Eclipse SUMO - Simulation of Urban MObility
MSCFModel_CC Class Reference

A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI. More...

#include <MSCFModel_CC.h>

Inheritance diagram for MSCFModel_CC:
Collaboration diagram for MSCFModel_CC:

Public Member Functions

double calculateEmergencyDeceleration (double gap, double egoSpeed, double predSpeed, double predMaxDecel) const
 Returns the minimal deceleration for following the given leader safely. More...
 
VehicleVariablescreateVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting. More...
 
MSCFModelduplicate (const MSVehicleType *vtype) const
 Duplicates the car-following model. More...
 
double estimateSpeedAfterDistance (const double dist, const double v, const double accel) const
 
double getACCAcceleration (const MSVehicle *veh) const
 returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front More...
 
enum Plexe::ACTIVE_CONTROLLER getActiveController (const MSVehicle *veh) const
 return the currently active controller More...
 
double getApparentDecel () const
 Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers. More...
 
double getCACCConstantSpacing (const MSVehicle *veh) const
 returns CACC desired constant spacing More...
 
double getCollisionMinGapFactor () const
 Get the factor of minGap that must be maintained to avoid a collision event. More...
 
double getEmergencyDecel () const
 Get the vehicle type's maximal phisically possible deceleration [m/s^2]. More...
 
double getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2]. More...
 
double getMaxDecel () const
 Get the vehicle type's maximal comfortable deceleration [m/s^2]. More...
 
double getMinimalArrivalSpeed (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance. More...
 
double getMinimalArrivalSpeedEuler (double dist, double currentSpeed) const
 Computes the minimal possible arrival speed after covering a given distance for Euler update. More...
 
SUMOTime getMinimalArrivalTime (double dist, double currentSpeed, double arrivalSpeed) const
 Computes the minimal time needed to cover a distance given the desired speed at arrival. More...
 
int getMyLanesCount () const
 returns the number of lanes set in the configuration file More...
 
virtual std::string getParameter (const MSVehicle *veh, const std::string &key) const
 set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code More...
 
void getRadarMeasurements (const MSVehicle *veh, double &distance, double &relativeSpeed) const
 return the data that is currently being measured by the radar More...
 
void getVehicleInformation (const MSVehicle *veh, double &speed, double &acceleration, double &controllerAcceleration, Position &position, double &time) const
 get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles More...
 
double maximumSafeFollowSpeed (double gap, double egoSpeed, double predSpeed, double predMaxDecel, bool onInsertion=false) const
 Returns the maximum safe velocity for following the given leader. More...
 
double maximumSafeStopSpeed (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap. More...
 
double maximumSafeStopSpeedBallistic (double gap, double currentSpeed, bool onInsertion=false, double headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the ballistic positional update. More...
 
double maximumSafeStopSpeedEuler (double gap, double headway=-1) const
 Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update. More...
 
 MSCFModel_CC (const MSVehicleType *vtype)
 Constructor. More...
 
virtual void setParameter (MSVehicle *veh, const std::string &key, const std::string &value) const
 try to set the given parameter for this carFollowingModel More...
 
void switchOnACC (const MSVehicle *veh, double ccDesiredSpeed) const
 switch on the ACC, so disabling the human driver car control More...
 
 ~MSCFModel_CC ()
 Destructor. More...
 
Implementations of the MSCFModel interface
virtual double finalizeSpeed (MSVehicle *const veh, double vPos) const
 Applies interaction with stops and lane changing model influences. More...
 
double followSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
 Computes the vehicle's safe speed (no dawdling) More...
 
virtual double insertionFollowSpeed (const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
 Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints. More...
 
double stopSpeed (const MSVehicle *const veh, const double speed, double gap2pred) const
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) More...
 
virtual double freeSpeed (const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false) const
 Computes the vehicle's safe speed without a leader. More...
 
virtual double maxNextSpeed (double speed, const MSVehicle *const veh) const
 Returns the maximum speed given the current speed. More...
 
virtual double minNextSpeed (double speed, const MSVehicle *const veh=0) const
 Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More...
 
double interactionGap (const MSVehicle *const, double vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs. More...
 
int getModelID () const
 Returns the model's name. More...
 

Static Public Member Functions

static double avoidArrivalAccel (double dist, double time, double speed, double maxDecel)
 Computes the acceleration needed to arrive not before the given time. More...
 
static double distAfterTime (double t, double speed, double accel)
 calculates the distance travelled after accelerating for time t More...
 
static double estimateArrivalTime (double dist, double initialSpeed, double arrivalSpeed, double maxSpeed, double accel, double decel)
 Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double estimateArrivalTime (double dist, double speed, double maxSpeed, double accel)
 Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed. More...
 
static double gapExtrapolation (const double duration, const double currentGap, double v1, double v2, double a1=0, double a2=0, const double maxV1=std::numeric_limits< double >::max(), const double maxV2=std::numeric_limits< double >::max())
 return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'. More...
 
static double passingTime (const double lastPos, const double passedPos, const double currentPos, const double lastSpeed, const double currentSpeed)
 Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero. More...
 
static double speedAfterTime (const double t, const double oldSpeed, const double dist)
 Calculates the speed after a time t \in [0,TS] given the initial speed and the distance traveled in an interval of step length TS. More...
 

Protected Member Functions

void applyHeadwayAndSpeedDifferencePerceptionErrors (const MSVehicle *const veh, double speed, double &gap, double &predSpeed, double predMaxDecel, const MSVehicle *const pred) const
 Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,. More...
 
void applyHeadwayPerceptionError (const MSVehicle *const veh, double speed, double &gap) const
 Overwrites gap by the perceived value obtained from the vehicle's driver state. More...
 

Protected Attributes

double myAccel
 The vehicle's maximum acceleration [m/s^2]. More...
 
double myApparentDecel
 The vehicle's deceleration as expected by surrounding traffic [m/s^2]. More...
 
double myCollisionMinGapFactor
 The factor of minGap that must be maintained to avoid a collision event. More...
 
double myDecel
 The vehicle's maximum deceleration [m/s^2]. More...
 
double myEmergencyDecel
 The vehicle's maximum emergency deceleration [m/s^2]. More...
 
double myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s]. More...
 
const MSVehicleTypemyType
 The type to which this model definition belongs to. More...
 

Private Member Functions

double _acc (const MSVehicle *veh, double egoSpeed, double predSpeed, double gap2pred, double headwayTime) const
 controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
 
double _cacc (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred, double leaderSpeed, double leaderAcceleration, double spacing) const
 controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
 
double _cc (const MSVehicle *veh, double egoSpeed, double desSpeed) const
 controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator More...
 
double _consensus (const MSVehicle *veh, double egoSpeed, Position egoPosition, double time) const
 controller based on consensus strategy More...
 
double _flatbed (const MSVehicle *veh, double egoAcceleration, double egoSpeed, double predSpeed, double gap2pred, double leaderSpeed) const
 flatbed platoon towing model More...
 
double _ploeg (const MSVehicle *veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred) const
 controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration. More...
 
double _v (const MSVehicle *const veh, double gap2pred, double egoSpeed, double predSpeed) const
 
double d_i_j (const struct Plexe::VEHICLE_DATA *vehicles, const double h[MAX_N_CARS], int i, int j) const
 computes the desired distance between vehicle i and vehicle j More...
 
