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 MSCFModel_ACC.cpp
15 : /// @author Kallirroi Porfyri
16 : /// @date Feb 2018
17 : ///
18 : // ACC car-following model based on [1], [2].
19 : // [1] Milanes, V., and S. E. Shladover. Handling Cut-In Vehicles in Strings
20 : // of Cooperative Adaptive Cruise Control Vehicles. Journal of Intelligent
21 : // Transportation Systems, Vol. 20, No. 2, 2015, pp. 178-191.
22 : // [2] Xiao, L., M. Wang and B. van Arem. Realistic Car-Following Models for
23 : // Microscopic Simulation of Adaptive and Cooperative Adaptive Cruise
24 : // Control Vehicles. Transportation Research Record: Journal of the
25 : // Transportation Research Board, No. 2623, 2017. (DOI: 10.3141/2623-01).
26 : //[3] Xiao, L., Wang, M., Schakel, W., & van Arem, B. (2018). Unravelling
27 : // effects of cooperative adaptive cruise control deactivation on
28 : // traffic flow characteristics at merging bottlenecks. Transportation
29 : // Research Part C: Emerging Technologies, 96, 380–397.
30 : // <https://doi.org/10.1016/j.trc.2018.10.008>
31 : /****************************************************************************/
32 : #include <config.h>
33 :
34 : #include <stdio.h>
35 : #include <iostream>
36 :
37 : #include "MSCFModel_ACC.h"
38 : #include <microsim/MSVehicle.h>
39 : #include <microsim/MSLane.h>
40 : #include <utils/common/RandHelper.h>
41 : #include <utils/common/SUMOTime.h>
42 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
43 : #include <math.h>
44 : #include <microsim/MSNet.h>
45 :
46 : // ===========================================================================
47 : // debug flags
48 : // ===========================================================================
49 : //#define DEBUG_ACC
50 : //#define DEBUG_COND (true)
51 : //#define DEBUG_COND (veh->isSelected())
52 :
53 :
54 : // ===========================================================================
55 : // defaults
56 : // ===========================================================================
57 : #define DEFAULT_SC_GAIN -0.4
58 : #define DEFAULT_GCC_GAIN_SPEED 0.8
59 : #define DEFAULT_GCC_GAIN_SPACE 0.04
60 : #define DEFAULT_GC_GAIN_SPEED 0.07
61 : #define DEFAULT_GC_GAIN_SPACE 0.23
62 : #define DEFAULT_CA_GAIN_SPACE 0.8
63 : #define DEFAULT_CA_GAIN_SPEED 0.23
64 :
65 : // ===========================================================================
66 : // thresholds
67 : // ===========================================================================
68 : #define GAP_THRESHOLD_SPEEDCTRL 120
69 : #define GAP_THRESHOLD_GAPCTRL 100
70 : // override followSpeed when deemed unsafe by the given margin (the value was selected to reduce the number of necessary interventions)
71 : #define DEFAULT_EMERGENCY_OVERRIDE_THRESHOLD 2.0
72 :
