Eclipse SUMO - Simulation of Urban MObility
CC_Const.h
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2 // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
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15 // File defining constants, structs, and enums for cruise controllers
16 /****************************************************************************/
17 #ifndef CC_CONST_H
18 #define CC_CONST_H
19 
20 #include <string>
21 #include <sstream>
22 
23 namespace Plexe {
24 
29  DRIVER_CHOICE = 0, //the platooning management is not active, so just let the driver choose the lane
30  STAY_IN_CURRENT_LANE = 3, //the car is part of a platoon, so it has to stay on the dedicated platooning lane
31  MOVE_TO_FIXED_LANE = 4 //move the car to a specific lane
32 };
33 
37 #define FIX_LC 0b1000000000
38 #define DEFAULT_NOTRACI_LC 0b1010101010
39 
46 {DRIVER = 0, ACC = 1, CACC = 2, FAKED_CACC = 3, PLOEG = 4, CONSENSUS = 5, FLATBED = 6};
47 
52 struct CCDataHeader {
53  int type; //type of message. indicates what comes after the header
54  int size; //size of message. indicates how many bytes comes after the header
55 };
56 
60 struct VEHICLE_DATA {
61  int index; //position in the platoon (0 = first)
62  double speed; //vehicle speed
63  double acceleration; //vehicle acceleration
64  double positionX; //position of the vehicle in the simulation
65  double positionY; //position of the vehicle in the simulation
66  double time; //time at which such information was read from vehicle's sensors
67  double length; //vehicle length
68  double u; //controller acceleration
69  double speedX; //vehicle speed on the X axis
70  double speedY; //vehicle speed on the Y axis
71  double angle; //vehicle angle in radians
72 };
73 
74 #define MAX_N_CARS 8
75 
76 #define CC_ENGINE_MODEL_FOLM 0x00 //first order lag model
77 #define CC_ENGINE_MODEL_REALISTIC 0x01 //the detailed and realistic engine model
78 
79 //parameter names for engine models
80 #define FOLM_PAR_TAU "tau_s"
81 #define FOLM_PAR_DT "dt_s"
82 
83 #define ENGINE_PAR_VEHICLE "vehicle"
84 #define ENGINE_PAR_XMLFILE "xmlFile"
85 #define ENGINE_PAR_DT "dt_s"
86 
87 #define CC_PAR_VEHICLE_DATA "ccvd" //data about a vehicle, like position, speed, acceleration, etc
88 #define CC_PAR_VEHICLE_POSITION "ccvp" //position of the vehicle in the platoon (0 based)
89 #define CC_PAR_PLATOON_SIZE "ccps" //number of cars in the platoon
90 
91 //set of controller-related constants
92 #define CC_PAR_CACC_XI "ccxi" //xi
93 #define CC_PAR_CACC_OMEGA_N "ccon" //omega_n
94 #define CC_PAR_CACC_C1 "ccc1" //C1
95 #define CC_PAR_ENGINE_TAU "cctau" //engine time constant
96 
97 #define CC_PAR_UMIN "ccumin" //lower saturation for u
98 #define CC_PAR_UMAX "ccumax" //upper saturation for u
99 
100 #define CC_PAR_PLOEG_H "ccph" //time headway of ploeg's CACC
101 #define CC_PAR_PLOEG_KP "ccpkp" //kp parameter of ploeg's CACC
102 #define CC_PAR_PLOEG_KD "ccpkd" //kd parameter of ploeg's CACC
103 
104 #define CC_PAR_FLATBED_KA "ccfka" //ka parameter of flatbed CACC
105 #define CC_PAR_FLATBED_KV "ccfkv" //kv parameter of flatbed CACC
106 #define CC_PAR_FLATBED_KP "ccfkp" //kp parameter of flatbed CACC
107 #define CC_PAR_FLATBED_H "ccfh" //h parameter of flatbed CACC
108 #define CC_PAR_FLATBED_D "ccfd" //distance parameter of flatbed CACC
