Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSDriverState.h
15 : /// @author Michael Behrisch
16 : /// @date Tue, 21 Apr 2015
17 : ///
18 : // A class representing a vehicle driver's current mental state
19 : /****************************************************************************/
20 :
21 :
22 : /// @todo: check parameter admissibility in setter methods
23 :
24 :
25 : #pragma once
26 : #include <config.h>
27 :
28 : #include <memory>
29 : #include <utils/common/SUMOTime.h>
30 : #include <utils/xml/SUMOXMLDefinitions.h>
31 :
32 :
33 : // ===========================================================================
34 : // class definitions
35 : // ===========================================================================
36 : /// @class OUProcess
37 : /// @brief An Ornstein-Uhlenbeck stochastic process
38 : class OUProcess {
39 : public:
40 : /// @brief constructor
41 : OUProcess(double initialState, double timeScale, double noiseIntensity);
42 : /// @brief destructor
43 : ~OUProcess();
44 :
45 : /// @brief evolve for a time step of length dt.
46 : void step(double dt);
47 : /// @brief static version of the step()
48 : static double step(double state, double dt, double timeScale, double noiseIntensity);
49 :
50 : /// @brief set the process' timescale to a new value
51 : void setTimeScale(double timeScale) {
52 59618 : myTimeScale = timeScale;
53 : };
54 :
55 : /// @brief set the process' noise intensity to a new value
56 : void setNoiseIntensity(double noiseIntensity) {
57 59618 : myNoiseIntensity = noiseIntensity;
58 : };
59 :
60 : /// @brief set the process' state to a new value
61 : void setState(double state) {
62 197464 : myState = state;
63 197463 : };
64 :
65 : inline double getNoiseIntensity() const {
66 4 : return myNoiseIntensity;
67 : };
68 :
69 : inline double getTimeScale() const {
70 4 : return myTimeScale;
71 : };
72 :
73 :
74 : /// @brief Obtain the current state of the process
75 : double getState() const;
76 :
77 :
78 : static SumoRNG* getRNG() {
79 : return &myRNG;
80 : }
81 :
82 : private:
83 : /** @brief The current state of the process
84 : */
85 : double myState;
86 :
87 : /** @brief The time scale of the process
88 : */
89 : double myTimeScale;
90 :
91 : /** @brief The noise intensity of the process
92 : */
93 : double myNoiseIntensity;
94 :
95 : /// @brief Random generator for OUProcesses
96 : static SumoRNG myRNG;
97 : };
98 :
99 :
100 : /// @class MSSimpleDriverState
101 : /// @brief Provides an interface to an error whose fluctuation is controlled
102 : /// via the driver's 'awareness', which can be controlled externally, @see MSDevice_ToC
103 : class MSSimpleDriverState {
104 :
105 : public:
106 : MSSimpleDriverState(MSVehicle* veh);
107 388 : virtual ~MSSimpleDriverState() {};
108 :
109 :
110 : /// @name Getter methods
111 : ///@{
112 : inline double getMinAwareness() const {
113 4 : return myMinAwareness;
114 : }
115 :
116 : inline double getInitialAwareness() const {
117 4 : return myInitialAwareness;
118 : }
119 :
120 : inline double getErrorTimeScaleCoefficient() const {
121 4 : return myErrorTimeScaleCoefficient;
122 : }
123 :
124 : inline double getErrorNoiseIntensityCoefficient() const {
125 4 : return myErrorNoiseIntensityCoefficient;
126 : }
127 :
128 : inline double getErrorTimeScale() const {
129 : return myError.getTimeScale();
130 : }
131 :
132 : inline double getErrorNoiseIntensity() const {
133 : return myError.getNoiseIntensity();
134 : }
135 :
136 : inline double getSpeedDifferenceErrorCoefficient() const {
137 4 : return mySpeedDifferenceErrorCoefficient;
138 : }
139 :
140 : inline double getHeadwayErrorCoefficient() const {
141 4 : return myHeadwayErrorCoefficient;
142 : }
143 :
144 : inline double getFreeSpeedErrorCoefficient() const {
145 : return myFreeSpeedErrorCoefficient;
146 : }
147 :
