SUMO - Simulation of Urban MObility
MSCFModel_Kerner Class Reference

car-following model by B. Kerner More...

#include <MSCFModel_Kerner.h>

Inheritance diagram for MSCFModel_Kerner:
MSCFModel

Public Member Functions

MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model.
 MSCFModel_Kerner (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime, SUMOReal k, SUMOReal phi)
 Constructor.
 ~MSCFModel_Kerner ()
 Destructor.
Implementations of the MSCFModel interface
SUMOReal followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Computes the vehicle's safe speed (no dawdling)
SUMOReal stopSpeed (const MSVehicle *const veh, SUMOReal gap2pred) const
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
int getModelID () const
 Returns the model's name.
Methods to override by model implementation
virtual SUMOReal moveHelper (MSVehicle *const veh, SUMOReal vPos) const
 Applies interaction with stops and lane changing model influences.
virtual SUMOReal freeSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal seen, SUMOReal maxSpeed) const
 Computes the vehicle's safe speed without a leader.
virtual SUMOReal interactionGap (const MSVehicle *const veh, SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs.
virtual void saveState (std::ostream &os)
 Saves the model's definition into the state.
virtual VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting.
Virtual methods with default implementation
virtual SUMOReal getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2].
virtual SUMOReal getMaxDecel () const
 Get the vehicle type's maximum deceleration [m/s^2].
virtual SUMOReal getImperfection () const
 Get the driver's imperfection.
virtual SUMOReal getHeadwayTime () const
 Get the driver's reaction time [s].
Currently fixed methods
void leftVehicleVsafe (const MSVehicle *const ego, const MSVehicle *const neigh, SUMOReal &vSafe) const
 Incorporates the influence of the vehicle on the left lane.
SUMOReal maxNextSpeed (SUMOReal speed) const
 Returns the maximum speed given the current speed.
SUMOReal brakeGap (SUMOReal speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time.
SUMOReal getSecureGap (const SUMOReal speed, const SUMOReal leaderSpeed, const SUMOReal leaderMaxDecel) const
 Returns the minimum gap to reserve if the leader is braking at maximum.
SUMOReal getSpeedAfterMaxDecel (SUMOReal v) const
 Returns the velocity after maximum deceleration.
Setter methods
virtual void setMaxAccel (SUMOReal accel)
 Sets a new value for maximum acceleration [m/s^2].
virtual void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2].
virtual void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection.
virtual void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s].

Protected Attributes

SUMOReal myAccel
 The vehicle's maximum acceleration [m/s^2].
SUMOReal myDecel
 The vehicle's maximum deceleration [m/s^2].
SUMOReal myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s].
const MSVehicleTypemyType
 The type to which this model definition belongs to.

Private Member Functions

SUMOReal _v (SUMOReal speed, SUMOReal vfree, SUMOReal gap, SUMOReal predSpeed) const
 Returns the "safe" velocity.

Private Attributes

model parameter

Kerner's k

SUMOReal myK
SUMOReal myPhi
 Kerner's phi.
SUMOReal myTauDecel
 The precomputed value for myDecel*myTau.

Detailed Description

car-following model by B. Kerner

See also:
MSCFModel

Definition at line 44 of file MSCFModel_Kerner.h.


Constructor & Destructor Documentation

MSCFModel_Kerner::MSCFModel_Kerner ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime,
SUMOReal  k,
SUMOReal  phi 
)

Constructor.

Parameters:
[in]accelThe maximum acceleration
[in]decelThe maximum deceleration
[in]dawdleThe driver imperfection
[in]tauThe driver's reaction time

Definition at line 42 of file MSCFModel_Kerner.cpp.

Referenced by duplicate().

Destructor.

Definition at line 48 of file MSCFModel_Kerner.cpp.


Member Function Documentation

SUMOReal MSCFModel_Kerner::_v ( SUMOReal  speed,
SUMOReal  vfree,
SUMOReal  gap,
SUMOReal  predSpeed 
) const [private]

Returns the "safe" velocity.

Parameters:
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe LEADER's speed
Returns:
the safe velocity

Definition at line 65 of file MSCFModel_Kerner.cpp.

References ACCEL2SPEED, MAX2(), MIN2(), MIN3(), MIN4(), MSCFModel::myAccel, MSCFModel::myDecel, myK, myPhi, myTauDecel, RandHelper::rand(), SPEED2DIST, and SUMOReal.

Referenced by followSpeed(), and stopSpeed().

SUMOReal MSCFModel::brakeGap ( SUMOReal  speed) const [inherited]
virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const [inline, virtual, inherited]

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, and MSCFModel_PWag2009.

