SUMO - Simulation of Urban MObility
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The car-following model abstraction. More...
#include <MSCFModel.h>
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 MSCFModel * | duplicate (const MSVehicleType *vtype) const =0 |
Duplicates the car-following model. More... | |
virtual VehicleVariables * | createVehicleVariables () 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 MSVehicleType * | myType |
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) |
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.
MSCFModel::MSCFModel | ( | const MSVehicleType * | vtype, |
SUMOReal | accel, | ||
SUMOReal | decel, | ||
SUMOReal | headwayTime | ||
) |
Constructor.
[in] | rvtype | a reference to the corresponding vtype |
Definition at line 48 of file MSCFModel.cpp.
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Destructor.
Definition at line 54 of file MSCFModel.cpp.
Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant.
[in] | speed | The vehicle's current speed |
Definition at line 263 of file MSCFModel.h.
References myDecel, and myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::getCriticalLeader(), MSLane::getLeader(), MSVehicle::getLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChangerSublane::getLeaders(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSVehicle::getRerouteOrigin(), getSecureGap(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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Definition at line 61 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SPEED2DIST, and SUMOReal.
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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().
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Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
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 |
Definition at line 468 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), myType, and SUMOReal.
Referenced by MSVehicle::estimateLeaveSpeed(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), and MSVehicle::planMoveInternal().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
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().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | seen | The look ahead distance |
[in] | maxSpeed | The maximum allowed speed |
[in] | onInsertion | whether speed at insertion is asked for |
Definition at line 206 of file MSCFModel.cpp.
References myDecel, and SUMOReal.
Referenced by MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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Definition at line 80 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, SUMOReal, and TS.
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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'.
[in] | currentGap | (pos(veh1) - pos(veh2) at start) |
[in] | v1 | initial speed of vehicle 1 |
[in] | v2 | initial speed of vehicle 2 |
[in] | a1 | acceleration of vehicle 1 |
[in] | a2 | acceleration of vehicle 2 |
[in] | maxV1 | maximal speed of vehicle 1 |
[in] | maxV2 | maximal speed of vehicle 2 |
[in] | duration | time span for the process |
Definition at line 273 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), SUMOReal, and TS.
Referenced by MSLCM_LC2013::informFollower().
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Get the driver's reaction time [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().
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Get the driver's imperfection.
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 212 of file MSCFModel.h.
Referenced by TraCIServerAPI_VehicleType::getVariable().
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Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 193 of file MSCFModel.h.
References myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), getMinimalArrivalTime(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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Get the vehicle type's maximum deceleration [m/s^2].
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().
Computes the minimal possible arrival speed after covering a given distance.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
Definition at line 247 of file MSCFModel.cpp.
References estimateSpeedAfterDistance(), getHeadwayTime(), and getMaxDecel().
Referenced by MSVehicle::planMoveInternal().
Computes the minimal possible arrival speed after covering a given distance for Euler update.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual 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.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
[in] | arrivalSpeed | Desired 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().
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Returns the model's ID; the XML-Tag number is used.
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_KraussPS.
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Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
[in] | speed | EGO's speed |
[in] | leaderSpeed | LEADER's speed |
[in] | leaderMaxDecel | LEADER's max. deceleration rate |
Definition at line 276 of file MSCFModel.h.
References brakeGap(), MAX2(), MIN2(), myDecel, myHeadwayTime, and SUMOReal.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), and MSLCM_LC2013::overtakeDistance().
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
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().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
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().
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Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
Definition at line 224 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeed(), MIN2(), myType, and stopSpeed().
Referenced by MSLane::isInsertionSuccess().
Returns the maximum gap at which an interaction between both vehicles occurs.
"interaction" means that the LEADER influences EGO's speed.
[in] | veh | The EGO vehicle |
[in] | vL | LEADER's speed |
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.
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | egoSpeed | The FOLLOWERS's speed |
[in] | predSpeed | The LEADER's speed |
[in] | predMaxDecel | The LEADER's maximum deceleration |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
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 , |
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SUMOReal | headway = -1 |
||
) | const |
Returns the maximum next velocity for stopping within gap.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The 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 , |
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SUMOReal | headway = -1 |
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) | const |
Returns the maximum next velocity for stopping within gap when using the ballistic positional update.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway) |
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().
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.
[in] | gap | The (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().
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).
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values |
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().
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.
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values, if needed as e.g. road conditions. |
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().
Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_Kerner.
Definition at line 144 of file MSCFModel.cpp.
References MSVehicle::getLaneChangeModel(), MSVehicle::getMaxSpeedOnLane(), MSVehicle::getSpeed(), getSpeedAfterMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), maxNextSpeed(), MIN2(), MIN3(), minNextSpeed(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), and SUMOReal.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::moveHelper(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().
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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.
[in] | lastPos | the position at time t=0 (must be < currentPos) |
[in] | passedPos | the position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!) |
[in] | currentPos | the position at time t=TS (one time-step after lastPos) (must be > lastPos) |
[in] | lastSpeed | the speed at moment t=0 |
[in] | currentSpeed | the speed at moment t=TS |
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().
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Sets a new value for driver reaction time [s].
[in] | headwayTime | The 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().
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Sets a new value for driver imperfection.
[in] | accel | The 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().
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Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 391 of file MSCFModel.h.
References myAccel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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Sets a new value for maximum deceleration [m/s^2].
[in] | accel | The 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().
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Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.
[in] | t | time in [0,TS] for which the speed shall be determined |
[in] | oldSpeed | speed before the last time step (referred to as t == 0) |
[in] | distance | covered |
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().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
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().
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The vehicle's maximum acceleration [m/s^2].
Definition at line 466 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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The vehicle's maximum deceleration [m/s^2].
Definition at line 469 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), brakeGap(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::emergency(), MSCFModel_PWag2009::followSpeed(), freeSpeed(), getMaxDecel(), getSecureGap(), getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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The driver's desired time headway (aka reaction time tau) [s].
Definition at line 472 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), getHeadwayTime(), getSecureGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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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().