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_CACC.h
15 : /// @author Kallirroi Porfyri
16 : /// @date Nov 2018
17 : ///
18 : // CACC 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 : /****************************************************************************/
27 : #pragma once
28 : #include <config.h>
29 :
30 : #include "MSCFModel.h"
31 : #include "MSCFModel_ACC.h"
32 : #include <utils/xml/SUMOXMLDefinitions.h>
33 :
34 : // ===========================================================================
35 : // class declarations
36 : // ===========================================================================
37 : class MSVehicle;
38 : class MSVehicleType;
39 :
40 : // ===========================================================================
41 : // class definitions
42 : // ===========================================================================
43 : /** @class MSCFModel_CACC
44 : * @brief The CACC car-following model
45 : * @see MSCFModel
46 : */
47 : class MSCFModel_CACC : public MSCFModel {
48 : public:
49 : /** @brief Constructor
50 : * @param[in] vtype the type for which this model is built and also the parameter object to configure this model
51 : */
52 :
53 : MSCFModel_CACC(const MSVehicleType* vtype);
54 :
55 : /// @brief Destructor
56 : ~MSCFModel_CACC();
57 :
58 :
59 : /// @name Implementations of the MSCFModel interface
60 : /// @{
61 :
62 : /** @brief Computes the vehicle's safe speed without a leader
63 : *
64 : * Returns the velocity of the vehicle in dependence to the length of the free street and the target
65 : * velocity at the end of the free range. If onInsertion is true, the vehicle may still brake
66 : * before the next movement.
67 : * XXX: Currently only needed to (re-)set "caccVehicleMode" parameter to default value.
68 : *
69 : * @param[in] veh The vehicle (EGO)
70 : * @param[in] speed The vehicle's speed
71 : * @param[in] seen The look ahead distance
72 : * @param[in] maxSpeed The maximum allowed speed
73 : * @param[in] onInsertion whether speed at insertion is asked for
74 : * @return EGO's safe speed
75 : */
76 : double freeSpeed(const MSVehicle* const veh, double speed, double seen,
77 : double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
78 :
79 : /** @brief Computes the vehicle's safe speed (no dawdling)
80 : * @param[in] veh The vehicle (EGO)
81 : * @param[in] speed The vehicle's speed
82 : * @param[in] gap2pred The (netto) distance to the LEADER
83 : * @param[in] predSpeed The speed of LEADER
84 : * @return EGO's safe speed
85 : * @see MSCFModel::ffeV
86 : */
87 : double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
88 : double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
89 :
90 :
91 : /** @brief Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
92 : * @param[in] veh The vehicle (EGO)
93 : * @param[in] gap2pred The (netto) distance to the the obstacle
94 : * @return EGO's safe speed for approaching a non-moving obstacle
95 : * @see MSCFModel::ffeS
96 : * @todo generic Interface, models can call for the values they need
97 : */
98 : double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
99 :
100 :
101 : /** @brief Returns the a gap such that the gap mode acceleration of the follower is zero
102 : * @param[in] veh The vehicle itself, for obtaining other values
103 : * @param[in] pred The leader vehicle, for obtaining other values
104 : * @param[in] speed EGO's speed
105 : * @param[in] leaderSpeed LEADER's speed
106 : * @param[in] leaderMaxDecel LEADER's max. deceleration rate
107 : */
108 : double getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
109 :
110 : /** @brief Computes the vehicle's acceptable speed at insertion
111 : * @param[in] veh The vehicle (EGO)
112 : * @param[in] speed The vehicle's speed
113 : * @param[in] gap2pred The (netto) distance to the LEADER
114 : * @param[in] predSpeed The speed of LEADER
115 : * @return EGO's safe speed
116 : */
117 : double insertionFollowSpeed(const MSVehicle* const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
118 :
119 :
120 : /** @brief Returns the maximum gap at which an interaction between both vehicles occurs
121 : *
122 : * "interaction" means that the LEADER influences EGO's speed.