MSCFModel_CCoperator= (const MSCFModel_CC &)=delete
 Invalidated assignment operator. More...
 
void performAutoLaneChange (MSVehicle *const veh) const
 
void recomputeParameters (const MSVehicle *veh) const
 Recomputes controller related parameters after setting them. More...
 
void resetConsensus (const MSVehicle *veh) const
 Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology. More...
 

Private Attributes

const double myC1
 design constant for CACC More...
 
const double myCcAccel
 The maximum acceleration that the CC can output. More...
 
const double myCcDecel
 The maximum deceleration that the CC can output. More...
 
const double myConstantSpacing
 the constant gap for CACC More...
 
const double myFlatbedD
 
const double myFlatbedH
 
const double myFlatbedKa
 flatbed CACC parameters More...
 
const double myFlatbedKp
 
const double myFlatbedKv
 
MSCFModelmyHumanDriver
 the car following model which drives the car when automated cruising is disabled, i.e., the human driver More...
 
const double myKp
 design constant for CC More...
 
const double myLambda
 design constant for ACC More...
 
const int myLanesCount
 number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps More...
 
const double myOmegaN
 design constant for CACC More...
 
const double myPloegH
 Ploeg's CACC parameters. More...
 
const double myPloegKd
 
const double myPloegKp
 
const double myTau
 engine time constant used for actuation lag More...
 
const double myXi
 design constant for CACC More...
 

Currently fixed methods

virtual double minNextSpeedEmergency (double speed, const MSVehicle *const veh=0) const
 Returns the minimum speed after emergency braking, given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity. More...
 
double brakeGap (const double speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time tau (i.e. desired headway), assuming that during the reaction time, the speed remains constant. More...
 
virtual double getSecureGap (const MSVehicle *const, const MSVehicle *const, const double speed, const double leaderSpeed, const double leaderMaxDecel) const
 Returns the minimum gap to reserve if the leader is braking at maximum (>=0) More...
 
virtual double getSpeedAfterMaxDecel (double v) const
 Returns the velocity after maximum deceleration. More...
 
static double freeSpeed (const double currentSpeed, const double decel, const double dist, const double maxSpeed, const bool onInsertion, const double actionStepLength)
 
static double brakeGap (const double speed, const double decel, const double headwayTime)
 
static double brakeGapEuler (const double speed, const double decel, const double headwayTime)
 

Detailed Description

A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control (ACC) and Cooperative Adaptive Cruise Control (CACC). Take as references the chapters 5, 6 and 7 of the Rajamani's book "Vehicle dynamics and control" (2011). This model is meant to be used for simulation of platooning systems in mixed scenarios, so with automatic and driver controlled vehicles. The platooning manager is a distributed application implemented for veins (so for omnet++) supported by a 802.11p based communication protocol, which will determine the actions to be performed (such as switching on the automatic controller, or the lane to move to) and communicate them to this car following models via TraCI.

See also
MSCFModel

Definition at line 57 of file MSCFModel_CC.h.

Constructor & Destructor Documentation

◆ MSCFModel_CC()

MSCFModel_CC::MSCFModel_CC ( const MSVehicleType vtype)

Constructor.

Parameters
[in]accelThe maximum acceleration that controllers can output (def. 1.5 m/s^2)
[in]decelThe maximum deceleration that ACC and CACC controllers can output (def. 6 m/s^2)
[in]ccDecelThe maximum deceleration that the CC can output (def. 1.5 m/s^2)
[in]headwayTimethe headway gap for ACC (be aware of instabilities) (def. 1.5 s)
[in]constantSpacingthe constant gap for CACC (def. 5 m)
[in]kpdesign constant for CC (def. 1)
[in]lambdadesign constant for ACC (def. 0.1)
[in]c1design constant for CACC (def. 0.5)
[in]xidesign constant for CACC (def. 1)
[in]omegaNdesign constant for CACC (def. 0.2)
[in]tauengine time constant used for actuation lag (def. 0.5 s)
[in]lanesCountnumber of lanes of the highway
[in]ccAccelthe maximum acceleration the CC can apply

Definition at line 41 of file MSCFModel_CC.cpp.

References myHumanDriver, myLanesCount, and WRITE_ERROR.

Referenced by duplicate().

◆ ~MSCFModel_CC()

MSCFModel_CC::~MSCFModel_CC ( )

Destructor.

Definition at line 73 of file MSCFModel_CC.cpp.

Member Function Documentation

◆ _acc()

double MSCFModel_CC::_acc ( const MSVehicle veh,
double  egoSpeed,
double  predSpeed,
double  gap2pred,
double  headwayTime 
) const
private

controller for the ACC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters
[in]egoSpeedvehicle current speed
[in]desSpeedvehicle desired speed
[in]gap2predthe distance to preceding vehicle
[in]headwayTimethe headway time ACC should maintain
Returns
the acceleration to be given to the actuator

Definition at line 467 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::accLambda, and MSVehicle::getCarFollowVariables().

Referenced by _v(), and getACCAcceleration().

◆ _cacc()

double MSCFModel_CC::_cacc ( const MSVehicle veh,
double  egoSpeed,
double  predSpeed,
double  predAcceleration,
double  gap2pred,
double  leaderSpeed,
double  leaderAcceleration,
double  spacing 
) const
private

controller for the CACC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters
[in]egoSpeedvehicle current speed
[in]desSpeedvehicle desired speed
[in]predAccelerationacceleration of preceding vehicle
[in]gap2predthe distance to preceding vehicle
[in]leaderSpeedthe speed of the platoon leader
[in]leaderAccelerationthe acceleration of the platoon leader
[in]spacingthe spacing to be kept
Returns
the acceleration to be given to the actuator

Definition at line 476 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::caccAlpha1, CC_VehicleVariables::caccAlpha2, CC_VehicleVariables::caccAlpha3, CC_VehicleVariables::caccAlpha4, CC_VehicleVariables::caccAlpha5, and MSVehicle::getCarFollowVariables().

Referenced by _v().

◆ _cc()

double MSCFModel_CC::_cc ( const MSVehicle veh,
double  egoSpeed,
double  desSpeed 
) const
private

controller for the CC which computes the acceleration to be applied. the value needs to be passed to the actuator

Parameters
[in]egoSpeedvehicle current speed
[in]desSpeedvehicle desired speed
Returns
the acceleration to be given to the actuator

Definition at line 458 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::ccKp, MSVehicle::getCarFollowVariables(), myCcAccel, and myCcDecel.

Referenced by _v().

◆ _consensus()

double MSCFModel_CC::_consensus ( const MSVehicle veh,
double  egoSpeed,
Position  egoPosition,
double  time 
) const
private

◆ _flatbed()

double MSCFModel_CC::_flatbed ( const MSVehicle veh,
double  egoAcceleration,
double  egoSpeed,
double  predSpeed,
double  gap2pred,
double  leaderSpeed 
) const
private

flatbed platoon towing model

Parameters
[in]egoAccelerationvehicle current acceleration
[in]egoSpeedvehicle current speed
[in]predSpeedfront vehicle speed
[in]gap2preddistance to front vehicle
[in]leaderSpeedspeed of leading vehicle

Definition at line 600 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, and MSVehicle::getCarFollowVariables().

Referenced by _v().

