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SUMO - Simulation of Urban MObility
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Krauss car-following model, with acceleration decrease and faster start. More...
#include <MSCFModel_Krauss.h>
Public Member Functions | |
MSCFModel * | duplicate (const MSVehicleType *vtype) const |
Duplicates the car-following model. More... | |
SUMOReal | estimateSpeedAfterDistance (const SUMOReal dist, const SUMOReal v, const SUMOReal accel) const |
SUMOReal | getMaxAccel () const |
Get the vehicle type's maximum acceleration [m/s^2]. More... | |
SUMOReal | getMaxDecel () const |
Get the vehicle type's maximum deceleration [m/s^2]. More... | |
SUMOReal | getMinimalArrivalSpeed (SUMOReal dist, SUMOReal currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance. More... | |
SUMOReal | getMinimalArrivalSpeedEuler (SUMOReal dist, SUMOReal currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance for Euler update. More... | |
SUMOTime | getMinimalArrivalTime (SUMOReal dist, SUMOReal currentSpeed, SUMOReal arrivalSpeed) const |
Computes the minimal time needed to cover a distance given the desired speed at arrival. More... | |
SUMOReal | maximumSafeFollowSpeed (SUMOReal gap, SUMOReal egoSpeed, SUMOReal predSpeed, SUMOReal predMaxDecel, bool onInsertion=false) const |
Returns the maximum safe velocity for following the given leader. More... | |
SUMOReal | maximumSafeStopSpeed (SUMOReal gap, SUMOReal currentSpeed, bool onInsertion=false, SUMOReal headway=-1) const |
Returns the maximum next velocity for stopping within gap. More... | |
SUMOReal | maximumSafeStopSpeedBallistic (SUMOReal gap, SUMOReal currentSpeed, bool onInsertion=false, SUMOReal headway=-1) const |
Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More... | |
SUMOReal | maximumSafeStopSpeedEuler (SUMOReal gap) const |
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More... | |
MSCFModel_Krauss (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime) | |
Constructor. More... | |
~MSCFModel_Krauss () | |
Destructor. More... | |
Implementations of the MSCFModel interface | |
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) this uses the maximumSafeStopSpeed. More... | |
SUMOReal | followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const |
Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed. More... | |
int | getModelID () const |
Returns the model's name. More... | |
Implementations of the MSCFModel interface | |
SUMOReal | moveHelper (MSVehicle *const veh, SUMOReal vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
SUMOReal | insertionFollowSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const |
Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints. More... | |
SUMOReal | getImperfection () const |
Get the driver's imperfection. More... | |
Setter methods | |
void | setMaxDecel (SUMOReal decel) |
Sets a new value for maximum deceleration [m/s^2]. More... | |
void | setImperfection (SUMOReal imperfection) |
Sets a new value for driver imperfection. More... | |
void | setHeadwayTime (SUMOReal headwayTime) |
Sets a new value for driver reaction time [s]. More... | |
Methods to override by model implementation | |
virtual SUMOReal | freeSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal seen, SUMOReal maxSpeed, const bool onInsertion=false) const |
Computes the vehicle's safe speed without a leader. More... | |
virtual SUMOReal | insertionStopSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal 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 SUMOReal | interactionGap (const MSVehicle *const veh, SUMOReal vL) const |
Returns the maximum gap at which an interaction between both vehicles occurs. 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 SUMOReal | getHeadwayTime () const |
Get the driver's reaction time [s]. More... | |
Setter methods | |
virtual void | setMaxAccel (SUMOReal accel) |
Sets a new value for maximum acceleration [m/s^2]. More... | |
Static Public Member Functions | |
static SUMOReal | gapExtrapolation (const SUMOReal duration, const SUMOReal currentGap, SUMOReal v1, SUMOReal v2, SUMOReal a1=0, SUMOReal a2=0, const SUMOReal maxV1=std::numeric_limits< SUMOReal >::max(), const SUMOReal maxV2=std::numeric_limits< SUMOReal >::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 SUMOReal | passingTime (const SUMOReal lastPos, const SUMOReal passedPos, const SUMOReal currentPos, const SUMOReal lastSpeed, const SUMOReal 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 SUMOReal | speedAfterTime (const SUMOReal t, const SUMOReal oldSpeed, const SUMOReal 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 | |
SUMOReal | myAccel |
The vehicle's maximum acceleration [m/s^2]. More... | |
SUMOReal | myDawdle |
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max. More... | |
SUMOReal | myDecel |
The vehicle's maximum deceleration [m/s^2]. More... | |
SUMOReal | myHeadwayTime |
The driver's desired time headway (aka reaction time tau) [s]. More... | |
SUMOReal | myTauDecel |
The precomputed value for myDecel*myTau. More... | |
const MSVehicleType * | myType |
The type to which this model definition belongs to. More... | |
Private Member Functions | |
SUMOReal | dawdle (SUMOReal speed) const |
Applies driver imperfection (dawdling / sigma) More... | |
Currently fixed methods | |
virtual SUMOReal | maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) const |
Returns the maximum speed given the current speed. More... | |
SUMOReal | minNextSpeed (SUMOReal 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... | |
SUMOReal | brakeGap (const SUMOReal speed) const |
Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant. More... | |
SUMOReal | getSecureGap (const SUMOReal speed, const SUMOReal leaderSpeed, const SUMOReal leaderMaxDecel) const |
Returns the minimum gap to reserve if the leader is braking at maximum (>=0) More... | |
SUMOReal | getSpeedAfterMaxDecel (SUMOReal v) const |
Returns the velocity after maximum deceleration. More... | |
static SUMOReal | freeSpeed (const SUMOReal currentSpeed, const SUMOReal decel, const SUMOReal dist, const SUMOReal maxSpeed, const bool onInsertion) |
static SUMOReal | brakeGap (const SUMOReal speed, const SUMOReal decel, const SUMOReal headwayTime) |
Krauss car-following model, with acceleration decrease and faster start.
