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Eclipse SUMO - Simulation of Urban MObility
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A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI. More...
#include <MSCFModel_CC.h>
Public Member Functions | |
double | calculateEmergencyDeceleration (double gap, double egoSpeed, double predSpeed, double predMaxDecel) const |
Returns the minimal deceleration for following the given leader safely. More... | |
VehicleVariables * | createVehicleVariables () const |
Returns model specific values which are stored inside a vehicle and must be used with casting. More... | |
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 | getACCAcceleration (const MSVehicle *veh) const |
returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front More... | |
enum Plexe::ACTIVE_CONTROLLER | getActiveController (const MSVehicle *veh) const |
return the currently active controller More... | |
double | getApparentDecel () const |
Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers. More... | |
double | getCACCConstantSpacing (const MSVehicle *veh) const |
returns CACC desired constant spacing More... | |
double | getCollisionMinGapFactor () const |
Get the factor of minGap that must be maintained to avoid a collision event. More... | |
double | getEmergencyDecel () const |
Get the vehicle type's maximal phisically possible deceleration [m/s^2]. More... | |
double | getMaxAccel () const |
Get the vehicle type's maximum acceleration [m/s^2]. More... | |
double | getMaxDecel () const |
Get the vehicle type's maximal comfortable 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... | |
int | getMyLanesCount () const |
returns the number of lanes set in the configuration file More... | |
virtual std::string | getParameter (const MSVehicle *veh, const std::string &key) const |
set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code More... | |
void | getRadarMeasurements (const MSVehicle *veh, double &distance, double &relativeSpeed) const |
return the data that is currently being measured by the radar More... | |
void | getVehicleInformation (const MSVehicle *veh, double &speed, double &acceleration, double &controllerAcceleration, Position &position, double &time) const |
get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles 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, double headway=-1) const |
Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More... | |
MSCFModel_CC (const MSVehicleType *vtype) | |
Constructor. More... | |
virtual void | setParameter (MSVehicle *veh, const std::string &key, const std::string &value) const |
try to set the given parameter for this carFollowingModel More... | |
void | switchOnACC (const MSVehicle *veh, double ccDesiredSpeed) const |
switch on the ACC, so disabling the human driver car control More... | |
~MSCFModel_CC () | |
Destructor. More... | |
Implementations of the MSCFModel interface | |
virtual double | finalizeSpeed (MSVehicle *const veh, double vPos) const |
Applies interaction with stops and lane changing model influences. More... | |
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) More... | |
virtual double | insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const |
Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints. More... | |
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 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 | 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 | interactionGap (const MSVehicle *const, double vL) const |
Returns the maximum gap at which an interaction between both vehicles occurs. More... | |
int | getModelID () const |
Returns the model's name. More... | |
Methods to override by model implementation | |
virtual double | patchSpeedBeforeLC (const MSVehicle *veh, double vMin, double vMax) const |
apply custom speed adaptations within the given speed bounds 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 | followSpeedTransient (double duration, const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const |
Computes the vehicle's follow speed that avoids a collision for the given amount of time. More... | |
Virtual methods with default implementation | |
virtual double | getImperfection () const |
Get the driver's imperfection. More... | |
virtual double | getHeadwayTime () const |
Get the driver's desired headway [s]. More... | |
Setter methods | |
virtual void | setMaxAccel (double accel) |
Sets a new value for maximum acceleration [m/s^2]. More... | |
virtual void | setMaxDecel (double decel) |
Sets a new value for maximal comfortable deceleration [m/s^2]. More... | |
virtual void | setEmergencyDecel (double decel) |
Sets a new value for maximal physically possible deceleration [m/s^2]. More... | |
virtual void | setApparentDecel (double decel) |
Sets a new value for the apparent deceleration [m/s^2]. More... | |
virtual void | setImperfection (double imperfection) |
Sets a new value for driver imperfection. More... | |
virtual void | setHeadwayTime (double headwayTime) |
Sets a new value for desired headway [s]. More... | |
Static Public Member Functions | |
static double | avoidArrivalAccel (double dist, double time, double speed, double maxDecel) |
Computes the acceleration needed to arrive not before the given time. More... | |
static double | distAfterTime (double t, double speed, double accel) |
calculates the distance travelled after accelerating for time t More... | |
static double | estimateArrivalTime (double dist, double speed, double maxSpeed, double accel) |
Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed. More... | |
static double | estimateArrivalTime (double dist, double initialSpeed, double arrivalSpeed, double maxSpeed, double accel, double decel) |
Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed. More... | |
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 | |
void | applyHeadwayAndSpeedDifferencePerceptionErrors (const MSVehicle *const veh, double speed, double &gap, double &predSpeed, double predMaxDecel, const MSVehicle *const pred) const |
Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,. More... | |
void | applyHeadwayPerceptionError (const MSVehicle *const veh, double speed, double &gap) const |
Overwrites gap by the perceived value obtained from the vehicle's driver state. 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 | myCollisionMinGapFactor |
The factor of minGap that must be maintained to avoid a collision event. 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... | |
const MSVehicleType * | myType |
The type to which this model definition belongs to. More... | |
Private Member Functions | |
double | _acc (const MSVehicle *veh, double egoSpeed, double predSpeed, double gap2pred, double headwayTime) const |
controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator More... | |
double | _cacc (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred, double leaderSpeed, double leaderAcceleration, double spacing) const |
controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator More... | |
double | _cc (const MSVehicle *veh, double egoSpeed, double desSpeed) const |
controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator More... | |
double | _consensus (const MSVehicle *veh, double egoSpeed, Position egoPosition, double time) const |
controller based on consensus strategy More... | |
double | _flatbed (const MSVehicle *veh, double egoAcceleration, double egoSpeed, double predSpeed, double gap2pred, double leaderSpeed) const |
flatbed platoon towing model More... | |
double | _ploeg (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred) const |
controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration. More... | |
double | _v (const MSVehicle *const veh, double gap2pred, double egoSpeed, double predSpeed) const |
double | d_i_j (const struct Plexe::VEHICLE_DATA *vehicles, const double h[MAX_N_CARS], int i, int j) const |
computes the desired distance between vehicle i and vehicle j More... | |
MSCFModel_CC & | operator= (const MSCFModel_CC &)=delete |
Invalidated assignment operator. More... | |
void | performAutoLaneChange (MSVehicle *const veh) const |
void | recomputeParameters (const MSVehicle *veh) const |
Recomputes controller related parameters after setting them. More... | |
void | resetConsensus (const MSVehicle *veh) const |
Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology. More... | |
Private Attributes | |
const double | myC1 |
design constant for CACC More... | |
const double | myCcAccel |
The maximum acceleration that the CC can output. More... | |
const double | myCcDecel |
The maximum deceleration that the CC can output. More... | |
const double | myConstantSpacing |
the constant gap for CACC More... | |
const double | myFlatbedD |
const double | myFlatbedH |
const double | myFlatbedKa |
flatbed CACC parameters More... | |
const double | myFlatbedKp |
const double | myFlatbedKv |
MSCFModel * | myHumanDriver |
the car following model which drives the car when automated cruising is disabled, i.e., the human driver More... | |
const double | myKp |
design constant for CC More... | |
const double | myLambda |
design constant for ACC More... | |
const int | myLanesCount |
number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps More... | |
const double | myOmegaN |
design constant for CACC More... | |
const double | myPloegH |
Ploeg's CACC parameters. More... | |
const double | myPloegKd |
const double | myPloegKp |
const double | myTau |
engine time constant used for actuation lag More... | |
const double | myXi |
design constant for CACC More... | |
Currently fixed methods | |
virtual double | minNextSpeedEmergency (double speed, const MSVehicle *const veh=0) const |
Returns the minimum speed after emergency braking, 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 tau (i.e. desired headway), assuming that during the reaction time, the speed remains constant. More... | |
virtual 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, const double actionStepLength) |
static double | brakeGap (const double speed, const double decel, const double headwayTime) |
static double | brakeGapEuler (const double speed, const double decel, const double headwayTime) |
A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI.
Definition at line 58 of file MSCFModel_CC.h.
MSCFModel_CC::MSCFModel_CC | ( | const MSVehicleType * | vtype | ) |
Constructor.
[in] | accel | The maximum acceleration that controllers can output (def. 1.5 m/s^2) |
[in] | decel | The maximum deceleration that ACC and CACC controllers can output (def. 6 m/s^2) |
[in] | ccDecel | The maximum deceleration that the CC can output (def. 1.5 m/s^2) |
[in] | headwayTime | the headway gap for ACC (be aware of instabilities) (def. 1.5 s) |
[in] | constantSpacing | the constant gap for CACC (def. 5 m) |
[in] | kp | design constant for CC (def. 1) |
[in] | lambda | design constant for ACC (def. 0.1) |
[in] | c1 | design constant for CACC (def. 0.5) |
[in] | xi | design constant for CACC (def. 1) |
[in] | omegaN | design constant for CACC (def. 0.2) |
[in] | tau | engine time constant used for actuation lag (def. 0.5 s) |
[in] | lanesCount | number of lanes of the highway |
[in] | ccAccel | the maximum acceleration the CC can apply |
Definition at line 42 of file MSCFModel_CC.cpp.
References myHumanDriver, myLanesCount, and WRITE_ERROR.
Referenced by duplicate().
MSCFModel_CC::~MSCFModel_CC | ( | ) |
Destructor.
Definition at line 74 of file MSCFModel_CC.cpp.
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private |
controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator
[in] | egoSpeed | vehicle current speed |
[in] | desSpeed | vehicle desired speed |
[in] | gap2pred | the distance to preceding vehicle |
[in] | headwayTime | the headway time ACC should maintain |
Definition at line 468 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::accLambda, and MSVehicle::getCarFollowVariables().
Referenced by _v(), getACCAcceleration(), and getModelID().
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controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator
[in] | egoSpeed | vehicle current speed |
[in] | desSpeed | vehicle desired speed |
[in] | predAcceleration | acceleration of preceding vehicle |
[in] | gap2pred | the distance to preceding vehicle |
[in] | leaderSpeed | the speed of the platoon leader |
[in] | leaderAcceleration | the acceleration of the platoon leader |
[in] | spacing | the spacing to be kept |
Definition at line 477 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, and MSVehicle::getCarFollowVariables().
Referenced by _v(), and getModelID().
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controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator
[in] | egoSpeed | vehicle current speed |
[in] | desSpeed | vehicle desired speed |
Definition at line 459 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::ccKp, MSVehicle::getCarFollowVariables(), myCcAccel, and myCcDecel.
Referenced by _v(), and getModelID().
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controller based on consensus strategy
[in] | egoSpeed | vehicle current speed |
[in] | egoPosition | vehicle current position |
[in] | time | current time |
Definition at line 527 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::b, d_i_j(), DELTA_T, Position::distanceTo2D(), MSVehicle::getCarFollowVariables(), MSVehicle::getVelocityVector(), CC_VehicleVariables::h, Plexe::VEHICLE_DATA::index, CC_VehicleVariables::K, CC_VehicleVariables::L, CC_VehicleVariables::nCars, CC_VehicleVariables::nInitialized, CC_VehicleVariables::position, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, Position::set(), Position::setx(), Position::sety(), sgn, Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, STEPS2TIME, Plexe::VEHICLE_DATA::time, CC_VehicleVariables::vehicles, Position::x(), and Position::y().