◆ _ploeg()

double MSCFModel_CC::_ploeg ( const MSVehicle veh,
double  egoSpeed,
double  predSpeed,
double  predAcceleration,
double  gap2pred 
) const
private

controller for the Ploeg's CACC which computes the control input variation. Opposed to other controllers, this method returns a value which needs to be summed to the previous desired acceleration.

Parameters
[in]egoSpeedvehicle current speed
[in]predSpeedthe speed of the front vehicle
[in]predAccelerationacceleration of preceding vehicle
[in]gap2predthe distance to preceding vehicle
Returns
the variation of desired acceleration

Definition at line 489 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, and TS.

Referenced by _v().

◆ _v()

double MSCFModel_CC::_v ( const MSVehicle *const  veh,
double  gap2pred,
double  egoSpeed,
double  predSpeed 
) const
private

Definition at line 296 of file MSCFModel_CC.cpp.

References _acc(), _cacc(), _cc(), _consensus(), _flatbed(), _ploeg(), Plexe::ACC, ACCEL2SPEED, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, CC_VehicleVariables::autoFeed, Plexe::CACC, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::ccDesiredSpeed, Plexe::CONSENSUS, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, DELTA_T, Position::distanceTo2D(), Plexe::DRIVER, Plexe::FAKED_CACC, CC_VehicleVariables::fakeData, CC_VehicleVariables::fixedAcceleration, Plexe::FLATBED, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), getVehicleInformation(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, MAX2(), Plexe::PLOEG, STEPS2TIME, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, and CC_VehicleVariables::usePrediction.

Referenced by followSpeed(), freeSpeed(), and stopSpeed().

◆ applyHeadwayAndSpeedDifferencePerceptionErrors()

void MSCFModel::applyHeadwayAndSpeedDifferencePerceptionErrors ( const MSVehicle *const  veh,
double  speed,
double &  gap,
double &  predSpeed,
double  predMaxDecel,
const MSVehicle *const  pred 
) const
protectedinherited

Overwrites gap2pred and predSpeed by the perceived values obtained from the vehicle's driver state,.

See also
MSCFModel_Krauss::stopSpeed() and MSCFModel_Krauss::followSpeed() for integration into a CF model
Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in,out]gap2predThe (netto) distance to the LEADER
[in,out]predSpeedThe speed of LEADER
[in]predThe leading vehicle (LEADER)

Definition at line 982 of file MSCFModel.cpp.

References DEBUG_COND, MSCFModel::followSpeed(), MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, and UNUSED_PARAMETER.

Referenced by MSCFModel_Krauss::followSpeed(), and MSCFModel_IDM::followSpeed().

◆ applyHeadwayPerceptionError()

void MSCFModel::applyHeadwayPerceptionError ( const MSVehicle *const  veh,
double  speed,
double &  gap 
) const
protectedinherited

Overwrites gap by the perceived value obtained from the vehicle's driver state.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in,out]gapThe (netto) distance to the the obstacle

Definition at line 1018 of file MSCFModel.cpp.

References DEBUG_COND, MSVehicle::getDriverState(), MSBaseVehicle::getID(), MSVehicle::hasDriverState(), SIMTIME, SPEED2ACCEL, MSCFModel::stopSpeed(), and UNUSED_PARAMETER.

Referenced by MSCFModel_Krauss::stopSpeed(), and MSCFModel_IDM::stopSpeed().

◆ avoidArrivalAccel()

double MSCFModel::avoidArrivalAccel ( double  dist,
double  time,
double  speed,
double  maxDecel 
)
staticinherited

Computes the acceleration needed to arrive not before the given time.

Parameters
[in]dist- the distance of the critical point
[in]time- the time after which an arrival at dist is allowed
[in]speed- the current speed
Returns
Returns the acceleration which would ensure an arrival at distance dist earliest for the given time

Definition at line 459 of file MSCFModel.cpp.

Referenced by MSLCM_SL2015::commitManoeuvre().

◆ brakeGap() [1/2]

◆ brakeGap() [2/2]

double MSCFModel::brakeGap ( const double  speed,
const double  decel,
const double  headwayTime 
)
staticinherited

◆ brakeGapEuler()

double MSCFModel::brakeGapEuler ( const double  speed,
const double  decel,
const double  headwayTime 
)
staticinherited

Definition at line 89 of file MSCFModel.cpp.

References ACCEL2SPEED, and SPEED2DIST.

Referenced by MSCFModel::brakeGap(), and MSLCM_SL2015::computeSpeedLat().

◆ calculateEmergencyDeceleration()

double MSCFModel::calculateEmergencyDeceleration ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel 
) const
inherited

Returns the minimal deceleration for following the given leader safely.

Parameters
[in]gapThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
Returns
The minimal deceleration b>0 that, if applied constantly until a full stop, asserts that the vehicle does not crash into the leader.
Note
If b > predMaxDecel, this function actually does not calculate the tangency for the trajectories, i.e. a double root for the gap, but applies a simpler approach following the spirit of maximumSafeFollowSpeed, where the leader's decel is assumed as maximum of its actual value and the followers decel.

Definition at line 928 of file MSCFModel.cpp.

References ACCEL2SPEED, DEBUG_COND2, MSCFModel::myEmergencyDecel, and SIMTIME.

Referenced by MSCFModel::maximumSafeFollowSpeed().

◆ createVehicleVariables()

◆ d_i_j()

double MSCFModel_CC::d_i_j ( const struct Plexe::VEHICLE_DATA vehicles,
const double  h[MAX_N_CARS],
int  i,
int  j 
) const
private

computes the desired distance between vehicle i and vehicle j

Parameters
[in]vehiclesdata about all vehicles
[in]hvector of times headway
[in]iindex of own vehicle
[in]jindex of vehicle to compute distance from
Returns
the desired distance between vehicle i and j

Definition at line 500 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::length, and Plexe::VEHICLE_DATA::speed.

Referenced by _consensus().

◆ distAfterTime()

double MSCFModel::distAfterTime ( double  t,
double  speed,
double  accel 
)
staticinherited

calculates the distance travelled after accelerating for time t

Definition at line 350 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), SPEED2DIST, and TS.

Referenced by MSCFModel::followSpeedTransient().

◆ duplicate()

MSCFModel * MSCFModel_CC::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 1064 of file MSCFModel_CC.cpp.

References MSCFModel_CC().

◆ estimateArrivalTime() [1/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  initialSpeed,
double  arrivalSpeed,
double  maxSpeed,
double  accel,
double  decel 
)
staticinherited

Computes the time needed to travel a distance dist given an initial speed, arrival speed, constant acceleration and deceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]initialSpeedInitial speed of vehicle
[in]arrivalSpeeddesired arrival speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed.
[in]accelAssumed deceleration until reaching targetspeed.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.
Note
Currently, this is still a stub for actually very special situations in LC context: It is assumed that 0==initialSpeed==arrivalSpeed<=maxspeed, accel==decel>0 (because currently this is only used for lane change purposes, where lateral accel == lateral decel)

Definition at line 427 of file MSCFModel.cpp.

References UNUSED_PARAMETER.

◆ estimateArrivalTime() [2/2]

double MSCFModel::estimateArrivalTime ( double  dist,
double  speed,
double  maxSpeed,
double  accel 
)
staticinherited

Computes the time needed to travel a distance dist given an initial speed and constant acceleration. The speed during traveling is assumed not to exceed the max speed.

