SUMO - Simulation of Urban MObility
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
MSCFModel Class Referenceabstract

The car-following model abstraction. More...

#include <MSCFModel.h>

Inheritance diagram for MSCFModel:
Inheritance graph
Collaboration diagram for MSCFModel:
Collaboration graph

Data Structures

class  VehicleVariables
 

Public Member Functions

SUMOReal estimateSpeedAfterDistance (const SUMOReal dist, const SUMOReal v, const SUMOReal accel) const
 
SUMOReal getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2]. More...
 
SUMOReal getMaxDecel () const
 Get the vehicle type's maximum deceleration [m/s^2]. More...
 
SUMOReal getMinimalArrivalSpeed (SUMOReal dist, SUMOReal currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance. More...
 
SUMOReal getMinimalArrivalSpeedEuler (SUMOReal dist, SUMOReal currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance for Euler update. More...
 
SUMOTime getMinimalArrivalTime (SUMOReal dist, SUMOReal currentSpeed, SUMOReal arrivalSpeed) const
 Computes the minimal time needed to cover a distance given the desired speed at arrival. More...
 
SUMOReal maximumSafeFollowSpeed (SUMOReal gap, SUMOReal egoSpeed, SUMOReal predSpeed, SUMOReal predMaxDecel, bool onInsertion=false) const
 Returns the maximum safe velocity for following the given leader. More...
 
SUMOReal maximumSafeStopSpeed (SUMOReal gap, SUMOReal currentSpeed, bool onInsertion=false, SUMOReal headway=-1) const
 Returns the maximum next velocity for stopping within gap. More...
 
SUMOReal maximumSafeStopSpeedBallistic (SUMOReal gap, SUMOReal currentSpeed, bool onInsertion=false, SUMOReal headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More...
 
SUMOReal maximumSafeStopSpeedEuler (SUMOReal gap) const
 Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More...
 
 MSCFModel (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime)
 Constructor. More...
 
virtual ~MSCFModel ()
 Destructor. More...
 
Methods to override by model implementation
virtual SUMOReal moveHelper (MSVehicle *const veh, SUMOReal vPos) const
 Applies interaction with stops and lane changing model influences. More...
 
virtual SUMOReal freeSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal seen, SUMOReal maxSpeed, const bool onInsertion=false) const
 Computes the vehicle's safe speed without a leader. More...
 
virtual SUMOReal followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const =0
 Computes the vehicle's follow speed (no dawdling) More...
 
virtual SUMOReal insertionFollowSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints. More...
 
virtual SUMOReal stopSpeed (const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap) const =0
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More...
 
virtual SUMOReal insertionStopSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap) const
 Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds. More...
 
virtual SUMOReal interactionGap (const MSVehicle *const veh, SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
virtual int getModelID () const =0
 Returns the model's ID; the XML-Tag number is used. More...
 
virtual MSCFModelduplicate (const MSVehicleType *vtype) const =0
 Duplicates the car-following model. More...
 
virtual VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
Virtual methods with default implementation
virtual SUMOReal getImperfection () const
 Get the driver's imperfection. More...
 
virtual SUMOReal getHeadwayTime () const
 Get the driver's reaction time [s]. More...
 
Setter methods
virtual void setMaxAccel (SUMOReal accel)
 Sets a new value for maximum acceleration [m/s^2]. More...
 
virtual void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2]. More...
 
virtual void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection. More...
 
virtual void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s]. More...
 

Static Public Member Functions

static SUMOReal gapExtrapolation (const SUMOReal duration, const SUMOReal currentGap, SUMOReal v1, SUMOReal v2, SUMOReal a1=0, SUMOReal a2=0, const SUMOReal maxV1=std::numeric_limits< SUMOReal >::max(), const SUMOReal maxV2=std::numeric_limits< SUMOReal >::max())
 return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'. More...
 
static SUMOReal passingTime (const SUMOReal lastPos, const SUMOReal passedPos, const SUMOReal currentPos, const SUMOReal lastSpeed, const SUMOReal currentSpeed)
 Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero. More...
 
static SUMOReal speedAfterTime (const SUMOReal t, const SUMOReal oldSpeed, const SUMOReal dist)
 Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS. More...
 

Protected Attributes

SUMOReal myAccel
 The vehicle's maximum acceleration [m/s^2]. More...
 
SUMOReal myDecel
 The vehicle's maximum deceleration [m/s^2]. More...
 
SUMOReal myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s]. More...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Currently fixed methods

virtual SUMOReal maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) const
 Returns the maximum speed given the current speed. More...
 
SUMOReal minNextSpeed (SUMOReal speed, const MSVehicle *const veh=0) const
 Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More...
 
