SUMO - Simulation of Urban MObility
MSCFModel Class Referenceabstract

The car-following model abstraction. More...

#include <MSCFModel.h>

Inheritance diagram for MSCFModel:
Inheritance graph
Collaboration diagram for MSCFModel:
Collaboration graph

Data Structures

class  VehicleVariables
 

Public Member Functions

double calculateEmergencyDeceleration (double gap, double egoSpeed, double predSpeed, double predMaxDecel) const
 Returns the minimal deceleration for following the given leader safely. More...
 
double estimateSpeedAfterDistance (const double dist, const double v, const double accel) const
 
double getApparentDecel () const
 Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers. More...
 
double getCollisionMinGapFactor () const
 Get the factor of minGap that must be maintained to avoid a collision event. More...
 
double getEmergencyDecel () const
 Get the vehicle type's maximal phisically possible deceleration [m/s^2]. More...
 
double getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2]. More...
 
double getMaxDecel () const
 Get the vehicle type's maximal comfortable deceleration [m/s^2]. More...
 
double getMinimalArrivalSpeed (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance. More...
 
double getMinimalArrivalSpeedEuler (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance for Euler update. More...
 
SUMOTime getMinimalArrivalTime (double dist, double currentSpeed, double arrivalSpeed) const
 Computes the minimal time needed to cover a distance given the desired speed at arrival. More...
 
double maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const
 Returns the maximum safe velocity for following the given leader. More...
 
double maximumSafeStopSpeed (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap. More...
 
double maximumSafeStopSpeedBallistic (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More...
 
double maximumSafeStopSpeedEuler (double gap, double headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More...
 
 MSCFModel (const MSVehicleType *vtype)
 Constructor. More...
 
virtual ~MSCFModel ()
 Destructor. More...
 
Methods to override by model implementation
virtual double finalizeSpeed (MSVehicle *const veh, double vPos) const
 Applies interaction with stops and lane changing model influences. Called at most once per simulation step (exactcly once per action step) More...
 
virtual double patchSpeedBeforeLC (const MSVehicle *veh, double vMin, double vMax) const
 apply custom speed adaptations within the given speed bounds More...
 
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. More...
 
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) More...
 
virtual double insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints. More...
 
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) More...
 
virtual double insertionStopSpeed (const MSVehicle *const veh, double speed, double gap) const
 Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds. More...
 
virtual double followSpeedTransient (double duration, const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel) const
 Computes the vehicle's follow speed that avoids a collision for the given amount of time. More...
 
virtual double interactionGap (const MSVehicle *const veh, double vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
virtual int getModelID () const =0
 Returns the model's ID; the XML-Tag number is used. More...
 
virtual MSCFModelduplicate (const MSVehicleType *vtype) const =0
 Duplicates the car-following model. More...
 
virtual VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
Virtual methods with default implementation
virtual double getImperfection () const
 Get the driver's imperfection. More...
 
virtual double getHeadwayTime () const
 Get the driver's desired headway [s]. More...
 
Setter methods
virtual void setMaxAccel (double accel)
 Sets a new value for maximum acceleration [m/s^2]. More...
 
virtual void setMaxDecel (double decel)
 Sets a new value for maximal comfortable deceleration [m/s^2]. More...
 
virtual void setEmergencyDecel (double decel)
 Sets a new value for maximal physically possible deceleration [m/s^2]. More...
 
virtual void setApparentDecel (double decel)
 Sets a new value for the apparent deceleration [m/s^2]. More...
 
virtual void setImperfection (double imperfection)
 Sets a new value for driver imperfection. More...
 
virtual void setHeadwayTime (double headwayTime)
 Sets a new value for desired headway [s]. More...
 