Definition at line 46 of file MSCFModel_Krauss.h.
MSCFModel_Krauss::MSCFModel_Krauss | ( | const MSVehicleType * | vtype, |
SUMOReal | accel, | ||
SUMOReal | decel, | ||
SUMOReal | dawdle, | ||
SUMOReal | headwayTime | ||
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Constructor.
[in] | accel | The maximum acceleration |
[in] | decel | The maximum deceleration |
[in] | dawdle | The driver imperfection |
[in] | headwayTime | The driver's reaction time |
Definition at line 46 of file MSCFModel_Krauss.cpp.
Referenced by duplicate().
MSCFModel_Krauss::~MSCFModel_Krauss | ( | ) |
Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant.
[in] | speed | The vehicle's current speed |
Definition at line 263 of file MSCFModel.h.
References MSCFModel::freeSpeed(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::getCriticalLeader(), MSLane::getLeader(), MSVehicle::getLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChangerSublane::getLeaders(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSVehicle::getRerouteOrigin(), MSCFModel::getSecureGap(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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staticinherited |
Definition at line 61 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SPEED2DIST, and SUMOReal.
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inlinevirtualinherited |
Returns model specific values which are stored inside a vehicle and must be used with casting.
Reimplemented in MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, and MSCFModel_Kerner.
Definition at line 184 of file MSCFModel.h.
Referenced by MSVehicle::MSVehicle().
Applies driver imperfection (dawdling / sigma)
[in] | speed | The speed with no dawdling |
Reimplemented from MSCFModel_KraussOrig1.
Definition at line 80 of file MSCFModel_Krauss.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, RandHelper::rand(), and SUMOReal.
Referenced by getModelID().
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virtual |
Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Reimplemented from MSCFModel_KraussOrig1.
Reimplemented in MSCFModel_KraussPS.
Definition at line 105 of file MSCFModel_Krauss.cpp.
References MSCFModel_Krauss(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, MSCFModel::myDecel, and MSCFModel::myHeadwayTime.
Referenced by getModelID().
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inherited |
Definition at line 468 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), MSCFModel::myType, and SUMOReal.
Referenced by MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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virtual |
Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed.
[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 |
Implements MSCFModel.
Definition at line 65 of file MSCFModel_Krauss.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::minNextSpeed(), SUMOReal, and MSCFModel_KraussOrig1::vsafe().
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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.
[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 |
Definition at line 206 of file MSCFModel.cpp.
References MSCFModel::myDecel, and SUMOReal.
Referenced by MSCFModel::brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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staticinherited |
Definition at line 80 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, SUMOReal, and TS.
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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'.
[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 273 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), SUMOReal, and TS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
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inlinevirtualinherited |
Get the driver's reaction time [s].
Definition at line 220 of file MSCFModel.h.
References MSCFModel::maxNextSpeed(), MSCFModel::minNextSpeed(), MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSVehicle::checkRewindLinkLanes(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), TraCIServerAPI_VehicleType::getVariable(), and MSCalibrator::remainingVehicleCapacity().
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inlinevirtualinherited |
Get the driver's imperfection.
Reimplemented from MSCFModel.
Definition at line 120 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::myDawdle.
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inlineinherited |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 193 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalTime(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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inlineinherited |
Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 201 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by MSLCM_LC2013::_wantsChange(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLink::couldBrakeForLeader(), MSVehicle::executeMove(), MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::getFollower(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLaneChanger::getRealFollower(), TraCIServerAPI_VehicleType::getVariable(), 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(), MSCFModel::minNextSpeed(), MSCFModel_KraussOrig1::moveHelper(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSLane::safeInsertionSpeed(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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 247 of file MSCFModel.cpp.
References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), and SUMOReal.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
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 254 of file MSCFModel.cpp.
References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), INVALID_SPEED, and SUMOReal.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
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 234 of file MSCFModel.cpp.
References MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, SUMOReal, and TIME2STEPS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inlinevirtual |
Returns the model's name.
Reimplemented from MSCFModel_KraussOrig1.
Reimplemented in MSCFModel_KraussPS.
Definition at line 89 of file MSCFModel_Krauss.h.
References dawdle(), duplicate(), SUMO_TAG_CF_KRAUSS, and SUMOReal.
