SUMO - Simulation of Urban MObility
MSCFModel_KraussPS Class Reference

Krauss car-following model, changing accel and speed by slope. More...

#include <MSCFModel_KraussPS.h>

Inheritance diagram for MSCFModel_KraussPS:
Inheritance graph
Collaboration diagram for MSCFModel_KraussPS:
Collaboration graph

Public Member Functions

MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model. More...
 
double estimateSpeedAfterDistance (const double dist, const double v, const double accel) const
 
double getApparentDecel () const
 Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers. More...
 
double getEmergencyDecel () const
 Get the vehicle type's maximal phisically possible deceleration [m/s^2]. More...
 
double getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2]. More...
 
double getMaxDecel () const
 Get the vehicle type's maximal comfortable deceleration [m/s^2]. More...
 
double getMinimalArrivalSpeed (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance. More...
 
double getMinimalArrivalSpeedEuler (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance for Euler update. More...
 
SUMOTime getMinimalArrivalTime (double dist, double currentSpeed, double arrivalSpeed) const
 Computes the minimal time needed to cover a distance given the desired speed at arrival. More...
 
double maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const
 Returns the maximum safe velocity for following the given leader. More...
 
double maximumSafeStopSpeed (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap. More...
 
double maximumSafeStopSpeedBallistic (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More...
 
double maximumSafeStopSpeedEuler (double gap) const
 Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More...
 
 MSCFModel_KraussPS (const MSVehicleType *vtype, double accel, double decel, double emergencyDecel, double apparentDecel, double dawdle, double headwayTime)
 Constructor. More...
 
 ~MSCFModel_KraussPS ()
 Destructor. More...
 
Implementations of the MSCFModel interface
double maxNextSpeed (double speed, const MSVehicle *const veh) const
 Returns the maximum speed given the current speed. More...
 
int getModelID () const
 Returns the model's name. More...
 
Implementations of the MSCFModel interface
virtual double moveHelper (MSVehicle *const veh, double vPos) const
 Applies interaction with stops and lane changing model influences. More...
 
double stopSpeed (const MSVehicle *const veh, const double speed, double gap2pred) const
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) this uses the maximumSafeStopSpeed. More...
 
double followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed. More...
 
Implementations of the MSCFModel interface
double insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double 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...
 
double getImperfection () const
 Get the driver's imperfection. More...
 
Setter methods
void setMaxDecel (double decel)
 Sets a new value for maximum deceleration [m/s^2]. More...
 
void setImperfection (double imperfection)
 Sets a new value for driver imperfection. More...
 
void setHeadwayTime (double headwayTime)
 Sets a new value for desired headway [s]. More...
 
Methods to override by model implementation
virtual double freeSpeed (const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false) const
 Computes the vehicle's safe speed without a leader. More...
 
virtual double insertionStopSpeed (const MSVehicle *const veh, double speed, double 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 double followSpeedTransient (double duration, const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const
 Computes the vehicle's follow speed that avoids a collision for the given amount of time. More...
 
virtual double interactionGap (const MSVehicle *const veh, double 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 double getHeadwayTime () const
 Get the driver's desired headway [s]. More...
 
Setter methods
virtual void setMaxAccel (double accel)
 Sets a new value for maximum acceleration [m/s^2]. More...
 
virtual void setEmergencyDecel (double decel)
 Sets a new value for maximal physically possible deceleration [m/s^2]. More...
 
virtual void setApparentDecel (double decel)
 Sets a new value for the apparent deceleration [m/s^2]. More...
 