Referenced by _v(), and getModelID().
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flatbed platoon towing model
[in] | egoAcceleration | vehicle current acceleration |
[in] | egoSpeed | vehicle current speed |
[in] | predSpeed | front vehicle speed |
[in] | gap2pred | distance to front vehicle |
[in] | leaderSpeed | speed of leading vehicle |
Definition at line 601 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, and MSVehicle::getCarFollowVariables().
Referenced by _v(), and getModelID().
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controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration.
[in] | egoSpeed | vehicle current speed |
[in] | predSpeed | the speed of the front vehicle |
[in] | predAcceleration | acceleration of preceding vehicle |
[in] | gap2pred | the distance to preceding vehicle |
Definition at line 490 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, and TS.
Referenced by _v(), and getModelID().
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Definition at line 297 of file MSCFModel_CC.cpp.
References _acc(), _cacc(), _cc(), _consensus(), _flatbed(), _ploeg(), Plexe::ACC, ACCEL2SPEED, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, CC_VehicleVariables::autoFeed, Plexe::CACC, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::ccDesiredSpeed, Plexe::CONSENSUS, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, DELTA_T, Position::distanceTo2D(), Plexe::DRIVER, Plexe::FAKED_CACC, CC_VehicleVariables::fakeData, CC_VehicleVariables::fixedAcceleration, Plexe::FLATBED, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), getVehicleInformation(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, MAX2(), Plexe::PLOEG, STEPS2TIME, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, and CC_VehicleVariables::usePrediction.
Referenced by followSpeed(), freeSpeed(), getModelID(), and stopSpeed().
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protectedinherited |
Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in,out] | gap2pred | The (netto) distance to the LEADER |
[in,out] | predSpeed | The speed of LEADER |
[in] | pred | The leading vehicle (LEADER) |
Definition at line 983 of file MSCFModel.cpp.
References DEBUG_COND, MSCFModel::followSpeed(), MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, and UNUSED_PARAMETER.
Referenced by MSCFModel_Krauss::followSpeed(), and MSCFModel::setParameter().
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protectedinherited |
Overwrites gap by the perceived value obtained from the vehicle's driver state.
[in] | veh | The vehicle (EGO) |
[in] | speed | The vehicle's speed |
[in,out] | gap | The (netto) distance to the the obstacle |
Definition at line 1017 of file MSCFModel.cpp.
References DEBUG_COND, MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, MSCFModel::stopSpeed(), and UNUSED_PARAMETER.
Referenced by MSCFModel::setParameter(), and MSCFModel_Krauss::stopSpeed().
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Computes the acceleration needed to arrive not before the given time.
[in] | dist | - the distance of the critical point |
[in] | time | - the time after which an arrival at dist is allowed |
[in] | speed | - the current speed |
Definition at line 460 of file MSCFModel.cpp.
Referenced by MSLCM_SL2015::commitManoeuvre(), and MSCFModel::getSpeedAfterMaxDecel().
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Returns the distance the vehicle needs to halt including driver's reaction time tau (i.e. desired headway), assuming that during the reaction time, the speed remains constant.
[in] | speed | The vehicle's current speed |
Definition at line 313 of file MSCFModel.h.
References MSCFModel::brakeGapEuler(), MSCFModel::freeSpeed(), MSCFModel::myDecel, and MSCFModel::myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSPModel_Striping::addCrossingVehs(), MSVehicle::addStop(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkRewindLinkLanes(), MSCFModel::distAfterTime(), MSCFModel::followSpeedTransient(), MSVehicle::getBrakeGap(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), MSLane::getLeader(), MSVehicle::getLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChangerSublane::getLeaders(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSVehicle::getRerouteOrigin(), MSCFModel::getSecureGap(), MSVehicle::getSpaceTillLastStanding(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), MSVehicle::setBlinkerInformation(), and MSVehicle::unsafeLinkAhead().
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Definition at line 75 of file MSCFModel.cpp.
References MSCFModel::brakeGapEuler(), and MSGlobals::gSemiImplicitEulerUpdate.
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Definition at line 90 of file MSCFModel.cpp.
References ACCEL2SPEED, and SPEED2DIST.
Referenced by MSCFModel::brakeGap(), and MSLCM_SL2015::computeSpeedLat().
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Returns the minimal deceleration for following the given leader safely.
[in] | gap | 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 |
Definition at line 929 of file MSCFModel.cpp.
References ACCEL2SPEED, DEBUG_COND2, MSCFModel::myEmergencyDecel, and SIMTIME.
Referenced by MSCFModel::maximumSafeFollowSpeed(), and MSCFModel::setHeadwayTime().
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virtual |
Returns model specific values which are stored inside a vehicle and must be used with casting.
Reimplemented from MSCFModel.
Definition at line 77 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::accLambda, CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::caccXi, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::ccKp, CC_VehicleVariables::engine, CC_VehicleVariables::engineModel, CC_VehicleVariables::engineTau, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, FOLM_PAR_DT, FOLM_PAR_TAU, MSCFModel::myAccel, myC1, myConstantSpacing, MSCFModel::myDecel, myFlatbedD, myFlatbedH, myFlatbedKa, myFlatbedKp, myFlatbedKv, myKp, myLambda, myOmegaN, myPloegH, myPloegKd, myPloegKp, myTau, myXi, CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, GenericEngineModel::setMaximumAcceleration(), GenericEngineModel::setMaximumDeceleration(), GenericEngineModel::setParameter(), and TS.