148 : inline double getSpeedDifferenceChangePerceptionThreshold() const {
149 4 : return mySpeedDifferenceChangePerceptionThreshold;
150 : }
151 :
152 : inline double getHeadwayChangePerceptionThreshold() const {
153 4 : return myHeadwayChangePerceptionThreshold;
154 : }
155 :
156 : inline double getAwareness() const {
157 126 : return myAwareness;
158 : }
159 :
160 : inline double getMaximalReactionTime() const {
161 3 : return myMaximalReactionTime;
162 : }
163 :
164 : inline double getOriginalReactionTime() const {
165 3 : return myOriginalReactionTime;
166 : }
167 :
168 : inline double getActionStepLength() const {
169 256645 : return myActionStepLength;
170 : }
171 :
172 : inline double getErrorState() const {
173 126 : return myError.getState();
174 : };
175 : ///@}
176 :
177 :
178 : /// @name Setter methods
179 : ///@{
180 : inline void setMinAwareness(const double value) {
181 194 : myMinAwareness = value;
182 1 : }
183 :
184 : inline void setInitialAwareness(const double value) {
185 194 : myInitialAwareness = value;
186 1 : }
187 :
188 : inline void setErrorTimeScaleCoefficient(const double value) {
189 194 : myErrorTimeScaleCoefficient = value;
190 1 : }
191 :
192 : inline void setErrorNoiseIntensityCoefficient(const double value) {
193 194 : myErrorNoiseIntensityCoefficient = value;
194 1 : }
195 :
196 : inline void setSpeedDifferenceErrorCoefficient(const double value) {
197 194 : mySpeedDifferenceErrorCoefficient = value;
198 1 : }
199 :
200 : inline void setHeadwayErrorCoefficient(const double value) {
201 194 : myHeadwayErrorCoefficient = value;
202 1 : }
203 :
204 : inline void setFreeSpeedErrorCoefficient(const double value) {
205 194 : myFreeSpeedErrorCoefficient = value;
206 0 : }
207 :
208 : inline void setSpeedDifferenceChangePerceptionThreshold(const double value) {
209 194 : mySpeedDifferenceChangePerceptionThreshold = value;
210 1 : }
211 :
212 : inline void setHeadwayChangePerceptionThreshold(const double value) {
213 194 : myHeadwayChangePerceptionThreshold = value;
214 1 : }
215 :
216 : inline void setMaximalReactionTime(const double value) {
217 2 : myMaximalReactionTime = value;
218 2 : updateReactionTime();
219 2 : }
220 :
221 : inline void setOriginalReactionTime(const double value) {
222 1 : myOriginalReactionTime = value;
223 1 : updateReactionTime();
224 1 : }
225 :
226 : void setAwareness(const double value);
227 :
228 : inline void setErrorState(const double state) {
229 : myError.setState(state);
230 1 : };
231 :
232 : inline void setErrorTimeScale(const double value) {
233 : myError.setTimeScale(value);
234 1 : }
235 :
236 : inline void setErrorNoiseIntensity(const double value) {
237 : myError.setNoiseIntensity(value);
238 1 : }
239 : ///@}
240 :
241 : /// @brief Trigger updates for the errorProcess, assumed gaps, etc
242 : void update();
243 :
244 :
245 : /// @brief Update the assumed gaps to the known objects according to
246 : /// the corresponding perceived speed differences.
247 : void updateAssumedGaps();
248 :
249 : /// @name Methods to obtain the current error quantities to be used by the car-following model
250 : /// @see TCIModel
251 : /// @{
252 : // /// @see myAccelerationError
253 : // inline double getAppliedAcceleration(double desiredAccel) {
254 : // return desiredAccel + myError.getState();
255 : // };
256 :
257 : /// @brief apply perception error to own speed
258 : double getPerceivedOwnSpeed(double speed);
259 :
260 : /// @brief This method checks whether the errorneous speed difference that would be perceived for this step
261 : /// differs sufficiently from the previously perceived to be actually perceived. If so, it sets the
262 : /// flag myReactionFlag[objID]=true, which should be checked just after the call to this method because
263 : /// it will be overwritten by subsequent calls.
