Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2012-2025 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 2365163 : MSCFModel_Rail::TrainParams::getResistance(double speed) const {
38 2365163 : if (resCoef_constant != INVALID_DOUBLE) {
39 20704 : return (resCoef_quadratic * speed * speed + resCoef_linear * speed + resCoef_constant); // kN
40 : } else {
41 2344459 : return LinearApproxHelpers::getInterpolatedValue(resistance, speed); // kN
42 : }
43 : }
44 :
45 :
46 : double
47 1518850 : MSCFModel_Rail::TrainParams::getTraction(double speed) const {
48 1518850 : if (maxPower != INVALID_DOUBLE) {
49 6596 : return MIN2(maxPower / speed, maxTraction); // kN
50 : } else {
51 1512254 : return LinearApproxHelpers::getInterpolatedValue(traction, speed); // kN
52 : }
53 : }
54 :
55 : // ===========================================================================
56 : // method definitions
57 : // ===========================================================================
58 :
59 :
60 358 : MSCFModel_Rail::MSCFModel_Rail(const MSVehicleType* vtype) :
61 358 : MSCFModel(vtype) {
62 358 : const std::string trainType = vtype->getParameter().getCFParamString(SUMO_ATTR_TRAIN_TYPE, "NGT400");
63 358 : if (trainType.compare("RB425") == 0) {
64 38 : myTrainParams = initRB425Params();
65 320 : } else if (trainType.compare("RB628") == 0) {
66 19 : myTrainParams = initRB628Params();
67 301 : } else if (trainType.compare("NGT400") == 0) {
68 116 : myTrainParams = initNGT400Params();
69 185 : } else if (trainType.compare("NGT400_16") == 0) {
70 4 : myTrainParams = initNGT400_16Params();
71 181 : } else if (trainType.compare("ICE1") == 0) {
72 9 : myTrainParams = initICE1Params();
73 172 : } else if (trainType.compare("REDosto7") == 0) {
74 89 : myTrainParams = initREDosto7Params();
75 83 : } else if (trainType.compare("Freight") == 0) {
76 58 : 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 0 : WRITE_ERRORF(TL("Unknown train type: %. Exiting!"), trainType);
87 0 : throw ProcessError();
88 : }
89 : // override with user values
90 358 : if (vtype->wasSet(VTYPEPARS_MAXSPEED_SET)) {
91 36 : myTrainParams.vmax = vtype->getMaxSpeed();
92 : }
93 358 : if (vtype->wasSet(VTYPEPARS_LENGTH_SET)) {
94 67 : myTrainParams.length = vtype->getLength();
95 : }
96 358 : myTrainParams.mf = vtype->getParameter().getCFParam(SUMO_ATTR_MASSFACTOR, myTrainParams.mf);
97 358 : myTrainParams.decl = vtype->getParameter().getCFParam(SUMO_ATTR_DECEL, myTrainParams.decl);
98 : setMaxDecel(myTrainParams.decl);
99 358 : setEmergencyDecel(vtype->getParameter().getCFParam(SUMO_ATTR_EMERGENCYDECEL, myTrainParams.decl + 0.3));
100 : // update type parameters so they are shown correctly in the gui (if defaults from trainType are used)
101 358 : const_cast<MSVehicleType*>(vtype)->setMaxSpeed(myTrainParams.vmax);
102 358 : const_cast<MSVehicleType*>(vtype)->setLength(myTrainParams.length);
103 358 : if (!vtype->wasSet(VTYPEPARS_MASS_SET)) {
104 : // tons to kg
105 331 : const_cast<MSVehicleType*>(vtype)->setMass(myTrainParams.weight * 1000);
106 : }
107 :
108 : // init tabular curves
109 358 : myTrainParams.traction = vtype->getParameter().getCFProfile(SUMO_ATTR_TRACTION_TABLE, myTrainParams.traction);
110 358 : myTrainParams.resistance = vtype->getParameter().getCFProfile(SUMO_ATTR_RESISTANCE_TABLE, myTrainParams.resistance);
111 :
112 : // init parametric curves
113 358 : myTrainParams.maxPower = vtype->getParameter().getCFParam(SUMO_ATTR_MAXPOWER, INVALID_DOUBLE);
114 358 : myTrainParams.maxTraction = vtype->getParameter().getCFParam(SUMO_ATTR_MAXTRACTION, INVALID_DOUBLE);
115 358 : myTrainParams.resCoef_constant = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_CONSTANT, INVALID_DOUBLE);