SUMOReal brakeGap (const SUMOReal speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant. More...
 
SUMOReal getSecureGap (const SUMOReal speed, const SUMOReal leaderSpeed, const SUMOReal leaderMaxDecel) const
 Returns the minimum gap to reserve if the leader is braking at maximum (>=0) More...
 
SUMOReal getSpeedAfterMaxDecel (SUMOReal v) const
 Returns the velocity after maximum deceleration. More...
 
static SUMOReal brakeGap (const SUMOReal speed, const SUMOReal decel, const SUMOReal headwayTime)
 
static SUMOReal freeSpeed (const SUMOReal currentSpeed, const SUMOReal decel, const SUMOReal dist, const SUMOReal maxSpeed, const bool onInsertion)
 

Detailed Description

The car-following model abstraction.

MSCFModel is an interface for different car following Models to implement. It provides methods to compute a vehicles velocity for a simulation step.

Definition at line 60 of file MSCFModel.h.

Constructor & Destructor Documentation

MSCFModel::MSCFModel ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime 
)

Constructor.

Parameters
[in]rvtypea reference to the corresponding vtype

Definition at line 48 of file MSCFModel.cpp.

MSCFModel::~MSCFModel ( )
virtual

Destructor.

Definition at line 54 of file MSCFModel.cpp.

Member Function Documentation

SUMOReal MSCFModel::brakeGap ( const SUMOReal  speed,
const SUMOReal  decel,
const SUMOReal  headwayTime 
)
static

Definition at line 61 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SPEED2DIST, and SUMOReal.

virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const
inlinevirtual

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented in MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, and MSCFModel_Kerner.

Definition at line 184 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

virtual MSCFModel* MSCFModel::duplicate ( const MSVehicleType vtype) const
pure virtual

Duplicates the car-following model.

Parameters
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns
A duplicate of this car-following model

Implemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_KraussPS.

Referenced by MSVehicleType::build().

SUMOReal MSCFModel::estimateSpeedAfterDistance ( const SUMOReal  dist,
const SUMOReal  v,
const SUMOReal  accel 
) const
virtual SUMOReal MSCFModel::followSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
pure virtual

Computes the vehicle's follow speed (no dawdling)

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_Krauss, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_Kerner.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSVehicle::getSafeFollowSpeed(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

SUMOReal MSCFModel::freeSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  seen,
SUMOReal  maxSpeed,
const bool  onInsertion = false 
) const
virtual

Computes the vehicle's safe speed without a leader.

Returns the velocity of the vehicle in dependence to the length of the free street and the target velocity at the end of the free range. If onInsertion is true, the vehicle may still brake before the next movement.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
[in]onInsertionwhether speed at insertion is asked for
Returns
EGO's safe speed

Definition at line 206 of file MSCFModel.cpp.

References myDecel, and SUMOReal.

Referenced by MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().

SUMOReal MSCFModel::freeSpeed ( const SUMOReal  currentSpeed,
const SUMOReal  decel,
const SUMOReal  dist,
const SUMOReal  maxSpeed,
const bool  onInsertion 
)
static
SUMOReal MSCFModel::gapExtrapolation ( const SUMOReal  duration,
const SUMOReal  currentGap,
SUMOReal  v1,
SUMOReal  v2,
SUMOReal  a1 = 0,
SUMOReal  a2 = 0,
const SUMOReal  maxV1 = std::numeric_limits<SUMOReal>::max(),
const SUMOReal  maxV2 = std::numeric_limits<SUMOReal>::max() 
)
static

return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'.

Parameters
[in]currentGap(pos(veh1) - pos(veh2) at start)
[in]v1initial speed of vehicle 1
[in]v2initial speed of vehicle 2
[in]a1acceleration of vehicle 1
[in]a2acceleration of vehicle 2
[in]maxV1maximal speed of vehicle 1
[in]maxV2maximal speed of vehicle 2
[in]durationtime span for the process
Returns
estimated gap after 'duration' seconds

Definition at line 273 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), SUMOReal, and TS.

Referenced by MSLCM_LC2013::informFollower().

virtual SUMOReal MSCFModel::getHeadwayTime ( ) const
inlinevirtual

Get the driver's reaction time [s].

Returns
The reaction time of this class' drivers in s

Definition at line 220 of file MSCFModel.h.

References myHeadwayTime.

Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSVehicle::checkRewindLinkLanes(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), TraCIServerAPI_VehicleType::getVariable(), and MSCalibrator::remainingVehicleCapacity().

virtual SUMOReal MSCFModel::getImperfection ( ) const
inlinevirtual

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 212 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

SUMOReal MSCFModel::getMaxDecel ( ) const
inline

Get the vehicle type's maximum deceleration [m/s^2].

