Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2012-2024 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_Rail.cpp
15 : /// @author Gregor Laemmel
16 : /// @author Leander Flamm
17 : /// @date Tue, 08 Feb 2017
18 : ///
19 : // <description missing>
20 : /****************************************************************************/
21 : #include <config.h>
22 :
23 : #include <iostream>
24 : #include <utils/common/MsgHandler.h>
25 : #include <utils/common/StringUtils.h>
26 : #include <utils/common/StringTokenizer.h>
27 : #include <utils/geom/GeomHelper.h>
28 : #include <microsim/MSVehicle.h>
29 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
30 : #include "MSCFModel_Rail.h"
31 :
32 : // ===========================================================================
33 : // trainParams method definitions
34 : // ===========================================================================
35 :
36 : double
37 2313348 : MSCFModel_Rail::TrainParams::getResistance(double speed) const {
38 2313348 : if (resCoef_constant != INVALID_DOUBLE) {
39 20704 : return (resCoef_quadratic * speed * speed + resCoef_linear * speed + resCoef_constant); // kN
40 : } else {
41 2292644 : return LinearApproxHelpers::getInterpolatedValue(resistance, speed); // kN
42 : }
43 : }
44 :
45 :
46 : double
47 1489710 : MSCFModel_Rail::TrainParams::getTraction(double speed) const {
48 1489710 : if (maxPower != INVALID_DOUBLE) {
49 6596 : return MIN2(maxPower / speed, maxTraction); // kN
50 : } else {
51 1483114 : return LinearApproxHelpers::getInterpolatedValue(traction, speed); // kN
52 : }
53 : }
54 :
55 : // ===========================================================================
56 : // method definitions
57 : // ===========================================================================
58 :
59 :
60 338 : MSCFModel_Rail::MSCFModel_Rail(const MSVehicleType* vtype) :
61 338 : MSCFModel(vtype) {
62 338 : const std::string trainType = vtype->getParameter().getCFParamString(SUMO_ATTR_TRAIN_TYPE, "NGT400");
63 338 : if (trainType.compare("RB425") == 0) {
64 38 : myTrainParams = initRB425Params();
65 300 : } else if (trainType.compare("RB628") == 0) {
66 19 : myTrainParams = initRB628Params();
67 281 : } else if (trainType.compare("NGT400") == 0) {
68 116 : myTrainParams = initNGT400Params();
69 165 : } else if (trainType.compare("NGT400_16") == 0) {
70 4 : myTrainParams = initNGT400_16Params();
71 161 : } else if (trainType.compare("ICE1") == 0) {
72 9 : myTrainParams = initICE1Params();
73 152 : } else if (trainType.compare("REDosto7") == 0) {
74 89 : myTrainParams = initREDosto7Params();
75 63 : } else if (trainType.compare("Freight") == 0) {
76 38 : myTrainParams = initFreightParams();
77 25 : } else if (trainType.compare("ICE3") == 0) {
78 5 : myTrainParams = initICE3Params();
79 20 : } else if (trainType.compare("MireoPlusB") == 0) {
80 4 : myTrainParams = initMireoPlusB2TParams();
81 16 : } else if (trainType.compare("MireoPlusH") == 0) {
82 4 : myTrainParams = initMireoPlusH2TParams();
83 12 : } else if (trainType.compare("custom") == 0) {
84 12 : myTrainParams = initCustomParams();
85 : } else {
86 4 : WRITE_ERRORF(TL("Unknown train type: %. Exiting!"), trainType);
87 0 : throw ProcessError();
88 : }
89 : // override with user values
90 338 : if (vtype->wasSet(VTYPEPARS_MAXSPEED_SET)) {
91 28 : myTrainParams.vmax = vtype->getMaxSpeed();
92 : }
93 338 : if (vtype->wasSet(VTYPEPARS_LENGTH_SET)) {
94 47 : myTrainParams.length = vtype->getLength();
95 : }
96 338 : if (vtype->wasSet(VTYPEPARS_MASS_SET)) {
97 : // kg to tons
98 4 : myTrainParams.weight = vtype->getMass() / 1000;
99 : }
100 338 : myTrainParams.mf = vtype->getParameter().getCFParam(SUMO_ATTR_MASSFACTOR, myTrainParams.mf);
101 338 : myTrainParams.decl = vtype->getParameter().getCFParam(SUMO_ATTR_DECEL, myTrainParams.decl);
