SUMO - Simulation of Urban MObility
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Modules Pages
MSCFModel_KraussOrig1 Class Reference

The original Krauss (1998) car-following model and parameter. More...

#include <MSCFModel_KraussOrig1.h>

Inheritance diagram for MSCFModel_KraussOrig1:
MSCFModel MSCFModel_Krauss MSCFModel_KraussAccelBound MSCFModel_KraussPS

Public Member Functions

virtual 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_KraussOrig1 (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime)
 Constructor. More...
 
 ~MSCFModel_KraussOrig1 ()
 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...
 
virtual 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 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 int getModelID () const
 Returns the model's name. More...
 
SUMOReal getImperfection () const
 Get the driver's imperfection. More...
 
Setter methods
void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2]. More...
 
void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection. More...
 
void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s]. 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 interactionGap (const MSVehicle *const veh, SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
virtual VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
Virtual methods with default implementation
virtual SUMOReal 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...
 

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 myDawdle
 The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max. 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...
 
SUMOReal myTauDecel
 The precomputed value for myDecel*myTau. More...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Private Member Functions

virtual SUMOReal dawdle (SUMOReal speed) const
 Applies driver imperfection (dawdling / sigma) More...
 
virtual SUMOReal vsafe (SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Returns the "safe" velocity. 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 original Krauss (1998) car-following model and parameter.

See also
MSCFModel

Definition at line 46 of file MSCFModel_KraussOrig1.h.

Constructor & Destructor Documentation

MSCFModel_KraussOrig1::MSCFModel_KraussOrig1 ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  dawdle,
SUMOReal  headwayTime 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]dawdleThe driver imperfection
[in]tauThe driver's reaction time

Definition at line 45 of file MSCFModel_KraussOrig1.cpp.

Referenced by duplicate().

MSCFModel_KraussOrig1::~MSCFModel_KraussOrig1 ( )

Destructor.

Definition at line 51 of file MSCFModel_KraussOrig1.cpp.

Member Function Documentation

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.

virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const
inlinevirtualinherited

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 167 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

SUMOReal MSCFModel_KraussOrig1::dawdle ( SUMOReal  speed) const
privatevirtual

Applies driver imperfection (dawdling / sigma)

Parameters
[in]speedThe speed with no dawdling
Returns
The speed after dawdling

Reimplemented in MSCFModel_Krauss.

Definition at line 98 of file MSCFModel_KraussOrig1.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myAccel, myDawdle, RandHelper::rand(), and SUMOReal.

Referenced by moveHelper().

MSCFModel * MSCFModel_KraussOrig1::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.

Reimplemented in MSCFModel_Krauss, MSCFModel_KraussPS, and MSCFModel_KraussAccelBound.

Definition at line 120 of file MSCFModel_KraussOrig1.cpp.

References MSCFModel_KraussOrig1(), MSCFModel::myAccel, myDawdle, MSCFModel::myDecel, and MSCFModel::myHeadwayTime.

SUMOReal MSCFModel_KraussOrig1::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 76 of file MSCFModel_KraussOrig1.cpp.

References MSCFModel::maxNextSpeed(), MIN2(), and vsafe().

Referenced by insertionFollowSpeed().

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
SUMOReal MSCFModel_KraussOrig1::getImperfection ( ) const
inlinevirtual

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented from MSCFModel.

Definition at line 120 of file MSCFModel_KraussOrig1.h.

References myDawdle.

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().

virtual int MSCFModel_KraussOrig1::getModelID ( ) const
inlinevirtual

Returns the model's name.

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

Implements MSCFModel.

Reimplemented in MSCFModel_Krauss, MSCFModel_KraussPS, and MSCFModel_KraussAccelBound.

Definition at line 112 of file MSCFModel_KraussOrig1.h.

References SUMO_TAG_CF_KRAUSS_ORIG1.

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(), moveHelper(), MSCFModel::moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel_KraussOrig1::insertionFollowSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
virtual

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

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

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

Reimplemented from MSCFModel.

Definition at line 82 of file MSCFModel_KraussOrig1.cpp.

References followSpeed().

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

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

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

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

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 71 of file MSCFModel.cpp.

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

Referenced by MSAbstractLaneChangeModel::predInteraction().

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(), followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), stopSpeed(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel_KraussOrig1::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 55 of file MSCFModel_KraussOrig1.cpp.

References dawdle(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MSLane::getVehicleMaxSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), and SUMOReal.

void MSCFModel_KraussOrig1::setHeadwayTime ( SUMOReal  headwayTime)
inlinevirtual

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

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

Reimplemented from MSCFModel.

Definition at line 149 of file MSCFModel_KraussOrig1.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and myTauDecel.

void MSCFModel_KraussOrig1::setImperfection ( SUMOReal  imperfection)
inlinevirtual

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented from MSCFModel.

Definition at line 141 of file MSCFModel_KraussOrig1.h.

References myDawdle.

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().

void MSCFModel_KraussOrig1::setMaxDecel ( SUMOReal  decel)
inlinevirtual

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

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

Reimplemented from MSCFModel.

Definition at line 132 of file MSCFModel_KraussOrig1.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and myTauDecel.

SUMOReal MSCFModel_KraussOrig1::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.

Reimplemented in MSCFModel_Krauss.

Definition at line 92 of file MSCFModel_KraussOrig1.cpp.

References MSCFModel::maxNextSpeed(), MIN2(), and vsafe().

SUMOReal MSCFModel_KraussOrig1::vsafe ( SUMOReal  gap,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
privatevirtual

Returns the "safe" velocity.

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 104 of file MSCFModel_KraussOrig1.cpp.

References MSCFModel::myDecel, myTauDecel, and SUMOReal.

Referenced by followSpeed(), and stopSpeed().

Field Documentation

SUMOReal MSCFModel_KraussOrig1::myDawdle
protected
SUMOReal MSCFModel_KraussOrig1::myTauDecel
protected

The precomputed value for myDecel*myTau.

Definition at line 183 of file MSCFModel_KraussOrig1.h.

Referenced by setHeadwayTime(), setMaxDecel(), and vsafe().

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(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().


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