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_EIDM.h
15 : /// @author Dominik Salles
16 : /// @date Fri, 06 Jul 2018
17 :
18 : /// Originalfile MSCFModel_IDM.cpp from
19 : /// @author Tobias Mayer
20 : /// @author Daniel Krajzewicz
21 : /// @author Michael Behrisch
22 : /// @date Thu, 03 Sep 2009
23 : ///
24 : // The Extended Intelligent Driver Model (EIDM) car-following model
25 : //
26 : // Publication: Salles, Dominik, S. Kaufmann and H. Reuss. “Extending the Intelligent Driver
27 : // Model in SUMO and Verifying the Drive Off Trajectories with Aerial
28 : // Measurements.” (2020).
29 : /****************************************************************************/
30 : #ifndef MSCFMODEL_EIDM_H
31 : #define MSCFMODEL_EIDM_H
32 :
33 : // ===========================================================================
34 : // included modules
35 : // ===========================================================================
36 : #include <config.h>
37 :
38 : #include "MSCFModel.h"
39 : #include <microsim/MSLane.h>
40 : #include <microsim/MSVehicle.h>
41 : #include <microsim/MSVehicleType.h>
42 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
43 : #include <utils/xml/SUMOXMLDefinitions.h>
44 :
45 :
46 : // ===========================================================================
47 : // class definitions
48 : // ===========================================================================
49 : /** @class MSCFModel_EIDM
50 : * @brief The Extended Intelligent Driver Model (EIDM) car-following model
51 : * @see MSCFModel
52 : */
53 : class MSCFModel_EIDM : public MSCFModel {
54 : public:
55 : /** @brief Constructor
56 : * @param[in] vtype the type for which this model is built and also the parameter object to configure this model
57 : */
58 : MSCFModel_EIDM(const MSVehicleType* vtype);
59 :
60 : /// @brief Destructor
61 : ~MSCFModel_EIDM();
62 :
63 : /// @name Implementations of the MSCFModel interface
64 : /// @{
65 :
66 : /** @brief Computes the vehicle's safe speed (no dawdling)
67 : * This method is used during the insertion stage. Whereas the method
68 : * followSpeed returns the desired speed which may be lower than the safe
69 : * speed, this method only considers safety constraints
70 : *
71 : * Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.
72 : * @param[in] veh The vehicle (EGO)
73 : * @param[in] speed The vehicle's speed
74 : * @param[in] gap2pred The (net) distance to the LEADER
75 : * @param[in] predSpeed The speed of LEADER
76 : * @return EGO's safe speed
77 : */
78 : double insertionFollowSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
79 :
80 :
81 : /** @brief Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints
82 : * due to acceleration capabilities and previous speeds.
83 : * @param[in] veh The vehicle (EGO)
84 : * @param[in] speed The vehicle's speed
85 : * @param[in] gap The (net) distance to the obstacle
86 : * @return EGO's safe speed for approaching a non-moving obstacle at insertion
87 : * @see stopSpeed() and insertionFollowSpeed()
88 : *
89 : */
90 : double insertionStopSpeed(const MSVehicle* const veh, double speed, double gap) const;
91 :
92 :
93 : /** @brief Returns the maximum safe velocity for following the given leader
94 : * @param[in] gap2pred The (net) distance to the LEADER
95 : * @param[in] egoSpeed The FOLLOWERS's speed
96 : * @param[in] predSpeed The LEADER's speed
97 : * @param[in] predMaxDecel The LEADER's maximum deceleration
98 : * @param[in] onInsertion Indicator whether the call is triggered during vehicle insertion
99 : * @return the safe velocity
100 : */
101 : double maximumSafeFollowSpeed(double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
102 :
103 :
104 : /** @brief Returns the maximum next velocity for stopping within gap
105 : * @param[in] gap The (net) distance to the desired stopping point
106 : * @param[in] currentSpeed The current speed of the ego vehicle
107 : * @param[in] onInsertion Indicator whether the call is triggered during vehicle insertion
108 : * @param[in] headway The desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
109 : */
110 : double maximumSafeStopSpeed(double gap, double decel, double currentSpeed, bool onInsertion = false, double headway = -1) const;
