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SUMO - Simulation of Urban MObility
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The car-following model abstraction. More...
#include <MSCFModel.h>
Data Structures | |
class | VehicleVariables |
Public Member Functions | |
double | estimateSpeedAfterDistance (const double dist, const double v, const double accel) const |
double | getMaxAccel () const |
Get the vehicle type's maximum acceleration [m/s^2]. More... | |
double | getMaxDecel () const |
Get the vehicle type's maximum deceleration [m/s^2]. More... | |
double | getMinimalArrivalSpeed (double dist, double currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance. More... | |
double | getMinimalArrivalSpeedEuler (double dist, double currentSpeed) const |
Computes the minimal possible arrival speed after covering a given distance for Euler update. More... | |
SUMOTime | getMinimalArrivalTime (double dist, double currentSpeed, double arrivalSpeed) const |
Computes the minimal time needed to cover a distance given the desired speed at arrival. More... | |
double | maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const |
Returns the maximum safe velocity for following the given leader. More... | |
double | maximumSafeStopSpeed (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const |
Returns the maximum next velocity for stopping within gap. More... | |
double | maximumSafeStopSpeedBallistic (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const |
Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More... | |
double | maximumSafeStopSpeedEuler (double gap) const |
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More... | |
MSCFModel (const MSVehicleType *vtype, double accel, double decel, double emergencyDecel, double apparentDecel, double headwayTime) | |
Constructor. More... | |
virtual | ~MSCFModel () |
Destructor. More... | |
Methods to override by model implementation | |
virtual double | moveHelper (MSVehicle *const veh, double vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
virtual double | freeSpeed (const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false) const |
Computes the vehicle's safe speed without a leader. More... | |
virtual double | followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const =0 |
Computes the vehicle's follow speed (no dawdling) More... | |
virtual double | insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double 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 double | stopSpeed (const MSVehicle *const veh, const double speed, double gap) const =0 |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More... | |
virtual double | insertionStopSpeed (const MSVehicle *const veh, double speed, double 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 double | interactionGap (const MSVehicle *const veh, double vL) const |
Returns the maximum gap at which an interaction between both vehicles occurs. More... | |
virtual int | getModelID () const =0 |
Returns the model's ID; the XML-Tag number is used. More... | |
virtual MSCFModel * | duplicate (const MSVehicleType *vtype) const =0 |
Duplicates the car-following model. More... | |
virtual VehicleVariables * | createVehicleVariables () const |
Returns model specific values which are stored inside a vehicle and must be used with casting. More... | |
Virtual methods with default implementation | |
virtual double | getImperfection () const |
Get the driver's imperfection. More... | |
virtual double | getHeadwayTime () const |
Get the driver's reaction time [s]. More... | |
Setter methods | |
virtual void | setMaxAccel (double accel) |
Sets a new value for maximum acceleration [m/s^2]. More... | |
virtual void | setMaxDecel (double decel) |
Sets a new value for maximum deceleration [m/s^2]. More... | |
virtual void | setImperfection (double imperfection) |
Sets a new value for driver imperfection. More... | |
virtual void | setHeadwayTime (double headwayTime) |
Sets a new value for driver reaction time [s]. More... | |
Static Public Member Functions | |
static double | gapExtrapolation (const double duration, const double currentGap, double v1, double v2, double a1=0, double a2=0, const double maxV1=std::numeric_limits< double >::max(), const double maxV2=std::numeric_limits< double >::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 double | passingTime (const double lastPos, const double passedPos, const double currentPos, const double lastSpeed, const double 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 double | speedAfterTime (const double t, const double oldSpeed, const double 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 | |
double | myAccel |
The vehicle's maximum acceleration [m/s^2]. More... | |
double | myApparentDecel |
The vehicle's deceleration as expected by surrounding traffic [m/s^2]. More... | |
double | myDecel |
The vehicle's maximum deceleration [m/s^2]. More... | |
double | myEmergencyDecel |
The vehicle's maximum emergency deceleration [m/s^2]. More... | |
double | 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... | |
Currently fixed methods | |
virtual double | maxNextSpeed (double speed, const MSVehicle *const veh) const |
Returns the maximum speed given the current speed. More... | |
virtual double | minNextSpeed (double 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... | |
double | brakeGap (const double 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... | |
double | getSecureGap (const double speed, const double leaderSpeed, const double leaderMaxDecel) const |
Returns the minimum gap to reserve if the leader is braking at maximum (>=0) More... | |
virtual double | getSpeedAfterMaxDecel (double v) const |
Returns the velocity after maximum deceleration. More... | |
static double | brakeGap (const double speed, const double decel, const double headwayTime) |
static double | freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion) |
The car-following model abstraction.
