SUMO - Simulation of Urban MObility
MSCFModel_SmartSK Class Reference

The original Krauss (1998) car-following model and parameter. More...

#include <MSCFModel_SmartSK.h>

Inheritance diagram for MSCFModel_SmartSK:
Inheritance graph
Collaboration diagram for MSCFModel_SmartSK:
Collaboration graph

Data Structures

class  SSKVehicleVariables
 

Public Member Functions

virtual MSCFModelduplicate (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_SmartSK (const MSVehicleType *vtype, double accel, double decel, double emergencyDecel, double dawdle, double headwayTime, double tmp1, double tmp2, double tmp3, double tmp4, double tmp5)
 Constructor. More...
 
 ~MSCFModel_SmartSK ()
 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...
 
virtual double followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) More...
 
virtual 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) More...
 
virtual int getModelID () const
 Returns the model's name. 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 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...
 
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 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 Attributes

double maxDeltaGap
 
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 myS2Sspeed
 new variables needed in this model; myS2Sspeed is the speed below which the vehicle does not move when stopped More...
 
double myTauDecel
 The precomputed value for myDecel*myTau. More...
 
double myTmp1
 temporary (testing) parameter More...
 
double myTmp2
 
double myTmp3
 
double myTmp4
 
double myTmp5
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Private Member Functions

virtual double _vsafe (const MSVehicle *const veh, double gap, double predSpeed) const
 Returns the "safe" velocity. More...
 
virtual MSCFModel::VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
virtual double dawdle (double speed) const
 Applies driver imperfection (dawdling / sigma) More...
 
virtual void updateMyHeadway (const MSVehicle *const veh) const
 

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)
 

Detailed Description

The original Krauss (1998) car-following model and parameter.

See also
MSCFModel

Definition at line 45 of file MSCFModel_SmartSK.h.

Constructor & Destructor Documentation

◆ MSCFModel_SmartSK()

MSCFModel_SmartSK::MSCFModel_SmartSK ( const MSVehicleType vtype,
double  accel,
double  decel,
double  emergencyDecel,
double  dawdle,
double  headwayTime,
double  tmp1,
double  tmp2,
double  tmp3,
double  tmp4,
double  tmp5 
)

Constructor.

Parameters
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]emergencyDecelThe maximum emergency deceleration
[in]dawdleThe driver imperfection
[in]tauThe driver's reaction time

Definition at line 46 of file MSCFModel_SmartSK.cpp.

References maxDeltaGap, MSCFModel::myAccel, MSCFModel::myDecel, myS2Sspeed, myTauDecel, myTmp1, myTmp2, myTmp3, and TS.

Referenced by duplicate().

◆ ~MSCFModel_SmartSK()

MSCFModel_SmartSK::~MSCFModel_SmartSK ( )

Destructor.

Definition at line 76 of file MSCFModel_SmartSK.cpp.

Member Function Documentation

◆ _vsafe()

double MSCFModel_SmartSK::_vsafe ( const MSVehicle *const  veh,
double  gap,
double  predSpeed 
) const
privatevirtual

Returns the "safe" velocity.

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

Returns the SK-vsafe.

Definition at line 159 of file MSCFModel_SmartSK.cpp.

References MSVehicle::getCarFollowVariables(), MSCFModel::myDecel, and MSCFModel_SmartSK::SSKVehicleVariables::myHeadway.

Referenced by followSpeed(), setHeadwayTime(), and stopSpeed().

◆ brakeGap() [1/2]

◆ brakeGap() [2/2]

double MSCFModel::brakeGap ( const double  speed,
const double  decel,
const double  headwayTime 
)
staticinherited

Definition at line 66 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and SPEED2DIST.

◆ createVehicleVariables()

virtual MSCFModel::VehicleVariables* MSCFModel_SmartSK::createVehicleVariables ( ) const
inlineprivatevirtual

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented from MSCFModel.

Definition at line 174 of file MSCFModel_SmartSK.h.

References MSCFModel_SmartSK::SSKVehicleVariables::gOld, MSCFModel_SmartSK::SSKVehicleVariables::myHeadway, and MSCFModel::myHeadwayTime.

