Eclipse SUMO - Simulation of Urban MObility
MSCFModel_ACC.h
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1 /****************************************************************************/
2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3 // Copyright (C) 2001-2019 German Aerospace Center (DLR) and others.
4 // This program and the accompanying materials
5 // are made available under the terms of the Eclipse Public License v2.0
6 // which accompanies this distribution, and is available at
7 // http://www.eclipse.org/legal/epl-v20.html
8 // SPDX-License-Identifier: EPL-2.0
9 /****************************************************************************/
14 // ACC car-following model based on [1], [2].
15 // [1] Milanes, V., and S. E. Shladover. Handling Cut-In Vehicles in Strings
16 // of Cooperative Adaptive Cruise Control Vehicles. Journal of Intelligent
17 // Transportation Systems, Vol. 20, No. 2, 2015, pp. 178-191.
18 // [2] Xiao, L., M. Wang and B. van Arem. Realistic Car-Following Models for
19 // Microscopic Simulation of Adaptive and Cooperative Adaptive Cruise
20 // Control Vehicles. Transportation Research Record: Journal of the
21 // Transportation Research Board, No. 2623, 2017. (DOI: 10.3141/2623-01).
22 /****************************************************************************/
23 #ifndef MSCFModel_ACC_H
24 #define MSCFModel_ACC_H
25 
26 // ===========================================================================
27 // included modules
28 // ===========================================================================
29 #include <config.h>
30 
31 #include "MSCFModel.h"
33 
34 // ===========================================================================
35 // class declarations
36 // ===========================================================================
37 class MSVehicle;
38 class MSVehicleType;
39 class MSCFModel_CACC;
40 
41 // ===========================================================================
42 // class definitions
43 // ===========================================================================
48 class MSCFModel_ACC : public MSCFModel {
49 public:
53  MSCFModel_ACC(const MSVehicleType* vtype);
54 
57 
58 
61 
70  double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
71 
72 
80  double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred) const;
81 
88  double getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
89 
98  double insertionFollowSpeed(const MSVehicle* const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
99 
100 
110  double interactionGap(const MSVehicle* const, double vL) const;
111 
112 
117  int getModelID() const {
118  return SUMO_TAG_CF_ACC;
119  }
121 
122 
123 
128  MSCFModel* duplicate(const MSVehicleType* vtype) const;
129 
132  ret->ACC_ControlMode = 0;
133  ret->lastUpdateTime = 0;
134  return ret;
135  }
136 
137  friend class MSCFModel_CACC;
138 
139 private:
141  public:
146  };
147 
148 
149 private:
150  double _v(const MSVehicle* const veh, const double gap2pred, const double mySpeed,
151  const double predSpeed, const double desSpeed, const bool respectMinGap = true) const;
152 
153  double accelSpeedControl(double vErr) const;
154  double accelGapControl(const MSVehicle* const veh, const double gap2pred, const double speed, const double predSpeed, double vErr) const;
155 
156 
157 private:
165 
166 private:
169 };
170 
171 #endif /* MSCFModel_ACC_H */
MSVehicleType
The car-following model and parameter.
