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Eclipse SUMO - Simulation of Urban MObility
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Go to the documentation of this file.
46 #define DEBUG_CACC_INSERTION_FOLLOW_SPEED 0
47 #define DEBUG_CACC_SECURE_GAP 0
48 #define DEBUG_COND (veh->isSelected())
56 #define DEFAULT_SC_GAIN_CACC -0.4
57 #define DEFAULT_GCC_GAIN_GAP_CACC 0.005
58 #define DEFAULT_GCC_GAIN_GAP_DOT_CACC 0.05
59 #define DEFAULT_GC_GAIN_GAP_CACC 0.45
60 #define DEFAULT_GC_GAIN_GAP_DOT_CACC 0.0125
61 #define DEFAULT_CA_GAIN_GAP_CACC 0.45
62 #define DEFAULT_CA_GAIN_GAP_DOT_CACC 0.05
63 #define DEFAULT_HEADWAYTIME_ACC 1.0
66 #define DEFAULT_EMERGENCY_OVERRIDE_THRESHOLD 2.0
93 const double vCACC =
_v(veh, pred, gap2pred, speed, predSpeed, desSpeed,
true);
100 <<
" v=" << speed <<
" vL=" << predSpeed <<
" gap=" << gap2pred
101 <<
" predDecel=" << predMaxDecel <<
" vCACC=" << vCACC <<
" vSafe=" << vSafe <<
"\n";
107 if (vSafe + speedOverride < vCACC) {
110 std::cout <<
"Apply Safe speed, override=" << speedOverride <<
"\n";
113 return vSafe + speedOverride;
136 std::cout <<
SIMTIME <<
"MSCFModel_ACC::getSecureGap speed=" << speed <<
" leaderSpeed=" << leaderSpeed <<
" desSpacing=" << desSpacing <<
" desSpacingACC=" << desSpacingACC <<
"\n";
143 #if DEBUG_CACC_INSERTION_FOLLOW_SPEED == 1
145 std::cout <<
"MSCFModel_ACC::insertionFollowSpeed(), speed=" << speed <<
" gap2pred=" << gap2pred <<
" predSpeed=" << predSpeed <<
"\n";
150 const int max_iter = 50;
152 const double tol = 0.1;
153 double damping = 0.8;
156 while (n_iter < max_iter) {
158 const double vCACC =
_v(veh, pred, gap2pred, res, predSpeed, speed,
true);
160 const double a =
MIN2(vCACC, vSafe) - res;
161 res = res + damping * a;
162 #if DEBUG_CACC_INSERTION_FOLLOW_SPEED == 1
164 std::cout <<
" n_iter=" << n_iter <<
" vSafe=" << vSafe <<
" vCACC=" << vCACC <<
" a=" << a <<
" damping=" << damping <<
" res=" << res << std::endl;
195 const double speed,
const double predSpeed,
const double desSpeed,
double vErr,
198 double newSpeed = 0.0;
200 if (pred !=
nullptr) {
203 newSpeed =
acc_CFM.
_v(veh, gap2pred, speed, predSpeed, desSpeed,
true);
206 std::cout <<
" acc control mode" << std::endl;
214 std::cout <<
" CACC control mode" << std::endl;
219 double spacingErr = gap - desSpacing;
221 double spacingErr1 = predSpeed - speed +
myHeadwayTime * accel;
223 if ((spacingErr > 0 && spacingErr < 0.2) && (vErr < 0.1)) {
228 std::cout <<
" applying gap control" << std::endl;
232 }
else if (spacingErr < 0) {
237 std::cout <<
" applying collision avoidance err=" << spacingErr <<
" err1=" << spacingErr1 <<
"\n";
245 std::cout <<
" applying gap closing" << std::endl;
255 std::cout <<
" no leader" << std::endl;
267 const double predSpeed,
const double desSpeed,
const bool )
const {
268 double newSpeed = 0.0;
272 std::cout <<
SIMTIME <<
" MSCFModel_CACC::_v() for veh '" << veh->
getID()
273 <<
" gap=" << gap2pred <<
" speed=" << speed <<
" predSpeed=" << predSpeed
274 <<
" desSpeed=" << desSpeed << std::endl;
279 double vErr = speed - desSpeed;
280 int setControlMode = 0;
287 double time_gap = gap2pred / speed;
291 std::cout <<
" applying speedControl" << std::endl;
297 if (setControlMode) {
300 }
else if (time_gap < 1.5) {
304 std::cout <<
" speedGapControl" << std::endl;
307 newSpeed =
speedGapControl(veh, gap2pred, speed, predSpeed, desSpeed, vErr, pred);
309 if (setControlMode) {
319 std::cout <<
" applying speedControl (previous)" << std::endl;
326 std::cout <<
" previous speedGapControl (previous)" << std::endl;
329 newSpeed =
speedGapControl(veh, gap2pred, speed, predSpeed, desSpeed, vErr, pred);
335 <<
" newSpeed=" << newSpeed << std::endl;
339 return MAX2(0., newSpeed);
The car-following model and parameter.
