#include <CC_VehicleVariables.h>

Inheritance diagram for CC_VehicleVariables:

Collaboration diagram for CC_VehicleVariables:

Data Structures
struct	FAKE_CONTROLLER_DATA
	represent the set of fake data which is sent to the controller in order to automatically make the car move to a precise position before joining the platoon. we expect to get from the upper application the data that the CACC needs, i.e.: More...

Public Member Functions
	CC_VehicleVariables ()

	~CC_VehicleVariables ()

Data Fields
double	accHeadwayTime
	headway time for ACC

double	accLambda

enum Plexe::ACTIVE_CONTROLLER	activeController
	currently active controller

bool	autoFeed
	determines whether CACC should automatically fetch data about other vehicles

bool	autoLaneChange
	automatic whole platoon lane change

double	b [MAX_N_CARS]
	vector of damping ratios b

double	caccAlpha1

double	caccAlpha2

double	caccAlpha3

double	caccAlpha4

double	caccAlpha5

double	caccC1

bool	caccInitialized

double	caccOmegaN

double	caccSpacing
	fixed spacing for CACC

double	caccXi
	controller related parameters

double	ccDesiredSpeed
	CC desired speed.

double	ccKp

bool	commitToLaneChange
	when followers asks whether to actually change lane or not, what should the leader tell them?¬

double	controllerAcceleration
	acceleration as computed by the controller, to be sent to other vehicles

bool	crashed

GenericEngineModel *	engine
	engine model employed by this car

int	engineModel
	numeric value indicating the employed model

double	engineTau

struct FAKE_CONTROLLER_DATA	fakeData
	fake controller data.

double	fixedAcceleration

double	flatbedD

double	flatbedH

double	flatbedKa

double	flatbedKp

double	flatbedKv

double	frontAcceleration
	current front vehicle acceleration (used by CACC)

double	frontAngle
	front vehicle angle in radians

double	frontControllerAcceleration
	front vehicle controller acceleration (used by CACC)

double	frontDataReadTime
	when front vehicle data has been readed from GPS

bool	frontInitialized
	@did we receive at least one packet?

Position	frontPosition
	current front vehicle position

double	frontSpeed
	current front vehicle speed

MSVehicle *	frontVehicle
	front sumo id, used for auto feeding

std::string	frontVehicleId
	sumo id of the front vehicle

Position	frontVelocity
	front vehicle velocity vector

double	h [MAX_N_CARS]
	vector of time headways h

bool	initialized [MAX_N_CARS]
	tells whether data about a certain vehicle has been initialized

bool	isLeader
	whether this vehicle is leader of a platoon or not. This is mainly used by the lane change logic. By default this is true as a single vehicle is treated as a 1-vehicle platoon

double	K [MAX_N_CARS][MAX_N_CARS]
	K matrix.

int	L [MAX_N_CARS][MAX_N_CARS]
	L matrix.

SUMOTime	laneChangeCommitTime
	timestep for which the above commit is valid¬

double	leaderAcceleration
	platoon's leader acceleration (used by CACC)

double	leaderAngle
	platoon's leader angle in radians

double	leaderControllerAcceleration
	platoon's leader controller acceleration (used by CACC)

double	leaderDataReadTime
	when leader data has been readed from GPS

bool	leaderInitialized
	@did we receive at least one packet?

Position	leaderPosition
	platoon's leader position

double	leaderSpeed
	platoon's leader speed (used by CACC)

MSVehicle *	leaderVehicle
	leader vehicle, used for auto feeding

std::string	leaderVehicleId
	sumo id of the leader vehicle

Position	leaderVelocity
	platoon's leader velocity vector

std::map< int, std::string >	members
	list of members belonging to my platoon

int	nCars
	number of cars in the platoon

int	nInitialized
	count of initialized vehicles

int	noCommitReason
	if a follower asks and we don't commit, what should be the blocked state to return?

int	platoonFixedLane
	whole platoon lane change (not automatic). -1 indicates no need to change lane (mechanism disabled)

double	ploegH

double	ploegKd

double	ploegKp

int	position
	my position within the platoon (0 = first car)

double	uMax

double	uMin
	limits for u

bool	useControllerAcceleration
	determines whether PATH's CACC should use the real vehicle acceleration or the controller computed one

int	useFixedAcceleration

bool	usePrediction
	enable/disable data prediction (interpolation) for missing data

struct Plexe::VEHICLE_DATA	vehicles [MAX_N_CARS]
	data about vehicles in the platoon

Static Public Attributes
static const double	defaultB [] = {1800, 1800, 1800, 1800, 1800, 1800, 1800, 1800}

static const double	defaultH [] = {0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8}

static const double	defaultK [MAX_N_CARS][MAX_N_CARS]

static const int	defaultL [MAX_N_CARS][MAX_N_CARS]

Detailed Description

Definition at line 33 of file CC_VehicleVariables.h.

