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MSCFModel_Kerner Class Reference

car-following model by B. Kerner More...

#include <MSCFModel_Kerner.h>

Inheritance diagram for MSCFModel_Kerner:
MSCFModel

Public Member Functions

MSCFModelduplicate (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 VehicleVariablescreateVehicleVariables () 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...
 
virtual SUMOReal maxNextSpeed (SUMOReal speed, const MSVehicle *const veh) 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 MSVehicleTypemyType
 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...
 

Detailed Description

car-following model by B. Kerner

See Also
MSCFModel

Definition at line 44 of file MSCFModel_Kerner.h.

Constructor & Destructor Documentation

MSCFModel_Kerner::MSCFModel_Kerner ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime,
SUMOReal  k,
SUMOReal  phi 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]dawdleThe driver imperfection
[in]tauThe 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.

Member Function Documentation

SUMOReal MSCFModel_Kerner::_v ( SUMOReal  speed,
SUMOReal  vfree,
SUMOReal  gap,
SUMOReal  predSpeed 
) const
private

Returns the "safe" velocity.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe LEADER's speed
Returns
the safe velocity

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().

SUMOReal MSCFModel::brakeGap ( SUMOReal  speed) const
inherited

Returns the distance the vehicle needs to halt including driver's reaction time.

Parameters
[in]speedThe vehicle's current speed
Returns
The distance needed to halt

Definition at line 104 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::getMaxDecel(), MSCFModel::myHeadwayTime, SPEED2DIST, and SUMOReal.

Referenced by MSVehicle::addStop(), MSVehicle::checkRewindLinkLanes(), MSVehicle::executeMove(), MSLane::getLeaderOnConsecutive(), MSLaneChanger::getRealLeader(), MSCFModel::getSecureGap(), MSLane::isInsertionSuccess(), MSVehicle::planMove(), MSLane::pWagGenericInsertion(), and MSLane::pWagSimpleInsertion().

virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const
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 148 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

MSCFModel * MSCFModel_Kerner::duplicate ( const MSVehicleType vtype) const
virtual

Duplicates the car-following model.

Parameters
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns
A duplicate of this car-following model

Implements MSCFModel.

Definition at line 80 of file MSCFModel_Kerner.cpp.

References MSCFModel_Kerner(), MSCFModel::myAccel, MSCFModel::myDecel, MSCFModel::myHeadwayTime, myK, and myPhi.

SUMOReal MSCFModel_Kerner::followSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
virtual

Computes the vehicle's safe speed (no dawdling)

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed
See Also
MSCFModel::ffeV

Implements MSCFModel.

Definition at line 52 of file MSCFModel_Kerner.cpp.

References _v(), MSCFModel::maxNextSpeed(), and MIN2().

SUMOReal MSCFModel::freeSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  seen,
SUMOReal  maxSpeed 
) const
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.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
Returns
EGO's safe speed

Definition at line 114 of file MSCFModel.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, SUMOReal, and UNUSED_PARAMETER.

Referenced by MSLane::isInsertionSuccess(), and MSVehicle::planMove().

virtual SUMOReal MSCFModel::getHeadwayTime ( ) const
inlinevirtualinherited
virtual SUMOReal MSCFModel::getImperfection ( ) const
inlinevirtualinherited

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, and MSCFModel_SmartSK.

Definition at line 176 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

virtual SUMOReal MSCFModel::getMaxAccel ( ) const
inlinevirtualinherited

Get the vehicle type's maximum acceleration [m/s^2].

Returns
The maximum acceleration (in m/s^2) of vehicles of this class

Definition at line 160 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::getVariable(), MSCFModel_KraussPS::maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMove(), and MSMeanData_HBEFA::MSLaneMeanDataValues::write().

int MSCFModel_Kerner::getModelID ( ) const
inlinevirtual

Returns the model's name.

Returns
The model's name
See Also
MSCFModel::getModelName

Implements MSCFModel.

Definition at line 87 of file MSCFModel_Kerner.h.

References SUMO_TAG_CF_BKERNER.