111 :
112 :
113 : /** @brief Applies interaction with stops and lane changing model influences
114 : * @param[in] veh The ego vehicle
115 : * @param[in] vPos The possible velocity
116 : * @return The velocity after applying interactions with stops and lane change model influences
117 : */
118 : double finalizeSpeed(MSVehicle* const veh, double vPos) const;
119 :
120 :
121 : /** @brief Computes the vehicle's safe speed
122 : * @param[in] veh The vehicle (EGO)
123 : * @param[in] speed The vehicle's speed
124 : * @param[in] gap2pred The (net) distance to the LEADER
125 : * @param[in] predSpeed The speed of LEADER
126 : * @return EGO's safe speed
127 : * @see MSCFModel::ffeV
128 : */
129 : double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
130 : double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
131 :
132 :
133 : /** @brief Computes the vehicle's safe speed for approaching a non-moving obstacle
134 : * @param[in] veh The vehicle (EGO)
135 : * @param[in] gap2pred The (net) distance to the obstacle
136 : * @return EGO's safe speed for approaching a non-moving obstacle
137 : * @see MSCFModel::ffeS
138 : * @todo generic Interface, models can call for the values they need
139 : */
140 : double stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason usage = CalcReason::CURRENT) const;
141 :
142 :
143 : /** @brief Computes the vehicle's safe speed without a leader
144 : *
145 : * Returns the velocity of the vehicle in dependence to the length of the free street and the target
146 : * velocity at the end of the free range. If onInsertion is true, the vehicle may still brake
147 : * before the next movement.
148 : * @param[in] veh The vehicle (EGO)
149 : * @param[in] speed The vehicle's speed
150 : * @param[in] seen The look ahead distance
151 : * @param[in] maxSpeed The maximum allowed speed
152 : * @param[in] onInsertion whether speed at insertion is asked for
153 : * @return EGO's safe speed
154 : */
155 : double freeSpeed(const MSVehicle* const veh, double speed, double seen,
156 : double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
157 :
158 : static double freeSpeed(const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion);
159 :
160 : /** @brief Returns the maximum gap at which an interaction between both vehicles occurs
161 : *
162 : * "interaction" means that the LEADER influences EGO's speed.
163 : * @param[in] veh The EGO vehicle
164 : * @param[in] vL LEADER's speed
165 : * @return The interaction gap
166 : * @todo evaluate signature
167 : * @see MSCFModel::interactionGap
168 : */
169 : double interactionGap(const MSVehicle* const, double vL) const;
170 :
171 : /** @brief Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
172 : * @param[in] speed EGO's speed
173 : * @param[in] leaderSpeed LEADER's speed
174 : * @param[in] leaderMaxDecel LEADER's max. deceleration rate
175 : */
176 : double getSecureGap(const MSVehicle* const veh, const MSVehicle* const /*pred*/, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
177 :
178 : /** @brief Returns the distance the vehicle needs to halt including driver's reaction time tau (i.e. desired headway),
179 : * assuming that during the reaction time, the speed remains constant
180 : * @param[in] speed The vehicle's current speed
181 : * @return The distance needed to halt
182 : */
183 48879820 : double brakeGap(const double speed, const double decel, const double headwayTime) const {
184 48879820 : if (MSGlobals::gComputeLC) {
185 244220 : return MSCFModel::brakeGap(speed, decel, headwayTime);
186 : } else {
187 : // myDecel + 1.0 does not work correctly with the junction model and impatience > 0.
188 : // Vehicles may first be disregarded because their own arrivalTimeBraking is high (TIME2STEPS(30)).
189 : // This is amplified by this brakeGap-Term, because they "think" they could still brake in time (low brakeGap),
190 : // but actually 1.0 was only added for braking at traffic lights. But then when seen < brakeGap(v) happens (see MSVehicle: arrivalTimeBraking),
191 : // they realize, that they will soon arrive at the junction and other vehicles are notified to maybe then brake hard!
