SUMO - Simulation of Urban MObility
MSCFModel_PWag2009.cpp
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1 /****************************************************************************/
10 // Scalable model based on Krauß by Peter Wagner
11 /****************************************************************************/
12 // SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
13 // Copyright (C) 2010-2015 DLR (http://www.dlr.de/) and contributors
14 /****************************************************************************/
15 //
16 // This file is part of SUMO.
17 // SUMO is free software: you can redistribute it and/or modify
18 // it under the terms of the GNU General Public License as published by
19 // the Free Software Foundation, either version 3 of the License, or
20 // (at your option) any later version.
21 //
22 /****************************************************************************/
23 
24 
25 // ===========================================================================
26 // included modules
27 // ===========================================================================
28 #ifdef _MSC_VER
29 #include <windows_config.h>
30 #else
31 #include <config.h>
32 #endif
33 
34 #include <microsim/MSVehicle.h>
35 #include <microsim/MSLane.h>
36 #include "MSCFModel_PWag2009.h"
38 
39 
40 // ===========================================================================
41 // method definitions
42 // ===========================================================================
44  SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tauLast, SUMOReal apProb)
45  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle),
46  myTauDecel(decel* headwayTime), myDecelDivTau(decel / headwayTime), myTauLastDecel(decel* tauLast),
47  myActionPointProbability(apProb) {
48 }
49 
50 
52 
53 
56  const SUMOReal vNext = MSCFModel::moveHelper(veh, vPos);
58  SUMOReal apref = SPEED2ACCEL(vNext - veh->getSpeed());
59  vars->aOld = apref;
60  return vNext;
61 }
62 
63 // in addition, the parameters myTauLast, probAP, and sigmaAcc are needed; sigmaAcc can use myDawdle
64 // myTauLast might use the current time-step size, but this yields eventually an extreme model, I would be
65 // more careful and set it to something around 0.3 or 0.4, which are among the shortest headways I have
66 // seen so far in data ...
67 
69 MSCFModel_PWag2009::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
70  if (predSpeed == 0 && gap < 0.01) {
71  return 0;
72  }
73  const SUMOReal vsafe = -myTauLastDecel + sqrt(myTauLastDecel * myTauLastDecel + predSpeed * predSpeed + 2.0 * myDecel * gap);
74  const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
76  SUMOReal apref = vars->aOld;
77  if (apref <= asafe && RandHelper::rand() <= myActionPointProbability * TS) {
78  apref = myDecelDivTau * (gap + (predSpeed - speed) * myHeadwayTime - speed * myHeadwayTime) / (speed + myTauDecel);
79  apref = MIN2(apref, myAccel);
80  apref = MAX2(apref, -myDecel);
81  apref += myDawdle * RandHelper::rand((SUMOReal) - 1., (SUMOReal)1.);
82  }
83  if (apref > asafe) {
84  apref = asafe;
85  }
86  return MAX2((SUMOReal)0, speed + ACCEL2SPEED(apref));
87 }
88 
89 // uses the safe speed and preferred acceleration with the same NORMAL tau to compute stopSpeed
91 MSCFModel_PWag2009::stopSpeed(const MSVehicle* const /* veh */, const SUMOReal speed, SUMOReal gap) const {
92  if (gap < 0.01) {
93  return 0;
94  }
95  const SUMOReal vsafe = -myTauDecel + sqrt(myTauDecel * myTauDecel + 2.0 * myDecel * gap);
96  const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
97 // VehicleVariables* vars = (VehicleVariables*)veh->getCarFollowVariables();
98  SUMOReal apref = myDecelDivTau * (gap - 2 * speed * myHeadwayTime) / (speed + myTauDecel);
99  if (apref <= asafe) {
100  apref = MIN2(apref, myAccel);
101  apref = MAX2(apref, -myDecel);
102  } else {
103  apref = asafe;
104  }
105  return MAX2((SUMOReal)0, vsafe + ACCEL2SPEED(apref));
106 }
107 
108 // this method should not do anything, since followSpeed() has taken care of dawdling already...
109 SUMOReal
111  return speed;
112 // return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
113 }
114 
115 // eventually, this method isn't needed anymore
116 //SUMOReal
117 //MSCFModel_PWag2009::_v(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed) const {
118 // if (predSpeed == 0 && gap < 0.01) {
119 // return 0;
120 // }
121 // const SUMOReal vsafe = -myTauLastDecel + sqrt(myTauLastDecel * myTauLastDecel + predSpeed * predSpeed + 2.0 * myDecel * gap);
122 // const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
123 // VehicleVariables* vars = (VehicleVariables*)veh->getCarFollowVariables();
124 // SUMOReal apref = vars->aOld;
125 // if (apref <= asafe && RandHelper::rand() <= myActionPointProbability * TS) {
126 // apref = myDecelDivTau * (gap + (predSpeed - speed) * myHeadwayTime - speed * myHeadwayTime) / (speed + myTauDecel);
127 // if (apref>myAccel)
128 // apref = myAccel;
129 // if (apref<-myDecel)
130 // apref = -myDecel;
131 // apref += myDawdle * RandHelper::rand((SUMOReal) - 1., (SUMOReal)1.);
132 // }
133 // if (apref > asafe)
134 // apref = asafe;
135 // return MAX2((SUMOReal)0, vsafe+ACCEL2SPEED(apref));
136 //}
137 //
138 
139 MSCFModel*
142 }
SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) ...
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:80
SUMOReal myTauLastDecel
The precomputed value for (minimum headway time)*myDecel.
#define ACCEL2SPEED(x)
Definition: SUMOTime.h:61
The car-following model abstraction.
Definition: MSCFModel.h:59
SUMOReal myAccel
The vehicle's maximum acceleration [m/s^2].
Definition: MSCFModel.h:345
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:62
~MSCFModel_PWag2009()
Destructor.
T MAX2(T a, T b)
Definition: StdDefs.h:74
MSCFModel_PWag2009(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tauLast, SUMOReal apProb)
Constructor.
SUMOReal myHeadwayTime
The driver's desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:351
#define TS
Definition: SUMOTime.h:52
#define SPEED2ACCEL(x)
Definition: SUMOTime.h:63
The car-following model and parameter.
Definition: MSVehicleType.h:74
SUMOReal followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
Computes the vehicle's safe speed (no dawdling)
SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
SUMOReal dawdle(SUMOReal speed) const
Applies driver imperfection (dawdling / sigma)
T MIN2(T a, T b)
Definition: StdDefs.h:68
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition: MSVehicle.h:549
virtual SUMOReal moveHelper(MSVehicle *const veh, SUMOReal vPos) const
Applies interaction with stops and lane changing model influences.
Definition: MSCFModel.cpp:56
SUMOReal myDecelDivTau
The precomputed value for myDecel/myTau.
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
SUMOReal getSpeed() const
Returns the vehicle's current speed.
Definition: MSVehicle.h:294
#define SUMOReal
Definition: config.h:218
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
SUMOReal myDecel
The vehicle's maximum deceleration [m/s^2].
Definition: MSCFModel.h:348
SUMOReal myActionPointProbability
The probability for any action.