Static Public Member Functions

static double avoidArrivalAccel (double dist, double time, double speed)
 Computes the acceleration needed to arrive not before the given time. More...
 
static double distAfterTime (double t, double speed, double accel)
 calculates the distance travelled after accelerating for time t More...
 
static double estimateArrivalTime (double dist, double speed, double maxSpeed, double accel)
 Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double estimateArrivalTime (double dist, double initialSpeed, double arrivalSpeed, double maxSpeed, double accel, double decel)
 Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double gapExtrapolation (const double duration, const double currentGap, double v1, double v2, double a1=0, double a2=0, const double maxV1=std::numeric_limits< double >::max(), const double maxV2=std::numeric_limits< double >::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 double passingTime (const double lastPos, const double passedPos, const double currentPos, const double lastSpeed, const double 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 double speedAfterTime (const double t, const double oldSpeed, const double 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 Member Functions

virtual double dawdle (double speed) const
 Applies driver imperfection (dawdling / sigma) More...
 
double dawdle2 (double speed, double sigma) const
 Applies driver imperfection (dawdling / sigma) More...
 
virtual double vsafe (double gap, double predSpeed, double predMaxDecel) const
 Returns the "safe" velocity. More...
 

Protected Attributes

double myAccel
 The vehicle's maximum acceleration [m/s^2]. More...
 
double myApparentDecel
 The vehicle's deceleration as expected by surrounding traffic [m/s^2]. More...
 
double myDawdle
 The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max. More...
 
double myDecel
 The vehicle's maximum deceleration [m/s^2]. More...
 
double myEmergencyDecel
 The vehicle's maximum emergency deceleration [m/s^2]. More...
 
double myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s]. More...
 
double myTauDecel
 The precomputed value for myDecel*myTau. More...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Currently fixed methods

virtual double minNextSpeed (double 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...
 
double brakeGap (const double speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time tau (i.e. desired headway), assuming that during the reaction time, the speed remains constant. More...
 
double getSecureGap (const double speed, const double leaderSpeed, const double leaderMaxDecel) const
 Returns the minimum gap to reserve if the leader is braking at maximum (>=0) More...
 
virtual double getSpeedAfterMaxDecel (double v) const
 Returns the velocity after maximum deceleration. More...
 
static double freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion, const double actionStepLength)
 
static double brakeGap (const double speed, const double decel, const double headwayTime)
 
static double brakeGapEuler (const double speed, const double decel, const double headwayTime)
 

Detailed Description

Krauss car-following model, changing accel and speed by slope.

See also
MSCFModel
MSCFModel_Krauss

Definition at line 46 of file MSCFModel_KraussPS.h.

Constructor & Destructor Documentation

◆ MSCFModel_KraussPS()

MSCFModel_KraussPS::MSCFModel_KraussPS ( const MSVehicleType vtype,
double  accel,
double  decel,
double  emergencyDecel,
double  apparentDecel,
double  dawdle,
double  headwayTime 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]emergencyDecelThe maximum emergency deceleration
[in]apparentDecelThe deceleration as expected by others
[in]dawdleThe driver imperfection
[in]headwayTimeThe driver's desired headway

Definition at line 43 of file MSCFModel_KraussPS.cpp.

Referenced by duplicate().

◆ ~MSCFModel_KraussPS()

MSCFModel_KraussPS::~MSCFModel_KraussPS ( )

Destructor.

Definition at line 50 of file MSCFModel_KraussPS.cpp.

Member Function Documentation

◆ avoidArrivalAccel()

double MSCFModel::avoidArrivalAccel ( double  dist,
double  time,
double  speed 
)
staticinherited

Computes the acceleration needed to arrive not before the given time.

Parameters
[in]dist- the distance of the critical point
[in]time- the time after which an arrival at dist is allowed
[in]speed- the current speed
Returns
Returns the acceleration which would ensure an arrival at distance dist earliest for the given time

Definition at line 415 of file MSCFModel.cpp.

Referenced by MSLCM_SL2015::commitManoeuvre(), and MSCFModel::getSpeedAfterMaxDecel().

◆ brakeGap() [1/2]

◆ brakeGap() [2/2]

double MSCFModel::brakeGap ( const double  speed,
const double  decel,
const double  headwayTime 
)
staticinherited

◆ brakeGapEuler()

double MSCFModel::brakeGapEuler ( const double  speed,
const double  decel,
const double  headwayTime 
)
staticinherited

Definition at line 80 of file MSCFModel.cpp.

References ACCEL2SPEED, and SPEED2DIST.

Referenced by MSCFModel::brakeGap(), and MSLCM_SL2015::computeSpeedLat().