Static Public Member Functions

static double avoidArrivalAccel (double dist, double time, double speed)
 Computes the acceleration needed to arrive not before the given time. More...
 
static double distAfterTime (double t, double speed, double accel)
 calculates the distance travelled after accelerating for time t More...
 
static double estimateArrivalTime (double dist, double speed, double maxSpeed, double accel)
 Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double estimateArrivalTime (double dist, double initialSpeed, double arrivalSpeed, double maxSpeed, double accel, double decel)
 Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double gapExtrapolation (const double duration, const double currentGap, double v1, double v2, double a1=0, double a2=0, const double maxV1=std::numeric_limits< double >::max(), const double maxV2=std::numeric_limits< double >::max())
 return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'. More...
 
static double passingTime (const double lastPos, const double passedPos, const double currentPos, const double lastSpeed, const double currentSpeed)
 Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero. More...
 
static double speedAfterTime (const double t, const double oldSpeed, const double dist)
 Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS. More...
 

Protected Member Functions

void applyHeadwayAndSpeedDifferencePerceptionErrors (const MSVehicle *const veh, double speed, double &gap, double &predSpeed, double predMaxDecel, const MSVehicle *const pred) const
 Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,. More...
 
void applyHeadwayPerceptionError (const MSVehicle *const veh, double speed, double &gap) const
 Overwrites gap by the perceived value obtained from the vehicle's driver state. More...
 

Protected Attributes

double myAccel
 The vehicle's maximum acceleration [m/s^2]. More...
 
double myApparentDecel
 The vehicle's deceleration as expected by surrounding traffic [m/s^2]. More...
 
double myCollisionMinGapFactor
 The factor of minGap that must be maintained to avoid a collision event. More...
 
double myDecel
 The vehicle's maximum deceleration [m/s^2]. More...
 
double myEmergencyDecel
 The vehicle's maximum emergency deceleration [m/s^2]. More...
 
double myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s]. More...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Currently fixed methods

virtual double maxNextSpeed (double speed, const MSVehicle *const veh) const
 Returns the maximum speed given the current speed. More...
 
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 step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More...
 
virtual double minNextSpeedEmergency (double speed, const MSVehicle *const veh=0) const
 Returns the minimum speed after emergency braking, given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More...
 
double brakeGap (const double speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time tau (i.e. desired headway), assuming that during the reaction time, the speed remains constant. More...
 
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) More...
 
virtual double getSpeedAfterMaxDecel (double v) const
 Returns the velocity after maximum deceleration. More...
 
static double brakeGap (const double speed, const double decel, const double headwayTime)
 
static double brakeGapEuler (const double speed, const double decel, const double headwayTime)
 
static double freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion, const double actionStepLength)
 

Detailed Description

The car-following model abstraction.

MSCFModel is an interface for different car following Models to implement. It provides methods to compute a vehicles velocity for a simulation step.

Definition at line 57 of file MSCFModel.h.

Constructor & Destructor Documentation

◆ MSCFModel()

MSCFModel::MSCFModel ( const MSVehicleType vtype)

Constructor.

Parameters
[in]vtypethe type for which this model is built and also the parameter object to configure this model

Definition at line 56 of file MSCFModel.cpp.

◆ ~MSCFModel()

MSCFModel::~MSCFModel ( )
virtual

Destructor.

Definition at line 68 of file MSCFModel.cpp.

Member Function Documentation

◆ applyHeadwayAndSpeedDifferencePerceptionErrors()

void MSCFModel::applyHeadwayAndSpeedDifferencePerceptionErrors ( const MSVehicle *const  veh,
double  speed,
double &  gap,
double &  predSpeed,
double  predMaxDecel,
const MSVehicle *const  pred 
) const
protected

Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,.

See also
MSCFModel_Krauss::stopSpeed() and MSCFModel_Krauss::followSpeed() for integration into a CF model
Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in,out]gap2predThe (netto) distance to the LEADER
[in,out]predSpeedThe speed of LEADER
[in]predThe leading vehicle (LEADER)

Definition at line 980 of file MSCFModel.cpp.

References DEBUG_COND, followSpeed(), MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, and UNUSED_PARAMETER.

Referenced by MSCFModel_Krauss::followSpeed(), and setHeadwayTime().

