Eclipse SUMO - Simulation of Urban MObility
CC_VehicleVariables.cpp
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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
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8 // SPDX-License-Identifier: EPL-2.0
9 /****************************************************************************/
15 /****************************************************************************/
16 #include "CC_VehicleVariables.h"
17 
18 //initialize default L and K matrices
20  {0, 0, 0, 0, 0, 0, 0, 0},
21  {1, 0, 0, 0, 0, 0, 0, 0},
22  {1, 1, 0, 0, 0, 0, 0, 0},
23  {1, 0, 1, 0, 0, 0, 0, 0},
24  {1, 0, 0, 1, 0, 0, 0, 0},
25  {1, 0, 0, 0, 1, 0, 0, 0},
26  {1, 0, 0, 0, 0, 1, 0, 0},
27  {1, 0, 0, 0, 0, 0, 1, 0}
28 };
29 const double CC_VehicleVariables::defaultK[][MAX_N_CARS] = {
30  {0, 0, 0, 0, 0, 0, 0, 0},
31  {460, 0, 0, 0, 0, 0, 0, 0},
32  {80, 860, 0, 0, 0, 0, 0, 0},
33  {80, 0, 860, 0, 0, 0, 0, 0},
34  {80, 0, 0, 860, 0, 0, 0, 0},
35  {80, 0, 0, 0, 860, 0, 0, 0},
36  {80, 0, 0, 0, 0, 860, 0, 0},
37  {80, 0, 0, 0, 0, 0, 860, 0}
38 };
39 const double CC_VehicleVariables::defaultB[MAX_N_CARS] = {1800, 1800, 1800, 1800, 1800, 1800, 1800, 1800};
40 const double CC_VehicleVariables::defaultH[MAX_N_CARS] = {0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8};
41 
43  controllerAcceleration(0), frontSpeed(0), frontAcceleration(0),
44  frontControllerAcceleration(0), frontDataReadTime(0), frontAngle(0), frontInitialized(false),
45  autoFeed(false), leaderVehicle(0), frontVehicle(0),
46  accHeadwayTime(1.5), accLambda(0.1),
47  useControllerAcceleration(true), leaderSpeed(0),
48  leaderAcceleration(0), leaderControllerAcceleration(0), leaderDataReadTime(0), leaderAngle(0),
49  leaderInitialized(false), caccInitialized(false),
50  useFixedAcceleration(0), fixedAcceleration(0),
51  crashed(false),
52  ccDesiredSpeed(14), ccKp(1), activeController(Plexe::DRIVER),
53  nInitialized(0), position(-1), nCars(8),
54  caccXi(-1), caccOmegaN(-1), caccC1(-1), caccAlpha1(-1), caccAlpha2(-1),
55  caccAlpha3(-1), caccAlpha4(-1), caccAlpha5(-1), caccSpacing(5),
56  engineTau(0.5),
57  uMin(-1e6), uMax(1e6),
58  ploegH(0.5), ploegKp(0.2), ploegKd(0.7),
59  flatbedKa(2.4), flatbedKv(0.6), flatbedKp(12), flatbedD(5), flatbedH(4),
60  engine(0), engineModel(CC_ENGINE_MODEL_FOLM),
61  usePrediction(false),
62  autoLaneChange(false) {
66  fakeData.frontSpeed = 0;
70  leaderPosition.set(0, 0);
71  frontPosition.set(0, 0);
72  //init L, K, b, and h with default values
73  memcpy(L, defaultL, sizeof(int)*MAX_N_CARS * MAX_N_CARS);
74  memcpy(K, defaultK, sizeof(double)*MAX_N_CARS * MAX_N_CARS);
75  memcpy(b, defaultB, sizeof(double)*MAX_N_CARS);
76  memcpy(h, defaultH, sizeof(double)*MAX_N_CARS);
77  //no data about any vehicle has been set
78  for (int i = 0; i < MAX_N_CARS; i++) {
79  initialized[i] = false;
80  }
81 }
82 
84  if (engine) {
85  delete engine;
86  }
87 }
CC_VehicleVariables::K
double K[MAX_N_CARS][MAX_N_CARS]
K matrix.
Definition: CC_VehicleVariables.h:159
CC_VehicleVariables::frontPosition
Position frontPosition
current front vehicle position
Definition: CC_VehicleVariables.h:97
Plexe
Definition: CC_Const.h:23
CC_VehicleVariables::leaderPosition
Position leaderPosition
platoon's leader position
Definition: CC_VehicleVariables.h:128
CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance
double frontDistance
Definition: CC_VehicleVariables.h:55
CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed
double leaderSpeed
Definition: CC_VehicleVariables.h:59
CC_VehicleVariables::defaultK
const static double defaultK[MAX_N_CARS][MAX_N_CARS]
Definition: CC_VehicleVariables.h:72
CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration
double leaderControllerAcceleration
Definition: CC_VehicleVariables.h:61
CC_VehicleVariables::engine
GenericEngineModel * engine
engine model employed by this car
Definition: CC_VehicleVariables.h:196
CC_VehicleVariables::h
double h[MAX_N_CARS]
vector of time headways h
Definition: CC_VehicleVariables.h:163
CC_VehicleVariables::fakeData
struct FAKE_CONTROLLER_DATA fakeData
fake controller data.
Definition: CC_VehicleVariables.h:154
CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration
double frontControllerAcceleration
Definition: CC_VehicleVariables.h:58
CC_ENGINE_MODEL_FOLM
#define CC_ENGINE_MODEL_FOLM
Definition: CC_Const.h:76
MAX_N_CARS
#define MAX_N_CARS
Definition: CC_Const.h:74
Position::set
void set(double x, double y)
set positions x and y
Definition: Position.h:87
CC_VehicleVariables::initialized
bool initialized[MAX_N_CARS]
tells whether data about a certain vehicle has been initialized
Definition: CC_VehicleVariables.h:168
CC_VehicleVariables::defaultB
const static double defaultB[]
Definition: CC_VehicleVariables.h:77
CC_VehicleVariables::L
int L[MAX_N_CARS][MAX_N_CARS]
L matrix.
Definition: CC_VehicleVariables.h:157
CC_VehicleVariables::~CC_VehicleVariables
~CC_VehicleVariables()
Definition: CC_VehicleVariables.cpp:83
CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed
double frontSpeed
Definition: CC_VehicleVariables.h:56
CC_VehicleVariables::b
double b[MAX_N_CARS]
vector of damping ratios b
Definition: CC_VehicleVariables.h:161
CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration
double leaderAcceleration
Definition: CC_VehicleVariables.h:60
CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration
double frontAcceleration
Definition: CC_VehicleVariables.h:57
CC_VehicleVariables.h
CC_VehicleVariables::defaultH
const static double defaultH[]
Definition: CC_VehicleVariables.h:82
CC_VehicleVariables::defaultL
const static int defaultL[MAX_N_CARS][MAX_N_CARS]
Definition: CC_VehicleVariables.h:67
Plexe::DRIVER
Definition: CC_Const.h:46
CC_VehicleVariables::CC_VehicleVariables
CC_VehicleVariables()
Definition: CC_VehicleVariables.cpp:42