Eclipse SUMO - Simulation of Urban MObility
MSVehicleType.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 /****************************************************************************/
19 // The car-following model and parameter
20 /****************************************************************************/
21 
22 
23 // ===========================================================================
24 // included modules
25 // ===========================================================================
26 #include <config.h>
27 
28 #include <cassert>
36 #include "MSNet.h"
37 #include "cfmodels/MSCFModel_IDM.h"
47 #include "cfmodels/MSCFModel_W99.h"
48 #include "cfmodels/MSCFModel_ACC.h"
50 #include "MSVehicleControl.h"
51 #include "cfmodels/MSCFModel_CC.h"
52 #include "MSVehicleType.h"
53 
54 
55 // ===========================================================================
56 // static members
57 // ===========================================================================
59 
60 
61 // ===========================================================================
62 // method definitions
63 // ===========================================================================
65  : myParameter(parameter), myWarnedActionStepLengthTauOnce(false), myIndex(myNextIndex++), myCarFollowModel(nullptr), myOriginalType(nullptr) {
66  assert(getLength() > 0);
67  assert(getMaxSpeed() > 0);
68 
69  // Check if actionStepLength was set by user, if not init to global default
72  }
74 }
75 
76 
78  delete myCarFollowModel;
79 }
80 
81 
82 double
83 MSVehicleType::computeChosenSpeedDeviation(std::mt19937* rng, const double minDev) const {
84  return MAX2(minDev, myParameter.speedFactor.sample(rng));
85 }
86 
87 
88 // ------------ Setter methods
89 void
90 MSVehicleType::setLength(const double& length) {
91  if (myOriginalType != nullptr && length < 0) {
93  } else {
94  myParameter.length = length;
95  }
97 }
98 
99 
100 void
101 MSVehicleType::setHeight(const double& height) {
102  if (myOriginalType != nullptr && height < 0) {
104  } else {
105  myParameter.height = height;
106  }
108 }
109 
110 
111 void
112 MSVehicleType::setMinGap(const double& minGap) {
113  if (myOriginalType != nullptr && minGap < 0) {
115  } else {
116  myParameter.minGap = minGap;
117  }
119 }
120 
121 
122 void
123 MSVehicleType::setMinGapLat(const double& minGapLat) {
124  if (myOriginalType != nullptr && minGapLat < 0) {
126  } else {
127  myParameter.minGapLat = minGapLat;
128  }
130 }
131 
132 
133 void
134 MSVehicleType::setMaxSpeed(const double& maxSpeed) {
135  if (myOriginalType != nullptr && maxSpeed < 0) {
137  } else {
138  myParameter.maxSpeed = maxSpeed;
139  }
141 }
142 
143 
144 void
145 MSVehicleType::setMaxSpeedLat(const double& maxSpeedLat) {
146  if (myOriginalType != nullptr && maxSpeedLat < 0) {
148  } else {
149  myParameter.maxSpeedLat = maxSpeedLat;
150  }
152 }
153 
154 
155 void
157  myParameter.vehicleClass = vclass;
159 }
160 
161 void
163  myParameter.latAlignment = latAlignment;
165 }
166 
167 
168 void
170  if (myOriginalType != nullptr && prob < 0) {
172  } else {
174  }
176 }
177 
178 
179 void
180 MSVehicleType::setSpeedFactor(const double& factor) {
181  if (myOriginalType != nullptr && factor < 0) {
183  } else {
184  myParameter.speedFactor.getParameter()[0] = factor;
185  }
187 }
188 
189 
190 void
192  if (myOriginalType != nullptr && dev < 0) {
194  } else {
196  }
198 }
199 
200 
201 void
202 MSVehicleType::setActionStepLength(const SUMOTime actionStepLength, bool resetActionOffset) {
203  assert(actionStepLength >= 0.);
205 