◆ createVehicleVariables()

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, MSCFModel_Kerner, and MSCFModel_Rail.

Definition at line 194 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

◆ dawdle()

double MSCFModel_KraussOrig1::dawdle ( double  speed) const
protectedvirtualinherited

Applies driver imperfection (dawdling / sigma)

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

Definition at line 131 of file MSCFModel_KraussOrig1.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, and RandHelper::rand().

Referenced by MSCFModel_KraussOrig1::moveHelper(), and MSCFModel_KraussOrig1::setHeadwayTime().

◆ dawdle2()

double MSCFModel_Krauss::dawdle2 ( double  speed,
double  sigma 
) const
protectedinherited

Applies driver imperfection (dawdling / sigma)

Parameters
[in]speedThe speed with no dawdling
[in]sigmaThe sigma value to use
Returns
The speed after dawdling

Definition at line 131 of file MSCFModel_Krauss.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::myAccel, and RandHelper::rand().

Referenced by MSCFModel_Krauss::getModelID(), and MSCFModel_Krauss::moveHelper().

◆ distAfterTime()

double MSCFModel::distAfterTime ( double  t,
double  speed,
double  accel 
)
staticinherited

calculates the distance travelled after accelerating for time t

Definition at line 306 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.

Referenced by MSCFModel::followSpeedTransient(), and MSCFModel::getSpeedAfterMaxDecel().

◆ duplicate()

MSCFModel * MSCFModel_KraussPS::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

Reimplemented from MSCFModel_Krauss.

Definition at line 64 of file MSCFModel_KraussPS.cpp.

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

Referenced by getModelID().

◆ estimateArrivalTime() [1/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  speed,
double  maxSpeed,
double  accel 
)
staticinherited

Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]speedInitial speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed or speed=0.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.

Definition at line 344 of file MSCFModel.cpp.

References INVALID_DOUBLE.

Referenced by MSLCM_SL2015::commitManoeuvre(), MSDevice_SSM::estimateConflictTimes(), and MSCFModel::getSpeedAfterMaxDecel().

◆ estimateArrivalTime() [2/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  initialSpeed,
double  arrivalSpeed,
double  maxSpeed,
double  accel,
double  decel 
)
staticinherited

Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]initialSpeedInitial speed of vehicle
[in]arrivalSpeeddesired arrival speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed.
[in]accelAssumed deceleration until reaching targetspeed.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.
Note
Currently, this is still a stub for actually very special situations in LC context: It is assumed that 0==initialSpeed==arrivalSpeed<=maxspeed, accel==decel>0 (because currently this is only used for lane change purposes, where lateral accel == lateral decel)

Definition at line 383 of file MSCFModel.cpp.

References UNUSED_PARAMETER.

◆ estimateSpeedAfterDistance()

double MSCFModel::estimateSpeedAfterDistance ( const double  dist,
const double  v,
const double  accel 
) const
inherited

◆ followSpeed()

double MSCFModel_Krauss::followSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
virtualinherited

Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed.

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

Implements MSCFModel.

Definition at line 116 of file MSCFModel_Krauss.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::minNextSpeed(), and MSCFModel_KraussOrig1::vsafe().

◆ followSpeedTransient()

double MSCFModel::followSpeedTransient ( double  duration,
const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
virtualinherited

Computes the vehicle's follow speed that avoids a collision for the given amount of time.

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
[in]predMaxDecelThe maximum leader decelration
Returns
EGO's safe speed

Definition at line 255 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), DIST2SPEED, MSCFModel::distAfterTime(), gDebugFlag2, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::myDecel, SPEED2DIST, and TS.

Referenced by MSLCM_SL2015::commitFollowSpeed().

◆ freeSpeed() [1/2]

double MSCFModel::freeSpeed ( const MSVehicle *const  veh,
double  speed,
double  seen,
double  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

Reimplemented in MSCFModel_Rail.

Definition at line 223 of file MSCFModel.cpp.

References MSVehicle::getActionStepLengthSecs(), and MSCFModel::myDecel.