◆ dawdle()

double MSCFModel_SmartSK::dawdle ( double  speed) const
privatevirtual

Applies driver imperfection (dawdling / sigma)

Parameters
[in]speedThe speed with no dawdling
Returns
The speed after dawdling

Definition at line 153 of file MSCFModel_SmartSK.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myAccel, myDawdle, and RandHelper::rand().

Referenced by moveHelper(), and setHeadwayTime().

◆ duplicate()

MSCFModel * MSCFModel_SmartSK::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 179 of file MSCFModel_SmartSK.cpp.

References MSCFModel_SmartSK(), MSCFModel::myAccel, myDawdle, MSCFModel::myDecel, MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, myTmp1, myTmp2, myTmp3, myTmp4, and myTmp5.

Referenced by setHeadwayTime().

◆ estimateSpeedAfterDistance()

double MSCFModel::estimateSpeedAfterDistance ( const double  dist,
const double  v,
const double  accel 
) const
inherited

◆ followSpeed()

double MSCFModel_SmartSK::followSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  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 111 of file MSCFModel_SmartSK.cpp.

References _vsafe(), MSVehicle::getCarFollowVariables(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_SmartSK::SSKVehicleVariables::ggOld, MSCFModel_SmartSK::SSKVehicleVariables::gOld, MAX2(), maxDeltaGap, MSCFModel::maxNextSpeed(), MIN2(), MSCFModel_SmartSK::SSKVehicleVariables::myHeadway, myS2Sspeed, and TS.

◆ freeSpeed() [1/2]

double MSCFModel::freeSpeed ( const MSVehicle *const  veh,
double  speed,
double  seen,
double  maxSpeed,
const bool  onInsertion = false 
) 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. If onInsertion is true, the vehicle may still brake before the next movement.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
[in]onInsertionwhether speed at insertion is asked for
Returns
EGO's safe speed

Reimplemented in MSCFModel_Rail.

Definition at line 211 of file MSCFModel.cpp.

References MSCFModel::myDecel.

Referenced by MSCFModel::brakeGap(), MSLane::isInsertionSuccess(), and MSVehicle::planMoveInternal().

◆ freeSpeed() [2/2]

double MSCFModel::freeSpeed ( const double  currentSpeed,
const double  decel,
const double  dist,
const double  maxSpeed,
const bool  onInsertion 
)
staticinherited

◆ gapExtrapolation()

double MSCFModel::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() 
)
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'.

Parameters
[in]currentGap(pos(veh1) - pos(veh2) at start)
[in]v1initial speed of vehicle 1
[in]v2initial speed of vehicle 2
[in]a1acceleration of vehicle 1
[in]a2acceleration of vehicle 2
[in]maxV1maximal speed of vehicle 1
[in]maxV2maximal speed of vehicle 2
[in]durationtime span for the process
Returns
estimated gap after 'duration' seconds

Definition at line 278 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.

Referenced by MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().

◆ getHeadwayTime()

virtual double MSCFModel::getHeadwayTime ( ) const
inlinevirtualinherited

◆ getImperfection()

double MSCFModel_SmartSK::getImperfection ( ) const
inlinevirtual

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented from MSCFModel.

Definition at line 106 of file MSCFModel_SmartSK.h.

References myDawdle.

◆ getMaxAccel()

double MSCFModel::getMaxAccel ( ) const
inlineinherited

◆ getMaxDecel()

double MSCFModel::getMaxDecel ( ) const
inlineinherited

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

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

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().

◆ getMinimalArrivalSpeed()

double MSCFModel::getMinimalArrivalSpeed ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual 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().

◆ getMinimalArrivalSpeedEuler()

double MSCFModel::getMinimalArrivalSpeedEuler ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance for Euler update.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual 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().

◆ getMinimalArrivalTime()

SUMOTime MSCFModel::getMinimalArrivalTime ( double  dist,
double  currentSpeed,
double  arrivalSpeed 
) const
inherited

Computes the minimal time needed to cover a distance given the desired speed at arrival.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle
[in]arrivalSpeedDesired 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().

◆ getModelID()

virtual int MSCFModel_SmartSK::getModelID ( ) const
inlinevirtual

Returns the model's name.