Parameters
[in]distDistance to be covered (assumed >= 0.)
[in]speedInitial speed of vehicle
[in]accelAssumed acceleration until reaching maxspeed or speed=0.
Returns
Returns the estimated time needed to cover the given distance If distance will never be covered with the given parameters INVALID_DOUBLE (from MSLink.h) is returned.

Definition at line 388 of file MSCFModel.cpp.

References INVALID_DOUBLE, and NUMERICAL_EPS.

Referenced by MSLCM_SL2015::commitManoeuvre(), and MSDevice_SSM::estimateConflictTimes().

◆ estimateSpeedAfterDistance()

double MSCFModel::estimateSpeedAfterDistance ( const double  dist,
const double  v,
const double  accel 
) const
inherited

◆ finalizeSpeed()

◆ followSpeed()

double MSCFModel_CC::followSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel,
const MSVehicle *const  pred = 0 
) 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 210 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::followSpeed(), MSVehicle::getCarFollowVariables(), myHumanDriver, and UNUSED_PARAMETER.

◆ followSpeedTransient()

double MSCFModel::followSpeedTransient ( double  duration,
const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel 
) const
virtualinherited

Computes the vehicle's follow speed that avoids a collision for the given amount of time.

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
[in]predMaxDecelThe maximum leader decelration
Returns
EGO's safe speed

Definition at line 299 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), DIST2SPEED, MSCFModel::distAfterTime(), gDebugFlag2, MSCFModel::getMaxDecel(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::myDecel, SPEED2DIST, and TS.

Referenced by MSLCM_SL2015::commitFollowSpeed().

◆ freeSpeed() [1/2]

double MSCFModel::freeSpeed ( const double  currentSpeed,
const double  decel,
const double  dist,
const double  maxSpeed,
const bool  onInsertion,
const double  actionStepLength 
)
staticinherited

◆ freeSpeed() [2/2]

double MSCFModel_CC::freeSpeed ( const MSVehicle *const  veh,
double  speed,
double  seen,
double  maxSpeed,
const bool  onInsertion = false 
) const
virtual

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. If onInsertion is true, the vehicle may still brake before the next movement.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
[in]onInsertionwhether speed at insertion is asked for
Returns
EGO's safe speed

Reimplemented from MSCFModel.

Definition at line 248 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSCFModel::freeSpeed(), MSVehicle::getCarFollowVariables(), and getRadarMeasurements().

◆ gapExtrapolation()

double MSCFModel::gapExtrapolation ( const double  duration,
const double  currentGap,
double  v1,
double  v2,
double  a1 = 0,
double  a2 = 0,
const double  maxV1 = std::numeric_limits<double>::max(),
const double  maxV2 = std::numeric_limits<double>::max() 
)
staticinherited

return the resulting gap if, starting with gap currentGap, two vehicles continue with constant accelerations (velocities bounded by 0 and maxSpeed) for a given timespan of length 'duration'.

Parameters
[in]currentGap(pos(veh1) - pos(veh2) at start)
[in]v1initial speed of vehicle 1
[in]v2initial speed of vehicle 2
[in]a1acceleration of vehicle 1
[in]a2acceleration of vehicle 2
[in]maxV1maximal speed of vehicle 1
[in]maxV2maximal speed of vehicle 2
[in]durationtime span for the process
Returns
estimated gap after 'duration' seconds

Definition at line 502 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), and TS.

Referenced by MSLCM_SL2015::checkBlockingVehicles(), and MSLCM_LC2013::informFollower().

◆ getACCAcceleration()

double MSCFModel_CC::getACCAcceleration ( const MSVehicle veh) const

returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to check for vehicles in front

Definition at line 1048 of file MSCFModel_CC.cpp.

References _acc(), CC_VehicleVariables::accHeadwayTime, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), and MSVehicle::getSpeed().

Referenced by getParameter().

◆ getActiveController()

enum Plexe::ACTIVE_CONTROLLER MSCFModel_CC::getActiveController ( const MSVehicle veh) const

return the currently active controller

Parameters
[in]vehthe vehicle for which the action is requested
Returns
the currently active controller

Definition at line 1031 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::activeController, and MSVehicle::getCarFollowVariables().

◆ getApparentDecel()

double MSCFModel::getApparentDecel ( ) const
inlineinherited

Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.

Returns
The apparent deceleration (in m/s^2) of vehicles of this class

Definition at line 233 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by MSVehicle::getCurrentApparentDecel(), and MSVehicleType::setApparentDecel().

◆ getCACCConstantSpacing()

double MSCFModel_CC::getCACCConstantSpacing ( const MSVehicle veh) const

returns CACC desired constant spacing

Parameters
[in]vehthe vehicle to get constant spacing of
Returns
spacing the spacing in meters

Definition at line 611 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::caccSpacing, and MSVehicle::getCarFollowVariables().

◆ getCollisionMinGapFactor()

double MSCFModel::getCollisionMinGapFactor ( ) const
inlineinherited

Get the factor of minGap that must be maintained to avoid a collision event.

Definition at line 239 of file MSCFModel.h.

References MSCFModel::myCollisionMinGapFactor.

Referenced by MSLane::detectCollisionBetween().

◆ getEmergencyDecel()

double MSCFModel::getEmergencyDecel ( ) const
inlineinherited

Get the vehicle type's maximal phisically possible deceleration [m/s^2].

Returns
The maximal physically possible deceleration (in m/s^2) of vehicles of this class

Definition at line 225 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

Referenced by MSLane::checkFailure(), MSLCM_SL2015::commitManoeuvre(), MSLink::getZipperSpeed(), MSLane::handleCollisionBetween(), and MSVehicleType::setEmergencyDecel().

◆ getHeadwayTime()

◆ getImperfection()

virtual double MSCFModel::getImperfection ( ) const
inlinevirtualinherited

Get the driver's imperfection.

Returns
The imperfection of drivers of this class

Reimplemented in MSCFModel_PWag2009, MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 250 of file MSCFModel.h.

Referenced by MSVehicleType::setImperfection().

◆ getMaxAccel()

◆ getMaxDecel()

double MSCFModel::getMaxDecel ( ) const
inlineinherited

Get the vehicle type's maximal comfortable deceleration [m/s^2].

Returns
The maximal comfortable deceleration (in m/s^2) of vehicles of this class

Definition at line 217 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSPModel_Striping::addCrossingVehs(), MSCriticalFollowerDistanceInfo::addFollower(), MSLink::blockedByFoe(), MSLCM_SL2015::checkBlockingVehicles(), MSLaneChanger::checkChange(), MSLane::checkForPedestrians(), MSVehicle::checkRewindLinkLanes(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::commitFollowSpeed(), MSLaneChanger::computeOvertakingTime(), MSLink::couldBrakeForLeader(), MSCFModel::followSpeedTransient(), MSLane::freeInsertion(), MSLaneChanger::getColumnleader(), MSLane::getCriticalLeader(), MSLane::getLeaderOnConsecutive(), MSLane::getLeadersOnConsecutive(), MSCFModel::getMinimalArrivalSpeed(), MSCFModel::getMinimalArrivalSpeedEuler(), MSCFModel::getMinimalArrivalTime(), MSLane::getMissingRearGap(), MSLink::getZipperSpeed(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLane::isInsertionSuccess(), MESegment::isOpen(), MSLane::lastInsertion(), MSLCM_LC2013::overtakeDistance(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), MSVehicle::processNextStop(), MSAbstractLaneChangeModel::remainingTime(), MSLane::safeInsertionSpeed(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), GUIVehicle::selectBlockingFoes(), MSVehicleType::setDecel(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSVehicle::updateState(), MSVehicleControl::vehicleDeparted(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ getMinimalArrivalSpeed()

double MSCFModel::getMinimalArrivalSpeed ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 476 of file MSCFModel.cpp.

