35 #define sgn(x) ((x > 0) - (x < 0))
64 throw ProcessError(
"The number of lanes needs to be specified in the attributes of carFollowing-CC with the \"lanesCount\" attribute");
114 std::pair<int, int> state = libsumo::Vehicle::getLaneChangeState(veh->
getID(), +1);
115 int traciState = state.first;
121 for (
auto m = vars->
members.begin(); m != vars->
members.end(); m++) {
122 const std::pair<int, int> mState = libsumo::Vehicle::getLaneChangeState(m->second, +1);
130 for (
auto m = vars->
members.begin(); m != vars->
members.end(); m++) {
131 libsumo::Vehicle::changeLane(m->second, veh->
getLaneIndex() + 1, 0);
137 state = libsumo::Vehicle::getLaneChangeState(veh->
getID(), -1);
138 traciState = state.first;
144 for (
auto m = vars->
members.begin(); m != vars->
members.end(); m++) {
145 const std::pair<int, int> mState = libsumo::Vehicle::getLaneChangeState(m->second, -1);
153 for (
auto m = vars->
members.begin(); m != vars->
members.end(); m++) {
154 libsumo::Vehicle::changeLane(m->second, veh->
getLaneIndex() - 1, 1);
167 double controllerAcceleration;
169 double engineAcceleration;
195 controllerAcceleration = std::min(vars->
uMax, std::max(vars->
uMin, controllerAcceleration));
215 return _v(veh, gap2pred, speed, predSpeed);
236 double gap2pred, relSpeed;
238 if (gap2pred == -1) {
239 gap2pred = std::numeric_limits<double>().max();
241 return _v(veh, gap2pred, speed, speed + relSpeed);
250 double gap2pred, relSpeed;
252 if (gap2pred == -1) {
253 gap2pred = std::numeric_limits<double>().max();
255 return _v(veh, gap2pred, speed, speed + relSpeed);
304 double ccAcceleration;
306 double accAcceleration;
308 double caccAcceleration;
310 double predAcceleration, leaderAcceleration, leaderSpeed;
324 if (gap2pred > 250 || ccAcceleration < accAcceleration) {
325 controllerAcceleration = ccAcceleration;
327 controllerAcceleration = accAcceleration;
353 controllerAcceleration =
_cacc(veh, egoSpeed, predSpeed, predAcceleration, gap2pred, leaderSpeed, leaderAcceleration, vars->
caccSpacing);
357 controllerAcceleration = 0;
382 controllerAcceleration = std::min(ccAcceleration, caccAcceleration);
403 controllerAcceleration = 0;
432 controllerAcceleration = 0;
438 std::cerr <<
"Switching to normal driver behavior still not implemented in MSCFModel_CC\n";
443 std::cerr <<
"Invalid controller selected in MSCFModel_CC\n";
451 speed =
MAX2(
double(0), egoSpeed +
ACCEL2SPEED(controllerAcceleration));
470 return -1.0 / headwayTime * (egoSpeed - predSpeed + vars->
accLambda * (-gap2pred + headwayTime * egoSpeed + 2));
475 MSCFModel_CC::_cacc(
const MSVehicle* veh,
double egoSpeed,
double predSpeed,
double predAcceleration,
double gap2pred,
double leaderSpeed,
double leaderAcceleration,
double spacing)
const {
478 double epsilon = -gap2pred + spacing;
480 double epsilon_dot = egoSpeed - predSpeed;
490 return (1 / vars->
ploegH * (
512 for (k = min_i; k <= max_i; k++) {
513 d += h[k] * vehicles[0].
speed + vehicles[k].
length + 15;
531 int nCars = vars->
nCars;
539 double actualDistance = 0;
541 double desiredDistance = 0;
543 double speedError = 0;
563 speedError = -vars->
b[
index] * (egoSpeed - vehicles[0].
speed);
566 for (j = 0; j < nCars; j++) {
573 desiredDistance = desiredDistance / d_i;
576 for (j = 0; j < nCars; j++) {
582 double dt =
time - vehicles[j].
