Driver controller works based on the dynamic lanes count detection

EMADL2TORCS/src/main/dp/subcomponents/DriverController_1.emadl

-package dp.subcomponents;
-
-component DriverController {
-    ports
-        in Q^{5} steeringRecordIn,
-	    in Affordance affordanceIn,
-	    in Q(0 m/s:0.1 m/s:100 m/s) speedIn,
-	    out Q(-1:1)^{3} commandsOut, // [accelCmd, steerCmd, brakeCmd]
-	    out Q steerCmd;
-
-	implementation Math {
-        Q roadWidth = 8;
-        Q centerLine;
-        Q coeSteer = 1.0;
-        Q preML;
-        Q preMR;
-        Q desiredSpeed;
-	    Q slowDown = 100; // Acceleration
-
-        // Car following speed model: if a car is less than 20m ahead
-	    if (affordanceIn.distMM < 20)
-            Q vMax = 20;
-            Q vC = 2.772;
-            Q vD = -0.693;
-            // optimal velocity car-following model
-            slowDown = vMax * (1-exp(-(vC/vMax) * affordanceIn.distMM - vD));
-
-            if (slowDown < 0)
-                slowDown = 0;
-            end
-        end
-
-        if (-affordanceIn.toMarkingML + affordanceIn.toMarkingMR < 5.5)
-            coeSteer = 1.5;
-            centerLine = (affordanceIn.toMarkingML + affordanceIn.toMarkingMR) / 2;
-            preML = affordanceIn.toMarkingML;
-            preMR = affordanceIn.toMarkingMR;
-            if (affordanceIn.toMarkingM < 1)
-                  coeSteer = 0.4;
-            end
-        else
-            if (-preML > preMR)
-               centerLine = (affordanceIn.toMarkingL + affordanceIn.toMarkingM) / 2;
-            else
-               centerLine=(affordanceIn.toMarkingR + affordanceIn.toMarkingM) / 2;
-            end
-            coeSteer = 0.3;
-        end
-
-        // steering control, "shared->steerCmd" [-1,1] is the value sent back to TORCS
-	    steerCmd = (affordanceIn.angle - centerLine/roadWidth) / 0.541052 / coeSteer;
-
-	    if (coeSteer > 1 && steerCmd > 0.1)   // reshape the steering control curve
-            steerCmd = steerCmd * (2.5 * steerCmd + 0.75);
-        end
-        commandsOut(2) = steerCmd;
-
-        desiredSpeed = 20; // 20m/s = 72 kmh
-	    if (affordanceIn.fast != 1)
-	        desiredSpeed = 20 - abs(steeringRecordIn(1) + steeringRecordIn(2) + steeringRecordIn(3) + steeringRecordIn(4) + steeringRecordIn(5)) * 4.5;
-	    end
-
-	    if (desiredSpeed < 10)
-	        desiredSpeed = 10;
-	    end
-
-
-	    if (desiredSpeed > slowDown)
-            desiredSpeed = slowDown;
-	    end
-
-        // acceleration and brake
-        if (desiredSpeed >= speedIn)
-            Q accelCmd = 0.2*(desiredSpeed - speedIn + 1);
-            if (accelCmd > 1)
-                accelCmd = 1;
-            end
-
-            commandsOut(1) = accelCmd;
-            commandsOut(3) = 0; // brakeCmd
-        else
-            Q brakeCmd = 0.1 * (speedIn - desiredSpeed);
-            if (brakeCmd > 1)
-                brakeCmd = 1;
-            end
-
-            commandsOut(3) = brakeCmd;
-            commandsOut(1) = 0; // accelCmd
-        end
-    }
-}

EMADL2TORCS/src/main/dp/subcomponents/LocalizationController.emadl

@@ -5,7 +5,7 @@ component LocalizationController {
 	in Affordance affordanceIn,
 	out B onLane,
 	out B onMarking,
-	out Z laneNumber,
+	out Z lanesCount,
 	out Lane lane;
 
 	implementation Math {
@@ -17,15 +17,15 @@ component LocalizationController {
 			onLane = true;
 			onMarking = false;
 			if (affordanceIn.toMarkingLL <= -7.5 && affordanceIn.toMarkingRR >= 7.5)
-				laneNumber = 1;
+				lanesCount = 1;
 				lane = CENTER_LANE;
 
 			elseif (affordanceIn.toMarkingLL > -7.5 && affordanceIn.toMarkingRR < 7.5)
-				laneNumber = 3;
+				lanesCount = 3;
 				lane = CENTER_LANE;
 
 			elseif (affordanceIn.toMarkingLL > -7.5 || affordanceIn.toMarkingRR < 7.5)
-				laneNumber = 2;
+				lanesCount = 2;
 				if (affordanceIn.toMarkingRR >=7.5)
 					lane = RIGHT_LANE;
 				end
@@ -34,7 +34,7 @@ component LocalizationController {
 				end
 
 			else
-				laneNumber = 0;
+				lanesCount = 0;
 				onLane = false;
 				lane = OUTSIDE_LANE;
 			end
@@ -43,12 +43,12 @@ component LocalizationController {
 			onMarking = true;
 			// Car on central marking
 			if (affordanceIn.toMarkingR < 6 && affordanceIn.toMarkingL > -6)
-				laneNumber = 2;
+				lanesCount = 2;
 				lane = CENTER_LANE;
 			
 			// When on Outer lanes consider the road only 1 lane.
 			else
-				laneNumber = 1;
+				lanesCount = 1;
 				if (affordanceIn.toMarkingL < -6)
                 			lane = LEFT_LANE;
             			elseif (affordanceIn.toMarkingR > 6)