◆ applyHeadwayPerceptionError()

void MSCFModel::applyHeadwayPerceptionError ( const MSVehicle *const  veh,
double  speed,
double &  gap 
) const
protected

Overwrites gap by the perceived value obtained from the vehicle's driver state.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in,out]gapThe (netto) distance to the the obstacle

Definition at line 1014 of file MSCFModel.cpp.

References DEBUG_COND, MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, stopSpeed(), and UNUSED_PARAMETER.

Referenced by setHeadwayTime(), and MSCFModel_Krauss::stopSpeed().

◆ avoidArrivalAccel()

double MSCFModel::avoidArrivalAccel ( double  dist,
double  time,
double  speed 
)
static

Computes the acceleration needed to arrive not before the given time.

Parameters
[in]dist- the distance of the critical point
[in]time- the time after which an arrival at dist is allowed
[in]speed- the current speed
Returns
Returns the acceleration which would ensure an arrival at distance dist earliest for the given time

Definition at line 460 of file MSCFModel.cpp.

Referenced by MSLCM_SL2015::commitManoeuvre(), and getSpeedAfterMaxDecel().

◆ brakeGap() [1/2]

◆ brakeGap() [2/2]

double MSCFModel::brakeGap ( const double  speed,
const double  decel,
const double  headwayTime 
)
static

Definition at line 75 of file MSCFModel.cpp.

References brakeGapEuler(), and MSGlobals::gSemiImplicitEulerUpdate.

◆ brakeGapEuler()

double MSCFModel::brakeGapEuler ( const double  speed,
const double  decel,
const double  headwayTime 
)
static

Definition at line 90 of file MSCFModel.cpp.

References ACCEL2SPEED, and SPEED2DIST.

Referenced by brakeGap(), and MSLCM_SL2015::computeSpeedLat().

◆ calculateEmergencyDeceleration()

double MSCFModel::calculateEmergencyDeceleration ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel 
) const

Returns the minimal deceleration for following the given leader safely.

Parameters
[in]gapThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
Returns
The minimal deceleration b>0 that, if applied constantly until a full stop, asserts that the vehicle does not crash into the leader.
Note
If b > predMaxDecel, this function actually does not calculate the tangency for the trajectories, i.e. a double root for the gap, but applies a simpler approach following the spirit of maximumSafeFollowSpeed, where the leader's decel is assumed as maximum of its actual value and the followers decel.

Definition at line 926 of file MSCFModel.cpp.

References DEBUG_COND2, and SIMTIME.

Referenced by maximumSafeFollowSpeed(), and setHeadwayTime().

◆ createVehicleVariables()

virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const
inlinevirtual

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented in MSCFModel_SmartSK, MSCFModel_IDM, MSCFModel_CACC, MSCFModel_Wiedemann, MSCFModel_ACC, MSCFModel_PWag2009, MSCFModel_Kerner, and MSCFModel_Rail.

Definition at line 201 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

◆ distAfterTime()

double MSCFModel::distAfterTime ( double  t,
double  speed,
double  accel 
)
static

calculates the distance travelled after accelerating for time t

Definition at line 351 of file MSCFModel.cpp.

References ACCEL2SPEED, brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.

Referenced by followSpeedTransient(), and getSpeedAfterMaxDecel().

◆ duplicate()

virtual MSCFModel* MSCFModel::duplicate ( const MSVehicleType vtype) const
pure virtual

Duplicates the car-following model.

Parameters
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns
A duplicate of this car-following model

Implemented in MSCFModel_IDM, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_KraussOrig1, MSCFModel_CACC, MSCFModel_ACC, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Kerner, MSCFModel_Krauss, MSCFModel_KraussPS, MSCFModel_KraussX, and MSCFModel_Rail.

Referenced by MSVehicleType::duplicateType(), and patchSpeedBeforeLC().

◆ estimateArrivalTime() [1/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  speed,
double  maxSpeed,
double  accel 
)
static

Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]speedInitial speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed or speed=0.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.

Definition at line 389 of file MSCFModel.cpp.

