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SUMO - Simulation of Urban MObility
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The Wiedemann Model car-following model. More...
#include <MSCFModel_Wiedemann.h>
Data Structures | |
class | VehicleVariables |
Public Member Functions | |
SUMOReal | estimateSpeedAfterDistance (const SUMOReal dist, const SUMOReal v, const SUMOReal accel) const |
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... | |
SUMOReal | getMinimalArrivalSpeed (SUMOReal dist, SUMOReal currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance. More... | |
SUMOReal | getMinimalArrivalSpeedEuler (SUMOReal dist, SUMOReal currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance for Euler update. More... | |
SUMOTime | getMinimalArrivalTime (SUMOReal dist, SUMOReal currentSpeed, SUMOReal arrivalSpeed) const |
Computes the minimal time needed to cover a distance given the desired speed at arrival. More... | |
SUMOReal | maximumSafeFollowSpeed (SUMOReal gap, SUMOReal egoSpeed, SUMOReal predSpeed, SUMOReal predMaxDecel, bool onInsertion=false) const |
Returns the maximum safe velocity for following the given leader. More... | |
SUMOReal | maximumSafeStopSpeed (SUMOReal gap, SUMOReal currentSpeed, bool onInsertion=false, SUMOReal headway=-1) const |
Returns the maximum next velocity for stopping within gap. More... | |
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. More... | |
SUMOReal | maximumSafeStopSpeedEuler (SUMOReal gap) const |
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More... | |
MSCFModel_Wiedemann (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal security, SUMOReal estimation) | |
Constructor. More... | |
~MSCFModel_Wiedemann () | |
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 gap) const |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More... | |
SUMOReal | interactionGap (const MSVehicle *const, SUMOReal vL) const |
Returns the maximum gap at which an interaction between both vehicles occurs. More... | |
int | getModelID () const |
Returns the model's name. More... | |
MSCFModel * | duplicate (const MSVehicleType *vtype) const |
Duplicates the car-following model. More... | |
VehicleVariables * | createVehicleVariables () const |
Returns model specific values which are stored inside a vehicle and must be used with casting. 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 | insertionStopSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap) const |
Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds. 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... | |
Static Public Member Functions | |
static SUMOReal | gapExtrapolation (const SUMOReal duration, const SUMOReal currentGap, SUMOReal v1, SUMOReal v2, SUMOReal a1=0, SUMOReal a2=0, const SUMOReal maxV1=std::numeric_limits< SUMOReal >::max(), const SUMOReal maxV2=std::numeric_limits< SUMOReal >::max()) |
return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'. More... | |
static SUMOReal | passingTime (const SUMOReal lastPos, const SUMOReal passedPos, const SUMOReal currentPos, const SUMOReal lastSpeed, const SUMOReal currentSpeed) |
Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero. More... | |
static SUMOReal | speedAfterTime (const SUMOReal t, const SUMOReal oldSpeed, const SUMOReal dist) |
Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS. 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 MSVehicleType * | myType |
The type to which this model definition belongs to. More... | |
Private Member Functions | |
SUMOReal | _v (const MSVehicle *veh, SUMOReal predSpeed, SUMOReal gap) const |
SUMOReal | krauss_vsafe (SUMOReal gap, SUMOReal predSpeed) const |
vsafe from krauss since Wiedemann is deficient at approaching More... | |
MSCFModel_Wiedemann & | operator= (const MSCFModel_Wiedemann &s) |
Invalidated assignment operator. More... | |
acceleration based on the 'driving regime' | |
SUMOReal | fullspeed (SUMOReal v, SUMOReal vpref, SUMOReal dx, SUMOReal bx) const |
SUMOReal | following (SUMOReal sign) const |
SUMOReal | approaching (SUMOReal dv, SUMOReal dx, SUMOReal bx) const |
SUMOReal | emergency (SUMOReal dv, SUMOReal dx) const |
Currently fixed methods | |
virtual SUMOReal | maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) const |
Returns the maximum speed given the current speed. More... | |
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 step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More... | |
SUMOReal | brakeGap (const SUMOReal speed) const |
Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant. 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 (>=0) More... | |
SUMOReal | getSpeedAfterMaxDecel (SUMOReal v) const |
Returns the velocity after maximum deceleration. More... | |
static SUMOReal | freeSpeed (const SUMOReal currentSpeed, const SUMOReal decel, const SUMOReal dist, const SUMOReal maxSpeed, const bool onInsertion) |
static SUMOReal | brakeGap (const SUMOReal speed, const SUMOReal decel, const SUMOReal headwayTime) |
model parameter | |
const SUMOReal | mySecurity |
The driver's security parameter // also 'ZF1'. More... | |
const SUMOReal | myEstimation |
The driver's estimation parameter // also 'ZF2'. More... | |
const SUMOReal | myAX |
front-bumper to front-bumper distance More... | |
const SUMOReal | myCX |
perception threshold modifier More... | |
const SUMOReal | myMinAccel |
The vehicle's minimum acceleration [m/s^2]. More... | |
static const SUMOReal | D_MAX = 150 |
free-flow distance in m More... | |
The Wiedemann Model car-following model.