Constructor & Destructor Documentation

◆ CC_VehicleVariables()

◆ ~CC_VehicleVariables()

CC_VehicleVariables::~CC_VehicleVariables ( )

Definition at line 89 of file CC_VehicleVariables.cpp.

References engine.

Field Documentation

◆ accHeadwayTime

double CC_VehicleVariables::accHeadwayTime

headway time for ACC

Definition at line 120 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::getACCAcceleration(), MSCFModel_CC::getParameter(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

◆ accLambda

double CC_VehicleVariables::accLambda

Definition at line 121 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_acc(), and MSCFModel_CC::createVehicleVariables().

◆ activeController

enum Plexe::ACTIVE_CONTROLLER CC_VehicleVariables::activeController

currently active controller

Definition at line 156 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::finalizeSpeed(), MSCFModel_CC::followSpeed(), MSCFModel_CC::freeSpeed(), MSCFModel_CC::getActiveController(), MSCFModel_CC::getParameter(), MSCFModel_CC::getSecureGap(), MSCFModel_CC::interactionGap(), MSCFModel_CC::setParameter(), MSCFModel_CC::stopSpeed(), and MSCFModel_CC::switchOnACC().

◆ autoFeed

bool CC_VehicleVariables::autoFeed

determines whether CACC should automatically fetch data about other vehicles

Definition at line 106 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ autoLaneChange

bool CC_VehicleVariables::autoLaneChange

automatic whole platoon lane change

Definition at line 212 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::setParameter().

◆ b

double CC_VehicleVariables::b[MAX_N_CARS]

vector of damping ratios b

Definition at line 166 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), and CC_VehicleVariables().

◆ caccAlpha1

double CC_VehicleVariables::caccAlpha1

Definition at line 185 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cacc(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::recomputeParameters().

◆ caccAlpha2

double CC_VehicleVariables::caccAlpha2

Definition at line 185 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cacc(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::recomputeParameters().

◆ caccAlpha3

double CC_VehicleVariables::caccAlpha3

Definition at line 185 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cacc(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::recomputeParameters().

◆ caccAlpha4

double CC_VehicleVariables::caccAlpha4

Definition at line 185 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cacc(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::recomputeParameters().

◆ caccAlpha5

double CC_VehicleVariables::caccAlpha5

Definition at line 185 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cacc(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::recomputeParameters().

◆ caccC1

double CC_VehicleVariables::caccC1

Definition at line 184 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::recomputeParameters(), and MSCFModel_CC::setParameter().

◆ caccInitialized

bool CC_VehicleVariables::caccInitialized

Definition at line 142 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ caccOmegaN

double CC_VehicleVariables::caccOmegaN

Definition at line 183 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::recomputeParameters(), and MSCFModel_CC::setParameter().

◆ caccSpacing

double CC_VehicleVariables::caccSpacing

fixed spacing for CACC

Definition at line 187 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::getCACCConstantSpacing(), MSCFModel_CC::getParameter(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

◆ caccXi

double CC_VehicleVariables::caccXi

controller related parameters

Definition at line 182 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::recomputeParameters(), and MSCFModel_CC::setParameter().

◆ ccDesiredSpeed

double CC_VehicleVariables::ccDesiredSpeed

CC desired speed.

Definition at line 153 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::finalizeSpeed(), MSCFModel_CC::getParameter(), MSCFModel_CC::setParameter(), and MSCFModel_CC::switchOnACC().

◆ ccKp

double CC_VehicleVariables::ccKp

Definition at line 154 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_cc(), and MSCFModel_CC::createVehicleVariables().

◆ commitToLaneChange

bool CC_VehicleVariables::commitToLaneChange

when followers asks whether to actually change lane or not, what should the leader tell them?¬

Definition at line 218 of file CC_VehicleVariables.h.

