bool
MSCFModel_KraussOrig1::hasSafeGap(SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal laneMaxSpeed) const throw() {
if (gap<0) {
return false;
}
SUMOReal vSafe = MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed));
SUMOReal vNext = MIN3(maxNextSpeed(speed), laneMaxSpeed, vSafe);
return (vNext>=getSpeedAfterMaxDecel(speed) && gap>= SPEED2DIST(speed));
}
SUMOReal
MSCFModel_SmartSK::moveHelper(MSVehicle* const veh, SUMOReal vPos) const {
const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
// we need the acceleration for emission computation;
// in this case, we neglect dawdling, nonetheless, using
// vSafe does not incorporate speed reduction due to interaction
// on lane changing
const SUMOReal vMin = getSpeedAfterMaxDecel(oldV);
const SUMOReal vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
#ifdef _DEBUG
if (vMin > vMax) {
WRITE_WARNING("Vehicle's '" + veh->getID() + "' maximum speed is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
}
#endif
updateMyHeadway(veh);
SSKVehicleVariables* vars = (SSKVehicleVariables*)veh->getCarFollowVariables();
#ifdef _DEBUG
if (vars->ggOld.size() > 1) {
std::cout << "# more than one entry in ggOld list. Speed is " << vPos << ", corresponding dist is " << vars->ggOld[(int) vPos] << "\n";
for (std::map<int, SUMOReal>::iterator I = vars->ggOld.begin(); I != vars->ggOld.end(); I++) {
std::cout << "# " << (*I).first << ' ' << (*I).second << std::endl;
}
}
#endif
vars->gOld = vars->ggOld[(int) vPos];
vars->ggOld.clear();
return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
}
double
MSCFModel::finalizeSpeed(MSVehicle* const veh, double vPos) const {
// save old v for optional acceleration computation
const double oldV = veh->getSpeed();
// process stops (includes update of stopping state)
const double vStop = MIN2(vPos, veh->processNextStop(vPos));
// apply deceleration bounds
const double vMinEmergency = minNextSpeedEmergency(oldV, veh);
// vPos contains the uppper bound on safe speed. allow emergency braking here
const double vMin = MIN2(minNextSpeed(oldV, veh), MAX2(vPos, vMinEmergency));
// aMax: Maximal admissible acceleration until the next action step, such that the vehicle's maximal
// desired speed on the current lane will not be exceeded when the
// acceleration is maintained until the next action step.
double aMax = (veh->getLane()->getVehicleMaxSpeed(veh) - oldV) / veh->getActionStepLengthSecs();
// apply planned speed constraints and acceleration constraints
double vMax = MIN3(oldV + ACCEL2SPEED(aMax), maxNextSpeed(oldV, veh), vStop);
// do not exceed max decel even if it is unsafe
#ifdef _DEBUG
//if (vMin > vMax) {
// WRITE_WARNING("Maximum speed of vehicle '" + veh->getID() + "' is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
//}
#endif
#ifdef DEBUG_FINALIZE_SPEED
if DEBUG_COND {
std::cout << "\n" << SIMTIME << " FINALIZE_SPEED\n";
}
#endif
vMax = MAX2(vMin, vMax);
// apply further speed adaptations
double vNext = patchSpeedBeforeLC(veh, vMin, vMax);
#ifdef DEBUG_FINALIZE_SPEED
double vDawdle = vNext;
#endif
assert(vNext >= vMin);
assert(vNext <= vMax);
// apply lane-changing related speed adaptations
vNext = veh->getLaneChangeModel().patchSpeed(vMin, vNext, vMax, *this);
assert(vNext >= vMin);
assert(vNext <= vMax);
#ifdef DEBUG_FINALIZE_SPEED
if DEBUG_COND {
std::cout << std::setprecision(gPrecision)
<< "veh '" << veh->getID() << "' oldV=" << oldV
<< " vPos" << vPos
<< " vMin=" << vMin
<< " vMax=" << vMax
<< " vStop=" << vStop
<< " vDawdle=" << vDawdle
<< " vNext=" << vNext
<< "\n";
}
#endif
return vNext;
}
SUMOReal
MSCFModel_KraussOrig1::moveHelper(MSVehicle * const veh, const MSLane * const lane, SUMOReal vPos) const throw() {
SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
// we need the acceleration for emission computation;
// in this case, we neglect dawdling, nonetheless, using
// vSafe does not incorporate speed reduction due to interaction
// on lane changing
veh->setPreDawdleAcceleration(SPEED2ACCEL(vSafe-oldV));
//
SUMOReal vNext = dawdle(MIN3(lane->getMaxSpeed(), maxNextSpeed(oldV), vSafe));
vNext =
veh->getLaneChangeModel().patchSpeed(
MAX2((SUMOReal) 0, oldV-(SUMOReal)ACCEL2SPEED(myDecel)), //!!! reverify
vNext,
MIN3(vSafe, veh->getLane().getMaxSpeed(), maxNextSpeed(oldV)),//vaccel(myState.mySpeed, myLane->maxSpeed())),
vSafe);
return MIN4(vNext, vSafe, veh->getLane().getMaxSpeed(), maxNextSpeed(oldV));
}
SUMOReal
MSCFModel_Wiedemann::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
/* Wiedemann does not handle approaching junctions or stops very well:
* regime approaching() fails when dv = 0 (i.e. a vehicle inserted with speed 0 does not accelerate to reach a stop)
* for dv ~ 0 the standard decision tree will switch to following() which
* does a lousy job of closing in on a stop / junction
* hence we borrow from Krauss here
*/
return MAX2(getSpeedAfterMaxDecel(speed), MIN2(krauss_vsafe(gap, 0), maxNextSpeed(speed, veh)));
}
double
MSCFModel::interactionGap(const MSVehicle* const veh, double vL) const {
// Resolve the vsafe equation to gap. Assume predecessor has
// speed != 0 and that vsafe will be the current speed plus acceleration,
// i.e that with this gap there will be no interaction.
const double vNext = MIN2(maxNextSpeed(veh->getSpeed(), veh), veh->getLane()->getVehicleMaxSpeed(veh));
const double gap = (vNext - vL) *
((veh->getSpeed() + vL) / (2.*myDecel) + myHeadwayTime) +
vL * myHeadwayTime;
// Don't allow timeHeadWay < deltaT situations.
return MAX2(gap, SPEED2DIST(vNext));
}
SUMOReal
MSCFModel_KraussOrig1::interactionGap(const MSVehicle * const veh, SUMOReal vL) const throw() {
// Resolve the vsafe equation to gap. Assume predecessor has
// speed != 0 and that vsafe will be the current speed plus acceleration,
// i.e that with this gap there will be no interaction.
SUMOReal vNext = MIN2(maxNextSpeed(veh->getSpeed()), veh->getLane().getMaxSpeed());
SUMOReal gap = (vNext - vL) *
((veh->getSpeed() + vL) * myInverseTwoDecel + myTau) +
vL * myTau;
// Don't allow timeHeadWay < deltaT situations.
return MAX2(gap, SPEED2DIST(vNext));
}
SUMOReal
MSCFModel_SmartSK::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
SSKVehicleVariables* vars = (SSKVehicleVariables*)veh->getCarFollowVariables();
// if (((gap - vars->gOld) < maxDeltaGap) && (speed>=5.0) && gap>=5.0) {
if ((gap - vars->gOld) < maxDeltaGap) {
SUMOReal tTauTest = gap / speed;
// allow headway only to decrease only, never to increase. Increase is handled automatically by the headway dynamics in moveHelper()!!!