109 
110 #define CC_PAR_VEHICLE_ENGINE_MODEL "ccem" //set the engine model for a vehicle
111 
112 #define CC_PAR_VEHICLE_MODEL "ccvm" //set the vehicle model, i.e., engine characteristics
113 #define CC_PAR_VEHICLES_FILE "ccvf" //set the location of the vehicle parameters file
114 
115 // set CACC constant spacing
116 #define PAR_CACC_SPACING "ccsp"
117 
118 // get ACC computed acceleration when faked CACC controller is enabled
119 #define PAR_ACC_ACCELERATION "ccacc"
120 
121 // determine whether a vehicle has crashed or not
122 #define PAR_CRASHED "cccr"
123 
124 // set a fixed acceleration to a vehicle controlled by CC/ACC/CACC
125 #define PAR_FIXED_ACCELERATION "ccfa"
126 
127 // get vehicle speed and acceleration, needed for example by the platoon leader (get: vehicle)
128 #define PAR_SPEED_AND_ACCELERATION "ccsa"
129 
130 // set speed and acceleration of the platoon leader
131 #define PAR_LEADER_SPEED_AND_ACCELERATION "cclsa"
132 
133 // set whether CACCs should use real or controller acceleration
134 #define PAR_USE_CONTROLLER_ACCELERATION "ccca"
135 
136 // get lane count for the street the vehicle is currently traveling
137 #define PAR_LANES_COUNT "cclc"
138 
139 // set the cruise control desired speed
140 #define PAR_CC_DESIRED_SPEED "ccds"
141 
142 // set the currently active vehicle controller which can be either the driver, or the ACC or the CACC
143 #define PAR_ACTIVE_CONTROLLER "ccac"
144 
145 // get radar data from the car
146 #define PAR_RADAR_DATA "ccrd"
147 
148 // communicate with the cruise control to give him fake indications. this can be useful when you want
149 // to advance a vehicle to a certain position, for example, for joining a platoon. clearly the ACC
150 // must always take into consideration both fake and real data
151 #define PAR_LEADER_FAKE_DATA "cclfd"
152 #define PAR_FRONT_FAKE_DATA "ccffd"
153 
154 // get the distance that a car has to travel until it reaches the end of its route
155 #define PAR_DISTANCE_TO_END "ccdte"
156 
157 // get the distance from the beginning of the route
158 #define PAR_DISTANCE_FROM_BEGIN "ccdfb"
159 
160 // set speed and acceleration of preceding vehicle
161 #define PAR_PRECEDING_SPEED_AND_ACCELERATION "ccpsa"
162 
163 // set ACC headway time
164 #define PAR_ACC_HEADWAY_TIME "ccaht"
165 
166 // return engine information (for the realistic engine model)
167 #define PAR_ENGINE_DATA "cced"
168 
169 // enabling/disabling auto feeding
170 #define PAR_USE_AUTO_FEEDING "ccaf"
171 
172 // enabling/disabling data prediction
173 #define PAR_USE_PREDICTION "ccup"
174 
175 // add/remove members from own platoon
176 #define PAR_ADD_MEMBER "ccam"
177 #define PAR_REMOVE_MEMBER "ccrm"
178 
179 // let the leader automatically change lane for the whole platoon if there is a speed advantage
180 #define PAR_ENABLE_AUTO_LANE_CHANGE "ccalc"
181 
182 }
183 
184 #endif /* CC_CONST_H */
Definition: CC_Const.h:23
double acceleration
Definition: CC_Const.h:63
struct used as header for generic data passing to this model through traci
Definition: CC_Const.h:52
ACTIVE_CONTROLLER
Determines the currently active controller, i.e., ACC, CACC, or the driver. In future we might need t...
Definition: CC_Const.h:45
PLATOONING_LANE_CHANGE_ACTION
action that might be requested by the platooning management
Definition: CC_Const.h:28