References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), and MSCFModel::getMaxDecel().

Referenced by MSVehicle::planMoveInternal().

◆ getMinimalArrivalSpeedEuler()

double MSCFModel::getMinimalArrivalSpeedEuler ( double  dist,
double  currentSpeed 
) const
inherited

Computes the minimal possible arrival speed after covering a given distance for Euler update.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle

Definition at line 483 of file MSCFModel.cpp.

References MSCFModel::estimateSpeedAfterDistance(), MSCFModel::getHeadwayTime(), MSCFModel::getMaxDecel(), and INVALID_SPEED.

Referenced by MSVehicle::planMoveInternal().

◆ getMinimalArrivalTime()

SUMOTime MSCFModel::getMinimalArrivalTime ( double  dist,
double  currentSpeed,
double  arrivalSpeed 
) const
inherited

Computes the minimal time needed to cover a distance given the desired speed at arrival.

Parameters
[in]distDistance to be covered
[in]currentSpeedActual speed of vehicle
[in]arrivalSpeedDesired speed at arrival

Definition at line 375 of file MSCFModel.cpp.

References MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MAX2(), MAX3(), SUMO_const_haltingSpeed, and TIME2STEPS.

Referenced by MSVehicle::planMoveInternal().

◆ getModelID()

int MSCFModel_CC::getModelID ( ) const
inlinevirtual

Returns the model's name.

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

Implements MSCFModel.

Definition at line 155 of file MSCFModel_CC.h.

References SUMO_TAG_CF_CC.

◆ getMyLanesCount()

int MSCFModel_CC::getMyLanesCount ( ) const

returns the number of lanes set in the configuration file

Definition at line 1059 of file MSCFModel_CC.cpp.

References myLanesCount.

◆ getParameter()

std::string MSCFModel_CC::getParameter ( const MSVehicle veh,
const std::string &  key 
) const
virtual

set the information about a generic car. This method should be invoked by TraCI when a wireless message with such data is received. For testing, it might be also invoked from SUMO source code

Parameters
[in]vehthe vehicle for which the data must be saved
[in]speedthe leader speed
[in]accelerationthe leader acceleration
[in]positionthe position of the leader
[in]timethe time at which this data was read from leader's sensors

try to get the given parameter for this carFollowingModel

Parameters
[in]vehthe vehicle from which the parameter must be retrieved
[in]keythe key of the parameter
Returns
the value of the requested parameter

Reimplemented from MSCFModel.

Definition at line 886 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::caccSpacing, CC_PAR_VEHICLE_DATA, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::controllerAcceleration, CC_VehicleVariables::crashed, CC_VehicleVariables::engine, getACCAcceleration(), MSVehicle::getAcceleration(), MSVehicle::getAngle(), MSVehicle::getCarFollowVariables(), MSRoute::getDistanceBetween(), MSBaseVehicle::getEdge(), MSLane::getEdge(), MSRoute::getEdges(), RealisticEngineModel::getEngineData(), MSNet::getInstance(), MSVehicle::getLane(), MSEdge::getLanes(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), getRadarMeasurements(), MSBaseVehicle::getRoute(), MSVehicle::getSpeed(), MSVehicle::getVelocityVector(), Plexe::VEHICLE_DATA::index, Plexe::VEHICLE_DATA::length, CC_VehicleVariables::nCars, PAR_ACC_ACCELERATION, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_CRASHED, PAR_DISTANCE_FROM_BEGIN, PAR_DISTANCE_TO_END, PAR_ENGINE_DATA, PAR_LANES_COUNT, PAR_RADAR_DATA, PAR_SPEED_AND_ACCELERATION, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, STEPS2TIME, ParBuffer::str(), Plexe::VEHICLE_DATA::time, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::vehicles, Position::x(), and Position::y().

◆ getRadarMeasurements()

void MSCFModel_CC::getRadarMeasurements ( const MSVehicle veh,
double &  distance,
double &  relativeSpeed 
) const

◆ getSecureGap()

virtual double MSCFModel::getSecureGap ( const MSVehicle * const  ,
const MSVehicle * const  ,
const double  speed,
const double  leaderSpeed,
const double  leaderMaxDecel 
) const
inlinevirtualinherited

◆ getSpeedAfterMaxDecel()

virtual double MSCFModel::getSpeedAfterMaxDecel ( double  v) const
inlinevirtualinherited

Returns the velocity after maximum deceleration.

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

Reimplemented in MSCFModel_Rail.

Definition at line 342 of file MSCFModel.h.

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

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_Daniel1::finalizeSpeed(), MSCFModel_SmartSK::followSpeed(), and MSCFModel_SmartSK::stopSpeed().

◆ getVehicleInformation()

void MSCFModel_CC::getVehicleInformation ( const MSVehicle veh,
double &  speed,
double &  acceleration,
double &  controllerAcceleration,
Position position,
double &  time 
) const

get the information about a vehicle. This can be used by TraCI in order to get speed and acceleration of the platoon leader before sending them to other vehicles

Parameters
[in]vehthe vehicle for which the data is requested
[out]speedwhere the speed is written
[out]accelerationwhere the acceleration is written
[out]controllerAccelerationthe last acceleration value computed by the controller will be written in this variable. This might be different from acceleration because of actuation lag

Definition at line 617 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::controllerAcceleration, MSVehicle::getAcceleration(), MSVehicle::getCarFollowVariables(), MSNet::getInstance(), MSVehicle::getPosition(), MSVehicle::getSpeed(), Plexe::VEHICLE_DATA::speed, STEPS2TIME, and Plexe::VEHICLE_DATA::time.

Referenced by _v().

◆ insertionFollowSpeed()

double MSCFModel_CC::insertionFollowSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap2pred,
double  predSpeed,
double  predMaxDecel,
const MSVehicle *const  pred = 0 
) const
virtual

Overload base MSCFModel::insertionFollowSpeed method to inject automated vehicles as soon as they are requested, without checking for safe speed constraints.

Reimplemented from MSCFModel.

Definition at line 223 of file MSCFModel_CC.cpp.

References UNUSED_PARAMETER.

◆ insertionStopSpeed()

double MSCFModel::insertionStopSpeed ( const MSVehicle *const  veh,
double  speed,
double  gap 
) const
virtualinherited

Computes the vehicle's safe speed for approaching an obstacle at insertion without constraints due to acceleration capabilities and previous speeds.

Parameters
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gapThe (netto) distance to the the obstacle
Returns
EGO's safe speed for approaching a non-moving obstacle at insertion
See also
stopSpeed() and insertionFollowSpeed()

Definition at line 289 of file MSCFModel.cpp.

References MSVehicleType::getMaxSpeed(), MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myType, and MSCFModel::stopSpeed().

Referenced by MSLane::isInsertionSuccess().

