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 | |
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... | |
MSCFModel (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime) | |
Constructor. More... | |
virtual | ~MSCFModel () |
Destructor. 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 | followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const =0 |
Computes the vehicle's safe speed (no dawdling) More... | |
virtual SUMOReal | stopSpeed (const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const =0 |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) 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 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 SUMOReal | getImperfection () const |
Get the driver's imperfection. More... | |
virtual SUMOReal | getHeadwayTime () const |
Get the driver's reaction time [s]. More... | |
Currently fixed methods | |
virtual SUMOReal | maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) const |
Returns the maximum speed given the current speed. More... | |
SUMOReal | brakeGap (const 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... | |
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 58 of file MSCFModel.h.
MSCFModel::MSCFModel | ( | const MSVehicleType * | vtype, |
SUMOReal | accel, | ||
SUMOReal | decel, | ||
SUMOReal | headwayTime | ||
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Constructor.
[in] | rvtype | a reference to the corresponding vtype |
Definition at line 46 of file MSCFModel.cpp.
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virtual |
Destructor.
Definition at line 52 of file MSCFModel.cpp.
Returns the distance the vehicle needs to halt including driver's reaction time.
[in] | speed | The vehicle's current speed |
Definition at line 213 of file MSCFModel.h.
References ACCEL2SPEED, getMaxDecel(), myHeadwayTime, SPEED2DIST, and SUMOReal.
Referenced by MSVehicle::addStop(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::getLeaderOnConsecutive(), MSLaneChanger::getRealLeader(), getSecureGap(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), MSLane::pWagGenericInsertion(), and MSLane::pWagSimpleInsertion().
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inlinevirtual |
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, and MSCFModel_Kerner.
Definition at line 148 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_Daniel1, MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_KraussPS.
Referenced by MSVehicleType::build().
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pure virtual |
Computes the vehicle's safe 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_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, MSCFModel_SmartSK, MSCFModel_Kerner, and MSCFModel_Krauss.
Referenced by MSVehicle::adaptToLeader(), MSLane::freeInsertion(), MSLCM_DK2004::informBlocker(), MSLane::isInsertionSuccess(), MSLane::pWagGenericInsertion(), MSLCM_DK2004::wantsChangeToLeft(), and MSLCM_DK2004::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.
[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 92 of file MSCFModel.cpp.
References ACCEL2SPEED, MAX2(), myDecel, and SUMOReal.
Referenced by MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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inlinevirtual |
Get the driver's reaction time [s].
Definition at line 184 of file MSCFModel.h.
References myHeadwayTime.
Referenced by MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), TraCIServerAPI_VehicleType::getVariable(), MSLane::maxSpeedGapInsertion(), MSVehicle::planMoveInternal(), MSLane::pWagSimpleInsertion(), and MSCalibrator::remainingVehicleCapacity().
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inlinevirtual |
Get the driver's imperfection.
Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, and MSCFModel_SmartSK.
Definition at line 176 of file MSCFModel.h.
Referenced by TraCIServerAPI_VehicleType::getVariable().
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inline |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 157 of file MSCFModel.h.
References myAccel.
Referenced by MSVehicle::estimateLeaveSpeed(), TraCIServerAPI_VehicleType::getVariable(), MSCFModel_KraussPS::maxNextSpeed(), maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_HBEFA::MSLaneMeanDataValues::write().
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inline |
Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 165 of file MSCFModel.h.
References myDecel.
Referenced by brakeGap(), MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::freeInsertion(), MSLane::getLeaderOnConsecutive(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_DK2004::informBlocker(), MSLane::isInsertionSuccess(), MSLane::maxSpeedGapInsertion(), MSLink::maybeOccupied(), MSVehicle::planMoveInternal(), MSLane::pWagGenericInsertion(), GUIVehicle::selectBlockingFoes(), MSLCM_DK2004::wantsChangeToLeft(), and MSLCM_DK2004::wantsChangeToRight().
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pure virtual |
Returns the model's ID; the XML-Tag number is used.
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, MSCFModel_SmartSK, MSCFModel_Kerner, MSCFModel_Krauss, and MSCFModel_KraussPS.
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inline |
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 227 of file MSCFModel.h.
References ACCEL2SPEED, 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 238 of file MSCFModel.h.
References ACCEL2SPEED, MAX2(), myDecel, and SUMOReal.
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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 71 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, SPEED2DIST, and SUMOReal.
Referenced by MSAbstractLaneChangeModel::predInteraction().
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 86 of file MSCFModel.cpp.
References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), myType, and SUMOReal.
Referenced by MSVehicle::executeMove(), MSCFModel_Krauss::followSpeed(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLane::getFollowerOnConsecutive(), MSLane::getMissingRearGap(), interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), MSLCM_DK2004::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::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, MSCFModel_Kerner, and MSCFModel_SmartSK.
Definition at line 56 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::getSpeed(), getSpeedAfterMaxDecel(), MSLane::getVehicleMaxSpeed(), maxNextSpeed(), MIN2(), MIN3(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), and SUMOReal.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::moveHelper(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().
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inlinevirtual |
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 274 of file MSCFModel.h.
References myHeadwayTime.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtual |
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 266 of file MSCFModel.h.
References UNUSED_PARAMETER.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtual |
Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 250 of file MSCFModel.h.
References myAccel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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inlinevirtual |
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 258 of file MSCFModel.h.
References myDecel.
Referenced by TraCIServerAPI_VehicleType::setVariable().
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pure virtual |
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] | gap2pred | The (netto) distance to the the obstacle |
Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, MSCFModel_SmartSK, MSCFModel_Kerner, and MSCFModel_Krauss.
Referenced by MSVehicle::adaptToLeader(), MSLane::isInsertionSuccess(), MSLCM_DK2004::patchSpeed(), MSVehicle::planMoveInternal(), and MSVehicle::processNextStop().
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protected |
The vehicle's maximum acceleration [m/s^2].
Definition at line 285 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::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(), getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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The vehicle's maximum deceleration [m/s^2].
Definition at line 288 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_Krauss::_vsafe(), MSCFModel_SmartSK::_vsafe(), MSCFModel_Daniel1::_vsafe(), MSCFModel_KraussOrig1::_vsafe(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_Kerner::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_SmartSK::duplicate(), MSCFModel_Daniel1::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::emergency(), MSCFModel_PWag2009::followSpeed(), freeSpeed(), getMaxDecel(), getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), 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(), setMaxDecel(), and MSCFModel_PWag2009::stopSpeed().
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The driver's desired time headway (aka reaction time tau) [s].
Definition at line 291 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel_Krauss::_vsafe(), 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(), getHeadwayTime(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_Daniel1::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 282 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and maxNextSpeed().