MSCFModel_CC Class Reference

A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI. More...

#include <MSCFModel_CC.h>

Inheritance diagram for MSCFModel_CC:

Collaboration diagram for MSCFModel_CC:

Public Types
enum	CalcReason { CURRENT , FUTURE , CURRENT_WAIT , LANE_CHANGE }
	What the return value of stop/follow/free-Speed is used for. More...

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...
int	commitToLaneChange (const MSVehicle *veh, bool left) const
VehicleVariables *	createVehicleVariables () const
	Returns model specific values which are stored inside a vehicle and must be used with casting. More...
virtual double	distAfterTime (double t, double speed, double accel) const
	calculates the distance travelled after accelerating for time t More...
MSCFModel *	duplicate (const MSVehicleType *vtype) const
	Duplicates the car-following model. More...
double	estimateSpeedAfterDistance (const double dist, const double v, const double accel) const
MSVehicle *	findVehicle (std::string id) const
double	getACCAcceleration (const MSVehicle *veh) const
	returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front More...
enum Plexe::ACTIVE_CONTROLLER	getActiveController (const MSVehicle *veh) const
	return the currently active controller More...
double	getApparentDecel () const
	Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers. More...
double	getCACCConstantSpacing (const MSVehicle *veh) const
	returns CACC desired constant spacing 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...
int	getMyLanesCount () const
	returns the number of lanes set in the configuration file More...
virtual std::string	getParameter (const MSVehicle *veh, const std::string &key) const
	set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code More...
void	getRadarMeasurements (const MSVehicle *veh, double &distance, double &relativeSpeed) const
	return the data that is currently being measured by the radar More...
virtual double	getSecureGap (const MSVehicle *const veh, const MSVehicle *const, 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...
SUMOTime	getStartupDelay () const
	Get the vehicle type's startupDelay. More...
void	getVehicleInformation (const MSVehicle *veh, double &speed, double &acceleration, double &controllerAcceleration, Position &position, double &time) const
	get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles More...
bool	isLeader (const MSVehicle *veh) const
	Returns whether a vehicle is a leader of a platoon or not. By default, a vehicle on its own using an ACC is a leader of itself. More...
int	isPlatoonLaneChangeSafe (const MSVehicle *veh, bool left) const
	computes whether a lane change for a whole platoon is safe or not. This is done by checking the lane change state and neighbors of all vehicles in the platoon added through the addPlatoonMember API. If the adjacent lane is free and there is enough safe gap for the platoon, the method returns 0, otherwise it returns the blocking reason 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 decel, double currentSpeed, bool onInsertion=false, double headway=-1, bool relaxEmergency=true) const
	Returns the maximum next velocity for stopping within gap. More...
double	maximumSafeStopSpeedBallistic (double gap, double decel, 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 decel, bool onInsertion, double headway) const
	Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More...
	MSCFModel_CC (const MSVehicleType *vtype)
	Constructor. More...
void	setLeader (MSVehicle *veh, MSVehicle *const leader, std::string leaderId) const
	Sets the leader for a member of the platoon. More...
virtual void	setParameter (MSVehicle *veh, const std::string &key, const std::string &value) const
	try to set the given parameter for this carFollowingModel More...
void	switchOnACC (const MSVehicle *veh, double ccDesiredSpeed) const
	switch on the ACC, so disabling the human driver car control More...
	~MSCFModel_CC ()
	Destructor. More...
Implementations of the MSCFModel interface
virtual double	finalizeSpeed (MSVehicle *const veh, double vPos) const
	Applies interaction with stops and lane changing model influences. More...
double	followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0, const CalcReason usage=CalcReason::CURRENT) const
	Computes the vehicle's safe speed (no dawdling) More...
virtual double	insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
	Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints. More...
double	stopSpeed (const MSVehicle *const veh, const double speed, double gap2pred, double decel, const CalcReason usage=CalcReason::CURRENT) const
	Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More...
virtual double	freeSpeed (const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false, const CalcReason usage=CalcReason::CURRENT) const
	Computes the vehicle's safe speed without a leader. More...
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...
double	interactionGap (const MSVehicle *const, double vL) const
	Returns the maximum gap at which an interaction between both vehicles occurs. More...
int	getModelID () const
	Returns the model's name. More...
Methods to override by model implementation
virtual double	patchSpeedBeforeLC (const MSVehicle *veh, double vMin, double vMax) const
	apply custom speed adaptations within the given speed bounds More...
virtual double	applyStartupDelay (const MSVehicle *veh, const double vMin, const double vMax, const SUMOTime addTime=0) const
	apply speed adaptation on startup More...
double	stopSpeed (const MSVehicle *const veh, const double speed, double gap, const CalcReason usage=CalcReason::CURRENT) const
	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	maximumLaneSpeedCF (const MSVehicle *const veh, double maxSpeed, double maxSpeedLane) const
	Returns the maximum velocity the CF-model wants to achieve in the next step. 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...
virtual bool	startupDelayStopped () const
	whether startupDelay should be applied after stopping 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...
void	setCollisionMinGapFactor (const double factor)
	Sets a new value for the factor of minGap that must be maintained to avoid a collision event. 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, double maxDecel)
	Computes the acceleration needed to arrive not before the given time. 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	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	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 \in [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...
void	applyOwnSpeedPerceptionError (const MSVehicle *const veh, double &speed) const
	Overwrites sped by the perceived values 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...
SUMOTime	myStartupDelay
	The startup delay after halting [s]. More...
const MSVehicleType *	myType
	The type to which this model definition belongs to. More...

Private Member Functions
double	_acc (const MSVehicle *veh, double egoSpeed, double predSpeed, double gap2pred, double headwayTime) const
	controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
double	_cacc (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred, double leaderSpeed, double leaderAcceleration, double spacing) const
	controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
double	_cc (const MSVehicle *veh, double egoSpeed, double desSpeed) const
	controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
double	_consensus (const MSVehicle *veh, double egoSpeed, Position egoPosition, double time) const
	controller based on consensus strategy More...
double	_flatbed (const MSVehicle *veh, double egoAcceleration, double egoSpeed, double predSpeed, double gap2pred, double leaderSpeed) const
	flatbed platoon towing model More...
double	_ploeg (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred) const
	controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration. More...
double	_v (const MSVehicle *const veh, double gap2pred, double egoSpeed, double predSpeed) const
void	changeWholePlatoonLane (MSVehicle *const veh, int direction) const
	Moves an entire platoon on an adjacent lane, calling changeLane() on all members. More...
double	d_i_j (const struct Plexe::VEHICLE_DATA *vehicles, const double h[MAX_N_CARS], int i, int j) const
	computes the desired distance between vehicle i and vehicle j More...
MSCFModel_CC &	operator= (const MSCFModel_CC &)=delete
	Invalidated assignment operator. More...
void	performAutoLaneChange (MSVehicle *const veh) const
	Check whether a platoon would gain speed by moving to the left or whether it should move to the right after an overtake and, if safe, do so. This method is invoked when the platoon auto lane change mechanism is enabled through the enableAutoLaneChanging API. More...
void	performPlatoonLaneChange (MSVehicle *const veh) const
	If safe to do so, moves a platoon to a user-desired lane. If not safe, this method continues to try at each simulation step. This method is invoked when the user requests a platoon to change lane through the performPlatoonLaneChange API, or when invoking the old setFixedLane API on a single vehicle. More...
void	recomputeParameters (const MSVehicle *veh) const
	Recomputes controller related parameters after setting them. More...
void	resetConsensus (const MSVehicle *veh) const
	Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology. More...

Private Attributes
const double	myC1
	design constant for CACC More...
const double	myCcAccel
	The maximum acceleration that the CC can output. More...
const double	myCcDecel
	The maximum deceleration that the CC can output. More...
const double	myConstantSpacing
	the constant gap for CACC More...
const double	myFlatbedD
const double	myFlatbedH
const double	myFlatbedKa
	flatbed CACC parameters More...
const double	myFlatbedKp
const double	myFlatbedKv
MSCFModel *	myHumanDriver
	the car following model which drives the car when automated cruising is disabled, i.e., the human driver More...
const double	myKp
	design constant for CC More...
const double	myLambda
	design constant for ACC More...
const int	myLanesCount
	number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps More...
const double	myOmegaN
	design constant for CACC More...
const double	myPloegH
	Ploeg's CACC parameters. More...
const double	myPloegKd
const double	myPloegKp
const double	myTau
	engine time constant used for actuation lag More...
const double	myXi
	design constant for CACC More...

Currently fixed methods
virtual double	maxNextSafeMin (double speed, const MSVehicle *const veh=0) const
	Returns the maximum speed given the current speed and regarding driving dynamics. 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	brakeGap (const double speed, const double decel, const double headwayTime) const
virtual double	getSpeedAfterMaxDecel (double v) const
	Returns the velocity after maximum deceleration. More...
static double	freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion, const double actionStepLength)
static double	brakeGapEuler (const double speed, const double decel, const double headwayTime)

Detailed Description

A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI.

See also

MSCFModel

Definition at line 57 of file MSCFModel_CC.h.

