MSCFModel_ACC.h

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/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
// Copyright (C) 2001-2026 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
// ACC car-following model based on [1], [2].
// [1] Milanes, V., and S. E. Shladover. Handling Cut-In Vehicles in Strings
//    of Cooperative Adaptive Cruise Control Vehicles. Journal of Intelligent
//     Transportation Systems, Vol. 20, No. 2, 2015, pp. 178-191.
// [2] Xiao, L., M. Wang and B. van Arem. Realistic Car-Following Models for
//    Microscopic Simulation of Adaptive and Cooperative Adaptive Cruise
//     Control Vehicles. Transportation Research Record: Journal of the
//     Transportation Research Board, No. 2623, 2017. (DOI: 10.3141/2623-01).
/****************************************************************************/
#pragma once
#include <config.h>
 
#include "MSCFModel.h"
#include <utils/xml/SUMOXMLDefinitions.h>
 
// ===========================================================================
// class declarations
// ===========================================================================
class MSVehicle;
class MSVehicleType;
class MSCFModel_CACC;
 
// ===========================================================================
// class definitions
// ===========================================================================
class MSCFModel_ACC : public MSCFModel {
public:
    MSCFModel_ACC(const MSVehicleType* vtype);
 
    ~MSCFModel_ACC();
 
 
 
    double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
                       double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
 
 
    double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
 
    double getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
 
    double insertionFollowSpeed(const MSVehicle* const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
 
 
    double interactionGap(const MSVehicle* const, double vL) const;
 
 
    double maximumLaneSpeedCF(const MSVehicle* const veh, double maxSpeed, double maxSpeedLane) const {
        double result = MIN2(maxSpeed, maxSpeedLane);
        if (myApplyDriverstate) {
            applyOwnSpeedPerceptionError(veh, result);
        }
        return result;
    }
    int getModelID() const {
        return SUMO_TAG_CF_ACC;
    }
 
 
 
    MSCFModel* duplicate(const MSVehicleType* vtype) const;
 
    VehicleVariables* createVehicleVariables() const {
        ACCVehicleVariables* ret = new ACCVehicleVariables();
        ret->ACC_ControlMode = 0;
        ret->lastUpdateTime = 0;
        return ret;
    }
 
    friend class MSCFModel_CACC;
 
private:
    class ACCVehicleVariables : public MSCFModel::VehicleVariables {
    public:
        ACCVehicleVariables() : ACC_ControlMode(0) {}
        int ACC_ControlMode;
        SUMOTime lastUpdateTime;
    };
 
 
private:
    double _v(const MSVehicle* const veh, const double gap2pred, const double mySpeed,
              const double predSpeed, const double desSpeed, const bool respectMinGap = true) const;
 
    double accelSpeedControl(double vErr) const;
    double accelGapControl(const MSVehicle* const veh, const double gap2pred, const double speed, const double predSpeed, double vErr) const;
 
 
private:
    double mySpeedControlGain;
    double myGapClosingControlGainSpeed;
    double myGapClosingControlGainSpace;
    double myGapControlGainSpeed;
    double myGapControlGainSpace;
    double myCollisionAvoidanceGainSpeed;
    double myCollisionAvoidanceGainSpace;
    double myApplyDriverstate;
    double myEmergencyThreshold;
 
private:
    MSCFModel_ACC& operator=(const MSCFModel_ACC& s);
};