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SUMO - Simulation of Urban MObility
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Krauss car-following model, changing accel and speed by slope. More...
#include <MSCFModel_KraussX.h>
Public Member Functions | |
MSCFModel * | duplicate (const MSVehicleType *vtype) const |
Duplicates the car-following model. More... | |
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_KraussX (const MSVehicleType *vtype, double accel, double decel, double emergencyDecel, double apparentDecel, double dawdle, double headwayTime, double tmp1, double tmp2) | |
Constructor. More... | |
~MSCFModel_KraussX () | |
Destructor. More... | |
Implementations of the MSCFModel interface | |
double | moveHelper (MSVehicle *const veh, double vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
int | getModelID () const |
Returns the model's name. More... | |
Implementations of the MSCFModel interface | |
double | stopSpeed (const MSVehicle *const veh, const double speed, double gap2pred) const |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) this uses the maximumSafeStopSpeed. More... | |
double | followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const |
Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed. More... | |
Implementations of the MSCFModel interface | |
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... | |
double | getImperfection () const |
Get the driver's imperfection. More... | |
Setter methods | |
void | setMaxDecel (double decel) |
Sets a new value for maximum deceleration [m/s^2]. More... | |
void | setImperfection (double imperfection) |
Sets a new value for driver imperfection. More... | |
void | setHeadwayTime (double headwayTime) |
Sets a new value for driver reaction time [s]. More... | |
Methods to override by model implementation | |
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 | 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 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 | 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... | |
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 Member Functions | |
double | dawdle (double speed) const |
Applies driver imperfection (dawdling / sigma) More... | |
virtual double | vsafe (double gap, double predSpeed, double predMaxDecel) const |
Returns the "safe" velocity. 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 | myDawdle |
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max. 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... | |
double | myTauDecel |
The precomputed value for myDecel*myTau. More... | |
const MSVehicleType * | myType |
The type to which this model definition belongs to. More... | |
Private Member Functions | |
double | dawdleX (double vOld, double vMin, double vMax) const |
Applies driver imperfection (dawdling / sigma) More... | |
Private Attributes | |
double | myTmp1 |
extension parameter nr1 More... | |
double | myTmp2 |
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 | freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion) |
static double | brakeGap (const double speed, const double decel, const double headwayTime) |
Krauss car-following model, changing accel and speed by slope.
Definition at line 44 of file MSCFModel_KraussX.h.
MSCFModel_KraussX::MSCFModel_KraussX | ( | const MSVehicleType * | vtype, |
double | accel, | ||
double | decel, | ||
double | emergencyDecel, | ||
double | apparentDecel, | ||
double | dawdle, | ||
double | headwayTime, | ||
double | tmp1, | ||
double | tmp2 | ||
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Constructor.
[in] | accel | The maximum acceleration |
[in] | decel | The maximum deceleration |
[in] | dawdle | The driver imperfection |
[in] | emergencyDecel | The maximum emergency deceleration |
[in] | apparentDecel | The deceleration as expected by others |
[in] | headwayTime | The driver's reaction time |
Definition at line 46 of file MSCFModel_KraussX.cpp.
Referenced by duplicate().
MSCFModel_KraussX::~MSCFModel_KraussX | ( | ) |
Destructor.
Definition at line 56 of file MSCFModel_KraussX.cpp.
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inlineinherited |
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 MSCFModel::freeSpeed(), MSCFModel::myDecel, and MSCFModel::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(), MSCFModel::getSecureGap(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::unsafeLinkAhead().
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staticinherited |
Definition at line 66 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and SPEED2DIST.
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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, MSCFModel_PWag2009, MSCFModel_Kerner, and MSCFModel_Rail.
Definition at line 184 of file MSCFModel.h.
Referenced by MSVehicle::MSVehicle().
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protectedvirtualinherited |
Applies driver imperfection (dawdling / sigma)
[in] | speed | The speed with no dawdling |
Reimplemented from MSCFModel_KraussOrig1.
Definition at line 81 of file MSCFModel_Krauss.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, and RandHelper::rand().
Referenced by MSCFModel_Krauss::getModelID().
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private |
Applies driver imperfection (dawdling / sigma)
[in] | vOld | The previous speed |
[in] | vMin | The minimum speed (due to braking constraints) |
[in] | vMax | The maximum speed that may be driven (all constraints) |
Definition at line 102 of file MSCFModel_KraussX.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, myTmp1, myTmp2, and RandHelper::rand().