References INVALID_DOUBLE.

Referenced by MSLCM_SL2015::commitManoeuvre(), MSDevice_SSM::estimateConflictTimes(), and getSpeedAfterMaxDecel().

◆ estimateArrivalTime() [2/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  initialSpeed,
double  arrivalSpeed,
double  maxSpeed,
double  accel,
double  decel 
)
static

Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]initialSpeedInitial speed of vehicle
[in]arrivalSpeeddesired arrival speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed.
[in]accelAssumed deceleration until reaching targetspeed.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.
Note
Currently, this is still a stub for actually very special situations in LC context: It is assumed that 0==initialSpeed==arrivalSpeed<=maxspeed, accel==decel>0 (because currently this is only used for lane change purposes, where lateral accel == lateral decel)

Definition at line 428 of file MSCFModel.cpp.

References UNUSED_PARAMETER.

◆ estimateSpeedAfterDistance()

double MSCFModel::estimateSpeedAfterDistance ( const double  dist,
const double  v,
const double  accel 
) const

◆ finalizeSpeed()

double MSCFModel::finalizeSpeed ( MSVehicle *const  veh,
double  vPos 
) const
virtual

◆ followSpeed()

virtual double MSCFModel::followSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel,
const MSVehicle *const  pred = 0 
) const
pure virtual

◆ followSpeedTransient()

double MSCFModel::followSpeedTransient ( double  duration,
const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
virtual

Computes the vehicle's follow speed that avoids a collision for the given amount of time.

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
[in]predMaxDecelThe maximum leader decelration
Returns
EGO's safe speed

Definition at line 300 of file MSCFModel.cpp.

References ACCEL2SPEED, brakeGap(), DIST2SPEED, distAfterTime(), gDebugFlag2, getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, myDecel, SPEED2DIST, and TS.

Referenced by MSLCM_SL2015::commitFollowSpeed(), and patchSpeedBeforeLC().

◆ freeSpeed() [1/2]

double MSCFModel::freeSpeed ( const MSVehicle *const  veh,
double  speed,
double  seen,
double  maxSpeed,
const bool  onInsertion = false 
) const
virtual

Computes the vehicle's safe speed without a leader.

Returns the velocity of the vehicle in dependence to the length of the free street and the target velocity at the end of the free range. If onInsertion is true, the vehicle may still brake before the next movement.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
[in]onInsertionwhether speed at insertion is asked for
Returns
EGO's safe speed

Reimplemented in MSCFModel_Rail.

Definition at line 268 of file MSCFModel.cpp.

References MSVehicle::getActionStepLengthSecs(), and myDecel.

Referenced by brakeGap(), MSLane::isInsertionSuccess(), patchSpeedBeforeLC(), and MSVehicle::planMoveInternal().

◆ freeSpeed() [2/2]

double MSCFModel::freeSpeed ( const double  currentSpeed,
const double  decel,
const double  dist,
const double  maxSpeed,
const bool  onInsertion,
const double  actionStepLength 
)
static

◆ gapExtrapolation()

double MSCFModel::gapExtrapolation ( const double  duration,
const double  currentGap,
double  v1,
double  v2,
double  a1 = 0,
double  a2 = 0,
const double  maxV1 = std::numeric_limits<double>::max(),
const double  maxV2 = std::numeric_limits<double>::max() 
)
static

return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'.

Parameters
[in]currentGap(pos(veh1) - pos(veh2) at start)
[in]v1initial speed of vehicle 1
[in]v2initial speed of vehicle 2
[in]a1acceleration of vehicle 1
[in]a2acceleration of vehicle 2
[in]maxV1maximal speed of vehicle 1
[in]maxV2maximal speed of vehicle 2
[in]durationtime span for the process
Returns
estimated gap after 'duration' seconds

Definition at line 503 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.

Referenced by MSLCM_SL2015::checkBlockingVehicles(), getSpeedAfterMaxDecel(), and MSLCM_LC2013::informFollower().