#define UNUSED_PARAMETER(x)
double myGapControlGainGap
double maximumSafeFollowSpeed(double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const
Returns the maximum safe velocity for following the given leader.
#define DEFAULT_GC_GAIN_GAP_CACC
#define DEFAULT_EMERGENCY_OVERRIDE_THRESHOLD
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.
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)
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
double _v(const MSVehicle *const veh, const double gap2pred, const double mySpeed, const double predSpeed, const double desSpeed, const bool respectMinGap=true) const
#define DEFAULT_GCC_GAIN_GAP_DOT_CACC
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
#define DEFAULT_CA_GAIN_GAP_DOT_CACC
double myGapClosingControlGainGapDot
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)
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
double myGapControlGainGapDot
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
virtual void setHeadwayTime(double headwayTime)
Sets a new value for desired headway [s].
double myGapControlGainSpace
double mySpeedControlGain
double myCollisionAvoidanceGainGapDot
double getSecureGap(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.
#define DEBUG_CACC_SECURE_GAP
double getActionStepLengthSecs() const
Returns the vehicle's action step length in secs, i.e. the interval between two action points.
#define DEFAULT_CA_GAIN_GAP_CACC
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
double maximumSafeStopSpeed(double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
Returns the maximum next velocity for stopping within gap.
double myHeadwayTime
The driver's desired time headway (aka reaction time tau) [s].
int CACC_ControlMode
The vehicle's CACC precious time step gap error.
double myCollisionAvoidanceGainGap
The ACC car-following model.
double getMinGap() const
Get the free space in front of vehicles of this class.
double getCFParam(const SumoXMLAttr attr, const double defaultValue) const
Returns the named value from the map, or the default if it is not contained there.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
double speedSpeedContol(const double speed, double vErr) const
#define DEFAULT_SC_GAIN_CACC
MSLane * getLane() const
Returns the lane the vehicle is on.
double myGapControlGainSpeed
double _v(const MSVehicle *const veh, const MSVehicle *const pred, const double gap2pred, const double mySpeed, const double predSpeed, const double desSpeed, const bool respectMinGap=true) const
double myCollisionMinGapFactor
The factor of minGap that must be maintained to avoid a collision event.
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)
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
#define DEFAULT_HEADWAYTIME_ACC
const SUMOVTypeParameter & getParameter() const
const std::string & getID() const
Returns the name of the vehicle.
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
The car-following model abstraction.
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null
MSCFModel_CACC(const MSVehicleType *vtype)
Constructor.
#define DEFAULT_GCC_GAIN_GAP_CACC
virtual int getModelID() const =0
Returns the model's ID; the XML-Tag number is used.
double getVehicleMaxSpeed(const SUMOTrafficObject *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
double interactionGap(const MSVehicle *const, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
double myGapClosingControlGainGap
~MSCFModel_CACC()
Destructor.
#define DEFAULT_GC_GAIN_GAP_DOT_CACC
double speedGapControl(const MSVehicle *const veh, const double gap2pred, const double speed, const double predSpeed, const double desSpeed, double vErr, const MSVehicle *const pred) const
Representation of a vehicle in the micro simulation.