264 : double getPerceivedSpeedDifference(const double trueSpeedDifference, const double trueGap, const void* objID = nullptr);
265 : /// @see myHeadwayPerceptionError
266 : double getPerceivedHeadway(const double trueGap, const void* objID = nullptr);
267 : /// @}
268 :
269 : inline void lockDebug() {
270 : myDebugLock = true;
271 : }
272 :
273 : inline void unlockDebug() {
274 : myDebugLock = false;
275 : }
276 :
277 : inline bool debugLocked() const {
278 : return myDebugLock;
279 : }
280 :
281 : private:
282 : // @brief Update the current step duration
283 : void updateStepDuration();
284 : // Update the error process
285 : void updateError();
286 : // Update the reaction time (actionStepLength)
287 : void updateReactionTime();
288 :
289 : private:
290 :
291 : /// @brief Vehicle corresponding to this driver state
292 : MSVehicle* myVehicle;
293 :
294 : /// @brief Driver's 'awareness' \in [0,1]
295 : double myAwareness;
296 : /// @brief Minimal value for 'awareness' \in [0,1]
297 : double myMinAwareness;
298 : /// @brief Initial value for 'awareness' \in [0,1]
299 : double myInitialAwareness;
300 : /// @brief Driver's 'error', @see TCI_Model
301 : OUProcess myError;
302 : /// @brief Coefficient controlling the impact of awareness on the time scale of the error process
303 : double myErrorTimeScaleCoefficient;
304 : /// @brief Coefficient controlling the impact of awareness on the noise intensity of the error process
305 : double myErrorNoiseIntensityCoefficient;
306 :
307 : /// @brief Scaling coefficients for the magnitude of errors
308 : double mySpeedDifferenceErrorCoefficient;
309 : double myHeadwayErrorCoefficient;
310 : double myFreeSpeedErrorCoefficient;
311 : /// @brief Thresholds above a change in the corresponding quantity is perceived.
312 : /// @note In the comparison, we multiply the actual change amount by the current
313 : /// gap to the object to reflect a more precise perception if the object is closer.
314 : double myHeadwayChangePerceptionThreshold;
315 : double mySpeedDifferenceChangePerceptionThreshold;
316 : // // @brief if a perception threshold is passed for some object, a flag is set to induce a reaction to the object
317 : // std::map<void*, bool> myReactionFlag;
318 :
319 : /// @brief Action step length (~current maximal reaction time) induced by awareness level
320 : /// @note This interpolates linearly from myOriginalReactionTime for awareness==1
321 : /// to myMaximalReactionTime for awareness==myMinAwareness
322 : double myActionStepLength;
323 : /// @brief Maximal reaction time (value set for the actionStepLength at awareness=1)
324 : double myOriginalReactionTime;
325 : /// @brief Maximal reaction time (value set for the actionStepLength at awareness=myMinAwareness)
326 : double myMaximalReactionTime;
327 :
328 : /// @name Variables for tracking update instants
329 : /// @see updateStepDuration()
330 : /// @{
331 : /// @brief Elapsed time since the last state update
332 : double myStepDuration;
333 : /// @brief Time point of the last state update
334 : double myLastUpdateTime;
335 :
336 :
337 : /// @brief The assumed gaps to different objects
338 : /// @todo: update each step to incorporate the assumed change given a specific speed difference
339 : std::map<const void*, double> myAssumedGap;
340 : /// @brief The last perceived speed differences to the corresponding objects
341 : std::map<const void*, double> myLastPerceivedSpeedDifference;
342 : /// @}
343 :
344 : /// @brief Used to prevent infinite loops in debugging outputs, @see followSpeed() and stopSpeed() (of MSCFModel_Krauss, e.g.)
345 : bool myDebugLock;
346 : };
347 :
348 :
349 :
350 :
351 :
352 : ///** @class MSDriverState
353 : // * @brief An object representing a traffic item. Used for influencing
354 : // * the task demand of the TCI car-following model.
355 : // * @see MSCFModel_TCI
356 : // */
357 : //class MSDriverState {
358 : //
359 : //protected:
360 : // /// @brief base class for VehicleCharacteristics, TLSCharacteristics, PedestrianCharacteristics, SpeedLimitCharacteristics, Junction Characteristics...