73 : /// @todo: add attributes for myCollisionAvoidanceGainSpeed and myCollisionAvoidanceGainSpace
74 :
75 : // ===========================================================================
76 : // method definitions
77 : // ===========================================================================
78 728 : MSCFModel_ACC::MSCFModel_ACC(const MSVehicleType* vtype) :
79 : MSCFModel(vtype),
80 728 : mySpeedControlGain(vtype->getParameter().getCFParam(SUMO_ATTR_SC_GAIN, DEFAULT_SC_GAIN)),
81 728 : myGapClosingControlGainSpeed(vtype->getParameter().getCFParam(SUMO_ATTR_GCC_GAIN_SPEED, DEFAULT_GCC_GAIN_SPEED)),
82 728 : myGapClosingControlGainSpace(vtype->getParameter().getCFParam(SUMO_ATTR_GCC_GAIN_SPACE, DEFAULT_GCC_GAIN_SPACE)),
83 728 : myGapControlGainSpeed(vtype->getParameter().getCFParam(SUMO_ATTR_GC_GAIN_SPEED, DEFAULT_GC_GAIN_SPEED)),
84 728 : myGapControlGainSpace(vtype->getParameter().getCFParam(SUMO_ATTR_GC_GAIN_SPACE, DEFAULT_GC_GAIN_SPACE)),
85 728 : myCollisionAvoidanceGainSpeed(vtype->getParameter().getCFParam(SUMO_ATTR_CA_GAIN_SPEED, DEFAULT_CA_GAIN_SPEED)),
86 728 : myCollisionAvoidanceGainSpace(vtype->getParameter().getCFParam(SUMO_ATTR_CA_GAIN_SPACE, DEFAULT_CA_GAIN_SPACE)),
87 1456 : myEmergencyThreshold(vtype->getParameter().getCFParam(SUMO_ATTR_CA_OVERRIDE, DEFAULT_EMERGENCY_OVERRIDE_THRESHOLD)) {
88 : // ACC does not drive very precise and often violates minGap
89 728 : myCollisionMinGapFactor = vtype->getParameter().getCFParam(SUMO_ATTR_COLLISION_MINGAP_FACTOR, 0.1);
90 728 : }
91 :
92 1017 : MSCFModel_ACC::~MSCFModel_ACC() {}
93 :
94 :
95 : double
96 32946580 : MSCFModel_ACC::followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const /*pred*/, const CalcReason /*usage*/) const {
97 32946580 : const double desSpeed = MIN2(veh->getLane()->getSpeedLimit(), veh->getMaxSpeed());
98 32946580 : const double vACC = _v(veh, gap2pred, speed, predSpeed, desSpeed, true);
99 32946580 : const double vSafe = maximumSafeFollowSpeed(gap2pred, speed, predSpeed, predMaxDecel);
100 32946580 : if (vSafe + myEmergencyThreshold < vACC) {
101 : //ACCVehicleVariables* vars = (ACCVehicleVariables*)veh->getCarFollowVariables();
102 : //std::cout << SIMTIME << " veh=" << veh->getID() << " v=" << speed << " vL=" << predSpeed << " gap=" << gap2pred << " vACC=" << vACC << " vSafe=" << vSafe << " cm=" << vars->ACC_ControlMode << "\n";
103 320869 : return vSafe + myEmergencyThreshold;
104 : }
105 : return vACC;
106 : }
107 :
108 :
109 : double
110 11590337 : MSCFModel_ACC::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason /*usage*/) const {
111 : // NOTE: This allows return of smaller values than minNextSpeed().
112 : // Only relevant for the ballistic update: We give the argument headway=TS, to assure that
113 : // the stopping position is approached with a uniform deceleration also for tau!=TS.