Definition at line 157 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

MSCFModel * MSCFModel_Kerner::duplicate ( const MSVehicleType vtype) const [virtual]

Duplicates the car-following model.

Parameters:
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns:
A duplicate of this car-following model

Implements MSCFModel.

Definition at line 80 of file MSCFModel_Kerner.cpp.

References MSCFModel_Kerner(), MSCFModel::myAccel, MSCFModel::myDecel, MSCFModel::myHeadwayTime, myK, and myPhi.

SUMOReal MSCFModel_Kerner::followSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const [virtual]

Computes the vehicle's safe speed (no dawdling)

Parameters:
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns:
EGO's safe speed
See also:
MSCFModel::ffeV

Implements MSCFModel.

Definition at line 52 of file MSCFModel_Kerner.cpp.

References _v(), MSCFModel::maxNextSpeed(), and MIN2().

virtual SUMOReal MSCFModel::freeSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  seen,
SUMOReal  maxSpeed 
) const [inline, virtual, inherited]

Computes the vehicle's safe speed without a leader.

Returns the velocity of the vehicle in dependence to the length of the free street and the target velocity at the end of the free range.

Parameters:
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
Returns:
EGO's safe speed

Definition at line 96 of file MSCFModel.h.

References MSCFModel::followSpeed().

Referenced by getMaxSpeedRegardingNextLanes(), MSLane::isInsertionSuccess(), MSVehicle::moveRegardingCritical(), and MSVehicle::vsafeCriticalCont().

virtual SUMOReal MSCFModel::getHeadwayTime ( ) const [inline, virtual, inherited]

Get the driver's reaction time [s].

Returns:
The reaction time of this class' drivers in s

Definition at line 193 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by MSVehicle::checkRewindLinkLanes(), TraCIServerAPI_VehicleType::getVariable(), MSLane::maxSpeedGapInsertion(), MSVehicle::moveChecked(), MSLane::pWagSimpleInsertion(), and MSVehicle::vsafeCriticalCont().

virtual SUMOReal MSCFModel::getImperfection ( ) const [inline, virtual, inherited]

Get the driver's imperfection.

Returns:
The imperfection of drivers of this class

Reimplemented in MSCFModel_KraussOrig1, and MSCFModel_PWag2009.

Definition at line 185 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

virtual SUMOReal MSCFModel::getMaxAccel ( ) const [inline, virtual, inherited]

Get the vehicle type's maximum acceleration [m/s^2].

Returns:
The maximum acceleration (in m/s^2) of vehicles of this class

Definition at line 169 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::getVariable(), MSCFModel::maxNextSpeed(), MSVehicle::vsafeCriticalCont(), and MSMeanData_HBEFA::MSLaneMeanDataValues::write().

int MSCFModel_Kerner::getModelID ( ) const [inline, virtual]

Returns the model's name.

Returns:
The model's name
See also:
MSCFModel::getModelName

Implements MSCFModel.

Definition at line 87 of file MSCFModel_Kerner.h.

References SUMO_TAG_CF_BKERNER.

SUMOReal MSCFModel::getSecureGap ( const SUMOReal  speed,
const SUMOReal  leaderSpeed,
const SUMOReal  leaderMaxDecel 
) const [inline, inherited]

Returns the minimum gap to reserve if the leader is braking at maximum.

Parameters:
[in]speedEGO's speed
[in]leaderSpeedLEADER's speed
[in]leaderMaxDecelLEADER's max. deceleration rate

Definition at line 239 of file MSCFModel.h.

References ACCEL2SPEED, MSCFModel::brakeGap(), MAX2(), SPEED2DIST, and SUMOReal.

Referenced by MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSLane::freeInsertion(), MSLCM_DK2004::informBlocker(), and MSLane::isInsertionSuccess().

SUMOReal MSCFModel::getSpeedAfterMaxDecel ( SUMOReal  v) const [inline, inherited]

Returns the velocity after maximum deceleration.

Parameters:
[in]vThe velocity
Returns:
The velocity after maximum deceleration

Definition at line 250 of file MSCFModel.h.

References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, and SUMOReal.

Referenced by MSCFModel_Krauss::followSpeed(), MSVehicle::moveRegardingCritical(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSVehicle::vsafeCriticalCont().

SUMOReal MSCFModel::interactionGap ( const MSVehicle *const  veh,
SUMOReal  vL 
) const [virtual, inherited]

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters:
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns:
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 71 of file MSCFModel.cpp.

