Eclipse SUMO - Simulation of Urban MObility
MSCFModel_Kerner.cpp
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1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2001-2019 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials
5 // are made available under the terms of the Eclipse Public License v2.0
6 // which accompanies this distribution, and is available at
7 // http://www.eclipse.org/legal/epl-v20.html
8 // SPDX-License-Identifier: EPL-2.0
9 /****************************************************************************/
16 // car-following model by B. Kerner
17 /****************************************************************************/
18 
19 
20 // ===========================================================================
21 // included modules
22 // ===========================================================================
23 #include <config.h>
24 
25 #include <microsim/MSVehicle.h>
26 #include <microsim/MSLane.h>
27 #include "MSCFModel_Kerner.h"
29 
30 
31 // ===========================================================================
32 // method definitions
33 // ===========================================================================
35  MSCFModel(vtype),
36  myK(vtype->getParameter().getCFParam(SUMO_ATTR_K, 0.5)),
37  myPhi(vtype->getParameter().getCFParam(SUMO_ATTR_CF_KERNER_PHI, 5.0)),
38  myTauDecel(myDecel * myHeadwayTime) {
39 }
40 
41 
43 
44 
45 double
46 MSCFModel_Kerner::finalizeSpeed(MSVehicle* const veh, double vPos) const {
47  const double vNext = MSCFModel::finalizeSpeed(veh, vPos);
49  vars->rand = RandHelper::rand(veh->getRNG());
50  return vNext;
51 }
52 
53 
54 double
55 MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double /*predMaxDecel*/, const MSVehicle* const /*pred*/) const {
56  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
57 }
58 
59 
60 double
61 MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const double speed, double gap) const {
62  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
63 }
64 
65 
70  ret->rand = RandHelper::rand();
71  return ret;
72 }
73 
74 
75 double
76 MSCFModel_Kerner::_v(const MSVehicle* const veh, double speed, double vfree, double gap, double predSpeed) const {
77  if (predSpeed == 0 && gap < 0.01) {
78  return 0;
79  }
80  // !!! in the following, the prior step is not considered!!!
81  double G = MAX2((double) 0, (double)(SPEED2DIST(myK * speed) + myPhi / myAccel * speed * (speed - predSpeed)));
82  double vcond = gap > G ? speed + ACCEL2SPEED(myAccel) : speed + MAX2(ACCEL2SPEED(-myDecel), MIN2(ACCEL2SPEED(myAccel), predSpeed - speed));
83  double vsafe = (double)(-1. * myTauDecel + sqrt(myTauDecel * myTauDecel + (predSpeed * predSpeed) + (2. * myDecel * gap)));
85  double va = MAX2((double) 0, MIN3(vfree, vsafe, vcond)) + vars->rand;
86  //std::cout << SIMTIME << " veh=" << veh->getID() << " speed=" << speed << " gap=" << gap << " G=" << G << " predSpeed=" << predSpeed << " vfree=" << vfree << " vsafe=" << vsafe << " vcond=" << vcond << " rand=" << vars->rand << "\n";
87  double v = MAX2((double) 0, MIN4(vfree, va, speed + ACCEL2SPEED(myAccel), vsafe));
88  return v;
89 }
90 
91 
92 MSCFModel*
94  return new MSCFModel_Kerner(vtype);
95 }
MSVehicleType
The car-following model and parameter.
Definition: MSVehicleType.h:65
SPEED2DIST
#define SPEED2DIST(x)
Definition: SUMOTime.h:46
MSCFModel_Kerner::duplicate
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
Definition: MSCFModel_Kerner.cpp:93
MIN2
T MIN2(T a, T b)
Definition: StdDefs.h:73
MSCFModel_Kerner::myTauDecel
double myTauDecel
The precomputed value for myDecel*myTau.
Definition: MSCFModel_Kerner.h:125
MSCFModel_Kerner::VehicleVariables::rand
double rand
Definition: MSCFModel_Kerner.h:103
MSCFModel_Kerner::createVehicleVariables
MSCFModel::VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
Definition: MSCFModel_Kerner.cpp:67
MSCFModel::maxNextSpeed
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:238
MSCFModel_Kerner::~MSCFModel_Kerner
~MSCFModel_Kerner()
Destructor.
Definition: MSCFModel_Kerner.cpp:42
ACCEL2SPEED
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:52
G
#define G
Definition: MSCFModel_Rail.cpp:29
MSVehicle::getCarFollowVariables
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition: MSVehicle.h:910
MSCFModel::finalizeSpeed
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences. Called at most once per simulation...
Definition: MSCFModel.cpp:164
MSCFModel_Kerner::MSCFModel_Kerner
MSCFModel_Kerner(const MSVehicleType *vtype)
Constructor.
Definition: MSCFModel_Kerner.cpp:34
MSCFModel_Kerner::myPhi
double myPhi
Kerner's phi.
Definition: MSCFModel_Kerner.h:122
MSVehicle.h
MAX2
T MAX2(T a, T b)
Definition: StdDefs.h:79
RandHelper::rand
static double rand(std::mt19937 *rng=0)
Returns a random real number in [0, 1)
Definition: RandHelper.h:53
MSCFModel_Kerner::VehicleVariables
Definition: MSCFModel_Kerner.h:101
MIN4
T MIN4(T a, T b, T c, T d)
Definition: StdDefs.h:100
MSCFModel_Kerner::followSpeed
double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
Computes the vehicle's safe speed (no dawdling)
Definition: MSCFModel_Kerner.cpp:55
MSCFModel_Kerner::finalizeSpeed
double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences.
Definition: MSCFModel_Kerner.cpp:46
MSCFModel::VehicleVariables
Definition: MSCFModel.h:60
MSCFModel_Kerner.h
MSCFModel_Kerner::myK
double myK
Definition: MSCFModel_Kerner.h:119
MSCFModel::myDecel
double myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:620
SUMO_ATTR_K
Definition: SUMOXMLDefinitions.h:819
MSCFModel
The car-following model abstraction.
Definition: MSCFModel.h:56
config.h
RandHelper.h
MSCFModel::myAccel
double myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:617
MSLane.h
MIN3
T MIN3(T a, T b, T c)
Definition: StdDefs.h:86
SUMO_ATTR_CF_KERNER_PHI
Definition: SUMOXMLDefinitions.h:840
MSCFModel_Kerner::stopSpeed
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)
Definition: MSCFModel_Kerner.cpp:61
MSBaseVehicle::getRNG
std::mt19937 * getRNG() const
Definition: MSBaseVehicle.cpp:758
MSVehicle
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:79
MSCFModel_Kerner::_v
double _v(const MSVehicle *const veh, double speed, double vfree, double gap, double predSpeed) const
Returns the "safe" velocity.
Definition: MSCFModel_Kerner.cpp:76