From fe87188e669701bef8924e0924fee5cdccc62fc4 Mon Sep 17 00:00:00 2001
From: Steven Lange <langestx@informatik.hu-berlin.de>
Date: Fri, 1 Dec 2017 13:30:59 +0100
Subject: [PATCH] CACC Sim added
---
.../{ => CACC}/ACC-module_v0.01_Flowchart.txt | 0
modules/CACC/CACC-Module-Test.py | 124 ++++++++++++++++++
2 files changed, 124 insertions(+)
rename modules/{ => CACC}/ACC-module_v0.01_Flowchart.txt (100%)
create mode 100644 modules/CACC/CACC-Module-Test.py
diff --git a/modules/ACC-module_v0.01_Flowchart.txt b/modules/CACC/ACC-module_v0.01_Flowchart.txt
similarity index 100%
rename from modules/ACC-module_v0.01_Flowchart.txt
rename to modules/CACC/ACC-module_v0.01_Flowchart.txt
diff --git a/modules/CACC/CACC-Module-Test.py b/modules/CACC/CACC-Module-Test.py
new file mode 100644
index 00000000..412a2b0f
--- /dev/null
+++ b/modules/CACC/CACC-Module-Test.py
@@ -0,0 +1,124 @@
+import matplotlib
+matplotlib.use('TkAgg')
+from matplotlib import pyplot as plt
+
+class Car(object):
+ cSpeed = None
+ cPos = None
+ cDist = None
+
+ IPD = None
+ PS = None
+
+ def __init__(self, prev, speed, position, distance, IPD, PS):
+ self.plattonPrev = prev
+ self.cSpeed = speed
+ self.cPos = position
+ self.cDist = distance
+ self.IPD = IPD
+ self.PS = PS
+ return None
+
+ def getPos(self):
+ return self.cPos
+
+ def getSpeed(self):
+ return self.cSpeed
+
+ def getDistance(self):
+ return self.cDist
+
+ def updatePos(self):
+ self.cPos = self.cPos + self.cSpeed
+
+ def updateDis(self):
+ if not self.plattonPrev == None:
+ self.cDist = self.plattonPrev.getPos() - self.cPos
+
+ def updateSpeed(self):
+ v_c = self.cSpeed
+ v_v = None
+ PS = self.PS
+ c = None
+ if not self.plattonPrev == None:
+ v_v = self.plattonPrev.getSpeed()
+ c = ((v_c - v_v)/v_c)**(v_c/v_v)
+ print(c, v_v/v_c)
+
+ v_z = v_v + (v_v - PS)*c
+ self.cSpeed = (1-c)*v_c + c * v_z
+ else:
+ v_v = self.cSpeed
+ c = 0.5
+ v_z = v_v - (v_v - PS) * c
+ self.cSpeed = (1-c) * v_c + c * v_z
+
+def update(carList):
+ for item in carList:
+ item.updatePos()
+ item.updateDis()
+ item.updateSpeed()
+
+if __name__ == "__main__":
+ IPD = 60.0
+ PS = 40.0
+
+ v_0 = 78.0
+ v_1 = 80.0
+
+ pos_0 = IPD
+ pos_1 = 0.0
+
+ dist0 = 0
+ dist1 = pos_0 - pos_1
+
+ car0 = Car(None, v_0, pos_0, dist0, IPD, PS)
+ car1 = Car(car0, v_1, pos_1, dist1, IPD, PS)
+
+ i = 0
+ t = []
+ maxT = 40
+
+ y_pos0 =[]
+ y_pos1 = []
+
+ y_speed0 = []
+ y_speed1 = []
+
+ y_dist0 = []
+ y_dist1 = []
+
+ carList = [car0, car1]
+
+ while i <= maxT:
+ t.append(i)
+
+ y_pos0.append(car0.getPos())
+ y_pos1.append(car1.getPos())
+
+ y_speed0.append(car0.getSpeed())
+ y_speed1.append(car1.getSpeed())
+
+ y_dist1.append(car1.getDistance())
+
+ i = i+1
+ update(carList)
+
+
+ plt.subplot(131)
+ plt.plot(t, y_pos1)
+ plt.plot(t, y_pos0)
+ plt.title("Position")
+
+ plt.subplot(132)
+ plt.plot([0,maxT],[PS, PS], 'r--')
+ plt.plot(t, y_speed1)
+ plt.plot(t, y_speed0)
+ plt.title("Speed")
+
+ plt.subplot(133)
+ plt.plot([0,maxT],[IPD, IPD], 'r--')
+ plt.plot(t, y_dist1)
+ plt.title("Distance")
+
+ plt.show()
--
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