double
MSCFModel_ACC::stopSpeed(const MSVehicle* const veh, const double speed, double gap) const {
// NOTE: This allows return of smaller values than minNextSpeed().
// Only relevant for the ballistic update: We give the argument headway=TS, to assure that
// the stopping position is approached with a uniform deceleration also for tau!=TS.
return MIN2(maximumSafeStopSpeed(gap, speed, false, veh->getActionStepLengthSecs()), maxNextSpeed(speed, veh));
}
double
MSCFModel::insertionStopSpeed(const MSVehicle* const veh, double speed, double gap) const {
if (MSGlobals::gSemiImplicitEulerUpdate) {
return stopSpeed(veh, speed, gap);
} else {
return MIN2(maximumSafeStopSpeed(gap, 0., true, 0.), myType->getMaxSpeed());
}
}
/** Returns the SK-vsafe. */
double
MSCFModel::maximumSafeFollowSpeed(double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion) const {
// the speed is safe if allows the ego vehicle to come to a stop behind the leader even if
// the leaders starts braking hard until stopped
// unfortunately it is not sufficient to compare stopping distances if the follower can brake harder than the leader
// (the trajectories might intersect before both vehicles are stopped even if the follower has a shorter stopping distance than the leader)
// To make things safe, we ensure that the leaders brake distance is computed with an deceleration that is at least as high as the follower's.
// @todo: this is a conservative estimate for safe speed which could be increased
// // For negative gaps, we return the lowest meaningful value by convention
// // XXX: check whether this is desireable (changes test results, therefore I exclude it for now (Leo), refs. #2575)
// // It must be done. Otherwise, negative gaps at high speeds can create nonsense results from the call to maximumSafeStopSpeed() below
// if(gap<0){
// if(MSGlobals::gSemiImplicitEulerUpdate){
// return 0.;
// } else {
// return -INVALID_SPEED;
// }
// }
// The following commented code is a variant to assure brief stopping behind a stopped leading vehicle:
// if leader is stopped, calculate stopSpeed without time-headway to prevent creeping stop
// NOTE: this can lead to the strange phenomenon (for the Krauss-model at least) that if the leader comes to a stop,
// the follower accelerates for a short period of time. Refs #2310 (Leo)
// const double headway = predSpeed > 0. ? myHeadwayTime : 0.;
const double headway = myHeadwayTime;
double x = maximumSafeStopSpeed(gap + brakeGap(predSpeed, MAX2(myDecel, predMaxDecel), 0), egoSpeed, onInsertion, headway);
if (myDecel != myEmergencyDecel && !onInsertion && !MSGlobals::gComputeLC) {
double origSafeDecel = SPEED2ACCEL(egoSpeed - x);
if (origSafeDecel > myDecel + NUMERICAL_EPS) {
// Braking harder than myDecel was requested -> calculate required emergency deceleration.
// Note that the resulting safeDecel can be smaller than the origSafeDecel, since the call to maximumSafeStopSpeed() above
// can result in corrupted values (leading to intersecting trajectories) if, e.g. leader and follower are fast (leader still faster) and the gap is very small,
// such that braking harder than myDecel is required.
#ifdef DEBUG_EMERGENCYDECEL
if (DEBUG_COND2) {
std::cout << SIMTIME << " initial vsafe=" << x
<< " egoSpeed=" << egoSpeed << " (origSafeDecel=" << origSafeDecel << ")"
<< " predSpeed=" << predSpeed << " (predDecel=" << predMaxDecel << ")"
<< std::endl;
}
#endif
double safeDecel = EMERGENCY_DECEL_AMPLIFIER * calculateEmergencyDeceleration(gap, egoSpeed, predSpeed, predMaxDecel);
// Don't be riskier than the usual method (myDecel <= safeDecel may occur, because a headway>0 is used above)
safeDecel = MAX2(safeDecel, myDecel);
// don't brake harder than originally planned (possible due to euler/ballistic mismatch)
safeDecel = MIN2(safeDecel, origSafeDecel);
x = egoSpeed - ACCEL2SPEED(safeDecel);
if (MSGlobals::gSemiImplicitEulerUpdate) {
x = MAX2(x, 0.);
}
#ifdef DEBUG_EMERGENCYDECEL
if (DEBUG_COND2) {
std::cout << " -> corrected emergency deceleration: " << safeDecel << " newVSafe=" << x << std::endl;
}
#endif
}
}
assert(x >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
assert(!ISNAN(x));
return x;
}