192 97271200 : return MSCFModel::brakeGap(speed, MAX2(decel, myDecel + 1.0), headwayTime);
193 : }
194 : }
195 :
196 : /** @brief Returns the maximum speed given the current speed and regarding driving dynamics
197 : * @param[in] speed The vehicle's current speed
198 : * @param[in] speed The vehicle itself, for obtaining other values
199 : * @return The maximum possible speed for the next step taking driving dynamics into account
200 : */
201 4166 : double maxNextSafeMin(double speed, const MSVehicle* const veh = 0) const {
202 : UNUSED_PARAMETER(speed);
203 : UNUSED_PARAMETER(veh);
204 4166 : return 0;
205 : }
206 :
207 : /** @brief Returns the maximum velocity the CF-model wants to achieve in the next step
208 : * @param[in] maxSpeed The maximum achievable speed in the next step
209 : * @param[in] maxSpeedLane The maximum speed the vehicle wants to drive on this lane (Speedlimit*SpeedFactor)
210 : */
211 5752359 : double maximumLaneSpeedCF(const MSVehicle* const /*veh*/, double maxSpeed, double /*maxSpeedLane*/) const {
212 5752359 : return maxSpeed;
213 : }
214 :
215 : /** @brief Returns the model's name
216 : * @return The model's name
217 : * @see MSCFModel::getModelName
218 : */
219 0 : int getModelID() const {
220 0 : return SUMO_TAG_CF_EIDM;
221 : }
222 :
223 : /** @brief Duplicates the car-following model
224 : * @param[in] vtype The vehicle type this model belongs to (1:1)
225 : * @return A duplicate of this car-following model
226 : */
227 : MSCFModel* duplicate(const MSVehicleType* vtype) const;
228 :
229 : // @brief Variables that are stored throughout a call to the car-following functions
230 6985 : VehicleVariables* createVehicleVariables() const {
231 6985 : VehicleVariables* ret = new VehicleVariables();
232 6985 : ret->minaccel = 100;
233 6985 : ret->wouldacc = 100;
234 : ret->lastacc = 0;
235 6985 : ret->realacc = 100;
236 : ret->lastrealacc = 0;
237 6985 : ret->realleaderacc = 100;
238 : ret->lastleaderacc = 0;
239 : ret->v0_int = 0;
240 : ret->v0_old = 0;
241 6985 : ret->t_off = -10.;
242 : ret->myw_gap = 0.;
243 : ret->myw_speed = 0.;
244 : ret->myw_error = 0.;
245 : ret->myv_est_l = 0.;
246 : ret->myv_est = 0.;
247 : ret->mys_est = 0.;
248 6985 : ret->myrespectMinGap = true;
249 : ret->myap_update = 0;
250 6985 : return ret;
251 : }
252 :
253 :
254 : private:
255 6985 : class VehicleVariables : public MSCFModel::VehicleVariables {
256 : public:
257 : double minaccel; // @brief saves the intended accel-value between multiple stopSpeed/followSpeed calls to then check which call actually updated the vehicles acceleration (accel-value is without coolness and drive-off)
258 : double wouldacc; // @brief saves the intended accel-value the CF-model would output, if there is no reaction time (accel-value is without coolness and drive-off)
259 : double lastacc; // @brief saves the intended accel-value when the driver was last updated (reaction time) (accel-value is without coolness and drive-off)
260 : double realacc; // @brief saves the resulting accel-value between multiple stopSpeed/followSpeed calls that the CF-model will eventually output
261 : double lastrealacc; // @brief saves the resulting accel-value the CF-model eventually outputted when the driver was last updated (reaction time)
262 : double realleaderacc; // @brief saves the leader accel-value from the call that resulted in the new speed
263 : double lastleaderacc; // @brief saves the leader accel-value from the call that resulted in the new speed when the driver was last updated (reaction time)
264 : double v0_int; // @brief is the internal desired speed of the vehicle
265 : double v0_old; // @brief is the previous desired speed of the vehicle needed for calculation purpose
266 : double t_off; // @brief is the time when the vehicle starts driving off
267 : double myw_gap; // @brief is the Wiener Process for the gap error calculation
268 : double myw_speed; // @brief is the Wiener Process for the speed error calculation
269 : double myw_error; // @brief is the Wiener Process for the driving error calculation
270 : double myv_est_l; // @brief saves the speed of the leading vehicle / 0 for a stop at the last driver update (reaction time)
271 : double myv_est; // @brief saves the speed of the vehicle at the last driver update (reaction time)
272 : double mys_est; // @brief saves the gap to leading vehicle / next stop at the last driver update (reaction time)
273 : bool myrespectMinGap; // @brief saves the information, if minGap was added to the desired gap s* at the last driver update (reaction time)
274 : int myap_update; // @brief is a number counting the simulation steps since the last driver/vehicle update (reaction time)
275 : std::vector<std::pair<double, double>> stop; // @brief saves the intended accelerations and distances from all stopSpeed-calculations of the current time step
276 : };
277 :
278 : private:
279 :
280 : /** @brief Applies dawdling / driving error
281 : * @param[in] veh The ego vehicle
282 : * @param[in] vMin The minimum possible speed in the next time step
283 : * @param[in] vMax The wanted speed in the next time step
284 : * @return The corrected speed with dawdling / driving error
285 : */
286 : double patchSpeedBeforeLCEIDM(const MSVehicle* veh, double vMin, double vMax, const VehicleVariables* vars) const;
287 :
288 : // @brief calculates the slow to start term when driving off
289 : double slowToStartTerm(MSVehicle* const veh, const double newSpeed, const double currentSpeed, const double vMax, VehicleVariables* vars) const;
290 :
291 : // @brief contains the main CF-model calculations
292 : double _v(const MSVehicle* const veh, const double gap2pred, const double mySpeed,
293 : const double predSpeed, const double desSpeed, const bool respectMinGap, const int update, const CalcReason usage) const;
294 :
295 : // @brief calculates the internal desired speed for the vehicle depending on myTpreview and upcoming turns, intersections and speed limit changes
296 : void internalspeedlimit(MSVehicle* const veh, const double oldV) const;
297 :
298 : // @brief calculates the SecureGap similar to the MSCFModel-SecureGap-function, yet adding a targetDecel to decelerate with
299 : double internalsecuregap(const MSVehicle* const veh, const double speed, const double leaderSpeed, const double targetDecel) const;
300 :
301 : private:
302 : // @brief The IDM delta exponent
303 : const double myDelta;
304 :
305 : // @brief A computational shortcut
306 : const double myTwoSqrtAccelDecel;
307 :
308 : // @brief The number of iterations in speed calculations
309 : const int myIterations;
310 :
311 : // @brief Correlation time of the Wiener Process for the driving error
312 : const double myTPersDrive;
313 :
314 : // @brief The maximal reaction time
315 : const double myTreaction;
316 :
317 : // @brief The preview distance time for the desired speed
318 : const double myTpreview;
319 :
320 : // @brief Correlation time of the Wiener Process for the estimation errors
321 : const double myTPersEstimate;
322 :
323 : // @brief Coolness Parameter of the Enhanced Intelligent Driver Model
324 : const double myCcoolness;
325 :
326 : // @brief Estimation error magnitude of the leading vehicle's speed
327 : const double mySigmaleader;
328 :
329 : // @brief Estimation error magnitude of the distance to the leading vehicle / next stop
330 : const double mySigmagap;
331 :
332 : // @brief Driving error magnitude
333 : const double mySigmaerror;
334 :
335 : // @brief Maximal jerk value
336 : const double myJerkmax;
337 :
338 : // @brief Maximal negative acceleration value before reacting instantaneously to the change in intended acceleration
339 : const double myEpsilonacc;
340 :
341 : // @brief Time until the maximal acceleration when driving off
342 : const double myTaccmax;
343 :
344 : // @brief Flatness of the drive off acceleration term
345 : const double myMflatness;
346 :
347 : // @brief Shift of the drive off acceleration term
348 : const double myMbegin;
349 :
350 : // @brief 1=simulate with the acceleration depending on the vehicle dynamics, 0=don't
351 : const bool myUseVehDynamics;
352 :
353 : // @brief number of vehicles in front, that are used to update the acceleration
354 : //const int myMaxVehPreview;
355 :
356 : private:
357 : /// @brief Invalidated assignment operator
358 : MSCFModel_EIDM& operator=(const MSCFModel_EIDM& s);
359 : };
360 :
361 : #endif /* MSCFMODEL_EIDM_H */
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