Referenced by getModelID().
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private |
computes the desired distance between vehicle i and vehicle j
[in] | vehicles | data about all vehicles |
[in] | h | vector of times headway |
[in] | i | index of own vehicle |
[in] | j | index of vehicle to compute distance from |
Definition at line 501 of file MSCFModel_CC.cpp.
References Plexe::VEHICLE_DATA::length, and Plexe::VEHICLE_DATA::speed.
Referenced by _consensus(), and getModelID().
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staticinherited |
calculates the distance travelled after accelerating for time t
Definition at line 351 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.
Referenced by MSCFModel::followSpeedTransient(), and MSCFModel::getSpeedAfterMaxDecel().
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virtual |
Duplicates the car-following model.
[in] | vtype | The vehicle type this model belongs to (1:1) |
Implements MSCFModel.
Definition at line 1065 of file MSCFModel_CC.cpp.
References MSCFModel_CC().
Referenced by getModelID().
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staticinherited |
Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed.
[in] | dist | Distance to be covered (assumed >= 0.) |
[in] | speed | Initial speed of vehicle |
[in] | accel | Assumed acceleration until reaching maxspeed or speed=0. |
Definition at line 389 of file MSCFModel.cpp.
References INVALID_DOUBLE, and NUMERICAL_EPS.
Referenced by MSLCM_SL2015::commitManoeuvre(), MSDevice_SSM::estimateConflictTimes(), and MSCFModel::getSpeedAfterMaxDecel().
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staticinherited |
Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed.
[in] | dist | Distance to be covered (assumed >= 0.) |
[in] | initialSpeed | Initial speed of vehicle |
[in] | arrivalSpeed | desired arrival speed of vehicle |
[in] | accel | Assumed acceleration until reaching maxspeed. |
[in] | accel | Assumed deceleration until reaching targetspeed. |
Definition at line 428 of file MSCFModel.cpp.
References UNUSED_PARAMETER.
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inherited |
Definition at line 703 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), and MSCFModel::myType.
Referenced by MSVehicle::estimateLeaveSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getSpeedAfterMaxDecel(), MSLink::getZipperSpeed(), and MSVehicle::planMoveInternal().
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virtual |
Applies interaction with stops and lane changing model influences.
[in] | veh | The ego vehicle |
[in] | vPos | The possible velocity |
Reimplemented from MSCFModel.
Definition at line 166 of file MSCFModel_CC.cpp.
References ACCEL2SPEED, CC_VehicleVariables::activeController, CC_VehicleVariables::autoLaneChange, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, Plexe::DRIVER, CC_VehicleVariables::engine, MSCFModel::finalizeSpeed(), MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getCurrentTimeStep(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getMyStops(), GenericEngineModel::getRealAcceleration(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MAX2(), myHumanDriver, performAutoLaneChange(), MSVehicle::processNextStop(), MSBaseVehicle::setChosenSpeedFactor(), SPEED2ACCEL, CC_VehicleVariables::uMax, and CC_VehicleVariables::uMin.
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virtual |
Computes the vehicle's safe speed (no dawdling)
[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 211 of file MSCFModel_CC.cpp.
References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::followSpeed(), MSVehicle::getCarFollowVariables(), myHumanDriver, and UNUSED_PARAMETER.
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virtualinherited |
Computes the vehicle's follow speed that avoids a collision for the given amount of time.
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 |
[in] | predMaxDecel | The maximum leader decelration |
Definition at line 300 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::brakeGap(), DIST2SPEED, MSCFModel::distAfterTime(), gDebugFlag2, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::myDecel, SPEED2DIST, and TS.
Referenced by MSLCM_SL2015::commitFollowSpeed(), and MSCFModel::patchSpeedBeforeLC().
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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 from MSCFModel.
Definition at line 249 of file MSCFModel_CC.cpp.
References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::freeSpeed(), MSVehicle::getCarFollowVariables(), and getRadarMeasurements().
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staticinherited |
Definition at line 100 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 503 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.
Referenced by MSLCM_SL2015::checkBlockingVehicles(), MSCFModel::getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().
double MSCFModel_CC::getACCAcceleration | ( | const MSVehicle * | veh | ) | const |
returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front
Definition at line 1049 of file MSCFModel_CC.cpp.
References _acc(), CC_VehicleVariables::accHeadwayTime, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), and MSVehicle::getSpeed().
Referenced by getModelID(), and getParameter().
enum Plexe::ACTIVE_CONTROLLER MSCFModel_CC::getActiveController | ( | const MSVehicle * | veh | ) | const |
return the currently active controller
[in] | veh | the vehicle for which the action is requested |
Definition at line 1032 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::activeController, and MSVehicle::getCarFollowVariables().
Referenced by getModelID().
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inlineinherited |
Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.
Definition at line 234 of file MSCFModel.h.
References MSCFModel::myApparentDecel.
Referenced by MSVehicle::getCurrentApparentDecel(), libsumo::VehicleType::getIDCount(), libsumo::Vehicle::getNeighbors(), libsumo::Person::getParameter(), and MSVehicleType::setApparentDecel().
double MSCFModel_CC::getCACCConstantSpacing | ( | const MSVehicle * | veh | ) | const |
returns CACC desired constant spacing
[in] | veh | the vehicle to get constant spacing of |
Definition at line 612 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::caccSpacing, and MSVehicle::getCarFollowVariables().
Referenced by getModelID().
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inlineinherited |
Get the factor of minGap that must be maintained to avoid a collision event.
Definition at line 240 of file MSCFModel.h.
References MSCFModel::myCollisionMinGapFactor.