time;
587 actualDistance -= vars->
K[
index][j] * vars->
L[
index][j] * distance;
590 actualDistance = actualDistance / (d_i);
593 u_i = (speedError + desiredDistance + actualDistance) / 1000;
600 double gap2pred,
double leaderSpeed)
const {
604 vars->
flatbedKv * (predSpeed - egoSpeed) +
700 std::stringstream warn;
701 warn <<
"MSCFModel_CC: setting a number of cars of " << vars->
nCars <<
" out of a maximum of " <<
MAX_N_CARS <<
702 ". The CONSENSUS controller will not work properly if chosen. If you are using a different controller " <<
703 "you can ignore this warning";
711 buf >>
id >> position;
716 for (
auto item = vars->
members.begin(); item != vars->
members.end(); item++)
717 if (item->second.compare(value) == 0) {
793 switch (engineModel) {
848 std::string leaderId, frontId;
855 throw InvalidArgument(
"Trying to enable auto feeding without providing leader vehicle id");
863 throw InvalidArgument(
"Trying to enable auto feeding without providing front vehicle id");
880 throw InvalidArgument(
"Invalid value '" + value +
"' for parameter '" + key +
"' for vehicle '" + veh->
getID() +
"'");
897 velocity.
x() << velocity.
y() << veh->
getAngle();
901 return vars->
crashed ?
"1" :
"0";
904 double distance, relSpeed;
906 buf << distance << relSpeed;
917 const MSEdge* currentEdge;
921 double positionOnEdge;
923 double distanceToEnd;
927 lastEdge = route->
getEdges().back();
931 buf << distanceToEnd;
938 const MSEdge* currentEdge;
942 double positionOnEdge;
944 double distanceFromBegin;
948 firstEdge = route->
getEdges().front();
950 distanceFromBegin = route->
getDistanceBetween(0, positionOnEdge, firstEdge, currentEdge);
952 buf << distanceFromBegin;
1001 buf << (gear + 1) << rpm;
1036 std::pair<std::string, double> l = libsumo::Vehicle::getLeader(veh->
getID(), 250);
1041 distance = l.second;
1049 double distance, relSpeed;
#define ENGINE_PAR_XMLFILE
#define PAR_FIXED_ACCELERATION
#define PAR_REMOVE_MEMBER
#define CC_PAR_CACC_OMEGA_N
#define CC_PAR_FLATBED_KP
#define PAR_FRONT_FAKE_DATA
#define PAR_SPEED_AND_ACCELERATION
#define CC_ENGINE_MODEL_REALISTIC
#define CC_PAR_FLATBED_KV
#define PAR_USE_PREDICTION
#define PAR_DISTANCE_TO_END
#define CC_ENGINE_MODEL_FOLM
#define CC_PAR_VEHICLE_MODEL
#define PAR_PRECEDING_SPEED_AND_ACCELERATION
#define PAR_ACTIVE_CONTROLLER
#define PAR_LEADER_SPEED_AND_ACCELERATION
#define CC_PAR_PLATOON_SIZE
#define CC_PAR_VEHICLE_POSITION
#define CC_PAR_FLATBED_KA
#define CC_PAR_VEHICLE_ENGINE_MODEL
#define PAR_USE_AUTO_FEEDING
#define PAR_CC_DESIRED_SPEED
#define CC_PAR_VEHICLES_FILE
#define PAR_LEADER_FAKE_DATA
#define PAR_ACC_HEADWAY_TIME
#define PAR_DISTANCE_FROM_BEGIN
#define ENGINE_PAR_VEHICLE
#define CC_PAR_ENGINE_TAU
#define PAR_USE_CONTROLLER_ACCELERATION
#define PAR_ACC_ACCELERATION
#define CC_PAR_VEHICLE_DATA
#define PAR_ENABLE_AUTO_LANE_CHANGE
#define WRITE_WARNING(msg)
@ LCA_KEEPRIGHT
The action is due to the default of keeping right "Rechtsfahrgebot".
@ LCA_BLOCKED
blocked in all directions
@ LCA_LEFT
Wants go to the left.
@ LCA_SPEEDGAIN
The action is due to the wish to be faster (tactical lc)
@ LCA_RIGHT
Wants go to the right.
