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;
}
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);
}