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

◆ freeSpeed() [2/2]

double MSCFModel::freeSpeed ( const double  currentSpeed,
const double  decel,
const double  dist,
const double  maxSpeed,
const bool  onInsertion,
const double  actionStepLength 
)
staticinherited

◆ gapExtrapolation()

double MSCFModel::gapExtrapolation ( const double  duration,
const double  currentGap,
double  v1,
double  v2,
double  a1 = 0,
double  a2 = 0,
const double  maxV1 = std::numeric_limits<double>::max(),
const double  maxV2 = std::numeric_limits<double>::max() 
)
staticinherited

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'.

Parameters
[in]currentGap(pos(veh1) - pos(veh2) at start)
[in]v1initial speed of vehicle 1
[in]v2initial speed of vehicle 2
[in]a1acceleration of vehicle 1
[in]a2acceleration of vehicle 2
[in]maxV1maximal speed of vehicle 1
[in]maxV2maximal speed of vehicle 2
[in]durationtime span for the process
Returns
estimated gap after 'duration' seconds

Definition at line 458 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.

Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().

◆ getApparentDecel()

double MSCFModel::getApparentDecel ( ) const
inlineinherited

Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.

Returns
The apparent deceleration (in m/s^2) of vehicles of this class

Definition at line 227 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by libsumo::VehicleType::getApparentDecel(), and libsumo::Vehicle::getApparentDecel().

◆ getEmergencyDecel()

double MSCFModel::getEmergencyDecel ( ) const
inlineinherited

Get the vehicle type's maximal phisically possible deceleration [m/s^2].

Returns
The maximal physically possible deceleration (in m/s^2) of vehicles of this class

Definition at line 219 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

Referenced by libsumo::VehicleType::getEmergencyDecel(), and libsumo::Vehicle::getEmergencyDecel().

◆ getHeadwayTime()

virtual double MSCFModel::getHeadwayTime ( ) const
inlinevirtualinherited

◆ getImperfection()

double MSCFModel_KraussOrig1::getImperfection ( ) const
inlinevirtualinherited

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented from MSCFModel.

Definition at line 122 of file MSCFModel_KraussOrig1.h.

References MSCFModel_KraussOrig1::myDawdle.

◆ getMaxAccel()

◆ getMaxDecel()

double MSCFModel::getMaxDecel ( ) const
inlineinherited

Get the vehicle type's maximal comfortable deceleration [m/s^2].

Returns
The maximal comfortable deceleration (in m/s^2) of vehicles of this class

Definition at line 211 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSPModel_Striping::addCrossingVehs(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkForPedestrians(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLink::couldBrakeForLeader(), MSCFModel::followSpeedTransient(), MSLane::freeInsertion(), MSLane::getCriticalLeader(), libsumo::VehicleType::getDecel(), libsumo::Vehicle::getDecel(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLane::getMissingRearGap(), 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(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSVehicle::processLinkAproaches(), MSLane::safeInsertionSpeed(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ getMinimalArrivalSpeed()

double MSCFModel::getMinimalArrivalSpeed ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 432 of file MSCFModel.cpp.

References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), and MSCFModel::getMaxDecel().

Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getMinimalArrivalSpeedEuler()

double MSCFModel::getMinimalArrivalSpeedEuler ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance for Euler update.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 439 of file MSCFModel.cpp.

References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), and INVALID_SPEED.

Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getMinimalArrivalTime()

SUMOTime MSCFModel::getMinimalArrivalTime ( double  dist,
double  currentSpeed,
double  arrivalSpeed 
) const
inherited

Computes the minimal time needed to cover a distance given the desired speed at arrival.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle
[in]arrivalSpeedDesired speed at arrival

Definition at line 331 of file MSCFModel.cpp.

References MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.

Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getModelID()

int MSCFModel_KraussPS::getModelID ( ) const
inlinevirtual

Returns the model's name.

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

Reimplemented from MSCFModel_Krauss.

Definition at line 87 of file MSCFModel_KraussPS.h.

References duplicate(), and SUMO_TAG_CF_KRAUSS_PLUS_SLOPE.

◆ getSecureGap()

◆ getSpeedAfterMaxDecel()

◆ insertionFollowSpeed()

double MSCFModel_KraussOrig1::insertionFollowSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  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 from MSCFModel.

