The Extended Intelligent Driver Model (EIDM) car-following model. More...

#include <MSCFModel_EIDM.h>

Inheritance diagram for MSCFModel_EIDM:

Collaboration diagram for MSCFModel_EIDM:

Data Structures
class	VehicleVariables

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.

virtual double	distAfterTime (double t, double speed, double accel) const
	calculates the distance traveled after accelerating for time t

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

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

double	getCollisionMinGapFactor () const
	Get the factor of minGap that must be maintained to avoid a collision event.

double	getEmergencyDecel () const
	Get the vehicle type's maximal physically possible deceleration [m/s^2].

double	getMaxAccel () const
	Get the vehicle type's maximum acceleration [m/s^2].

double	getMaxDecel () const
	Get the vehicle type's maximal comfortable deceleration [m/s^2].

double	getMinimalArrivalSpeed (double dist, double currentSpeed) const
	Computes the minimal possible arrival speed after covering a given distance.

double	getMinimalArrivalSpeedEuler (double dist, double currentSpeed) const
	Computes the minimal possible arrival speed after covering a given distance for Euler update.

SUMOTime	getMinimalArrivalTime (double dist, double currentSpeed, double arrivalSpeed) const
	Computes the minimal time needed to cover a distance given the desired speed at arrival.

virtual std::string	getParameter (const MSVehicle *veh, const std::string &key) const
	try to get the given parameter for this carFollowingModel

SUMOTime	getStartupDelay () const
	Get the vehicle type's startupDelay.

double	maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const
	Returns the maximum safe velocity for following the given leader.

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.

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.

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.

	MSCFModel_EIDM (const MSVehicleType *vtype)
	Constructor.

virtual void	setParameter (MSVehicle *veh, const std::string &key, const std::string &value) const
	try to set the given parameter for this carFollowingModel

	~MSCFModel_EIDM ()
	Destructor.

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

virtual double	applyStartupDelay (const MSVehicle *veh, const double vMin, const double vMax, const SUMOTime addTime=0) const
	apply speed adaptation on startup

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)

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.

Virtual methods with default implementation
virtual double	getImperfection () const
	Get the driver's imperfection.

virtual double	getHeadwayTime () const
	Get the driver's desired headway [s].

virtual bool	startupDelayStopped () const
	whether startupDelay should be applied after stopping

Setter methods
virtual void	setMaxAccel (double accel)
	Sets a new value for maximum acceleration [m/s^2].

virtual void	setMaxDecel (double decel)
	Sets a new value for maximal comfortable deceleration [m/s^2].

virtual void	setEmergencyDecel (double decel)
	Sets a new value for maximal physically possible deceleration [m/s^2].

virtual void	setApparentDecel (double decel)
	Sets a new value for the apparent deceleration [m/s^2].

void	setCollisionMinGapFactor (const double factor)
	Sets a new value for the factor of minGap that must be maintained to avoid a collision event.

virtual void	setImperfection (double imperfection)
	Sets a new value for driver imperfection.

virtual void	setHeadwayTime (double headwayTime)
	Sets a new value for desired headway [s].

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.

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.

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.

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'.

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.

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.

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,.

void	applyHeadwayPerceptionError (const MSVehicle *const veh, double speed, double &gap) const
	Overwrites gap by the perceived value obtained from the vehicle's driver state.

void	applyOwnSpeedPerceptionError (const MSVehicle *const veh, double &speed) const
	Overwrites sped by the perceived values obtained from the vehicle's driver state,.

Protected Attributes
double	myAccel
	The vehicle's maximum acceleration [m/s^2].

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

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

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

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

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

SUMOTime	myStartupDelay
	The startup delay after halting [s].

const MSVehicleType *	myType
	The type to which this model definition belongs to.

Implementations of the MSCFModel interface
const double	myDelta

const double	myTwoSqrtAccelDecel

const int	myIterations

const double	myTPersDrive

const double	myTreaction

const double	myTpreview

const double	myTPersEstimate

const double	myCcoolness

const double	mySigmaleader

const double	mySigmagap

const double	mySigmaerror

const double	myJerkmax

const double	myEpsilonacc

const double	myTaccmax

const double	myMflatness

const double	myMbegin

const bool	myUseVehDynamics

double	insertionFollowSpeed (const MSVehicle const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle const pred=0) const
	Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage. Whereas the method followSpeed returns the desired speed which may be lower than the safe speed, this method only considers safety constraints.

