SUMO - Simulation of Urban MObility
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MSCFModel_SmartSK.cpp
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1 /****************************************************************************/
10 // A smarter SK
11 /****************************************************************************/
12 // SUMO, Simulation of Urban MObility; see http://sumo-sim.org/
13 // Copyright (C) 2012-2014 DLR (http://www.dlr.de/) and contributors
14 /****************************************************************************/
15 //
16 // This file is part of SUMO.
17 // SUMO is free software: you can redistribute it and/or modify
18 // it under the terms of the GNU General Public License as published by
19 // the Free Software Foundation, either version 3 of the License, or
20 // (at your option) any later version.
21 //
22 /****************************************************************************/
23 
24 
25 // ===========================================================================
26 // included modules
27 // ===========================================================================
28 #ifdef _MSC_VER
29 #include <windows_config.h>
30 #else
31 #include <config.h>
32 #endif
33 
34 #include <microsim/MSVehicle.h>
35 #include <microsim/MSLane.h>
36 #include "MSCFModel_SmartSK.h"
39 
40 
41 // ===========================================================================
42 // method definitions
43 // ===========================================================================
45  SUMOReal dawdle, SUMOReal headwayTime,
46  SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
47 // check whether setting these variables here with default values is ''good'' SUMO design
48 // SUMOReal tmp1=0.0, SUMOReal tmp2=5.0, SUMOReal tmp3=0.0, SUMOReal tmp4, SUMOReal tmp5)
49  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle), myTauDecel(decel* headwayTime),
50  myTmp1(tmp1), myTmp2(tmp2), myTmp3(tmp3), myTmp4(tmp4), myTmp5(tmp5) {
51  // the variable tmp1 is the acceleration delay time, e.g. two seconds (or something like this).
52  // for use in the upate process, a rule like if (v<myTmp1) vsafe = 0; is needed.
53  // To have this, we have to transform myTmp1 (which is a time) into an equivalent speed. This is done by the
54  // using the vsafe formula and computing:
55  // v(t=myTmp1) = -myTauDecel + sqrt(myTauDecel*myTauDecel + accel*(accel + decel)*t*t + accel*decel*t*TS);
56  SUMOReal t = myTmp1;
57  myS2Sspeed = -myTauDecel + sqrt(myTauDecel * myTauDecel + accel * (accel + decel) * t * t + accel * decel * t * TS);
58  std::cout << "# s2s-speed: " << myS2Sspeed << std::endl;
59  if (myS2Sspeed > 5.0) {
60  myS2Sspeed = 5.0;
61  }
62 // SUMOReal maxDeltaGap = -0.5*ACCEL2DIST(myDecel + myAccel);
63  maxDeltaGap = -0.5 * (myDecel + myAccel) * TS * TS;
64  std::cout << "# maxDeltaGap = " << maxDeltaGap << std::endl;
65  myTmp2 = TS / myTmp2;
66  myTmp3 = sqrt(TS) * myTmp3;
67 }
68 
70 
71 #include <map>
72 
75  const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
76  const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
77  // we need the acceleration for emission computation;
78  // in this case, we neglect dawdling, nonetheless, using
79  // vSafe does not incorporate speed reduction due to interaction
80  // on lane changing
81  const SUMOReal vMin = getSpeedAfterMaxDecel(oldV);
82  const SUMOReal vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
83 #ifdef _DEBUG
84  if (vMin > vMax) {
85  WRITE_WARNING("Vehicle's '" + veh->getID() + "' maximum speed is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
86  }
87 #endif
88  updateMyHeadway(veh);
90 #ifdef _DEBUG
91  if (vars->ggOld.size() > 1) {
92  std::cout << "# more than one entry in ggOld list. Speed is " << vPos << ", corresponding dist is " << vars->ggOld[(int) vPos] << "\n";
93  for (std::map<int, SUMOReal>::iterator I = vars->ggOld.begin(); I != vars->ggOld.end(); I++) {
94  std::cout << "# " << (*I).first << ' ' << (*I).second << std::endl;
95  }
96  }
97 #endif
98 
99  vars->gOld = vars->ggOld[(int) vPos];
100  vars->ggOld.clear();
101  return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
102 }
103 
104 SUMOReal
105 MSCFModel_SmartSK::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
107 
108 // if (((gap - vars->gOld) < maxDeltaGap) && (speed>=5.0) && gap>=5.0) {
109  if ((gap - vars->gOld) < maxDeltaGap) {
110  SUMOReal tTauTest = gap / speed;
111 // allow headway only to decrease only, never to increase. Increase is handled automatically by the headway dynamics in moveHelper()!!!