116 358 : myTrainParams.resCoef_linear = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_LINEAR, INVALID_DOUBLE);
117 358 : myTrainParams.resCoef_quadratic = vtype->getParameter().getCFParam(SUMO_ATTR_RESISTANCE_COEFFICIENT_QUADRATIC, INVALID_DOUBLE);
118 :
119 358 : if (myTrainParams.maxPower != INVALID_DOUBLE && myTrainParams.maxTraction == INVALID_DOUBLE) {
120 0 : throw ProcessError(TLF("Undefined maxPower for vType '%'.", vtype->getID()));
121 358 : } else if (myTrainParams.maxPower == INVALID_DOUBLE && myTrainParams.maxTraction != INVALID_DOUBLE) {
122 0 : throw ProcessError(TLF("Undefined maxTraction for vType '%'.", vtype->getID()));
123 : }
124 370 : if (myTrainParams.maxPower != INVALID_DOUBLE && vtype->getParameter().getCFParamString(SUMO_ATTR_TRACTION_TABLE, "") != "") {
125 0 : WRITE_WARNING(TLF("Ignoring tractionTable because maxPower and maxTraction are set for vType '%'.", vtype->getID()));
126 : }
127 358 : const bool hasSomeResCoef = (myTrainParams.resCoef_constant != INVALID_DOUBLE
128 354 : || myTrainParams.resCoef_linear != INVALID_DOUBLE
129 712 : || myTrainParams.resCoef_quadratic != INVALID_DOUBLE);
130 : const bool hasAllResCoef = (myTrainParams.resCoef_constant != INVALID_DOUBLE
131 4 : && myTrainParams.resCoef_linear != INVALID_DOUBLE
132 362 : && myTrainParams.resCoef_quadratic != INVALID_DOUBLE);
133 358 : if (hasSomeResCoef && !hasAllResCoef) {
134 0 : throw ProcessError(TLF("Some undefined resistance coefficients for vType '%' (requires resCoef_constant, resCoef_linear and resCoef_quadratic)", vtype->getID()));
135 : }
136 370 : if (myTrainParams.resCoef_constant != INVALID_DOUBLE && vtype->getParameter().getCFParamString(SUMO_ATTR_RESISTANCE_TABLE, "") != "") {
137 4 : WRITE_WARNING(TLF("Ignoring resistanceTable because resistance coefficients are set for vType '%'.", vtype->getID()));
138 : }
139 :
140 358 : if (myTrainParams.traction.empty() && myTrainParams.maxPower == INVALID_DOUBLE) {
141 12 : throw ProcessError(TLF("Either tractionTable or maxPower must be defined for vType '%' with Rail model type '%'.", vtype->getID(), trainType));
142 : }
143 354 : if (myTrainParams.resistance.empty() && myTrainParams.resCoef_constant == INVALID_DOUBLE) {
144 0 : throw ProcessError(TLF("Either resistanceTable or resCoef_constant must be defined for vType '%' with Rail model type '%'.", vtype->getID(), trainType));
145 : }
146 362 : }
147 :
148 :
149 706 : MSCFModel_Rail::~MSCFModel_Rail() { }
150 :
151 :
152 88786 : double MSCFModel_Rail::followSpeed(const MSVehicle* const veh, double speed, double gap,
153 : double /* predSpeed */, double /* predMaxDecel*/, const MSVehicle* const /*pred*/, const CalcReason /*usage*/) const {
154 :
155 : // followSpeed module is used for the simulation of moving block operations. The safety gap is chosen similar to the existing german
156 : // system CIR-ELKE (based on LZB). Other implementations of moving block systems may differ, but for now no appropriate parameter
157 : // can be set (would be per lane, not per train) -> hard-coded
158 :
159 : // @note: default train minGap of 5 is already subtracted from gap
160 88786 : if (speed >= 30 / 3.6) {
161 : // safety distance for higher speeds (>= 30 km/h)
162 57520 : gap = MAX2(0.0, gap + veh->getVehicleType().getMinGap() - 50);
163 : }
164 :
165 88786 : const double vsafe = maximumSafeStopSpeed(gap, myDecel, speed, false, TS, false); // absolute breaking distance
166 88786 : const double vmin = minNextSpeed(speed, veh);
167 88786 : const double vmax = maxNextSpeed(speed, veh);
168 :
169 88786 : if (MSGlobals::gSemiImplicitEulerUpdate) {
170 : return MIN2(vsafe, vmax);
171 : } else {
172 : // ballistic
173 : // XXX: the euler variant can break as strong as it wishes immediately! The ballistic cannot, refs. #2575.
