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_KraussOrig1.cpp
      15             : /// @author  Tobias Mayer
      16             : /// @author  Daniel Krajzewicz
      17             : /// @author  Jakob Erdmann
      18             : /// @author  Michael Behrisch
      19             : /// @author  Laura Bieker
      20             : /// @date    Mon, 04 Aug 2009
      21             : ///
      22             : // The original Krauss (1998) car-following model and parameter
      23             : /****************************************************************************/
      24             : #include <config.h>
      25             : 
      26             : #include <microsim/MSVehicle.h>
      27             : #include <microsim/MSLane.h>
      28             : #include "MSCFModel_KraussOrig1.h"
      29             : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
      30             : #include <utils/common/RandHelper.h>
      31             : #include <microsim/MSGlobals.h>
      32             : 
      33             : // ===========================================================================
      34             : // DEBUG constants
      35             : // ===========================================================================
      36             : //#define DEBUG_COND (veh->getID()=="disabled")
      37             : 
      38             : // ===========================================================================
      39             : // method definitions
      40             : // ===========================================================================
      41      262359 : MSCFModel_KraussOrig1::MSCFModel_KraussOrig1(const MSVehicleType* vtype) :
      42             :     MSCFModel(vtype),
      43      262359 :     myDawdle(vtype->getParameter().getCFParam(SUMO_ATTR_SIGMA, SUMOVTypeParameter::getDefaultImperfection(vtype->getParameter().vehicleClass))),
      44      262359 :     myTauDecel(myDecel * myHeadwayTime) {
      45      262359 : }
      46             : 
      47             : 
      48      259483 : MSCFModel_KraussOrig1::~MSCFModel_KraussOrig1() {}
      49             : 
      50             : double
      51     5850263 : MSCFModel_KraussOrig1::patchSpeedBeforeLC(const MSVehicle* veh, double vMin, double vMax) const {
      52             :     UNUSED_PARAMETER(veh);
      53     5850263 :     const double vDawdle = MAX2(vMin, dawdle(vMax, veh->getRNG()));
      54     5850263 :     return vDawdle;
      55             : }
      56             : 
      57             : 
      58             : double
      59    34248669 : MSCFModel_KraussOrig1::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double predMaxDecel, const MSVehicle* const /*pred*/, const CalcReason /*usage*/) const {
      60    34248669 :     if (MSGlobals::gSemiImplicitEulerUpdate) {
      61    33460434 :         return MIN2(vsafe(gap, predSpeed, predMaxDecel), maxNextSpeed(speed, veh)); // XXX: and why not cap with minNextSpeed!? (Leo)
      62             :     } else {
      63      788235 :         return MAX2(MIN2(maximumSafeFollowSpeed(gap, speed, predSpeed, predMaxDecel), maxNextSpeed(speed, veh)), minNextSpeed(speed));
      64             :     }
      65             : }
      66             : 
      67             : 
      68             : double
      69    14979285 : MSCFModel_KraussOrig1::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason /*usage*/) const {
      70    14979285 :     if (MSGlobals::gSemiImplicitEulerUpdate) {
      71    14215972 :         return MIN2(vsafe(gap, 0., 0.), maxNextSpeed(speed, veh));
      72             :     } else {
      73             :         // XXX: using this here is probably in the spirit of Krauss, but we should consider,
      74             :         // if the original vsafe should be kept instead (Leo), refs. #2575
      75      763313 :         return MIN2(maximumSafeStopSpeedBallistic(gap, decel, speed), maxNextSpeed(speed, veh));
      76             :     }
      77             : }
      78             : 
      79             : 
      80             : double
      81     5850263 : MSCFModel_KraussOrig1::dawdle(double speed, SumoRNG* rng) const {
      82     5850263 :     if (!MSGlobals::gSemiImplicitEulerUpdate) {
      83             :         // in case of the ballistic update, negative speeds indicate
      84             :         // a desired stop before the completion of the next timestep.
      85             :         // We do not allow dawdling to overwrite this indication
      86      389449 :         if (speed < 0) {
      87             :             return speed;
      88             :         }
      89             :     }
      90     5841158 :     return MAX2(0., speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand(rng)));
      91             : }
      92             : 
      93             : 
      94             : /** Returns the SK-vsafe. */
      95    47676406 : double MSCFModel_KraussOrig1::vsafe(double gap, double predSpeed, double /* predMaxDecel */) const {
      96    47676406 :     if (predSpeed == 0 && gap < 0.01) {
      97             :         return 0;
      98    47506926 :     } else if (predSpeed == 0 &&  gap <= ACCEL2SPEED(myDecel)) {
      99             :         // workaround for #2310
     100     1550289 :         return MIN2(ACCEL2SPEED(myDecel), DIST2SPEED(gap));
     101             :     }
     102             :     double vsafe = (double)(-1. * myTauDecel
     103    45956637 :                             + sqrt(
     104    45956637 :                                 myTauDecel * myTauDecel
     105    45956637 :                                 + (predSpeed * predSpeed)
     106    45956637 :                                 + (2. * myDecel * gap)
     107    45956637 :                             ));
     108             :     assert(vsafe >= 0);
     109    45956637 :     return vsafe;
     110             : }
     111             : 
     112             : 
     113             : MSCFModel*
     114           0 : MSCFModel_KraussOrig1::duplicate(const MSVehicleType* vtype) const {
     115           0 :     return new MSCFModel_KraussOrig1(vtype);
     116             : }
     117             : 
     118             : 
     119             : /****************************************************************************/