MSCFModel_CC.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// A series of automatic Cruise Controllers (CC, ACC, CACC)
/****************************************************************************/
#pragma once
#include <config.h>
 
#include "CC_Const.h"
#include <microsim/cfmodels/MSCFModel.h>
#include <microsim/MSLane.h>
#include <microsim/MSVehicle.h>
#include <microsim/MSVehicleType.h>
#include <utils/xml/SUMOXMLDefinitions.h>
#include <microsim/cfmodels/MSCFModel_Krauss.h>
#include <string.h>
 
#include <microsim/engine/GenericEngineModel.h>
#include <microsim/engine/FirstOrderLagModel.h>
#include <microsim/engine/RealisticEngineModel.h>
 
#include "CC_VehicleVariables.h"
#include <libsumo/Helper.h>
 
 
// ===========================================================================
// class definitions
// ===========================================================================
class MSCFModel_CC : public MSCFModel {
public:
 
    MSCFModel_CC(const MSVehicleType* vtype);
 
    ~MSCFModel_CC();
 
    virtual double getSecureGap(const MSVehicle* const veh, const MSVehicle* const /*pred*/, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
 
 
    virtual double finalizeSpeed(MSVehicle* const veh, double vPos) const;
 
 
    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;
 
    virtual double insertionFollowSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
 
 
    double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
 
    virtual double freeSpeed(const MSVehicle* const veh, double speed, double seen,
                             double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
 
    virtual double maxNextSpeed(double speed, const MSVehicle* const veh) const;
 
    virtual double minNextSpeed(double speed, const MSVehicle* const veh = 0) const;
 
 
    double interactionGap(const MSVehicle* const, double vL) const;
 
 
    int getModelID() const {
        return SUMO_TAG_CF_CC;
    }
 
 
 
    MSCFModel* duplicate(const MSVehicleType* vtype) const;
 
    VehicleVariables* createVehicleVariables() const;
 
    double getCACCConstantSpacing(const MSVehicle* veh) const;
 
//    void setVehicleInformation(const MSVehicle* veh, double speed, double acceleration, Position position, double time)  const;
 
    virtual std::string getParameter(const MSVehicle* veh, const std::string& key) const;
 
    virtual void setParameter(MSVehicle* veh, const std::string& key, const std::string& value) const;
 
    void getVehicleInformation(const MSVehicle* veh, double& speed, double& acceleration, double& controllerAcceleration, Position& position, double& time) const;
 
    void switchOnACC(const MSVehicle* veh, double ccDesiredSpeed) const;
 
    enum Plexe::ACTIVE_CONTROLLER getActiveController(const MSVehicle* veh) const;
 
    void getRadarMeasurements(const MSVehicle* veh, double& distance, double& relativeSpeed) const;
 
    double getACCAcceleration(const MSVehicle* veh) const;
 
    int isPlatoonLaneChangeSafe(const MSVehicle* veh, bool left) const;
 
    void setLeader(MSVehicle* veh, MSVehicle* const leader, std::string leaderId) const;
 
    bool isLeader(const MSVehicle* veh) const;
 
    int commitToLaneChange(const MSVehicle* veh, bool left) const;
 
    MSVehicle* findVehicle(std::string id) const;
 
    int getMyLanesCount() const;
 
private:
 
    void recomputeParameters(const MSVehicle* veh) const;
 
    void resetConsensus(const MSVehicle* veh) const;
 
private:
    void changeWholePlatoonLane(MSVehicle* const veh, int direction) const;
 
    void performAutoLaneChange(MSVehicle* const veh) const;
 
    void performPlatoonLaneChange(MSVehicle* const veh) const;
 
    double _v(const MSVehicle* const veh, double gap2pred, double egoSpeed, double predSpeed) const;
 
    double _cc(const MSVehicle* veh, double egoSpeed, double desSpeed) const;
 
    double _acc(const MSVehicle* veh, double egoSpeed, double predSpeed, double gap2pred, double headwayTime) const;
 
    double _cacc(const MSVehicle* veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred, double leaderSpeed, double leaderAcceleration, double spacing) const;
 
    double _ploeg(const MSVehicle* veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred) const;
 
    double _consensus(const MSVehicle* veh, double egoSpeed, Position egoPosition, double time) const;
 
    double d_i_j(const struct Plexe::VEHICLE_DATA* vehicles, const double h[MAX_N_CARS], int i, int j) const;
 
    double _flatbed(const MSVehicle* veh, double egoAcceleration, double egoSpeed, double predSpeed,
                    double gap2pred, double leaderSpeed) const;
 
 
private:
 
    MSCFModel* myHumanDriver;
 
    const double myCcDecel;
 
    const double myCcAccel;
 
    const double myConstantSpacing;
 
    const double myKp;
 
    const double myLambda;
 
    const double myC1;
 
    const double myXi;
 
    const double myOmegaN;
 
    const double myTau;
 
    const int myLanesCount;
 
    const double myPloegH;
    const double myPloegKp;
    const double myPloegKd;
 
    const double myFlatbedKa;
    const double myFlatbedKv;
    const double myFlatbedKp;
    const double myFlatbedH;
    const double myFlatbedD;
 
private:
    MSCFModel_CC& operator=(const MSCFModel_CC&) = delete;
};