SUMO - Simulation of Urban MObility
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MSCFModel_Daniel1.cpp
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1 /****************************************************************************/
7 // The original Krauss (1998) car-following model and parameter
8 /****************************************************************************/
9 // SUMO, Simulation of Urban MObility; see http://sumo-sim.org/
10 // Copyright (C) 2001-2013 DLR (http://www.dlr.de/) and contributors
11 /****************************************************************************/
12 //
13 // This file is part of SUMO.
14 // SUMO is free software: you can redistribute it and/or modify
15 // it under the terms of the GNU General Public License as published by
16 // the Free Software Foundation, either version 3 of the License, or
17 // (at your option) any later version.
18 //
19 /****************************************************************************/
20 
21 
22 // ===========================================================================
23 // included modules
24 // ===========================================================================
25 #ifdef _MSC_VER
26 #include <windows_config.h>
27 #else
28 #include <config.h>
29 #endif
30 
31 #include <microsim/MSVehicle.h>
32 #include <microsim/MSLane.h>
33 #include "MSCFModel_Daniel1.h"
36 
37 
38 // ===========================================================================
39 // method definitions
40 // ===========================================================================
42  SUMOReal dawdle, SUMOReal headwayTime,
43  SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
44  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle), myTauDecel(decel* headwayTime),
45  myTmp1(tmp1), myTmp2(tmp2), myTmp3(tmp3), myTmp4(tmp4), myTmp5(tmp5) {
46 }
47 
48 
50 
51 
54  const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
55  const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
56  // we need the acceleration for emission computation;
57  // in this case, we neglect dawdling, nonetheless, using
58  // vSafe does not incorporate speed reduction due to interaction
59  // on lane changing
60  const SUMOReal vMin = getSpeedAfterMaxDecel(oldV);
61  const SUMOReal vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
62 #ifdef _DEBUG
63  if (vMin > vMax) {
64  WRITE_WARNING("Vehicle's '" + veh->getID() + "' maximum speed is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
65  }
66 #endif
67  return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
68 }
69 
70 
72 MSCFModel_Daniel1::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
73  return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed, veh));
74 }
75 
76 
78 MSCFModel_Daniel1::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
79  return MIN2(_vsafe(gap, 0), maxNextSpeed(speed, veh));
80 }
81 
82 
85  return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
86 }
87 
88 
91  if (predSpeed == 0 && gap < 0.01) {
92  return 0;
93  }
94  SUMOReal vsafe = (SUMOReal)(-1. * myTauDecel
95  + sqrt(
97  + (predSpeed * predSpeed)
98  + (2. * myDecel * gap)
99  ));
100  assert(vsafe >= 0);
101  return vsafe;
102 }
103 
104 
105 MSCFModel*
109 }
SUMOReal getSpeedAfterMaxDecel(SUMOReal v) const
Returns the velocity after maximum deceleration.
Definition: MSCFModel.h:245
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
SUMOReal myDawdle
The vehicle&#39;s dawdle-parameter. 0 for no dawdling, 1 for max.
virtual SUMOReal maxNextSpeed(SUMOReal speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:86
The car-following model abstraction.
Definition: MSCFModel.h:58
virtual SUMOReal _vsafe(SUMOReal gap, SUMOReal predSpeed) const
Returns the &quot;safe&quot; velocity.
SUMOReal myAccel
The vehicle&#39;s maximum acceleration [m/s^2].
Definition: MSCFModel.h:292
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:61
T MAX2(T a, T b)
Definition: StdDefs.h:63
SUMOReal myHeadwayTime
The driver&#39;s desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:298
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
SUMOReal processNextStop(SUMOReal currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:719
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:196
The car-following model and parameter.
Definition: MSVehicleType.h:74
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:1661
MSCFModel_Daniel1(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
Constructor.
T MIN2(T a, T b)
Definition: StdDefs.h:57
std::string toString(const T &t, std::streamsize accuracy=OUTPUT_ACCURACY)
Definition: ToString.h:51
SUMOReal myTmp1
temporary (testing) parameter
virtual SUMOReal followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle&#39;s safe speed (no dawdling)
virtual SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
Computes the vehicle&#39;s safe speed for approaching a non-moving obstacle (no dawdling) ...
virtual SUMOReal patchSpeed(const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)=0
Called to adapt the speed in order to allow a lane change.
SUMOReal getSpeed() const
Returns the vehicle&#39;s current speed.
Definition: MSVehicle.h:291
#define SUMOReal
Definition: config.h:215
T MIN3(T a, T b, T c)
Definition: StdDefs.h:70
virtual SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)
SUMOReal getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane&#39;s maximum speed, given a vehicle&#39;s speed limit adaptation.
Definition: MSLane.h:349
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:322
~MSCFModel_Daniel1()
Destructor.
SUMOReal myDecel
The vehicle&#39;s maximum deceleration [m/s^2].
Definition: MSCFModel.h:295
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
const std::string & getID() const
Returns the name of the vehicle.