123 : * @param[in] veh The EGO vehicle
124 : * @param[in] vL LEADER's speed
125 : * @return The interaction gap
126 : * @todo evaluate signature
127 : * @see MSCFModel::interactionGap
128 : */
129 : double interactionGap(const MSVehicle* const, double vL) const;
130 :
131 : /** @brief Sets a new value for desired headway [s]
132 : * @param[in] headwayTime The new desired headway (in s)
133 : */
134 1170 : void setHeadwayTime(double headwayTime) {
135 1170 : myHeadwayTime = headwayTime;
136 1170 : myHeadwayTimeACC = headwayTime;
137 : acc_CFM.setHeadwayTime(headwayTime);
138 1170 : }
139 :
140 : /**
141 : * @brief try to get the given parameter for this carFollowingModel
142 : *
143 : * @param[in] veh the vehicle from which the parameter must be retrieved
144 : * @param[in] key the key of the parameter
145 : * @return the value of the requested parameter
146 : */
147 : virtual std::string getParameter(const MSVehicle* veh, const std::string& key) const;
148 :
149 :
150 : /**
151 : * @brief try to set the given parameter for this carFollowingModel
152 : *
153 : * @param[in] veh the vehicle for which the parameter must be set
154 : * @param[in] key the key of the parameter
155 : * @param[in] value the value to be set for the given parameter
156 : */
157 : virtual void setParameter(MSVehicle* veh, const std::string& key, const std::string& value) const;
158 :
159 :
160 : /** @brief Returns the model's name
161 : * @return The model's name
162 : * @see MSCFModel::getModelName
163 : */
164 49903765 : int getModelID() const {
165 49903765 : return SUMO_TAG_CF_CACC;
166 : }
167 :
168 : /** @brief Returns the maximum velocity the CF-model wants to achieve in the next step
169 : * @param[in] maxSpeed The maximum achievable speed in the next step
170 : * @param[in] maxSpeedLane The maximum speed the vehicle wants to drive on this lane (Speedlimit*SpeedFactor)
171 : */
172 3897657 : double maximumLaneSpeedCF(const MSVehicle* const veh, double maxSpeed, double maxSpeedLane) const {
173 3897657 : double result = MIN2(maxSpeed, maxSpeedLane);
174 3897657 : if (myApplyDriverstate) {
175 22492 : applyOwnSpeedPerceptionError(veh, result);
176 : }
177 3897657 : return result;
178 : }
179 : /// @}
180 :
181 :
182 :
183 : /** @brief Duplicates the car-following model
184 : * @param[in] vtype The vehicle type this model belongs to (1:1)
185 : * @return A duplicate of this car-following model
186 : */
187 : MSCFModel* duplicate(const MSVehicleType* vtype) const;
188 :
189 7127 : virtual MSCFModel::VehicleVariables* createVehicleVariables() const {
190 7127 : CACCVehicleVariables* ret = new CACCVehicleVariables();
191 7127 : ret->ACC_ControlMode = 0;
192 : ret->CACC_ControlMode = 0;
193 : ret->CACC_CommunicationsOverrideMode = CACC_NO_OVERRIDE;
194 7127 : ret->lastUpdateTime = 0;
195 7127 : return ret;
196 : }
197 :
198 :
199 : private:
200 : enum CommunicationsOverrideMode {
201 : CACC_NO_OVERRIDE = 0,
202 : CACC_MODE_NO_LEADER = 1,
203 : CACC_MODE_LEADER_NO_CAV = 2,
204 : CACC_MODE_LEADER_CAV = 3
205 : };
206 :
207 : static std::map<std::string, CommunicationsOverrideMode> CommunicationsOverrideModeMap;
208 :
209 : /// @brief Vehicle mode (default is CACC)
210 : /// Switch to ACC mode if CACC_ControlMode = 1 (gap control mode) _and_ leader's CFModel != CACC
211 : enum VehicleMode {
212 : CC_MODE = 0,
213 : ACC_MODE,
214 : CACC_GAP_MODE,
215 : CACC_GAP_CLOSING_MODE,
216 : CACC_COLLISION_AVOIDANCE_MODE
217 : };
218 :
219 : /// @brief Vehicle mode name map
220 : static std::map<VehicleMode, std::string> VehicleModeNames;
221 :
222 : class CACCVehicleVariables : public MSCFModel_ACC::ACCVehicleVariables {
223 : public:
224 7127 : CACCVehicleVariables() : CACC_ControlMode(0), CACC_CommunicationsOverrideMode(CACC_NO_OVERRIDE) {}
225 : /// @brief The vehicle's CACC precious time step gap error
226 : int CACC_ControlMode;
227 : CommunicationsOverrideMode CACC_CommunicationsOverrideMode;
228 : };
229 :
230 : private:
231 : double _v(const MSVehicle* const veh, const MSVehicle* const pred, const double gap2pred, const double mySpeed,
232 : const double predSpeed, const double desSpeed, const bool respectMinGap, const CalcReason usage = CalcReason::CURRENT) const;
233 :
234 : double speedSpeedControl(const double speed, double vErr, VehicleMode& vehMode) const;
235 : double speedGapControl(const MSVehicle* const veh, const double gap2pred,
236 : const double speed, const double predSpeed, const double desSpeed, double vErr,
237 : const MSVehicle* const pred, VehicleMode& vehMode) const;
238 :
239 : private:
240 : MSCFModel_ACC acc_CFM;
241 : double mySpeedControlGain;
242 : double myGapClosingControlGainGap;
243 : double myGapClosingControlGainGapDot;
244 : double myGapControlGainGap;
245 : double myGapControlGainGapDot;
246 : double myCollisionAvoidanceGainGap;
247 : double myCollisionAvoidanceGainGapDot;
248 : double myHeadwayTimeACC;
249 : double myApplyDriverstate;
250 : double myEmergencyThreshold;
251 : double mySpeedControlMinGap;
252 :
253 : private:
254 : /// @brief Invalidated assignment operator
255 : MSCFModel_CACC& operator=(const MSCFModel_CACC& s);
256 : };
|