SUMOReal MSCFModel::getSecureGap ( const SUMOReal  speed,
const SUMOReal  leaderSpeed,
const SUMOReal  leaderMaxDecel 
) const
inlineinherited

Returns the minimum gap to reserve if the leader is braking at maximum.

Parameters
[in]speedEGO's speed
[in]leaderSpeedLEADER's speed
[in]leaderMaxDecelLEADER's max. deceleration rate

Definition at line 231 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().

SUMOReal MSCFModel::getSpeedAfterMaxDecel ( SUMOReal  v) const
inlineinherited

Returns the velocity after maximum deceleration.

Parameters
[in]vThe velocity
Returns
The velocity after maximum deceleration

Definition at line 242 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().

SUMOReal MSCFModel::interactionGap ( const MSVehicle *const  veh,
SUMOReal  vL 
) const
virtualinherited

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 71 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().

void MSCFModel::leftVehicleVsafe ( const MSVehicle *const  ego,
const MSVehicle *const  neigh,
SUMOReal vSafe 
) const
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

Parameters
[in]egoThe ego vehicle
[in]neighThe neighbor vehicle on the left lane
[in,out]vSafeCurrent vSafe; may be adapted due to the left neighbor

Definition at line 86 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::planMove().

SUMOReal MSCFModel::maxNextSpeed ( SUMOReal  speed,
const MSVehicle *const  veh 
) const
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).

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values
Returns
The maximum possible speed for the next step

Reimplemented in MSCFModel_KraussPS.

Definition at line 98 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.

Referenced by MSVehicle::executeMove(), followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLane::getFollowerOnConsecutive(), MSLane::getMissingRearGap(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2004::patchSpeed(), MSVehicle::planMove(), stopSpeed(), MSCFModel_Krauss::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

SUMOReal MSCFModel::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const
virtualinherited

Applies interaction with stops and lane changing model influences.

Parameters
[in]vehThe ego vehicle
[in]vPosThe possible velocity
Returns
The velocity after applying interactions with stops and lane change model influences

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Daniel1, and MSCFModel_SmartSK.

Definition at line 56 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::executeMove(), MSCFModel_PWag2009::moveHelper(), MSCFModel_Wiedemann::moveHelper(), and MSCFModel_IDM::moveHelper().

virtual void MSCFModel::setHeadwayTime ( SUMOReal  headwayTime)
inlinevirtualinherited

Sets a new value for driver reaction time [s].

Parameters
[in]headwayTimeThe new driver reaction time (in s)

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.

Definition at line 278 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection)
inlinevirtualinherited

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.

Definition at line 270 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxAccel ( SUMOReal  accel)
inlinevirtualinherited

Sets a new value for maximum acceleration [m/s^2].

Parameters
[in]accelThe new acceleration in m/s^2

Definition at line 254 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel)
inlinevirtualinherited

Sets a new value for maximum deceleration [m/s^2].

Parameters
[in]accelThe new deceleration in m/s^2

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_SmartSK.

Definition at line 262 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

SUMOReal MSCFModel_Kerner::stopSpeed ( const MSVehicle *const  veh,
SUMOReal  gap2pred 
) const
virtual

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)

Parameters
[in]vehThe vehicle (EGO)
[in]gap2predThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle
See Also
MSCFModel::ffeS
Todo:
generic Interface, models can call for the values they need

Implements MSCFModel.

Definition at line 58 of file MSCFModel_Kerner.cpp.

References _v(), MSVehicle::getSpeed(), MSCFModel::maxNextSpeed(), MIN2(), and SUMOReal.

Field Documentation

SUMOReal MSCFModel_Kerner::myK
private

Definition at line 115 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

SUMOReal MSCFModel_Kerner::myPhi
private

Kerner's phi.

Definition at line 118 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

SUMOReal MSCFModel_Kerner::myTauDecel
private

The precomputed value for myDecel*myTau.

Definition at line 121 of file MSCFModel_Kerner.h.

Referenced by _v().

const MSVehicleType* MSCFModel::myType
protectedinherited

The type to which this model definition belongs to.

Definition at line 286 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().


The documentation for this class was generated from the following files: