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MSCFModel_IDM Class Reference

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

#include <MSCFModel_IDM.h>

Inheritance diagram for MSCFModel_IDM:
MSCFModel

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 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...
 
 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 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...
 

Protected Member Functions

SUMOReal maximumSafeFollowSpeed (SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Returns the maximum safe velocity for following the given leader. More...
 
SUMOReal maximumSafeStopSpeed (SUMOReal gap) const
 Returns the maximum velocity for stopping within gap This depends stronlgy on the position update model. 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
 
SUMOReal desiredSpeed (const MSVehicle *const veh) 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 brakeGap (const SUMOReal speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time. 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. More...
 
SUMOReal getSpeedAfterMaxDecel (SUMOReal v) const
 Returns the velocity after maximum deceleration. More...
 
static SUMOReal freeSpeed (const SUMOReal decel, const SUMOReal seen, 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
static SUMOReal MSCFModel::brakeGap ( const SUMOReal  speed,
const SUMOReal  decel,
const SUMOReal  headwayTime 
)
inlinestaticinherited

Definition at line 237 of file MSCFModel.h.

References ACCEL2SPEED, 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.

SUMOReal MSCFModel_IDM::desiredSpeed ( const MSVehicle *const  veh) const
inlineprivate
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_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(), and desiredSpeed().

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 92 of file MSCFModel.cpp.

References MSCFModel::myDecel.

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

static SUMOReal MSCFModel::freeSpeed ( const SUMOReal  decel,
const SUMOReal  seen,
const SUMOReal  maxSpeed,
const bool  onInsertion 
)
inlinestaticinherited

Definition at line 246 of file MSCFModel.h.

References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MAX2(), SPEED2DIST, and SUMOReal.

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 195 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

SUMOReal MSCFModel::getMaxAccel ( ) const
inlineinherited

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

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

Definition at line 176 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by MSVehicle::estimateLeaveSpeed(), TraCIServerAPI_VehicleType::getVariable(), MSCFModel_KraussPS::maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().

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

Returns the minimum gap to reserve if the leader is braking at maximum.

Parameters
[in]speedEGO's speed
[in]leaderSpeedLEADER's speed
[in]leaderMaxDecelLEADER's max. deceleration rate

Definition at line 270 of file MSCFModel.h.

References MSCFModel::brakeGap(), MAX2(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.

Referenced by MSLCM_JE2013::_wantsChange(), MSLCM_LC2013::_wantsChange(), MSLaneChanger::checkChange(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2008::informBlocker(), MSLCM_JE2013::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_JE2013::informLeader(), MSLCM_LC2013::informLeader(), and MSLane::isInsertionSuccess().

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 283 of file MSCFModel.h.

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

Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::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 98 of file MSCFModel.cpp.

References MSCFModel::maximumSafeFollowSpeed().

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

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 desiredSpeed(), MSVehicle::getSpeed(), MAX2(), MSCFModel::myAccel, MSCFModel::myDecel, myDelta, SPEED2DIST, and SUMOReal.

SUMOReal MSCFModel::maximumSafeFollowSpeed ( SUMOReal  gap,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
protectedinherited

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 134 of file MSCFModel.cpp.

References MSCFModel::brakeGap(), ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, and SUMOReal.

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

SUMOReal MSCFModel::maximumSafeStopSpeed ( SUMOReal  gap) const
protectedinherited

Returns the maximum velocity for stopping within gap This depends stronlgy on the position update model.

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

Definition at line 105 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.

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

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, and MSCFModel_KraussAccelBound.

Definition at line 86 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_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 desiredSpeed(), MSVehicle::getCarFollowVariables(), MSCFModel_IDM::VehicleVariables::levelOfService, MSCFModel::moveHelper(), myAdaptationFactor, myAdaptationTime, SUMOReal, and TS.

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

Invalidated assignment operator.

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 319 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 311 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 295 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 303 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

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(), and desiredSpeed().

Field Documentation

const SUMOReal MSCFModel_IDM::myAdaptationFactor
private

The IDMM adaptation factor beta.

Definition at line 171 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 174 of file MSCFModel_IDM.h.

Referenced by moveHelper().

const SUMOReal MSCFModel_IDM::myDelta
private

The IDM delta exponent.

Definition at line 168 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 177 of file MSCFModel_IDM.h.

Referenced by _v(), and duplicate().

const SUMOReal MSCFModel_IDM::myTwoSqrtAccelDecel
private

A computational shortcut.

Definition at line 180 of file MSCFModel_IDM.h.

Referenced by _v().

const MSVehicleType* MSCFModel::myType
protectedinherited

The type to which this model definition belongs to.

Definition at line 342 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), _v(), desiredSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().


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