MSCFModel is an interface for different car following Models to implement. It provides methods to compute a vehicles velocity for a simulation step.
Definition at line 60 of file MSCFModel.h.
MSCFModel::MSCFModel | ( | const MSVehicleType * | vtype, |
double | accel, | ||
double | decel, | ||
double | emergencyDecel, | ||
double | apparentDecel, | ||
double | headwayTime | ||
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Constructor.
[in] | rvtype | a reference to the corresponding vtype |
Definition at line 48 of file MSCFModel.cpp.
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Destructor.
Definition at line 59 of file MSCFModel.cpp.
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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 freeSpeed(), myDecel, and myHeadwayTime.
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(), getSecureGap(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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Definition at line 66 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and SPEED2DIST.
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Returns model specific values which are stored inside a vehicle and must be used with casting.
Reimplemented in MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, and MSCFModel_Rail.
Definition at line 184 of file MSCFModel.h.
Referenced by MSVehicle::MSVehicle().
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pure virtual |
Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Implemented in MSCFModel_KraussOrig1, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussPS, MSCFModel_KraussX, and MSCFModel_Rail.
Referenced by MSVehicleType::buildSingularType().
double MSCFModel::estimateSpeedAfterDistance | ( | const double | dist, |
const double | v, | ||
const double | accel | ||
) | const |
Definition at line 473 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), and myType.
Referenced by MSVehicle::estimateLeaveSpeed(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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pure virtual |
Computes the vehicle's follow speed (no dawdling)
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 |
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_Krauss, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, and MSCFModel_Rail.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSVehicle::getSafeFollowSpeed(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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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 |
Reimplemented in MSCFModel_Rail.
Definition at line 211 of file MSCFModel.cpp.
References myDecel.
Referenced by brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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Definition at line 85 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, and TS.
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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 278 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.
Referenced by getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
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Get the driver's reaction time [s].
Definition at line 220 of file MSCFModel.h.
References maxNextSpeed(), minNextSpeed(), and myHeadwayTime.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSVehicle::checkRewindLinkLanes(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), TraCI_VehicleType::getTau(), and MSCalibrator::remainingVehicleCapacity().
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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 TraCI_VehicleType::getImperfection().
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Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 193 of file MSCFModel.h.
References myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), TraCI_VehicleType::getAccel(), getMinimalArrivalTime(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 201 of file MSCFModel.h.
References myDecel.
Referenced by MSLCM_LC2013::_wantsChange(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLaneChanger::computeOvertakingTime(), MSLink::couldBrakeForLeader(), MSVehicle::executeMove(), MSLane::freeInsertion(), MSLane::getCriticalLeader(), TraCI_VehicleType::getDecel(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getMinimalArrivalTime(), MSLane::getMissingRearGap(), 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_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().
double MSCFModel::getMinimalArrivalSpeed | ( | double | dist, |
double | currentSpeed | ||
) | const |
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 252 of file MSCFModel.cpp.
References estimateSpeedAfterDistance(), getHeadwayTime(), and getMaxDecel().
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
double MSCFModel::getMinimalArrivalSpeedEuler | ( | double | dist, |
double | currentSpeed | ||
) | const |
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 259 of file MSCFModel.cpp.
References estimateSpeedAfterDistance(), getHeadwayTime(), getMaxDecel(), and INVALID_SPEED.
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
SUMOTime MSCFModel::getMinimalArrivalTime | ( | double | dist, |
double | currentSpeed, | ||
double | arrivalSpeed | ||
) | const |
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 239 of file MSCFModel.cpp.
References getMaxAccel(), getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.
Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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Returns the model's ID; the XML-Tag number is used.
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussPS, MSCFModel_KraussX, and MSCFModel_Rail.
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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 brakeGap(), MAX2(), MIN2(), myDecel, and myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLaneChanger::changeOpposite(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLaneChanger::computeOvertakingTime(), 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().
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Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Reimplemented in MSCFModel_Rail.
Definition at line 302 of file MSCFModel.h.
References ACCEL2SPEED, estimateSpeedAfterDistance(), gapExtrapolation(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getMinimalArrivalTime(), max, MAX2(), myDecel, passingTime(), and speedAfterTime().
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussX::moveHelper(), moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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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 218 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, and maximumSafeFollowSpeed().
Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::isInsertionSuccess(), and MSLane::safeInsertionSpeed().
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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 229 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeed(), MIN2(), myType, and stopSpeed().
Referenced by MSLane::isInsertionSuccess().
