Eclipse SUMO - Simulation of Urban MObility
MSCFModel_Kerner.cpp
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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 /****************************************************************************/
17 // car-following model by B. Kerner
18 /****************************************************************************/
19 
20 
21 // ===========================================================================
22 // included modules
23 // ===========================================================================
24 #include <config.h>
25 
26 #include <microsim/MSVehicle.h>
27 #include <microsim/MSLane.h>
28 #include "MSCFModel_Kerner.h"
30 
31 
32 // ===========================================================================
33 // method definitions
34 // ===========================================================================
36  MSCFModel(vtype),
37  myK(vtype->getParameter().getCFParam(SUMO_ATTR_K, 0.5)),
38  myPhi(vtype->getParameter().getCFParam(SUMO_ATTR_CF_KERNER_PHI, 5.0)),
39  myTauDecel(myDecel * myHeadwayTime) {
40 }
41 
42 
44 
45 
46 double
47 MSCFModel_Kerner::finalizeSpeed(MSVehicle* const veh, double vPos) const {
48  const double vNext = MSCFModel::finalizeSpeed(veh, vPos);
50  vars->rand = RandHelper::rand(veh->getRNG());
51  return vNext;
52 }
53 
54 
55 double
56 MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double /*predMaxDecel*/, const MSVehicle* const /*pred*/) const {
57  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
58 }
59 
60 
61 double
62 MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const double speed, double gap) const {
63  return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
64 }
65 
66 
71  ret->rand = RandHelper::rand();
72  return ret;
73 }
74 
75 
76 double
77 MSCFModel_Kerner::_v(const MSVehicle* const veh, double speed, double vfree, double gap, double predSpeed) const {
78  if (predSpeed == 0 && gap < 0.01) {
79  return 0;
80  }
81  // !!! in the following, the prior step is not considered!!!
82  double G = MAX2((double) 0, (double)(SPEED2DIST(myK * speed) + myPhi / myAccel * speed * (speed - predSpeed)));
83  double vcond = gap > G ? speed + ACCEL2SPEED(myAccel) : speed + MAX2(ACCEL2SPEED(-myDecel), MIN2(ACCEL2SPEED(myAccel), predSpeed - speed));
84  double vsafe = (double)(-1. * myTauDecel + sqrt(myTauDecel * myTauDecel + (predSpeed * predSpeed) + (2. * myDecel * gap)));
86  double va = MAX2((double) 0, MIN3(vfree, vsafe, vcond)) + vars->rand;
87  //std::cout << SIMTIME << " veh=" << veh->getID() << " speed=" << speed << " gap=" << gap << " G=" << G << " predSpeed=" << predSpeed << " vfree=" << vfree << " vsafe=" << vsafe << " vcond=" << vcond << " rand=" << vars->rand << "\n";
88  double v = MAX2((double) 0, MIN4(vfree, va, speed + ACCEL2SPEED(myAccel), vsafe));
89  return v;
90 }
91 
92 
93 MSCFModel*
95  return new MSCFModel_Kerner(vtype);
96 }
MSVehicleType
The car-following model and parameter.
Definition: MSVehicleType.h:66
SPEED2DIST
#define SPEED2DIST(x)
Definition: SUMOTime.h:47
MSCFModel_Kerner::duplicate
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
Definition: MSCFModel_Kerner.cpp:94
MIN2
T MIN2(T a, T b)
Definition: StdDefs.h:74
MSCFModel_Kerner::myTauDecel
double myTauDecel
The precomputed value for myDecel*myTau.
Definition: MSCFModel_Kerner.h:126
MSCFModel_Kerner::VehicleVariables::rand
double rand
Definition: MSCFModel_Kerner.h:104
MSCFModel_Kerner::createVehicleVariables
MSCFModel::VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
Definition: MSCFModel_Kerner.cpp:68
MSCFModel::maxNextSpeed
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
Definition: MSCFModel.cpp:239
MSCFModel_Kerner::~MSCFModel_Kerner
~MSCFModel_Kerner()
Destructor.
Definition: MSCFModel_Kerner.cpp:43
ACCEL2SPEED
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:53
G
#define G
Definition: MSCFModel_Rail.cpp:30
MSVehicle::getCarFollowVariables
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition: MSVehicle.h:911
MSCFModel::finalizeSpeed
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences. Called at most once per simulation...
Definition: MSCFModel.cpp:165
MSCFModel_Kerner::MSCFModel_Kerner
MSCFModel_Kerner(const MSVehicleType *vtype)
Constructor.
Definition: MSCFModel_Kerner.cpp:35
MSCFModel_Kerner::myPhi
double myPhi
Kerner's phi.
Definition: MSCFModel_Kerner.h:123
MSVehicle.h
MAX2
T MAX2(T a, T b)
Definition: StdDefs.h:80
RandHelper::rand
static double rand(std::mt19937 *rng=0)
Returns a random real number in [0, 1)
Definition: RandHelper.h:60
MSCFModel_Kerner::VehicleVariables
Definition: MSCFModel_Kerner.h:102
MIN4
T MIN4(T a, T b, T c, T d)
Definition: StdDefs.h:101
MSCFModel_Kerner::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_Kerner.cpp:56
MSCFModel_Kerner::finalizeSpeed
double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences.
Definition: MSCFModel_Kerner.cpp:47
MSCFModel::VehicleVariables
Definition: MSCFModel.h:61
MSCFModel_Kerner.h
MSCFModel_Kerner::myK
double myK
Definition: MSCFModel_Kerner.h:120
MSCFModel::myDecel
double myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:619
SUMO_ATTR_K
Definition: SUMOXMLDefinitions.h:816
MSCFModel
The car-following model abstraction.
Definition: MSCFModel.h:57
config.h
RandHelper.h
MSCFModel::myAccel
double myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:616
MSLane.h
MIN3
T MIN3(T a, T b, T c)
Definition: StdDefs.h:87
SUMO_ATTR_CF_KERNER_PHI
Definition: SUMOXMLDefinitions.h:837
MSCFModel_Kerner::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_Kerner.cpp:62
MSBaseVehicle::getRNG
std::mt19937 * getRNG() const
Definition: MSBaseVehicle.cpp:712
MSVehicle
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:80
MSCFModel_Kerner::_v
double _v(const MSVehicle *const veh, double speed, double vfree, double gap, double predSpeed) const
Returns the "safe" velocity.
Definition: MSCFModel_Kerner.cpp:77