Referenced by MSLane::detectCollisionBetween().
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inlineinherited |
Get the vehicle type's maximal phisically possible deceleration [m/s^2].
Definition at line 226 of file MSCFModel.h.
References MSCFModel::myEmergencyDecel.
Referenced by MSLane::checkFailure(), MSLCM_SL2015::commitManoeuvre(), libsumo::VehicleType::getIDCount(), libsumo::Vehicle::getNeighbors(), libsumo::Person::getParameter(), MSLink::getZipperSpeed(), MSLane::handleCollisionBetween(), MSVehicleType::setEmergencyDecel(), and libsumo::VehicleType::setSpeedDeviation().
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inlinevirtualinherited |
Get the driver's desired headway [s].
Definition at line 259 of file MSCFModel.h.
References MSCFModel::maxNextSpeed(), MSCFModel::minNextSpeed(), MSCFModel::minNextSpeedEmergency(), and MSCFModel::myHeadwayTime.
Referenced by MSLaneChanger::changeOpposite(), MSVehicleType::check(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), MSVehicle::Influencer::gapControlSpeed(), libsumo::VehicleType::getIDCount(), libsumo::Vehicle::getLastActionTime(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), libsumo::Person::getParameter(), libsumo::Vehicle::openGap(), MSCalibrator::remainingVehicleCapacity(), MSDevice_ToC::requestToC(), and MSVehicleType::setTau().
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Get the driver's imperfection.
Reimplemented in MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.
Definition at line 251 of file MSCFModel.h.
Referenced by libsumo::VehicleType::getIDCount(), libsumo::Vehicle::getLastActionTime(), libsumo::Person::getParameter(), and MSVehicleType::setImperfection().
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inlineinherited |
Get the vehicle type's maximum acceleration [m/s^2].
Definition at line 210 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::commitManoeuvre(), MSLaneChanger::computeOvertakingTime(), MEVehicle::estimateLeaveSpeed(), MSVehicle::estimateLeaveSpeed(), libsumo::VehicleType::getIDCount(), MSCFModel::getMinimalArrivalTime(), libsumo::Vehicle::getNeighbors(), libsumo::Person::getParameter(), MSLink::getZipperSpeed(), MSLCM_LC2013::informFollower(), MSCFModel_KraussPS::maxNextSpeed(), maxNextSpeed(), MSCFModel::maxNextSpeed(), MSVehicle::planMoveInternal(), MSVehicleType::setAccel(), MSDevice_ToC::setState(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().
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Get the vehicle type's maximal comfortable deceleration [m/s^2].
Definition at line 218 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSPModel_Striping::addCrossingVehs(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkForPedestrians(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLink::couldBrakeForLeader(), MSCFModel::followSpeedTransient(), MSLane::freeInsertion(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), libsumo::VehicleType::getIDCount(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLane::getMissingRearGap(), libsumo::Vehicle::getNeighbors(), libsumo::Person::getParameter(), 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(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), MSVehicle::processNextStop(), MSAbstractLaneChangeModel::remainingTime(), MSLane::safeInsertionSpeed(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSVehicle::setBlinkerInformation(), MSVehicleType::setDecel(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), libsumo::VehicleType::setSpeedDeviation(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicle::updateState(), 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 477 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 484 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 376 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.
Implements MSCFModel.
Definition at line 156 of file MSCFModel_CC.h.
References _acc(), _cacc(), _cc(), _consensus(), _flatbed(), _ploeg(), _v(), createVehicleVariables(), d_i_j(), duplicate(), getACCAcceleration(), getActiveController(), getCACCConstantSpacing(), getMyLanesCount(), getParameter(), getRadarMeasurements(), getVehicleInformation(), MAX_N_CARS, performAutoLaneChange(), recomputeParameters(), resetConsensus(), setParameter(), SUMO_TAG_CF_CC, and switchOnACC().
int MSCFModel_CC::getMyLanesCount | ( | ) | const |
returns the number of lanes set in the configuration file
Definition at line 1060 of file MSCFModel_CC.cpp.
References myLanesCount.
Referenced by getModelID().
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virtual |
set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code
[in] | veh | the vehicle for which the data must be saved |
[in] | speed | the leader speed |
[in] | acceleration | the leader acceleration |
[in] | position | the position of the leader |
[in] | time | the time at which this data was read from leader's sensors try to get the given parameter for this carFollowingModel |
[in] | veh | the vehicle from which the parameter must be retrieved |
[in] | key | the key of the parameter |
Reimplemented from MSCFModel.
Definition at line 887 of file MSCFModel_CC.cpp.
References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::caccSpacing, CC_PAR_VEHICLE_DATA, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, CC_VehicleVariables::engine, getACCAcceleration(), MSVehicle::getAcceleration(), MSVehicle::getAngle(), MSVehicle::getCarFollowVariables(), MSRoute::getDistanceBetween(), MSBaseVehicle::getEdge(), MSLane::getEdge(), MSRoute::getEdges(), RealisticEngineModel::getEngineData(), MSNet::getInstance(), MSVehicle::getLane(), MSEdge::getLanes(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), getRadarMeasurements(), MSBaseVehicle::getRoute(), MSVehicle::getSpeed(), MSVehicle::getVelocityVector(), Plexe::VEHICLE_DATA::index, Plexe::VEHICLE_DATA::length, CC_VehicleVariables::nCars, PAR_ACC_ACCELERATION, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_CRASHED, PAR_DISTANCE_FROM_BEGIN, PAR_DISTANCE_TO_END, PAR_ENGINE_DATA, PAR_LANES_COUNT, PAR_RADAR_DATA, PAR_SPEED_AND_ACCELERATION, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, STEPS2TIME, ParBuffer::str(), Plexe::VEHICLE_DATA::time, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::vehicles, Position::x(), and Position::y().