Member Enumeration Documentation

CalcReason

enum MSCFModel::CalcReason

inherited

What the return value of stop/follow/free-Speed is used for.

Enumerator
CURRENT	the return value is used for calculating the next speed
FUTURE	the return value is used for calculating future speeds
CURRENT_WAIT	the return value is used for calculating junction stop speeds
LANE_CHANGE	the return value is used for lane change calculations

Definition at line 77 of file MSCFModel.h.

Constructor & Destructor Documentation

MSCFModel_CC()

MSCFModel_CC::MSCFModel_CC

(

const MSVehicleType *

vtype

)

Constructor.

Parameters

[in]	accel	The maximum acceleration that controllers can output (def. 1.5 m/s^2)
[in]	decel	The maximum deceleration that ACC and CACC controllers can output (def. 6 m/s^2)
[in]	ccDecel	The maximum deceleration that the CC can output (def. 1.5 m/s^2)
[in]	headwayTime	the headway gap for ACC (be aware of instabilities) (def. 1.5 s)
[in]	constantSpacing	the constant gap for CACC (def. 5 m)
[in]	kp	design constant for CC (def. 1)
[in]	lambda	design constant for ACC (def. 0.1)
[in]	c1	design constant for CACC (def. 0.5)
[in]	xi	design constant for CACC (def. 1)
[in]	omegaN	design constant for CACC (def. 0.2)
[in]	tau	engine time constant used for actuation lag (def. 0.5 s)
[in]	lanesCount	number of lanes of the highway
[in]	ccAccel	the maximum acceleration the CC can apply

Definition at line 44 of file MSCFModel_CC.cpp.

References myHumanDriver, myLanesCount, and TL.

Referenced by duplicate().

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~MSCFModel_CC()

MSCFModel_CC::~MSCFModel_CC

(

)

Destructor.

Definition at line 74 of file MSCFModel_CC.cpp.

Member Function Documentation

_acc()

double MSCFModel_CC::_acc ( const MSVehicle *  veh, double  egoSpeed, double  predSpeed, double  gap2pred, double  headwayTime  ) const

private

controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters

[in]	egoSpeed	vehicle current speed
[in]	desSpeed	vehicle desired speed
[in]	gap2pred	the distance to preceding vehicle
[in]	headwayTime	the headway time ACC should maintain

Returns

the acceleration to be given to the actuator

Definition at line 594 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::accLambda, and MSVehicle::getCarFollowVariables().

Referenced by _v(), and getACCAcceleration().

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_cacc()

double MSCFModel_CC::_cacc ( const MSVehicle *  veh, double  egoSpeed, double  predSpeed, double  predAcceleration, double  gap2pred, double  leaderSpeed, double  leaderAcceleration, double  spacing  ) const

private

controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters

[in]	egoSpeed	vehicle current speed
[in]	desSpeed	vehicle desired speed
[in]	predAcceleration	acceleration of preceding vehicle
[in]	gap2pred	the distance to preceding vehicle
[in]	leaderSpeed	the speed of the platoon leader
[in]	leaderAcceleration	the acceleration of the platoon leader
[in]	spacing	the spacing to be kept

Returns

the acceleration to be given to the actuator

Definition at line 603 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, and MSVehicle::getCarFollowVariables().

Referenced by _v().

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_cc()

double MSCFModel_CC::_cc ( const MSVehicle *  veh, double  egoSpeed, double  desSpeed  ) const

private

controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters

[in]	egoSpeed	vehicle current speed
[in]	desSpeed	vehicle desired speed

Returns

the acceleration to be given to the actuator

Definition at line 585 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::ccKp, MSVehicle::getCarFollowVariables(), myCcAccel, and myCcDecel.

Referenced by _v().

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_consensus()

double MSCFModel_CC::_consensus ( const MSVehicle *  veh, double  egoSpeed, Position  egoPosition, double  time  ) const

private

controller based on consensus strategy

Parameters

[in]	egoSpeed	vehicle current speed
[in]	egoPosition	vehicle current position
[in]	time	current time

Returns

the acceleration to be given to the actuator

Definition at line 653 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::b, d_i_j(), DELTA_T, Position::distanceTo2D(), MSVehicle::getCarFollowVariables(), MSVehicle::getVelocityVector(), CC_VehicleVariables::h, Plexe::VEHICLE_DATA::index, CC_VehicleVariables::K, CC_VehicleVariables::L, CC_VehicleVariables::nCars, CC_VehicleVariables::nInitialized, CC_VehicleVariables::position, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, Position::set(), Position::setx(), Position::sety(), sgn, Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, STEPS2TIME, Plexe::VEHICLE_DATA::time, CC_VehicleVariables::vehicles, Position::x(), and Position::y().

Referenced by _v().

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_flatbed()

double MSCFModel_CC::_flatbed ( const MSVehicle *  veh, double  egoAcceleration, double  egoSpeed, double  predSpeed, double  gap2pred, double  leaderSpeed  ) const

private

flatbed platoon towing model

Parameters

[in]	egoAcceleration	vehicle current acceleration
[in]	egoSpeed	vehicle current speed
[in]	predSpeed	front vehicle speed
[in]	gap2pred	distance to front vehicle
[in]	leaderSpeed	speed of leading vehicle

Definition at line 727 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, and MSVehicle::getCarFollowVariables().

Referenced by _v().

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_ploeg()

double MSCFModel_CC::_ploeg ( const MSVehicle *  veh, double  egoSpeed, double  predSpeed, double  predAcceleration, double  gap2pred  ) const

private

controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration.

Parameters

[in]	egoSpeed	vehicle current speed
[in]	predSpeed	the speed of the front vehicle
[in]	predAcceleration	acceleration of preceding vehicle
[in]	gap2pred	the distance to preceding vehicle

Returns

the variation of desired acceleration

Definition at line 616 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, and TS.

Referenced by _v().

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_v()

double MSCFModel_CC::_v ( const MSVehicle *const  veh, double  gap2pred, double  egoSpeed, double  predSpeed  ) const

private

Definition at line 415 of file MSCFModel_CC.cpp.

References _acc(), _cacc(), _cc(), _consensus(), _flatbed(), _ploeg(), Plexe::ACC, ACCEL2SPEED, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, CC_VehicleVariables::autoFeed, Plexe::CACC, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::ccDesiredSpeed, Plexe::CONSENSUS, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, DELTA_T, Position::distanceTo2D(), Plexe::DRIVER, Plexe::FAKED_CACC, CC_VehicleVariables::fakeData, findVehicle(), CC_VehicleVariables::fixedAcceleration, Plexe::FLATBED, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, CC_VehicleVariables::frontVehicleId, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), getVehicleInformation(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, CC_VehicleVariables::leaderVehicleId, MAX2(), Plexe::PLOEG, STEPS2TIME, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, and CC_VehicleVariables::usePrediction.

Referenced by followSpeed(), freeSpeed(), and stopSpeed().

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applyHeadwayAndSpeedDifferencePerceptionErrors()

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

protectedinherited

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]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in,out]	gap2pred	The (netto) distance to the LEADER
[in,out]	predSpeed	The speed of LEADER
[in]	pred	The leading vehicle (LEADER)

Definition at line 1063 of file MSCFModel.cpp.

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

Referenced by MSCFModel_CACC::followSpeed(), MSCFModel_IDM::followSpeed(), and MSCFModel_Krauss::followSpeed().

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applyHeadwayPerceptionError()

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

protectedinherited

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

Parameters

[in]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in,out]	gap	The (netto) distance to the the obstacle

Definition at line 1099 of file MSCFModel.cpp.

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

Referenced by MSCFModel_IDM::stopSpeed(), MSCFModel_CACC::stopSpeed(), and MSCFModel_Krauss::stopSpeed().

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applyOwnSpeedPerceptionError()

void MSCFModel::applyOwnSpeedPerceptionError ( const MSVehicle *const  veh, double &  speed  ) const

protectedinherited

Overwrites sped by the perceived values obtained from the vehicle's driver state,.

See also

MSCFModel_Krauss::freeSpeed()

Parameters

[in]	veh	The vehicle (EGO)
[in,out]	speed	The vehicle's speed

Definition at line 1054 of file MSCFModel.cpp.

References MSVehicle::getDriverState(), and MSVehicle::hasDriverState().

Referenced by MSCFModel::maximumLaneSpeedCF(), and MSCFModel_CACC::maximumLaneSpeedCF().

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applyStartupDelay()

double MSCFModel::applyStartupDelay ( const MSVehicle *  veh, const double  vMin, const double  vMax, const SUMOTime  addTime = 0  ) const

virtualinherited

apply speed adaptation on startup

Definition at line 257 of file MSCFModel.cpp.

References DELTA_T, MSVehicle::getSpeed(), MSVehicle::getTimeSinceStartup(), MSCFModel::myStartupDelay, SUMO_const_haltingSpeed, and UNUSED_PARAMETER.

Referenced by MSCFModel::finalizeSpeed(), and MSCFModel_EIDM::finalizeSpeed().

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avoidArrivalAccel()

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

staticinherited

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 521 of file MSCFModel.cpp.