Definition at line 108 of file MSCFModel_KraussOrig1.cpp.

References MSCFModel_KraussOrig1::followSpeed(), MSGlobals::gSemiImplicitEulerUpdate, and MSCFModel::maximumSafeFollowSpeed().

◆ insertionStopSpeed()

double MSCFModel::insertionStopSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap 
) const
virtualinherited

Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle at insertion
See also
stopSpeed() and insertionFollowSpeed()

Definition at line 245 of file MSCFModel.cpp.

References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().

Referenced by MSLane::isInsertionSuccess().

◆ interactionGap()

double MSCFModel::interactionGap ( const MSVehicle *const  veh,
double  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 189 of file MSCFModel.cpp.

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

Referenced by MSAbstractLaneChangeModel::predInteraction().

◆ maximumSafeFollowSpeed()

double MSCFModel::maximumSafeFollowSpeed ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel,
bool  onInsertion = false 
) const
inherited

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 770 of file MSCFModel.cpp.

References MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, and MSCFModel::myHeadwayTime.

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), MSCFModel::insertionFollowSpeed(), and MSCFModel::setHeadwayTime().

◆ maximumSafeStopSpeed()

double MSCFModel::maximumSafeStopSpeed ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap.

Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)

Definition at line 662 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), and MSCFModel::maximumSafeStopSpeedEuler().

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel::setHeadwayTime(), MSCFModel_Rail::stopSpeed(), and MSCFModel_Krauss::stopSpeed().

◆ maximumSafeStopSpeedBallistic()

double MSCFModel::maximumSafeStopSpeedBallistic ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap when using the ballistic positional update.

Note
This takes into account the driver's reaction time tau (i.e. the desired headway) and the car's current speed. (The latter is required to calculate the distance covered in the following timestep.)
Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
Returns
the safe velocity (to be attained at the end of the following time step) that assures the possibility of stopping within gap. If a negative value is returned, the required stop has to take place before the end of the time step.

Definition at line 703 of file MSCFModel.cpp.

References INVALID_SPEED, MAX2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed(), MSCFModel::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().

◆ maximumSafeStopSpeedEuler()

double MSCFModel::maximumSafeStopSpeedEuler ( double  gap) const
inherited

Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.

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

Definition at line 672 of file MSCFModel.cpp.

References ACCEL2SPEED, DIST2SPEED, MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel::setHeadwayTime().

◆ maxNextSpeed()

double MSCFModel_KraussPS::maxNextSpeed ( double  speed,
const MSVehicle *const  veh 
) const
virtual

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 from MSCFModel.

Definition at line 54 of file MSCFModel_KraussPS.cpp.

References ACCEL2SPEED, DEG2RAD, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MSVehicle::getSlope(), MAX2(), MIN2(), and MSCFModel::myType.

◆ minNextSpeed()

double MSCFModel::minNextSpeed ( double  speed,
const MSVehicle *const  veh = 0 
) const
virtualinherited

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.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Reimplemented in MSCFModel_Rail.

Definition at line 210 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and MSCFModel::myEmergencyDecel.

Referenced by MSLCM_SL2015::commitManoeuvre(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_Krauss::moveHelper(), MSCFModel_KraussX::moveHelper(), MSCFModel::moveHelper(), and MSVehicle::planMoveInternal().

◆ moveHelper()

double MSCFModel_Krauss::moveHelper ( MSVehicle *const  veh,
double  vPos 
) const
virtualinherited

◆ passingTime()

double MSCFModel::passingTime ( const double  lastPos,
const double  passedPos,
const double  currentPos,
const double  lastSpeed,
const double  currentSpeed 
)
staticinherited

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.

Parameters
[in]lastPosthe position at time t=0 (must be < currentPos)
[in]passedPosthe position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]currentPosthe position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]lastSpeedthe speed at moment t=0
[in]currentSpeedthe speed at moment t=TS
Returns
time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

Definition at line 552 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), NUMERICAL_EPS, SPEED2ACCEL, TS, and WRITE_ERROR.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSDevice_SSM::checkConflictEntryAndExit(), MSCFModel::getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().