◆ controllerAcceleration

double CC_VehicleVariables::controllerAcceleration

acceleration as computed by the controller, to be sent to other vehicles

Definition at line 86 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_ploeg(), MSCFModel_CC::_v(), MSCFModel_CC::finalizeSpeed(), MSCFModel_CC::getParameter(), and MSCFModel_CC::getVehicleInformation().

◆ crashed

bool CC_VehicleVariables::crashed

Definition at line 150 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::getParameter().

◆ defaultB

const double CC_VehicleVariables::defaultB = {1800, 1800, 1800, 1800, 1800, 1800, 1800, 1800}

static

Default damping ratios vector b for the consensus controller

Definition at line 42 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables().

◆ defaultH

const double CC_VehicleVariables::defaultH = {0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8, 0.8}

static

Default time headways vector h for the consensus controller

Definition at line 43 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables().

◆ defaultK

const double CC_VehicleVariables::defaultK

static

Initial value:

= {
    {0, 0, 0, 0, 0, 0, 0, 0},
    {460, 0, 0, 0, 0, 0, 0, 0},
    {80, 860, 0, 0, 0, 0, 0, 0},
    {80, 0, 860, 0, 0, 0, 0, 0},
    {80, 0, 0, 860, 0, 0, 0, 0},
    {80, 0, 0, 0, 860, 0, 0, 0},
    {80, 0, 0, 0, 0, 860, 0, 0},
    {80, 0, 0, 0, 0, 0, 860, 0}
}

Gains matrix K for the consensus controller

Definition at line 32 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables().

◆ defaultL

const int CC_VehicleVariables::defaultL

static

Initial value:

= {
    {0, 0, 0, 0, 0, 0, 0, 0},
    {1, 0, 0, 0, 0, 0, 0, 0},
    {1, 1, 0, 0, 0, 0, 0, 0},
    {1, 0, 1, 0, 0, 0, 0, 0},
    {1, 0, 0, 1, 0, 0, 0, 0},
    {1, 0, 0, 0, 1, 0, 0, 0},
    {1, 0, 0, 0, 0, 1, 0, 0},
    {1, 0, 0, 0, 0, 0, 1, 0}
}

Topology matrix L for the consensus controller

Definition at line 22 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables().

◆ engine

GenericEngineModel* CC_VehicleVariables::engine

engine model employed by this car

Definition at line 201 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::finalizeSpeed(), MSCFModel_CC::getParameter(), MSCFModel_CC::setParameter(), and ~CC_VehicleVariables().

◆ engineModel

int CC_VehicleVariables::engineModel

numeric value indicating the employed model

Definition at line 203 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::maxNextSpeed(), MSCFModel_CC::minNextSpeed(), and MSCFModel_CC::setParameter().

◆ engineTau

double CC_VehicleVariables::engineTau

Definition at line 188 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ fakeData

struct FAKE_CONTROLLER_DATA CC_VehicleVariables::fakeData

fake controller data.

See also: FAKE_CONTROLLER_DATA

Definition at line 159 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), CC_VehicleVariables(), and MSCFModel_CC::setParameter().

◆ fixedAcceleration

double CC_VehicleVariables::fixedAcceleration

Definition at line 147 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ flatbedD

double CC_VehicleVariables::flatbedD

Definition at line 197 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_flatbed(), MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

◆ flatbedH

double CC_VehicleVariables::flatbedH

Definition at line 198 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_flatbed(), MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

◆ flatbedKa

double CC_VehicleVariables::flatbedKa

Definition at line 194 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_flatbed(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ flatbedKp

double CC_VehicleVariables::flatbedKp

Definition at line 196 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_flatbed(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ flatbedKv

double CC_VehicleVariables::flatbedKv

Definition at line 195 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_flatbed(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ frontAcceleration

double CC_VehicleVariables::frontAcceleration

current front vehicle acceleration (used by CACC)

Definition at line 91 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontAngle

double CC_VehicleVariables::frontAngle

front vehicle angle in radians

Definition at line 101 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::setParameter().

◆ frontControllerAcceleration

double CC_VehicleVariables::frontControllerAcceleration

front vehicle controller acceleration (used by CACC)

Definition at line 93 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontDataReadTime

double CC_VehicleVariables::frontDataReadTime

when front vehicle data has been readed from GPS

Definition at line 97 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontInitialized

bool CC_VehicleVariables::frontInitialized

@did we receive at least one packet?

