SUMO - Simulation of Urban MObility
MSCFModel_Daniel1.cpp
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1 /****************************************************************************/
9 // The original Krauss (1998) car-following model and parameter
10 /****************************************************************************/
11 // SUMO, Simulation of Urban MObility; see http://sumo-sim.org/
12 // Copyright (C) 2012-2014 DLR (http://www.dlr.de/) and contributors
13 /****************************************************************************/
14 //
15 // This file is part of SUMO.
16 // SUMO is free software: you can redistribute it and/or modify
17 // it under the terms of the GNU General Public License as published by
18 // the Free Software Foundation, either version 3 of the License, or
19 // (at your option) any later version.
20 //
21 /****************************************************************************/
22 
23 
24 // ===========================================================================
25 // included modules
26 // ===========================================================================
27 #ifdef _MSC_VER
28 #include <windows_config.h>
29 #else
30 #include <config.h>
31 #endif
32 
33 #include <microsim/MSVehicle.h>
34 #include <microsim/MSLane.h>
35 #include "MSCFModel_Daniel1.h"
38 
39 
40 // ===========================================================================
41 // method definitions
42 // ===========================================================================
44  SUMOReal dawdle, SUMOReal headwayTime,
45  SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
46  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle), myTauDecel(decel* headwayTime),
47  myTmp1(tmp1), myTmp2(tmp2), myTmp3(tmp3), myTmp4(tmp4), myTmp5(tmp5) {
48 }
49 
50 
52 
53 
56  const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
57  const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
58  // we need the acceleration for emission computation;
59  // in this case, we neglect dawdling, nonetheless, using
60  // vSafe does not incorporate speed reduction due to interaction
61  // on lane changing
62  const SUMOReal vMin = getSpeedAfterMaxDecel(oldV);
63  const SUMOReal vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
64 #ifdef _DEBUG
65  if (vMin > vMax) {
66  WRITE_WARNING("Vehicle's '" + veh->getID() + "' maximum speed is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
67  }
68 #endif
69  return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
70 }
71 
72 
74 MSCFModel_Daniel1::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
75  return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed, veh));
76 }
77 
78 
80 MSCFModel_Daniel1::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
81  return MIN2(_vsafe(gap, 0), maxNextSpeed(speed, veh));
82 }
83 
84 
87  return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
88 }
89 
90 
93  if (predSpeed == 0 && gap < 0.01) {
94  return 0;
95  }
96  SUMOReal vsafe = (SUMOReal)(-1. * myTauDecel
97  + sqrt(
99  + (predSpeed * predSpeed)
100  + (2. * myDecel * gap)
101  ));
102  assert(vsafe >= 0);
103  return vsafe;
104 }
105 
106 
107 MSCFModel*
111 }
SUMOReal getSpeedAfterMaxDecel(SUMOReal v) const
Returns the velocity after maximum deceleration.
Definition: MSCFModel.h:245
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
SUMOReal myDawdle
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
virtual SUMOReal maxNextSpeed(SUMOReal speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:86
The car-following model abstraction.
Definition: MSCFModel.h:58
virtual SUMOReal _vsafe(SUMOReal gap, SUMOReal predSpeed) const
Returns the "safe" velocity.
SUMOReal myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:292
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:62
T MAX2(T a, T b)
Definition: StdDefs.h:72
SUMOReal myHeadwayTime
The driver's desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:298
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
SUMOReal processNextStop(SUMOReal currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:773
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:200
The car-following model and parameter.
Definition: MSVehicleType.h:74
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:1750
MSCFModel_Daniel1(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tmp1, SUMOReal tmp2, SUMOReal tmp3, SUMOReal tmp4, SUMOReal tmp5)
Constructor.
T MIN2(T a, T b)
Definition: StdDefs.h:66
std::string toString(const T &t, std::streamsize accuracy=OUTPUT_ACCURACY)
Definition: ToString.h:53
SUMOReal myTmp1
temporary (testing) parameter
virtual SUMOReal followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle's safe speed (no dawdling)
virtual SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) ...
virtual SUMOReal patchSpeed(const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)=0
Called to adapt the speed in order to allow a lane change.
SUMOReal getSpeed() const
Returns the vehicle's current speed.
Definition: MSVehicle.h:291
#define SUMOReal
Definition: config.h:215
T MIN3(T a, T b, T c)
Definition: StdDefs.h:79
virtual SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)
SUMOReal getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
Definition: MSLane.h:354
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:328
~MSCFModel_Daniel1()
Destructor.
SUMOReal myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:295
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
const std::string & getID() const
Returns the name of the vehicle.