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

Implements MSCFModel.

Definition at line 98 of file MSCFModel_SmartSK.h.

References SUMO_TAG_CF_SMART_SK.

◆ getSecureGap()

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

◆ getSpeedAfterMaxDecel()

virtual double MSCFModel::getSpeedAfterMaxDecel ( double  v) const
inlinevirtualinherited

◆ insertionFollowSpeed()

double MSCFModel::insertionFollowSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
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.

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

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 218 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, and MSCFModel::maximumSafeFollowSpeed().

Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), MSLane::isInsertionSuccess(), and MSLane::safeInsertionSpeed().

◆ insertionStopSpeed()

double MSCFModel::insertionStopSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap 
) const
virtualinherited

Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle at insertion
See also
stopSpeed() and insertionFollowSpeed()

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().

◆ interactionGap()

double MSCFModel::interactionGap ( const MSVehicle *const  veh,
double  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 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().

◆ maximumSafeFollowSpeed()

double MSCFModel::maximumSafeFollowSpeed ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel,
bool  onInsertion = false 
) const
inherited

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
Returns
the safe velocity

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().

◆ maximumSafeStopSpeed()

double MSCFModel::maximumSafeStopSpeed ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap.

Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe 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().

◆ maximumSafeStopSpeedBallistic()

double MSCFModel::maximumSafeStopSpeedBallistic ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap when using the ballistic positional update.

Note
This takes into account the driver's reaction time and the car's current speed. (The latter is required to calculate the distance covered in the following timestep.)
Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
Returns
the safe velocity (to be attained at the end of the following time step) that assures the possibility of stopping within gap. If a negative value is returned, the required stop has to take place before the end of the time step.

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().

◆ maximumSafeStopSpeedEuler()

double MSCFModel::maximumSafeStopSpeedEuler ( double  gap) const
inherited

Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.

Parameters
[in]gapThe (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().

◆ maxNextSpeed()

double MSCFModel::maxNextSpeed ( double  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, 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(), followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel::interactionGap(), MSCFModel_Daniel1::moveHelper(), moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_KraussX::moveHelper(), MSCFModel::moveHelper(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

◆ minNextSpeed()

double MSCFModel::minNextSpeed ( double  speed,
const MSVehicle *const  veh = 0 
) const
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.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

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(), MSCFModel_KraussX::moveHelper(), and MSCFModel::moveHelper().

◆ moveHelper()

double MSCFModel_SmartSK::moveHelper ( MSVehicle *const  veh,
double  vPos 
) const
virtual

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 from MSCFModel.

Definition at line 80 of file MSCFModel_SmartSK.cpp.

References dawdle(), MSVehicle::getCarFollowVariables(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MSLane::getVehicleMaxSpeed(), MSCFModel_SmartSK::SSKVehicleVariables::ggOld, MSCFModel_SmartSK::SSKVehicleVariables::gOld, MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), toString(), updateMyHeadway(), and WRITE_WARNING.

◆ passingTime()

double MSCFModel::passingTime ( const double  lastPos,
const double  passedPos,
const double  currentPos,
const double  lastSpeed,
const double  currentSpeed 
)
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.

Parameters
[in]lastPosthe position at time t=0 (must be < currentPos)
[in]passedPosthe position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]currentPosthe position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]lastSpeedthe speed at moment t=0
[in]currentSpeedthe speed at moment t=TS
Returns
time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

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().

◆ setHeadwayTime()

void MSCFModel_SmartSK::setHeadwayTime ( double  headwayTime)
inlinevirtual

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

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

Reimplemented from MSCFModel.

Definition at line 135 of file MSCFModel_SmartSK.h.

References _vsafe(), dawdle(), duplicate(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, and myTauDecel.

◆ setImperfection()

void MSCFModel_SmartSK::setImperfection ( double  imperfection)
inlinevirtual

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented from MSCFModel.

Definition at line 127 of file MSCFModel_SmartSK.h.

References myDawdle.

◆ setMaxAccel()

virtual void MSCFModel::setMaxAccel ( double  accel)
inlinevirtualinherited

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

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

Definition at line 391 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCI_VehicleType::setAccel().