Referenced by MSLCM_SL2015::commitManoeuvre().

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brakeGap() [1/2]

double MSCFModel::brakeGap ( const double  speed ) const

inlineinherited

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.

Parameters

[in]

speed

The vehicle's current speed

Returns

The distance needed to halt

Definition at line 380 of file MSCFModel.h.

References MSCFModel::myDecel, and MSCFModel::myHeadwayTime.

Referenced by MSCFModel_Wiedemann::_v(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSVehicle::adaptToOncomingLeader(), MSPModel_Striping::addCrossingVehs(), MSLane::addLeaders(), MSCFModel_EIDM::brakeGap(), MSLCHelper::canSaveBlockerLength(), MSLaneChanger::checkChange(), MSLane::checkFailure(), MSVehicle::checkReversal(), MSVehicle::checkRewindLinkLanes(), MSLaneChanger::computeSafeOppositeLength(), MSCFModel::distAfterTime(), MSCFModel::followSpeedTransient(), MSVehicle::getBrakeGap(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), MSVehicle::getFollower(), LIBSUMO_NAMESPACE::Vehicle::getJunctionFoes(), MSLane::getLeader(), MSVehicle::getLeader(), MSLink::getLeaderInfo(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), MSLaneChanger::getRealLeader(), MSCFModel::getSecureGap(), MSLink::getZipperSpeed(), MSLane::handleCollisionBetween(), MSLane::handleIntermodalCollisionBetween(), MSIdling_Stop::idle(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLane::isInsertionSuccess(), MSVehicle::isLeader(), MSLane::lastInsertion(), MSCFModel::maximumSafeFollowSpeed(), GUIBaseVehicle::GUIBaseVehiclePopupMenu::onCmdToggleStop(), MSVehicle::planMoveInternal(), MSLCM_SL2015::preventSliding(), MSVehicle::processLinkApproaches(), MSVehicle::unsafeLinkAhead(), MSVehicle::updateBestLanes(), and MSLCHelper::updateBlockerLength().

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brakeGap() [2/2]

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

virtualinherited

Reimplemented in MSCFModel_EIDM.

Definition at line 75 of file MSCFModel.cpp.

References MSCFModel::brakeGapEuler(), and MSGlobals::gSemiImplicitEulerUpdate.

brakeGapEuler()

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

staticinherited

Definition at line 90 of file MSCFModel.cpp.

References ACCEL2SPEED, and SPEED2DIST.

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

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calculateEmergencyDeceleration()

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

inherited

Returns the minimal deceleration for following the given leader safely.

Parameters

[in]	gap	The (netto) distance to the LEADER
[in]	egoSpeed	The FOLLOWERS's speed
[in]	predSpeed	The LEADER's speed
[in]	predMaxDecel	The 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 1002 of file MSCFModel.cpp.

References DEBUG_COND2, MSCFModel::myEmergencyDecel, and SIMTIME.

Referenced by MSCFModel::maximumSafeFollowSpeed(), MSCFModel_EIDM::maximumSafeFollowSpeed(), and MSCFModel::maximumSafeStopSpeed().

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changeWholePlatoonLane()

void MSCFModel_CC::changeWholePlatoonLane ( MSVehicle *const  veh, int  direction  ) const

private

Moves an entire platoon on an adjacent lane, calling changeLane() on all members.

Parameters

veh	leader vehicle of the platoon
direction	+1 for left adjacent lane, -1 for right adjacent lane

Definition at line 177 of file MSCFModel_CC.cpp.

References MSVehicle::getCarFollowVariables(), Named::getID(), MSVehicle::getLaneIndex(), and CC_VehicleVariables::members.

Referenced by performAutoLaneChange(), and performPlatoonLaneChange().

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commitToLaneChange()

int MSCFModel_CC::commitToLaneChange	(	const MSVehicle *	veh,
		bool	left
	)		const

This method can be invoked by the lane change model to do a final check on the safety of a platoon lane change maneuver. This method will cause the leader to check once again the safety status of all members. This might have changed since the decision of changing lane because two platoons might have decided to change lane exactly at the same time, when the lane was free for both, but changing lane would cause a side-to-side collision. SUMO will call this method on one platoon which will answer "still safe" and cause SUMO to start moving the vehicles on the adjacent lane. On the second platoon, calling this method will cause the platoon to find out about the vehicles that have just been moved and indicate the lane as busy, aborting the lane change.

Parameters

veh	vehicle for which the check should be made. If the method is invoked on a member, such member invokes the same method recursively on its leader. The leader in turn asks all member for their status
left	whether we want to check the left or the right lane

Returns

0 if it is safe to change lane, the blocking reason otherwise

Definition at line 246 of file MSCFModel_CC.cpp.

References findVehicle(), MSVehicle::getCarFollowVariables(), MSNet::getCurrentTimeStep(), MSNet::getInstance(), isLeader(), isPlatoonLaneChangeSafe(), and LCA_BLOCKED.

Referenced by MSLCM_LC2013_CC::checkChangeBeforeCommitting().

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createVehicleVariables()

MSCFModel::VehicleVariables * MSCFModel_CC::createVehicleVariables ( ) const

virtual

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

Reimplemented from MSCFModel.

Definition at line 77 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::accLambda, CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::caccXi, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::ccKp, CC_VehicleVariables::engine, CC_VehicleVariables::engineModel, CC_VehicleVariables::engineTau, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, FOLM_PAR_DT, FOLM_PAR_TAU, MSCFModel::myAccel, myC1, myConstantSpacing, MSCFModel::myDecel, myFlatbedD, myFlatbedH, myFlatbedKa, myFlatbedKp, myFlatbedKv, myKp, myLambda, myOmegaN, myPloegH, myPloegKd, myPloegKp, myTau, myXi, CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, GenericEngineModel::setMaximumAcceleration(), GenericEngineModel::setMaximumDeceleration(), GenericEngineModel::setParameter(), and TS.

d_i_j()

double MSCFModel_CC::d_i_j ( const struct Plexe::VEHICLE_DATA *  vehicles, const double  h[MAX_N_CARS], int  i, int  j  ) const

private

computes the desired distance between vehicle i and vehicle j

Parameters

[in]	vehicles	data about all vehicles
[in]	h	vector of times headway
[in]	i	index of own vehicle
[in]	j	index of vehicle to compute distance from

Returns

the desired distance between vehicle i and j

Definition at line 627 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::length, and Plexe::VEHICLE_DATA::speed.

Referenced by _consensus(), and getSecureGap().

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distAfterTime()

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

virtualinherited

calculates the distance travelled after accelerating for time t

Definition at line 403 of file MSCFModel.cpp.

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

Referenced by MSCFModel::followSpeedTransient().

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duplicate()

MSCFModel * MSCFModel_CC::duplicate ( const MSVehicleType *  vtype ) const

virtual

Duplicates the car-following model.

Parameters

[in]

vtype

The vehicle type this model belongs to (1:1)

Returns

A duplicate of this car-following model

Implements MSCFModel.

Definition at line 1201 of file MSCFModel_CC.cpp.

References MSCFModel_CC().

estimateArrivalTime() [1/2]

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

staticinherited

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]	dist	Distance to be covered (assumed >= 0.)
[in]	initialSpeed	Initial speed of vehicle
[in]	arrivalSpeed	desired arrival speed of vehicle
[in]	accel	Assumed acceleration until reaching maxspeed.
[in]	accel	Assumed 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 489 of file MSCFModel.cpp.

References UNUSED_PARAMETER.

estimateArrivalTime() [2/2]

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

staticinherited

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]	dist	Distance to be covered (assumed >= 0.)
[in]	speed	Initial speed of vehicle
[in]	accel	Assumed 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 450 of file MSCFModel.cpp.

References INVALID_DOUBLE.

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

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estimateSpeedAfterDistance()

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

inherited

Definition at line 765 of file MSCFModel.cpp.

References MSVehicleType::getMaxSpeed(), MAX2(), MIN2(), and MSCFModel::myType.

Referenced by MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSLink::getZipperSpeed(), and MSVehicle::planMoveInternal().

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finalizeSpeed()

double MSCFModel_CC::finalizeSpeed ( MSVehicle *const  veh, double  vPos  ) const

virtual

Applies interaction with stops and lane changing model influences.

Parameters

[in]	veh	The ego vehicle
[in]	vPos	The possible velocity

Returns

The velocity after applying interactions with stops and lane change model influences

Reimplemented from MSCFModel.

Definition at line 280 of file MSCFModel_CC.cpp.