114 11590337 : return MIN2(maximumSafeStopSpeed(gap, decel, speed, false, veh->getActionStepLengthSecs()), maxNextSpeed(speed, veh));
115 : }
116 :
117 :
118 : double
119 27485418 : MSCFModel_ACC::getSecureGap(const MSVehicle* const /*veh*/, const MSVehicle* const /*pred*/, const double speed, const double leaderSpeed, const double /* leaderMaxDecel */) const {
120 : // Accel in gap mode should vanish:
121 : // 0 = myGapControlGainSpeed * (leaderSpeed - speed) + myGapControlGainSpace * (g - myHeadwayTime * speed);
122 : // <=> myGapControlGainSpace * g = - myGapControlGainSpeed * (leaderSpeed - speed) + myGapControlGainSpace * myHeadwayTime * speed;
123 : // <=> g = - myGapControlGainSpeed * (leaderSpeed - speed) / myGapControlGainSpace + myHeadwayTime * speed;
124 27485418 : return myGapControlGainSpeed * (speed - leaderSpeed) / myGapControlGainSpace + myHeadwayTime * speed;
125 : }
126 :
127 :
128 : double
129 162449 : MSCFModel_ACC::insertionFollowSpeed(const MSVehicle* const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const /*pred*/) const {
130 : //#ifdef DEBUG_ACC
131 : // std::cout << "MSCFModel_ACC::insertionFollowSpeed(), speed="<<speed<< std::endl;
132 : //#endif
133 : // iterate to find a stationary value for
134 : // speed = followSpeed(v, speed, gap2pred, predSpeed, predMaxDecel, nullptr, CalcReason::FUTURE)
135 : const int max_iter = 50;
136 : int n_iter = 0;
137 : const double tol = 0.1;
138 : const double damping = 0.1;
139 :
140 : double res = speed;
141 5026611 : while (n_iter < max_iter) {
142 : // proposed acceleration
143 4991126 : const double a = SPEED2ACCEL(followSpeed(v, res, gap2pred, predSpeed, predMaxDecel, nullptr, CalcReason::FUTURE) - res);
144 4991126 : res = res + damping * a;
145 : //#ifdef DEBUG_ACC
146 : // std::cout << " n_iter=" << n_iter << ", a=" << a << ", res=" << res << std::endl;
147 : //#endif
148 4991126 : if (fabs(a) < tol) {
149 : break;
150 : } else {
151 4864162 : n_iter++;
152 : }
153 : }
154 162449 : return res;
155 : }
156 :
157 :
158 : /// @todo update interactionGap logic
159 : double
160 0 : MSCFModel_ACC::interactionGap(const MSVehicle* const /*veh */, double /* vL */) const {
161 : /*maximum radar range is ACC is enabled*/
162 0 : return 250;
163 : }
164 :
165 14041954 : double MSCFModel_ACC::accelSpeedControl(double vErr) const {
166 : // Speed control law
167 14041954 : return mySpeedControlGain * vErr;
168 : }
169 :
170 : double
171 18957267 : MSCFModel_ACC::accelGapControl(const MSVehicle* const /* veh */, const double gap2pred, const double speed, const double predSpeed, double vErr) const {
172 : // Gap control law
173 : double gclAccel = 0.0;
174 18957267 : const double deltaVel = predSpeed - speed;
175 :
176 : // see dynamic gap margin definition from (Xiao et. al, 2018)[3], equation 5 reformulated as min/max to avoid discontinuities
177 18957267 : const double d0 = MAX2(0., MIN2(75. / speed - 5., 2.));
178 : // this is equation 4, gap2pred is the difference in vehicle positions minus the length
179 18957267 : const double spacingErr = gap2pred - myHeadwayTime * speed - d0;
180 :
181 :
182 18957267 : if (fabs(spacingErr) < 0.2 && fabs(vErr) < 0.1) {
183 : // gap mode
184 6404 : gclAccel = myGapControlGainSpeed * deltaVel + myGapControlGainSpace * spacingErr;
185 : #ifdef DEBUG_ACC
186 : if (DEBUG_COND) {
187 : std::cout << " applying gap control: spacingErr=" << spacingErr << " speedErr=" << vErr << std::endl;
188 : }
189 : #endif
190 18950863 : } else if (spacingErr < 0) {