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.

double	maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false, const CalcReason usage=CalcReason::CURRENT) const
	Returns the maximum safe velocity for following the given leader.

double	maximumSafeStopSpeed (double gap, double decel, double currentSpeed, bool onInsertion=false, double headway=-1) const
	Returns the maximum next velocity for stopping within gap.

double	finalizeSpeed (MSVehicle *const veh, double vPos) const
	Applies interaction with stops and lane changing model influences.

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.

double	stopSpeed (const MSVehicle *const veh, const double speed, double gap, double decel, const CalcReason usage=CalcReason::CURRENT) const
	Computes the vehicle's safe speed for approaching a non-moving obstacle.

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.

double	interactionGap (const MSVehicle *const, double vL) const
	Returns the maximum gap at which an interaction between both vehicles occurs.

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)

double	brakeGap (const double speed, const double decel, const double headwayTime) 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.

double	maxNextSafeMin (double speed, const MSVehicle *const veh=0) const
	Returns the maximum speed given the current speed and regarding driving dynamics.

double	maximumLaneSpeedCF (const MSVehicle *const, double maxSpeed, double) const
	Returns the maximum velocity the CF-model wants to achieve in the next step.

int	getModelID () const
	Returns the model's name.

MSCFModel *	duplicate (const MSVehicleType *vtype) const
	Duplicates the car-following model.

VehicleVariables *	createVehicleVariables () const
	Returns model specific values which are stored inside a vehicle and must be used with casting.

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

double	patchSpeedBeforeLCEIDM (const MSVehicle veh, double vMin, double vMax, const VehicleVariables vars) const
	Applies dawdling / driving error.

double	slowToStartTerm (MSVehicle const veh, const double newSpeed, const double currentSpeed, const double vMax, VehicleVariables vars) const

double	_v (const MSVehicle *const veh, const double gap2pred, const double mySpeed, const double predSpeed, const double desSpeed, const bool respectMinGap, const int update, const CalcReason usage) const

void	internalspeedlimit (MSVehicle *const veh, const double oldV) const

double	internalsecuregap (const MSVehicle *const veh, const double speed, const double leaderSpeed, const double targetDecel) const

MSCFModel_EIDM &	operator= (const MSCFModel_EIDM &s)
	Invalidated assignment operator.

Currently fixed methods
virtual double	maxNextSpeed (double speed, const MSVehicle *const veh) const
	Returns the maximum speed given the current speed.

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.

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.

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.

virtual double	getSpeedAfterMaxDecel (double v) const
	Returns the velocity after maximum deceleration.

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

The Extended Intelligent Driver Model (EIDM) car-following model.

Originalfile MSCFModel_IDM.cpp from

Author: Tobias Mayer; Daniel Krajzewicz; Michael Behrisch

Date: Thu, 03 Sep 2009

See also: MSCFModel

Definition at line 53 of file MSCFModel_EIDM.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_EIDM()

MSCFModel_EIDM::MSCFModel_EIDM ( const MSVehicleType * vtype )

Constructor.

Parameters

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

Definition at line 55 of file MSCFModel_EIDM.cpp.

References DELTA_T, MSVehicleType::getActionStepLength(), SUMOVTypeParameter::getCFParam(), MSVehicleType::getID(), MSVehicleType::getParameter(), MSCFModel::myCollisionMinGapFactor, STEPS2TIME, SUMO_ATTR_COLLISION_MINGAP_FACTOR, and WRITE_WARNINGF.

◆ ~MSCFModel_EIDM()

MSCFModel_EIDM::~MSCFModel_EIDM ( )

Destructor.

Definition at line 82 of file MSCFModel_EIDM.cpp.

Member Function Documentation

◆ _v()

double MSCFModel_EIDM::_v	(	const MSVehicle *const	veh,
		const double	gap2pred,
		const double	mySpeed,
		const double	predSpeed,
		const double	desSpeed,
		const bool	respectMinGap,
		const int	update,
		const CalcReason	usage
	)		const

private

Definition at line 869 of file MSCFModel_EIDM.cpp.

Referenced by finalizeSpeed(), 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 (net) 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(), MSCFModel::FUTURE, 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 (net) distance to the obstacle

Definition at line 1099 of file MSCFModel.cpp.

References DEBUG_COND, MSCFModel::FUTURE, 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 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::brakeGap(), MSCFModel::myDecel, and MSCFModel::myHeadwayTime.