◆ setMaxDecel()

void MSCFModel_SmartSK::setMaxDecel ( double  decel)
inlinevirtual

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

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

Reimplemented from MSCFModel.

Definition at line 118 of file MSCFModel_SmartSK.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and myTauDecel.

◆ speedAfterTime()

double MSCFModel::speedAfterTime ( const double  t,
const double  oldSpeed,
const double  dist 
)
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.

Note
If the acceleration were known, this would be much nicer, but in this way we need to reconstruct it (for the ballistic update at least, where we assume that a stop may occur within the interval)
Parameters
[in]ttime in [0,TS] for which the speed shall be determined
[in]oldSpeedspeed before the last time step (referred to as t == 0)
[in]distancecovered
Returns
speed at time t

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().

◆ stopSpeed()

double MSCFModel_SmartSK::stopSpeed ( const MSVehicle *const  veh,
const double  speed,
double  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 136 of file MSCFModel_SmartSK.cpp.

References _vsafe(), MSVehicle::getCarFollowVariables(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_SmartSK::SSKVehicleVariables::gOld, MAX2(), maxDeltaGap, MSCFModel::maxNextSpeed(), MIN2(), MSCFModel_SmartSK::SSKVehicleVariables::myHeadway, and TS.

◆ updateMyHeadway()

virtual void MSCFModel_SmartSK::updateMyHeadway ( const MSVehicle *const  veh) const
inlineprivatevirtual

Field Documentation

◆ maxDeltaGap

double MSCFModel_SmartSK::maxDeltaGap
protected

Definition at line 203 of file MSCFModel_SmartSK.h.

Referenced by followSpeed(), MSCFModel_SmartSK(), and stopSpeed().

◆ myAccel

◆ myApparentDecel

double MSCFModel::myApparentDecel
protectedinherited

The vehicle's deceleration as expected by surrounding traffic [m/s^2].

Definition at line 473 of file MSCFModel.h.

Referenced by MSCFModel_KraussX::duplicate(), MSCFModel_Krauss::duplicate(), and MSCFModel_KraussOrig1::duplicate().

◆ myDawdle

double MSCFModel_SmartSK::myDawdle
protected

The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.

Definition at line 192 of file MSCFModel_SmartSK.h.

Referenced by dawdle(), duplicate(), getImperfection(), and setImperfection().

◆ myDecel

◆ myEmergencyDecel

◆ myHeadwayTime

◆ myS2Sspeed

double MSCFModel_SmartSK::myS2Sspeed
protected

new variables needed in this model; myS2Sspeed is the speed below which the vehicle does not move when stopped

maxDeltaGap is the theoretical maximum change in gap that can happen in one time step

Definition at line 203 of file MSCFModel_SmartSK.h.

Referenced by followSpeed(), and MSCFModel_SmartSK().

◆ myTauDecel

double MSCFModel_SmartSK::myTauDecel
protected

The precomputed value for myDecel*myTau.

Definition at line 195 of file MSCFModel_SmartSK.h.

Referenced by MSCFModel_SmartSK(), setHeadwayTime(), and setMaxDecel().

◆ myTmp1

double MSCFModel_SmartSK::myTmp1
protected

temporary (testing) parameter

Definition at line 198 of file MSCFModel_SmartSK.h.

Referenced by duplicate(), and MSCFModel_SmartSK().

◆ myTmp2

double MSCFModel_SmartSK::myTmp2
protected

Definition at line 198 of file MSCFModel_SmartSK.h.

Referenced by duplicate(), MSCFModel_SmartSK(), and updateMyHeadway().

◆ myTmp3

double MSCFModel_SmartSK::myTmp3
protected

Definition at line 198 of file MSCFModel_SmartSK.h.

Referenced by duplicate(), MSCFModel_SmartSK(), and updateMyHeadway().

◆ myTmp4

double MSCFModel_SmartSK::myTmp4
protected

Definition at line 198 of file MSCFModel_SmartSK.h.

Referenced by duplicate().

◆ myTmp5

double MSCFModel_SmartSK::myTmp5
protected

Definition at line 198 of file MSCFModel_SmartSK.h.

Referenced by duplicate().

◆ myType

const MSVehicleType* MSCFModel::myType
protectedinherited

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