191 : // collision avoidance mode
192 3583228 : gclAccel = myCollisionAvoidanceGainSpeed * deltaVel + myCollisionAvoidanceGainSpace * spacingErr;
193 : #ifdef DEBUG_ACC
194 : if (DEBUG_COND) {
195 : std::cout << " applying collision avoidance: spacingErr=" << spacingErr << " speedErr=" << vErr << std::endl;
196 : }
197 : #endif
198 : } else {
199 : // gap closing mode
200 15367635 : gclAccel = myGapClosingControlGainSpeed * deltaVel + myGapClosingControlGainSpace * spacingErr;
201 : #ifdef DEBUG_ACC
202 : if (DEBUG_COND) {
203 : std::cout << " applying gap closing: spacingErr=" << spacingErr << " speedErr=" << vErr << std::endl;
204 : }
205 : #endif
206 : }
207 18957267 : return gclAccel;
208 : }
209 :
210 :
211 : double
212 32999221 : MSCFModel_ACC::_v(const MSVehicle* const veh, const double gap2pred, const double speed,
213 : const double predSpeed, const double desSpeed, const bool /* respectMinGap */) const {
214 :
215 : double accelACC = 0;
216 : double gapLimit_SC = GAP_THRESHOLD_SPEEDCTRL; // lower gap limit in meters to enable speed control law
217 : double gapLimit_GC = GAP_THRESHOLD_GAPCTRL; // upper gap limit in meters to enable gap control law
218 :
219 : #ifdef DEBUG_ACC
220 : if (DEBUG_COND) {
221 : std::cout << SIMTIME << " MSCFModel_ACC::_v() for veh '" << veh->getID() << "'\n"
222 : << " gap=" << gap2pred << " speed=" << speed << " predSpeed=" << predSpeed
223 : << " desSpeed=" << desSpeed << " tau=" << myHeadwayTime << std::endl;
224 : }
225 : #endif
226 :
227 :
228 : /* Velocity error */
229 32999221 : double vErr = speed - desSpeed;
230 : int setControlMode = 0;
231 : ACCVehicleVariables* vars = (ACCVehicleVariables*) veh->getCarFollowVariables();
232 32999221 : if (vars->lastUpdateTime != MSNet::getInstance()->getCurrentTimeStep()) {
233 4233093 : vars->lastUpdateTime = MSNet::getInstance()->getCurrentTimeStep();
234 : setControlMode = 1;
235 : }
236 32999221 : if (gap2pred > gapLimit_SC) {
237 :
238 : #ifdef DEBUG_ACC
239 : if (DEBUG_COND) {
240 : std::cout << " applying speedControl" << std::endl;
241 : }
242 : #endif
243 : // Find acceleration - Speed control law
244 14041588 : accelACC = accelSpeedControl(vErr);
245 : // Set cl to vehicle parameters
246 14041588 : if (setControlMode) {
247 19946 : vars->ACC_ControlMode = 0;
248 : }
249 18957633 : } else if (gap2pred < gapLimit_GC) {
250 : // Find acceleration - Gap control law
251 17963890 : accelACC = accelGapControl(veh, gap2pred, speed, predSpeed, vErr);
252 : // Set cl to vehicle parameters
253 17963890 : if (setControlMode) {
254 4212527 : vars->ACC_ControlMode = 1;
255 : }
256 : } else {
257 : // Follow previous applied law
258 993743 : int cm = vars->ACC_ControlMode;
259 993743 : if (!cm) {
260 :
261 : #ifdef DEBUG_ACC
262 : if (DEBUG_COND) {
263 : std::cout << " applying speedControl" << std::endl;
264 : }
265 : #endif
266 366 : accelACC = accelSpeedControl(vErr);
267 : } else {
268 993377 : accelACC = accelGapControl(veh, gap2pred, speed, predSpeed, vErr);
269 : }
270 :
271 : }
272 :
273 32999221 : double newSpeed = speed + ACCEL2SPEED(accelACC);
274 :
275 : #ifdef DEBUG_ACC
276 : if (DEBUG_COND) {
277 : std::cout << " result: accel=" << accelACC << " newSpeed=" << newSpeed << std::endl;
278 : }
279 : #endif
280 :
281 32999221 : return MAX2(0., newSpeed);
282 : }
283 :
284 :
285 : MSCFModel*
286 0 : MSCFModel_ACC::duplicate(const MSVehicleType* vtype) const {
287 0 : return new MSCFModel_ACC(vtype);
288 : }
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