Eclipse SUMO - Simulation of Urban MObility
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MSCFModel_CC.h
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1/****************************************************************************/
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
6// https://www.eclipse.org/legal/epl-2.0/
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
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
18// A series of automatic Cruise Controllers (CC, ACC, CACC)
19/****************************************************************************/
20#pragma once
21#include <config.h>
22
23#include "CC_Const.h"
25#include <microsim/MSLane.h>
26#include <microsim/MSVehicle.h>
30#include <string.h>
31
35
36#include "CC_VehicleVariables.h"
37
38
39// ===========================================================================
40// class definitions
41// ===========================================================================
56class MSCFModel_CC : public MSCFModel {
57public:
58
74 MSCFModel_CC(const MSVehicleType* vtype);
75
78
79
82
88 virtual double finalizeSpeed(MSVehicle* const veh, double vPos) const;
89
90
99 double followSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed,
100 double predMaxDecel, const MSVehicle* const pred = 0, const CalcReason usage = CalcReason::CURRENT) const;
101
107 virtual double insertionFollowSpeed(const MSVehicle* const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle* const pred = 0) const;
108
109
117 double stopSpeed(const MSVehicle* const veh, const double speed, double gap2pred, double decel, const CalcReason usage = CalcReason::CURRENT) const;
118
131 virtual double freeSpeed(const MSVehicle* const veh, double speed, double seen,
132 double maxSpeed, const bool onInsertion = false, const CalcReason usage = CalcReason::CURRENT) const;
133
134 virtual double maxNextSpeed(double speed, const MSVehicle* const veh) const;
135
136 virtual double minNextSpeed(double speed, const MSVehicle* const veh = 0) const;
137
138
148 double interactionGap(const MSVehicle* const, double vL) const;
149
150
155 int getModelID() const {
156 return SUMO_TAG_CF_CC;
157 }
159
160
161
166 MSCFModel* duplicate(const MSVehicleType* vtype) const;
167
168 VehicleVariables* createVehicleVariables() const;
169
176 double getCACCConstantSpacing(const MSVehicle* veh) const;
177
189// void setVehicleInformation(const MSVehicle* veh, double speed, double acceleration, Position position, double time) const;
190
198 virtual std::string getParameter(const MSVehicle* veh, const std::string& key) const;
199
207 virtual void setParameter(MSVehicle* veh, const std::string& key, const std::string& value) const;
208
221 void getVehicleInformation(const MSVehicle* veh, double& speed, double& acceleration, double& controllerAcceleration, Position& position, double& time) const;
222
229 void switchOnACC(const MSVehicle* veh, double ccDesiredSpeed) const;
230
238
242 void getRadarMeasurements(const MSVehicle* veh, double& distance, double& relativeSpeed) const;
243
249 double getACCAcceleration(const MSVehicle* veh) const;
250
254 int getMyLanesCount() const;
255
256private:
257
261 void recomputeParameters(const MSVehicle* veh) const;
262
268 void resetConsensus(const MSVehicle* veh) const;
269
270private:
271 void performAutoLaneChange(MSVehicle* const veh) const;
272
273 double _v(const MSVehicle* const veh, double gap2pred, double egoSpeed, double predSpeed) const;
274
281 double _cc(const MSVehicle* veh, double egoSpeed, double desSpeed) const;
282
291 double _acc(const MSVehicle* veh, double egoSpeed, double predSpeed, double gap2pred, double headwayTime) const;
292
304 double _cacc(const MSVehicle* veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred, double leaderSpeed, double leaderAcceleration, double spacing) const;
305
316 double _ploeg(const MSVehicle* veh, double egoSpeed, double predSpeed, double predAcceleration, double gap2pred) const;
317
325 double _consensus(const MSVehicle* veh, double egoSpeed, Position egoPosition, double time) const;
326
336 double d_i_j(const struct Plexe::VEHICLE_DATA* vehicles, const double h[MAX_N_CARS], int i, int j) const;
337
346 double _flatbed(const MSVehicle* veh, double egoAcceleration, double egoSpeed, double predSpeed,
347 double gap2pred, double leaderSpeed) const;
348
349
350private:
351
354
356 const double myCcDecel;
357
359 const double myCcAccel;
360
362 const double myConstantSpacing;
363
365 const double myKp;
366
368 const double myLambda;
369
371 const double myC1;
372
374 const double myXi;
375
377 const double myOmegaN;
378
380 const double myTau;
381
384 const int myLanesCount;
385
387 const double myPloegH;
388 const double myPloegKp;
389 const double myPloegKd;
390
392 const double myFlatbedKa;
393 const double myFlatbedKv;
394 const double myFlatbedKp;
395 const double myFlatbedH;
396 const double myFlatbedD;
397
398private:
401};
402
#define MAX_N_CARS
Definition CC_Const.h:77
@ SUMO_TAG_CF_CC
A set of automatic Cruise Controllers, including classic Cruise Control (CC), Adaptive Cruise Control...