102 : setMaxDecel(myTrainParams.decl);
103 338 : setEmergencyDecel(vtype->getParameter().getCFParam(SUMO_ATTR_EMERGENCYDECEL, myTrainParams.decl + 0.3));
104 : // update type parameters so they are shown correctly in the gui (if defaults from trainType are used)
105 338 : const_cast<MSVehicleType*>(vtype)->setMaxSpeed(myTrainParams.vmax);
106 338 : const_cast<MSVehicleType*>(vtype)->setLength(myTrainParams.length);
107 :
108 : // init tabular curves
109 338 : std::vector<double> speedTable = getValueTable(vtype, SUMO_ATTR_SPEED_TABLE);
110 338 : std::vector<double> tractionTable = getValueTable(vtype, SUMO_ATTR_TRACTION_TABLE);
111 338 : std::vector<double> resistanceTable = getValueTable(vtype, SUMO_ATTR_RESISTANCE_TABLE);
112 338 : if (speedTable.size() > 0 || tractionTable.size() > 0 || resistanceTable.size() > 0) {
113 8 : if (speedTable.size() == 1) {
114 0 : throw ProcessError(TLF("Invalid size of speedTable for vType '%' (at least 2 values are required).", vtype->getID()));
115 8 : } else if (speedTable.size() != tractionTable.size()) {
116 0 : throw ProcessError(TLF("Mismatching size of speedTable and tractionTable for vType '%'.", vtype->getID()));
117 8 : } else if (speedTable.size() != resistanceTable.size()) {
118 0 : throw ProcessError(TLF("Mismatching size of speedTable and resistanceTable for vType '%'.", vtype->getID()));
119 : }
120 : myTrainParams.traction.clear();
121 : myTrainParams.resistance.clear();
122 112 : for (int i = 0; i < (int)speedTable.size(); i++) {
123 104 : myTrainParams.traction[speedTable[i]] = tractionTable[i];
124 104 : myTrainParams.resistance[speedTable[i]] = resistanceTable[i];
125 : }
126 : }
127 :
128 : // init parametric curves
129 338 : myTrainParams.maxPower = vtype->getParameter().getCFParam(SUMO_ATTR_MAXPOWER, INVALID_DOUBLE);
130 338 : myTrainParams.maxTraction = vtype->getParameter().getCFParam(SUMO_ATTR_MAXTRACTION, INVALID_DOUBLE);
131 338 : myTrainParams.resCoef_constant = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_CONSTANT, INVALID_DOUBLE);
132 338 : myTrainParams.resCoef_linear = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_LINEAR, INVALID_DOUBLE);
133 338 : myTrainParams.resCoef_quadratic = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_QUADRATIC, INVALID_DOUBLE);
134 :
135 338 : if (myTrainParams.maxPower != INVALID_DOUBLE && myTrainParams.maxTraction == INVALID_DOUBLE) {
136 0 : throw ProcessError(TLF("Undefined maxPower for vType '%'.", vtype->getID()));
137 338 : } else if (myTrainParams.maxPower == INVALID_DOUBLE && myTrainParams.maxTraction != INVALID_DOUBLE) {
138 0 : throw ProcessError(TLF("Undefined maxTraction for vType '%'.", vtype->getID()));
139 : }
140 338 : if (myTrainParams.maxPower != INVALID_DOUBLE && tractionTable.size() > 0) {
141 0 : WRITE_WARNING(TLF("Ignoring tractionTable because maxPower and maxTraction are set for vType '%'.", vtype->getID()));
142 : }
143 338 : const bool hasSomeResCoef = (myTrainParams.resCoef_constant != INVALID_DOUBLE
144 334 : || myTrainParams.resCoef_linear != INVALID_DOUBLE
145 672 : || myTrainParams.resCoef_quadratic != INVALID_DOUBLE);
146 : const bool hasAllResCoef = (myTrainParams.resCoef_constant != INVALID_DOUBLE
147 4 : && myTrainParams.resCoef_linear != INVALID_DOUBLE
148 342 : && myTrainParams.resCoef_quadratic != INVALID_DOUBLE);
149 338 : if (hasSomeResCoef && !hasAllResCoef) {
150 0 : throw ProcessError(TLF("Some undefined resistance coefficients for vType '%' (requires resCoef_constant, resCoef_linear and resCoef_quadratic)", vtype->getID()));
151 : }
152 338 : if (myTrainParams.resCoef_constant != INVALID_DOUBLE && resistanceTable.size() > 0) {
153 0 : WRITE_WARNING(TLF("Ignoring resistanceTable because resistance coefficients are set for vType '%'.", vtype->getID()));
154 : }
155 :
156 338 : if (myTrainParams.traction.empty() && myTrainParams.maxPower == INVALID_DOUBLE) {
