SUMO - Simulation of Urban MObility
MSCFModel_Kerner Class Reference

car-following model by B. Kerner More...

#include <MSCFModel_Kerner.h>

Inheritance diagram for MSCFModel_Kerner:
Inheritance graph
Collaboration diagram for MSCFModel_Kerner:
Collaboration graph

Data Structures

class  VehicleVariables
 

Public Member Functions

MSCFModel::VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model. More...
 
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...
 
 MSCFModel_Kerner (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime, SUMOReal k, SUMOReal phi)
 Constructor. More...
 
 ~MSCFModel_Kerner ()
 Destructor. 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 followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) More...
 
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) More...
 
int getModelID () const
 Returns the model's name. 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 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...
 
virtual SUMOReal interactionGap (const MSVehicle *const veh, SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
Virtual methods with default implementation
virtual SUMOReal getImperfection () const
 Get the driver's imperfection. More...
 
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...
 
virtual void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2]. More...
 
virtual void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection. More...
 
virtual void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s]. More...
 

Protected Member Functions

SUMOReal maximumSafeFollowSpeed (SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Returns the maximum safe velocity for following the given leader. More...
 
SUMOReal maximumSafeStopSpeed (SUMOReal gap) const
 Returns the maximum velocity for stopping within gap This depends stronlgy on the position update model. More...
 

Protected Attributes

SUMOReal myAccel
 The vehicle's maximum acceleration [m/s^2]. 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...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Private Member Functions

SUMOReal _v (const MSVehicle *const veh, SUMOReal speed, SUMOReal vfree, SUMOReal gap, SUMOReal predSpeed) const
 Returns the "safe" velocity. More...
 

Private Attributes

model parameter

Kerner's k

SUMOReal myK
 
SUMOReal myPhi
 Kerner's phi. More...
 
SUMOReal myTauDecel
 The precomputed value for myDecel*myTau. More...
 

Currently fixed methods

virtual SUMOReal maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) const
 Returns the maximum speed given the current speed. More...
 
SUMOReal brakeGap (const SUMOReal speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time. 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. More...
 
SUMOReal getSpeedAfterMaxDecel (SUMOReal v) const
 Returns the velocity after maximum deceleration. More...
 
static SUMOReal freeSpeed (const SUMOReal decel, const SUMOReal seen, const SUMOReal maxSpeed, const bool onInsertion)
 
static SUMOReal brakeGap (const SUMOReal speed, const SUMOReal decel, const SUMOReal headwayTime)
 

Detailed Description

car-following model by B. Kerner

See also
MSCFModel

Definition at line 44 of file MSCFModel_Kerner.h.

Constructor & Destructor Documentation

MSCFModel_Kerner::MSCFModel_Kerner ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime,
SUMOReal  k,
SUMOReal  phi 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]dawdleThe driver imperfection
[in]tauThe driver's reaction time

Definition at line 42 of file MSCFModel_Kerner.cpp.

Referenced by duplicate().

MSCFModel_Kerner::~MSCFModel_Kerner ( )

Destructor.

Definition at line 49 of file MSCFModel_Kerner.cpp.

References SUMOReal.

Member Function Documentation

SUMOReal MSCFModel_Kerner::_v ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  vfree,
SUMOReal  gap,
SUMOReal  predSpeed 
) const
private

Returns the "safe" velocity.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe LEADER's speed
Returns
the safe velocity

Definition at line 82 of file MSCFModel_Kerner.cpp.

References ACCEL2SPEED, MSVehicle::getCarFollowVariables(), MAX2(), MIN2(), MIN3(), MIN4(), MSCFModel::myAccel, MSCFModel::myDecel, myK, myPhi, myTauDecel, MSCFModel_Kerner::VehicleVariables::rand, SPEED2DIST, and SUMOReal.

Referenced by followSpeed(), and stopSpeed().

static SUMOReal MSCFModel::brakeGap ( const SUMOReal  speed,
const SUMOReal  decel,
const SUMOReal  headwayTime 
)
inlinestaticinherited

Definition at line 239 of file MSCFModel.h.

References ACCEL2SPEED, SPEED2DIST, and SUMOReal.

MSCFModel::VehicleVariables * MSCFModel_Kerner::createVehicleVariables ( ) const
virtual

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented from MSCFModel.

Definition at line 74 of file MSCFModel_Kerner.cpp.

References RandHelper::rand(), MSCFModel_Kerner::VehicleVariables::rand, and SUMOReal.

Referenced by getModelID().

MSCFModel * MSCFModel_Kerner::duplicate ( const MSVehicleType vtype) const
virtual

Duplicates the car-following model.

Parameters
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns
A duplicate of this car-following model

Implements MSCFModel.

Definition at line 98 of file MSCFModel_Kerner.cpp.

References MSCFModel_Kerner(), MSCFModel::myAccel, MSCFModel::myDecel, MSCFModel::myHeadwayTime, myK, and myPhi.

Referenced by getModelID().

SUMOReal MSCFModel_Kerner::followSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
virtual

Computes the vehicle's safe speed (no dawdling)

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed
See also
MSCFModel::ffeV

Implements MSCFModel.

Definition at line 62 of file MSCFModel_Kerner.cpp.

References _v(), MSCFModel::maxNextSpeed(), MIN2(), and SUMOReal.

SUMOReal MSCFModel::freeSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  seen,
SUMOReal  maxSpeed,
const bool  onInsertion = false 
) const
virtualinherited

Computes the vehicle's safe speed without a leader.

Returns the velocity of the vehicle in dependence to the length of the free street and the target velocity at the end of the free range. If onInsertion is true, the vehicle may still brake before the next movement.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
[in]onInsertionwhether speed at insertion is asked for
Returns
EGO's safe speed

Definition at line 95 of file MSCFModel.cpp.

