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SUMO - Simulation of Urban MObility
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The car-following model abstraction. More...
#include <MSCFModel.h>
Data Structures | |
class | VehicleVariables |
Public Member Functions | |
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 (const MSVehicleType *vtype, double accel, double decel, double emergencyDecel, double apparentDecel, double headwayTime) | |
Constructor. More... | |
virtual | ~MSCFModel () |
Destructor. More... | |
Methods to override by model implementation | |
virtual double | moveHelper (MSVehicle *const veh, double vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
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 | followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const =0 |
Computes the vehicle's follow speed (no dawdling) More... | |
virtual 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... | |
virtual double | stopSpeed (const MSVehicle *const veh, const double speed, double gap) const =0 |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) 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 int | getModelID () const =0 |
Returns the model's ID; the XML-Tag number is used. More... | |
virtual MSCFModel * | duplicate (const MSVehicleType *vtype) const =0 |
Duplicates the car-following model. More... | |
virtual VehicleVariables * | createVehicleVariables () 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 | getImperfection () const |
Get the driver's imperfection. More... | |
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 | setMaxDecel (double decel) |
Sets a new value for maximal comfortable deceleration [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... | |
virtual void | setImperfection (double imperfection) |
Sets a new value for driver imperfection. More... | |
virtual void | setHeadwayTime (double headwayTime) |
Sets a new value for desired headway [s]. 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 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 | 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... | |
const MSVehicleType * | myType |
The type to which this model definition belongs to. More... | |
Currently fixed methods | |
virtual double | maxNextSpeed (double speed, const MSVehicle *const veh) const |
Returns the maximum speed given the current speed. More... | |
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 | brakeGap (const double speed, const double decel, const double headwayTime) |
static double | brakeGapEuler (const double speed, const double decel, const double headwayTime) |
static double | freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion, const double actionStepLength) |
The car-following model abstraction.
MSCFModel is an interface for different car following Models to implement. It provides methods to compute a vehicles velocity for a simulation step.
Definition at line 59 of file MSCFModel.h.
MSCFModel::MSCFModel | ( | const MSVehicleType * | vtype, |
double | accel, | ||
double | decel, | ||
double | emergencyDecel, | ||
double | apparentDecel, | ||
double | headwayTime | ||
) |
Constructor.
[in] | rvtype | a reference to the corresponding vtype |
Definition at line 47 of file MSCFModel.cpp.
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Destructor.
Definition at line 58 of file MSCFModel.cpp.
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Computes the acceleration needed to arrive not before the given time.
[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 |
Definition at line 415 of file MSCFModel.cpp.
Referenced by MSLCM_SL2015::commitManoeuvre(), and getSpeedAfterMaxDecel().
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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.
[in] | speed | The vehicle's current speed |
Definition at line 289 of file MSCFModel.h.
References brakeGapEuler(), freeSpeed(), myDecel, and myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSPModel_Striping::addCrossingVehs(), MSLaneChanger::changeOpposite(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkRewindLinkLanes(), distAfterTime(), followSpeedTransient(), MSLane::getCriticalLeader(), MSLane::getLeader(), MSVehicle::getLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChangerSublane::getLeaders(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSVehicle::getRerouteOrigin(), getSecureGap(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processLinkAproaches(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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Definition at line 65 of file MSCFModel.cpp.
References brakeGapEuler(), and MSGlobals::gSemiImplicitEulerUpdate.
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Definition at line 80 of file MSCFModel.cpp.
References ACCEL2SPEED, and SPEED2DIST.
Referenced by brakeGap(), and MSLCM_SL2015::computeSpeedLat().
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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().
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calculates the distance travelled after accelerating for time t
Definition at line 306 of file MSCFModel.cpp.
References ACCEL2SPEED, brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.
Referenced by followSpeedTransient(), and getSpeedAfterMaxDecel().
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Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Implemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussPS, MSCFModel_KraussX, and MSCFModel_Rail.
Referenced by MSVehicleType::duplicateType().
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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.
[in] | dist | Distance to be covered (assumed >= 0.) |
[in] | speed | Initial speed of vehicle |
[in] | accel | Assumed acceleration until reaching maxspeed or speed=0. |
Definition at line 344 of file MSCFModel.cpp.
References INVALID_DOUBLE.