Definition at line 48 of file MSCFModel_Wiedemann.h.
MSCFModel_Wiedemann::MSCFModel_Wiedemann | ( | const MSVehicleType * | vtype, |
SUMOReal | accel, | ||
SUMOReal | decel, | ||
SUMOReal | security, | ||
SUMOReal | estimation | ||
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Constructor.
[in] | security | The security parameter in [0,1] (dimensionless) |
[in] | estimation | The estimation capability parameter in [0,1] (dimensionless) |
[in] | accel | The maximum acceleration |
[in] | decel | The maximum deceleration |
Definition at line 55 of file MSCFModel_Wiedemann.cpp.
Referenced by duplicate().
MSCFModel_Wiedemann::~MSCFModel_Wiedemann | ( | ) |
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private |
the distance at which we drift out of following
Definition at line 111 of file MSCFModel_Wiedemann.cpp.
References ACCEL2SPEED, MSCFModel_Wiedemann::VehicleVariables::accelSign, approaching(), D_MAX, emergency(), following(), fullspeed(), MSVehicle::getCarFollowVariables(), MSVehicleType::getLength(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), MIN2(), MSCFModel::myAccel, myAX, myCX, MSCFModel::myDecel, myEstimation, mySecurity, MSCFModel::myType, RandHelper::randNorm(), and SUMOReal.
Referenced by followSpeed().
Returns the distance the vehicle needs to halt including driver's reaction time, assuming that during the reaction time, the speed remains constant.
[in] | speed | The vehicle's current speed |
Definition at line 263 of file MSCFModel.h.
References MSCFModel::freeSpeed(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::getCriticalLeader(), MSLane::getLeader(), MSVehicle::getLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChangerSublane::getLeaders(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSVehicle::getRerouteOrigin(), MSCFModel::getSecureGap(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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staticinherited |
Definition at line 61 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SPEED2DIST, and SUMOReal.
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inlinevirtual |
Returns model specific values which are stored inside a vehicle and must be used with casting.
Reimplemented from MSCFModel.
Definition at line 130 of file MSCFModel_Wiedemann.h.
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Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Implements MSCFModel.
Definition at line 105 of file MSCFModel_Wiedemann.cpp.
References MSCFModel_Wiedemann(), MSCFModel::myAccel, MSCFModel::myDecel, myEstimation, mySecurity, and SUMOReal.
Referenced by getModelID().
Definition at line 177 of file MSCFModel_Wiedemann.cpp.
References MSCFModel::myDecel, and SUMOReal.
Referenced by _v().
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inherited |
Definition at line 468 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), MSCFModel::myType, and SUMOReal.
Referenced by MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
Definition at line 163 of file MSCFModel_Wiedemann.cpp.
References myMinAccel, sign, and SUMOReal.
Referenced by _v().
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virtual |
Computes the vehicle's safe speed (no dawdling)
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
Implements MSCFModel.
Definition at line 80 of file MSCFModel_Wiedemann.cpp.
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | seen | The look ahead distance |
[in] | maxSpeed | The maximum allowed speed |
[in] | onInsertion | whether speed at insertion is asked for |
Definition at line 206 of file MSCFModel.cpp.
References MSCFModel::myDecel, and SUMOReal.
Referenced by MSCFModel::brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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staticinherited |
Definition at line 80 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, SUMOReal, and TS.
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private |
Definition at line 151 of file MSCFModel_Wiedemann.cpp.
References MIN2(), MSCFModel::myAccel, myMinAccel, and SUMOReal.
Referenced by _v().
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staticinherited |
return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'.
[in] | currentGap | (pos(veh1) - pos(veh2) at start) |
[in] | v1 | initial speed of vehicle 1 |
[in] | v2 | initial speed of vehicle 2 |
[in] | a1 | acceleration of vehicle 1 |
[in] | a2 | acceleration of vehicle 2 |
[in] | maxV1 | maximal speed of vehicle 1 |
[in] | maxV2 | maximal speed of vehicle 2 |
[in] | duration | time span for the process |
Definition at line 273 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), SUMOReal, and TS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
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inlinevirtualinherited |
Get the driver's reaction time [s].