double _v(const MSVehicle *const veh, double gap2pred, double egoSpeed, double predSpeed) const
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 messa...
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...
const double myPloegKd
const double myFlatbedH
const double myFlatbedKp
const double myPloegH
Ploeg's CACC parameters.
double getACCAcceleration(const MSVehicle *veh) const
returns the ACC computed acceleration when the faked CACC is controlling the car. This can be used to...
int getModelID() const
Returns the model's name.
int getMyLanesCount() const
returns the number of lanes set in the configuration file
double _flatbed(const MSVehicle *veh, double egoAcceleration, double egoSpeed, double predSpeed, double gap2pred, double leaderSpeed) const
flatbed platoon towing model
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...
MSCFModel * duplicate(const MSVehicleType *vtype) const
Duplicates the car-following model.
VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
void getRadarMeasurements(const MSVehicle *veh, double &distance, double &relativeSpeed) const
return the data that is currently being measured by the radar
double _consensus(const MSVehicle *veh, double egoSpeed, Position egoPosition, double time) const
controller based on consensus strategy
const double myPloegKp
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)
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 controll...
const double myTau
engine time constant used for actuation lag
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
const double myOmegaN
design constant for CACC
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)
const double myC1
design constant for CACC
const int myLanesCount
number of lanes in the highway, in the absence of on-/off-ramps. This is used to move to the correct ...
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences.
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 t...
virtual void setParameter(MSVehicle *veh, const std::string &key, const std::string &value) const
try to set the given parameter for this carFollowingModel
const double myConstantSpacing
the constant gap for CACC
double getCACCConstantSpacing(const MSVehicle *veh) const
returns CACC desired constant spacing
~MSCFModel_CC()
Destructor.
const double myFlatbedKv
void recomputeParameters(const MSVehicle *veh) const
Recomputes controller related parameters after setting them.
const double myXi
design constant for CACC
const double myFlatbedKa
flatbed CACC parameters
void switchOnACC(const MSVehicle *veh, double ccDesiredSpeed) const
switch on the ACC, so disabling the human driver car control
MSCFModel * myHumanDriver
the car following model which drives the car when automated cruising is disabled, i....
const double myLambda
design constant for ACC
void performAutoLaneChange(MSVehicle *const veh) const
const double myKp
design constant for CC
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 ste...
MSCFModel_CC & operator=(const MSCFModel_CC &)=delete
Invalidated assignment operator.
const double myCcAccel
The maximum acceleration that the CC can output.
virtual 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.
const double myCcDecel
The maximum deceleration that the CC can output.
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
const double myFlatbedD
void resetConsensus(const MSVehicle *veh) const
Resets the consensus controller. In particular, sets the "initialized" vector all to false....
double interactionGap(const MSVehicle *const, double vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
enum Plexe::ACTIVE_CONTROLLER getActiveController(const MSVehicle *veh) const
return the currently active controller
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 ...
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 car-following model abstraction.
Definition MSCFModel.h:55
CalcReason
What the return value of stop/follow/free-Speed is used for.
Definition MSCFModel.h:77
@ CURRENT
the return value is used for calculating the next speed
Definition MSCFModel.h:79
Representation of a vehicle in the micro simulation.
Definition MSVehicle.h:77
The car-following model and parameter.
A point in 2D or 3D with translation and scaling methods.
Definition Position.h:37
ACTIVE_CONTROLLER
Determines the currently active controller, i.e., ACC, CACC, or the driver. In future we might need t...
Definition CC_Const.h:49