Referenced by MSCFModel_Wiedemann::_v(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSVehicle::adaptToOncomingLeader(), MSPModel_Striping::addCrossingVehs(), MSLane::addLeaders(), MSCFModel::brakeGap(), 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(), MSDevice_StationFinder::notifyMove(), 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_EIDM::brakeGap	(	const double	speed,
		const double	decel,
		const double	headwayTime
	)		const

inlinevirtual

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

Reimplemented from MSCFModel.

Definition at line 183 of file MSCFModel_EIDM.h.

References MSCFModel::brakeGap(), MSGlobals::gComputeLC, MAX2(), and MSCFModel::myDecel.

◆ 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 (net) 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(), maximumSafeFollowSpeed(), and MSCFModel::maximumSafeStopSpeed().

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◆ createVehicleVariables()

VehicleVariables * MSCFModel_EIDM::createVehicleVariables ( ) const

inlinevirtual

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

Reimplemented from MSCFModel.

Definition at line 230 of file MSCFModel_EIDM.h.

◆ distAfterTime()

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

virtualinherited

calculates the distance traveled 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_EIDM::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 1220 of file MSCFModel_EIDM.cpp.

◆ 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_EIDM::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 266 of file MSCFModel_EIDM.cpp.

◆ followSpeed()

double MSCFModel_EIDM::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.

Parameters

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

Returns: EGO's safe speed

See also: MSCFModel::ffeV

Implements MSCFModel.

Definition at line 446 of file MSCFModel_EIDM.cpp.

References _v(), MSCFModel::FUTURE, MSGlobals::gComputeLC, MSVehicle::getCarFollowVariables(), Named::getID(), MSBaseVehicle::isSelected(), MSCFModel::LANE_CHANGE, SIMTIME, and MSCFModel_EIDM::VehicleVariables::v0_int.

◆ 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 (net) distance to the LEADER
[in]	predSpeed	The speed of LEADER
[in]	predMaxDecel	The maximum leader deceleration

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() [1/3]

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

static

Definition at line 524 of file MSCFModel_EIDM.cpp.

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

◆ freeSpeed() [2/3]

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() [3/3]

double MSCFModel_EIDM::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 586 of file MSCFModel_EIDM.cpp.

References _v(), freeSpeed(), MSCFModel::FUTURE, MSGlobals::gComputeLC, MSVehicle::getCarFollowVariables(), MSBaseVehicle::getDevice(), Named::getID(), internalsecuregap(), MSBaseVehicle::isSelected(), MSCFModel::LANE_CHANGE, MSCFModel_EIDM::VehicleVariables::lastrealacc, MAX2(), MAX3(), MSCFModel_EIDM::VehicleVariables::myap_update, MSCFModel::myDecel, myJerkmax, myTpreview, myTreaction, MSCFModel_EIDM::VehicleVariables::myv_est, SIMTIME, TS, MSCFModel_EIDM::VehicleVariables::v0_int, and MSCFModel_EIDM::VehicleVariables::v0_old.

Referenced by freeSpeed().

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◆ 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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◆ 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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◆ 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 physically 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(), 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_Daniel1, MSCFModel_KraussOrig1, MSCFModel_PWag2009, and MSCFModel_SmartSK.

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(), MSCFModel_CC::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(), LIBSUMO_NAMESPACE::Vehicle::getNextLinks(), MSLCHelper::getSpeedPreservingSecureGap(), MSLink::getZipperSpeed(), MSIdling_Stop::idle(), 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_EIDM::getModelID ( ) const

inlinevirtual

Returns the model's name.

Returns: The model's name

See also: MSCFModel::getModelName

Implements MSCFModel.

Definition at line 219 of file MSCFModel_EIDM.h.

References SUMO_TAG_CF_EIDM.

◆ getParameter()

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

inlinevirtualinherited

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 in MSCFModel_CACC, and MSCFModel_CC.

Definition at line 646 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSBaseVehicle::getPrefixedParameter().

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◆ getSecureGap()

double MSCFModel_EIDM::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]	speed	EGO's speed
[in]	leaderSpeed	LEADER's speed
[in]	leaderMaxDecel	LEADER's max. deceleration rate

Reimplemented from MSCFModel.

Definition at line 700 of file MSCFModel_EIDM.cpp.

