Merge 1dc0b69 into 3292767

flow/controllers/velocity_controllers.py

@@ -116,6 +116,54 @@ def get_accel(self, env):
             return (v_cmd - this_vel) / env.sim_step
 
 
+class NonLocalFollowerStopper(FollowerStopper):
+    """Follower stopper that uses the average system speed to compute its acceleration."""
+
+    def get_accel(self, env):
+        """See parent class."""
+        lead_id = env.k.vehicle.get_leader(self.veh_id)
+        this_vel = env.k.vehicle.get_speed(self.veh_id)
+        lead_vel = env.k.vehicle.get_speed(lead_id)
+        self.v_des = np.mean(env.k.vehicle.get_speed(env.k.vehicle.get_ids()))
+
+        if self.v_des is None:
+            return None
+
+        if lead_id is None:
+            v_cmd = self.v_des
+        else:
+            dx = env.k.vehicle.get_headway(self.veh_id)
+            dv_minus = min(lead_vel - this_vel, 0)
+
+            dx_1 = self.dx_1_0 + 1 / (2 * self.d_1) * dv_minus ** 2
+            dx_2 = self.dx_2_0 + 1 / (2 * self.d_2) * dv_minus ** 2
+            dx_3 = self.dx_3_0 + 1 / (2 * self.d_3) * dv_minus ** 2
+            v = min(max(lead_vel, 0), self.v_des)
+            # compute the desired velocity
+            if dx <= dx_1:
+                v_cmd = 0
+            elif dx <= dx_2:
+                v_cmd = v * (dx - dx_1) / (dx_2 - dx_1)
+            elif dx <= dx_3:
+                v_cmd = v + (self.v_des - this_vel) * (dx - dx_2) \
+                        / (dx_3 - dx_2)
+            else:
+                v_cmd = self.v_des
+
+        edge = env.k.vehicle.get_edge(self.veh_id)
+
+        if edge == "":
+            return None
+
+        if self.find_intersection_dist(env) <= 10 and \
+                env.k.vehicle.get_edge(self.veh_id) in self.danger_edges or \
+                env.k.vehicle.get_edge(self.veh_id)[0] == ":":
+            return None
+        else:
+            # compute the acceleration from the desired velocity
+            return (v_cmd - this_vel) / env.sim_step
+
+
 class PISaturation(BaseController):
     """Inspired by Dan Work's... work.