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_SmartSK.h
15 : /// @author Daniel Krajzewicz
16 : /// @author Michael Behrisch
17 : /// @author Peter Wagner
18 : /// @date Tue, 05 Jun 2012
19 : ///
20 : // A smarter SK
21 : /****************************************************************************/
22 : #pragma once
23 : #include <config.h>
24 :
25 : #include "MSCFModel.h"
26 : #include <utils/xml/SUMOXMLDefinitions.h>
27 :
28 :
29 : // ===========================================================================
30 : // class definitions
31 : // ===========================================================================
32 : /** @class MSCFModel_SmartSK
33 : * @brief The original Krauss (1998) car-following model and parameter
34 : * @see MSCFModel
35 : */
36 : class MSCFModel_SmartSK : public MSCFModel {
37 : public:
38 : /** @brief Constructor
39 : * @param[in] vtype the type for which this model is built and also the parameter object to configure this model
40 : */
41 : MSCFModel_SmartSK(const MSVehicleType* vtype);
42 :
43 :
44 : /// @brief Destructor
45 : ~MSCFModel_SmartSK();
46 :
47 :
48 : /// @name Implementations of the MSCFModel interface
49 : /// @{
50 :
51 : /** @brief Applies interaction with stops and lane changing model influences
52 : * @param[in] veh The ego vehicle
53 : * @param[in] vPos The possible velocity
54 : * @return The velocity after applying interactions with stops and lane change model influences
55 : */
56 : double finalizeSpeed(MSVehicle* const veh, double vPos) const;
57 :
58 :
59 : /** @brief Computes the vehicle's safe speed (no dawdling)
60 : * @param[in] veh The vehicle (EGO)
61 : * @param[in] speed The vehicle's speed
62 : * @param[in] gap2pred The (net) distance to the LEADER
63 : * @param[in] predSpeed The speed of LEADER
64 : * @return EGO's safe speed
65 : * @see MSCFModel::ffeV
66 : */
67 : virtual double followSpeed(const MSVehicle* const veh, double speed, double gap2pred,
68 : double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
69 :
70 :
71 : /** @brief Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
72 : * @param[in] veh The vehicle (EGO)
73 : * @param[in] gap2pred The (net) distance to the obstacle
74 : * @return EGO's safe speed for approaching a non-moving obstacle
75 : * @see MSCFModel::ffeS
76 : * @todo generic Interface, models can call for the values they need
77 : */
78 : virtual double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
79 :
80 :
81 : /** @brief Returns the model's name
82 : * @return The model's name
83 : * @see MSCFModel::getModelName
84 : */
85 0 : virtual int getModelID() const {
86 0 : return SUMO_TAG_CF_SMART_SK;
87 : }
88 :
89 :
90 : /** @brief Get the driver's imperfection
91 : * @return The imperfection of drivers of this class
92 : */
93 0 : double getImperfection() const {
94 0 : return myDawdle;
95 : }
96 : /// @}
97 :
98 :
99 :
100 : /// @name Setter methods
101 : /// @{
102 : /** @brief Sets a new value for maximum deceleration [m/s^2]
103 : * @param[in] accel The new deceleration in m/s^2
104 : */
105 0 : void setMaxDecel(double decel) {
106 0 : myDecel = decel;
107 0 : myTauDecel = myDecel * myHeadwayTime;
108 0 : }
109 :
110 :
111 : /** @brief Sets a new value for driver imperfection
112 : * @param[in] accel The new driver imperfection
113 : */
114 0 : void setImperfection(double imperfection) {
115 0 : myDawdle = imperfection;
116 0 : }
117 :
118 :
119 : /** @brief Sets a new value for desired headway [s]
120 : * @param[in] headwayTime The new desired headway (in s)
121 : */
122 0 : void setHeadwayTime(double headwayTime) {
123 0 : myHeadwayTime = headwayTime;
124 0 : myTauDecel = myDecel * headwayTime;
125 0 : }
126 : /// @}
127 :
128 : /// @brief apply dawdling
129 : double patchSpeedBeforeLC(const MSVehicle* veh, double vMin, double vMax) const;
130 :
131 : /** @brief Duplicates the car-following model
132 : * @param[in] vtype The vehicle type this model belongs to (1:1)
133 : * @return A duplicate of this car-following model
134 : */
135 : virtual MSCFModel* duplicate(const MSVehicleType* vtype) const;
136 :
137 : private:
138 : /** @brief Returns the "safe" velocity
139 : * @param[in] gap2pred The (net) distance to the LEADER
140 : * @param[in] predSpeed The LEADER's speed
141 : * @return the safe velocity
142 : */
143 : virtual double _vsafe(const MSVehicle* const veh, double gap, double predSpeed) const;
144 :
145 :
146 : /** @brief Applies driver imperfection (dawdling / sigma)
147 : * @param[in] speed The speed with no dawdling
148 : * @return The speed after dawdling
149 : */
150 : virtual double dawdle(double speed, SumoRNG* rng) const;
151 :
152 0 : virtual void updateMyHeadway(const MSVehicle* const veh) const {
153 : // this is the point were the preferred headway changes slowly:
154 : SSKVehicleVariables* vars = (SSKVehicleVariables*)veh->getCarFollowVariables();
155 0 : double tTau = vars->myHeadway;
156 0 : tTau = tTau + (myHeadwayTime - tTau) * myTmp2 + myTmp3 * tTau * RandHelper::rand(double(-1.0), double(1.0), veh->getRNG());
157 0 : if (tTau < TS) { // this ensures the SK safety condition
158 : tTau = TS;
159 : }
160 0 : vars->myHeadway = tTau;
161 0 : }
162 :
163 0 : virtual MSCFModel::VehicleVariables* createVehicleVariables() const {
164 0 : SSKVehicleVariables* ret = new SSKVehicleVariables();
165 : ret->gOld = 0.0;
166 0 : ret->myHeadway = myHeadwayTime;
167 0 : return ret;
168 : }
169 :
170 : #include <map>
171 :
172 : private:
173 0 : class SSKVehicleVariables : public MSCFModel::VehicleVariables {
174 : public:
175 : double gOld, myHeadway;
176 : std::map<int, double> ggOld;
177 : };
178 :
179 : protected:
180 : /// @brief The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
181 : double myDawdle;
182 :
183 : /// @brief The precomputed value for myDecel*myTau
184 : double myTauDecel;
185 :
186 : /// @brief temporary (testing) parameter
187 : double myTmp1, myTmp2, myTmp3, myTmp4, myTmp5;
188 :
189 : /** @brief new variables needed in this model; myS2Sspeed is the speed below which the vehicle does not move when stopped
190 : * @brief maxDeltaGap is the theoretical maximum change in gap that can happen in one time step
191 : */
192 : double myS2Sspeed, maxDeltaGap;
193 :
194 : };
|