References ACCEL2SPEED, CC_VehicleVariables::activeController, CC_VehicleVariables::autoLaneChange, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, Plexe::DRIVER, CC_VehicleVariables::engine, MSCFModel::finalizeSpeed(), MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getCurrentTimeStep(), MSNet::getInstance(), MSVehicle::getLane(), GenericEngineModel::getRealAcceleration(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSBaseVehicle::getStops(), MAX2(), myHumanDriver, performAutoLaneChange(), performPlatoonLaneChange(), CC_VehicleVariables::platoonFixedLane, MSVehicle::processNextStop(), MSBaseVehicle::setChosenSpeedFactor(), SPEED2ACCEL, CC_VehicleVariables::uMax, CC_VehicleVariables::uMin, and CC_VehicleVariables::useFixedAcceleration.

findVehicle()

MSVehicle * MSCFModel_CC::findVehicle

(

std::string

id

)

const

Searches for a vehicle given its sumo id. Differently from libsumo's getVehicle, this call does not throw an exception if the vehicle does not exist, so we can check for its existance

Parameters

id	sumo vehicle id

Returns

a pointer to the vehicle if found, nullptr otherwise

Definition at line 275 of file MSCFModel_CC.cpp.

References MSNet::getInstance(), MSVehicleControl::getVehicle(), and MSNet::getVehicleControl().

Referenced by _v(), commitToLaneChange(), getRadarMeasurements(), isPlatoonLaneChangeSafe(), and setParameter().

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followSpeed()

double MSCFModel_CC::followSpeed ( const MSVehicle *const  veh, double  speed, double  gap2pred, double  predSpeed, double  predMaxDecel, const MSVehicle *const  pred = 0, const CalcReason  usage = CalcReason::CURRENT  ) const

virtual

Computes the vehicle's safe speed (no dawdling)

Parameters

[in]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in]	gap2pred	The (netto) distance to the LEADER
[in]	predSpeed	The speed of LEADER

Returns

EGO's safe speed

See also

MSCFModel::ffeV

Implements MSCFModel.

Definition at line 329 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::followSpeed(), MSVehicle::getCarFollowVariables(), myHumanDriver, and UNUSED_PARAMETER.

followSpeedTransient()

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

virtualinherited

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]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in]	gap2pred	The (netto) distance to the LEADER
[in]	predSpeed	The speed of LEADER
[in]	predMaxDecel	The maximum leader decelration

Returns

EGO's safe speed

Definition at line 353 of file MSCFModel.cpp.

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

Referenced by MSLCM_SL2015::commitFollowSpeed().

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freeSpeed() [1/2]

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

staticinherited

Definition at line 100 of file MSCFModel.cpp.

References ACCEL2DIST, ACCEL2SPEED, DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.

freeSpeed() [2/2]

double MSCFModel_CC::freeSpeed ( const MSVehicle *const  veh, double  speed, double  seen, double  maxSpeed, const bool  onInsertion = false, const CalcReason  usage = CalcReason::CURRENT  ) 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]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in]	seen	The look ahead distance
[in]	maxSpeed	The maximum allowed speed
[in]	onInsertion	whether speed at insertion is asked for

Returns

EGO's safe speed

Reimplemented from MSCFModel.

Definition at line 367 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::freeSpeed(), MSVehicle::getCarFollowVariables(), and getRadarMeasurements().

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()  )

staticinherited

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]	v1	initial speed of vehicle 1
[in]	v2	initial speed of vehicle 2
[in]	a1	acceleration of vehicle 1
[in]	a2	acceleration of vehicle 2
[in]	maxV1	maximal speed of vehicle 1
[in]	maxV2	maximal speed of vehicle 2
[in]	duration	time span for the process

Returns

estimated gap after 'duration' seconds

Definition at line 564 of file MSCFModel.cpp.

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

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

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getACCAcceleration()

double MSCFModel_CC::getACCAcceleration

(

const MSVehicle *

veh

)

const

returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front

Definition at line 1185 of file MSCFModel_CC.cpp.

References _acc(), CC_VehicleVariables::accHeadwayTime, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), and MSVehicle::getSpeed().

Referenced by getParameter().

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getActiveController()

enum Plexe::ACTIVE_CONTROLLER MSCFModel_CC::getActiveController

(

const MSVehicle *

veh

)

const

return the currently active controller

Parameters

[in]

veh

the vehicle for which the action is requested

Returns

the currently active controller

Definition at line 1162 of file MSCFModel_CC.cpp.

References Plexe::ACC, CC_VehicleVariables::activeController, CC_VehicleVariables::ccDesiredSpeed, and MSVehicle::getCarFollowVariables().

getApparentDecel()

double MSCFModel::getApparentDecel ( ) const

inlineinherited

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 280 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by MSVehicle::getCurrentApparentDecel(), and MSVehicleType::setApparentDecel().

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getCACCConstantSpacing()

double MSCFModel_CC::getCACCConstantSpacing

(

const MSVehicle *

veh

)

const

returns CACC desired constant spacing

Parameters

[in]

veh

the vehicle to get constant spacing of

Returns

spacing the spacing in meters

Definition at line 738 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::caccSpacing, and MSVehicle::getCarFollowVariables().

getCollisionMinGapFactor()

double MSCFModel::getCollisionMinGapFactor ( ) const

inlineinherited

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

Definition at line 293 of file MSCFModel.h.

References MSCFModel::myCollisionMinGapFactor.

Referenced by MSLane::detectCollisionBetween().

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getEmergencyDecel()

double MSCFModel::getEmergencyDecel ( ) const

inlineinherited

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 272 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

Referenced by MSLane::checkFailure(), MSLCM_SL2015::commitManoeuvre(), MSCFModel_EIDM::finalizeSpeed(), MSLink::getZipperSpeed(), MSLane::handleCollisionBetween(), MSLane::handleIntermodalCollisionBetween(), MSVehicle::planMoveInternal(), and MSVehicleType::setEmergencyDecel().

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getHeadwayTime()

virtual double MSCFModel::getHeadwayTime ( ) const

inlinevirtualinherited

Get the driver's desired headway [s].

Returns

The desired headway of this class' drivers in s

Definition at line 311 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by MSVehicleType::check(), MSLaneChanger::checkChange(), MSVehicle::checkRewindLinkLanes(), MSLaneChanger::computeSurplusGap(), MSVehicle::Influencer::gapControlSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSVehicle::isLeader(), LIBSUMO_NAMESPACE::Vehicle::openGap(), MESegment::receive(), MSCalibrator::remainingVehicleCapacity(), MSDevice_ToC::requestToC(), MESegment::send(), MSVehicleType::setTau(), and MSVehicle::updateBestLanes().

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getImperfection()

virtual double MSCFModel::getImperfection ( ) const

inlinevirtualinherited

Get the driver's imperfection.

Returns

The imperfection of drivers of this class

Reimplemented in MSCFModel_SmartSK, MSCFModel_PWag2009, MSCFModel_KraussOrig1, and MSCFModel_Daniel1.

Definition at line 303 of file MSCFModel.h.

Referenced by MSVehicleType::setImperfection().

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getMaxAccel()

double MSCFModel::getMaxAccel ( ) const

inlineinherited

Get the vehicle type's maximum acceleration [m/s^2].

Returns

The maximum acceleration (in m/s^2) of vehicles of this class

Definition at line 256 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by MSVehicle::accelThresholdForWaiting(), MSDevice_GLOSA::adaptSpeed(), MSVehicle::adaptToLeaders(), MSLCM_LC2013::anticipateFollowSpeed(), MSLaneChanger::checkOppositeStop(), MSLCM_SL2015::commitManoeuvre(), MSLaneChanger::computeOvertakingTime(), MSDevice_GLOSA::distance_at_continuous_accel(), MSDevice_GLOSA::earliest_arrival(), MSVehicle::estimateTimeToNextStop(), MSLaneChanger::getMaxOvertakingSpeed(), MSCFModel::getMinimalArrivalTime(), MSLink::getZipperSpeed(), MSVehicle::isLeader(), MSCFModel::maxNextSpeed(), maxNextSpeed(), MSCFModel_KraussPS::maxNextSpeed(), MSVehicle::planMoveInternal(), MSVehicleType::setAccel(), MSDevice_ToC::setState(), MSDevice_GLOSA::time_to_junction_at_continuous_accel(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), and MSMeanData_Emissions::MSLaneMeanDataValues::write().

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getMaxDecel()

double MSCFModel::getMaxDecel ( ) const

inlineinherited

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 264 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSDevice_GLOSA::adaptSpeed(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSVehicle::adaptToOncomingLeader(), MSPModel_Striping::addCrossingVehs(), MSCriticalFollowerDistanceInfo::addFollower(), MSLCM_LC2013::anticipateFollowSpeed(), MSLink::blockedByFoe(), MSLCHelper::canSaveBlockerLength(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkForPedestrians(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSLink::computeFoeArrivalTimeBraking(), MSLaneChanger::computeOvertakingTime(), MSLaneChanger::computeSafeOppositeLength(), MSLink::couldBrakeForLeader(), MSVehicle::estimateTimeToNextStop(), MSCFModel::followSpeedTransient(), MSLane::freeInsertion(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), MSLane::getLeaderOnConsecutive(), MSLaneChanger::getMaxOvertakingSpeed(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLane::getMissingRearGap(), LIBSUMO_NAMESPACE::Vehicle::getNeighbors(), MSLCHelper::getSpeedPreservingSecureGap(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLane::insertVehicle(), MSLane::isInsertionSuccess(), MSVehicle::isLeader(), MESegment::isOpen(), MSLane::lastInsertion(), MSCFModel_KraussPS::maxNextSpeed(), MSDevice_Bluelight::notifyMove(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), MSVehicle::processNextStop(), MSAbstractLaneChangeModel::remainingTime(), MSLane::safeInsertionSpeed(), GUIVehicle::selectBlockingFoes(), MSVehicleType::setDecel(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSVehicle::slowDownForSchedule(), MSLCHelper::updateBlockerLength(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicle::updateState(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

getMinimalArrivalSpeed()

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

inherited

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

Parameters

[in]	dist	Distance to be covered
[in]	currentSpeed	Actual speed of vehicle

Definition at line 538 of file MSCFModel.cpp.