174 : return MAX2(MIN2(vsafe, vmax), vmin);
175 : }
176 : }
177 :
178 :
179 : int
180 0 : MSCFModel_Rail::getModelID() const {
181 0 : return SUMO_TAG_CF_RAIL;
182 : }
183 :
184 :
185 : MSCFModel*
186 11 : MSCFModel_Rail::duplicate(const MSVehicleType* vtype) const {
187 11 : return new MSCFModel_Rail(vtype);
188 : }
189 :
190 : double
191 2365163 : MSCFModel_Rail::getRotWeight(const MSVehicle* const veh) const {
192 2365163 : return getWeight(veh) * myTrainParams.mf;
193 : }
194 :
195 : double
196 4730326 : MSCFModel_Rail::getWeight(const MSVehicle* const veh) const {
197 : // kg to tons
198 4730326 : return veh->getVehicleType().getMass() / 1000;
199 : }
200 :
201 1653125 : double MSCFModel_Rail::maxNextSpeed(double speed, const MSVehicle* const veh) const {
202 :
203 1653125 : if (speed >= myTrainParams.vmax) {
204 : return myTrainParams.vmax;
205 : }
206 :
207 : double targetSpeed = myTrainParams.vmax;
208 :
209 1518850 : double res = myTrainParams.getResistance(speed); // kN
210 :
211 1518850 : double slope = veh->getSlope();
212 1518850 : double gr = getWeight(veh) * GRAVITY * sin(DEG2RAD(slope)); //kN
213 :
214 1518850 : double totalRes = res + gr; //kN
215 :
216 1518850 : double trac = myTrainParams.getTraction(speed); // kN
217 : double a;
218 1518850 : if (speed < targetSpeed) {
219 1518850 : a = (trac - totalRes) / getRotWeight(veh); //kN/t == N/kg
220 : } else {
221 : a = 0.;
222 0 : if (totalRes > trac) {
223 0 : a = (trac - totalRes) / getRotWeight(veh); //kN/t == N/kg
224 : }
225 : }
226 1518850 : double maxNextSpeed = speed + ACCEL2SPEED(a);
227 :
228 : // std::cout << veh->getID() << " speed: " << (speed*3.6) << std::endl;
229 :
230 1518850 : return MIN2(myTrainParams.vmax, maxNextSpeed);
231 : }
232 :
233 :
234 846313 : double MSCFModel_Rail::minNextSpeed(double speed, const MSVehicle* const veh) const {
235 :
236 846313 : const double slope = veh->getSlope();
237 846313 : const double gr = getWeight(veh) * GRAVITY * sin(DEG2RAD(slope)); //kN
238 846313 : const double res = myTrainParams.getResistance(speed); // kN
239 846313 : const double totalRes = res + gr; //kN
240 846313 : const double a = myTrainParams.decl + totalRes / getRotWeight(veh);
241 846313 : const double vMin = speed - ACCEL2SPEED(a);
242 846313 : if (MSGlobals::gSemiImplicitEulerUpdate) {
243 : return MAX2(vMin, 0.);
244 : } else {
245 : // NOTE: ballistic update allows for negative speeds to indicate a stop within the next timestep
246 : return vMin;
247 : }
248 :
249 : }
250 :
251 :
252 : double
253 250885 : MSCFModel_Rail::minNextSpeedEmergency(double speed, const MSVehicle* const veh) const {
254 250885 : return minNextSpeed(speed, veh);
255 : }
256 :
257 :
258 : //void
259 : //MSCFModel_Rail::initVehicleVariables(const MSVehicle *const veh, MSCFModel_Rail::VehicleVariables *pVariables) const {
260 : //