Referenced by MSLCM_SL2015::commitManoeuvre(), MSDevice_SSM::estimateConflictTimes(), and getSpeedAfterMaxDecel().
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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.
[in] | dist | Distance to be covered (assumed >= 0.) |
[in] | initialSpeed | Initial speed of vehicle |
[in] | arrivalSpeed | desired arrival speed of vehicle |
[in] | accel | Assumed acceleration until reaching maxspeed. |
[in] | accel | Assumed deceleration until reaching targetspeed. |
Definition at line 383 of file MSCFModel.cpp.
References UNUSED_PARAMETER.
double MSCFModel::estimateSpeedAfterDistance | ( | const double | dist, |
const double | v, | ||
const double | accel | ||
) | const |
Definition at line 653 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), and myType.
Referenced by MSVehicle::estimateLeaveSpeed(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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Computes the vehicle's follow speed (no dawdling)
Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
Implemented in MSCFModel_IDM, MSCFModel_Krauss, MSCFModel_Wiedemann, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Kerner, and MSCFModel_Rail.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSVehicle::getSafeFollowSpeed(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
[in] | predMaxDecel | The maximum leader decelration |
Definition at line 255 of file MSCFModel.cpp.
References ACCEL2SPEED, brakeGap(), DIST2SPEED, distAfterTime(), gDebugFlag2, getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, myDecel, SPEED2DIST, and TS.
Referenced by MSLCM_SL2015::commitFollowSpeed().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | seen | The look ahead distance |
[in] | maxSpeed | The maximum allowed speed |
[in] | onInsertion | whether speed at insertion is asked for |
Reimplemented in MSCFModel_Rail.
Definition at line 223 of file MSCFModel.cpp.
References MSVehicle::getActionStepLengthSecs(), and myDecel.
Referenced by brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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Definition at line 90 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, and TS.
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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'.
[in] | currentGap | (pos(veh1) - pos(veh2) at start) |
[in] | v1 | initial speed of vehicle 1 |
[in] | v2 | initial speed of vehicle 2 |
[in] | a1 | acceleration of vehicle 1 |
[in] | a2 | acceleration of vehicle 2 |
[in] | maxV1 | maximal speed of vehicle 1 |
[in] | maxV2 | maximal speed of vehicle 2 |
[in] | duration | time span for the process |
Definition at line 458 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
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Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.
Definition at line 227 of file MSCFModel.h.
References myApparentDecel.
Referenced by libsumo::VehicleType::getApparentDecel(), and libsumo::Vehicle::getApparentDecel().
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Get the vehicle type's maximal phisically possible deceleration [m/s^2].
Definition at line 219 of file MSCFModel.h.
References myEmergencyDecel.
Referenced by libsumo::VehicleType::getEmergencyDecel(), and libsumo::Vehicle::getEmergencyDecel().
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Get the driver's desired headway [s].
Definition at line 246 of file MSCFModel.h.
References maxNextSpeed(), minNextSpeed(), and myHeadwayTime.
Referenced by MSVehicleType::check(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), libsumo::VehicleType::getTau(), libsumo::Vehicle::getTau(), and MSCalibrator::remainingVehicleCapacity().
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Get the driver's imperfection.
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_PWag2009.
Definition at line 238 of file MSCFModel.h.
Referenced by libsumo::VehicleType::getImperfection(), and libsumo::Vehicle::getImperfection().
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Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 203 of file MSCFModel.h.
References myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::commitManoeuvre(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), libsumo::VehicleType::getAccel(), getMinimalArrivalTime(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), maxNextSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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Get the vehicle type's maximal comfortable deceleration [m/s^2].
Definition at line 211 of file MSCFModel.h.
References 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(), followSpeedTransient(), MSLane::freeInsertion(), MSLane::getCriticalLeader(), libsumo::VehicleType::getDecel(), libsumo::Vehicle::getDecel(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), 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().
double MSCFModel::getMinimalArrivalSpeed | ( | double | dist, |
double | currentSpeed | ||
) | const |
Computes the minimal possible arrival speed after covering a given distance.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
Definition at line 432 of file MSCFModel.cpp.
References estimateSpeedAfterDistance(), getHeadwayTime(), and getMaxDecel().
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
double MSCFModel::getMinimalArrivalSpeedEuler | ( | double | dist, |
double | currentSpeed | ||
) | const |
Computes the minimal possible arrival speed after covering a given distance for Euler update.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
Definition at line 439 of file MSCFModel.cpp.
