jeremy

Car.py

@@ -1,5 +1,5 @@
 import sumolib
-from math import dist, ceil
+from math import dist, ceil, sqrt
 from random import randint
 from PySide6.QtGui import QPainter
 from PySide6.QtCore import QPointF, Signal, QObject
@@ -25,7 +25,7 @@ class Car():
 
     def initPath(self):
         newLane = self.getShape(self.index)
-        
+
         self.laneShape = newLane[0]
         self.vmax = newLane[1]
         self.laneId = newLane[2]
@@ -36,7 +36,7 @@ class Car():
         self.signals.updateDisp.emit(("Edge",self.route[self.index]))
 
         #print(f"{self.id} : {startEdge.getID()} -> {nextEdge.getID()} via {laneId}")
-    
+
     def __init__(self,carID,route,startTime,parentMap,parentController,infoWidg):
         self.id=carID
         self.map=parentMap
@@ -49,7 +49,7 @@ class Car():
         self.laneId=0
         self.leader=None
         self.startTime=float(startTime)
-        
+
         self.pos=[0,0]
         self.v=0
         self.a=10
@@ -57,20 +57,21 @@ class Car():
 
         self.vmax=0
 
-        self.S = 5
+        self.gamma = 5
+        self.delta = 0
         self.T = 0.3
         self.size = 3
 
         self.vroom = 0
 
         self.rawRoute = route
-        
+
         if infoWidg is None:
             return
         self.signals=updateSignals()
         self.signals.updateDisp.connect(self.infoWidg.setVal)
         self.signals.addGraphPt.connect(self.infoWidg.addSpeedPoint)
-        
+
         self.signals.updateDisp.emit(("Position",self.pos))
         self.signals.updateDisp.emit(("Vitesse",self.v))
         self.signals.updateDisp.emit(("Index",f"{self.index}/{len(route)}"))
@@ -84,7 +85,7 @@ class Car():
                 continue
             edge=self.map.getLane(conn[0].getViaLaneID()).getEdge()
             self.route.append(edge)
-            
+
             secEdge=edge.getConnections(rn)[0].getViaLaneID() # Parfois je sais pas pourquoi il coupe les edges internes, mais il marque quand même la connection, ducoup pour contourner
             while secEdge!="":
                 edge=self.map.getLane(secEdge).getEdge()
@@ -94,7 +95,7 @@ class Car():
         self.initPath()
 
         self.pos=list(self.laneShape[0])
-    
+
     def getLeader(self, maxDist):
         shapeInd = self.laneInd
         edgeInd = self.index
@@ -155,14 +156,17 @@ class Car():
             self.vroom -= 1
             painter.restore()
         #painter.drawEllipse(pt,100,100)
-   
+
     def conduite(self,vmax,leader,dt):
-        if self.id == "f_00" and 10 < self.controller.t < 10.5:
+        if self.id == "f_00" and self.controller.t%10>5:
+
             self.v = 0
             return
 
         if(leader is None):
-            vleader=self.v
+            self.v = self.vmax
+            return
+            vleader=50#self.v
             bleader=self.b
         else:
             vleader=leader.v # vitesse de la voiture leader
@@ -170,10 +174,23 @@ class Car():
 
         vbar=(self.v+vleader)/2
         bbar=(bleader+self.b)/2
-        S=self.S
+
+
+
+
+       # S = vleader * 3.6 * 0.6
+        Si=self.leaderDist-25
+        #S=vf**2 / self.b + vleader**2 / bleader + self.gamma * vf + self.delta
         T=self.T
-        vsec=vleader+(S-vmax*T)/(vbar/bbar+T)
-        vd=min(self.v+self.a*dt,vmax) #,vsec)
+        vsec=vleader+(Si-vmax*T)/(vbar/bbar+T)
+        vd=min(self.v+self.a*dt,vmax,vsec)
+        #vf=min(va,vb2)
+
+        #va=self.v+2.5*self.a*self.T*(1-(self.v/vd))*sqrt(0.025+(self.v/vd))
+        #vb2=self.b*self.T+sqrt((self.b)**2*(self.T)**2-self.b*(2*(S-Si)-self.v*self.T-((vleader)**2/bbar)))
+
+
+
         self.v=max(0,vd)
 
         if self.infoWidg is None:
@@ -189,7 +206,7 @@ class Car():
         self.leader=self.getLeader(100)
 
         self.conduite(self.vmax,self.leader,dt)
-        
+
         lgt=self.v*dt
 
         while(lgt>0):
@@ -204,7 +221,7 @@ class Car():
                     self.index+=1
                     if(self.index>=len(self.route)-1):
                         self.index=0
-                    
+
                     self.initPath()
                     self.pos=list(self.laneShape[self.laneInd])
                     continue
@@ -212,7 +229,7 @@ class Car():
             self.pos[0]+=(endPos[0]-self.pos[0])*adv
             self.pos[1]+=(endPos[1]-self.pos[1])*adv
             lgt=0
- 
+
         if randint(0,100) == 0:
             self.vroom = 60
 

CarController.py

@@ -103,7 +103,8 @@ class CarController:
         self.infoWidget=mainWindow.findChild(QToolBox, "carInfos")
 
         varWidget = mainWindow.ui.constEdit
-        varWidget.addWidget(varEdit(varWidget, self, "S", 5))
+        varWidget.addWidget(varEdit(varWidget, self, "gamma", 5))
+        varWidget.addWidget(varEdit(varWidget, self, "delta", 0.5))
         varWidget.addWidget(varEdit(varWidget, self, "T", 0.3))
         varWidget.addWidget(varEdit(varWidget, self, "size", 3))
 

test8.rou.xml

@@ -4,7 +4,7 @@
 -->
 
 <routes xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://sumo.dlr.de/xsd/routes_file.xsd">
-    <flow id="f_0" begin="0.00" end="3600.00" vehsPerHour="3600.00">
+    <flow id="f_0" begin="0.00" end="3600.00" vehsPerHour="5000.00">
         <route edges="gneE0 gneE1"/>
     </flow>
 </routes>