MSCFModel_CC: override getSecureGap() to enable platoon lane changes …

…without disruptions
eclipse-sumo · May 2, 2024 · 17f664f · 17f664f
1 parent f796ea3
commit 17f664f
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diff --git a/src/microsim/cfmodels/MSCFModel_CC.cpp b/src/microsim/cfmodels/MSCFModel_CC.cpp
@@ -181,6 +181,29 @@ MSCFModel_CC::performPlatoonLaneChange(MSVehicle* const veh) const {
     }
 }
 
+double
+MSCFModel_CC::getSecureGap(const MSVehicle* const veh, const MSVehicle* const pred, const double speed, const double leaderSpeed, const double leaderMaxDecel) const
+{
+    CC_VehicleVariables* vars = (CC_VehicleVariables*)veh->getCarFollowVariables();
+
+    const double tolerance = 0.8;
+    switch (vars->activeController) {
+        case Plexe::CACC:
+        case Plexe::FAKED_CACC:
+            return vars->caccSpacing * tolerance;
+        case Plexe::ACC:
+            return (vars->accHeadwayTime * speed + 2) * tolerance;
+        case Plexe::PLOEG:
+            return (vars->ploegH * speed + 2) * tolerance;
+        case Plexe::CONSENSUS:
+            return d_i_j(vars->vehicles, vars->h, 1, 0) * tolerance;
+        case Plexe::FLATBED:
+            return (vars->flatbedD - vars->flatbedH * (speed - leaderSpeed)) * tolerance;
+        case Plexe::DRIVER:
+            return myHumanDriver->getSecureGap(veh, pred, speed, leaderSpeed, leaderMaxDecel);
+    }
+}
+
 double
 MSCFModel_CC::finalizeSpeed(MSVehicle* const veh, double vPos) const {
     double vNext;

diff --git a/src/microsim/cfmodels/MSCFModel_CC.h b/src/microsim/cfmodels/MSCFModel_CC.h
@@ -76,6 +76,7 @@ class MSCFModel_CC : public MSCFModel {
     /// @brief Destructor
     ~MSCFModel_CC();
 
+    virtual double getSecureGap(const MSVehicle* const veh, const MSVehicle* const /*pred*/, const double speed, const double leaderSpeed, const double leaderMaxDecel) const;
 
     /// @name Implementations of the MSCFModel interface
     /// @{