References MSVehicle::getLane(), MSLane::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MSCFModel::myDecel, MSCFModel::myHeadwayTime, SPEED2DIST, and SUMOReal.

Referenced by MSAbstractLaneChangeModel::predInteraction().

void MSCFModel::leftVehicleVsafe ( const MSVehicle *const  ego,
const MSVehicle *const  neigh,
SUMOReal vSafe 
) const [inherited]

Incorporates the influence of the vehicle on the left lane.

In Germany, vehicles on the right lane must not pass a vehicle on the lane left to the if the allowed velocity>60km/h

Parameters:
[in]egoThe ego vehicle
[in]neighThe neighbor vehicle on the left lane
[in,out]vSafeCurrent vSafe; may be adapted due to the left neighbor

Definition at line 86 of file MSCFModel.cpp.

References MSCFModel::followSpeed(), MSVehicle::getCarFollowModel(), MSVehicleType::getLength(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), MIN2(), and SUMOReal.

Referenced by MSVehicle::moveRegardingCritical().

SUMOReal MSCFModel::maxNextSpeed ( SUMOReal  speed) const [inherited]

Returns the maximum speed given the current speed.

The implementation of this method must take into account the time step duration.

Justification: Due to air brake or other influences, the vehicle's next maximum speed may depend on the vehicle's current speed (given).

Parameters:
[in]speedThe vehicle's current speed
Returns:
The maximum possible speed for the next step

Definition at line 98 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), MSCFModel::myType, and SUMOReal.

Referenced by followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLane::getFollowerOnConsecutive(), MSCFModel::interactionGap(), MSVehicle::moveChecked(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel::moveHelper(), MSVehicle::moveRegardingCritical(), MSLCM_DK2004::patchSpeed(), stopSpeed(), MSCFModel_Krauss::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSVehicle::vsafeCriticalCont().

SUMOReal MSCFModel::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const [virtual, inherited]

Applies interaction with stops and lane changing model influences.

Parameters:
[in]vehThe ego vehicle
[in]vPosThe possible velocity
Returns:
The velocity after applying interactions with stops and lane change model influences

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, and MSCFModel_PWag2009.

Definition at line 55 of file MSCFModel.cpp.

References ACCEL2SPEED, MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSLane::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSCFModel::myDecel, MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), MSVehicle::setPreDawdleAcceleration(), SPEED2ACCEL, and SUMOReal.

Referenced by MSVehicle::moveChecked().

void MSCFModel::saveState ( std::ostream &  os) [virtual, inherited]

Saves the model's definition into the state.

Parameters:
[in]osThe output to write the definition into

Definition at line 113 of file MSCFModel.cpp.

virtual void MSCFModel::setHeadwayTime ( SUMOReal  headwayTime) [inline, virtual, inherited]

Sets a new value for driver reaction time [s].

Parameters:
[in]headwayTimeThe new driver reaction time (in s)

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 286 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection) [inline, virtual, inherited]

Sets a new value for driver imperfection.

Parameters:
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 278 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxAccel ( SUMOReal  accel) [inline, virtual, inherited]

Sets a new value for maximum acceleration [m/s^2].

Parameters:
[in]accelThe new acceleration in m/s^2

Definition at line 262 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel) [inline, virtual, inherited]

Sets a new value for maximum deceleration [m/s^2].

Parameters:
[in]accelThe new deceleration in m/s^2

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 270 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

SUMOReal MSCFModel_Kerner::stopSpeed ( const MSVehicle *const  veh,
SUMOReal  gap2pred 
) const [virtual]

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)

Parameters:
[in]vehThe vehicle (EGO)
[in]gap2predThe (netto) distance to the the obstacle
Returns:
EGO's safe speed for approaching a non-moving obstacle
See also:
MSCFModel::ffeS
Todo:
generic Interface, models can call for the values they need

Implements MSCFModel.

Definition at line 58 of file MSCFModel_Kerner.cpp.

References _v(), MSVehicle::getSpeed(), MSCFModel::maxNextSpeed(), MIN2(), and SUMOReal.


Field Documentation

Definition at line 115 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

Kerner's phi.

Definition at line 118 of file MSCFModel_Kerner.h.

Referenced by _v(), and duplicate().

The precomputed value for myDecel*myTau.

Definition at line 121 of file MSCFModel_Kerner.h.

Referenced by _v().

const MSVehicleType* MSCFModel::myType [protected, inherited]

The type to which this model definition belongs to.

Definition at line 294 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), and MSCFModel::maxNextSpeed().


The documentation for this class was generated from the following files:
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