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

Referenced by MSVehicle::planMoveInternal().

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getMinimalArrivalSpeedEuler()

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

inherited

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

Parameters

[in]	dist	Distance to be covered
[in]	currentSpeed	Actual speed of vehicle

Definition at line 545 of file MSCFModel.cpp.

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

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

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getMinimalArrivalTime()

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

inherited

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

Parameters

[in]	dist	Distance to be covered
[in]	currentSpeed	Actual speed of vehicle
[in]	arrivalSpeed	Desired speed at arrival

Definition at line 429 of file MSCFModel.cpp.

References MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.

Referenced by MSVehicle::getArrivalTime().

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getModelID()

int MSCFModel_CC::getModelID ( ) const

inlinevirtual

Returns the model's name.

Returns

The model's name

See also

MSCFModel::getModelName

Implements MSCFModel.

Definition at line 157 of file MSCFModel_CC.h.

References SUMO_TAG_CF_CC.

getMyLanesCount()

int MSCFModel_CC::getMyLanesCount

(

)

const

returns the number of lanes set in the configuration file

Definition at line 1196 of file MSCFModel_CC.cpp.

References myLanesCount.

getParameter()

std::string MSCFModel_CC::getParameter ( const MSVehicle *  veh, const std::string &  key  ) const

virtual

set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code

Parameters

[in]	veh	the vehicle for which the data must be saved
[in]	speed	the leader speed
[in]	acceleration	the leader acceleration
[in]	position	the position of the leader
[in]	time	the time at which this data was read from leader's sensors

try to get the given parameter for this carFollowingModel

Parameters

[in]	veh	the vehicle from which the parameter must be retrieved
[in]	key	the key of the parameter

Returns

the value of the requested parameter

Reimplemented from MSCFModel.

Definition at line 1047 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::caccSpacing, CC_PAR_VEHICLE_DATA, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, CC_VehicleVariables::engine, getACCAcceleration(), MSVehicle::getAcceleration(), MSVehicle::getAngle(), MSVehicle::getCarFollowVariables(), MSLane::getEdge(), RealisticEngineModel::getEngineData(), MSNet::getInstance(), MSVehicle::getLane(), MSEdge::getLanes(), MSLane::getLength(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), getRadarMeasurements(), MSBaseVehicle::getRoutePtr(), MSVehicle::getSpeed(), MSVehicle::getVelocityVector(), Plexe::VEHICLE_DATA::index, Plexe::VEHICLE_DATA::length, CC_VehicleVariables::nCars, PAR_ACC_ACCELERATION, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_CRASHED, PAR_DISTANCE_FROM_BEGIN, PAR_DISTANCE_TO_END, PAR_ENGINE_DATA, PAR_LANES_COUNT, PAR_RADAR_DATA, PAR_SPEED_AND_ACCELERATION, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, STEPS2TIME, ParBuffer::str(), Plexe::VEHICLE_DATA::time, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::vehicles, Position::x(), and Position::y().

getRadarMeasurements()

void MSCFModel_CC::getRadarMeasurements	(	const MSVehicle *	veh,
		double &	distance,
		double &	relativeSpeed
	)		const

return the data that is currently being measured by the radar

Definition at line 1173 of file MSCFModel_CC.cpp.

References findVehicle(), Named::getID(), MSVehicle::getSpeed(), and SUMOTrafficObject::getSpeed().

Referenced by freeSpeed(), getACCAcceleration(), getParameter(), and stopSpeed().

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getSecureGap()

double MSCFModel_CC::getSecureGap ( const MSVehicle *const  veh, const MSVehicle * const  , const double  speed, const double  leaderSpeed, const double  leaderMaxDecel  ) const

virtual

Returns the minimum gap to reserve if the leader is braking at maximum (>=0)

Parameters

[in]	veh	The vehicle itself, for obtaining other values
[in]	pred	The leader vehicle, for obtaining other values
[in]	speed	EGO's speed
[in]	leaderSpeed	LEADER's speed
[in]	leaderMaxDecel	LEADER's max. deceleration rate

Reimplemented from MSCFModel.

Definition at line 223 of file MSCFModel_CC.cpp.

References Plexe::ACC, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::CACC, CC_VehicleVariables::caccSpacing, Plexe::CONSENSUS, d_i_j(), Plexe::DRIVER, Plexe::FAKED_CACC, Plexe::FLATBED, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, MSVehicle::getCarFollowVariables(), MSCFModel::getSecureGap(), CC_VehicleVariables::h, myHumanDriver, Plexe::PLOEG, CC_VehicleVariables::ploegH, and CC_VehicleVariables::vehicles.

getSpeedAfterMaxDecel()

virtual double MSCFModel::getSpeedAfterMaxDecel ( double  v ) const

inlinevirtualinherited

Returns the velocity after maximum deceleration.

Parameters

[in]

v

The velocity

Returns

The velocity after maximum deceleration

Reimplemented in MSCFModel_Rail.

Definition at line 403 of file MSCFModel.h.

References ACCEL2SPEED, MAX2(), and MSCFModel::myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_Daniel1::finalizeSpeed(), MSCFModel_SmartSK::followSpeed(), and MSCFModel_SmartSK::stopSpeed().

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getStartupDelay()

SUMOTime MSCFModel::getStartupDelay ( ) const

inlineinherited

Get the vehicle type's startupDelay.

Returns

The startupDelay

Definition at line 287 of file MSCFModel.h.

References MSCFModel::myStartupDelay.

Referenced by MSVehicle::executeMove().

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getVehicleInformation()

void MSCFModel_CC::getVehicleInformation	(	const MSVehicle *	veh,
		double &	speed,
		double &	acceleration,
		double &	controllerAcceleration,
		Position &	position,
		double &	time
	)		const

get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles

Parameters

[in]	veh	the vehicle for which the data is requested
[out]	speed	where the speed is written
[out]	acceleration	where the acceleration is written
[out]	controllerAcceleration	the last acceleration value computed by the controller will be written in this variable. This might be different from acceleration because of actuation lag

Definition at line 744 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), MSVehicle::getSpeed(), Plexe::VEHICLE_DATA::speed, STEPS2TIME, and Plexe::VEHICLE_DATA::time.

Referenced by _v().

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insertionFollowSpeed()

double MSCFModel_CC::insertionFollowSpeed ( const MSVehicle *const  veh, double  speed, double  gap2pred, double  predSpeed, double  predMaxDecel, const MSVehicle *const  pred = 0  ) const

virtual

Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints.

Reimplemented from MSCFModel.

Definition at line 342 of file MSCFModel_CC.cpp.

References UNUSED_PARAMETER.

insertionStopSpeed()

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

virtualinherited

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

Parameters

[in]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in]	gap	The (netto) distance to the the obstacle

Returns

EGO's safe speed for approaching a non-moving obstacle at insertion

See also

stopSpeed() and insertionFollowSpeed()

Reimplemented in MSCFModel_IDM, and MSCFModel_EIDM.

Definition at line 343 of file MSCFModel.cpp.

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

Referenced by MSCFModel_IDM::insertionStopSpeed(), and MSLane::isInsertionSuccess().

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interactionGap()

double MSCFModel_CC::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]	veh	The EGO vehicle
[in]	vL	LEADER's speed

Returns

The interaction gap

Todo:

evaluate signature

See also

MSCFModel::interactionGap

Reimplemented from MSCFModel.

Definition at line 382 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), MSCFModel::interactionGap(), and myHumanDriver.

isLeader()

bool MSCFModel_CC::isLeader

(

const MSVehicle *

veh

)

const

Returns whether a vehicle is a leader of a platoon or not. By default, a vehicle on its own using an ACC is a leader of itself.

Parameters

veh	vehicle to check

Returns

true if leader

Definition at line 1206 of file MSCFModel_CC.cpp.

References MSVehicle::getCarFollowVariables().

Referenced by commitToLaneChange().

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isPlatoonLaneChangeSafe()

int MSCFModel_CC::isPlatoonLaneChangeSafe	(	const MSVehicle *	veh,
		bool	left
	)		const

computes whether a lane change for a whole platoon is safe or not. This is done by checking the lane change state and neighbors of all vehicles in the platoon added through the addPlatoonMember API. If the adjacent lane is free and there is enough safe gap for the platoon, the method returns 0, otherwise it returns the blocking reason

Parameters

veh	vehicle for which the check should be made. If the method is invoked on a member, such member invokes the same method recursively on its leader. The leader in turn asks all member for their status
left	whether we want to check the left or the right lane

Returns

0 if it is safe to change lane, the blocking reason otherwise

Definition at line 124 of file MSCFModel_CC.cpp.