Returns
The maximum deceleration (in m/s^2) of vehicles of this class

Definition at line 201 of file MSCFModel.h.

References myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLink::couldBrakeForLeader(), MSVehicle::executeMove(), MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::getFollower(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getMinimalArrivalTime(), MSLaneChanger::getRealFollower(), TraCIServerAPI_VehicleType::getVariable(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MESegment::isOpen(), MSLane::lastInsertion(), MSLink::maybeOccupied(), minNextSpeed(), MSCFModel_KraussOrig1::moveHelper(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSLane::safeInsertionSpeed(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

SUMOReal MSCFModel::getMinimalArrivalSpeed ( SUMOReal  dist,
SUMOReal  currentSpeed 
) const

Computes the minimal possible arrival speed after covering a given distance.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 247 of file MSCFModel.cpp.

References estimateSpeedAfterDistance(), getHeadwayTime(), and getMaxDecel().

Referenced by MSVehicle::planMoveInternal().

SUMOReal MSCFModel::getMinimalArrivalSpeedEuler ( SUMOReal  dist,
SUMOReal  currentSpeed 
) const

Computes the minimal possible arrival speed after covering a given distance for Euler update.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 254 of file MSCFModel.cpp.

References estimateSpeedAfterDistance(), getHeadwayTime(), getMaxDecel(), INVALID_SPEED, and SUMOReal.

Referenced by MSVehicle::planMoveInternal().

SUMOTime MSCFModel::getMinimalArrivalTime ( SUMOReal  dist,
SUMOReal  currentSpeed,
SUMOReal  arrivalSpeed 
) const

Computes the minimal time needed to cover a distance given the desired speed at arrival.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle
[in]arrivalSpeedDesired speed at arrival

Definition at line 234 of file MSCFModel.cpp.

References getMaxAccel(), getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, SUMOReal, and TIME2STEPS.

Referenced by MSVehicle::planMoveInternal().

virtual int MSCFModel::getModelID ( ) const
pure virtual

Returns the model's ID; the XML-Tag number is used.

Returns
The model's ID

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_KraussPS.

SUMOReal MSCFModel::getSecureGap ( const SUMOReal  speed,
const SUMOReal  leaderSpeed,
const SUMOReal  leaderMaxDecel 
) const
inline
SUMOReal MSCFModel::getSpeedAfterMaxDecel ( SUMOReal  v) const
inline

Returns the velocity after maximum deceleration.

Parameters
[in]vThe velocity
Returns
The velocity after maximum deceleration

Definition at line 302 of file MSCFModel.h.

References ACCEL2SPEED, MAX2(), myDecel, and SUMOReal.

Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel::insertionFollowSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
virtual

Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints.

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 213 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, and maximumSafeFollowSpeed().

Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::isInsertionSuccess(), and MSLane::safeInsertionSpeed().

SUMOReal MSCFModel::insertionStopSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap 
) const
virtual

Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle at insertion
See also
stopSpeed() and insertionFollowSpeed()

Definition at line 224 of file MSCFModel.cpp.

References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeed(), MIN2(), myType, and stopSpeed().

Referenced by MSLane::isInsertionSuccess().

SUMOReal MSCFModel::interactionGap ( const MSVehicle *const  veh,
SUMOReal  vL 
) const
virtual

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 175 of file MSCFModel.cpp.

References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, SPEED2DIST, and SUMOReal.

Referenced by MSAbstractLaneChangeModel::predInteraction().

SUMOReal MSCFModel::maximumSafeFollowSpeed ( SUMOReal  gap,
SUMOReal  egoSpeed,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel,
bool  onInsertion = false 
) const

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 585 of file MSCFModel.cpp.

References brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), maximumSafeStopSpeed(), myDecel, myHeadwayTime, and SUMOReal.

Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), and insertionFollowSpeed().

SUMOReal MSCFModel::maximumSafeStopSpeed ( SUMOReal  gap,
SUMOReal  currentSpeed,
bool  onInsertion = false,
SUMOReal  headway = -1 
) const

Returns the maximum next velocity for stopping within gap.

Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)

Definition at line 477 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeedBallistic(), and maximumSafeStopSpeedEuler().

Referenced by insertionStopSpeed(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), and MSCFModel_Krauss::stopSpeed().

SUMOReal MSCFModel::maximumSafeStopSpeedBallistic ( SUMOReal  gap,
SUMOReal  currentSpeed,
bool  onInsertion = false,
SUMOReal  headway = -1 
) const

Returns the maximum next velocity for stopping within gap when using the ballistic positional update.