◆ interactionGap()

double MSCFModel_CC::interactionGap ( const MSVehicle * const  veh,
double  vL 
) const
virtual

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
See also
MSCFModel::interactionGap

Reimplemented from MSCFModel.

Definition at line 263 of file MSCFModel_CC.cpp.

References CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), MSCFModel::interactionGap(), and myHumanDriver.

◆ maximumSafeFollowSpeed()

double MSCFModel::maximumSafeFollowSpeed ( double  gap,
double  egoSpeed,
double  predSpeed,
double  predMaxDecel,
bool  onInsertion = false 
) const
inherited

Returns the maximum safe velocity for following the given leader.

Parameters
[in]gap2predThe (netto) distance to the LEADER
[in]egoSpeedThe FOLLOWERS's speed
[in]predSpeedThe LEADER's speed
[in]predMaxDecelThe LEADER's maximum deceleration
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
Returns
the safe velocity

Returns the SK-vsafe.

Definition at line 856 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), MSCFModel::calculateEmergencyDeceleration(), DEBUG_COND2, EMERGENCY_DECEL_AMPLIFIER, MSGlobals::gComputeLC, MSGlobals::gSemiImplicitEulerUpdate, ISNAN(), MAX2(), MSCFModel::maximumSafeStopSpeed(), MIN2(), MSCFModel::myDecel, MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, SIMTIME, and SPEED2ACCEL.

Referenced by MSLCM_LC2013::_wantsChange(), MSCFModel_KraussOrig1::followSpeed(), MSCFModel_ACC::followSpeed(), MSCFModel_CACC::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_CACC::insertionFollowSpeed(), and MSCFModel::insertionFollowSpeed().

◆ maximumSafeStopSpeed()

double MSCFModel::maximumSafeStopSpeed ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap.

Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)

Definition at line 711 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MSCFModel::maximumSafeStopSpeedBallistic(), and MSCFModel::maximumSafeStopSpeedEuler().

Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::addStop(), MSCFModel_Rail::followSpeed(), MSCFModel::insertionStopSpeed(), MSCFModel::maximumSafeFollowSpeed(), MSVehicle::planMoveInternal(), MSCFModel_Krauss::stopSpeed(), MSCFModel_W99::stopSpeed(), MSCFModel_Rail::stopSpeed(), MSCFModel_ACC::stopSpeed(), MSCFModel_CACC::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSCFModel_IDM::stopSpeed().

◆ maximumSafeStopSpeedBallistic()

double MSCFModel::maximumSafeStopSpeedBallistic ( double  gap,
double  currentSpeed,
bool  onInsertion = false,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap when using the ballistic positional update.

Note
This takes into account the driver's reaction time tau (i.e. the desired headway) and the car's current speed. (The latter is required to calculate the distance covered in the following timestep.)
Parameters
[in]gapThe (netto) distance to the desired stopping point
[in]currentSpeedThe current speed of the ego vehicle
[in]onInsertionIndicator whether the call is triggered during vehicle insertion
[in]headwayThe desired time headway to be included in the calculations (default argument -1 induces the use of myHeadway)
Returns
the safe velocity (to be attained at the end of the following time step) that assures the possibility of stopping within gap. If a negative value is returned, the required stop has to take place before the end of the time step.

Definition at line 789 of file MSCFModel.cpp.

References ACCEL2SPEED, MAX2(), MSCFModel::myDecel, MSCFModel::myEmergencyDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed(), and MSCFModel_KraussOrig1::stopSpeed().

◆ maximumSafeStopSpeedEuler()

double MSCFModel::maximumSafeStopSpeedEuler ( double  gap,
double  headway = -1 
) const
inherited

Returns the maximum next velocity for stopping within gap when using the semi-implicit Euler update.

Parameters
[in]gapThe (netto) distance to the LEADER

Definition at line 761 of file MSCFModel.cpp.

References ACCEL2SPEED, MSCFModel::myDecel, MSCFModel::myHeadwayTime, NUMERICAL_EPS, and TS.

Referenced by MSCFModel::maximumSafeStopSpeed().

◆ maxNextSpeed()

double MSCFModel_CC::maxNextSpeed ( double  speed,
const MSVehicle *const  veh 
) const
virtual

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
[in]vehThe vehicle itself, for obtaining other values
Returns
The maximum possible speed for the next step

Reimplemented from MSCFModel.

Definition at line 276 of file MSCFModel_CC.cpp.

References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), and MSCFModel::getMaxAccel().

◆ minNextSpeed()

double MSCFModel_CC::minNextSpeed ( double  speed,
const MSVehicle *const  veh = 0 
) const
virtual

Returns the minimum speed given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Reimplemented from MSCFModel.

Definition at line 286 of file MSCFModel_CC.cpp.

References ACCEL2SPEED, CC_ENGINE_MODEL_FOLM, CC_VehicleVariables::engineModel, MSVehicle::getCarFollowVariables(), MAX2(), and MSCFModel::minNextSpeed().

◆ minNextSpeedEmergency()

double MSCFModel::minNextSpeedEmergency ( double  speed,
const MSVehicle *const  veh = 0 
) const
virtualinherited

Returns the minimum speed after emergency braking, given the current speed (depends on the numerical update scheme and its step width) Note that it wouldn't have to depend on the numerical update scheme if the semantics would rely on acceleration instead of velocity.

Parameters
[in]speedThe vehicle's current speed
[in]speedThe vehicle itself, for obtaining other values, if needed as e.g. road conditions.
Returns
The minimum possible speed for the next step

Reimplemented in MSCFModel_Rail.

Definition at line 255 of file MSCFModel.cpp.

References ACCEL2SPEED, MSGlobals::gSemiImplicitEulerUpdate, MAX2(), and MSCFModel::myEmergencyDecel.

Referenced by MSCFModel::finalizeSpeed(), MSCFModel_Krauss::followSpeed(), and MSVehicle::Influencer::implicitSpeedRemote().

◆ operator=()

MSCFModel_CC& MSCFModel_CC::operator= ( const MSCFModel_CC )
privatedelete

Invalidated assignment operator.

◆ passingTime()

double MSCFModel::passingTime ( const double  lastPos,
const double  passedPos,
const double  currentPos,
const double  lastSpeed,
const double  currentSpeed 
)
staticinherited

Calculates the time at which the position passedPosition has been passed In case of a ballistic update, the possibility of a stop within a time step requires more information about the last time-step than in case of the euler update to determine the last position if the currentSpeed is zero.

Parameters
[in]lastPosthe position at time t=0 (must be < currentPos)
[in]passedPosthe position for which the passing time is to be determined (has to lie within [lastPos, currentPos]!)
[in]currentPosthe position at time t=TS (one time-step after lastPos) (must be > lastPos)
[in]lastSpeedthe speed at moment t=0
[in]currentSpeedthe speed at moment t=TS
Returns
time t in [0,TS] at which passedPos in [lastPos, currentPos] was passed.

Definition at line 596 of file MSCFModel.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MIN2(), NUMERICAL_EPS, SPEED2ACCEL, TS, and WRITE_ERROR.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSDevice_SSM::checkConflictEntryAndExit(), MSInstantInductLoop::notifyMove(), MSE3Collector::MSE3EntryReminder::notifyMove(), MSMeanData::MeanDataValues::notifyMove(), MSInductLoop::notifyMove(), and MSE3Collector::MSE3LeaveReminder::notifyMove().