References findVehicle(), MSVehicle::getCarFollowVariables(), Named::getID(), CC_VehicleVariables::isLeader, LCA_BLOCKED, LCA_BLOCKED_BY_LEFT_FOLLOWER, LCA_BLOCKED_BY_LEFT_LEADER, LCA_BLOCKED_BY_RIGHT_FOLLOWER, LCA_BLOCKED_BY_RIGHT_LEADER, CC_VehicleVariables::leaderVehicle, CC_VehicleVariables::leaderVehicleId, and CC_VehicleVariables::members.

Referenced by commitToLaneChange(), performAutoLaneChange(), and performPlatoonLaneChange().

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maximumLaneSpeedCF()

virtual double MSCFModel::maximumLaneSpeedCF ( const MSVehicle *const  veh, double  maxSpeed, double  maxSpeedLane  ) const

inlinevirtualinherited

Returns the maximum velocity the CF-model wants to achieve in the next step.

Parameters

[in]	maxSpeed	The maximum achievable speed in the next step
[in]	maxSpeedLane	The maximum speed the vehicle wants to drive on this lane (Speedlimit*SpeedFactor)

Reimplemented in MSCFModel_EIDM, and MSCFModel_CACC.

Definition at line 224 of file MSCFModel.h.

References MSCFModel::applyOwnSpeedPerceptionError(), and MIN2().

Referenced by MSVehicle::planMoveInternal().

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maximumSafeFollowSpeed()

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

inherited

Returns the maximum safe velocity for following the given leader.

Parameters

[in]	gap2pred	The (netto) distance to the LEADER
[in]	egoSpeed	The FOLLOWERS's speed
[in]	predSpeed	The LEADER's speed
[in]	predMaxDecel	The LEADER's maximum deceleration
[in]	onInsertion	Indicator whether the call is triggered during vehicle insertion

Returns

the safe velocity

Returns the SK-vsafe.

Definition at line 922 of file MSCFModel.cpp.

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

Referenced by MSLCM_LC2013::anticipateFollowSpeed(), MSCFModel_ACC::followSpeed(), MSCFModel_CACC::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_CACC::insertionFollowSpeed(), and MSCFModel::insertionFollowSpeed().

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maximumSafeStopSpeed()

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

inherited

Returns the maximum next velocity for stopping within gap.

Parameters

[in]	gap	The (netto) distance to the desired stopping point
[in]	decel	The desired deceleration rate
[in]	currentSpeed	The current speed of the ego vehicle
[in]	onInsertion	Indicator whether the call is triggered during vehicle insertion
[in]	headway	The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
[in]	relaxEmergency	Whether emergency deceleration should be reduced (at the cost of staying in a dangerous situation for longer)

Definition at line 774 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::calculateEmergencyDeceleration(), EMERGENCY_DECEL_AMPLIFIER, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MIN2(), MSCFModel::myDecel, MSCFModel::myEmergencyDecel, SIMTIME, and SPEED2ACCEL.

Referenced by MSLCM_LC2013::anticipateFollowSpeed(), MSCFModel_Rail::followSpeed(), MSVehicle::handleCollisionStop(), MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel_IDM::stopSpeed(), MSCFModel_Rail::stopSpeed(), MSCFModel_W99::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), and MSCFModel_Krauss::stopSpeed().

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maximumSafeStopSpeedBallistic()

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

inherited

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]	gap	The (netto) distance to the desired stopping point
[in]	decel	The desired deceleration rate
[in]	currentSpeed	The current speed of the ego vehicle
[in]	onInsertion	Indicator whether the call is triggered during vehicle insertion
[in]	headway	The 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 855 of file MSCFModel.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, and TS.

Referenced by MSCFModel_EIDM::maximumSafeStopSpeed(), MSCFModel::maximumSafeStopSpeed(), and MSCFModel_KraussOrig1::stopSpeed().

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maximumSafeStopSpeedEuler()

double MSCFModel::maximumSafeStopSpeedEuler ( double  gap, double  decel, bool  onInsertion, double  headway  ) const

inherited

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

Parameters

[in]	gap	The (netto) distance to the LEADER
[in]	decel	The desired deceleration rate
[in]	onInsertion	Indicator whether the call is triggered during vehicle insertion
[in]	headway	The desired time headway to be included in the calculations (-1 induces the use of myHeadway)

Definition at line 827 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::myHeadwayTime, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed().

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maxNextSafeMin()

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

inlinevirtualinherited

Returns the maximum speed given the current speed and regarding driving dynamics.

Parameters

[in]	speed	The vehicle's current speed
[in]	speed	The vehicle itself, for obtaining other values

Returns

The maximum possible speed for the next step taking driving dynamics into account

Reimplemented in MSCFModel_EIDM.

Definition at line 347 of file MSCFModel.h.

References MSCFModel::maxNextSpeed().

maxNextSpeed()

double MSCFModel_CC::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]	speed	The vehicle's current speed
[in]	veh	The vehicle itself, for obtaining other values

Returns

The maximum possible speed for the next step

Reimplemented from MSCFModel.

Definition at line 395 of file MSCFModel_CC.cpp.

References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), and MSCFModel::getMaxAccel().

minNextSpeed()

double MSCFModel_CC::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]	speed	The vehicle's current speed
[in]	speed	The vehicle itself, for obtaining other values, if needed as e.g. road conditions.

Returns

The minimum possible speed for the next step

Reimplemented from MSCFModel.

Definition at line 405 of file MSCFModel_CC.cpp.

References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), MAX2(), and MSCFModel::minNextSpeed().

minNextSpeedEmergency()

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

virtualinherited

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]	speed	The vehicle's current speed
[in]	speed	The 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 309 of file MSCFModel.cpp.

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

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSCFModel::finalizeSpeed(), MSCFModel_EIDM::finalizeSpeed(), MSCFModel_Krauss::followSpeed(), and MSVehicle::Influencer::implicitSpeedRemote().

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operator=()

MSCFModel_CC& MSCFModel_CC::operator= ( const MSCFModel_CC &  )

privatedelete

Invalidated assignment operator.

passingTime()

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

staticinherited

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]	lastPos	the position at time t=0 (must be < currentPos)
[in]	passedPos	the position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]	currentPos	the position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]	lastSpeed	the speed at moment t=0
[in]	currentSpeed	the speed at moment t=TS

Returns

time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

Definition at line 658 of file MSCFModel.cpp.

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

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

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patchSpeedBeforeLC()

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

inlinevirtualinherited

apply custom speed adaptations within the given speed bounds

Reimplemented in MSCFModel_SmartSK, MSCFModel_PWag2009, MSCFModel_KraussX, MSCFModel_KraussOrig1, and MSCFModel_Krauss.

Definition at line 102 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSCFModel::finalizeSpeed().

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performAutoLaneChange()

void MSCFModel_CC::performAutoLaneChange ( MSVehicle *const  veh ) const

private

Check whether a platoon would gain speed by moving to the left or whether it should move to the right after an overtake and, if safe, do so. This method is invoked when the platoon auto lane change mechanism is enabled through the enableAutoLaneChanging API.

Parameters

veh	leader vehicle of the platoon

Definition at line 186 of file MSCFModel_CC.cpp.

References changeWholePlatoonLane(), Named::getID(), isPlatoonLaneChangeSafe(), LCA_KEEPRIGHT, LCA_LEFT, LCA_RIGHT, and LCA_SPEEDGAIN.

Referenced by finalizeSpeed().

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performPlatoonLaneChange()

void MSCFModel_CC::performPlatoonLaneChange ( MSVehicle *const  veh ) const

private

If safe to do so, moves a platoon to a user-desired lane. If not safe, this method continues to try at each simulation step. This method is invoked when the user requests a platoon to change lane through the performPlatoonLaneChange API, or when invoking the old setFixedLane API on a single vehicle.

Parameters

veh	leader vehicle of the platoon

Definition at line 208 of file MSCFModel_CC.cpp.

References changeWholePlatoonLane(), MSVehicle::getCarFollowVariables(), MSVehicle::getLaneIndex(), and isPlatoonLaneChangeSafe().

Referenced by finalizeSpeed().

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recomputeParameters()

void MSCFModel_CC::recomputeParameters ( const MSVehicle *  veh ) const

private

Recomputes controller related parameters after setting them.

Definition at line 1145 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccXi, and MSVehicle::getCarFollowVariables().

Referenced by setParameter().

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resetConsensus()

void MSCFModel_CC::resetConsensus ( const MSVehicle *  veh ) const

private

Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology.

Definition at line 1154 of file MSCFModel_CC.cpp.

References MSVehicle::getCarFollowVariables(), CC_VehicleVariables::initialized, MAX_N_CARS, and CC_VehicleVariables::nInitialized.

setApparentDecel()

virtual void MSCFModel::setApparentDecel ( double  decel )

inlinevirtualinherited

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

Parameters

[in]

decel

The new deceleration in m/s^2

Definition at line 552 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by MSVehicleType::setApparentDecel().