361 : // /// @see TrafficItemType, @see MSCFModel_TCI
362 : // struct MSTrafficItemCharacteristics {
363 : // inline virtual ~MSTrafficItemCharacteristics() {};
364 : // };
365 : //
366 : // // @brief Types of traffic items, @see TrafficItem
367 : // enum MSTrafficItemType {
368 : // TRAFFIC_ITEM_VEHICLE,
369 : // TRAFFIC_ITEM_PEDESTRIAN,
370 : // TRAFFIC_ITEM_SPEED_LIMIT,
371 : // TRAFFIC_ITEM_JUNCTION
372 : // };
373 : //
374 : // /** @class MSTrafficItem
375 : // * @brief An object representing a traffic item. Used for influencing
376 : // * the task demand of the TCI car-following model.
377 : // * @see MSCFModel_TCI
378 : // */
379 : // struct MSTrafficItem {
380 : // MSTrafficItem(MSTrafficItemType type, const std::string& id, std::shared_ptr<MSTrafficItemCharacteristics> data);
381 : // static std::hash<std::string> hash;
382 : // MSTrafficItemType type;
383 : // size_t id_hash;
384 : // std::shared_ptr<MSTrafficItemCharacteristics> data;
385 : // double remainingIntegrationTime;
386 : // double integrationDemand;
387 : // double latentDemand;
388 : // };
389 : //
390 : // struct JunctionCharacteristics : MSTrafficItemCharacteristics {
391 : // JunctionCharacteristics(const MSJunction* junction, const MSLink* egoLink, double dist) :
392 : // junction(junction), approachingLink(egoLink), dist(dist) {};
393 : // const MSJunction* junction;
394 : // const MSLink* approachingLink;
395 : // double dist;
396 : // };
397 : //
398 : // struct PedestrianCharacteristics : MSTrafficItemCharacteristics {
399 : // PedestrianCharacteristics(const MSPerson* pedestrian, double dist) :
400 : // pedestrian(pedestrian), dist(dist) {};
401 : // const MSPerson* pedestrian;
402 : // double dist;
403 : // };
404 : //
405 : // struct SpeedLimitCharacteristics : MSTrafficItemCharacteristics {
406 : // SpeedLimitCharacteristics(const MSLane* lane, double dist, double limit) :
407 : // dist(dist), limit(limit), lane(lane) {};
408 : // const MSLane* lane;
409 : // double dist;
410 : // double limit;
411 : // };
412 : //
413 : // struct VehicleCharacteristics : MSTrafficItemCharacteristics {
414 : // VehicleCharacteristics(const MSVehicle* foe, double longitudinalDist, double lateralDist, double relativeSpeed) :
415 : // longitudinalDist(longitudinalDist), lateralDist(lateralDist), foe(foe), relativeSpeed(relativeSpeed) {};
416 : // const MSVehicle* foe;
417 : // double longitudinalDist;
418 : // double lateralDist;
419 : // double relativeSpeed;
420 : // };
421 : //
422 : //
423 : //public:
424 : //
425 : // MSDriverState(MSVehicle* veh);
426 : // virtual ~MSDriverState() {};
427 : //
428 : // /// @name Interfaces to inform Driver Model about traffic items, which potentially
429 : // /// influence the driving difficulty.
430 : // /// @{
431 : // /** @brief Informs about leader.
432 : // */
433 : // virtual void registerLeader(const MSVehicle* leader, double gap, double relativeSpeed, double latGap = -1.);
434 : //
435 : // /** @brief Informs about pedestrian.
436 : // */
437 : // virtual void registerPedestrian(const MSPerson* pedestrian, double gap);
438 : //
439 : // /** @brief Informs about upcoming speed limit reduction.
440 : // */
441 : // virtual void registerSpeedLimit(const MSLane* lane, double speedLimit, double dist);
442 : //
443 : // /** @brief Informs about upcoming junction.
444 : // */
445 : // virtual void registerJunction(MSLink* link, double dist);
446 : //
447 : // /** @brief Takes into account vehicle-specific factors for the driving demand
448 : // * For instance, whether vehicle drives on an opposite direction lane, absolute speed, etc.