◆ patchSpeedBeforeLC()

virtual double MSCFModel::patchSpeedBeforeLC ( const MSVehicle veh,
double  vMin,
double  vMax 
) const
inlinevirtualinherited

apply custom speed adaptations within the given speed bounds

Reimplemented in MSCFModel_SmartSK, MSCFModel_KraussOrig1, MSCFModel_Krauss, and MSCFModel_KraussX.

Definition at line 88 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSCFModel::finalizeSpeed().

◆ performAutoLaneChange()

◆ recomputeParameters()

void MSCFModel_CC::recomputeParameters ( const MSVehicle veh) const
private

◆ resetConsensus()

void MSCFModel_CC::resetConsensus ( const MSVehicle veh) const
private

Resets the consensus controller. In particular, sets the "initialized" vector all to false. This might be useful when changing topology.

Definition at line 1017 of file MSCFModel_CC.cpp.

References MSVehicle::getCarFollowVariables(), CC_VehicleVariables::initialized, MAX_N_CARS, and CC_VehicleVariables::nInitialized.

◆ setApparentDecel()

virtual void MSCFModel::setApparentDecel ( double  decel)
inlinevirtualinherited

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

Parameters
[in]decelThe new deceleration in m/s^2

Definition at line 491 of file MSCFModel.h.

References MSCFModel::myApparentDecel.

Referenced by MSVehicleType::setApparentDecel().

◆ setEmergencyDecel()

virtual void MSCFModel::setEmergencyDecel ( double  decel)
inlinevirtualinherited

Sets a new value for maximal physically possible deceleration [m/s^2].

Parameters
[in]decelThe new deceleration in m/s^2

Definition at line 483 of file MSCFModel.h.

References MSCFModel::myEmergencyDecel.

Referenced by MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setEmergencyDecel().

◆ setHeadwayTime()

virtual void MSCFModel::setHeadwayTime ( double  headwayTime)
inlinevirtualinherited

Sets a new value for desired headway [s].

Parameters
[in]headwayTimeThe new desired headway (in s)

Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 507 of file MSCFModel.h.

References MSCFModel::myHeadwayTime.

Referenced by MSVehicle::Influencer::gapControlSpeed(), MSCFModel_CACC::MSCFModel_CACC(), and MSVehicleType::setTau().

◆ setImperfection()

virtual void MSCFModel::setImperfection ( double  imperfection)
inlinevirtualinherited

Sets a new value for driver imperfection.

Parameters
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 499 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by MSVehicleType::setImperfection().

◆ setMaxAccel()

virtual void MSCFModel::setMaxAccel ( double  accel)
inlinevirtualinherited

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

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

Definition at line 467 of file MSCFModel.h.

References MSCFModel::myAccel.

Referenced by MSVehicleType::setAccel(), and MSDevice_ToC::setState().

◆ setMaxDecel()

virtual void MSCFModel::setMaxDecel ( double  decel)
inlinevirtualinherited

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

Parameters
[in]decelThe new deceleration in m/s^2

Reimplemented in MSCFModel_SmartSK, MSCFModel_Daniel1, and MSCFModel_KraussOrig1.

Definition at line 475 of file MSCFModel.h.

References MSCFModel::myDecel.

Referenced by MSLCM_SL2015::commitFollowSpeed(), MSCFModel_Rail::MSCFModel_Rail(), and MSVehicleType::setDecel().

◆ setParameter()

void MSCFModel_CC::setParameter ( MSVehicle veh,
const std::string &  key,
const std::string &  value 
) const
virtual

try to set the given parameter for this carFollowingModel

Parameters
[in]vehthe vehicle for which the parameter must be set
[in]keythe key of the parameter
[in]valuethe value to be set for the given parameter

Reimplemented from MSCFModel.

Definition at line 626 of file MSCFModel_CC.cpp.

References Plexe::VEHICLE_DATA::acceleration, CC_VehicleVariables::accHeadwayTime, CC_VehicleVariables::activeController, Plexe::VEHICLE_DATA::angle, CC_VehicleVariables::autoFeed, CC_VehicleVariables::autoLaneChange, CC_VehicleVariables::caccC1, CC_VehicleVariables::caccInitialized, CC_VehicleVariables::caccOmegaN, CC_VehicleVariables::caccSpacing, CC_VehicleVariables::caccXi, CC_ENGINE_MODEL_FOLM, CC_ENGINE_MODEL_REALISTIC, CC_PAR_CACC_C1, CC_PAR_CACC_OMEGA_N, CC_PAR_CACC_XI, CC_PAR_ENGINE_TAU, CC_PAR_FLATBED_D, CC_PAR_FLATBED_H, CC_PAR_FLATBED_KA, CC_PAR_FLATBED_KP, CC_PAR_FLATBED_KV, CC_PAR_PLATOON_SIZE, CC_PAR_PLOEG_H, CC_PAR_PLOEG_KD, CC_PAR_PLOEG_KP, CC_PAR_UMAX, CC_PAR_UMIN, CC_PAR_VEHICLE_DATA, CC_PAR_VEHICLE_ENGINE_MODEL, CC_PAR_VEHICLE_MODEL, CC_PAR_VEHICLE_POSITION, CC_PAR_VEHICLES_FILE, CC_VehicleVariables::ccDesiredSpeed, CC_VehicleVariables::engine, ENGINE_PAR_DT, ENGINE_PAR_VEHICLE, ENGINE_PAR_XMLFILE, CC_VehicleVariables::engineModel, CC_VehicleVariables::engineTau, CC_VehicleVariables::fakeData, CC_VehicleVariables::fixedAcceleration, CC_VehicleVariables::flatbedD, CC_VehicleVariables::flatbedH, CC_VehicleVariables::flatbedKa, CC_VehicleVariables::flatbedKp, CC_VehicleVariables::flatbedKv, FOLM_PAR_DT, FOLM_PAR_TAU, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontAcceleration, CC_VehicleVariables::frontAcceleration, CC_VehicleVariables::frontAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontControllerAcceleration, CC_VehicleVariables::frontControllerAcceleration, CC_VehicleVariables::frontDataReadTime, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontDistance, CC_VehicleVariables::frontInitialized, CC_VehicleVariables::frontPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::frontSpeed, CC_VehicleVariables::frontSpeed, CC_VehicleVariables::frontVehicle, CC_VehicleVariables::frontVelocity, MSVehicle::getCarFollowVariables(), MSBaseVehicle::getID(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicleControl::getVehicle(), MSNet::getVehicleControl(), Plexe::VEHICLE_DATA::index, CC_VehicleVariables::initialized, ParBuffer::last_empty(), CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderAcceleration, CC_VehicleVariables::leaderAcceleration, CC_VehicleVariables::leaderAngle, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderControllerAcceleration, CC_VehicleVariables::leaderControllerAcceleration, CC_VehicleVariables::leaderDataReadTime, CC_VehicleVariables::leaderInitialized, CC_VehicleVariables::leaderPosition, CC_VehicleVariables::FAKE_CONTROLLER_DATA::leaderSpeed, CC_VehicleVariables::leaderSpeed, CC_VehicleVariables::leaderVehicle, CC_VehicleVariables::leaderVelocity, Plexe::VEHICLE_DATA::length, MAX_N_CARS, CC_VehicleVariables::members, MSCFModel::myAccel, MSCFModel::myDecel, CC_VehicleVariables::nCars, CC_VehicleVariables::nInitialized, PAR_ACC_HEADWAY_TIME, PAR_ACTIVE_CONTROLLER, PAR_ADD_MEMBER, PAR_CACC_SPACING, PAR_CC_DESIRED_SPEED, PAR_ENABLE_AUTO_LANE_CHANGE, PAR_FIXED_ACCELERATION, PAR_FRONT_FAKE_DATA, PAR_LEADER_FAKE_DATA, PAR_LEADER_SPEED_AND_ACCELERATION, PAR_PRECEDING_SPEED_AND_ACCELERATION, PAR_REMOVE_MEMBER, PAR_USE_AUTO_FEEDING, PAR_USE_CONTROLLER_ACCELERATION, PAR_USE_PREDICTION, CC_VehicleVariables::ploegH, CC_VehicleVariables::ploegKd, CC_VehicleVariables::ploegKp, CC_VehicleVariables::position, Plexe::VEHICLE_DATA::positionX, Plexe::VEHICLE_DATA::positionY, recomputeParameters(), GenericEngineModel::setMaximumAcceleration(), GenericEngineModel::setMaximumDeceleration(), GenericEngineModel::setParameter(), MSVehicle::Influencer::setSpeedMode(), Plexe::VEHICLE_DATA::speed, Plexe::VEHICLE_DATA::speedX, Plexe::VEHICLE_DATA::speedY, Plexe::VEHICLE_DATA::time, StringUtils::toDouble(), StringUtils::toInt(), TS, Plexe::VEHICLE_DATA::u, CC_VehicleVariables::uMax, CC_VehicleVariables::uMin, CC_VehicleVariables::useControllerAcceleration, CC_VehicleVariables::useFixedAcceleration, CC_VehicleVariables::usePrediction, CC_VehicleVariables::vehicles, and WRITE_WARNING.

