SUMO - Simulation of Urban MObility
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MSCFModel_Kerner.cpp
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1 /****************************************************************************/
9 // car-following model by B. Kerner
10 /****************************************************************************/
11 // SUMO, Simulation of Urban MObility; see http://sumo-sim.org/
12 // Copyright (C) 2001-2013 DLR (http://www.dlr.de/) and contributors
13 /****************************************************************************/
14 //
15 // This file is part of SUMO.
16 // SUMO is free software: you can redistribute it and/or modify
17 // it under the terms of the GNU General Public License as published by
18 // the Free Software Foundation, either version 3 of the License, or
19 // (at your option) any later version.
20 //
21 /****************************************************************************/
22 
23 
24 // ===========================================================================
25 // included modules
26 // ===========================================================================
27 #ifdef _MSC_VER
28 #include <windows_config.h>
29 #else
30 #include <config.h>
31 #endif
32 
33 #include <microsim/MSVehicle.h>
34 #include <microsim/MSLane.h>
35 #include "MSCFModel_Kerner.h"
37 
38 
39 // ===========================================================================
40 // method definitions
41 // ===========================================================================
43  SUMOReal decel, SUMOReal headwayTime, SUMOReal k, SUMOReal phi)
44  : MSCFModel(vtype, accel, decel, headwayTime), myK(k), myPhi(phi),
45  myTauDecel(decel* headwayTime) {
46 }
47 
48 
50 
51 
54  const SUMOReal vNext = MSCFModel::moveHelper(veh, vPos);
56  vars->rand = RandHelper::rand();
57  return vNext;
58 }
59 
60 
62 MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
63  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
64 }
65 
66 
68 MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
69  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
70 }
71 
72 
76  ret->rand = RandHelper::rand();
77  return ret;
78 }
79 
80 
82 MSCFModel_Kerner::_v(const MSVehicle* const veh, SUMOReal speed, SUMOReal vfree, SUMOReal gap, SUMOReal predSpeed) const {
83  if (predSpeed == 0 && gap < 0.01) {
84  return 0;
85  }
86  // !!! in the following, the prior step is not considered!!!
87  SUMOReal G = MAX2((SUMOReal) 0, (SUMOReal)(SPEED2DIST(myK * speed) + myPhi / myAccel * speed * (speed - predSpeed)));
88  SUMOReal vcond = gap > G ? speed + ACCEL2SPEED(myAccel) : speed + MAX2(ACCEL2SPEED(-myDecel), MIN2(ACCEL2SPEED(myAccel), predSpeed - speed));
89  SUMOReal vsafe = (SUMOReal)(-1. * myTauDecel + sqrt(myTauDecel * myTauDecel + (predSpeed * predSpeed) + (2. * myDecel * gap)));
91  SUMOReal va = MAX2((SUMOReal) 0, MIN3(vfree, vsafe, vcond)) + vars->rand;
92  SUMOReal v = MAX2((SUMOReal) 0, MIN4(vfree, va, speed + ACCEL2SPEED(myAccel), vsafe));
93  return v;
94 }
95 
96 
97 MSCFModel*
99  return new MSCFModel_Kerner(vtype, myAccel, myDecel, myHeadwayTime, myK, myPhi);
100 }