Eclipse SUMO - Simulation of Urban MObility
MSCFModel_CACC.h
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2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2001-2023 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
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7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
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12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
18// CACC car-following model based on [1], [2].
19// [1] Milanes, V., and S. E. Shladover. Handling Cut-In Vehicles in Strings
20// of Cooperative Adaptive Cruise Control Vehicles. Journal of Intelligent
21// Transportation Systems, Vol. 20, No. 2, 2015, pp. 178-191.
22// [2] Xiao, L., M. Wang and B. van Arem. Realistic Car-Following Models for
23// Microscopic Simulation of Adaptive and Cooperative Adaptive Cruise
24// Control Vehicles. Transportation Research Record: Journal of the
25// Transportation Research Board, No. 2623, 2017. (DOI: 10.3141/2623-01).
26/****************************************************************************/
27#pragma once
28#include <config.h>
29
30#include "MSCFModel.h"
31#include "MSCFModel_ACC.h"
33
34// ===========================================================================
35// class declarations
36// ===========================================================================
37class MSVehicle;
38class MSVehicleType;
39
40// ===========================================================================
41// class definitions
42// ===========================================================================
47class MSCFModel_CACC : public MSCFModel {
48public:
53 MSCFModel_CACC(const MSVehicleType* vtype);
54
57
58
61
76 double freeSpeed(const MSVehicle* const veh, double speed, double seen,
77 double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
78
87 double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
88 double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
89
90
98 double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
99
100
108 double getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
109
117 double insertionFollowSpeed(const MSVehicle* const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
118
119
129 double interactionGap(const MSVehicle* const, double vL) const;
130
134 void setHeadwayTime(double headwayTime) {
135 myHeadwayTime = headwayTime;
136 myHeadwayTimeACC = headwayTime;
137 acc_CFM.setHeadwayTime(headwayTime);
138 }
139
147 virtual std::string getParameter(const MSVehicle* veh, const std::string& key) const;
148
149
157 virtual void setParameter(MSVehicle* veh, const std::string& key, const std::string& value) const;
158
159
164 int getModelID() const {
165 return SUMO_TAG_CF_CACC;
166 }
167
172 double maximumLaneSpeedCF(const MSVehicle* const veh, double maxSpeed, double maxSpeedLane) const {
173 double result = MIN2(maxSpeed, maxSpeedLane);
174 if (myApplyDriverstate) {
175 applyOwnSpeedPerceptionError(veh, result);
176 }
177 return result;
178 }
180
181
182
187 MSCFModel* duplicate(const MSVehicleType* vtype) const;
188
191 ret->ACC_ControlMode = 0;
192 ret->CACC_ControlMode = 0;
194 ret->lastUpdateTime = 0;
195 return ret;
196 }
197
198
199private:
205 };
206
207 static std::map<std::string, CommunicationsOverrideMode> CommunicationsOverrideModeMap;
208
217 };
218
220 static std::map<VehicleMode, std::string> VehicleModeNames;
221
223 public:
228 };
229
230private:
231 double _v(const MSVehicle* const veh, const MSVehicle* const pred, const double gap2pred, const double mySpeed,
232 const double predSpeed, const double desSpeed, const bool respectMinGap, const CalcReason usage = CalcReason::CURRENT) const;
233
234 double speedSpeedControl(const double speed, double vErr, VehicleMode& vehMode) const;
235 double speedGapControl(const MSVehicle* const veh, const double gap2pred,
236 const double speed, const double predSpeed, const double desSpeed, double vErr,
237 const MSVehicle* const pred, VehicleMode& vehMode) const;
238
239private:
252
253private:
256};
257
@ SUMO_TAG_CF_CACC
T MIN2(T a, T b)
Definition: StdDefs.h:76
int ACC_ControlMode
The vehicle's ACC control mode. 0 for speed control and 1 for gap control.
The ACC car-following model.
Definition: MSCFModel_ACC.h:47
CommunicationsOverrideMode CACC_CommunicationsOverrideMode
int CACC_ControlMode
The vehicle's CACC precious time step gap error.
The CACC car-following model.
virtual std::string getParameter(const MSVehicle *veh, const std::string &key) const
try to get the given parameter for this carFollowingModel
MSCFModel_ACC acc_CFM
double getSecureGap(const MSVehicle *const veh, const MSVehicle *const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const
Returns the a gap such that the gap mode acceleration of the follower is zero.
double freeSpeed(const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false, const CalcReason usage=CalcReason::CURRENT) const
Computes the vehicle's safe speed without a leader.
double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0, const CalcReason usage=CalcReason::CURRENT) const
Computes the vehicle's safe speed (no dawdling)
MSCFModel_CACC(const MSVehicleType *vtype)
Constructor.
double myGapControlGainGap
double stopSpeed(const MSVehicle *const veh, const double speed, double gap2pred, double decel, const CalcReason usage=CalcReason::CURRENT) const
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
double myApplyDriverstate
virtual void setParameter(MSVehicle *veh, const std::string &key, const std::string &value) const
try to set the given parameter for this carFollowingModel
double myGapClosingControlGainGap
double _v(const MSVehicle *const veh, const MSVehicle *const pred, const double gap2pred, const double mySpeed, const double predSpeed, const double desSpeed, const bool respectMinGap, const CalcReason usage=CalcReason::CURRENT) const
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
double speedSpeedControl(const double speed, double vErr, VehicleMode &vehMode) const
virtual MSCFModel::VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
double myEmergencyThreshold
double insertionFollowSpeed(const MSVehicle *const v, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
Computes the vehicle's acceptable speed at insertion.
double myGapClosingControlGainGapDot
static std::map< std::string, CommunicationsOverrideMode > CommunicationsOverrideModeMap
double maximumLaneSpeedCF(const MSVehicle *const veh, double maxSpeed, double maxSpeedLane) const
Returns the maximum velocity the CF-model wants to achieve in the next step.
double mySpeedControlGain
double myCollisionAvoidanceGainGapDot
double speedGapControl(const MSVehicle *const veh, const double gap2pred, const double speed, const double predSpeed, const double desSpeed, double vErr, const MSVehicle *const pred, VehicleMode &vehMode) const
double myHeadwayTimeACC
double myGapControlGainGapDot
int getModelID() const
Returns the model's name.
~MSCFModel_CACC()
Destructor.
VehicleMode
Vehicle mode (default is CACC) Switch to ACC mode if CACC_ControlMode = 1 (gap control mode) and lead...
MSCFModel_CACC & operator=(const MSCFModel_CACC &s)
Invalidated assignment operator.
double mySpeedControlMinGap
void setHeadwayTime(double headwayTime)
Sets a new value for desired headway [s].
static std::map< VehicleMode, std::string > VehicleModeNames
Vehicle mode name map.
double myCollisionAvoidanceGainGap
double interactionGap(const MSVehicle *const, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
The car-following model abstraction.
Definition: MSCFModel.h:55
virtual void setHeadwayTime(double headwayTime)
Sets a new value for desired headway [s].
Definition: MSCFModel.h:568
CalcReason
What the return value of stop/follow/free-Speed is used for.
Definition: MSCFModel.h:77
void applyOwnSpeedPerceptionError(const MSVehicle *const veh, double &speed) const
Overwrites sped by the perceived values obtained from the vehicle's driver state,.
Definition: MSCFModel.cpp:1054
double myHeadwayTime
The driver's desired time headway (aka reaction time tau) [s].
Definition: MSCFModel.h:704
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
The car-following model and parameter.
Definition: MSVehicleType.h:63