◆ speedAfterTime()

double MSCFModel::speedAfterTime ( const double  t,
const double  oldSpeed,
const double  dist 
)
staticinherited

Calculates the speed after a time t \in [0,TS] given the initial speed and the distance traveled in an interval of step length TS.

Note
If the acceleration were known, this would be much nicer, but in this way we need to reconstruct it (for the ballistic update at least, where we assume that a stop may occur within the interval)
Parameters
[in]ttime in [0,TS] for which the speed shall be determined
[in]oldSpeedspeed before the last time step (referred to as t == 0)
[in]distancecovered
Returns
speed at time t

Definition at line 673 of file MSCFModel.cpp.

References DIST2SPEED, MSGlobals::gSemiImplicitEulerUpdate, and TS.

Referenced by MSE2Collector::calculateTimeLossAndTimeOnDetector(), MSInstantInductLoop::notifyMove(), and MSMeanData::MeanDataValues::notifyMove().

◆ stopSpeed()

double MSCFModel_CC::stopSpeed ( const MSVehicle *const  veh,
const double  speed,
double  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 233 of file MSCFModel_CC.cpp.

References _v(), CC_VehicleVariables::activeController, Plexe::DRIVER, MSVehicle::getCarFollowVariables(), getRadarMeasurements(), myHumanDriver, and MSCFModel::stopSpeed().

◆ switchOnACC()

void MSCFModel_CC::switchOnACC ( const MSVehicle veh,
double  ccDesiredSpeed 
) const

switch on the ACC, so disabling the human driver car control

Parameters
[in]vehthe vehicle for which the ACC must be switched on
[in]ccDesiredSpeedthe cruise control speed

Definition at line 1025 of file MSCFModel_CC.cpp.

References Plexe::ACC, CC_VehicleVariables::activeController, CC_VehicleVariables::ccDesiredSpeed, and MSVehicle::getCarFollowVariables().

Field Documentation

◆ myAccel

◆ myApparentDecel

double MSCFModel::myApparentDecel
protectedinherited

The vehicle's deceleration as expected by surrounding traffic [m/s^2].

Definition at line 624 of file MSCFModel.h.

Referenced by MSCFModel::getApparentDecel(), and MSCFModel::setApparentDecel().

◆ myC1

const double MSCFModel_CC::myC1
private

design constant for CACC

Definition at line 371 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myCcAccel

const double MSCFModel_CC::myCcAccel
private

The maximum acceleration that the CC can output.

Definition at line 359 of file MSCFModel_CC.h.

Referenced by _cc().

◆ myCcDecel

const double MSCFModel_CC::myCcDecel
private

The maximum deceleration that the CC can output.

Definition at line 356 of file MSCFModel_CC.h.

Referenced by _cc().

◆ myCollisionMinGapFactor

double MSCFModel::myCollisionMinGapFactor
protectedinherited

The factor of minGap that must be maintained to avoid a collision event.

Definition at line 626 of file MSCFModel.h.

Referenced by MSCFModel::getCollisionMinGapFactor(), MSCFModel_ACC::MSCFModel_ACC(), MSCFModel_CACC::MSCFModel_CACC(), MSCFModel_IDM::MSCFModel_IDM(), and MSCFModel_W99::MSCFModel_W99().

◆ myConstantSpacing

const double MSCFModel_CC::myConstantSpacing
private

the constant gap for CACC

Definition at line 362 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myDecel

◆ myEmergencyDecel

◆ myFlatbedD

const double MSCFModel_CC::myFlatbedD
private

Definition at line 396 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myFlatbedH

const double MSCFModel_CC::myFlatbedH
private

Definition at line 395 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myFlatbedKa

const double MSCFModel_CC::myFlatbedKa
private

flatbed CACC parameters

Definition at line 392 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myFlatbedKp

const double MSCFModel_CC::myFlatbedKp
private

Definition at line 394 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myFlatbedKv

const double MSCFModel_CC::myFlatbedKv
private

Definition at line 393 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myHeadwayTime

◆ myHumanDriver

MSCFModel* MSCFModel_CC::myHumanDriver
private

the car following model which drives the car when automated cruising is disabled, i.e., the human driver

Definition at line 353 of file MSCFModel_CC.h.

Referenced by finalizeSpeed(), followSpeed(), interactionGap(), MSCFModel_CC(), and stopSpeed().

◆ myKp

const double MSCFModel_CC::myKp
private

design constant for CC

Definition at line 365 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myLambda

const double MSCFModel_CC::myLambda
private

design constant for ACC

Definition at line 368 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myLanesCount

const int MSCFModel_CC::myLanesCount
private

number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct lane even when a lane is added for on-/off-ramps

Definition at line 384 of file MSCFModel_CC.h.

Referenced by getMyLanesCount(), and MSCFModel_CC().

◆ myOmegaN

const double MSCFModel_CC::myOmegaN
private

design constant for CACC

Definition at line 377 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myPloegH

const double MSCFModel_CC::myPloegH
private

Ploeg's CACC parameters.

Definition at line 387 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myPloegKd

const double MSCFModel_CC::myPloegKd
private

Definition at line 389 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myPloegKp

const double MSCFModel_CC::myPloegKp
private

Definition at line 388 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myTau

const double MSCFModel_CC::myTau
private

engine time constant used for actuation lag

Definition at line 380 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().

◆ myType

◆ myXi

const double MSCFModel_CC::myXi
private

design constant for CACC

Definition at line 374 of file MSCFModel_CC.h.

Referenced by createVehicleVariables().


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