157 12 : throw ProcessError(TLF("Either tractionTable or maxPower must be defined for vType '%' with Rail model type '%'.", vtype->getID(), trainType));
158 : }
159 334 : if (myTrainParams.resistance.empty() && myTrainParams.resCoef_constant == INVALID_DOUBLE) {
160 0 : throw ProcessError(TLF("Either resistanceTable or resCoef_constant must be defined for vType '%' with Rail model type '%'.", vtype->getID(), trainType));
161 : }
162 688 : }
163 :
164 :
165 666 : MSCFModel_Rail::~MSCFModel_Rail() { }
166 :
167 :
168 : std::vector<double>
169 1014 : MSCFModel_Rail::getValueTable(const MSVehicleType* vtype, SumoXMLAttr attr) {
170 : std::vector<double> result;
171 2028 : const std::string values = vtype->getParameter().getCFParamString(attr, "");
172 1014 : if (!values.empty()) {
173 360 : for (std::string value : StringTokenizer(values).getVector()) {
174 312 : result.push_back(StringUtils::toDouble(value));
175 24 : }
176 : }
177 1014 : return result;
178 0 : }
179 :
180 :
181 84126 : double MSCFModel_Rail::followSpeed(const MSVehicle* const veh, double speed, double gap,
182 : double /* predSpeed */, double /* predMaxDecel*/, const MSVehicle* const /*pred*/, const CalcReason /*usage*/) const {
183 :
184 : // followSpeed module is used for the simulation of moving block operations. The safety gap is chosen similar to the existing german
185 : // system CIR-ELKE (based on LZB). Other implementations of moving block systems may differ, but for now no appropriate parameter
186 : // can be set (would be per lane, not per train) -> hard-coded
187 :
188 : // @note: default train minGap of 5 is already subtracted from gap
189 84126 : if (speed >= 30 / 3.6) {
190 : // safety distance for higher speeds (>= 30 km/h)
191 52872 : gap = MAX2(0.0, gap + veh->getVehicleType().getMinGap() - 50);
192 : }
193 :
194 84126 : const double vsafe = maximumSafeStopSpeed(gap, myDecel, speed, false, TS, false); // absolute breaking distance
195 84126 : const double vmin = minNextSpeed(speed, veh);
196 84126 : const double vmax = maxNextSpeed(speed, veh);
197 :
198 84126 : if (MSGlobals::gSemiImplicitEulerUpdate) {
199 : return MIN2(vsafe, vmax);
200 : } else {
201 : // ballistic
202 : // XXX: the euler variant can break as strong as it wishes immediately! The ballistic cannot, refs. #2575.
203 : return MAX2(MIN2(vsafe, vmax), vmin);
204 : }
205 : }
206 :
207 :
208 : int
209 0 : MSCFModel_Rail::getModelID() const {
210 0 : return SUMO_TAG_CF_RAIL;
211 : }
212 :
213 :
214 : MSCFModel*
215 3 : MSCFModel_Rail::duplicate(const MSVehicleType* vtype) const {
216 3 : return new MSCFModel_Rail(vtype);
217 : }
218 :
219 :
220 1624357 : double MSCFModel_Rail::maxNextSpeed(double speed, const MSVehicle* const veh) const {
221 :
222 1624357 : if (speed >= myTrainParams.vmax) {
223 : return myTrainParams.vmax;
224 : }
225 :
226 : double targetSpeed = myTrainParams.vmax;
227 :
228 1489710 : double res = myTrainParams.getResistance(speed); // kN
229 :
230 1489710 : double slope = veh->getSlope();
231 1489710 : double gr = myTrainParams.weight * GRAVITY * sin(DEG2RAD(slope)); //kN
232 :
233 1489710 : double totalRes = res + gr; //kN
234 :
235 1489710 : double trac = myTrainParams.getTraction(speed); // kN
236 :
237 : double a;
238 1489710 : if (speed < targetSpeed) {
239 1489710 : a = (trac - totalRes) / myTrainParams.getRotWeight(); //kN/t == N/kg
240 : } else {
241 : a = 0.;
242 0 : if (totalRes > trac) {
243 0 : a = (trac - totalRes) / myTrainParams.getRotWeight(); //kN/t == N/kg
244 : }
245 : }
246 1489710 : double maxNextSpeed = speed + ACCEL2SPEED(a);
247 :
248 : // std::cout << veh->getID() << " speed: " << (speed*3.6) << std::endl;
249 :
250 1489710 : return maxNextSpeed;
251 : }
252 :
253 :
254 823638 : double MSCFModel_Rail::minNextSpeed(double speed, const MSVehicle* const veh) const {