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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 in MSCFModel_IDM, and MSCFModel_Wiedemann.
Definition at line 178 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, and SPEED2DIST.
Referenced by MSAbstractLaneChangeModel::predInteraction().
double MSCFModel::maximumSafeFollowSpeed | ( | double | gap, |
double | egoSpeed, | ||
double | predSpeed, | ||
double | predMaxDecel, | ||
bool | onInsertion = false |
||
) | const |
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 590 of file MSCFModel.cpp.
References brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), maximumSafeStopSpeed(), myDecel, and myHeadwayTime.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), insertionFollowSpeed(), and setHeadwayTime().
double MSCFModel::maximumSafeStopSpeed | ( | double | gap, |
double | currentSpeed, | ||
bool | onInsertion = false , |
||
double | headway = -1 |
||
) | const |
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 482 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeedBallistic(), and maximumSafeStopSpeedEuler().
Referenced by insertionStopSpeed(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), setHeadwayTime(), MSCFModel_Krauss::stopSpeed(), and MSCFModel_Rail::stopSpeed().
double MSCFModel::maximumSafeStopSpeedBallistic | ( | double | gap, |
double | currentSpeed, | ||
bool | onInsertion = false , |
||
double | headway = -1 |
||
) | const |
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 523 of file MSCFModel.cpp.
References INVALID_SPEED, MAX2(), myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by maximumSafeStopSpeed(), setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
double MSCFModel::maximumSafeStopSpeedEuler | ( | double | gap | ) | const |
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 492 of file MSCFModel.cpp.
References ACCEL2SPEED, DIST2SPEED, MIN2(), myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by maximumSafeStopSpeed(), and setHeadwayTime().
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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, and MSCFModel_Rail.
Definition at line 193 of file MSCFModel.cpp.
References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), and myType.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_KraussX::moveHelper(), moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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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. |
Reimplemented in MSCFModel_Rail.
Definition at line 198 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and myEmergencyDecel.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_KraussX::moveHelper(), and moveHelper().
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Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussX, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, and MSCFModel_Rail.
Definition at line 147 of file MSCFModel.cpp.
References MSVehicle::getLaneChangeModel(), MSVehicle::getMaxSpeedOnLane(), MSVehicle::getSpeed(), getSpeedAfterMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), maxNextSpeed(), MIN2(), MIN3(), minNextSpeed(), MSAbstractLaneChangeModel::patchSpeed(), and MSVehicle::processNextStop().
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::moveHelper(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().
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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 372 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), NUMERICAL_EPS, SPEED2ACCEL, TS, and WRITE_ERROR.
Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::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 maximumSafeFollowSpeed(), maximumSafeStopSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), and myHeadwayTime.
Referenced by TraCI_VehicleType::setTau().
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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 TraCI_VehicleType::setImperfection().
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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 myAccel.
Referenced by TraCI_VehicleType::setAccel().
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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 myDecel.
Referenced by MSCFModel_Rail::MSCFModel_Rail(), and TraCI_VehicleType::setDecel().
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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 444 of file MSCFModel.cpp.
References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.
Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().
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Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
Returns the velocity of the vehicle when approaching a static object (such as the end of a lane) assuming no reaction time is needed.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | gap | The (netto) distance to the the obstacle |
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_Rail, and MSCFModel_Krauss.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSVehicle::getSafeFollowSpeed(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), insertionStopSpeed(), MSLane::isInsertionSuccess(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), and MSVehicle::processNextStop().
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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(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussX::dawdleX(), MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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The vehicle's deceleration as expected by surrounding traffic [m/s^2].
Definition at line 473 of file MSCFModel.h.
Referenced by MSCFModel_KraussX::duplicate(), MSCFModel_Krauss::duplicate(), and MSCFModel_KraussOrig1::duplicate().
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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(), MSCFModel_Wiedemann::_v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), brakeGap(), MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::emergency(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Rail::freeSpeed(), freeSpeed(), getMaxDecel(), getSecureGap(), getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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The vehicle's maximum emergency deceleration [m/s^2].
Definition at line 471 of file MSCFModel.h.
Referenced by MSCFModel_KraussX::duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_KraussOrig1::duplicate(), and minNextSpeed().
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The driver's desired time headway (aka reaction time tau) [s].
Definition at line 476 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_KraussX::duplicate(), 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(), getHeadwayTime(), getSecureGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), maximumSafeFollowSpeed(), maximumSafeStopSpeedBallistic(), maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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The type to which this model definition belongs to.
Definition at line 463 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), estimateSpeedAfterDistance(), insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and maxNextSpeed().