References estimateSpeedAfterDistance(), getHeadwayTime(), getMaxDecel(), and INVALID_SPEED.
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
SUMOTime MSCFModel::getMinimalArrivalTime | ( | double | dist, |
double | currentSpeed, | ||
double | arrivalSpeed | ||
) | const |
Computes the minimal time needed to cover a distance given the desired speed at arrival.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
[in] | arrivalSpeed | Desired speed at arrival |
Definition at line 331 of file MSCFModel.cpp.
References getMaxAccel(), getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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Returns the model's ID; the XML-Tag number is used.
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussPS, MSCFModel_KraussX, and MSCFModel_Rail.
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Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
[in] | speed | EGO's speed |
[in] | leaderSpeed | LEADER's speed |
[in] | leaderMaxDecel | LEADER's max. deceleration rate |
Definition at line 304 of file MSCFModel.h.
References brakeGap(), MAX2(), myDecel, and myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), MSLCM_LC2013::overtakeDistance(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().
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Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Reimplemented in MSCFModel_Rail.
Definition at line 318 of file MSCFModel.h.
References ACCEL2SPEED, avoidArrivalAccel(), distAfterTime(), estimateArrivalTime(), estimateSpeedAfterDistance(), gapExtrapolation(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getMinimalArrivalTime(), MAX2(), myDecel, passingTime(), and speedAfterTime().
Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussX::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
Reimplemented in MSCFModel_KraussOrig1.
Definition at line 234 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, and maximumSafeFollowSpeed().
Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), and MSLane::safeInsertionSpeed().
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Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
Definition at line 245 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeed(), MIN2(), myType, and stopSpeed().
Referenced by MSLane::isInsertionSuccess().
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Returns the maximum gap at which an interaction between both vehicles occurs.
"interaction" means that the LEADER influences EGO's speed.
[in] | veh | The EGO vehicle |
[in] | vL | LEADER's speed |
Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.
Definition at line 189 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, and SPEED2DIST.
Referenced by MSAbstractLaneChangeModel::predInteraction().
double MSCFModel::maximumSafeFollowSpeed | ( | double | gap, |
double | egoSpeed, | ||
double | predSpeed, | ||
double | predMaxDecel, | ||
bool | onInsertion = false |
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) | const |
Returns the maximum safe velocity for following the given leader.
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | egoSpeed | The FOLLOWERS's speed |
[in] | predSpeed | The LEADER's speed |
[in] | predMaxDecel | The LEADER's maximum deceleration |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
Returns the SK-vsafe.
Definition at line 770 of file MSCFModel.cpp.
References brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), maximumSafeStopSpeed(), myDecel, and myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), insertionFollowSpeed(), and setHeadwayTime().
double MSCFModel::maximumSafeStopSpeed | ( | double | gap, |
double | currentSpeed, | ||
bool | onInsertion = false , |
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double | headway = -1 |
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) | const |
Returns the maximum next velocity for stopping within gap.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The 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, maximumSafeStopSpeedBallistic(), and maximumSafeStopSpeedEuler().
Referenced by MSLCM_LC2013::_wantsChange(), insertionStopSpeed(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), setHeadwayTime(), MSCFModel_Rail::stopSpeed(), and MSCFModel_Krauss::stopSpeed().
double MSCFModel::maximumSafeStopSpeedBallistic | ( | double | gap, |
double | currentSpeed, | ||
bool | onInsertion = false , |
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double | headway = -1 |
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) | const |
Returns the maximum next velocity for stopping within gap when using the ballistic positional update.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway) |
Definition at line 703 of file MSCFModel.cpp.
References INVALID_SPEED, MAX2(), myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by maximumSafeStopSpeed(), setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
double MSCFModel::maximumSafeStopSpeedEuler | ( | double | gap | ) | const |
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.
[in] | gap | The (netto) distance to the LEADER |
Definition at line 672 of file MSCFModel.cpp.
References ACCEL2SPEED, DIST2SPEED, MIN2(), myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by maximumSafeStopSpeed(), and setHeadwayTime().
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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).
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values |
Reimplemented in MSCFModel_KraussPS, and MSCFModel_Rail.
Definition at line 204 of file MSCFModel.cpp.
References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), and myType.