Note
This takes into account the driver's reaction time and the car's current speed. (The latter is required to calculate the distance covered in the following timestep.)
Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
Returns
the safe velocity (to be attained at the end of the following time step) that assures the possibility of stopping within gap. If a negative value is returned, the required stop has to take place before the end of the time step.

Definition at line 518 of file MSCFModel.cpp.

References INVALID_SPEED, MAX2(), myDecel, myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.

Referenced by maximumSafeStopSpeed(), and MSCFModel_KraussOrig1::stopSpeed().

SUMOReal MSCFModel::maximumSafeStopSpeedEuler ( SUMOReal  gap) const

Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.

Parameters
[in]gapThe (netto) distance to the LEADER

Definition at line 487 of file MSCFModel.cpp.

References ACCEL2SPEED, DIST2SPEED, MIN2(), myDecel, myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.

Referenced by maximumSafeStopSpeed().

SUMOReal MSCFModel::maxNextSpeed ( SUMOReal  speed,
const MSVehicle *const  veh 
) const
virtual

Returns the maximum speed given the current speed.

The implementation of this method must take into account the time step duration.

Justification: Due to air brake or other influences, the vehicle's next maximum speed may depend on the vehicle's current speed (given).

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values
Returns
The maximum possible speed for the next step

Reimplemented in MSCFModel_KraussPS.

Definition at line 190 of file MSCFModel.cpp.

References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), myType, and SUMOReal.

Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel::minNextSpeed ( SUMOReal  speed,
const MSVehicle *const  veh = 0 
) const

Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Definition at line 195 of file MSCFModel.cpp.

References ACCEL2SPEED, getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and SUMOReal.

Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::moveHelper(), and moveHelper().

SUMOReal MSCFModel::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const
virtual
SUMOReal MSCFModel::passingTime ( const SUMOReal  lastPos,
const SUMOReal  passedPos,
const SUMOReal  currentPos,
const SUMOReal  lastSpeed,
const SUMOReal  currentSpeed 
)
static

Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero.

Parameters
[in]lastPosthe position at time t=0 (must be < currentPos)
[in]passedPosthe position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]currentPosthe position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]lastSpeedthe speed at moment t=0
[in]currentSpeedthe speed at moment t=TS
Returns
time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

Definition at line 367 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, NUMERICAL_EPS, SPEED2ACCEL, SUMOReal, TS, and WRITE_ERROR.

Referenced by MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), MSE3Collector::MSE3LeaveReminder::notifyMove(), and MSE2Collector::notifyMove().

virtual void MSCFModel::setHeadwayTime ( SUMOReal  headwayTime)
inlinevirtual

Sets a new value for driver reaction time [s].

Parameters
[in]headwayTimeThe new driver reaction time (in s)

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 415 of file MSCFModel.h.

References myHeadwayTime.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection)
inlinevirtual

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 407 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxAccel ( SUMOReal  accel)
inlinevirtual

Sets a new value for maximum acceleration [m/s^2].

Parameters
[in]accelThe new acceleration in m/s^2

Definition at line 391 of file MSCFModel.h.

References myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel)
inlinevirtual

Sets a new value for maximum deceleration [m/s^2].

Parameters
[in]accelThe new deceleration in m/s^2

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 399 of file MSCFModel.h.

References myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

SUMOReal MSCFModel::speedAfterTime ( const SUMOReal  t,
const SUMOReal  oldSpeed,
const SUMOReal  dist 
)
static

Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.

Note
If the acceleration were known, this would be much nicer, but in this way we need to reconstruct it (for the ballistic update at least, where we assume that a stop may occur within the interval)
Parameters
[in]ttime in [0,TS] for which the speed shall be determined
[in]oldSpeedspeed before the last time step (referred to as t == 0)
[in]distancecovered
Returns
speed at time t

Definition at line 439 of file MSCFModel.cpp.

References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SUMOReal, and TS.

Referenced by MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), and MSE2Collector::notifyMove().

virtual SUMOReal MSCFModel::stopSpeed ( const MSVehicle *const  veh,
const SUMOReal  speed,
SUMOReal  gap 
) const
pure virtual

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)

Returns the velocity of the vehicle when approaching a static object (such as the end of a lane) assuming no reaction time is needed.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle
Todo:
generic Interface, models can call for the values they need

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, and MSCFModel_Krauss.

Referenced by MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_patchSpeed(), MSVehicle::getSafeFollowSpeed(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), insertionStopSpeed(), MSLane::isInsertionSuccess(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), and MSVehicle::processNextStop().

Field Documentation

const MSVehicleType* MSCFModel::myType
protected

The type to which this model definition belongs to.

Definition at line 463 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), estimateSpeedAfterDistance(), insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and maxNextSpeed().


The documentation for this class was generated from the following files: