SUMO - Simulation of Urban MObility
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MSCFModel_PWag2009.cpp
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1 /****************************************************************************/
9 // Scalable model based on Krauß by Peter Wagner
10 /****************************************************************************/
11 // SUMO, Simulation of Urban MObility; see http://sumo-sim.org/
12 // Copyright (C) 2001-2013 DLR (http://www.dlr.de/) and contributors
13 /****************************************************************************/
14 //
15 // This file is part of SUMO.
16 // SUMO is free software: you can redistribute it and/or modify
17 // it under the terms of the GNU General Public License as published by
18 // the Free Software Foundation, either version 3 of the License, or
19 // (at your option) any later version.
20 //
21 /****************************************************************************/
22 
23 
24 // ===========================================================================
25 // included modules
26 // ===========================================================================
27 #ifdef _MSC_VER
28 #include <windows_config.h>
29 #else
30 #include <config.h>
31 #endif
32 
33 #include <microsim/MSVehicle.h>
34 #include <microsim/MSLane.h>
35 #include "MSCFModel_PWag2009.h"
37 
38 
39 // ===========================================================================
40 // method definitions
41 // ===========================================================================
43  SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tauLast, SUMOReal apProb)
44  : MSCFModel(vtype, accel, decel, headwayTime), myDawdle(dawdle),
45  myTauDecel(decel* headwayTime), myDecelDivTau(decel / headwayTime), myTauLastDecel(decel* tauLast),
46  myActionPointProbability(apProb) {
47 }
48 
49 
51 
52 
55  const SUMOReal vNext = MSCFModel::moveHelper(veh, vPos);
57  SUMOReal apref = SPEED2ACCEL(vNext - veh->getSpeed());
58  vars->aOld = apref;
59  return vNext;
60 }
61 
62 // in addition, the parameters myTauLast, probAP, and sigmaAcc are needed; sigmaAcc can use myDawdle
63 // myTauLast might use the current time-step size, but this yields eventually an extreme model, I would be
64 // more careful and set it to something around 0.3 or 0.4, which are among the shortest headways I have
65 // seen so far in data ...
66 
68 MSCFModel_PWag2009::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
69  if (predSpeed == 0 && gap < 0.01) {
70  return 0;
71  }
72  const SUMOReal vsafe = -myTauLastDecel + sqrt(myTauLastDecel * myTauLastDecel + predSpeed * predSpeed + 2.0 * myDecel * gap);
73  const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
75  SUMOReal apref = vars->aOld;
76  if (apref <= asafe && RandHelper::rand() <= myActionPointProbability * TS) {
77  apref = myDecelDivTau * (gap + (predSpeed - speed) * myHeadwayTime - speed * myHeadwayTime) / (speed + myTauDecel);
78  apref = MIN2(apref, myAccel);
79  apref = MAX2(apref, -myDecel);
80  apref += myDawdle * RandHelper::rand((SUMOReal) - 1., (SUMOReal)1.);
81  }
82  if (apref > asafe) {
83  apref = asafe;
84  }
85  return MAX2((SUMOReal)0, speed + ACCEL2SPEED(apref));
86 }
87 
88 // uses the safe speed and preferred acceleration with the same NORMAL tau to compute stopSpeed
90 MSCFModel_PWag2009::stopSpeed(const MSVehicle* const /* veh */, const SUMOReal speed, SUMOReal gap) const {
91  if (gap < 0.01) {
92  return 0;
93  }
94  const SUMOReal vsafe = -myTauDecel + sqrt(myTauDecel * myTauDecel + 2.0 * myDecel * gap);
95  const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
96 // VehicleVariables* vars = (VehicleVariables*)veh->getCarFollowVariables();
97  SUMOReal apref = myDecelDivTau * (gap - 2 * speed * myHeadwayTime) / (speed + myTauDecel);
98  if (apref <= asafe) {
99  apref = MIN2(apref, myAccel);
100  apref = MAX2(apref, -myDecel);
101  } else {
102  apref = asafe;
103  }
104  return MAX2((SUMOReal)0, vsafe + ACCEL2SPEED(apref));
105 }
106 
107 // this method should not do anything, since followSpeed() has taken care of dawdling already...
108 SUMOReal
110  return speed;
111 // return MAX2(SUMOReal(0), speed - ACCEL2SPEED(myDawdle * myAccel * RandHelper::rand()));
112 }
113 
114 // eventually, this method isn't needed anymore
115 //SUMOReal
116 //MSCFModel_PWag2009::_v(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed) const {
117 // if (predSpeed == 0 && gap < 0.01) {
118 // return 0;
119 // }
120 // const SUMOReal vsafe = -myTauLastDecel + sqrt(myTauLastDecel * myTauLastDecel + predSpeed * predSpeed + 2.0 * myDecel * gap);
121 // const SUMOReal asafe = SPEED2ACCEL(vsafe - speed);
122 // VehicleVariables* vars = (VehicleVariables*)veh->getCarFollowVariables();
123 // SUMOReal apref = vars->aOld;
124 // if (apref <= asafe && RandHelper::rand() <= myActionPointProbability * TS) {
125 // apref = myDecelDivTau * (gap + (predSpeed - speed) * myHeadwayTime - speed * myHeadwayTime) / (speed + myTauDecel);
126 // if (apref>myAccel)
127 // apref = myAccel;
128 // if (apref<-myDecel)
129 // apref = -myDecel;
130 // apref += myDawdle * RandHelper::rand((SUMOReal) - 1., (SUMOReal)1.);
131 // }
132 // if (apref > asafe)
133 // apref = asafe;
134 // return MAX2((SUMOReal)0, vsafe+ACCEL2SPEED(apref));
135 //}
136 //
137 
138 MSCFModel*
141 }
SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const
Computes the vehicle&#39;s safe speed for approaching a non-moving obstacle (no dawdling) ...
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
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:58
SUMOReal myAccel
The vehicle&#39;s maximum acceleration [m/s^2].
Definition: MSCFModel.h:292
static SUMOReal rand()
Returns a random real number in [0, 1)
Definition: RandHelper.h:61
~MSCFModel_PWag2009()
Destructor.
T MAX2(T a, T b)
Definition: StdDefs.h:63
MSCFModel_PWag2009(const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime, SUMOReal tauLast, SUMOReal apProb)
Constructor.
SUMOReal myHeadwayTime
The driver&#39;s desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:298
#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&#39;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:57
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle&#39;s car following model variables.
Definition: MSVehicle.h:519
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&#39;s current speed.
Definition: MSVehicle.h:291
#define SUMOReal
Definition: config.h:215
SUMOReal myTauDecel
The precomputed value for myDecel*myTau.
SUMOReal myDecel
The vehicle&#39;s maximum deceleration [m/s^2].
Definition: MSCFModel.h:295
SUMOReal myActionPointProbability
The probability for any action.