if ((tTauTest < vars->myHeadway) && (tTauTest > TS)) {
vars->myHeadway = tTauTest;
}
}
return MAX2(getSpeedAfterMaxDecel(speed), MIN2(_vsafe(veh, gap, 0), maxNextSpeed(speed, veh)));
}
SUMOReal
MSCFModel_Daniel1::moveHelper(MSVehicle* const veh, SUMOReal vPos) const {
const SUMOReal oldV = veh->getSpeed(); // save old v for optional acceleration computation
const SUMOReal vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
// we need the acceleration for emission computation;
// in this case, we neglect dawdling, nonetheless, using
// vSafe does not incorporate speed reduction due to interaction
// on lane changing
const SUMOReal vMin = getSpeedAfterMaxDecel(oldV);
const SUMOReal vMax = MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe);
#ifdef _DEBUG
if (vMin > vMax) {
WRITE_WARNING("Vehicle's '" + veh->getID() + "' maximum speed is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
}
#endif
return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, dawdle(vMax)), vMax, *this);
}
double
MSCFModel_ACC::finalizeSpeed(MSVehicle* const veh, double vPos) const {
const double oldV = veh->getSpeed(); // save old v for optional acceleration computation
const double vSafe = MIN2(vPos, veh->processNextStop(vPos)); // process stops
// we need the acceleration for emission computation;
// in this case, we neglect dawdling, nonetheless, using
// vSafe does not incorporate speed reduction due to interaction
// on lane changing
// const double vMin = getSpeedAfterMaxDecel(oldV);
const double vMin = minNextSpeed(oldV);
const double vMax = MAX2(vMin, MIN3(veh->getLane()->getVehicleMaxSpeed(veh), maxNextSpeed(oldV, veh), vSafe));
#ifdef _DEBUG
//if (vMin > vMax) {
// WRITE_WARNING("Maximum speed of vehicle '" + veh->getID() + "' is lower than the minimum speed (min: " + toString(vMin) + ", max: " + toString(vMax) + ").");
//}
#endif
return veh->getLaneChangeModel().patchSpeed(vMin, MAX2(vMin, vMax), vMax, *this);
}
SUMOReal
MSCFModel_SmartSK::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
SSKVehicleVariables* vars = (SSKVehicleVariables*)veh->getCarFollowVariables();
// if (((gap - vars->gOld) < maxDeltaGap) && (speed>=5.0) && gap>=5.0) {
if ((gap - vars->gOld) < maxDeltaGap) {
SUMOReal tTauTest = gap / speed;
// allow headway only to decrease only, never to increase. Increase is handled automatically by the headway dynamics in moveHelper()!!!
if ((tTauTest < vars->myHeadway) && (tTauTest > TS)) {
vars->myHeadway = tTauTest;
}
}
SUMOReal vsafe = _vsafe(veh, gap, predSpeed);
if ((speed <= 0.0) && (vsafe < myS2Sspeed)) {
vsafe = 0;
}
SUMOReal vNew = MAX2(getSpeedAfterMaxDecel(speed), MIN2(vsafe, maxNextSpeed(speed, veh)));
// there must be a better place to do the following assignment!!!
vars->gOld = gap;
vars->ggOld[(int)vNew] = gap;
return vNew;
}
SUMOReal
MSCFModel_Daniel1::stopSpeed(const MSVehicle* const veh, SUMOReal gap) const {
return MIN2(_vsafe(gap, 0), maxNextSpeed(veh->getSpeed(), veh));
}
SUMOReal
MSCFModel_Daniel1::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_Krauss::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
return MIN2(_vsafe(gap, 0, 0), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_Krauss::followSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const {
return MIN2(_vsafe(gap, predSpeed, predMaxDecel), maxNextSpeed(speed, veh));
}
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));
}
SUMOReal
MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_KraussOrig1::stopSpeed(const MSVehicle* const veh, SUMOReal gap) const {
return MIN2(_vsafe(gap, 0), maxNextSpeed(veh->getSpeed()));
}
SUMOReal
MSCFModel_KraussOrig1::followSpeed(const MSVehicle* const /*veh*/, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed, SUMOReal /*predMaxDecel*/) const {
return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed));
}
SUMOReal
MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const SUMOReal speed, SUMOReal gap) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_KraussOrig1::ffeV(const MSVehicle * const veh, SUMOReal speed, SUMOReal gap, SUMOReal predSpeed) const throw() {
return MIN2(_vsafe(gap, predSpeed), maxNextSpeed(speed));
}
double
MSCFModel_Kerner::stopSpeed(const MSVehicle* const veh, const double speed, double gap) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, 0), maxNextSpeed(speed, veh));
}
double
MSCFModel_Kerner::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double /*predMaxDecel*/, const MSVehicle* const /*pred*/) const {
return MIN2(_v(veh, speed, maxNextSpeed(speed, veh), gap, predSpeed), maxNextSpeed(speed, veh));
}
SUMOReal
MSCFModel_KraussOrig1::ffeV(const MSVehicle * const veh, const MSVehicle *pred) const throw() {
return MIN2(_vsafe(veh->gap2pred(*pred), pred->getSpeed()), maxNextSpeed(veh->getSpeed()));
}