206  if (myParameter.actionStepLength == actionStepLength) {
207  return;
208  }
209 
210  SUMOTime previousActionStepLength = myParameter.actionStepLength;
211  myParameter.actionStepLength = actionStepLength;
213  check();
214 
215  if (isVehicleSpecific()) {
216  // don't perform vehicle lookup for singular vtype
217  return;
218  }
219 
220  // For non-singular vType reset all vehicle's actionOffsets
221  // Iterate through vehicles
223  for (auto vehIt = vc.loadedVehBegin(); vehIt != vc.loadedVehEnd(); ++vehIt) {
224  MSVehicle* veh = static_cast<MSVehicle*>(vehIt->second);
225  if (&veh->getVehicleType() == this) {
226  // Found vehicle of this type. Perform requested actionOffsetReset
227  if (resetActionOffset) {
228  veh->resetActionOffset();
229  } else {
230  veh->updateActionOffset(previousActionStepLength, actionStepLength);
231  }
232  }
233  }
234 }
235 
236 
237 void
239  myParameter.emissionClass = eclass;
241 }
242 
243 
244 void
246  myParameter.color = color;
248 }
249 
250 
251 void
252 MSVehicleType::setWidth(const double& width) {
253  if (myOriginalType != nullptr && width < 0) {
255  } else {
256  myParameter.width = width;
257  }
259 }
260 
261 void
262 MSVehicleType::setImpatience(const double impatience) {
263  if (myOriginalType != nullptr && impatience < 0) {
265  } else {
266  myParameter.impatience = impatience;
267  }
269 }
270 
271 
272 void
274  myParameter.shape = shape;
276 }
277 
278 
279 
280 // ------------ Static methods for building vehicle types
283  MSVehicleType* vtype = new MSVehicleType(from);
286  // by default decel and apparentDecel are identical
287  const double apparentDecel = from.getCFParam(SUMO_ATTR_APPARENTDECEL, decel);
288 
289  if (emergencyDecel < decel) {
290  WRITE_WARNING("Value of 'emergencyDecel' (" + toString(emergencyDecel) + ") should be higher than 'decel' (" + toString(decel) + ") for vType '" + from.id + "'.");
291  }
292  if (emergencyDecel < apparentDecel) {
293  WRITE_WARNING("Value of 'emergencyDecel' (" + toString(emergencyDecel) + ") is lower than 'apparentDecel' (" + toString(apparentDecel) + ") for vType '" + from.id + "' may cause collisions.");
294  }
295 
296  switch (from.cfModel) {
297  case SUMO_TAG_CF_IDM:
298  vtype->myCarFollowModel = new MSCFModel_IDM(vtype, false);
299  break;
300  case SUMO_TAG_CF_IDMM:
301  vtype->myCarFollowModel = new MSCFModel_IDM(vtype, true);
302  break;
303  case SUMO_TAG_CF_BKERNER:
304  vtype->myCarFollowModel = new MSCFModel_Kerner(vtype);
305  break;
307  vtype->myCarFollowModel = new MSCFModel_KraussOrig1(vtype);
308  break;
310  vtype->myCarFollowModel = new MSCFModel_KraussPS(vtype);
311  break;
312  case SUMO_TAG_CF_KRAUSSX:
313  vtype->myCarFollowModel = new MSCFModel_KraussX(vtype);
314  break;
316  vtype->myCarFollowModel = new MSCFModel_SmartSK(vtype);
317  break;
318  case SUMO_TAG_CF_DANIEL1:
319  vtype->myCarFollowModel = new MSCFModel_Daniel1(vtype);
320  break;
322  vtype->myCarFollowModel = new MSCFModel_PWag2009(vtype);
323  break;
325  vtype->myCarFollowModel = new MSCFModel_Wiedemann(vtype);
326  break;
327  case SUMO_TAG_CF_W99:
328  vtype->myCarFollowModel = new MSCFModel_W99(vtype);
329  break;
330  case SUMO_TAG_CF_RAIL:
331  vtype->myCarFollowModel = new MSCFModel_Rail(vtype);
332  break;
333  case SUMO_TAG_CF_ACC:
334  vtype->myCarFollowModel = new MSCFModel_ACC(vtype);
335  break;
336  case SUMO_TAG_CF_CACC:
337  vtype->myCarFollowModel = new MSCFModel_CACC(vtype);
338  break;
339  case SUMO_TAG_CF_CC:
340  vtype->myCarFollowModel = new MSCFModel_CC(vtype);
341  break;
342  case SUMO_TAG_CF_KRAUSS:
343  default:
344  vtype->myCarFollowModel = new MSCFModel_Krauss(vtype);
345  break;
346  }
347  // init Rail visualization parameters
349  vtype->check();
350  return vtype;
351 }
352 
353 
355 MSVehicleType::buildSingularType(const std::string& id) const {
356  return duplicateType(id, false);
357 }
358 
359 
361 MSVehicleType::duplicateType(const std::string& id, bool persistent) const {
363  vtype->myParameter.id = id;
365  if (!persistent) {
366  vtype->myOriginalType = this;
367  }
368  if (!MSNet::getInstance()->getVehicleControl().addVType(vtype)) {
369  std::string singular = persistent ? "" : "singular ";
370  throw ProcessError("could not add " + singular + "type " + vtype->getID());
371  }
372  return vtype;
373 }
374 
375 void
379  && STEPS2TIME(myParameter.actionStepLength) > getCarFollowModel().getHeadwayTime()) {
381  std::stringstream s;
382  s << "Given action step length " << STEPS2TIME(myParameter.actionStepLength) << " for vehicle type '" << getID()
383  << "' is larger than its parameter tau (=" << getCarFollowModel().getHeadwayTime() << ")!"
384  << " This may lead to collisions. (This warning is only issued once per vehicle type).";
385  WRITE_WARNING(s.str());
386  }
387 }
388 
389 void
390 MSVehicleType::setAccel(double accel) {
391  if (myOriginalType != nullptr && accel < 0) {
393  }
396 }
397 
398 void
399 MSVehicleType::setDecel(double decel) {
400  if (myOriginalType != nullptr && decel < 0) {
402  }
405 }
406 
407 void
408 MSVehicleType::setEmergencyDecel(double emergencyDecel) {
409  if (myOriginalType != nullptr && emergencyDecel < 0) {
410  emergencyDecel = myOriginalType->getCarFollowModel().getEmergencyDecel();
411  }
412  myCarFollowModel->setEmergencyDecel(emergencyDecel);
414 }
415 
416 void
417 MSVehicleType::setApparentDecel(double apparentDecel) {
418  if (myOriginalType != nullptr && apparentDecel < 0) {
420  }
421  myCarFollowModel->setApparentDecel(apparentDecel);
423 }
424 
425 void
426 MSVehicleType::setImperfection(double imperfection) {
427  if (myOriginalType != nullptr && imperfection < 0) {
429  }
430  myCarFollowModel->setImperfection(imperfection);
432 }
433 
434 void
436  if (myOriginalType != nullptr && tau < 0) {
438  }
441 }
442 
443 
444 void
446  if (myParameter.knowsParameter("carriageLength")) {
448  } else if (myParameter.wasSet(VTYPEPARS_SHAPE_SET)) {
449  switch (myParameter.shape) {
450  case SVS_BUS_FLEXIBLE:
451  myParameter.carriageLength = 8.25; // 16.5 overall, 2 modules http://de.wikipedia.org/wiki/Ikarus_180
453  break;
454  case SVS_RAIL:
455  myParameter.carriageLength = 24.5; // http://de.wikipedia.org/wiki/UIC-Y-Wagen_%28DR%29
456  break;
457  case SVS_RAIL_CAR:
458  myParameter.carriageLength = 16.85; // 67.4m overall, 4 carriages http://de.wikipedia.org/wiki/DB-Baureihe_423
459  break;
460  case SVS_RAIL_CARGO:
461  myParameter.carriageLength = 13.86; // UIC 571-1 http://de.wikipedia.org/wiki/Flachwagen
462  break;
466  myParameter.carriageGap = 0.5;
467  break;
468  case SVS_TRUCK_1TRAILER:
470  myParameter.locomotiveLength = 2.5 + 6.75;
471  myParameter.carriageGap = 0.5;
472  break;
473  default:
474  break;
475  }
476  }
477  if (myParameter.knowsParameter("locomotiveLength")) {
479  } else if (myParameter.locomotiveLength <= 0) {
481  }
482  if (myParameter.knowsParameter("carriageGap")) {
484  }
485 }
486 
487 /****************************************************************************/
488 
const int VTYPEPARS_MAXSPEED_SET
The Wiedemann Model car-following model.
double getApparentDecel() const
Get the vehicle type&#39;s apparent deceleration [m/s^2] (the one regarded by its followers.