261 : // pVariables->setInitialized();
262 : //
263 : //}
264 :
265 :
266 0 : double MSCFModel_Rail::getSpeedAfterMaxDecel(double /* speed */) const {
267 :
268 : // //TODO: slope not known here
269 : // double gr = 0; //trainParams.weight * GRAVITY * edge.grade
270 : //
271 : // double a = 0;//trainParams.decl - gr/trainParams.rotWeight;
272 : //
273 : // return speed + a * DELTA_T / 1000.;
274 0 : WRITE_ERROR("function call not allowed for rail model. Exiting!");
275 0 : throw ProcessError();
276 : }
277 :
278 :
279 438 : MSCFModel::VehicleVariables* MSCFModel_Rail::createVehicleVariables() const {
280 438 : VehicleVariables* ret = new VehicleVariables();
281 438 : return ret;
282 : }
283 :
284 :
285 250885 : double MSCFModel_Rail::finalizeSpeed(MSVehicle* const veh, double vPos) const {
286 250885 : return MSCFModel::finalizeSpeed(veh, vPos);
287 : }
288 :
289 :
290 936196 : double MSCFModel_Rail::freeSpeed(const MSVehicle* const /* veh */, double /* speed */, double dist, double targetSpeed,
291 : const bool onInsertion, const CalcReason /*usage*/) const {
292 :
293 : // MSCFModel_Rail::VehicleVariables *vars = (MSCFModel_Rail::VehicleVariables *) veh->getCarFollowVariables();
294 : // if (vars->isNotYetInitialized()) {
295 : // initVehicleVariables(veh, vars);
296 : // }
297 :
298 : //TODO: signals, coasting, ...
299 :
300 936196 : if (MSGlobals::gSemiImplicitEulerUpdate) {
301 : // adapt speed to succeeding lane, no reaction time is involved
302 : // when breaking for y steps the following distance g is covered
303 : // (drive with v in the final step)
304 : // g = (y^2 + y) * 0.5 * b + y * v
305 : // y = ((((sqrt((b + 2.0*v)*(b + 2.0*v) + 8.0*b*g)) - b)*0.5 - v)/b)
306 936195 : const double v = SPEED2DIST(targetSpeed);
307 936195 : if (dist < v) {
308 : return targetSpeed;
309 : }
310 842744 : const double b = ACCEL2DIST(myDecel);
311 842744 : const double y = MAX2(0.0, ((sqrt((b + 2.0 * v) * (b + 2.0 * v) + 8.0 * b * dist) - b) * 0.5 - v) / b);
312 842744 : const double yFull = floor(y);
313 842744 : const double exactGap = (yFull * yFull + yFull) * 0.5 * b + yFull * v + (y > yFull ? v : 0.0);
314 842744 : const double fullSpeedGain = (yFull + (onInsertion ? 1. : 0.)) * ACCEL2SPEED(myTrainParams.decl);
315 1123861 : return DIST2SPEED(MAX2(0.0, dist - exactGap) / (yFull + 1)) + fullSpeedGain + targetSpeed;
316 : } else {
317 1 : WRITE_ERROR(TL("Anything else than semi implicit euler update is not yet implemented. Exiting!"));
318 1 : throw ProcessError();
319 : }
320 : }
321 :
322 :
323 1008407 : double MSCFModel_Rail::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel, const CalcReason /*usage*/) const {
324 1008407 : return MIN2(maximumSafeStopSpeed(gap, decel, speed, false, TS, false), maxNextSpeed(speed, veh));
325 : }
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