Definition: MSVehicleType.h:65
MSCFModel_ACC::accelGapControl
double accelGapControl(const MSVehicle *const veh, const double gap2pred, const double speed, const double predSpeed, double vErr) const
Definition: MSCFModel_ACC.cpp:169
MSCFModel_ACC::myCollisionAvoidanceGainSpeed
double myCollisionAvoidanceGainSpeed
Definition: MSCFModel_ACC.h:163
MSCFModel_ACC::myCollisionAvoidanceGainSpace
double myCollisionAvoidanceGainSpace
Definition: MSCFModel_ACC.h:164
MSCFModel_ACC::createVehicleVariables
VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
Definition: MSCFModel_ACC.h:130
MSCFModel_ACC::ACCVehicleVariables::lastUpdateTime
SUMOTime lastUpdateTime
Definition: MSCFModel_ACC.h:145
MSCFModel_ACC::interactionGap
double interactionGap(const MSVehicle *const, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
Definition: MSCFModel_ACC.cpp:159
MSCFModel_ACC::_v
double _v(const MSVehicle *const veh, const double gap2pred, const double mySpeed, const double predSpeed, const double desSpeed, const bool respectMinGap=true) const
Definition: MSCFModel_ACC.cpp:203
MSCFModel_ACC::myGapClosingControlGainSpeed
double myGapClosingControlGainSpeed
Definition: MSCFModel_ACC.h:159
MSCFModel_ACC::getSecureGap
double getSecureGap(const MSVehicle *const veh, const MSVehicle *const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const
Returns the a gap such that the gap mode acceleration of the follower is zero.
Definition: MSCFModel_ACC.cpp:118
SUMOTime
long long int SUMOTime
Definition: SUMOTime.h:34
MSCFModel_ACC::ACCVehicleVariables::ACCVehicleVariables
ACCVehicleVariables()
Definition: MSCFModel_ACC.h:142
MSCFModel_CACC
The CACC car-following model.
Definition: MSCFModel_CACC.h:48
MSCFModel_ACC::mySpeedControlGain
double mySpeedControlGain
Definition: MSCFModel_ACC.h:158
MSCFModel_ACC::myGapControlGainSpace
double myGapControlGainSpace
Definition: MSCFModel_ACC.h:162
MSCFModel_ACC::accelSpeedControl
double accelSpeedControl(double vErr) const
Definition: MSCFModel_ACC.cpp:164
MSCFModel_ACC::myGapClosingControlGainSpace
double myGapClosingControlGainSpace
Definition: MSCFModel_ACC.h:160
SUMO_TAG_CF_ACC
@ SUMO_TAG_CF_ACC
Definition: SUMOXMLDefinitions.h:287
MSCFModel_ACC::followSpeed
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)
Definition: MSCFModel_ACC.cpp:95
MSCFModel_ACC::getModelID
int getModelID() const
Returns the model's name.
Definition: MSCFModel_ACC.h:117
MSCFModel_ACC::insertionFollowSpeed
double insertionFollowSpeed(const MSVehicle *const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
Computes the vehicle's acceptable speed at insertion.
Definition: MSCFModel_ACC.cpp:128
MSCFModel_ACC::operator=
MSCFModel_ACC & operator=(const MSCFModel_ACC &s)
Invalidated assignment operator.
MSCFModel_ACC
The ACC car-following model.
Definition: MSCFModel_ACC.h:48
MSCFModel_ACC::ACCVehicleVariables
Definition: MSCFModel_ACC.h:140
MSCFModel_ACC::~MSCFModel_ACC
~MSCFModel_ACC()
Destructor.
Definition: MSCFModel_ACC.cpp:91
MSCFModel_ACC::ACCVehicleVariables::ACC_ControlMode
int ACC_ControlMode
The vehicle's ACC control mode. 0 for speed control and 1 for gap control.
Definition: MSCFModel_ACC.h:144
MSCFModel_ACC::myGapControlGainSpeed
double myGapControlGainSpeed
Definition: MSCFModel_ACC.h:161
MSCFModel::VehicleVariables
Definition: MSCFModel.h:60
MSCFModel.h
MSCFModel_ACC::MSCFModel_ACC
MSCFModel_ACC(const MSVehicleType *vtype)
Constructor.
Definition: MSCFModel_ACC.cpp:78
MSCFModel
The car-following model abstraction.
Definition: MSCFModel.h:56
config.h
MSCFModel_ACC::stopSpeed
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)
Definition: MSCFModel_ACC.cpp:109
MSCFModel_ACC::duplicate
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
Definition: MSCFModel_ACC.cpp:277
SUMOXMLDefinitions.h
MSVehicle
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:79