SUMO - Simulation of Urban MObility
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car-following model by B. Kerner More...
#include <MSCFModel_Kerner.h>
Public Member Functions | |
MSCFModel * | duplicate (const MSVehicleType *vtype) const |
Duplicates the car-following model. 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 | 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, 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 | moveHelper (MSVehicle *const veh, SUMOReal vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
virtual SUMOReal | freeSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal seen, SUMOReal maxSpeed) const |
Computes the vehicle's safe speed without a leader. 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 void | saveState (std::ostream &os) |
Saves the model's definition into the state. 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 SUMOReal | getMaxAccel () const |
Get the vehicle type's maximum acceleration [m/s^2]. More... | |
virtual SUMOReal | getMaxDecel () const |
Get the vehicle type's maximum deceleration [m/s^2]. More... | |
virtual SUMOReal | getImperfection () const |
Get the driver's imperfection. More... | |
virtual SUMOReal | getHeadwayTime () const |
Get the driver's reaction time [s]. More... | |
Currently fixed methods | |
void | leftVehicleVsafe (const MSVehicle *const ego, const MSVehicle *const neigh, SUMOReal &vSafe) const |
Incorporates the influence of the vehicle on the left lane. More... | |
SUMOReal | maxNextSpeed (SUMOReal speed) const |
Returns the maximum speed given the current speed. More... | |
SUMOReal | brakeGap (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... | |
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 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 (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... | |
car-following model by B. Kerner
Definition at line 44 of file MSCFModel_Kerner.h.
MSCFModel_Kerner::MSCFModel_Kerner | ( | const MSVehicleType * | vtype, |
SUMOReal | accel, | ||
SUMOReal | decel, | ||
SUMOReal | headwayTime, | ||
SUMOReal | k, | ||
SUMOReal | phi | ||
) |
Constructor.
[in] | accel | The maximum acceleration |
[in] | decel | The maximum deceleration |
[in] | dawdle | The driver imperfection |
[in] | tau | The driver's reaction time |
Definition at line 42 of file MSCFModel_Kerner.cpp.
Referenced by duplicate().
MSCFModel_Kerner::~MSCFModel_Kerner | ( | ) |
Destructor.
Definition at line 48 of file MSCFModel_Kerner.cpp.
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private |
Returns the "safe" velocity.
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The LEADER's speed |
Definition at line 65 of file MSCFModel_Kerner.cpp.
References ACCEL2SPEED, MAX2(), MIN2(), MIN3(), MIN4(), MSCFModel::myAccel, MSCFModel::myDecel, myK, myPhi, myTauDecel, RandHelper::rand(), SPEED2DIST, and SUMOReal.
Referenced by followSpeed(), and stopSpeed().
Returns the distance the vehicle needs to halt including driver's reaction time.
[in] | speed | The vehicle's current speed |
Definition at line 103 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxDecel(), MSCFModel::myHeadwayTime, SPEED2DIST, and SUMOReal.
Referenced by MSVehicle::addStop(), MSVehicle::checkRewindLinkLanes(), MSLane::getLeaderOnConsecutive(), getMaxSpeedRegardingNextLanes(), MSLaneChanger::getRealLeader(), MSCFModel::getSecureGap(), MSLane::isInsertionSuccess(), MSVehicle::move(), MSVehicle::moveChecked(), MSLane::pWagGenericInsertion(), and MSLane::pWagSimpleInsertion().
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inlinevirtualinherited |
Returns model specific values which are stored inside a vehicle and must be used with casting.
Reimplemented in MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_Wiedemann, and MSCFModel_PWag2009.
Definition at line 156 of file MSCFModel.h.
Referenced by MSVehicle::MSVehicle().
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virtual |
Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Implements MSCFModel.
Definition at line 80 of file MSCFModel_Kerner.cpp.
References MSCFModel_Kerner(), MSCFModel::myAccel, MSCFModel::myDecel, MSCFModel::myHeadwayTime, myK, and myPhi.
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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 52 of file MSCFModel_Kerner.cpp.
References _v(), MSCFModel::maxNextSpeed(), and MIN2().
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inlinevirtualinherited |
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.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in] | seen | The look ahead distance |
[in] | maxSpeed | The maximum allowed speed |
Definition at line 95 of file MSCFModel.h.
References MSCFModel::followSpeed().
Referenced by getMaxSpeedRegardingNextLanes(), MSLane::isInsertionSuccess(), and MSVehicle::move().
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inlinevirtualinherited |
Get the driver's reaction time [s].
Definition at line 192 of file MSCFModel.h.
References MSCFModel::myHeadwayTime.
Referenced by MSVehicle::checkRewindLinkLanes(), TraCIServerAPI_VehicleType::getVariable(), MSLane::maxSpeedGapInsertion(), MSVehicle::move(), MSVehicle::moveChecked(), and MSLane::pWagSimpleInsertion().
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inlinevirtualinherited |
Get the driver's imperfection.
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 184 of file MSCFModel.h.
Referenced by TraCIServerAPI_VehicleType::getVariable().