449 : // */
450 : // virtual void registerEgoVehicleState();
451 : //
452 : // /** @brief Trigger updates for the state variables according to the traffic situation
453 : // * (present traffic items)
454 : // */
455 : // virtual void update();
456 : // /// @}
457 : //
458 : //
459 : // /// @name Methods to obtain the current error quantities to be used by the car-following model
460 : // /// @see TCIModel
461 : // /// @{
462 : // /// @see myAccelerationError
463 : // inline double getAppliedAcceleration(double desiredAccel) {
464 : // return desiredAccel + myAccelerationError.getState();
465 : // };
466 : // /// @see mySpeedPerceptionError
467 : // inline double getPerceivedSpeedDifference(double trueSpeedDifference) {
468 : // return trueSpeedDifference + mySpeedPerceptionError.getState();
469 : // };
470 : // /// @see myHeadwayPerceptionError
471 : // inline double getPerceivedHeadway(double trueGap) {
472 : // return trueGap + myHeadwayPerceptionError.getState();
473 : // };
474 : // /// @see myActionStepLength
475 : // inline double getActionStepLength(){
476 : // return myActionStepLength;
477 : // };
478 : // /// @}
479 : //
480 : //
481 : //private:
482 : //
483 : // /** @brief Updates the internal variables to track the time between
484 : // * two calls to the state update (i.e., two action points). Needed for a consistent
485 : // * evolution of the error processes.
486 : // */
487 : // void updateStepDuration();
488 : //
489 : // /** @brief Calculates a value for the task difficulty given the capability and the demand
490 : // * and stores the result in myCurrentDrivingDifficulty.
491 : // * @see difficultyFunction()
492 : // */
493 : // void calculateDrivingDifficulty();
494 : //
495 : //
496 : // /** @brief Transformation of the quotient demand/capability to obtain the actual
497 : // * difficulty value used to control driving performance.
498 : // * @note The current implementation is a continuous piecewise affine function.
499 : // * It has two regions with different slopes. A slight ascend, where the capability
500 : // * is larger than the demand and a region of steeper ascend, where the demand
501 : // * exceeds the capability.
502 : // */
503 : // double difficultyFunction(double demandCapabilityQuotient) const;
504 : //
505 : //
506 : // /** @brief Updates the myTaskCapability in dependence of the myTaskDifficulty to model a reactive
507 : // * level of attention. The characteristics of the process are determined by myHomeostasisDifficulty
508 : // * and myCapabilityTimeScale.
509 : // * @todo Review the implementation as simple exponential process.
510 : // */
511 : // void adaptTaskCapability();
512 : //
513 : //
514 : // /// @name Updater for error processes.
515 : // /// @{
516 : // void updateAccelerationError();
517 : // void updateSpeedPerceptionError();
518 : // void updateHeadwayPerceptionError();
519 : // void updateActionStepLength();
520 : // /// @}
521 : //
522 : //
523 : // /// @brief Updates the given error process
524 : // void updateErrorProcess(OUProcess& errorProcess, double timeScaleCoefficient, double noiseIntensityCoefficient) const;
525 : //
526 : // /// @brief Initialize newly appeared traffic item
527 : // void calculateLatentDemand(std::shared_ptr<MSTrafficItem> ti) const;
528 : //
529 : // /// @brief Calculate demand induced by the given junction
530 : // double calculateLatentJunctionDemand(std::shared_ptr<JunctionCharacteristics> ch) const;
531 : // /// @brief Calculate demand induced by the given pedestrian
532 : // double calculateLatentPedestrianDemand(std::shared_ptr<PedestrianCharacteristics> ch) const;
533 : // /// @brief Calculate demand induced by the given pedestrian
534 : // double calculateLatentSpeedLimitDemand(std::shared_ptr<SpeedLimitCharacteristics> ch) const;
535 : // /// @brief Calculate demand induced by the given vehicle
536 : // double calculateLatentVehicleDemand(std::shared_ptr<VehicleCharacteristics> ch) const;
537 : //
538 : // /// @brief Calculate integration demand induced by the given junction
539 : // double calculateJunctionIntegrationDemand(std::shared_ptr<JunctionCharacteristics> ch) const;
540 : // /// @brief Calculate integration demand induced by the given pedestrian
541 : // double calculatePedestrianIntegrationDemand(std::shared_ptr<PedestrianCharacteristics> ch) const;
542 : // /// @brief Calculate integration demand induced by the given pedestrian
543 : // double calculateSpeedLimitIntegrationDemand(std::shared_ptr<SpeedLimitCharacteristics> ch) const;
544 : // /// @brief Calculate integration demand induced by the given vehicle
545 : // double calculateVehicleIntegrationDemand(std::shared_ptr<VehicleCharacteristics> ch) const;
546 : //
547 : // /// @brief Register known traffic item to persist
548 : // void updateItemIntegration(std::shared_ptr<MSTrafficItem> ti) const;
549 : //
550 : // /// @brief Determine the integration demand and duration for a newly encountered traffic item (updated in place)
551 : // /// The integration demand takes effect during a short period after the first appearance of the item.