Referenced by getModelID().
void MSCFModel_CC::getRadarMeasurements | ( | const MSVehicle * | veh, |
double & | distance, | ||
double & | relativeSpeed | ||
) | const |
return the data that is currently being measured by the radar
Definition at line 1037 of file MSCFModel_CC.cpp.
References MSBaseVehicle::getID(), MSNet::getInstance(), libsumo::Vehicle::getLeader(), SUMOTrafficObject::getSpeed(), MSVehicle::getSpeed(), MSVehicleControl::getVehicle(), and MSNet::getVehicleControl().
Referenced by freeSpeed(), getACCAcceleration(), getModelID(), getParameter(), and stopSpeed().
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inlinevirtualinherited |
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 |
Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_W99, MSCFModel_CACC, and MSCFModel_ACC.
Definition at line 328 of file MSCFModel.h.
References MSCFModel::brakeGap(), MAX2(), MSCFModel::myDecel, and MSCFModel::myHeadwayTime.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSCriticalFollowerDistanceInfo::addFollower(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLane::freeInsertion(), MSLaneChanger::getColumnleader(), MSLane::getMissingRearGap(), MSCFModel_CACC::getSecureGap(), MSCFModel_W99::getSecureGap(), MSCFModel_Wiedemann::getSecureGap(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MSLane::lastInsertion(), MSLCM_LC2013::overtakeDistance(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().
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inlinevirtualinherited |
Returns the velocity after maximum deceleration.
[in] | v | The velocity |
Reimplemented in MSCFModel_Rail.
Definition at line 341 of file MSCFModel.h.
References ACCEL2SPEED, MSCFModel::avoidArrivalAccel(), MSCFModel::distAfterTime(), MSCFModel::estimateArrivalTime(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel::gapExtrapolation(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MAX2(), MSCFModel::myDecel, MSCFModel::passingTime(), and MSCFModel::speedAfterTime().
Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_Daniel1::finalizeSpeed(), MSCFModel_SmartSK::followSpeed(), and MSCFModel_SmartSK::stopSpeed().
void MSCFModel_CC::getVehicleInformation | ( | const MSVehicle * | veh, |
double & | speed, | ||
double & | acceleration, | ||
double & | controllerAcceleration, | ||
Position & | position, | ||
double & | time | ||
) | const |
get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles
[in] | veh | the vehicle for which the data is requested |
[out] | speed | where the speed is written |
[out] | acceleration | where the acceleration is written |
[out] | controllerAcceleration | the last acceleration value computed by the controller will be written in this variable. This might be different from acceleration because of actuation lag |
Definition at line 618 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), MSVehicle::getSpeed(), and STEPS2TIME.
Referenced by _v(), and getModelID().
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virtual |
Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints.
Reimplemented from MSCFModel.
Definition at line 224 of file MSCFModel_CC.cpp.
References UNUSED_PARAMETER.
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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 290 of file MSCFModel.cpp.
References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().
Referenced by MSLane::isInsertionSuccess(), and MSCFModel::patchSpeedBeforeLC().
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virtual |
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 from MSCFModel.
Definition at line 264 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), MSCFModel::interactionGap(), and myHumanDriver.
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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 857 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::brakeGap(), MSCFModel::calculateEmergencyDeceleration(), DEBUG_COND2, EMERGENCY_DECEL_AMPLIFIER, MSGlobals::gComputeLC, MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myDecel, MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SIMTIME, and SPEED2ACCEL.
Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_ACC::followSpeed(), MSCFModel_CACC::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_CACC::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 712 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), and MSCFModel::maximumSafeStopSpeedEuler().
Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::addStop(), MSCFModel_Rail::followSpeed(), MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel::setHeadwayTime(), MSCFModel_Krauss::stopSpeed(), MSCFModel_W99::stopSpeed(), MSCFModel_Rail::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSCFModel_IDM::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 790 of file MSCFModel.cpp.
References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, MSCFModel::myEmergencyDecel, 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 762 of file MSCFModel.cpp.
References ACCEL2SPEED, MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.
Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel::setHeadwayTime().
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virtual |
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 from MSCFModel.
Definition at line 277 of file MSCFModel_CC.cpp.
References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), and MSCFModel::getMaxAccel().
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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 from MSCFModel.
Definition at line 287 of file MSCFModel_CC.cpp.
References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), MAX2(), and MSCFModel::minNextSpeed().
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virtualinherited |
Returns the minimum speed after emergency braking, 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 256 of file MSCFModel.cpp.
References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and MSCFModel::myEmergencyDecel.
Referenced by MSCFModel::finalizeSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel::getHeadwayTime(), and MSVehicle::Influencer::implicitSpeedRemote().
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privatedelete |
Invalidated assignment operator.
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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 597 of file MSCFModel.cpp.
References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), NUMERICAL_EPS, SPEED2ACCEL, TS, and WRITE_ERROR.
Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSDevice_SSM::checkConflictEntryAndExit(), MSCFModel::getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().
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apply custom speed adaptations within the given speed bounds
Reimplemented in MSCFModel_SmartSK, MSCFModel_KraussOrig1, MSCFModel_Krauss, and MSCFModel_KraussX.
Definition at line 89 of file MSCFModel.h.
References MSCFModel::duplicate(), MSCFModel::followSpeed(), MSCFModel::followSpeedTransient(), MSCFModel::freeSpeed(), MSCFModel::getModelID(), MSCFModel::insertionFollowSpeed(), MSCFModel::insertionStopSpeed(), MSCFModel::interactionGap(), MSCFModel::stopSpeed(), and UNUSED_PARAMETER.