Referenced by getModelID(), and moveHelper().
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virtual |
Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Reimplemented from MSCFModel_Krauss.
Definition at line 60 of file MSCFModel_KraussX.cpp.
References MSCFModel_KraussX(), MSCFModel::myAccel, MSCFModel::myApparentDecel, MSCFModel_KraussOrig1::myDawdle, MSCFModel::myDecel, MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, myTmp1, and myTmp2.
Referenced by getModelID().
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inherited |
Definition at line 473 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), and MSCFModel::myType.
Referenced by MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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virtualinherited |
Computes the vehicle's safe speed (no dawdling) this uses the maximumSafeFollowSpeed.
[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 66 of file MSCFModel_Krauss.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::minNextSpeed(), and MSCFModel_KraussOrig1::vsafe().
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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. 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 MSCFModel::myDecel.
Referenced by MSCFModel::brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().
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staticinherited |
Definition at line 85 of file MSCFModel.cpp.
References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), NUMERICAL_EPS, SPEED2DIST, and TS.
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staticinherited |
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 MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
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inlinevirtualinherited |
Get the driver's reaction time [s].
Definition at line 220 of file MSCFModel.h.
References MSCFModel::maxNextSpeed(), MSCFModel::minNextSpeed(), and MSCFModel::myHeadwayTime.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSVehicle::checkRewindLinkLanes(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), TraCI_VehicleType::getTau(), and MSCalibrator::remainingVehicleCapacity().
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inlinevirtualinherited |
Get the driver's imperfection.
Reimplemented from MSCFModel.
Definition at line 123 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::myDawdle.
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inlineinherited |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 193 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), TraCI_VehicleType::getAccel(), MSCFModel::getMinimalArrivalTime(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMoveInternal(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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inlineinherited |
Get the vehicle type's maximum deceleration [m/s^2].
Definition at line 201 of file MSCFModel.h.
References MSCFModel::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(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::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().
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inherited |
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 MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), and MSCFModel::getMaxDecel().
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
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 MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), and INVALID_SPEED.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inherited |
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 MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.
Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().
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inlinevirtual |
Returns the model's name.
Reimplemented from MSCFModel_Krauss.
Definition at line 80 of file MSCFModel_KraussX.h.
References dawdleX(), duplicate(), and SUMO_TAG_CF_KRAUSSX.
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inlineinherited |
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 MSCFModel::brakeGap(), MAX2(), MIN2(), MSCFModel::myDecel, and MSCFModel::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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inlinevirtualinherited |
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Reimplemented in MSCFModel_Rail.
Definition at line 302 of file MSCFModel.h.
References ACCEL2SPEED, MSCFModel::estimateSpeedAfterDistance(), MSCFModel::gapExtrapolation(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), max, MAX2(), MSCFModel::myDecel, MSCFModel::passingTime(), and MSCFModel::speedAfterTime().
Referenced by MSCFModel_SmartSK::followSpeed(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), moveHelper(), MSCFModel::moveHelper(), MSVehicle::planMoveInternal(), MSCFModel_SmartSK::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().
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virtualinherited |
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 from MSCFModel.
Definition at line 112 of file MSCFModel_KraussOrig1.cpp.
References MSCFModel_KraussOrig1::followSpeed(), MSGlobals::gSemiImplicitEulerUpdate, and MSCFModel::maximumSafeFollowSpeed().
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virtualinherited |
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, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().
Referenced by MSLane::isInsertionSuccess().
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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 178 of file MSCFModel.cpp.
References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and SPEED2DIST.
Referenced by MSAbstractLaneChangeModel::predInteraction().
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inherited |
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 MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::myDecel, and MSCFModel::myHeadwayTime.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::insertionFollowSpeed(), MSCFModel::insertionFollowSpeed(), and MSCFModel::setHeadwayTime().
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inherited |
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, MSCFModel::maximumSafeStopSpeedBallistic(), and MSCFModel::maximumSafeStopSpeedEuler().
Referenced by MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel::setHeadwayTime(), MSCFModel_Krauss::stopSpeed(), and MSCFModel_Rail::stopSpeed().
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inherited |
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(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), MSCFModel::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
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inherited |
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(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel::setHeadwayTime().
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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).
[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, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), and MSCFModel::myType.
