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 |