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inlinevirtualinherited |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 168 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by TraCIServerAPI_VehicleType::getVariable(), MSCFModel::maxNextSpeed(), MSVehicle::move(), and MSMeanData_HBEFA::MSLaneMeanDataValues::write().
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inlinevirtualinherited |
Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 176 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by MSCFModel::brakeGap(), MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSLane::freeInsertion(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_DK2004::informBlocker(), MSLane::isInsertionSuccess(), MSCFModel::leftVehicleVsafe(), MSLane::maxSpeedGapInsertion(), MSVehicle::moveChecked(), MSLane::pWagGenericInsertion(), MSLCM_DK2004::wantsChangeToLeft(), and MSLCM_DK2004::wantsChangeToRight().
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inlinevirtual |
Returns the model's name.
Implements MSCFModel.
Definition at line 87 of file MSCFModel_Kerner.h.
References SUMO_TAG_CF_BKERNER.
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inlineinherited |
Returns the minimum gap to reserve if the leader is braking at maximum.
[in] | speed | EGO's speed |
[in] | leaderSpeed | LEADER's speed |
[in] | leaderMaxDecel | LEADER's max. deceleration rate |
Definition at line 238 of file MSCFModel.h.
References ACCEL2SPEED, MSCFModel::brakeGap(), MAX2(), SPEED2DIST, and SUMOReal.
Referenced by MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSLane::freeInsertion(), MSLane::getMissingRearGap(), MSLCM_DK2004::informBlocker(), and MSLane::isInsertionSuccess().
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Definition at line 249 of file MSCFModel.h.
References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, and SUMOReal.
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel::moveHelper(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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virtualinherited |
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 70 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().
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inherited |
Incorporates the influence of the vehicle on the left lane.
In Germany, vehicles on the right lane must not pass a vehicle on the lane left to the if the allowed velocity>60km/h
[in] | ego | The ego vehicle |
[in] | neigh | The neighbor vehicle on the left lane |
[in,out] | vSafe | Current vSafe; may be adapted due to the left neighbor |
Definition at line 85 of file MSCFModel.cpp.
References MSCFModel::followSpeed(), MSVehicle::getCarFollowModel(), MSVehicleType::getLength(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), MIN2(), and SUMOReal.
Referenced by MSVehicle::move().
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 |
Definition at line 97 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.
Referenced by followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLane::getFollowerOnConsecutive(), MSLane::getMissingRearGap(), MSCFModel::interactionGap(), MSVehicle::move(), MSVehicle::moveChecked(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2004::patchSpeed(), stopSpeed(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 55 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MSLane::getVehicleMaxSpeed(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), and SUMOReal.
Referenced by MSVehicle::moveChecked(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().
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virtualinherited |
Saves the model's definition into the state.
[in] | os | The output to write the definition into |
Definition at line 112 of file MSCFModel.cpp.
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inlinevirtualinherited |
Sets a new value for driver reaction time [s].
[in] | headwayTime | The new driver reaction time (in s) |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 285 of file MSCFModel.h.
References MSCFModel::myHeadwayTime.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtualinherited |
Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 277 of file MSCFModel.h.
References UNUSED_PARAMETER.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtualinherited |
Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 261 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtualinherited |
Sets a new value for maximum deceleration [m/s^2].
[in] | accel | The new deceleration in m/s^2 |
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 269 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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virtual |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
[in] | veh | The vehicle (EGO) |
[in] | gap2pred | The (netto) distance to the the obstacle |
Implements MSCFModel.
Definition at line 58 of file MSCFModel_Kerner.cpp.
References _v(), MSVehicle::getSpeed(), MSCFModel::maxNextSpeed(), MIN2(), and SUMOReal.
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protectedinherited |
The vehicle's maximum acceleration [m/s^2].
Definition at line 296 of file MSCFModel.h.
Referenced by _v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_KraussOrig1::dawdle(), duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), MSCFModel::getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel::setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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protectedinherited |
The vehicle's maximum deceleration [m/s^2].
Definition at line 299 of file MSCFModel.h.
Referenced by _v(), MSCFModel_Wiedemann::_v(), MSCFModel_Krauss::_vsafe(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), MSCFModel_KraussOrig1::_vsafe(), duplicate(), MSCFModel_Krauss::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::getMaxDecel(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel::setMaxDecel(), and MSCFModel_PWag2009::stopSpeed().
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protectedinherited |
The driver's desired time headway (aka reaction time tau) [s].
Definition at line 302 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel_Krauss::_vsafe(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_PWag2009::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_Daniel1::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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private |
Definition at line 115 of file MSCFModel_Kerner.h.
Referenced by _v(), and duplicate().
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private |
Kerner's phi.
Definition at line 118 of file MSCFModel_Kerner.h.
Referenced by _v(), and duplicate().
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private |
The precomputed value for myDecel*myTau.
Definition at line 121 of file MSCFModel_Kerner.h.
Referenced by _v().
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protectedinherited |
The type to which this model definition belongs to.
Definition at line 293 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), and MSCFModel::maxNextSpeed().