References MAX2(), MIN2(), MSCFModel::myAccel, MSCFModel::myDecel, MSCFModel::myHeadwayTime, and myTwoSqrtAccelDecel.

◆ 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 MSRailSignal::constraintsAllow(), MSVehicle::executeMove(), and MSDriveWay::foeDriveWayOccupied().

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◆ insertionFollowSpeed()

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

virtual

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

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

Parameters

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

Returns: EGO's safe speed

Reimplemented from MSCFModel.

Definition at line 85 of file MSCFModel_EIDM.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, and maximumSafeFollowSpeed().

◆ insertionStopSpeed()

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

virtual

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

Parameters

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

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

See also: stopSpeed() and insertionFollowSpeed()

Reimplemented from MSCFModel.

Definition at line 98 of file MSCFModel_EIDM.cpp.

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

◆ interactionGap()

double MSCFModel_EIDM::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

Todo:: update interactionGap logic to IDM

Reimplemented from MSCFModel.

Definition at line 685 of file MSCFModel_EIDM.cpp.

References MSVehicle::getLane(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MAX2(), MSCFModel::myAccel, MSCFModel::myDecel, myDelta, and SPEED2DIST.

◆ internalsecuregap()

double MSCFModel_EIDM::internalsecuregap	(	const MSVehicle *const	veh,
		const double	speed,
		const double	leaderSpeed,
		const double	targetDecel
	)		const

private

Definition at line 715 of file MSCFModel_EIDM.cpp.

References MSVehicle::getCarFollowVariables(), MAX2(), MSCFModel::myAccel, MSCFModel::myDecel, myDelta, MSCFModel::myHeadwayTime, myTwoSqrtAccelDecel, and MSCFModel_EIDM::VehicleVariables::v0_int.

Referenced by freeSpeed().

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◆ internalspeedlimit()

void MSCFModel_EIDM::internalspeedlimit	(	MSVehicle *const	veh,
		const double	oldV
	)		const

private

Definition at line 736 of file MSCFModel_EIDM.cpp.

References MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowVariables(), MSBaseVehicle::getChosenSpeedFactor(), MSBaseVehicle::getDevice(), MSVehicle::getLane(), MSLane::getLength(), MSDevice_GLOSA::getOriginalSpeedFactor(), MSVehicle::getPositionOnLane(), MSLane::getSpeedLimit(), MSLane::getVehicleMaxSpeed(), MSLane::isLinkEnd(), LEFT, MAX2(), MIN2(), myTpreview, NODIR, PARTLEFT, PARTRIGHT, RIGHT, STRAIGHT, MSLane::succLinkSec(), TS, TURN, TURN_LEFTHAND, MSCFModel_EIDM::VehicleVariables::v0_int, and MSCFModel_EIDM::VehicleVariables::v0_old.

Referenced by finalizeSpeed().

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◆ maximumLaneSpeedCF()

double MSCFModel_EIDM::maximumLaneSpeedCF	(	const MSVehicle * const	,
		double	maxSpeed,
		double
	)		const

inlinevirtual

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 from MSCFModel.

Definition at line 211 of file MSCFModel_EIDM.h.

◆ maximumSafeFollowSpeed() [1/2]

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 (net) 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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◆ maximumSafeFollowSpeed() [2/2]

double MSCFModel_EIDM::maximumSafeFollowSpeed	(	double	gap,
		double	egoSpeed,
		double	predSpeed,
		double	predMaxDecel,
		bool	onInsertion = `false`,
		const CalcReason	usage = `CalcReason::CURRENT`
	)		const

Returns the maximum safe velocity for following the given leader.

Parameters

[in]	gap2pred	The (net) 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

Definition at line 109 of file MSCFModel_EIDM.cpp.

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

Referenced by insertionFollowSpeed().

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◆ maximumSafeStopSpeed() [1/2]

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

Returns the maximum next velocity for stopping within gap.

Parameters

[in]	gap	The (net) distance to the desired stopping point
[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)

Definition at line 172 of file MSCFModel_EIDM.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::myAccel, and myTwoSqrtAccelDecel.

Referenced by insertionStopSpeed().

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◆ maximumSafeStopSpeed() [2/2]

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 (net) 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 (net) 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 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 (net) 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()

double MSCFModel_EIDM::maxNextSafeMin	(	double	speed,
		const MSVehicle *const	veh = `0`
	)		const

inlinevirtual

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 from MSCFModel.