Definition at line 103 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontPosition

Position CC_VehicleVariables::frontPosition

current front vehicle position

Definition at line 95 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables(), and MSCFModel_CC::setParameter().

◆ frontSpeed

double CC_VehicleVariables::frontSpeed

current front vehicle speed

Definition at line 89 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontVehicle

MSVehicle* CC_VehicleVariables::frontVehicle

front sumo id, used for auto feeding

Definition at line 112 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontVehicleId

std::string CC_VehicleVariables::frontVehicleId

sumo id of the front vehicle

Definition at line 114 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ frontVelocity

Position CC_VehicleVariables::frontVelocity

front vehicle velocity vector

Definition at line 99 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::setParameter().

◆ h

double CC_VehicleVariables::h[MAX_N_CARS]

vector of time headways h

Definition at line 168 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), CC_VehicleVariables(), and MSCFModel_CC::getSecureGap().

◆ initialized

bool CC_VehicleVariables::initialized[MAX_N_CARS]

tells whether data about a certain vehicle has been initialized

Definition at line 173 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables(), MSCFModel_CC::resetConsensus(), and MSCFModel_CC::setParameter().

◆ isLeader

bool CC_VehicleVariables::isLeader

whether this vehicle is leader of a platoon or not. This is mainly used by the lane change logic. By default this is true as a single vehicle is treated as a 1-vehicle platoon

Definition at line 117 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::isPlatoonLaneChangeSafe(), and MSCFModel_CC::setParameter().

◆ K

double CC_VehicleVariables::K[MAX_N_CARS][MAX_N_CARS]

K matrix.

Definition at line 164 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), and CC_VehicleVariables().

◆ L

int CC_VehicleVariables::L[MAX_N_CARS][MAX_N_CARS]

L matrix.

Definition at line 162 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), and CC_VehicleVariables().

◆ laneChangeCommitTime

SUMOTime CC_VehicleVariables::laneChangeCommitTime

timestep for which the above commit is valid¬

Definition at line 224 of file CC_VehicleVariables.h.

◆ leaderAcceleration

double CC_VehicleVariables::leaderAcceleration

platoon's leader acceleration (used by CACC)

Definition at line 129 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ leaderAngle

double CC_VehicleVariables::leaderAngle

platoon's leader angle in radians

Definition at line 139 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::setParameter().

◆ leaderControllerAcceleration

double CC_VehicleVariables::leaderControllerAcceleration

platoon's leader controller acceleration (used by CACC)

Definition at line 131 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ leaderDataReadTime

double CC_VehicleVariables::leaderDataReadTime

when leader data has been readed from GPS

Definition at line 135 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ leaderInitialized

bool CC_VehicleVariables::leaderInitialized

@did we receive at least one packet?

Definition at line 141 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::setParameter().

◆ leaderPosition

Position CC_VehicleVariables::leaderPosition

platoon's leader position

Definition at line 133 of file CC_VehicleVariables.h.

Referenced by CC_VehicleVariables(), and MSCFModel_CC::setParameter().

◆ leaderSpeed

double CC_VehicleVariables::leaderSpeed

platoon's leader speed (used by CACC)

Definition at line 127 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ leaderVehicle

MSVehicle* CC_VehicleVariables::leaderVehicle

leader vehicle, used for auto feeding

Definition at line 108 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::isPlatoonLaneChangeSafe(), and MSCFModel_CC::setParameter().

◆ leaderVehicleId

std::string CC_VehicleVariables::leaderVehicleId

sumo id of the leader vehicle

Definition at line 110 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::isPlatoonLaneChangeSafe(), and MSCFModel_CC::setParameter().

◆ leaderVelocity

Position CC_VehicleVariables::leaderVelocity

platoon's leader velocity vector

Definition at line 137 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::setParameter().

◆ members

std::map<int, std::string> CC_VehicleVariables::members

list of members belonging to my platoon

Definition at line 209 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::changeWholePlatoonLane(), MSCFModel_CC::isPlatoonLaneChangeSafe(), and MSCFModel_CC::setParameter().

◆ nCars

int CC_VehicleVariables::nCars

number of cars in the platoon

Definition at line 179 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), MSCFModel_CC::getParameter(), and MSCFModel_CC::setParameter().