Referenced by MSLCM_SL2015::commitManoeuvre(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), interactionGap(), MSCFModel_Krauss::moveHelper(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussX::moveHelper(), moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processTraCISpeedControl(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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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.
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values, if needed as e.g. road conditions. |
Reimplemented in MSCFModel_Rail.
Definition at line 210 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and myEmergencyDecel.
Referenced by MSLCM_SL2015::commitManoeuvre(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_Krauss::moveHelper(), MSCFModel_KraussX::moveHelper(), moveHelper(), and MSVehicle::planMoveInternal().
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Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussX, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussOrig1, MSCFModel_PWag2009, and MSCFModel_Rail.
Definition at line 155 of file MSCFModel.cpp.
References ACCEL2SPEED, MSVehicle::getActionStepLengthSecs(), MSVehicle::getLaneChangeModel(), MSVehicle::getMaxSpeedOnLane(), MSVehicle::getSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), maxNextSpeed(), MIN2(), MIN3(), minNextSpeed(), MSAbstractLaneChangeModel::patchSpeed(), and MSVehicle::processNextStop().
Referenced by MSCFModel_Kerner::moveHelper(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().
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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.
[in] | lastPos | the position at time t=0 (must be < currentPos) |
[in] | passedPos | the position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!) |
[in] | currentPos | the position at time t=TS (one time-step after lastPos) (must be > lastPos) |
[in] | lastSpeed | the speed at moment t=0 |
[in] | currentSpeed | the speed at moment t=TS |
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(), getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().
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Sets a new value for the apparent deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Definition at line 467 of file MSCFModel.h.
References myApparentDecel.
Referenced by libsumo::VehicleType::setApparentDecel().
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Sets a new value for maximal physically possible deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Definition at line 459 of file MSCFModel.h.
References myEmergencyDecel.
Referenced by libsumo::VehicleType::setEmergencyDecel().
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Sets a new value for desired headway [s].
[in] | headwayTime | The new desired headway (in s) |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 483 of file MSCFModel.h.
References maximumSafeFollowSpeed(), maximumSafeStopSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), and myHeadwayTime.
Referenced by libsumo::VehicleType::setTau().
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Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 475 of file MSCFModel.h.
References UNUSED_PARAMETER.
Referenced by libsumo::VehicleType::setImperfection().
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Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 443 of file MSCFModel.h.
References myAccel.
Referenced by libsumo::VehicleType::setAccel().
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Sets a new value for maximal comfortable deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 451 of file MSCFModel.h.
References myDecel.
Referenced by MSLCM_SL2015::commitFollowSpeed(), MSCFModel_Rail::MSCFModel_Rail(), and libsumo::VehicleType::setDecel().
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Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.
[in] | t | time in [0,TS] for which the speed shall be determined |
[in] | oldSpeed | speed before the last time step (referred to as t == 0) |
[in] | distance | covered |
Definition at line 624 of file MSCFModel.cpp.
References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.
Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().
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Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
Returns the velocity of the vehicle when approaching a static object (such as the end of a lane) assuming no reaction time is needed.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_Rail.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSLane::checkForPedestrians(), MSVehicle::getSafeFollowSpeed(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), insertionStopSpeed(), MSLane::isInsertionSuccess(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processNextStop(), and MSLCM_SL2015::updateExpectedSublaneSpeeds().
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The vehicle's maximum acceleration [m/s^2].
Definition at line 534 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_Krauss::dawdle2(), MSCFModel_KraussX::dawdleX(), MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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The vehicle's deceleration as expected by surrounding traffic [m/s^2].
Definition at line 541 of file MSCFModel.h.
Referenced by MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), getApparentDecel(), and setApparentDecel().
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The vehicle's maximum deceleration [m/s^2].
Definition at line 537 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), brakeGap(), MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::emergency(), MSCFModel_PWag2009::followSpeed(), followSpeedTransient(), MSCFModel_Rail::freeSpeed(), freeSpeed(), getMaxDecel(), getSecureGap(), getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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The vehicle's maximum emergency deceleration [m/s^2].
Definition at line 539 of file MSCFModel.h.
Referenced by MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), getEmergencyDecel(), minNextSpeed(), and setEmergencyDecel().
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The driver's desired time headway (aka reaction time tau) [s].
Definition at line 544 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), getHeadwayTime(), getSecureGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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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(), estimateSpeedAfterDistance(), insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and maxNextSpeed().