255 :
256 823638 : const double slope = veh->getSlope();
257 823638 : const double gr = myTrainParams.weight * GRAVITY * sin(DEG2RAD(slope)); //kN
258 823638 : const double res = myTrainParams.getResistance(speed); // kN
259 823638 : const double totalRes = res + gr; //kN
260 823638 : const double a = myTrainParams.decl + totalRes / myTrainParams.getRotWeight();
261 823638 : const double vMin = speed - ACCEL2SPEED(a);
262 823638 : if (MSGlobals::gSemiImplicitEulerUpdate) {
263 : return MAX2(vMin, 0.);
264 : } else {
265 : // NOTE: ballistic update allows for negative speeds to indicate a stop within the next timestep
266 : return vMin;
267 : }
268 :
269 : }
270 :
271 :
272 : double
273 244880 : MSCFModel_Rail::minNextSpeedEmergency(double speed, const MSVehicle* const veh) const {
274 244880 : return minNextSpeed(speed, veh);
275 : }
276 :
277 :
278 : //void
279 : //MSCFModel_Rail::initVehicleVariables(const MSVehicle *const veh, MSCFModel_Rail::VehicleVariables *pVariables) const {
280 : //
281 : // pVariables->setInitialized();
282 : //
283 : //}
284 :
285 :
286 0 : double MSCFModel_Rail::getSpeedAfterMaxDecel(double /* speed */) const {
287 :
288 : // //TODO: slope not known here
289 : // double gr = 0; //trainParams.weight * GRAVITY * edge.grade
290 : //
291 : // double a = 0;//trainParams.decl - gr/trainParams.rotWeight;
292 : //
293 : // return speed + a * DELTA_T / 1000.;
294 0 : WRITE_ERROR("function call not allowed for rail model. Exiting!");
295 0 : throw ProcessError();
296 : }
297 :
298 :
299 378 : MSCFModel::VehicleVariables* MSCFModel_Rail::createVehicleVariables() const {
300 378 : VehicleVariables* ret = new VehicleVariables();
301 378 : return ret;
302 : }
303 :
304 :
305 244880 : double MSCFModel_Rail::finalizeSpeed(MSVehicle* const veh, double vPos) const {
306 244880 : return MSCFModel::finalizeSpeed(veh, vPos);
307 : }
308 :
309 :
310 927705 : double MSCFModel_Rail::freeSpeed(const MSVehicle* const /* veh */, double /* speed */, double dist, double targetSpeed,
311 : const bool onInsertion, const CalcReason /*usage*/) const {
312 :
313 : // MSCFModel_Rail::VehicleVariables *vars = (MSCFModel_Rail::VehicleVariables *) veh->getCarFollowVariables();
314 : // if (vars->isNotYetInitialized()) {
315 : // initVehicleVariables(veh, vars);
316 : // }
317 :
318 : //TODO: signals, coasting, ...
319 :
320 927705 : if (MSGlobals::gSemiImplicitEulerUpdate) {
321 : // adapt speed to succeeding lane, no reaction time is involved
322 : // when breaking for y steps the following distance g is covered
323 : // (drive with v in the final step)
324 : // g = (y^2 + y) * 0.5 * b + y * v
325 : // y = ((((sqrt((b + 2.0*v)*(b + 2.0*v) + 8.0*b*g)) - b)*0.5 - v)/b)
326 927704 : const double v = SPEED2DIST(targetSpeed);
327 927704 : if (dist < v) {
328 : return targetSpeed;
329 : }
330 834551 : const double b = ACCEL2DIST(myDecel);
331 834551 : const double y = MAX2(0.0, ((sqrt((b + 2.0 * v) * (b + 2.0 * v) + 8.0 * b * dist) - b) * 0.5 - v) / b);
332 834551 : const double yFull = floor(y);
333 834551 : const double exactGap = (yFull * yFull + yFull) * 0.5 * b + yFull * v + (y > yFull ? v : 0.0);
334 834551 : const double fullSpeedGain = (yFull + (onInsertion ? 1. : 0.)) * ACCEL2SPEED(myTrainParams.decl);
335 1113654 : return DIST2SPEED(MAX2(0.0, dist - exactGap) / (yFull + 1)) + fullSpeedGain + targetSpeed;
336 : } else {
337 1 : WRITE_ERROR(TL("Anything else than semi implicit euler update is not yet implemented. Exiting!"));
338 1 : throw ProcessError();
339 : }
340 : }
341 :
342 :
343 996357 : double MSCFModel_Rail::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason /*usage*/) const {
344 996357 : return MIN2(maximumSafeStopSpeed(gap, decel, speed, false, TS, false), maxNextSpeed(speed, veh));
345 : }
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