Definition at line 201 of file MSCFModel_EIDM.h.

References UNUSED_PARAMETER.

◆ maxNextSpeed()

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

virtualinherited

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 in MSCFModel_CC, MSCFModel_KraussPS, and MSCFModel_Rail.

Definition at line 292 of file MSCFModel.cpp.

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

Referenced by _v(), MSLCM_SL2015::commitManoeuvre(), MSCFModel::finalizeSpeed(), MSCFModel_Daniel1::finalizeSpeed(), finalizeSpeed(), MSCFModel_Daniel1::followSpeed(), MSCFModel_Kerner::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_SmartSK::followSpeed(), MSLCHelper::getSpeedPreservingSecureGap(), MSCFModel::interactionGap(), MSCFModel::maxNextSafeMin(), MSLCM_DK2008::patchSpeed(), MSVehicle::planMoveInternal(), MSVehicle::processTraCISpeedControl(), MSCFModel_W99::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), MSCFModel_Daniel1::stopSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Krauss::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), and MSCFModel_SmartSK::stopSpeed().

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◆ minNextSpeed()

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

virtualinherited

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 in MSCFModel_Rail, MSCFModel_CC, and MSCFModel_IDM.

Definition at line 298 of file MSCFModel.cpp.

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

Referenced by MSVehicle::checkReversal(), MSLCM_SL2015::commitManoeuvre(), MSCFModel::finalizeSpeed(), finalizeSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLCHelper::getSpeedPreservingSecureGap(), MSLCM_LC2013::informLeader(), MSCFModel_CC::minNextSpeed(), MSVehicle::planMoveInternal(), and MSVehicle::processTraCISpeedControl().

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◆ 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(), finalizeSpeed(), MSCFModel_Krauss::followSpeed(), and MSVehicle::Influencer::implicitSpeedRemote().

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◆ operator=()

MSCFModel_EIDM & MSCFModel_EIDM::operator= ( const MSCFModel_EIDM & s )

private

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_Krauss, MSCFModel_KraussOrig1, MSCFModel_KraussX, MSCFModel_PWag2009, and MSCFModel_SmartSK.

Definition at line 102 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSCFModel::finalizeSpeed().

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◆ patchSpeedBeforeLCEIDM()

double MSCFModel_EIDM::patchSpeedBeforeLCEIDM	(	const MSVehicle *	veh,
		double	vMin,
		double	vMax,
		const VehicleVariables *	vars
	)		const

private

Applies dawdling / driving error.

Parameters

[in]	veh	The ego vehicle
[in]	vMin	The minimum possible speed in the next time step
[in]	vMax	The wanted speed in the next time step

Returns: The corrected speed with dawdling / driving error

Definition at line 200 of file MSCFModel_EIDM.cpp.

References ACCEL2SPEED, EIDM_POS_ACC_EPS, MSVehicleType::getMinGap(), MAX2(), MIN2(), MIN3(), MSCFModel::myAccel, MSCFModel::myHeadwayTime, MSCFModel_EIDM::VehicleVariables::myrespectMinGap, MSCFModel_EIDM::VehicleVariables::mys_est, mySigmaerror, myTwoSqrtAccelDecel, MSCFModel::myType, MSCFModel_EIDM::VehicleVariables::myv_est, MSCFModel_EIDM::VehicleVariables::myv_est_l, and MSCFModel_EIDM::VehicleVariables::myw_error.

Referenced by finalizeSpeed().

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◆ 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_CACC, MSCFModel_Daniel1, MSCFModel_KraussOrig1, and MSCFModel_SmartSK.

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_Daniel1, MSCFModel_KraussOrig1, and MSCFModel_SmartSK.

Definition at line 566 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSVehicleType::setImperfection().

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◆ 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_Daniel1, MSCFModel_KraussOrig1, and MSCFModel_SmartSK.

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()

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

inlinevirtualinherited

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 in MSCFModel_CACC, and MSCFModel_CC.

Definition at line 659 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSBaseVehicle::setCarFollowModelParameter().

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◆ slowToStartTerm()

double MSCFModel_EIDM::slowToStartTerm	(	MSVehicle *const	veh,
		const double	newSpeed,
		const double	currentSpeed,
		const double	vMax,
		VehicleVariables *	vars
	)		const

private

Definition at line 232 of file MSCFModel_EIDM.cpp.