@ SUMO_ATTR_CF_CC_FLATBED_KP
@ SUMO_ATTR_CF_CC_FLATBED_D
@ SUMO_ATTR_CF_CC_FLATBED_KA
@ SUMO_ATTR_CF_CC_PLOEG_KP
@ SUMO_ATTR_CF_CC_PLOEG_H
@ SUMO_ATTR_CF_CC_CCACCEL
@ SUMO_ATTR_CF_CC_PLOEG_KD
@ SUMO_ATTR_CF_CC_CCDECEL
@ SUMO_ATTR_CF_CC_FLATBED_H
@ SUMO_ATTR_CF_CC_LANES_COUNT
@ SUMO_ATTR_CF_CC_CONSTSPACING
@ SUMO_ATTR_CF_CC_FLATBED_KV
#define UNUSED_PARAMETER(x)
int nInitialized
count of initialized vehicles
bool autoFeed
determines whether CACC should automatically fetch data about other vehicles
struct FAKE_CONTROLLER_DATA fakeData
fake controller data.
MSVehicle * frontVehicle
front sumo id, used for auto feeding
double accHeadwayTime
headway time for ACC
bool initialized[MAX_N_CARS]
tells whether data about a certain vehicle has been initialized
double frontSpeed
current front vehicle speed
double K[MAX_N_CARS][MAX_N_CARS]
K matrix.
struct Plexe::VEHICLE_DATA vehicles[MAX_N_CARS]
data about vehicles in the platoon
int position
my position within the platoon (0 = first car)
double frontAcceleration
current front vehicle acceleration (used by CACC)
bool frontInitialized
@did we receive at least one packet?
double leaderDataReadTime
when leader data has been readed from GPS
bool usePrediction
enable/disable data prediction (interpolation) for missing data
std::map< int, std::string > members
list of members belonging to my platoon
double leaderControllerAcceleration
platoon's leader controller acceleration (used by CACC)
double controllerAcceleration
acceleration as computed by the controller, to be sent to other vehicles
int L[MAX_N_CARS][MAX_N_CARS]
L matrix.
double caccXi
controller related parameters
double frontControllerAcceleration
front vehicle controller acceleration (used by CACC)
double b[MAX_N_CARS]
vector of damping ratios b
GenericEngineModel * engine
engine model employed by this car
int nCars
number of cars in the platoon
double leaderSpeed
platoon's leader speed (used by CACC)
double leaderAngle
platoon's leader angle in radians
enum Plexe::ACTIVE_CONTROLLER activeController
currently active controller
bool leaderInitialized
@did we receive at least one packet?
double caccSpacing
fixed spacing for CACC
Position frontVelocity
front vehicle velocity vector
double ccDesiredSpeed
CC desired speed.
double h[MAX_N_CARS]
vector of time headways h
Position frontPosition
current front vehicle position
double leaderAcceleration
platoon's leader acceleration (used by CACC)
bool autoLaneChange
automatic whole platoon lane change
Position leaderVelocity
platoon's leader velocity vector
double frontAngle
front vehicle angle in radians
double frontDataReadTime
when front vehicle data has been readed from GPS
int engineModel
numeric value indicating the employed model
MSVehicle * leaderVehicle
leader vehicle, used for auto feeding
Position leaderPosition
platoon's leader position
bool useControllerAcceleration
determines whether PATH's CACC should use the real vehicle acceleration or the controller computed on...
void setMaximumDeceleration(double maxAcceleration_mpsps)
virtual double getRealAcceleration(double speed_mps, double accel_mps2, double reqAccel_mps2, SUMOTime timeStep=0)=0
virtual void setParameter(const std::string parameter, const std::string &value)=0
void setMaximumAcceleration(double maxAcceleration_mpsps)
void setChosenSpeedFactor(const double factor)
Returns the precomputed factor by which the driver wants to be faster than the speed limit.
const std::list< MSStop > & getStops() const
const MSEdge * getEdge() const
Returns the edge the vehicle is currently at.
const MSRoute & getRoute() const
Returns the current route.
double _v(const MSVehicle *const veh, double gap2pred, double egoSpeed, double predSpeed) const
MSCFModel_CC(const MSVehicleType *vtype)
Constructor.
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 messa...
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...
const double myPloegH
Ploeg's CACC parameters.
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 getACCAcceleration(const MSVehicle *veh) const
returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to...
int getMyLanesCount() const
returns the number of lanes set in the configuration file
double _flatbed(const MSVehicle *veh, double egoAcceleration, double egoSpeed, double predSpeed, double gap2pred, double leaderSpeed) const
flatbed platoon towing model
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...
