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

The Intelligent Driver Model (IDM) car-following model. More...

#include <MSCFModel_IDM.h>

Inheritance diagram for MSCFModel_IDM:
Inheritance graph
Collaboration diagram for MSCFModel_IDM:
Collaboration graph

Data Structures

class  VehicleVariables
 

Public Member Functions

VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model. More...
 
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_IDM (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime, SUMOReal delta, SUMOReal internalStepping)
 Constructor. More...
 
 MSCFModel_IDM (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime, SUMOReal adaptationFactor, SUMOReal adaptationTime, SUMOReal internalStepping)
 Constructor. More...
 
 ~MSCFModel_IDM ()
 Destructor. More...
 
Implementations of the MSCFModel interface
SUMOReal moveHelper (MSVehicle *const veh, SUMOReal vPos) const
 Applies interaction with stops and lane changing model influences. More...
 
SUMOReal followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) More...
 
SUMOReal stopSpeed (const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More...
 
SUMOReal interactionGap (const MSVehicle *const , SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
int getModelID () const
 Returns the model's name. More...
 
Methods to override by model implementation
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 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 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 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...
 

Private Member Functions

SUMOReal _v (const MSVehicle *const veh, const SUMOReal gap2pred, const SUMOReal mySpeed, const SUMOReal predSpeed, const SUMOReal desSpeed, const bool respectMinGap=true) const
 
MSCFModel_IDMoperator= (const MSCFModel_IDM &s)
 Invalidated assignment operator. More...
 

Private Attributes

const SUMOReal myAdaptationFactor
 The IDMM adaptation factor beta. More...
 
const SUMOReal myAdaptationTime
 The IDMM adaptation time tau. More...
 
const SUMOReal myDelta
 The IDM delta exponent. More...
 
const int myIterations
 The number of iterations in speed calculations. More...
 
const SUMOReal myTwoSqrtAccelDecel
 A computational shortcut. 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 freeSpeed (const SUMOReal currentSpeed, const SUMOReal decel, const SUMOReal dist, const SUMOReal maxSpeed, const bool onInsertion)
 
static SUMOReal brakeGap (const SUMOReal speed, const SUMOReal decel, const SUMOReal headwayTime)
 

Detailed Description

The Intelligent Driver Model (IDM) car-following model.

See also
MSCFModel

Definition at line 48 of file MSCFModel_IDM.h.

Constructor & Destructor Documentation

MSCFModel_IDM::MSCFModel_IDM ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime,
SUMOReal  delta,
SUMOReal  internalStepping 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]headwayTimethe headway gap
[in]deltaa model constant
[in]internalSteppinginternal time step size

Definition at line 43 of file MSCFModel_IDM.cpp.

Referenced by duplicate().

MSCFModel_IDM::MSCFModel_IDM ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime,
SUMOReal  adaptationFactor,
SUMOReal  adaptationTime,
SUMOReal  internalStepping 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]headwayTimethe headway gap
[in]adaptationFactora model constant
[in]adaptationTimea model constant
[in]internalSteppinginternal time step size

Definition at line 54 of file MSCFModel_IDM.cpp.

MSCFModel_IDM::~MSCFModel_IDM ( )

Destructor.

Definition at line 66 of file MSCFModel_IDM.cpp.

Member Function Documentation

SUMOReal MSCFModel_IDM::_v ( const MSVehicle *const  veh,
const SUMOReal  gap2pred,
const SUMOReal  mySpeed,
const SUMOReal  predSpeed,
const SUMOReal  desSpeed,
const bool  respectMinGap = true 
) const
private
SUMOReal MSCFModel::brakeGap ( const SUMOReal  speed,
const SUMOReal  decel,
const SUMOReal  headwayTime 
)
staticinherited

Definition at line 61 of file MSCFModel.cpp.

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

VehicleVariables* MSCFModel_IDM::createVehicleVariables ( ) const
inlinevirtual

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

Reimplemented from MSCFModel.

Definition at line 140 of file MSCFModel_IDM.h.

References myAdaptationFactor.

MSCFModel * MSCFModel_IDM::duplicate ( const MSVehicleType vtype) const
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

Implements MSCFModel.

Definition at line 140 of file MSCFModel_IDM.cpp.

References MSCFModel_IDM(), MSCFModel::myAccel, MSCFModel::myDecel, myDelta, MSCFModel::myHeadwayTime, myIterations, and TS.

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

Computes the vehicle's safe speed (no dawdling)

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
See also
MSCFModel::ffeV

Implements MSCFModel.

Definition at line 81 of file MSCFModel_IDM.cpp.

References _v(), MSVehicle::getLane(), and MSLane::getVehicleMaxSpeed().