◆ getApparentDecel()

double MSCFModel::getApparentDecel ( ) const
inline

Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.

Returns
The apparent deceleration (in m/s^2) of vehicles of this class

Definition at line 234 of file MSCFModel.h.

References myApparentDecel.

Referenced by libsumo::VehicleType::getIDCount(), libsumo::Person::getParameter(), libsumo::Vehicle::getVehicleType(), and MSVehicleType::setApparentDecel().

◆ getCollisionMinGapFactor()

double MSCFModel::getCollisionMinGapFactor ( ) const
inline

Get the factor of minGap that must be maintained to avoid a collision event.

Definition at line 240 of file MSCFModel.h.

References myCollisionMinGapFactor.

Referenced by MSLane::detectCollisionBetween().

◆ getEmergencyDecel()

double MSCFModel::getEmergencyDecel ( ) const
inline

Get the vehicle type's maximal phisically possible deceleration [m/s^2].

Returns
The maximal physically possible deceleration (in m/s^2) of vehicles of this class

Definition at line 226 of file MSCFModel.h.

References myEmergencyDecel.

Referenced by MSLane::checkFailure(), libsumo::VehicleType::getIDCount(), libsumo::Person::getParameter(), libsumo::Vehicle::getVehicleType(), MSLane::handleCollisionBetween(), MSVehicleType::setEmergencyDecel(), and libsumo::VehicleType::setSpeedDeviation().

◆ getHeadwayTime()

◆ getImperfection()

virtual double MSCFModel::getImperfection ( ) const
inlinevirtual

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented in MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 251 of file MSCFModel.h.

Referenced by libsumo::VehicleType::getIDCount(), libsumo::Vehicle::getLastActionTime(), libsumo::Person::getParameter(), and MSVehicleType::setImperfection().

◆ getMaxAccel()

◆ getMaxDecel()

double MSCFModel::getMaxDecel ( ) const
inline

Get the vehicle type's maximal comfortable deceleration [m/s^2].

Returns
The maximal comfortable deceleration (in m/s^2) of vehicles of this class

Definition at line 218 of file MSCFModel.h.

References myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSPModel_Striping::addCrossingVehs(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkForPedestrians(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLink::couldBrakeForLeader(), followSpeedTransient(), MSLane::freeInsertion(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), libsumo::VehicleType::getIDCount(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), getMinimalArrivalSpeed(), getMinimalArrivalSpeedEuler(), getMinimalArrivalTime(), MSLane::getMissingRearGap(), libsumo::Person::getParameter(), libsumo::Vehicle::getVehicleType(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MESegment::isOpen(), MSLane::lastInsertion(), MSLink::maybeOccupied(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSVehicle::processLinkAproaches(), MSVehicle::processNextStop(), MSAbstractLaneChangeModel::remainingTime(), MSLane::safeInsertionSpeed(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSVehicleType::setDecel(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), libsumo::VehicleType::setSpeedDeviation(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicle::updateState(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ getMinimalArrivalSpeed()

double MSCFModel::getMinimalArrivalSpeed ( double  dist,
double  currentSpeed 
) const

Computes the minimal possible arrival speed after covering a given distance.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 477 of file MSCFModel.cpp.

References estimateSpeedAfterDistance(), getHeadwayTime(), and getMaxDecel().

Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getMinimalArrivalSpeedEuler()

double MSCFModel::getMinimalArrivalSpeedEuler ( double  dist,
double  currentSpeed 
) const

Computes the minimal possible arrival speed after covering a given distance for Euler update.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 484 of file MSCFModel.cpp.

References estimateSpeedAfterDistance(), getHeadwayTime(), getMaxDecel(), and INVALID_SPEED.

Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getMinimalArrivalTime()

SUMOTime MSCFModel::getMinimalArrivalTime ( double  dist,
double  currentSpeed,
double  arrivalSpeed 
) const

Computes the minimal time needed to cover a distance given the desired speed at arrival.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle
[in]arrivalSpeedDesired speed at arrival

Definition at line 376 of file MSCFModel.cpp.

