Driver

AlgorithmAgentFollowingDriverModel

This driver type adapts its velocity to an agent in front and holds a desired velocity if there’s no front agent available (like adaptive cruise control). The lateral guidance always keeps the agent in the middle of the lane.

<Profile Name="Regular">
  <String Key="Type" Value="AlgorithmAgentFollowingDriverModel"/>
  <String Key="AlgorithmLateralModule" Value="Algorithm_LateralAfdm"/>
  <String Key="AlgorithmLongitudinalModule" Value="Algorithm_LongitudinalAfdm"/>
  <Double Key="VelocityWish" Value="36.11"/>
  <Double Key="Delta" Value="4.0"/>
  <Double Key="TGapWish" Value="1.5"/>
  <Double Key="MinDistance" Value="2.0"/>
  <Double Key="MaxAcceleration" Value="1.4"/>
  <Double Key="MaxDeceleration" Value="2.0"/>
</Profile>

Parameter

Type

Unit

Description

Defaults to

AlgorithmLateralModule

String

Behavior model for the steering wheel angle of the driver

Required value

AlgorithmLongitudinalModule

String

Behavior model for the accelerator, brake pedal position, and the current gear of the driver

Required value

VelocityWish

Double

m/s

Desired speed

33.33 m/s

Delta

Double

Free acceleration exponent characterizing how the acceleration decreases with velocity (1: linear, infinity: constant)

4.0

TGapWish

Double

s

Desired time gap between ego and front agent

1.5 s

MinDistance

Double

m

Minimum distance between ego and front (used at slow speeds); Also called jam distance

2.0 m

MaxAcceleration

Double

m/s²

Maximum acceleration in satisfactory way, not vehicle possible acceleration

1.4 m/s²

MaxDeceleration

Double

m/s²

Desired deceleration

2.0 m/s²