SUMO - Simulation of Urban MObility
MSCFModel_Krauss Class Reference

Krauss car-following model, with acceleration decrease and faster start. More...

#include <MSCFModel_Krauss.h>

Inheritance diagram for MSCFModel_Krauss:
MSCFModel_KraussOrig1 MSCFModel

Public Member Functions

MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model.
 MSCFModel_Krauss (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal dawdle, SUMOReal headwayTime)
 Constructor.
 ~MSCFModel_Krauss ()
 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.
Implementations of the MSCFModel interface
SUMOReal moveHelper (MSVehicle *const veh, SUMOReal vPos) const
 Applies interaction with stops and lane changing model influences.
SUMOReal getImperfection () const
 Get the driver's imperfection.
Setter methods
void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2].
void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection.
void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s].
Methods to override by model implementation
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 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].

Protected Attributes

SUMOReal myAccel
 The vehicle's maximum acceleration [m/s^2].
SUMOReal myDawdle
 The vehicle's dawdle-parameter. 0 for no dawdling, 1 for max.
SUMOReal myDecel
 The vehicle's maximum deceleration [m/s^2].
SUMOReal myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s].
SUMOReal myTauDecel
 The precomputed value for myDecel*myTau.
const MSVehicleTypemyType
 The type to which this model definition belongs to.

Private Member Functions

SUMOReal _vsafe (SUMOReal gap, SUMOReal predSpeed, SUMOReal predMaxDecel) const
 Returns the "safe" velocity.
SUMOReal dawdle (SUMOReal speed) const
 Applies driver imperfection (dawdling / sigma)

Detailed Description

Krauss car-following model, with acceleration decrease and faster start.

See also:
MSCFModel

Definition at line 46 of file MSCFModel_Krauss.h.


Constructor & Destructor Documentation

MSCFModel_Krauss::MSCFModel_Krauss ( const MSVehicleType vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  dawdle,
SUMOReal  headwayTime 
)

Constructor.

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

Definition at line 45 of file MSCFModel_Krauss.cpp.

Referenced by duplicate().

Destructor.

Definition at line 51 of file MSCFModel_Krauss.cpp.


Member Function Documentation

SUMOReal MSCFModel_Krauss::_vsafe ( SUMOReal  gap,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const [private]

Returns the "safe" velocity.

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

Returns the SK-vsafe.

Definition at line 85 of file MSCFModel_Krauss.cpp.

References ACCEL2SPEED, MSCFModel::myDecel, MSCFModel_KraussOrig1::myTauDecel, 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().

SUMOReal MSCFModel_Krauss::dawdle ( SUMOReal  speed) const [private, virtual]

Applies driver imperfection (dawdling / sigma)

Parameters:
[in]speedThe speed with no dawdling
Returns:
The speed after dawdling

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 67 of file MSCFModel_Krauss.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, RandHelper::rand(), and SUMOReal.

MSCFModel * MSCFModel_Krauss::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

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 103 of file MSCFModel_Krauss.cpp.

References MSCFModel_Krauss(), MSCFModel::myAccel, MSCFModel_KraussOrig1::myDawdle, MSCFModel::myDecel, and MSCFModel::myHeadwayTime.

SUMOReal MSCFModel_Krauss::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

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 55 of file MSCFModel_Krauss.cpp.

References _vsafe(), MSCFModel::getSpeedAfterMaxDecel(), MAX2(), 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().

SUMOReal MSCFModel_KraussOrig1::getImperfection ( ) const [inline, virtual, inherited]

Get the driver's imperfection.

Returns:
The imperfection of drivers of this class

Reimplemented from MSCFModel.

Definition at line 105 of file MSCFModel_KraussOrig1.h.

References MSCFModel_KraussOrig1::myDawdle.

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_Krauss::getModelID ( ) const [inline, virtual]

Returns the model's name.

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

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 89 of file MSCFModel_Krauss.h.

References SUMO_TAG_CF_KRAUSS.

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

SUMOReal MSCFModel_KraussOrig1::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 from MSCFModel.

Definition at line 55 of file MSCFModel_KraussOrig1.cpp.

References ACCEL2SPEED, MSCFModel_KraussOrig1::dawdle(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSLane::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), MSCFModel::maxNextSpeed(), MIN2(), MIN3(), MSCFModel::myDecel, MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), MSVehicle::setPreDawdleAcceleration(), SPEED2ACCEL, SUMOReal, toString(), and WRITE_WARNING.

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.

void MSCFModel_KraussOrig1::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 from MSCFModel.

Definition at line 134 of file MSCFModel_KraussOrig1.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and MSCFModel_KraussOrig1::myTauDecel.

void MSCFModel_KraussOrig1::setImperfection ( SUMOReal  imperfection) [inline, virtual, inherited]

Sets a new value for driver imperfection.

Parameters:
[in]accelThe new driver imperfection

Reimplemented from MSCFModel.

Definition at line 126 of file MSCFModel_KraussOrig1.h.

References MSCFModel_KraussOrig1::myDawdle.

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().

void MSCFModel_KraussOrig1::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 from MSCFModel.

Definition at line 117 of file MSCFModel_KraussOrig1.h.

References MSCFModel::myDecel, MSCFModel::myHeadwayTime, and MSCFModel_KraussOrig1::myTauDecel.

SUMOReal MSCFModel_Krauss::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

Reimplemented from MSCFModel_KraussOrig1.

Definition at line 61 of file MSCFModel_Krauss.cpp.

References _vsafe(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MAX2(), MSCFModel::maxNextSpeed(), and MIN2().


Field Documentation

The precomputed value for myDecel*myTau.

Definition at line 167 of file MSCFModel_KraussOrig1.h.

Referenced by _vsafe(), MSCFModel_KraussOrig1::_vsafe(), MSCFModel_KraussOrig1::setHeadwayTime(), and MSCFModel_KraussOrig1::setMaxDecel().

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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