Referenced by MSVehicle::executeMove(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), MSCFModel::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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virtualinherited |
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 MSCFModel::myEmergencyDecel.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), and MSCFModel::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 from MSCFModel_KraussOrig1.
Definition at line 66 of file MSCFModel_KraussX.cpp.
References dawdleX(), MSVehicle::getLaneChangeModel(), MSVehicle::getMaxSpeedOnLane(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSCFModel::minNextSpeed(), MSAbstractLaneChangeModel::patchSpeed(), and MSVehicle::processNextStop().
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staticinherited |
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(), MSCFModel::getSpeedAfterMaxDecel(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSInstantInductLoop::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().
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inlinevirtualinherited |
Sets a new value for driver reaction time [s].
[in] | headwayTime | The new driver reaction time (in s) |
Reimplemented from MSCFModel.
Definition at line 152 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::dawdle(), MSCFModel_KraussOrig1::duplicate(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, MSCFModel_KraussOrig1::myTauDecel, and MSCFModel_KraussOrig1::vsafe().
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inlinevirtualinherited |
Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented from MSCFModel.
Definition at line 144 of file MSCFModel_KraussOrig1.h.
References MSCFModel_KraussOrig1::myDawdle.
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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 391 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by TraCI_VehicleType::setAccel().
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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 from MSCFModel.
Definition at line 135 of file MSCFModel_KraussOrig1.h.
References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and MSCFModel_KraussOrig1::myTauDecel.
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staticinherited |
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(), MSCFModel::getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().
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virtualinherited |
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) this uses the maximumSafeStopSpeed.
[in] | veh | The vehicle (EGO) |
[in] | gap2pred | The (netto) distance to the the obstacle |
Reimplemented from MSCFModel_KraussOrig1.
Definition at line 57 of file MSCFModel_Krauss.cpp.
References MSCFModel::maximumSafeStopSpeed(), MSCFModel::maxNextSpeed(), MIN2(), and TS.
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protectedvirtualinherited |
Returns the "safe" velocity.
[in] | gap2pred | The (netto) distance to the LEADER |
[in] | predSpeed | The LEADER's speed |
[in] | predMaxDecel | The LEADER's maximum deceleration |
Returns the SK-vsafe.
Definition at line 149 of file MSCFModel_KraussOrig1.cpp.
References ACCEL2SPEED, DIST2SPEED, MIN2(), MSCFModel::myDecel, and MSCFModel_KraussOrig1::myTauDecel.
Referenced by MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().
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protectedinherited |
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(), dawdleX(), 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(), MSCFModel::getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel::setMaxAccel(), and MSCFModel_PWag2009::stopSpeed().
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protectedinherited |
The vehicle's deceleration as expected by surrounding traffic [m/s^2].
Definition at line 473 of file MSCFModel.h.
Referenced by duplicate(), MSCFModel_Krauss::duplicate(), and MSCFModel_KraussOrig1::duplicate().
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protectedinherited |
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
Definition at line 183 of file MSCFModel_KraussOrig1.h.
Referenced by MSCFModel_Krauss::dawdle(), MSCFModel_KraussOrig1::dawdle(), dawdleX(), duplicate(), MSCFModel_KraussPS::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_KraussOrig1::getImperfection(), and MSCFModel_KraussOrig1::setImperfection().
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protectedinherited |
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(), MSCFModel::brakeGap(), 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(), MSCFModel::freeSpeed(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel::setMaxDecel(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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protectedinherited |
The vehicle's maximum emergency deceleration [m/s^2].
Definition at line 471 of file MSCFModel.h.
Referenced by 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 MSCFModel::minNextSpeed().
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protectedinherited |
The driver's desired time headway (aka reaction time tau) [s].
Definition at line 476 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), 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(), MSCFModel::getHeadwayTime(), MSCFModel::getSecureGap(), MSCFModel::interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::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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protectedinherited |
The precomputed value for myDecel*myTau.
Definition at line 186 of file MSCFModel_KraussOrig1.h.
Referenced by MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), and MSCFModel_KraussOrig1::vsafe().
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private |
extension parameter nr1
Definition at line 105 of file MSCFModel_KraussX.h.
Referenced by dawdleX(), and duplicate().
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Definition at line 106 of file MSCFModel_KraussX.h.
Referenced by dawdleX(), and duplicate().
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protectedinherited |
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(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel::insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().