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

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 MSCFModel::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 
)
staticinherited
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() 
)
staticinherited

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
inlinevirtualinherited
virtual SUMOReal MSCFModel::getImperfection ( ) const
inlinevirtualinherited

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
inlineinherited

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 MSCFModel::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(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::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(), MSCFModel::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
inherited

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 MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), and MSCFModel::getMaxDecel().

Referenced by MSVehicle::planMoveInternal().

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

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 MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), INVALID_SPEED, and SUMOReal.

Referenced by MSVehicle::planMoveInternal().

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

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

Referenced by MSVehicle::planMoveInternal().

int MSCFModel_IDM::getModelID ( ) const
inlinevirtual

Returns the model's name.

Returns
The model's name
See also
MSCFModel::getModelName

Implements MSCFModel.

Definition at line 126 of file MSCFModel_IDM.h.

References myAdaptationFactor, SUMO_TAG_CF_IDM, and SUMO_TAG_CF_IDMM.

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

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(), MSCFModel::myDecel, and SUMOReal.

Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::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
virtualinherited

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 MSCFModel::maximumSafeFollowSpeed().

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

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

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, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().

Referenced by MSLane::isInsertionSuccess().

SUMOReal MSCFModel_IDM::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
See also
MSCFModel::interactionGap
Todo:
update interactionGap logic to IDM

Reimplemented from MSCFModel.

Definition at line 97 of file MSCFModel_IDM.cpp.

References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), MSCFModel::myAccel, MSCFModel::myDecel, myDelta, SPEED2DIST, and SUMOReal.

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

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

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

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

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, MSCFModel::maximumSafeStopSpeedBallistic(), and MSCFModel::maximumSafeStopSpeedEuler().

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

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

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(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.

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

SUMOReal MSCFModel::maximumSafeStopSpeedEuler ( SUMOReal  gap) const
inherited

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(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed().

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

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

Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::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
inherited

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, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and SUMOReal.

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

SUMOReal MSCFModel_IDM::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const
virtual

Applies interaction with stops and lane changing model influences.

Parameters
[in]vehThe ego vehicle
[in]vPosThe possible velocity
Returns
The velocity after applying interactions with stops and lane change model influences

Reimplemented from MSCFModel.

Definition at line 70 of file MSCFModel_IDM.cpp.

References MSVehicle::getCarFollowVariables(), MSVehicle::getLane(), MSLane::getVehicleMaxSpeed(), MSCFModel_IDM::VehicleVariables::levelOfService, MSCFModel::moveHelper(), myAdaptationFactor, myAdaptationTime, SUMOReal, and TS.

MSCFModel_IDM& MSCFModel_IDM::operator= ( const MSCFModel_IDM s)
private

Invalidated assignment operator.

SUMOReal MSCFModel::passingTime ( const SUMOReal  lastPos,
const SUMOReal  passedPos,
const SUMOReal  currentPos,
const SUMOReal  lastSpeed,
const SUMOReal  currentSpeed 
)
staticinherited

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)
inlinevirtualinherited

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 MSCFModel::myHeadwayTime.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection)
inlinevirtualinherited

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)
inlinevirtualinherited

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 MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel)
inlinevirtualinherited

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 MSCFModel::myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

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

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().

SUMOReal MSCFModel_IDM::stopSpeed ( const MSVehicle *const  veh,
const SUMOReal  speed,
SUMOReal  gap2pred 
) const
virtual

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

Parameters
[in]vehThe vehicle (EGO)
[in]gap2predThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle
See also
MSCFModel::ffeS
Todo:
generic Interface, models can call for the values they need

Implements MSCFModel.

Definition at line 87 of file MSCFModel_IDM.cpp.

References _v(), MSVehicle::getLane(), and MSLane::getVehicleMaxSpeed().

Field Documentation

const SUMOReal MSCFModel_IDM::myAdaptationFactor
private

The IDMM adaptation factor beta.

Definition at line 167 of file MSCFModel_IDM.h.

Referenced by _v(), createVehicleVariables(), getModelID(), and moveHelper().

const SUMOReal MSCFModel_IDM::myAdaptationTime
private

The IDMM adaptation time tau.

Definition at line 170 of file MSCFModel_IDM.h.

Referenced by moveHelper().

const SUMOReal MSCFModel_IDM::myDelta
private

The IDM delta exponent.

Definition at line 164 of file MSCFModel_IDM.h.

Referenced by _v(), duplicate(), and interactionGap().

const int MSCFModel_IDM::myIterations
private

The number of iterations in speed calculations.

Definition at line 173 of file MSCFModel_IDM.h.

Referenced by _v(), and duplicate().

const SUMOReal MSCFModel_IDM::myTwoSqrtAccelDecel
private

A computational shortcut.

Definition at line 176 of file MSCFModel_IDM.h.

Referenced by _v().

const MSVehicleType* MSCFModel::myType
protectedinherited

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