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inlineinherited |
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 276 of file MSCFModel.h.
References MSCFModel::brakeGap(), MAX2(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), and MSLCM_LC2013::overtakeDistance().
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Definition at line 302 of file MSCFModel.h.
References ACCEL2SPEED, MSCFModel::estimateSpeedAfterDistance(), MSCFModel::gapExtrapolation(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), max, MAX2(), MSCFModel::myDecel, MSCFModel::passingTime(), MSCFModel::speedAfterTime(), and SUMOReal.
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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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.
[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 from MSCFModel.
Definition at line 110 of file MSCFModel_KraussOrig1.cpp.
References MSCFModel_KraussOrig1::followSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeFollowSpeed(), and SUMOReal.
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virtualinherited |
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 224 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().
Referenced by MSLane::isInsertionSuccess().
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virtualinherited |
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 175 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, SPEED2DIST, and SUMOReal.
Referenced by MSAbstractLaneChangeModel::predInteraction().
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inherited |
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 585 of file MSCFModel.cpp.
References MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSCFModel_KraussOrig1::followSpeed(), followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), MSCFModel::insertionFollowSpeed(), and MSCFModel::setHeadwayTime().
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inherited |
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 477 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), and SUMOReal.
Referenced by MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel::setHeadwayTime(), and stopSpeed().
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inherited |
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 518 of file MSCFModel.cpp.
References INVALID_SPEED, MAX2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), MSCFModel::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
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 487 of file MSCFModel.cpp.
References ACCEL2SPEED, DIST2SPEED, MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel::setHeadwayTime().
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virtualinherited |
Returns the maximum speed given the current speed.
The implementation of this method must take into account the time step duration.
Justification: Due to air brake or other influences, the vehicle's next maximum speed may depend on the vehicle's current speed (given).
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values |
Reimplemented in MSCFModel_KraussPS.
Definition at line 190 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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. |
Definition at line 195 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and SUMOReal.
Referenced by MSCFModel_KraussOrig1::followSpeed(), followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), and MSCFModel::moveHelper().
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virtualinherited |
Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented from MSCFModel.
Definition at line 57 of file MSCFModel_KraussOrig1.cpp.
References ACCEL2SPEED, MSCFModel_KraussOrig1::dawdle(), DEBUG_COND, MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSCFModel::getMaxDecel(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSCFModel::minNextSpeed(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), and SUMOReal.
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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.
[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 367 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, NUMERICAL_EPS, SPEED2ACCEL, SUMOReal, TS, and WRITE_ERROR.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), MSE3Collector::MSE3LeaveReminder::notifyMove(), and MSE2Collector::notifyMove().
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inlinevirtualinherited |
Sets a new value for driver reaction time [s].
[in] | headwayTime | The new driver reaction time (in s) |
Reimplemented from MSCFModel.
Definition at line 149 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussOrig1::duplicate(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, MSCFModel_KraussOrig1::myTauDecel, SUMOReal, and MSCFModel_KraussOrig1::vsafe().
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inlinevirtualinherited |
Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented from MSCFModel.
Definition at line 141 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::myDawdle.
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inlinevirtualinherited |
Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 391 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtualinherited |
Sets a new value for maximum deceleration [m/s^2].
[in] | accel | The new deceleration in m/s^2 |
Reimplemented from MSCFModel.
Definition at line 132 of file MSCFModel_KraussOrig1.h.
References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and MSCFModel_KraussOrig1::myTauDecel.
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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.
[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 439 of file MSCFModel.cpp.
References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SUMOReal, and TS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), and MSE2Collector::notifyMove().
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virtual |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) this uses the maximumSafeStopSpeed.
[in] | veh | The vehicle (EGO) |
[in] | gap2pred | The (netto) distance to the the obstacle |
Reimplemented from MSCFModel_KraussOrig1.
Definition at line 56 of file MSCFModel_Krauss.cpp.
References MSCFModel::maximumSafeStopSpeed(), MSCFModel::maxNextSpeed(), MIN2(), SUMOReal, and TS.
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protectedinherited |
The vehicle's maximum acceleration [m/s^2].
Definition at line 466 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussPS::duplicate(), 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(), MSCFModel::getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel::setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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protectedinherited |
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
Definition at line 180 of file MSCFModel_KraussOrig1.h.
Referenced by dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussPS::duplicate(), duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_KraussOrig1::getImperfection(), and MSCFModel_KraussOrig1::setImperfection().
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protectedinherited |
The vehicle's maximum deceleration [m/s^2].
Definition at line 469 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), MSCFModel::brakeGap(), MSCFModel_KraussPS::duplicate(), 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(), MSCFModel::freeSpeed(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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protectedinherited |
The driver's desired time headway (aka reaction time tau) [s].
Definition at line 472 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_KraussPS::duplicate(), duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::getSecureGap(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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protectedinherited |
The precomputed value for myDecel*myTau.
Definition at line 183 of file MSCFModel_KraussOrig1.h.
Referenced by MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), and MSCFModel_KraussOrig1::vsafe().
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protectedinherited |
The type to which this model definition belongs to.
Definition at line 463 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel::insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().