Definition: MSCFModel.h:234
const int VTYPEPARS_MINGAP_SET
void setMinGap(const double &minGap)
Set a new value for this type&#39;s minimum gap.
render as a rail
SumoXMLTag cfModel
The enum-representation of the car-following model to use.
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:80
const int VTYPEPARS_LATALIGNMENT_SET
long long int SUMOTime
Definition: SUMOTime.h:35
car-following model by B. Kerner
double impatience
The vehicle&#39;s impatience (willingness to obstruct others)
constVehIt loadedVehBegin() const
Returns the begin of the internal vehicle map.
void setDefaultProbability(const double &prob)
Set a new value for this type&#39;s default probability.
SUMOVehicleClass
Definition of vehicle classes to differ between different lane usage and authority types...
void setTau(double tau)
Set a new value for this type&#39;s headway.
double carriageLength
the length of train carriages and locomotive
void setShape(SUMOVehicleShape shape)
Set a new value for this type&#39;s shape.
SUMOVehicleShape shape
This class&#39; shape.
Structure representing possible vehicle parameter.
const int VTYPEPARS_MINGAP_LAT_SET
virtual MSCFModel * duplicate(const MSVehicleType *vtype) const =0
Duplicates the car-following model.
virtual double getImperfection() const
Get the driver&#39;s imperfection.
Definition: MSCFModel.h:251
double defaultProbability
The probability when being added to a distribution without an explicit probability.
render as a flexible city bus
The Intelligent Driver Model (IDM) car-following model.
Definition: MSCFModel_IDM.h:41
void setDecel(double decel)
Set a new value for this type&#39;s deceleration.
Krauss car-following model, changing accel and speed by slope.
A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control...
Definition: MSCFModel_CC.h:58
SUMOVehicleClass vehicleClass
The vehicle&#39;s class.
The original Krauss (1998) car-following model and parameter.
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
Definition: MSNet.cpp:168
T MAX2(T a, T b)
Definition: StdDefs.h:80
std::vector< double > & getParameter()
Returns the parameters of this distribution.
SUMOTime DELTA_T
Definition: SUMOTime.cpp:35
double getMinGapLat() const
Get the minimum lateral gap that vehicles of this type maintain.
const MSVehicleType * myOriginalType
The original type.
void setApparentDecel(double apparentDecel)
Set a new value for this type&#39;s apparent deceleration.
void initRailVisualizationParameters()
init Rail Visualization Parameters
The CACC car-following model.
void setLength(const double &length)
Set a new value for this type&#39;s length.
void setMaxSpeed(const double &maxSpeed)
Set a new value for this type&#39;s maximum speed.
const int VTYPEPARS_MAXSPEED_LAT_SET
const int VTYPEPARS_PROBABILITY_SET
void setImperfection(double imperfection)
Set a new value for this type&#39;s imperfection.
MSVehicleType * duplicateType(const std::string &id, bool persistent) const
Duplicates the microsim vehicle type giving the newly created type the given id.
virtual void setApparentDecel(double decel)
Sets a new value for the apparent deceleration [m/s^2].
Definition: MSCFModel.h:490
static MSVehicleType * build(SUMOVTypeParameter &from)
Builds the microsim vehicle type described by the given parameter.
LateralAlignment
Numbers representing special SUMO-XML-attribute values Information how vehicles align themselves with...
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:239
The car-following model and parameter.
Definition: MSVehicleType.h:66
double height
This class&#39; height.
bool isVehicleSpecific() const
Returns whether this type belongs to a single vehicle only (was modified)
double getMaxAccel() const
Get the vehicle type&#39;s maximum acceleration [m/s^2].