References ClutchEngageSpeed, DELTA_T, MSVehicle::getAcceleration(), MSVehicle::getTimeSinceStartup(), MIN2(), MSCFModel::myAccel, MSCFModel_EIDM::VehicleVariables::myap_update, myIterations, myMbegin, myMflatness, MSCFModel::myStartupDelay, myTaccmax, SIMTIME, STEPS2TIME, MSCFModel_EIDM::VehicleVariables::t_off, and TS.

Referenced by finalizeSpeed().

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◆ 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 (net) distance to 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, and MSCFModel::stopSpeed().

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(), MSCFModel::stopSpeed(), and MSCFModel_CC::stopSpeed().

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◆ stopSpeed() [2/2]

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

virtual

Computes the vehicle's safe speed for approaching a non-moving obstacle.

Parameters

[in]	veh	The vehicle (EGO)
[in]	gap2pred	The (net) distance to 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 482 of file MSCFModel_EIDM.cpp.

References _v(), MSCFModel::CURRENT_WAIT, MSCFModel::FUTURE, MSGlobals::gComputeLC, MSVehicle::getCarFollowVariables(), Named::getID(), MSBaseVehicle::isSelected(), MSCFModel::LANE_CHANGE, SIMTIME, and MSCFModel_EIDM::VehicleVariables::v0_int.

Field Documentation

◆ myAccel

double MSCFModel::myAccel

protectedinherited

◆ 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().

◆ myCcoolness

const double MSCFModel_EIDM::myCcoolness

private

Definition at line 324 of file MSCFModel_EIDM.h.

Referenced by _v().

◆ 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_IDM::MSCFModel_IDM(), MSCFModel_Kerner::MSCFModel_Kerner(), MSCFModel_PWag2009::MSCFModel_PWag2009(), MSCFModel_W99::MSCFModel_W99(), MSCFModel_Wiedemann::MSCFModel_Wiedemann(), and MSCFModel::setCollisionMinGapFactor().

◆ myDecel

double MSCFModel::myDecel

protectedinherited

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

Definition at line 701 of file MSCFModel.h.

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

◆ myDelta

const double MSCFModel_EIDM::myDelta

private

Definition at line 303 of file MSCFModel_EIDM.h.

Referenced by _v(), interactionGap(), and internalsecuregap().

◆ 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(), maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel_IDM::minNextSpeed(), MSCFModel::minNextSpeedEmergency(), and MSCFModel::setEmergencyDecel().

◆ myEpsilonacc

const double MSCFModel_EIDM::myEpsilonacc

private

Definition at line 339 of file MSCFModel_EIDM.h.

Referenced by finalizeSpeed().

◆ 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 _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(), getSecureGap(), MSCFModel_IDM::insertionFollowSpeed(), insertionStopSpeed(), MSCFModel::interactionGap(), internalsecuregap(), MSCFModel::maximumSafeFollowSpeed(), maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeedBallistic(), MSCFModel::maximumSafeStopSpeedEuler(), MSCFModel_W99::MSCFModel_W99(), 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().

◆ myIterations

const int MSCFModel_EIDM::myIterations

private

Definition at line 309 of file MSCFModel_EIDM.h.

Referenced by _v(), and slowToStartTerm().

◆ myJerkmax

const double MSCFModel_EIDM::myJerkmax

private

Definition at line 336 of file MSCFModel_EIDM.h.

Referenced by finalizeSpeed(), and freeSpeed().

◆ myMbegin

const double MSCFModel_EIDM::myMbegin

private

Definition at line 348 of file MSCFModel_EIDM.h.

Referenced by slowToStartTerm().

◆ myMflatness

const double MSCFModel_EIDM::myMflatness

private

Definition at line 345 of file MSCFModel_EIDM.h.

Referenced by slowToStartTerm().

◆ mySigmaerror

const double MSCFModel_EIDM::mySigmaerror

private

Definition at line 333 of file MSCFModel_EIDM.h.

Referenced by patchSpeedBeforeLCEIDM().

◆ mySigmagap

const double MSCFModel_EIDM::mySigmagap

private

Definition at line 330 of file MSCFModel_EIDM.h.

Referenced by _v().

◆ mySigmaleader

const double MSCFModel_EIDM::mySigmaleader

private

Definition at line 327 of file MSCFModel_EIDM.h.

Referenced by _v().

◆ myStartupDelay

SUMOTime MSCFModel::myStartupDelay

protectedinherited

The startup delay after halting [s].

