Eclipse SUMO - Simulation of Urban MObility
MSCFModel_Daniel1.cpp
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1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2012-2022 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials are made available under the
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12 // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 /****************************************************************************/
20 // The original Krauss (1998) car-following model and parameter
21 /****************************************************************************/
22 #include <config.h>
23 
24 #include <microsim/MSVehicle.h>
25 #include <microsim/MSLane.h>
26 #include "MSCFModel_Daniel1.h"
29 
30 
31 // ===========================================================================
32 // method definitions
33 // ===========================================================================
35  MSCFModel(vtype),
36  myDawdle(vtype->getParameter().getCFParam(SUMO_ATTR_SIGMA, SUMOVTypeParameter::getDefaultImperfection(vtype->getParameter().vehicleClass))),
37  myTauDecel(myDecel * myHeadwayTime),
38  myTmp1(vtype->getParameter().getCFParam(SUMO_ATTR_TMP1, 1.0)),
39  myTmp2(vtype->getParameter().getCFParam(SUMO_ATTR_TMP2, 1.0)),
40  myTmp3(vtype->getParameter().getCFParam(SUMO_ATTR_TMP3, 1.0)),
41  myTmp4(vtype->getParameter().getCFParam(SUMO_ATTR_TMP4, 1.0)),
42  myTmp5(vtype->getParameter().getCFParam(SUMO_ATTR_TMP5, 1.0)) {
43 }
44 
45 
47 
48 
49 double
50 MSCFModel_Daniel1::finalizeSpeed(MSVehicle* const veh, double vPos) const {
51  const double oldV = veh->getSpeed(); // save old v for optional acceleration computation
52  const double vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
53  // we need the acceleration for emission computation;
54  // in this case, we neglect dawdling, nonetheless, using
55  // vSafe does not incorporate speed reduction due to interaction
56  // on lane changing
57  const double vMin = getSpeedAfterMaxDecel(oldV);
58  const double vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
59 #ifdef _DEBUG
60  if (vMin > vMax) {
61  WRITE_WARNING("Maximum speed of vehicle '" + veh->getID() + "' is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
62  }
63 #endif
64  return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax, veh->getRNG())), vMax, *this);
65 }
66 
67 
68 double
69 MSCFModel_Daniel1::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double /*predMaxDecel*/, const MSVehicle* const /*pred*/) const {
70  return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed, veh));
71 }
72 
73 
74 double
75 MSCFModel_Daniel1::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double /*decel*/) const {
76  return MIN2(_vsafe(gap, 0), maxNextSpeed(speed, veh));
77 }
78 
79 
80 double
81 MSCFModel_Daniel1::dawdle(double speed, SumoRNG* rng) const {
82  return MAX2(0., speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand(rng)));
83 }
84 
85 
87 double MSCFModel_Daniel1::_vsafe(double gap, double predSpeed) const {
88  if (predSpeed == 0 && gap < 0.01) {
89  return 0;
90  }
91  double vsafe = (double)(-1. * myTauDecel
92  + sqrt(
94  + (predSpeed * predSpeed)
95  + (2. * myDecel * gap)
96  ));
97  assert(vsafe >= 0);
98  return vsafe;
99 }
100 
101 
102 MSCFModel*
104  return new MSCFModel_Daniel1(vtype);
105 }
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:280
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:49
@ SUMO_ATTR_TMP4
@ SUMO_ATTR_TMP3
@ SUMO_ATTR_TMP2
@ SUMO_ATTR_SIGMA
@ SUMO_ATTR_TMP1
@ SUMO_ATTR_TMP5
T MIN3(T a, T b, T c)
Definition: StdDefs.h:87
T MIN2(T a, T b)
Definition: StdDefs.h:74
T MAX2(T a, T b)
Definition: StdDefs.h:80
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
Definition: ToString.h:46
virtual double patchSpeed(const double min, const double wanted, const double max, const MSCFModel &cfModel)=0
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired ...
SumoRNG * getRNG() const
~MSCFModel_Daniel1()
Destructor.
virtual double stopSpeed(const MSVehicle *const veh, const double speed, double gap2pred, double decel) const
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
double myDawdle
The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
MSCFModel_Daniel1(const MSVehicleType *vtype)
Constructor.
virtual double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
Computes the vehicle's safe speed (no dawdling)
double myTauDecel
The precomputed value for myDecel*myTau.
virtual double dawdle(double speed, SumoRNG *rng) const
Applies driver imperfection (dawdling / sigma)
virtual double _vsafe(double gap, double predSpeed) const
Returns the "safe" velocity.
double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences.
The car-following model abstraction.
Definition: MSCFModel.h:55
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:237
double myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:647
double myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:644
virtual double getSpeedAfterMaxDecel(double v) const
Returns the velocity after maximum deceleration.
Definition: MSCFModel.h:364
double getVehicleMaxSpeed(const SUMOTrafficObject *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
Definition: MSLane.h:519
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:75
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:5051
double getSpeed() const
Returns the vehicle's current speed.
Definition: MSVehicle.h:462
double processNextStop(double currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:1515
const MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:552
The car-following model and parameter.
Definition: MSVehicleType.h:62
const std::string & getID() const
Returns the id.
Definition: Named.h:74
static double rand(SumoRNG *rng=nullptr)
Returns a random real number in [0, 1)
Definition: RandHelper.h:119
Structure representing possible vehicle parameter.