Definition: MSCFModel.h:210
double getDefaultProbability() const
Get the default probability of this vehicle type.
void setMinGapLat(const double &minGapLat)
Set a new value for this type&#39;s minimum lataral gap.
bool wasSet(int what) const
Returns whether the given parameter was set.
double maxSpeed
The vehicle type&#39;s maximum speed [m/s].
double width
This class&#39; width.
bool knowsParameter(const std::string &key) const
Returns whether the parameter is known.
const MSCFModel & getCarFollowModel() const
Returns the vehicle type&#39;s car following model definition (const version)
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
Definition: ToString.h:48
const int VTYPEPARS_ACTIONSTEPLENGTH_SET
void setAccel(double accel)
Set a new value for this type&#39;s acceleration.
void check()
Checks whether vehicle type parameters may be problematic (Currently, only the value for the action s...
MSVehicleType * buildSingularType(const std::string &id) const
Duplicates the microsim vehicle type giving the newly created type the given id, marking it as vehicl...
static double toDouble(const std::string &sData)
converts a string into the double value described by it by calling the char-type converter ...
The original Krauss (1998) car-following model and parameter.
int SUMOEmissionClass
double getEmergencyDecel() const
Get the vehicle type&#39;s maximal phisically possible deceleration [m/s^2].
Definition: MSCFModel.h:226
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
Definition: MSNet.h:337
virtual void setHeadwayTime(double headwayTime)
Sets a new value for desired headway [s].
Definition: MSCFModel.h:506
void setHeight(const double &height)
Set a new value for this type&#39;s height.
The ACC car-following model.
Definition: MSCFModel_ACC.h:49
#define STEPS2TIME(x)
Definition: SUMOTime.h:57
static double gDefaultEmergencyDecel
encoding of the string-option default.emergencydecel
Definition: MSGlobals.h:115
virtual ~MSVehicleType()
Destructor.
double getMaxSpeed() const
Get vehicle&#39;s maximum speed [m/s].
render as a (city) rail without locomotive
void resetActionOffset(const SUMOTime timeUntilNextAction=0)
Resets the action offset for the vehicle.
Definition: MSVehicle.cpp:2110
void setImpatience(const double impatience)
Set a new value for this type&#39;s impatience.
static double getDefaultDecel(const SUMOVehicleClass vc=SVC_IGNORING)
Returns the default deceleration for the given vehicle class This needs to be a function because the ...
void setEmissionClass(SUMOEmissionClass eclass)
Set a new value for this type&#39;s emission class.
double getMinGap() const
Get the free space in front of vehicles of this class.
double getMaxDecel() const
Get the vehicle type&#39;s maximal comfortable deceleration [m/s^2].
Definition: MSCFModel.h:218
void setSpeedDeviation(const double &dev)
Set a new value for this type&#39;s speed deviation.
void setSpeedFactor(const double &factor)
Set a new value for this type&#39;s speed factor.
const int VTYPEPARS_SPEEDFACTOR_SET
void setActionStepLength(const SUMOTime actionStepLength, bool resetActionOffset)
Set a new value for this type&#39;s action step length.
Scalable model based on Krauss by Peter Wagner.
double maxSpeedLat
The vehicle type&#39;s maximum lateral speed [m/s].
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.
int parametersSet
Information for the router which parameter were set.
render as a cargo train
The original Krauss (1998) car-following model and parameter.
SUMOVTypeParameter myParameter
the parameter container
double getMaxSpeedLat() const
Get vehicle&#39;s maximum lateral speed [m/s].
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
MSCFModel * myCarFollowModel
instance of the car following model.
double getHeight() const
Get the height which vehicles of this class shall have when being drawn.
static SUMOTime gActionStepLength
default value for the interval between two action points for MSVehicle (defaults to DELTA_T) ...
Definition: MSGlobals.h:112
double minGapLat
The vehicle type&#39;s minimum lateral gap [m].
void setEmergencyDecel(double emergencyDecel)
Set a new value for this type&#39;s emergency deceleration.
virtual void setMaxDecel(double decel)
Sets a new value for maximal comfortable deceleration [m/s^2].