Definition at line 220 of file MSCFModel.h.
References MSCFModel::maxNextSpeed(), MSCFModel::minNextSpeed(), MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSVehicle::checkRewindLinkLanes(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), TraCIServerAPI_VehicleType::getVariable(), and MSCalibrator::remainingVehicleCapacity().
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inlinevirtualinherited |
Get the driver's imperfection.
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 212 of file MSCFModel.h.
Referenced by TraCIServerAPI_VehicleType::getVariable().
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inlineinherited |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 193 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalTime(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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inlineinherited |
Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 201 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by 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(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLaneChanger::getRealFollower(), TraCIServerAPI_VehicleType::getVariable(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MESegment::isOpen(), MSLane::lastInsertion(), MSLink::maybeOccupied(), MSCFModel::minNextSpeed(), MSCFModel_KraussOrig1::moveHelper(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSLane::safeInsertionSpeed(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
Computes the minimal possible arrival speed after covering a given distance.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
Definition at line 247 of file MSCFModel.cpp.
References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), and SUMOReal.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
Computes the minimal possible arrival speed after covering a given distance for Euler update.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
Definition at line 254 of file MSCFModel.cpp.
References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), INVALID_SPEED, and SUMOReal.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
Computes the minimal time needed to cover a distance given the desired speed at arrival.
[in] | dist | Distance to be covered |
[in] | currentSpeed | Actual speed of vehicle |
[in] | arrivalSpeed | Desired speed at arrival |
Definition at line 234 of file MSCFModel.cpp.
References MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, SUMOReal, and TIME2STEPS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inlinevirtual |
Returns the model's name.
Implements MSCFModel.
Definition at line 118 of file MSCFModel_Wiedemann.h.
References duplicate(), and SUMO_TAG_CF_WIEDEMANN.
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inlineinherited |
Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
[in] | speed | EGO's speed |
[in] | leaderSpeed | LEADER's speed |
[in] | leaderMaxDecel | LEADER's max. deceleration rate |
Definition at line 276 of file MSCFModel.h.
References MSCFModel::brakeGap(), MAX2(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), and MSLCM_LC2013::overtakeDistance().
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Definition at line 302 of file MSCFModel.h.
References ACCEL2SPEED, MSCFModel::estimateSpeedAfterDistance(), MSCFModel::gapExtrapolation(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), max, MAX2(), MSCFModel::myDecel, MSCFModel::passingTime(), MSCFModel::speedAfterTime(), and SUMOReal.
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel::moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and stopSpeed().
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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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The speed of LEADER |
Reimplemented in MSCFModel_KraussOrig1.
Definition at line 213 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeFollowSpeed(), and SUMOReal.
Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::isInsertionSuccess(), and MSLane::safeInsertionSpeed().
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virtualinherited |
Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
Definition at line 224 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().
Referenced by MSLane::isInsertionSuccess().
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virtual |
Returns the maximum gap at which an interaction between both vehicles occurs.
"interaction" means that the LEADER influences EGO's speed.
[in] | veh | The EGO vehicle |
[in] | vL | LEADER's speed |
Reimplemented from MSCFModel.
Definition at line 98 of file MSCFModel_Wiedemann.cpp.
References D_MAX, and UNUSED_PARAMETER.
vsafe from krauss since Wiedemann is deficient at approaching
Definition at line 200 of file MSCFModel_Wiedemann.cpp.
References ACCEL2SPEED, MSCFModel::myDecel, MSCFModel::myHeadwayTime, SPEED2DIST, and SUMOReal.
Referenced by stopSpeed().
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inherited |
Returns the maximum safe velocity for following the given leader.
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | egoSpeed | The FOLLOWERS's speed |
[in] | predSpeed | The LEADER's speed |
[in] | predMaxDecel | The LEADER's maximum deceleration |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
Returns the SK-vsafe.
Definition at line 585 of file MSCFModel.cpp.
References MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), MSCFModel::insertionFollowSpeed(), and MSCFModel::setHeadwayTime().
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inherited |
Returns the maximum next velocity for stopping within gap.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway) |
Definition at line 477 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), and SUMOReal.
Referenced by MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel::setHeadwayTime(), and MSCFModel_Krauss::stopSpeed().
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inherited |
Returns the maximum next velocity for stopping within gap when using the ballistic positional update.