◆ setApparentDecel()

virtual void MSCFModel::setApparentDecel ( double  decel)
inlinevirtualinherited

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

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

Definition at line 467 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by libsumo::VehicleType::setApparentDecel().

◆ setEmergencyDecel()

virtual void MSCFModel::setEmergencyDecel ( double  decel)
inlinevirtualinherited

Sets a new value for maximal physically possible deceleration [m/s^2].

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

Definition at line 459 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

Referenced by libsumo::VehicleType::setEmergencyDecel().

◆ setHeadwayTime()

void MSCFModel_KraussOrig1::setHeadwayTime ( double  headwayTime)
inlinevirtualinherited

Sets a new value for desired headway [s].

Parameters
[in]headwayTimeThe new desired headway (in s)

Reimplemented from MSCFModel.

Definition at line 151 of file MSCFModel_KraussOrig1.h.

References MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussOrig1::duplicate(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, MSCFModel_KraussOrig1::myTauDecel, and MSCFModel_KraussOrig1::vsafe().

◆ setImperfection()

void MSCFModel_KraussOrig1::setImperfection ( double  imperfection)
inlinevirtualinherited

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented from MSCFModel.

Definition at line 143 of file MSCFModel_KraussOrig1.h.

References MSCFModel_KraussOrig1::myDawdle.

◆ setMaxAccel()

virtual void MSCFModel::setMaxAccel ( double  accel)
inlinevirtualinherited

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

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

Definition at line 443 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by libsumo::VehicleType::setAccel().

◆ setMaxDecel()

void MSCFModel_KraussOrig1::setMaxDecel ( double  decel)
inlinevirtualinherited

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 134 of file MSCFModel_KraussOrig1.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and MSCFModel_KraussOrig1::myTauDecel.

◆ speedAfterTime()

double MSCFModel::speedAfterTime ( const double  t,
const double  oldSpeed,
const double  dist 
)
staticinherited

Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.

Note
If the acceleration were known, this would be much nicer, but in this way we need to reconstruct it (for the ballistic update at least, where we assume that a stop may occur within the interval)
Parameters
[in]ttime in [0,TS] for which the speed shall be determined
[in]oldSpeedspeed before the last time step (referred to as t == 0)
[in]distancecovered
Returns
speed at time t

Definition at line 624 of file MSCFModel.cpp.

References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSCFModel::getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().

◆ stopSpeed()

double MSCFModel_Krauss::stopSpeed ( const MSVehicle *const  veh,
const double  speed,
double  gap2pred 
) const
virtualinherited

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) this uses the maximumSafeStopSpeed.

Parameters
[in]vehThe vehicle (EGO)
[in]gap2predThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle
Todo:
generic Interface, models can call for the values they need

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 107 of file MSCFModel_Krauss.cpp.

References MSVehicle::getActionStepLengthSecs(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::maxNextSpeed(), and MIN2().

◆ vsafe()

double MSCFModel_KraussOrig1::vsafe ( double  gap,
double  predSpeed,
double  predMaxDecel 
) const
protectedvirtualinherited

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 145 of file MSCFModel_KraussOrig1.cpp.

References ACCEL2SPEED, DIST2SPEED, MIN2(), MSCFModel::myDecel, and MSCFModel_KraussOrig1::myTauDecel.

Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().

Field Documentation

◆ myAccel

◆ myApparentDecel

◆ myDawdle

◆ myDecel

◆ myEmergencyDecel

◆ myHeadwayTime

◆ myTauDecel

double MSCFModel_KraussOrig1::myTauDecel
protectedinherited

The precomputed value for myDecel*myTau.

Definition at line 185 of file MSCFModel_KraussOrig1.h.

Referenced by MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), and MSCFModel_KraussOrig1::vsafe().

◆ myType

const MSVehicleType* MSCFModel::myType
protectedinherited

The type to which this model definition belongs to.

Definition at line 531 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel::insertionStopSpeed(), maxNextSpeed(), and MSCFModel::maxNextSpeed().


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