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 #include <microsim/MSGlobals.h>
41 
42 //#define DEBUG_EXECUTE_MOVE
43 #define DEBUG_COND (veh->getID()=="disabled")
44 
45 // ===========================================================================
46 // method definitions
47 // ===========================================================================
49  SUMOReal dawdle, SUMOReal headwayTime)
50  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle), myTauDecel(decel * headwayTime) {}
51 
52 
54 
55 
58  const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
59  const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
60  // we need the acceleration for emission computation;
61  // in this case, we neglect dawdling, nonetheless, using
62  // vSafe does not incorporate speed reduction due to interaction
63  // on lane changing
64  const SUMOReal vMin = minNextSpeed(oldV, veh);
65  // do not exceed max decel even if it is unsafe
66  SUMOReal vMax = MAX2(vMin,
67  MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe));
68 #ifdef _DEBUG
69  //if (vMin > vMax) {
70  // WRITE_WARNING("Maximum speed of vehicle '" + veh->getID() + "' is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
71  //}
72 #endif
73 
74  const SUMOReal vDawdle = MAX2(vMin, dawdle(vMax));
75 
76  SUMOReal vNext = veh->getLaneChangeModel().patchSpeed(vMin, vDawdle, vMax, *this);
77 
78 #ifdef DEBUG_EXECUTE_MOVE
79  if DEBUG_COND {
80  std::cout << "\nMOVE_HELPER\n"
81  << "veh '" << veh->getID() << "' vMin=" << vMin
82  << " vMax=" << vMax << " vDawdle=" << vDawdle
83  << " vSafe" << vSafe << " vNext=" << vNext
84  << "\n";
85  }
86 #endif
87 
88  // (Leo) At this point vNext may also be negative indicating a stop within next step.
89  // This would have resulted from a call to maximumSafeStopSpeed(), which does not
90  // consider deceleration bounds. Therefore, we cap vNext here.
92  vNext = MAX2(vNext, veh->getSpeed() - ACCEL2SPEED(getMaxDecel()));
93  }
94 
95  return vNext;
96 }
97 
98 
100 MSCFModel_KraussOrig1::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const {
102  return MIN2(vsafe(gap, predSpeed, predMaxDecel), maxNextSpeed(speed, veh)); // XXX: and why not cap with minNextSpeed!? (Leo)
103  } else {
104  return MAX2(MIN2(maximumSafeFollowSpeed(gap, speed, predSpeed, predMaxDecel), maxNextSpeed(speed, veh)), minNextSpeed(speed));
105  }
106 }
107 
108 
109 SUMOReal
110 MSCFModel_KraussOrig1::insertionFollowSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const {
112  return followSpeed(veh, speed, gap2pred, predSpeed, predMaxDecel);
113  } else {
114  // ballistic update
115  return maximumSafeFollowSpeed(gap2pred, 0., predSpeed, predMaxDecel, true);
116  }
117 }
118 
119 
120 SUMOReal
121 MSCFModel_KraussOrig1::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
123  return MIN2(vsafe(gap, 0., 0.), maxNextSpeed(speed, veh));
124  } else {
125  // XXX: using this here is probably in the spirit of Krauss, but we should consider,
126  // if the original vsafe should be kept instead (Leo), refs. #2575
127  return MIN2(maximumSafeStopSpeedBallistic(gap, speed), maxNextSpeed(speed, veh));
128  }
129 }
130 
131 
132 SUMOReal
135  // in case of the ballistic update, negative speeds indicate
136  // a desired stop before the completion of the next timestep.
137  // We do not allow dawdling to overwrite this indication
138  if (speed < 0) {
139  return speed;
140  }
141  }
142  return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
143 }
144 
145 
147 SUMOReal MSCFModel_KraussOrig1::vsafe(SUMOReal gap, SUMOReal predSpeed, SUMOReal /* predMaxDecel */) const {
148  if (predSpeed == 0 && gap < 0.01) {
149  return 0;
150  } else if (predSpeed == 0 && gap <= ACCEL2SPEED(myDecel)) {
151  // workaround for #2310
152  return MIN2(ACCEL2SPEED(myDecel), DIST2SPEED(gap));
153  }
155  + sqrt(
157  + (predSpeed * predSpeed)
158  + (2. * myDecel * gap)
159  ));
160  assert(vsafe >= 0);
161  return vsafe;
162 }
163 
164 
165 MSCFModel*
168 }
169 
170 
171 /****************************************************************************/
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
#define DIST2SPEED(x)
Definition: SUMOTime.h:57
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:82
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...
Definition: MSCFModel.cpp:518
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:487
The car-following model abstraction.
Definition: MSCFModel.h:60
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 myAccel
The vehicle&#39;s maximum acceleration [m/s^2].
Definition: MSCFModel.h:466
SUMOReal getMaxDecel() const
Get the vehicle type&#39;s maximum deceleration [m/s^2].
Definition: MSCFModel.h:201
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:472
SUMOReal processNextStop(SUMOReal currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:1027
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
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) ...
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 ste...
Definition: MSCFModel.cpp:195
The car-following model and parameter.
Definition: MSVehicleType.h:74
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...
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:2702
SUMOReal myDawdle
The vehicle&#39;s dawdle-parameter. 0 for no dawdling, 1 for max.
virtual SUMOReal vsafe(SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Returns the "safe" velocity.
T MIN2(T a, T b)
Definition: StdDefs.h:69
MSCFModel_KraussOrig1(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime)
Constructor.
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:458
SUMOReal maximumSafeFollowSpeed(SUMOReal gap, SUMOReal egoSpeed, SUMOReal predSpeed, SUMOReal predMaxDecel, bool onInsertion=false) const
Returns the maximum safe velocity for following the given leader.
Definition: MSCFModel.cpp:585
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.
#define DEBUG_COND
#define SUMOReal
Definition: config.h:213
static bool gSemiImplicitEulerUpdate
Definition: MSGlobals.h:63
T MIN3(T a, T b, T c)
Definition: StdDefs.h:82
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
virtual SUMOReal maxNextSpeed(SUMOReal speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:190
const std::string & getID() const
Returns the name of the vehicle.
SUMOReal getSpeed() const
Returns the vehicle&#39;s current speed.
Definition: MSVehicle.h:441
SUMOReal myDecel
The vehicle&#39;s maximum deceleration [m/s^2].
Definition: MSCFModel.h:469
virtual SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)