552 : // void calculateIntegrationDemandAndTime(std::shared_ptr<MSTrafficItem> ti) const;
553 : //
554 : // /// @brief Calculate the integration time for an item approached with the given speed at given dist
555 : // double calculateIntegrationTime(double dist, double speed) const;
556 : //
557 : // /// @brief Incorporate the item's demand into the total task demand.
558 : // void integrateDemand(std::shared_ptr<MSTrafficItem> ti);
559 : //
560 : // /// @brief Called whenever the vehicle is notified about a traffic item encounter.
561 : // void registerTrafficItem(std::shared_ptr<MSTrafficItem> ti);
562 : //
563 : //private:
564 : //
565 : // MSVehicle* myVehicle;
566 : //
567 : // /// @name Variables for tracking update instants
568 : // /// @see updateStepDuration()
569 : // /// @{
570 : //
571 : // /// @brief Elapsed time since the last state update
572 : // double myStepDuration;
573 : // /// @brief Time point of the last state update
574 : // double myLastUpdateTime;
575 : //
576 : // /// @}
577 : //
578 : //
579 : // /// @name Dynamical quantities for the driving performance
580 : // /// @{
581 : //
582 : // /** @brief Task capability (combines static and dynamic factors specific to the driver and the situation,
583 : // * total capability, attention, etc.). Follows myTaskDemand with some inertia (task-difficulty-homeostasis).
584 : // */
585 : // double myTaskCapability;
586 : // double myMinTaskCapability, myMaxTaskCapability;
587 : //
588 : // /** @brief Task Demand (dynamic variable representing the total demand imposed on the driver by the driving situation and environment.
589 : // * For instance, number, novelty and type of traffic participants in neighborhood, speed differences, road curvature,
590 : // * headway to leader, number of lanes, traffic density, street signs, traffic lights)
591 : // */
592 : // double myTaskDemand;
593 : // double myMaxTaskDemand;
594 : //
595 : // /** @brief Cached current value of the difficulty resulting from the combination of task capability and demand.
596 : // * @see calculateDrivingDifficulty()
597 : // */
598 : // double myCurrentDrivingDifficulty;
599 : // /// @brief Upper bound for myCurrentDrivingDifficulty
600 : // double myMaxDifficulty;
601 : // /** @brief Slopes for the dependence of the difficulty on the quotient of demand and capability.
602 : // * @see difficultyFunction();
603 : // */
604 : // double mySubCriticalDifficultyCoefficient, mySuperCriticalDifficultyCoefficient;
605 : //
606 : // /// @}
607 : //
608 : // /// @name Field that reflect the current driving situation
609 : // /// @{
610 : // /// @brief Whether vehicle is driving on an opposite direction lane
611 : // bool myAmOpposite;
612 : // double myCurrentSpeed;
613 : // double myCurrentAcceleration;
614 : // /// @}
615 : //
616 : // /// @name Parameters for the dynamic adaptation of capability (attention) and demand
617 : // /// @{
618 : //
619 : // /** @brief The desired value of the quotient myTaskDemand/myTaskCapability. Influences the fixed point of the
620 : // * process myTaskCapability -> myTaskDemand, @see adaptTaskCapability()
621 : // */
622 : // double myHomeostasisDifficulty;
623 : //
624 : // /** @brief Determines the time scale for the adaptation process of task capability towards the
625 : // * task difficulty.
626 : // */
627 : // double myCapabilityTimeScale;
628 : //
629 : // /** @brief Factor for the demand if driving on an opposite direction lane
630 : // */
631 : // double myOppositeDirectionDrivingDemandFactor;
632 : //
633 : // /// @}
634 : //
635 : //
636 : //
637 : // /** @brief Traffic items in the current neighborhood of the vehicle.