112  if ((tTauTest < vars->myHeadway) && (tTauTest > TS)) {
113  vars->myHeadway = tTauTest;
114  }
115  }
116 
117  SUMOReal vsafe = _vsafe(veh, gap, predSpeed);
118  if ((speed <= 0.0) && (vsafe < myS2Sspeed)) {
119  vsafe = 0;
120  }
121 
122  SUMOReal vNew = MAX2(getSpeedAfterMaxDecel(speed), MIN2(vsafe, maxNextSpeed(speed, veh)));
123  // there must be a better place to do the following assignment!!!
124  vars->gOld = gap;
125  vars->ggOld[(int)vNew] = gap;
126  return vNew;
127 }
128 
129 SUMOReal
130 MSCFModel_SmartSK::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
132 
133 // if (((gap - vars->gOld) < maxDeltaGap) && (speed>=5.0) && gap>=5.0) {
134  if ((gap - vars->gOld) < maxDeltaGap) {
135  SUMOReal tTauTest = gap / speed;
136 // allow headway only to decrease only, never to increase. Increase is handled automatically by the headway dynamics in moveHelper()!!!
137  if ((tTauTest < vars->myHeadway) && (tTauTest > TS)) {
138  vars->myHeadway = tTauTest;
139  }
140  }
141 
142  return MAX2(getSpeedAfterMaxDecel(speed), MIN2(_vsafe(veh, gap, 0), maxNextSpeed(speed, veh)));
143 }
144 
145 
146 SUMOReal
148  return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
149 }
150 
151 
153 SUMOReal MSCFModel_SmartSK::_vsafe(const MSVehicle* const veh, SUMOReal gap, SUMOReal predSpeed) const {
154  if (predSpeed == 0 && gap < 0.01) {
155  return 0;
156  }
158  // this is the most obvious change to the normal SK: the model uses the variable vars->myHeadway instead of the constant
159  // myHeadwayTime as the "reaction time" tau
160  SUMOReal bTau = myDecel * (vars->myHeadway);
161  SUMOReal vsafe = (SUMOReal)(-1. * bTau
162  + sqrt(
163  bTau * bTau
164  + (predSpeed * predSpeed)
165  + (2. * myDecel * gap)
166  ));
167  assert(vsafe >= 0);
168  return vsafe;
169 }
170 
171 
172 MSCFModel*
176 }
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
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
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 followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle's safe speed (no dawdling)
SUMOReal myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:292
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:62
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) ...
T MAX2(T a, T b)
Definition: StdDefs.h:72
~MSCFModel_SmartSK()
Destructor.
SUMOReal myHeadwayTime
The driver's desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:298
#define TS
Definition: SUMOTime.h:52
SUMOReal processNextStop(SUMOReal currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:773
virtual void updateMyHeadway(const MSVehicle *const veh) const
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:200
virtual SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)
The car-following model and parameter.
Definition: MSVehicleType.h:74
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:1750
MSCFModel_SmartSK(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
Constructor.
SUMOReal myTmp1
temporary (testing) parameter
T MIN2(T a, T b)
Definition: StdDefs.h:66
std::string toString(const T &t, std::streamsize accuracy=OUTPUT_ACCURACY)
Definition: ToString.h:53
SUMOReal myS2Sspeed
new variables needed in this model; myS2Sspeed is the speed below which the vehicle does not move whe...
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition: MSVehicle.h:547
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
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's current speed.
Definition: MSVehicle.h:291
#define SUMOReal
Definition: config.h:215
T MIN3(T a, T b, T c)
Definition: StdDefs.h:79
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
SUMOReal getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
Definition: MSLane.h:354
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:328
SUMOReal myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:295
virtual SUMOReal _vsafe(const MSVehicle *const veh, SUMOReal gap, SUMOReal predSpeed) const
Returns the "safe" velocity.
SUMOReal myDawdle
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
const std::string & getID() const
Returns the name of the vehicle.
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.