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
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)
VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
void getRadarMeasurements(const MSVehicle *veh, double &distance, double &relativeSpeed) const
return the data that is currently being measured by the radar
double _consensus(const MSVehicle *veh, double egoSpeed, Position egoPosition, double time) const
controller based on consensus strategy
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 controll...
const double myTau
engine time constant used for actuation lag
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
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.
const double myOmegaN
design constant for CACC
const double myC1
design constant for CACC
const int myLanesCount
number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct ...
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences.
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 t...
virtual void setParameter(MSVehicle *veh, const std::string &key, const std::string &value) const
try to set the given parameter for this carFollowingModel
const double myConstantSpacing
the constant gap for CACC
double getCACCConstantSpacing(const MSVehicle *veh) const
returns CACC desired constant spacing
~MSCFModel_CC()
Destructor.
void recomputeParameters(const MSVehicle *veh) const
Recomputes controller related parameters after setting them.
const double myXi
design constant for CACC
const double myFlatbedKa
flatbed CACC parameters
void switchOnACC(const MSVehicle *veh, double ccDesiredSpeed) const
switch on the ACC, so disabling the human driver car control
MSCFModel * myHumanDriver
the car following model which drives the car when automated cruising is disabled, i....
const double myLambda
design constant for ACC
void performAutoLaneChange(MSVehicle *const veh) const
const double myKp
design constant for CC
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 ste...
const double myCcAccel
The maximum acceleration that the CC can output.
const double myCcDecel
The maximum deceleration that the CC can output.
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
void resetConsensus(const MSVehicle *veh) const
Resets the consensus controller. In particular, sets the "initialized" vector all to false....
double interactionGap(const MSVehicle *const, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
enum Plexe::ACTIVE_CONTROLLER getActiveController(const MSVehicle *veh) const
return the currently active controller
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 ...
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...
Krauss car-following model, with acceleration decrease and faster start.
The car-following model abstraction.
virtual double interactionGap(const MSVehicle *const veh, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
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 ste...
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences. Called at most once per simulation...
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.
virtual double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const =0
Computes the vehicle's follow speed (no dawdling)
double myDecel
The vehicle's maximum deceleration [m/s^2].
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
double myAccel
The vehicle's maximum acceleration [m/s^2].
virtual double stopSpeed(const MSVehicle *const veh, const double speed, double gap) const =0
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
A road/street connecting two junctions.
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
double getSpeedLimit() const
Returns the lane's maximum allowed speed.
MSEdge & getEdge() const
Returns the lane's edge.
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
double getDistanceBetween(double fromPos, double toPos, const MSEdge *fromEdge, const MSEdge *toEdge, bool includeInternal=true, int routePosition=0) const
Compute the distance between 2 given edges on this route, including the length of internal lanes....
const ConstMSEdgeVector & getEdges() const
void setSpeedMode(int speedMode)
Sets speed-constraining behaviors.
SUMOVehicle * getVehicle(const std::string &id) const
Returns the vehicle with the given id.
Representation of a vehicle in the micro simulation.
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
Influencer & getInfluencer()
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
double getSpeed() const
Returns the vehicle's current speed.
double processNextStop(double currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
double getPositionOnLane() const
Get the vehicle's position along the lane.
const MSLane * getLane() const
Returns the lane the vehicle is on.
double getAngle() const
Returns the vehicle's direction in radians.
Position getVelocityVector() const
Returns the vehicle's direction in radians.
The car-following model and parameter.
const std::string & getID() const
Returns the id.
A point in 2D or 3D with translation and scaling methods.
void setx(double x)
set position x
void set(double x, double y)
set positions x and y
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
double x() const
Returns the x-position.
void sety(double y)
set position y
double y() const
Returns the y-position.
void getEngineData(double speed_mps, int &gear, double &rpm)
virtual double getSpeed() const =0
Returns the object's current speed.
Representation of a vehicle.
static double toDouble(const std::string &sData)
converts a string into the double value described by it by calling the char-type converter
static int toInt(const std::string &sData)
converts a string into the integer value described by it by calling the char-type converter,...
ACTIVE_CONTROLLER
Determines the currently active controller, i.e., ACC, CACC, or the driver. In future we might need t...
double leaderAcceleration
double leaderControllerAcceleration
double frontControllerAcceleration