638 : // */
639 : // std::map<size_t, std::shared_ptr<MSTrafficItem> > myTrafficItems;
640 : // std::map<size_t, std::shared_ptr<MSTrafficItem> > myNewTrafficItems;
641 : //
642 : // /// @name Actuation errors
643 : // /// @{
644 : //
645 : // /** @brief Acceleration error. Modelled as an Ornstein-Uhlenbeck process.
646 : // * @see updateAccelerationError()
647 : // */
648 : // OUProcess myAccelerationError;
649 : // /// @brief Coefficient controlling the impact of driving difficulty on the time scale of the acceleration error process
650 : // double myAccelerationErrorTimeScaleCoefficient;
651 : // /// @brief Coefficient controlling the impact of driving difficulty on the noise intensity of the acceleration error process
652 : // double myAccelerationErrorNoiseIntensityCoefficient;
653 : //
654 : // /// @brief Action step length (increases with task difficulty, is similar to reaction time)
655 : // double myActionStepLength;
656 : // /// @brief Proportionality factor of myActionStepLength and driving difficulty
657 : // double myActionStepLengthCoefficient;
658 : // /// @brief Bounds for the action step length
659 : // double myMinActionStepLength, myMaxActionStepLength;
660 : //
661 : // /// @}
662 : //
663 : //
664 : // /// @name Perception errors
665 : // /// @{
666 : //
667 : // /** @brief Error of estimation of the relative speeds of neighboring vehicles
668 : // */
669 : // OUProcess mySpeedPerceptionError;
670 : // /// @brief Coefficient controlling the impact of driving difficulty on the time scale of the relative speed error process
671 : // double mySpeedPerceptionErrorTimeScaleCoefficient;
672 : // /// @brief Coefficient controlling the impact of driving difficulty on the noise intensity of the relative speed error process
673 : // double mySpeedPerceptionErrorNoiseIntensityCoefficient;
674 : //
675 : // /** @brief Error of estimation of the distance/headways of neighboring vehicles
676 : // */
677 : // OUProcess myHeadwayPerceptionError;
678 : // /// @brief Coefficient controlling the impact of driving difficulty on the time scale of the headway error process
679 : // double myHeadwayPerceptionErrorTimeScaleCoefficient;
680 : // /// @brief Coefficient controlling the impact of driving difficulty on the noise intensity of the headway error process
681 : // double myHeadwayPerceptionErrorNoiseIntensityCoefficient;
682 : //
683 : // /// @}
684 : //};
685 :
686 :
687 :
688 : /// @brief Default values for the MSDriverState parameters
689 : struct DriverStateDefaults {
690 : // static double myMinTaskCapability;
691 : // static double myMaxTaskCapability;
692 : // static double myMaxTaskDemand;
693 : // static double myMaxDifficulty;
694 : // static double mySubCriticalDifficultyCoefficient;
695 : // static double mySuperCriticalDifficultyCoefficient;
696 : // static double myHomeostasisDifficulty;
697 : // static double myCapabilityTimeScale;
698 : // static double myAccelerationErrorTimeScaleCoefficient;
699 : // static double myAccelerationErrorNoiseIntensityCoefficient;
700 : // static double myActionStepLengthCoefficient;
701 : // static double myMinActionStepLength;
702 : // static double myMaxActionStepLength;
703 : // static double mySpeedPerceptionErrorTimeScaleCoefficient;
704 : // static double mySpeedPerceptionErrorNoiseIntensityCoefficient;
705 : // static double myHeadwayPerceptionErrorTimeScaleCoefficient;
706 : // static double myHeadwayPerceptionErrorNoiseIntensityCoefficient;
707 : // static double myOppositeDirectionDrivingFactor;
708 :
709 : // for MSSimpleDriverState
710 : static double minAwareness;
711 : static double initialAwareness;
712 : static double errorTimeScaleCoefficient;
713 : static double errorNoiseIntensityCoefficient;
714 : static double speedDifferenceErrorCoefficient;
715 : static double speedDifferenceChangePerceptionThreshold;
716 : static double headwayChangePerceptionThreshold;
717 : static double headwayErrorCoefficient;
718 : static double freeSpeedErrorCoefficient;
719 : static double maximalReactionTimeFactor;
720 : };
|