Referenced by MSCFModel::finalizeSpeed().
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Definition at line 112 of file MSCFModel_CC.cpp.
References libsumo::Vehicle::changeLane(), MSVehicle::getCarFollowVariables(), MSBaseVehicle::getID(), libsumo::Vehicle::getLaneChangeState(), MSVehicle::getLaneIndex(), LCA_BLOCKED, LCA_KEEPRIGHT, LCA_LEFT, LCA_RIGHT, LCA_SPEEDGAIN, and CC_VehicleVariables::members.
Referenced by finalizeSpeed(), and getModelID().
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Recomputes controller related parameters after setting them.
Definition at line 1009 of file MSCFModel_CC.cpp.
References CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccXi, and MSVehicle::getCarFollowVariables().
Referenced by getModelID(), and setParameter().
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Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology.
Definition at line 1018 of file MSCFModel_CC.cpp.
References MSVehicle::getCarFollowVariables(), CC_VehicleVariables::initialized, MAX_N_CARS, and CC_VehicleVariables::nInitialized.
Referenced by getModelID().
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inlinevirtualinherited |
Sets a new value for the apparent deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Definition at line 490 of file MSCFModel.h.
References MSCFModel::myApparentDecel.
Referenced by MSVehicleType::setApparentDecel().
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Sets a new value for maximal physically possible deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Definition at line 482 of file MSCFModel.h.
References MSCFModel::myEmergencyDecel.
Referenced by MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setEmergencyDecel().
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Sets a new value for desired headway [s].
[in] | headwayTime | The new desired headway (in s) |
Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.
Definition at line 506 of file MSCFModel.h.
References MSCFModel::calculateEmergencyDeceleration(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), and MSCFModel::myHeadwayTime.
Referenced by MSVehicle::Influencer::gapControlSpeed(), MSCFModel_CACC::MSCFModel_CACC(), and MSVehicleType::setTau().
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Sets a new value for driver imperfection.
[in] | accel | The new driver imperfection |
Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.
Definition at line 498 of file MSCFModel.h.
References UNUSED_PARAMETER.
Referenced by MSVehicleType::setImperfection().
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Sets a new value for maximum acceleration [m/s^2].
[in] | accel | The new acceleration in m/s^2 |
Definition at line 466 of file MSCFModel.h.
References MSCFModel::myAccel.
Referenced by MSVehicleType::setAccel(), and MSDevice_ToC::setState().
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Sets a new value for maximal comfortable deceleration [m/s^2].
[in] | decel | The new deceleration in m/s^2 |
Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.
Definition at line 474 of file MSCFModel.h.
References MSCFModel::myDecel.
Referenced by MSLCM_SL2015::commitFollowSpeed(), MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setDecel().
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try to set the given parameter for this carFollowingModel
[in] | veh | the vehicle for which the parameter must be set |
[in] | key | the key of the parameter |
[in] | value | the value to be set for the given parameter |
Reimplemented from MSCFModel.
Definition at line 627 of file MSCFModel_CC.cpp.
References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::autoFeed, CC_VehicleVariables::autoLaneChange, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::caccXi, CC_ENGINE_MODEL_FOLM, CC_ENGINE_MODEL_REALISTIC, CC_PAR_CACC_C1, CC_PAR_CACC_OMEGA_N, CC_PAR_CACC_XI, CC_PAR_ENGINE_TAU, CC_PAR_FLATBED_D, CC_PAR_FLATBED_H, CC_PAR_FLATBED_KA, CC_PAR_FLATBED_KP, CC_PAR_FLATBED_KV, CC_PAR_PLATOON_SIZE, CC_PAR_PLOEG_H, CC_PAR_PLOEG_KD, CC_PAR_PLOEG_KP, CC_PAR_UMAX, CC_PAR_UMIN, CC_PAR_VEHICLE_DATA, CC_PAR_VEHICLE_ENGINE_MODEL, CC_PAR_VEHICLE_MODEL, CC_PAR_VEHICLE_POSITION, CC_PAR_VEHICLES_FILE, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::engine, ENGINE_PAR_DT, ENGINE_PAR_VEHICLE, ENGINE_PAR_XMLFILE, CC_VehicleVariables::engineModel, CC_VehicleVariables::engineTau, CC_VehicleVariables::fakeData, CC_VehicleVariables::fixedAcceleration, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, FOLM_PAR_DT, FOLM_PAR_TAU, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::frontAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::frontPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, CC_VehicleVariables::frontVelocity, MSVehicle::getCarFollowVariables(), MSBaseVehicle::getID(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicleControl::getVehicle(), MSNet::getVehicleControl(), Plexe::VEHICLE_DATA::index, CC_VehicleVariables::initialized, ParBuffer::last_empty(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::leaderAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::leaderInitialized, CC_VehicleVariables::leaderPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, CC_VehicleVariables::leaderVelocity, Plexe::VEHICLE_DATA::length, MAX_N_CARS, CC_VehicleVariables::members, MSCFModel::myAccel, MSCFModel::myDecel, CC_VehicleVariables::nCars, CC_VehicleVariables::nInitialized, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_ADD_MEMBER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_ENABLE_AUTO_LANE_CHANGE, PAR_FIXED_ACCELERATION, PAR_FRONT_FAKE_DATA, PAR_LEADER_FAKE_DATA, PAR_LEADER_SPEED_AND_ACCELERATION, PAR_PRECEDING_SPEED_AND_ACCELERATION, PAR_REMOVE_MEMBER, PAR_USE_AUTO_FEEDING, PAR_USE_CONTROLLER_ACCELERATION, PAR_USE_PREDICTION, CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, CC_VehicleVariables::position, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, recomputeParameters(), GenericEngineModel::setMaximumAcceleration(), GenericEngineModel::setMaximumDeceleration(), GenericEngineModel::setParameter(), MSVehicle::Influencer::setSpeedMode(), Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, Plexe::VEHICLE_DATA::time, StringUtils::toDouble(), StringUtils::toInt(), TS, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::uMax, CC_VehicleVariables::uMin, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, CC_VehicleVariables::usePrediction, CC_VehicleVariables::vehicles, and WRITE_WARNING.