Definition: MSCFModel.h:474
SUMOVehicleShape
Definition of vehicle classes to differ between different appearences.
const MSVehicleType & getVehicleType() const
Returns the vehicle&#39;s type definition.
virtual void setMaxAccel(double accel)
Sets a new value for maximum acceleration [m/s^2].
Definition: MSCFModel.h:466
virtual double getHeadwayTime() const
Get the driver&#39;s desired headway [s].
Definition: MSCFModel.h:259
virtual void setImperfection(double imperfection)
Sets a new value for driver imperfection.
Definition: MSCFModel.h:498
SubParams cfParameter
Car-following parameter.
RGBColor color
The color.
static int myNextIndex
next value for the running index
const std::string & getID() const
Returns the name of the vehicle type.
Definition: MSVehicleType.h:94
const std::string getParameter(const std::string &key, const std::string &defaultValue="") const
Returns the value for a given key.
void setWidth(const double &width)
Set a new value for this type&#39;s width.
std::string id
The vehicle type&#39;s id.
void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength)
Process an updated action step length value (only affects the vehicle&#39;s action offset, The actionStepLength is stored in the (singular) vtype)
Definition: MSVehicle.cpp:2116
double getLength() const
Get vehicle&#39;s length [m].
MSVehicleType(const SUMOVTypeParameter &parameter)
Constructor.
static double getDefaultEmergencyDecel(const SUMOVehicleClass vc, double decel, double defaultOption)
Returns the default emergency deceleration for the given vehicle class This needs to be a function be...
void setVClass(SUMOVehicleClass vclass)
Set a new value for this type&#39;s vehicle class.
LateralAlignment latAlignment
The vehicles desired lateral alignment.
SUMOTime actionStepLength
The vehicle type&#39;s default actionStepLength [ms], i.e. the interval between two control actions...
double minGap
This class&#39; free space in front of the vehicle itself.
const int VTYPEPARS_HEIGHT_SET
void setColor(const RGBColor &color)
Set a new value for this type&#39;s color.
double sample(std::mt19937 *which=0) const
Draw a sample of the distribution.
virtual void setEmergencyDecel(double decel)
Sets a new value for maximal physically possible deceleration [m/s^2].
Definition: MSCFModel.h:482
bool myWarnedActionStepLengthTauOnce
Indicator whether the user was already warned once about an action step length larger than the desire...
const int VTYPEPARS_WIDTH_SET
double getImpatience() const
Returns this type&#39;s impatience.
The class responsible for building and deletion of vehicles.
double computeChosenSpeedDeviation(std::mt19937 *rng, const double minDev=-1.) const
Computes and returns the speed deviation.
void setMaxSpeedLat(const double &maxSpeedLat)
Set a new value for this type&#39;s maximum lateral speed.
void setPreferredLateralAlignment(LateralAlignment latAlignment)
Set vehicle&#39;s preferred lateral alignment.
render as a transport vehicle with one trailer
Krauss car-following model, with acceleration decrease and faster start.
const int VTYPEPARS_LENGTH_SET
const int VTYPEPARS_VEHICLECLASS_SET
Krauss car-following model, changing accel and speed by slope.
const int VTYPEPARS_EMISSIONCLASS_SET
const int VTYPEPARS_COLOR_SET
Distribution_Parameterized speedFactor
The factor by which the maximum speed may deviate from the allowed max speed on the street...
render as a semi-trailer transport vehicle ("Sattelschlepper")
const int VTYPEPARS_SHAPE_SET
double length
The physical vehicle length.
SUMOEmissionClass emissionClass
The emission class of this vehicle.
The W99 Model car-following model.
Definition: MSCFModel_W99.h:42
constVehIt loadedVehEnd() const
Returns the end of the internal vehicle map.
double myCachedActionStepLengthSecs
the vtypes actionsStepLength in seconds (cached because needed very often)
const int VTYPEPARS_IMPATIENCE_SET