SUMO - Simulation of Urban MObility
MSCFModel_KraussOrig1.cpp
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1 /****************************************************************************/
11 // The original Krauss (1998) car-following model and parameter
12 /****************************************************************************/
13 // SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
14 // Copyright (C) 2001-2016 DLR (http://www.dlr.de/) and contributors
15 /****************************************************************************/
16 //
17 // This file is part of SUMO.
18 // SUMO is free software: you can redistribute it and/or modify
19 // it under the terms of the GNU General Public License as published by
20 // the Free Software Foundation, either version 3 of the License, or
21 // (at your option) any later version.
22 //
23 /****************************************************************************/
24 
25 
26 // ===========================================================================
27 // included modules
28 // ===========================================================================
29 #ifdef _MSC_VER
30 #include <windows_config.h>
31 #else
32 #include <config.h>
33 #endif
34 
35 #include <microsim/MSVehicle.h>
36 #include <microsim/MSLane.h>
37 #include "MSCFModel_KraussOrig1.h"
40 
41 
42 // ===========================================================================
43 // method definitions
44 // ===========================================================================
46  SUMOReal dawdle, SUMOReal headwayTime)
47  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle), myTauDecel(decel * headwayTime) {
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  // do not exceed max decel even if it is unsafe
64  SUMOReal vMax = MAX2(vMin,
65  MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe));
66 #ifdef _DEBUG
67  //if (vMin > vMax) {
68  // WRITE_WARNING("Maximum speed of vehicle '" + veh->getID() + "' is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
69  //}
70 #endif
71  return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
72 }
73 
74 
76 MSCFModel_KraussOrig1::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const {
77  return MIN2(vsafe(gap, predSpeed, predMaxDecel), maxNextSpeed(speed, veh));
78 }
79 
80 
82 MSCFModel_KraussOrig1::insertionFollowSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const {
83  // since the Krauss model tries to compute the maximum follow speed in
84  // method followSpeed this is also used for insertionFollowSpeed
85  // (due to discretization error this may not always be the same value as
86  // returned by maximumSafeFollowSpeed)
87  return followSpeed(veh, speed, gap2pred, predSpeed, predMaxDecel);
88 }
89 
90 
92 MSCFModel_KraussOrig1::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
93  return MIN2(vsafe(gap, 0., 0.), maxNextSpeed(speed, veh));
94 }
95 
96 
99  return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
100 }
101 
102 
104 SUMOReal MSCFModel_KraussOrig1::vsafe(SUMOReal gap, SUMOReal predSpeed, SUMOReal /* predMaxDecel */) const {
105  if (predSpeed == 0 && gap < 0.01) {
106  return 0;
107  } else if (predSpeed == 0 && gap <= ACCEL2SPEED(myDecel)) {
108  // workaround for #2310
109  return MIN2(ACCEL2SPEED(myDecel), DIST2SPEED(gap));
110  }
112  + sqrt(
114  + (predSpeed * predSpeed)
115  + (2. * myDecel * gap)
116  ));
117  assert(vsafe >= 0);
118  return vsafe;
119 }
120 
121 
122 MSCFModel*
125 }
126 
127 
128 /****************************************************************************/
#define DIST2SPEED(x)
Definition: SUMOTime.h:57
SUMOReal getSpeedAfterMaxDecel(SUMOReal v) const
Returns the velocity after maximum deceleration.
Definition: MSCFModel.h:285
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:81
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
virtual SUMOReal maxNextSpeed(SUMOReal speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:89
The car-following model abstraction.
Definition: MSCFModel.h:59
virtual SUMOReal vsafe(SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Returns the "safe" velocity.
SUMOReal insertionFollowSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle&#39;s safe speed (no dawdling) This method is used during the insertion stage...
SUMOReal myAccel
The vehicle&#39;s maximum acceleration [m/s^2].
Definition: MSCFModel.h:347
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:62
T MAX2(T a, T b)
Definition: StdDefs.h:75
SUMOReal myHeadwayTime
The driver&#39;s desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:353
SUMOReal processNextStop(SUMOReal currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:1012
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
The car-following model and parameter.
Definition: MSVehicleType.h:74
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:2462
SUMOReal followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle&#39;s safe speed (no dawdling)
SUMOReal myDawdle
The vehicle&#39;s dawdle-parameter. 0 for no dawdling, 1 for max.
virtual SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)
T MIN2(T a, T b)
Definition: StdDefs.h:69
MSCFModel_KraussOrig1(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime)
Constructor.
virtual SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
Computes the vehicle&#39;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&#39;s current speed.
Definition: MSVehicle.h:410
#define SUMOReal
Definition: config.h:213
T MIN3(T a, T b, T c)
Definition: StdDefs.h:82
SUMOReal getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane&#39;s maximum speed, given a vehicle&#39;s speed limit adaptation.
Definition: MSLane.h:453
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:447
SUMOReal myDecel
The vehicle&#39;s maximum deceleration [m/s^2].
Definition: MSCFModel.h:350