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setCollisionMinGapFactor()

void MSCFModel::setCollisionMinGapFactor ( const double  factor )

inlineinherited

Sets a new value for the factor of minGap that must be maintained to avoid a collision event.

Parameters

[in]

factor

The new minGap factor

Definition at line 559 of file MSCFModel.h.

References MSCFModel::myCollisionMinGapFactor.

Referenced by MSDevice_Bluelight::notifyMove().

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setEmergencyDecel()

virtual void MSCFModel::setEmergencyDecel ( double  decel )

inlinevirtualinherited

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

Parameters

[in]

decel

The new deceleration in m/s^2

Definition at line 544 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

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

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setHeadwayTime()

virtual void MSCFModel::setHeadwayTime ( double  headwayTime )

inlinevirtualinherited

Sets a new value for desired headway [s].

Parameters

[in]

headwayTime

The new desired headway (in s)

Reimplemented in MSCFModel_SmartSK, MSCFModel_KraussOrig1, MSCFModel_Daniel1, and MSCFModel_CACC.

Definition at line 574 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by MSVehicle::Influencer::gapControlSpeed(), MSCFModel_CACC::MSCFModel_CACC(), MSCFModel_CACC::setHeadwayTime(), and MSVehicleType::setTau().

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setImperfection()

virtual void MSCFModel::setImperfection ( double  imperfection )

inlinevirtualinherited

Sets a new value for driver imperfection.

Parameters

[in]

accel

The new driver imperfection

Reimplemented in MSCFModel_SmartSK, MSCFModel_KraussOrig1, and MSCFModel_Daniel1.

Definition at line 566 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSVehicleType::setImperfection().

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setLeader()

void MSCFModel_CC::setLeader	(	MSVehicle *	veh,
		MSVehicle *const	leader,
		std::string	leaderId
	)		const

Sets the leader for a member of the platoon.

Parameters

veh	platoon member
leader	platoon leader
leaderId	platoon leader id

Definition at line 112 of file MSCFModel_CC.cpp.

References MSVehicle::getCarFollowVariables(), and MSVehicle::isLeader().

setMaxAccel()

virtual void MSCFModel::setMaxAccel ( double  accel )

inlinevirtualinherited

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

Parameters

[in]

accel

The new acceleration in m/s^2

Definition at line 528 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by MSVehicleType::setAccel(), and MSDevice_ToC::setState().

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setMaxDecel()

virtual void MSCFModel::setMaxDecel ( double  decel )

inlinevirtualinherited

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

Parameters

[in]

decel

The new deceleration in m/s^2

Reimplemented in MSCFModel_SmartSK, MSCFModel_KraussOrig1, and MSCFModel_Daniel1.

Definition at line 536 of file MSCFModel.h.

References MSCFModel::myDecel.

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

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setParameter()

void MSCFModel_CC::setParameter ( MSVehicle *  veh, const std::string &  key, const std::string &  value  ) const

virtual

try to set the given parameter for this carFollowingModel

Parameters

[in]	veh	the vehicle for which the parameter must be set
[in]	key	the key of the parameter
[in]	value	the value to be set for the given parameter

Reimplemented from MSCFModel.

Definition at line 753 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::autoFeed, CC_VehicleVariables::autoLaneChange, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::caccXi, CC_ENGINE_MODEL_FOLM, CC_ENGINE_MODEL_REALISTIC, CC_PAR_CACC_C1, CC_PAR_CACC_OMEGA_N, CC_PAR_CACC_XI, CC_PAR_ENGINE_TAU, CC_PAR_FLATBED_D, CC_PAR_FLATBED_H, CC_PAR_FLATBED_KA, CC_PAR_FLATBED_KP, CC_PAR_FLATBED_KV, CC_PAR_PLATOON_SIZE, CC_PAR_PLOEG_H, CC_PAR_PLOEG_KD, CC_PAR_PLOEG_KP, CC_PAR_UMAX, CC_PAR_UMIN, CC_PAR_VEHICLE_DATA, CC_PAR_VEHICLE_ENGINE_MODEL, CC_PAR_VEHICLE_MODEL, CC_PAR_VEHICLE_POSITION, CC_PAR_VEHICLES_FILE, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::engine, ENGINE_PAR_DT, ENGINE_PAR_VEHICLE, ENGINE_PAR_XMLFILE, CC_VehicleVariables::engineModel, CC_VehicleVariables::engineTau, CC_VehicleVariables::fakeData, findVehicle(), CC_VehicleVariables::fixedAcceleration, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, FOLM_PAR_DT, FOLM_PAR_TAU, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::frontAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::frontPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, CC_VehicleVariables::frontVehicleId, CC_VehicleVariables::frontVelocity, MSVehicle::getCarFollowVariables(), Named::getID(), MSVehicle::getInfluencer(), Plexe::VEHICLE_DATA::index, CC_VehicleVariables::initialized, CC_VehicleVariables::isLeader, ParBuffer::last_empty(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::leaderAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::leaderInitialized, CC_VehicleVariables::leaderPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, CC_VehicleVariables::leaderVehicleId, CC_VehicleVariables::leaderVelocity, Plexe::VEHICLE_DATA::length, MAX_N_CARS, CC_VehicleVariables::members, MSCFModel::myAccel, MSCFModel::myDecel, CC_VehicleVariables::nCars, CC_VehicleVariables::nInitialized, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_ADD_MEMBER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_ENABLE_AUTO_LANE_CHANGE, PAR_FIXED_ACCELERATION, PAR_FRONT_FAKE_DATA, PAR_LEADER_FAKE_DATA, PAR_LEADER_SPEED_AND_ACCELERATION, PAR_PLATOON_FIXED_LANE, PAR_PRECEDING_SPEED_AND_ACCELERATION, PAR_REMOVE_MEMBER, PAR_USE_AUTO_FEEDING, PAR_USE_CONTROLLER_ACCELERATION, PAR_USE_PREDICTION, CC_VehicleVariables::platoonFixedLane, CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, CC_VehicleVariables::position, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, recomputeParameters(), GenericEngineModel::setMaximumAcceleration(), GenericEngineModel::setMaximumDeceleration(), GenericEngineModel::setParameter(), MSVehicle::Influencer::setSpeedMode(), Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, Plexe::VEHICLE_DATA::time, StringUtils::toDouble(), StringUtils::toInt(), TS, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::uMax, CC_VehicleVariables::uMin, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, CC_VehicleVariables::usePrediction, CC_VehicleVariables::vehicles, and WRITE_WARNING.

speedAfterTime()

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

staticinherited

Calculates the speed after a time t \in [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]	t	time in [0,TS] for which the speed shall be determined
[in]	oldSpeed	speed before the last time step (referred to as t == 0)
[in]	distance	covered

Returns

speed at time t

Definition at line 736 of file MSCFModel.cpp.

References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.

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

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startupDelayStopped()

virtual bool MSCFModel::startupDelayStopped ( ) const

inlinevirtualinherited

whether startupDelay should be applied after stopping

Reimplemented in MSCFModel_Rail.

Definition at line 316 of file MSCFModel.h.

stopSpeed() [1/2]

double MSCFModel::stopSpeed ( const MSVehicle *const  veh, const double  speed, double  gap, const CalcReason  usage = CalcReason::CURRENT  ) const

inlineinherited

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]	veh	The vehicle (EGO)
[in]	speed	The vehicle's speed
[in]	gap	The (netto) distance to the the obstacle
[in]	usage	What the return value is used for

Returns

EGO's safe speed for approaching a non-moving obstacle

Todo:

generic Interface, models can call for the values they need

Definition at line 168 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSVehicle::adaptToJunctionLeader(), MSVehicle::adaptToLeader(), MSVehicle::adaptToOncomingLeader(), MSCFModel::applyHeadwayPerceptionError(), MSLane::checkForPedestrians(), LIBSUMO_NAMESPACE::Vehicle::getStopSpeed(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeaders(), MSCFModel::insertionStopSpeed(), MSLane::isInsertionSuccess(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processNextStop(), and stopSpeed().

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stopSpeed() [2/2]

double MSCFModel_CC::stopSpeed ( const MSVehicle *const  veh, const double  speed, double  gap2pred, double  decel, const CalcReason  usage = CalcReason::CURRENT  ) const

virtual

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

Parameters

[in]	veh	The vehicle (EGO)
[in]	gap2pred	The (netto) distance to the the obstacle

Returns

EGO's safe speed for approaching a non-moving obstacle

See also

MSCFModel::ffeS

Todo:

generic Interface, models can call for the values they need

Implements MSCFModel.

Definition at line 352 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), myHumanDriver, and MSCFModel::stopSpeed().

switchOnACC()

void MSCFModel_CC::switchOnACC	(	const MSVehicle *	veh,
		double	ccDesiredSpeed
	)		const

switch on the ACC, so disabling the human driver car control

Parameters

[in]	veh	the vehicle for which the ACC must be switched on
[in]	ccDesiredSpeed	the cruise control speed

Definition at line 1162 of file MSCFModel_CC.cpp.

Field Documentation

myAccel

double MSCFModel::myAccel

protectedinherited

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

Definition at line 698 of file MSCFModel.h.

Referenced by MSCFModel_EIDM::_v(), MSCFModel_IDM::_v(), MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), createVehicleVariables(), MSCFModel_Daniel1::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_SmartSK::dawdle(), MSCFModel_Krauss::dawdle2(), MSCFModel_KraussX::dawdleX(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Wiedemann::fullspeed(), MSCFModel::getMaxAccel(), MSCFModel_EIDM::getSecureGap(), MSCFModel_EIDM::interactionGap(), MSCFModel_IDM::interactionGap(), MSCFModel_EIDM::internalsecuregap(), MSCFModel_EIDM::maximumSafeFollowSpeed(), MSCFModel_EIDM::maximumSafeStopSpeed(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_W99::MSCFModel_W99(), MSCFModel_EIDM::patchSpeedBeforeLCEIDM(), MSCFModel::setMaxAccel(), setParameter(), MSCFModel_EIDM::slowToStartTerm(), and MSCFModel_PWag2009::stopSpeed().

myApparentDecel

double MSCFModel::myApparentDecel

protectedinherited

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

Definition at line 705 of file MSCFModel.h.

Referenced by MSCFModel::getApparentDecel(), and MSCFModel::setApparentDecel().

myC1

const double MSCFModel_CC::myC1

private

design constant for CACC

Definition at line 445 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myCcAccel

const double MSCFModel_CC::myCcAccel

private

The maximum acceleration that the CC can output.

Definition at line 433 of file MSCFModel_CC.h.

Referenced by _cc().

myCcDecel

const double MSCFModel_CC::myCcDecel

private

The maximum deceleration that the CC can output.

Definition at line 430 of file MSCFModel_CC.h.

Referenced by _cc().

myCollisionMinGapFactor

double MSCFModel::myCollisionMinGapFactor

protectedinherited

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

Definition at line 707 of file MSCFModel.h.

Referenced by MSCFModel_W99::followSpeed(), MSCFModel::getCollisionMinGapFactor(), MSCFModel_ACC::MSCFModel_ACC(), MSCFModel_CACC::MSCFModel_CACC(), MSCFModel_EIDM::MSCFModel_EIDM(), MSCFModel_IDM::MSCFModel_IDM(), MSCFModel_Kerner::MSCFModel_Kerner(), MSCFModel_PWag2009::MSCFModel_PWag2009(), MSCFModel_W99::MSCFModel_W99(), MSCFModel_Wiedemann::MSCFModel_Wiedemann(), and MSCFModel::setCollisionMinGapFactor().

myConstantSpacing

const double MSCFModel_CC::myConstantSpacing

private

the constant gap for CACC

Definition at line 436 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myDecel

double MSCFModel::myDecel

protectedinherited

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

Definition at line 701 of file MSCFModel.h.

Referenced by MSCFModel_EIDM::_v(), MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_SmartSK::_vsafe(), MSCFModel_Daniel1::_vsafe(), MSCFModel::brakeGap(), MSCFModel_EIDM::brakeGap(), createVehicleVariables(), MSCFModel_PWag2009::followSpeed(), MSCFModel_Rail::followSpeed(), MSCFModel::followSpeedTransient(), MSCFModel_Rail::freeSpeed(), MSCFModel::freeSpeed(), MSCFModel_EIDM::freeSpeed(), MSCFModel_IDM::freeSpeed(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSCFModel_EIDM::getSecureGap(), MSCFModel::getSpeedAfterMaxDecel(), MSCFModel::insertionStopSpeed(), MSCFModel_EIDM::insertionStopSpeed(), MSCFModel_IDM::insertionStopSpeed(), MSCFModel::interactionGap(), MSCFModel_EIDM::interactionGap(), MSCFModel_IDM::interactionGap(), MSCFModel_EIDM::internalsecuregap(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel_EIDM::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::minNextSpeed(), MSCFModel_IDM::minNextSpeed(), MSCFModel_SmartSK::MSCFModel_SmartSK(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel::setMaxDecel(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), setParameter(), MSCFModel::stopSpeed(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_KraussOrig1::vsafe().

myEmergencyDecel

double MSCFModel::myEmergencyDecel

protectedinherited

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

Definition at line 703 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel::calculateEmergencyDeceleration(), MSCFModel_Wiedemann::emergency(), MSCFModel::getEmergencyDecel(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel_EIDM::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel_IDM::minNextSpeed(), MSCFModel::minNextSpeedEmergency(), and MSCFModel::setEmergencyDecel().

myFlatbedD

const double MSCFModel_CC::myFlatbedD

private

Definition at line 470 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myFlatbedH

const double MSCFModel_CC::myFlatbedH

private

Definition at line 469 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myFlatbedKa

const double MSCFModel_CC::myFlatbedKa

private

flatbed CACC parameters

Definition at line 466 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myFlatbedKp

const double MSCFModel_CC::myFlatbedKp

private

Definition at line 468 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myFlatbedKv

const double MSCFModel_CC::myFlatbedKv

private

Definition at line 467 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myHeadwayTime

double MSCFModel::myHeadwayTime

protectedinherited

The driver's desired time headway (aka reaction time tau) [s].

Definition at line 710 of file MSCFModel.h.

Referenced by MSCFModel_EIDM::_v(), MSCFModel_ACC::_v(), MSCFModel_IDM::_v(), MSCFModel_CACC::_v(), MSCFModel_ACC::accelGapControl(), MSCFModel::brakeGap(), MSCFModel_SmartSK::createVehicleVariables(), MSCFModel_PWag2009::followSpeed(), MSCFModel::getHeadwayTime(), MSCFModel_ACC::getSecureGap(), MSCFModel_CACC::getSecureGap(), MSCFModel_IDM::getSecureGap(), MSCFModel::getSecureGap(), MSCFModel_EIDM::getSecureGap(), MSCFModel_IDM::insertionFollowSpeed(), MSCFModel_EIDM::insertionStopSpeed(), MSCFModel::interactionGap(), MSCFModel_EIDM::internalsecuregap(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel_EIDM::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_W99::MSCFModel_W99(), MSCFModel_EIDM::patchSpeedBeforeLCEIDM(), MSCFModel::setHeadwayTime(), MSCFModel_CACC::setHeadwayTime(), MSCFModel_Daniel1::setHeadwayTime(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_SmartSK::setHeadwayTime(), MSCFModel_Daniel1::setMaxDecel(), MSCFModel_KraussOrig1::setMaxDecel(), MSCFModel_SmartSK::setMaxDecel(), MSCFModel_CACC::speedGapControl(), MSCFModel_PWag2009::stopSpeed(), and MSCFModel_SmartSK::updateMyHeadway().

myHumanDriver

MSCFModel* MSCFModel_CC::myHumanDriver

private

the car following model which drives the car when automated cruising is disabled, i.e., the human driver

Definition at line 427 of file MSCFModel_CC.h.

Referenced by finalizeSpeed(), followSpeed(), getSecureGap(), interactionGap(), MSCFModel_CC(), and stopSpeed().

myKp

const double MSCFModel_CC::myKp

private

design constant for CC

Definition at line 439 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myLambda

const double MSCFModel_CC::myLambda

private

design constant for ACC

Definition at line 442 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myLanesCount

const int MSCFModel_CC::myLanesCount

private

number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps

Definition at line 458 of file MSCFModel_CC.h.

Referenced by getMyLanesCount(), and MSCFModel_CC().

myOmegaN

const double MSCFModel_CC::myOmegaN

private

design constant for CACC

Definition at line 451 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myPloegH

const double MSCFModel_CC::myPloegH

private

Ploeg's CACC parameters.

Definition at line 461 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myPloegKd

const double MSCFModel_CC::myPloegKd

private

Definition at line 463 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myPloegKp

const double MSCFModel_CC::myPloegKp

private

Definition at line 462 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myStartupDelay

SUMOTime MSCFModel::myStartupDelay

protectedinherited

The startup delay after halting [s].

Definition at line 713 of file MSCFModel.h.

Referenced by MSCFModel::applyStartupDelay(), MSCFModel_EIDM::finalizeSpeed(), MSCFModel::getStartupDelay(), and MSCFModel_EIDM::slowToStartTerm().

myTau

const double MSCFModel_CC::myTau

private

engine time constant used for actuation lag

Definition at line 454 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

myType

const MSVehicleType* MSCFModel::myType

protectedinherited

The type to which this model definition belongs to.

Definition at line 695 of file MSCFModel.h.

Referenced by MSCFModel_EIDM::_v(), MSCFModel_IDM::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_W99::computeThresholds(), MSCFModel::estimateSpeedAfterDistance(), MSCFModel_W99::followSpeed(), MSCFModel_Wiedemann::getSecureGap(), MSCFModel::insertionStopSpeed(), MSCFModel_EIDM::insertionStopSpeed(), MSCFModel::maxNextSpeed(), MSCFModel_KraussPS::maxNextSpeed(), and MSCFModel_EIDM::patchSpeedBeforeLCEIDM().

myXi

const double MSCFModel_CC::myXi

private

design constant for CACC

Definition at line 448 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

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

• MSCFModel_CC.h
• MSCFModel_CC.cpp