References getMaxAccel(), getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.

Referenced by getSpeedAfterMaxDecel(), and MSVehicle::planMoveInternal().

◆ getModelID()

virtual int MSCFModel::getModelID ( ) const
pure virtual

◆ getSecureGap()

◆ getSpeedAfterMaxDecel()

virtual double MSCFModel::getSpeedAfterMaxDecel ( double  v) const
inlinevirtual

◆ insertionFollowSpeed()

double MSCFModel::insertionFollowSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
virtual

Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints.

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns
EGO's safe speed

Definition at line 279 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, and maximumSafeFollowSpeed().

Referenced by MSLane::freeInsertion(), MSLane::getCriticalLeader(), patchSpeedBeforeLC(), and MSLane::safeInsertionSpeed().

◆ insertionStopSpeed()

double MSCFModel::insertionStopSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap 
) const
virtual

Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle at insertion
See also
stopSpeed() and insertionFollowSpeed()

Definition at line 290 of file MSCFModel.cpp.

References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeed(), MIN2(), myType, and stopSpeed().

Referenced by MSLane::isInsertionSuccess(), and patchSpeedBeforeLC().

◆ interactionGap()

double MSCFModel::interactionGap ( const MSVehicle *const  veh,
double  vL 
) const
virtual

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_CACC, and MSCFModel_ACC.

Definition at line 224 of file MSCFModel.cpp.

References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, and SPEED2DIST.

Referenced by patchSpeedBeforeLC(), and MSAbstractLaneChangeModel::predInteraction().

◆ maximumSafeFollowSpeed()

double MSCFModel::maximumSafeFollowSpeed ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel,
bool  onInsertion = false 
) const

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 854 of file MSCFModel.cpp.

References ACCEL2SPEED, brakeGap(), calculateEmergencyDeceleration(), DEBUG_COND2, EMERGENCY_DECEL_AMPLIFIER, MSGlobals::gComputeLC, MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), maximumSafeStopSpeed(), MIN2(), myDecel, myEmergencyDecel, myHeadwayTime, NUMERICAL_EPS, SIMTIME, and SPEED2ACCEL.

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_ACC::followSpeed(), MSCFModel_CACC::followSpeed(), MSCFModel_Krauss::followSpeed(), insertionFollowSpeed(), and setHeadwayTime().

◆ maximumSafeStopSpeed()

double MSCFModel::maximumSafeStopSpeed ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const

Returns the maximum next velocity for stopping within gap.

Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)

Definition at line 709 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, maximumSafeStopSpeedBallistic(), and maximumSafeStopSpeedEuler().

Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::addStop(), MSCFModel_Rail::followSpeed(), insertionStopSpeed(), maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), setHeadwayTime(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Rail::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), and MSCFModel_IDM::stopSpeed().

◆ maximumSafeStopSpeedBallistic()

double MSCFModel::maximumSafeStopSpeedBallistic ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const

Returns the maximum next velocity for stopping within gap when using the ballistic positional update.

Note
This takes into account the driver's reaction time tau (i.e. the desired headway) and the car's current speed. (The latter is required to calculate the distance covered in the following timestep.)
Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
Returns
the safe velocity (to be attained at the end of the following time step) that assures the possibility of stopping within gap. If a negative value is returned, the required stop has to take place before the end of the time step.

Definition at line 787 of file MSCFModel.cpp.

References MAX2(), myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by maximumSafeStopSpeed(), setHeadwayTime(), and MSCFModel_KraussOrig1::stopSpeed().

◆ maximumSafeStopSpeedEuler()

double MSCFModel::maximumSafeStopSpeedEuler ( double  gap,
double  headway = -1 
) const

Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.

Parameters
[in]gapThe (netto) distance to the LEADER

Definition at line 759 of file MSCFModel.cpp.

References ACCEL2SPEED, myDecel, myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by maximumSafeStopSpeed(), and setHeadwayTime().