◆ nInitialized

int CC_VehicleVariables::nInitialized

count of initialized vehicles

Definition at line 175 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), MSCFModel_CC::resetConsensus(), and MSCFModel_CC::setParameter().

◆ noCommitReason

int CC_VehicleVariables::noCommitReason

if a follower asks and we don't commit, what should be the blocked state to return?

Definition at line 221 of file CC_VehicleVariables.h.

◆ platoonFixedLane

int CC_VehicleVariables::platoonFixedLane

whole platoon lane change (not automatic). -1 indicates no need to change lane (mechanism disabled)

Definition at line 215 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::setParameter().

◆ ploegH

double CC_VehicleVariables::ploegH

Definition at line 191 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_ploeg(), MSCFModel_CC::createVehicleVariables(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

◆ ploegKd

double CC_VehicleVariables::ploegKd

Definition at line 193 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_ploeg(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ ploegKp

double CC_VehicleVariables::ploegKp

Definition at line 192 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_ploeg(), MSCFModel_CC::createVehicleVariables(), and MSCFModel_CC::setParameter().

◆ position

int CC_VehicleVariables::position

my position within the platoon (0 = first car)

Definition at line 177 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), and MSCFModel_CC::setParameter().

◆ uMax

double CC_VehicleVariables::uMax

Definition at line 190 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::setParameter().

◆ uMin

double CC_VehicleVariables::uMin

limits for u

Definition at line 190 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::setParameter().

◆ useControllerAcceleration

bool CC_VehicleVariables::useControllerAcceleration

determines whether PATH's CACC should use the real vehicle acceleration or the controller computed one

Definition at line 125 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ useFixedAcceleration

int CC_VehicleVariables::useFixedAcceleration

Definition at line 145 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), MSCFModel_CC::finalizeSpeed(), and MSCFModel_CC::setParameter().

◆ usePrediction

bool CC_VehicleVariables::usePrediction

enable/disable data prediction (interpolation) for missing data

Definition at line 206 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_v(), and MSCFModel_CC::setParameter().

◆ vehicles

struct Plexe::VEHICLE_DATA CC_VehicleVariables::vehicles[MAX_N_CARS]

data about vehicles in the platoon

Definition at line 171 of file CC_VehicleVariables.h.

Referenced by MSCFModel_CC::_consensus(), MSCFModel_CC::getParameter(), MSCFModel_CC::getSecureGap(), and MSCFModel_CC::setParameter().

The documentation for this class was generated from the following files:

Data Structures

Public Member Functions

Data Fields

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CC_VehicleVariables()

◆ ~CC_VehicleVariables()

Field Documentation

◆ accHeadwayTime

◆ accLambda

◆ activeController

◆ autoFeed

◆ autoLaneChange

◆ b

◆ caccAlpha1

◆ caccAlpha2

◆ caccAlpha3

◆ caccAlpha4

◆ caccAlpha5

◆ caccC1

◆ caccInitialized

◆ caccOmegaN

◆ caccSpacing

◆ caccXi

◆ ccDesiredSpeed

◆ ccKp

◆ commitToLaneChange

◆ controllerAcceleration

◆ crashed

◆ defaultB

◆ defaultH

◆ defaultK

◆ defaultL

◆ engine

◆ engineModel

◆ engineTau

◆ fakeData

◆ fixedAcceleration

◆ flatbedD

◆ flatbedH

◆ flatbedKa

◆ flatbedKp

◆ flatbedKv

◆ frontAcceleration

◆ frontAngle

◆ frontControllerAcceleration

◆ frontDataReadTime

◆ frontInitialized

◆ frontPosition

◆ frontSpeed

◆ frontVehicle

◆ frontVehicleId

◆ frontVelocity

◆ h

◆ initialized

◆ isLeader

◆ K

◆ L

◆ laneChangeCommitTime

◆ leaderAcceleration

◆ leaderAngle

◆ leaderControllerAcceleration

◆ leaderDataReadTime

◆ leaderInitialized

◆ leaderPosition

◆ leaderSpeed

◆ leaderVehicle

◆ leaderVehicleId

◆ leaderVelocity

◆ members

◆ nCars

◆ nInitialized

◆ noCommitReason

◆ platoonFixedLane

◆ ploegH

◆ ploegKd

◆ ploegKp

◆ position

◆ uMax