[in] | gap | The (netto) distance to the desired stopping point |
[in] | currentSpeed | The current speed of the ego vehicle |
[in] | onInsertion | Indicator whether the call is triggered during vehicle insertion |
[in] | headway | The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway) |
Definition at line 518 of file MSCFModel.cpp.
References INVALID_SPEED, MAX2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), MSCFModel::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.
[in] | gap | The (netto) distance to the LEADER |
Definition at line 487 of file MSCFModel.cpp.
References ACCEL2SPEED, DIST2SPEED, MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SUMOReal, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel::setHeadwayTime().
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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).
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values |
Reimplemented in MSCFModel_KraussPS.
Definition at line 190 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::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(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), and stopSpeed().
Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.
[in] | speed | The vehicle's current speed |
[in] | speed | The vehicle itself, for obtaining other values, if needed as e.g. road conditions. |
Definition at line 195 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and SUMOReal.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), and MSCFModel::moveHelper().
Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented from MSCFModel.
Definition at line 71 of file MSCFModel_Wiedemann.cpp.
References MSCFModel_Wiedemann::VehicleVariables::accelSign, MSVehicle::getCarFollowVariables(), MSVehicle::getSpeed(), MSCFModel::moveHelper(), and SUMOReal.
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Invalidated assignment operator.
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Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero.
[in] | lastPos | the position at time t=0 (must be < currentPos) |
[in] | passedPos | the position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!) |
[in] | currentPos | the position at time t=TS (one time-step after lastPos) (must be > lastPos) |
[in] | lastSpeed | the speed at moment t=0 |
[in] | currentSpeed | the speed at moment t=TS |
Definition at line 367 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, NUMERICAL_EPS, SPEED2ACCEL, SUMOReal, TS, and WRITE_ERROR.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), MSE3Collector::MSE3LeaveReminder::notifyMove(), and MSE2Collector::notifyMove().
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Sets a new value for driver reaction time [s].
[in] | headwayTime | The new driver reaction time (in s) |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 415 of file MSCFModel.h.
References MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel::myHeadwayTime, and SUMOReal.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 407 of file MSCFModel.h.
References UNUSED_PARAMETER.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 391 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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Sets a new value for maximum deceleration [m/s^2].
[in] | accel | The new deceleration in m/s^2 |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, and MSCFModel_Daniel1.
Definition at line 399 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.
[in] | t | time in [0,TS] for which the speed shall be determined |
[in] | oldSpeed | speed before the last time step (referred to as t == 0) |
[in] | distance | covered |
Definition at line 439 of file MSCFModel.cpp.
References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, SUMOReal, and TS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), and MSE2Collector::notifyMove().
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Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
[in] | veh | The vehicle (EGO) |
[in] | gap | The (netto) distance to the the obstacle |
Implements MSCFModel.
Definition at line 86 of file MSCFModel_Wiedemann.cpp.
References MSCFModel::getSpeedAfterMaxDecel(), krauss_vsafe(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), and SUMOReal.
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free-flow distance in m
Definition at line 179 of file MSCFModel_Wiedemann.h.
Referenced by _v(), and interactionGap().
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The vehicle's maximum acceleration [m/s^2].
Definition at line 466 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), _v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), fullspeed(), MSCFModel::getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel::setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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front-bumper to front-bumper distance
Definition at line 170 of file MSCFModel_Wiedemann.h.
Referenced by _v().
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perception threshold modifier
Definition at line 173 of file MSCFModel_Wiedemann.h.
Referenced by _v().
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The vehicle's maximum deceleration [m/s^2].
Definition at line 469 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), _v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), MSCFModel::brakeGap(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), emergency(), MSCFModel_PWag2009::followSpeed(), MSCFModel::freeSpeed(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), MSCFModel::interactionGap(), krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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The driver's estimation parameter // also 'ZF2'.
Definition at line 167 of file MSCFModel_Wiedemann.h.
Referenced by _v(), and duplicate().
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The driver's desired time headway (aka reaction time tau) [s].
Definition at line 472 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::getSecureGap(), MSCFModel::interactionGap(), krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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The vehicle's minimum acceleration [m/s^2].
Definition at line 176 of file MSCFModel_Wiedemann.h.
Referenced by following(), and fullspeed().
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The driver's security parameter // also 'ZF1'.
Definition at line 164 of file MSCFModel_Wiedemann.h.
Referenced by _v(), and duplicate().
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The type to which this model definition belongs to.
Definition at line 463 of file MSCFModel.h.
Referenced by _v(), MSCFModel_IDM::_v(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel::insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().