References MSCFModel::myDecel, and SUMOReal.

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

static SUMOReal MSCFModel::freeSpeed ( const SUMOReal  decel,
const SUMOReal  seen,
const SUMOReal  maxSpeed,
const bool  onInsertion 
)
inlinestaticinherited

Definition at line 248 of file MSCFModel.h.

References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MAX2(), SPEED2DIST, and SUMOReal.

virtual SUMOReal MSCFModel::getHeadwayTime ( ) const
inlinevirtualinherited

Get the driver's reaction time [s].

Returns
The reaction time of this class' drivers in s

Definition at line 205 of file MSCFModel.h.

References MSCFModel::maxNextSpeed(), MSCFModel::myHeadwayTime, and SUMOReal.

Referenced by MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), TraCIServerAPI_VehicleType::getVariable(), MSVehicle::planMoveInternal(), and MSCalibrator::remainingVehicleCapacity().

virtual SUMOReal MSCFModel::getImperfection ( ) const
inlinevirtualinherited

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 197 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

SUMOReal MSCFModel::getMaxAccel ( ) const
inlineinherited
SUMOReal MSCFModel::getMaxDecel ( ) const
inlineinherited

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

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

Definition at line 186 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_JE2013::_wantsChange(), 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(), MSLaneChanger::getRealFollower(), TraCIServerAPI_VehicleType::getVariable(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_JE2013::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_JE2013::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MESegment::isOpen(), MSLane::lastInsertion(), MSLink::maybeOccupied(), MSVehicle::planMoveInternal(), MSLane::safeInsertionSpeed(), MSLCM_JE2013::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSLCM_JE2013::slowDownForBlocked(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

int MSCFModel_Kerner::getModelID ( ) const
inlinevirtual

Returns the model's name.

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

Implements MSCFModel.

Definition at line 94 of file MSCFModel_Kerner.h.

References createVehicleVariables(), duplicate(), and SUMO_TAG_CF_BKERNER.

SUMOReal MSCFModel::getSpeedAfterMaxDecel ( SUMOReal  v) const
inlineinherited

Returns the velocity after maximum deceleration.

Parameters
[in]vThe velocity
Returns
The velocity after maximum deceleration

Definition at line 285 of file MSCFModel.h.

References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, and SUMOReal.

Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel::insertionFollowSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
virtualinherited

Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints.

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 101 of file MSCFModel.cpp.

References MSCFModel::maximumSafeFollowSpeed(), and SUMOReal.

Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::isInsertionSuccess(), and MSLane::safeInsertionSpeed().

SUMOReal MSCFModel::interactionGap ( const MSVehicle *const  veh,
SUMOReal  vL 
) const
virtualinherited

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 74 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().

SUMOReal MSCFModel::maximumSafeFollowSpeed ( SUMOReal  gap,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
protectedinherited

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 138 of file MSCFModel.cpp.

References MSCFModel::brakeGap(), ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, and SUMOReal.

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

SUMOReal MSCFModel::maximumSafeStopSpeed ( SUMOReal  gap) const
protectedinherited

Returns the maximum velocity for stopping within gap This depends stronlgy on the position update model.

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

Definition at line 108 of file MSCFModel.cpp.

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

Referenced by MSCFModel::maximumSafeFollowSpeed(), MSCFModel::setHeadwayTime(), and MSCFModel_Krauss::stopSpeed().

SUMOReal MSCFModel::maxNextSpeed ( SUMOReal  speed,
const MSVehicle *const  veh 
) const
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).

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values
Returns
The maximum possible speed for the next step

Reimplemented in MSCFModel_KraussPS.

Definition at line 89 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.

Referenced by MSVehicle::executeMove(), followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel_Kerner::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const
virtual

Applies interaction with stops and lane changing model influences.

Parameters
[in]vehThe ego vehicle
[in]vPosThe possible velocity
Returns
The velocity after applying interactions with stops and lane change model influences

Reimplemented from MSCFModel.

Definition at line 53 of file MSCFModel_Kerner.cpp.

References MSVehicle::getCarFollowVariables(), MSCFModel::moveHelper(), RandHelper::rand(), MSCFModel_Kerner::VehicleVariables::rand, and SUMOReal.

virtual void MSCFModel::setHeadwayTime ( SUMOReal  headwayTime)
inlinevirtualinherited

Sets a new value for driver reaction time [s].

Parameters
[in]headwayTimeThe new driver reaction time (in s)

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 321 of file MSCFModel.h.

References MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myHeadwayTime, and SUMOReal.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection)
inlinevirtualinherited

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 313 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxAccel ( SUMOReal  accel)
inlinevirtualinherited

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

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

Definition at line 297 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel)
inlinevirtualinherited

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

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

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.

Definition at line 305 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

SUMOReal MSCFModel_Kerner::stopSpeed ( const MSVehicle *const  veh,
const SUMOReal  speed,
SUMOReal  gap2pred 
) const
virtual

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

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

Implements MSCFModel.

Definition at line 68 of file MSCFModel_Kerner.cpp.

References _v(), MSCFModel::maxNextSpeed(), and MIN2().

Field Documentation

SUMOReal MSCFModel_Kerner::myK
private

Definition at line 130 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

SUMOReal MSCFModel_Kerner::myPhi
private

Kerner's phi.

Definition at line 133 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

SUMOReal MSCFModel_Kerner::myTauDecel
private

The precomputed value for myDecel*myTau.

Definition at line 136 of file MSCFModel_Kerner.h.

Referenced by _v().

const MSVehicleType* MSCFModel::myType
protectedinherited

The type to which this model definition belongs to.

Definition at line 344 of file MSCFModel.h.

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


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