative_speed(self):
speed_diff = self.speed - self.leader.speed
return speed_diff
[docs] def gap_distance_error(self):
gap = self.leader.posX - self.posX - self.leader.length
return gap
[docs] def distance_to_leader(self):
dist = self.leader.posX - self.posX
[docs] def join_request(self):
if self.leader.joinable() == True:
return True
else:
return False
[docs] def cancel_join_request(self): # add lane change and other conditions
if self.leader.is_platoon_vehicle() == False:
return True
else:
return False
[docs] def confirm_platoon(self):
if (self.relative_speed() < DCT_PLT_CONST["max_platoon_length"]) and (
self.gap_distance_error() < DCT_PLT_CONST["max_gap_distance_error"]
):
self.state = "PLATOON"
self.ego_position = self.leader.ego_position + 1 # update position
[docs] def platoon_split(self):
if (
((self.leader.is_platoon_vehicle() == False))
or (self.split_request() == True)
or (self.leader.split_request() == True)
):
return True
[docs] def rejoin_platoon(self):
if (
(self.split_request() == False)
and (self.distance_to_leader < DCT_PLT_CONST["standalone_gap"])
and (self.leader.is_platoon_vehicle() == False)
):
return True
else:
return False
[docs] def leave_platoon(self, platoonvehicle):
if platoonvehicle.distance_to_leader > DCT_PLT_CONST["standalone_gap"]:
return True
else:
return False