Referenced by getModelID().
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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 674 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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Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
[in] | veh | The vehicle (EGO) |
[in] | gap2pred | The (netto) distance to the the obstacle |
Implements MSCFModel.
Definition at line 234 of file MSCFModel_CC.cpp.
References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), myHumanDriver, and MSCFModel::stopSpeed().
void MSCFModel_CC::switchOnACC | ( | const MSVehicle * | veh, |
double | ccDesiredSpeed | ||
) | const |
switch on the ACC, so disabling the human driver car control
[in] | veh | the vehicle for which the ACC must be switched on |
[in] | ccDesiredSpeed | the cruise control speed |
Definition at line 1026 of file MSCFModel_CC.cpp.
References Plexe::ACC, CC_VehicleVariables::activeController, CC_VehicleVariables::ccDesiredSpeed, and MSVehicle::getCarFollowVariables().
Referenced by getModelID().
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protectedinherited |
The vehicle's maximum acceleration [m/s^2].
Definition at line 616 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), createVehicleVariables(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_Daniel1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_Krauss::dawdle2(), MSCFModel_KraussX::dawdleX(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), MSCFModel::getMaxAccel(), MSCFModel_IDM::interactionGap(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_W99::MSCFModel_W99(), MSCFModel::setMaxAccel(), setParameter(), and MSCFModel_PWag2009::stopSpeed().
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The vehicle's deceleration as expected by surrounding traffic [m/s^2].
Definition at line 623 of file MSCFModel.h.
Referenced by MSCFModel::getApparentDecel(), and MSCFModel::setApparentDecel().
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design constant for CACC
Definition at line 372 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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The maximum acceleration that the CC can output.
Definition at line 360 of file MSCFModel_CC.h.
Referenced by _cc().
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The maximum deceleration that the CC can output.
Definition at line 357 of file MSCFModel_CC.h.
Referenced by _cc().
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protectedinherited |
The factor of minGap that must be maintained to avoid a collision event.
Definition at line 625 of file MSCFModel.h.
Referenced by MSCFModel::getCollisionMinGapFactor(), MSCFModel_ACC::MSCFModel_ACC(), MSCFModel_CACC::MSCFModel_CACC(), MSCFModel_IDM::MSCFModel_IDM(), and MSCFModel_W99::MSCFModel_W99().
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the constant gap for CACC
Definition at line 363 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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protectedinherited |
The vehicle's maximum deceleration [m/s^2].
Definition at line 619 of file MSCFModel.h.
Referenced by MSCFModel_Kerner::_v(), MSCFModel_Daniel1::_vsafe(), MSCFModel_SmartSK::_vsafe(), MSCFModel::brakeGap(), createVehicleVariables(), MSCFModel_PWag2009::followSpeed(), MSCFModel::followSpeedTransient(), MSCFModel_Rail::freeSpeed(), MSCFModel::freeSpeed(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), MSCFModel::interactionGap(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel::minNextSpeed(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel::setMaxDecel(), setParameter(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().
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protectedinherited |
The vehicle's maximum emergency deceleration [m/s^2].
Definition at line 621 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel::calculateEmergencyDeceleration(), MSCFModel_Wiedemann::emergency(), MSCFModel::getEmergencyDecel(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::minNextSpeedEmergency(), and MSCFModel::setEmergencyDecel().
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Definition at line 397 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Definition at line 396 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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flatbed CACC parameters
Definition at line 393 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Definition at line 395 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Definition at line 394 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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protectedinherited |
The driver's desired time headway (aka reaction time tau) [s].
Definition at line 628 of file MSCFModel.h.
Referenced by MSCFModel_IDM::_v(), MSCFModel_ACC::accelGapControl(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_PWag2009::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_ACC::getSecureGap(), MSCFModel_CACC::getSecureGap(), MSCFModel_IDM::getSecureGap(), MSCFModel::getSecureGap(), MSCFModel_IDM::insertionFollowSpeed(), MSCFModel::interactionGap(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_W99::MSCFModel_W99(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_CACC::speedGapControl(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().
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the car following model which drives the car when automated cruising is disabled, i.e., the human driver
Definition at line 354 of file MSCFModel_CC.h.
Referenced by finalizeSpeed(), followSpeed(), interactionGap(), MSCFModel_CC(), and stopSpeed().
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design constant for CC
Definition at line 366 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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design constant for ACC
Definition at line 369 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps
Definition at line 385 of file MSCFModel_CC.h.
Referenced by getMyLanesCount(), and MSCFModel_CC().
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design constant for CACC
Definition at line 378 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Ploeg's CACC parameters.
Definition at line 388 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Definition at line 390 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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Definition at line 389 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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engine time constant used for actuation lag
Definition at line 381 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().
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protectedinherited |
The type to which this model definition belongs to.
Definition at line 613 of file MSCFModel.h.
Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_W99::computeThresholds(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel_W99::followSpeed(), MSCFModel_Wiedemann::getSecureGap(), MSCFModel::insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel::maxNextSpeed().
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design constant for CACC
Definition at line 375 of file MSCFModel_CC.h.
Referenced by createVehicleVariables().