◆ maxNextSpeed()

double MSCFModel::maxNextSpeed ( double  speed,
const MSVehicle *const  veh 
) const
virtual

Returns the maximum speed given the current speed.

The implementation of this method must take into account the time step duration.

Justification: Due to air brake or other influences, the vehicle's next maximum speed may depend on the vehicle's current speed (given).

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values
Returns
The maximum possible speed for the next step

Reimplemented in MSCFModel_KraussPS, and MSCFModel_Rail.

Definition at line 239 of file MSCFModel.cpp.

References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), and myType.

Referenced by MSLCM_SL2015::commitManoeuvre(), MSCFModel_Daniel1::finalizeSpeed(), finalizeSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_Kerner::followSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), MSVehicle::Influencer::implicitSpeedRemote(), interactionGap(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processTraCISpeedControl(), MSCFModel_Krauss::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_SmartSK::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), and MSCFModel_Wiedemann::stopSpeed().

◆ minNextSpeed()

double MSCFModel::minNextSpeed ( double  speed,
const MSVehicle *const  veh = 0 
) const
virtual

Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Reimplemented in MSCFModel_Rail.

Definition at line 245 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and myDecel.

Referenced by MSLCM_SL2015::commitManoeuvre(), finalizeSpeed(), MSCFModel_KraussOrig1::followSpeed(), getHeadwayTime(), MSLCM_LC2013::informLeader(), MSVehicle::planMoveInternal(), and MSVehicle::processTraCISpeedControl().

◆ minNextSpeedEmergency()

double MSCFModel::minNextSpeedEmergency ( double  speed,
const MSVehicle *const  veh = 0 
) const
virtual

Returns the minimum speed after emergency braking, given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Reimplemented in MSCFModel_Rail.

Definition at line 256 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and myEmergencyDecel.

Referenced by finalizeSpeed(), MSCFModel_Krauss::followSpeed(), getHeadwayTime(), and MSVehicle::Influencer::implicitSpeedRemote().

◆ passingTime()

double MSCFModel::passingTime ( const double  lastPos,
const double  passedPos,
const double  currentPos,
const double  lastSpeed,
const double  currentSpeed 
)
static

Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero.

Parameters
[in]lastPosthe position at time t=0 (must be < currentPos)
[in]passedPosthe position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]currentPosthe position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]lastSpeedthe speed at moment t=0
[in]currentSpeedthe speed at moment t=TS
Returns
time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

Definition at line 597 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), NUMERICAL_EPS, SPEED2ACCEL, TS, and WRITE_ERROR.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSDevice_SSM::checkConflictEntryAndExit(), getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().

◆ patchSpeedBeforeLC()

virtual double MSCFModel::patchSpeedBeforeLC ( const MSVehicle veh,
double  vMin,
double  vMax 
) const
inlinevirtual

apply custom speed adaptations within the given speed bounds

Reimplemented in MSCFModel_KraussOrig1, MSCFModel_Krauss, and MSCFModel_KraussX.

Definition at line 89 of file MSCFModel.h.

References duplicate(), followSpeed(), followSpeedTransient(), freeSpeed(), getModelID(), insertionFollowSpeed(), insertionStopSpeed(), interactionGap(), stopSpeed(), and UNUSED_PARAMETER.

Referenced by finalizeSpeed().

◆ setApparentDecel()

virtual void MSCFModel::setApparentDecel ( double  decel)
inlinevirtual

Sets a new value for the apparent deceleration [m/s^2].

Parameters
[in]decelThe new deceleration in m/s^2

Definition at line 490 of file MSCFModel.h.

References myApparentDecel.

Referenced by MSVehicleType::setApparentDecel().

◆ setEmergencyDecel()

virtual void MSCFModel::setEmergencyDecel ( double  decel)
inlinevirtual

Sets a new value for maximal physically possible deceleration [m/s^2].

Parameters
[in]decelThe new deceleration in m/s^2

Definition at line 482 of file MSCFModel.h.

References myEmergencyDecel.

Referenced by MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setEmergencyDecel().