Definition at line 713 of file MSCFModel.h.

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

◆ myTaccmax

const double MSCFModel_EIDM::myTaccmax

private

Definition at line 342 of file MSCFModel_EIDM.h.

Referenced by _v(), finalizeSpeed(), and slowToStartTerm().

◆ myTPersDrive

const double MSCFModel_EIDM::myTPersDrive

private

Definition at line 312 of file MSCFModel_EIDM.h.

Referenced by finalizeSpeed().

◆ myTPersEstimate

const double MSCFModel_EIDM::myTPersEstimate

private

Definition at line 321 of file MSCFModel_EIDM.h.

Referenced by finalizeSpeed().

◆ myTpreview

const double MSCFModel_EIDM::myTpreview

private

Definition at line 318 of file MSCFModel_EIDM.h.

Referenced by freeSpeed(), and internalspeedlimit().

◆ myTreaction

const double MSCFModel_EIDM::myTreaction

private

Definition at line 315 of file MSCFModel_EIDM.h.

Referenced by _v(), finalizeSpeed(), and freeSpeed().

◆ myTwoSqrtAccelDecel

const double MSCFModel_EIDM::myTwoSqrtAccelDecel

private

Definition at line 306 of file MSCFModel_EIDM.h.

Referenced by _v(), getSecureGap(), internalsecuregap(), maximumSafeFollowSpeed(), maximumSafeStopSpeed(), and patchSpeedBeforeLCEIDM().

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

◆ myUseVehDynamics

const bool MSCFModel_EIDM::myUseVehDynamics

private

Definition at line 351 of file MSCFModel_EIDM.h.

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

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Implementations of the MSCFModel interface

Currently fixed methods

Detailed Description

Member Enumeration Documentation

◆ CalcReason

Constructor & Destructor Documentation

◆ MSCFModel_EIDM()

◆ ~MSCFModel_EIDM()

Member Function Documentation

◆ _v()

◆ applyHeadwayAndSpeedDifferencePerceptionErrors()

◆ applyHeadwayPerceptionError()

◆ applyOwnSpeedPerceptionError()

◆ applyStartupDelay()

◆ avoidArrivalAccel()

◆ brakeGap() [1/2]

◆ brakeGap() [2/2]

◆ brakeGapEuler()

◆ calculateEmergencyDeceleration()

◆ createVehicleVariables()

◆ distAfterTime()

◆ duplicate()

◆ estimateArrivalTime() [1/2]

◆ estimateArrivalTime() [2/2]

◆ estimateSpeedAfterDistance()

◆ finalizeSpeed()

◆ followSpeed()

◆ followSpeedTransient()

◆ freeSpeed() [1/3]

◆ freeSpeed() [2/3]

◆ freeSpeed() [3/3]

◆ gapExtrapolation()

◆ getApparentDecel()

◆ getCollisionMinGapFactor()

◆ getEmergencyDecel()

◆ getHeadwayTime()

◆ getImperfection()

◆ getMaxAccel()

◆ getMaxDecel()

◆ getMinimalArrivalSpeed()

◆ getMinimalArrivalSpeedEuler()

◆ getMinimalArrivalTime()

◆ getModelID()

◆ getParameter()

◆ getSecureGap()

◆ getSpeedAfterMaxDecel()

◆ getStartupDelay()

◆ insertionFollowSpeed()

◆ insertionStopSpeed()

◆ interactionGap()

◆ internalsecuregap()

◆ internalspeedlimit()

◆ maximumLaneSpeedCF()

◆ maximumSafeFollowSpeed() [1/2]

◆ maximumSafeFollowSpeed() [2/2]

◆ maximumSafeStopSpeed() [1/2]

◆ maximumSafeStopSpeed() [2/2]

◆ maximumSafeStopSpeedBallistic()

◆ maximumSafeStopSpeedEuler()

◆ maxNextSafeMin()

◆ maxNextSpeed()

◆ minNextSpeed()

◆ minNextSpeedEmergency()

◆ operator=()

◆ passingTime()

◆ patchSpeedBeforeLC()

◆ patchSpeedBeforeLCEIDM()

◆ setApparentDecel()

◆ setCollisionMinGapFactor()

◆ setEmergencyDecel()

◆ setHeadwayTime()

◆ setImperfection()

◆ setMaxAccel()

◆ setMaxDecel()