◆ setHeadwayTime()

virtual void MSCFModel::setHeadwayTime ( double  headwayTime)
inlinevirtual

◆ setImperfection()

virtual void MSCFModel::setImperfection ( double  imperfection)
inlinevirtual

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 498 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSVehicleType::setImperfection().

◆ setMaxAccel()

virtual void MSCFModel::setMaxAccel ( double  accel)
inlinevirtual

Sets a new value for maximum acceleration [m/s^2].

Parameters
[in]accelThe new acceleration in m/s^2

Definition at line 466 of file MSCFModel.h.

References myAccel.

Referenced by MSVehicleType::setAccel().

◆ setMaxDecel()

virtual void MSCFModel::setMaxDecel ( double  decel)
inlinevirtual

Sets a new value for maximal comfortable deceleration [m/s^2].

Parameters
[in]decelThe new deceleration in m/s^2

Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 474 of file MSCFModel.h.

References myDecel.

Referenced by MSLCM_SL2015::commitFollowSpeed(), MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setDecel().

◆ speedAfterTime()

double MSCFModel::speedAfterTime ( const double  t,
const double  oldSpeed,
const double  dist 
)
static

Calculates the speed after a time t [0,TS] given the initial speed and the distance traveled in an interval of step length TS.

Note
If the acceleration were known, this would be much nicer, but in this way we need to reconstruct it (for the ballistic update at least, where we assume that a stop may occur within the interval)
Parameters
[in]ttime in [0,TS] for which the speed shall be determined
[in]oldSpeedspeed before the last time step (referred to as t == 0)
[in]distancecovered
Returns
speed at time t

Definition at line 671 of file MSCFModel.cpp.

References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), getSpeedAfterMaxDecel(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().

◆ stopSpeed()

virtual double MSCFModel::stopSpeed ( const MSVehicle *const  veh,
const double  speed,
double  gap 
) const
pure virtual

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)

Returns the velocity of the vehicle when approaching a static object (such as the end of a lane) assuming no reaction time is needed.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle
Todo:
generic Interface, models can call for the values they need

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_CACC, MSCFModel_ACC, MSCFModel_Rail, MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, MSCFModel_Kerner, MSCFModel_KraussOrig1, and MSCFModel_Krauss.

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::adaptSpeedToPedestrians(), applyHeadwayPerceptionError(), MSLane::checkForPedestrians(), MSVehicle::getSafeFollowSpeed(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), insertionStopSpeed(), MSLane::isInsertionSuccess(), MSLCM_DK2008::patchSpeed(), patchSpeedBeforeLC(), MSVehicle::planMoveInternal(), and MSLCM_SL2015::updateExpectedSublaneSpeeds().

Field Documentation

◆ myAccel

◆ myApparentDecel

double MSCFModel::myApparentDecel
protected

The vehicle's deceleration as expected by surrounding traffic [m/s^2].

Definition at line 597 of file MSCFModel.h.

Referenced by getApparentDecel(), and setApparentDecel().

◆ myCollisionMinGapFactor

double MSCFModel::myCollisionMinGapFactor
protected

The factor of minGap that must be maintained to avoid a collision event.

Definition at line 599 of file MSCFModel.h.

Referenced by getCollisionMinGapFactor(), MSCFModel_ACC::MSCFModel_ACC(), MSCFModel_CACC::MSCFModel_CACC(), and MSCFModel_IDM::MSCFModel_IDM().

◆ myDecel

◆ myEmergencyDecel

double MSCFModel::myEmergencyDecel
protected

The vehicle's maximum emergency deceleration [m/s^2].

Definition at line 595 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_Wiedemann::emergency(), getEmergencyDecel(), maximumSafeFollowSpeed(), minNextSpeedEmergency(), and setEmergencyDecel().

◆ myHeadwayTime

◆ myType

const MSVehicleType* MSCFModel::myType
protected

The type to which this model definition belongs to.

Definition at line 587 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), estimateSpeedAfterDistance(), insertionStopSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and maxNextSpeed().


The documentation for this class was generated from the following files: