fix #4529

eclipse-sumo · Sep 6, 2018 · 136dd4b · 136dd4b
1 parent 80cf23b
commit 136dd4b
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Showing 8 changed files with 28 additions and 4 deletions.
diff --git a/src/microsim/MSFrame.cpp b/src/microsim/MSFrame.cpp
@@ -276,8 +276,8 @@ MSFrame::fillOptions() {
     oc.doRegister("collision.check-junctions", new Option_Bool(false));
     oc.addDescription("collision.check-junctions", "Processing", "Enables collisions checks on junctions");
 
-    oc.doRegister("collision.mingap-factor", new Option_Float(1.0));
-    oc.addDescription("collision.mingap-factor", "Processing", "Sets the fraction of minGap that must be maintained to avoid collision detection.");
+    oc.doRegister("collision.mingap-factor", new Option_Float(-1));
+    oc.addDescription("collision.mingap-factor", "Processing", "Sets the fraction of minGap that must be maintained to avoid collision detection. If a negative value is given, the carFollowModel parameter is used");
 
     oc.doRegister("max-num-vehicles", new Option_Integer(-1));
     oc.addDescription("max-num-vehicles", "Processing", "Delay vehicle insertion to stay within the given maximum number");

diff --git a/src/microsim/MSLane.cpp b/src/microsim/MSLane.cpp
@@ -1397,7 +1397,8 @@ MSLane::detectCollisionBetween(SUMOTime timestep, const std::string& stage, MSVe
         std::swap(victim, collider);
     }
     const double colliderPos = colliderOpposite ? collider->getBackPositionOnLane(this) : collider->getPositionOnLane(this);
-    double gap = victim->getBackPositionOnLane(this) - colliderPos - myCollisionMinGapFactor * collider->getVehicleType().getMinGap();
+    double minGapFactor = myCollisionMinGapFactor >= 0 ? myCollisionMinGapFactor : collider->getCarFollowModel().getCollisionMinGapFactor();
+    double gap = victim->getBackPositionOnLane(this) - colliderPos - minGapFactor * collider->getVehicleType().getMinGap();
     if (bothOpposite) {
         gap = -gap - 2 * myCollisionMinGapFactor * collider->getVehicleType().getMinGap();
     }

diff --git a/src/microsim/cfmodels/MSCFModel.cpp b/src/microsim/cfmodels/MSCFModel.cpp
@@ -59,6 +59,7 @@ MSCFModel::MSCFModel(const MSVehicleType* vtype) :
     myEmergencyDecel(vtype->getParameter().getCFParam(SUMO_ATTR_EMERGENCYDECEL,
                      SUMOVTypeParameter::getDefaultEmergencyDecel(vtype->getParameter().vehicleClass, myDecel, MSGlobals::gDefaultEmergencyDecel))),
     myApparentDecel(vtype->getParameter().getCFParam(SUMO_ATTR_APPARENTDECEL, myDecel)),
+    myCollisionMinGapFactor(vtype->getParameter().getCFParam(SUMO_ATTR_COLLISION_MINGAP_FACTOR, 1)),
     myHeadwayTime(vtype->getParameter().getCFParam(SUMO_ATTR_TAU, 1.0)) {
 }
 

diff --git a/src/microsim/cfmodels/MSCFModel.h b/src/microsim/cfmodels/MSCFModel.h
@@ -235,6 +235,12 @@ class MSCFModel {
         return myApparentDecel;
     }
 
+    /** @brief Get the factor of minGap that must be maintained to avoid a collision event
+     */
+    inline double getCollisionMinGapFactor() const {
+        return myCollisionMinGapFactor;
+    }
+
 
     /// @name Virtual methods with default implementation
     /// @{
@@ -589,6 +595,8 @@ class MSCFModel {
     double myEmergencyDecel;
     /// @brief The vehicle's deceleration as expected by surrounding traffic [m/s^2]
     double myApparentDecel;
+    /// @brief The factor of minGap that must be maintained to avoid a collision event
+    double myCollisionMinGapFactor;
 
     /// @brief The driver's desired time headway (aka reaction time tau) [s]
     double myHeadwayTime;

diff --git a/src/microsim/cfmodels/MSCFModel_IDM.cpp b/src/microsim/cfmodels/MSCFModel_IDM.cpp
@@ -38,7 +38,10 @@ MSCFModel_IDM::MSCFModel_IDM(const MSVehicleType* vtype, bool idmm) :
     myAdaptationFactor(idmm ? vtype->getParameter().getCFParam(SUMO_ATTR_CF_IDMM_ADAPT_FACTOR, 1.8) : 1.0),
     myAdaptationTime(idmm ? vtype->getParameter().getCFParam(SUMO_ATTR_CF_IDMM_ADAPT_TIME, 600.0) : 0.0),
     myIterations(MAX2(1, int(TS / vtype->getParameter().getCFParam(SUMO_ATTR_CF_IDM_STEPPING, .25) + .5))),
-    myTwoSqrtAccelDecel(double(2 * sqrt(myAccel * myDecel))) {
+    myTwoSqrtAccelDecel(double(2 * sqrt(myAccel * myDecel))) 
+{
+    // IDM does not drive very precise and may violate minGap on occasion
+    myCollisionMinGapFactor = vtype->getParameter().getCFParam(SUMO_ATTR_COLLISION_MINGAP_FACTOR, 0.5);
 }
 
 MSCFModel_IDM::~MSCFModel_IDM() {}

diff --git a/src/utils/xml/SUMOVehicleParserHelper.cpp b/src/utils/xml/SUMOVehicleParserHelper.cpp
@@ -556,6 +556,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         kraussParams.insert(SUMO_ATTR_DECEL);
         kraussParams.insert(SUMO_ATTR_APPARENTDECEL);
         kraussParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        kraussParams.insert(SUMO_ATTR_EMERGENCYDECEL);
         kraussParams.insert(SUMO_ATTR_SIGMA);
         kraussParams.insert(SUMO_ATTR_TAU);
         allowedCFModelAttrs[SUMO_TAG_CF_KRAUSS] = kraussParams;
@@ -576,6 +577,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         smartSKParams.insert(SUMO_ATTR_ACCEL);
         smartSKParams.insert(SUMO_ATTR_DECEL);
         smartSKParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        smartSKParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         smartSKParams.insert(SUMO_ATTR_SIGMA);
         smartSKParams.insert(SUMO_ATTR_TAU);
         smartSKParams.insert(SUMO_ATTR_TMP1);
@@ -590,6 +592,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         daniel1Params.insert(SUMO_ATTR_ACCEL);
         daniel1Params.insert(SUMO_ATTR_DECEL);
         daniel1Params.insert(SUMO_ATTR_EMERGENCYDECEL);
+        daniel1Params.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         daniel1Params.insert(SUMO_ATTR_SIGMA);
         daniel1Params.insert(SUMO_ATTR_TAU);
         daniel1Params.insert(SUMO_ATTR_TMP1);
@@ -604,6 +607,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         pwagParams.insert(SUMO_ATTR_ACCEL);
         pwagParams.insert(SUMO_ATTR_DECEL);
         pwagParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        pwagParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         pwagParams.insert(SUMO_ATTR_SIGMA);
         pwagParams.insert(SUMO_ATTR_TAU);
         pwagParams.insert(SUMO_ATTR_CF_PWAGNER2009_TAULAST);
@@ -615,6 +619,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         idmParams.insert(SUMO_ATTR_ACCEL);
         idmParams.insert(SUMO_ATTR_DECEL);
         idmParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        idmParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         idmParams.insert(SUMO_ATTR_TAU);
         idmParams.insert(SUMO_ATTR_CF_IDM_DELTA);
         idmParams.insert(SUMO_ATTR_CF_IDM_STEPPING);
@@ -625,6 +630,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         idmmParams.insert(SUMO_ATTR_ACCEL);
         idmmParams.insert(SUMO_ATTR_DECEL);
         idmmParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        idmmParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         idmmParams.insert(SUMO_ATTR_TAU);
         idmmParams.insert(SUMO_ATTR_CF_IDMM_ADAPT_FACTOR);
         idmmParams.insert(SUMO_ATTR_CF_IDMM_ADAPT_TIME);
@@ -636,6 +642,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         bkernerParams.insert(SUMO_ATTR_ACCEL);
         bkernerParams.insert(SUMO_ATTR_DECEL);
         bkernerParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        bkernerParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         bkernerParams.insert(SUMO_ATTR_TAU);
         bkernerParams.insert(SUMO_ATTR_K);
         bkernerParams.insert(SUMO_ATTR_CF_KERNER_PHI);
@@ -646,6 +653,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         wiedemannParams.insert(SUMO_ATTR_ACCEL);
         wiedemannParams.insert(SUMO_ATTR_DECEL);
         wiedemannParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        wiedemannParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         wiedemannParams.insert(SUMO_ATTR_CF_WIEDEMANN_SECURITY);
         wiedemannParams.insert(SUMO_ATTR_CF_WIEDEMANN_ESTIMATION);
         allowedCFModelAttrs[SUMO_TAG_CF_WIEDEMANN] = wiedemannParams;
@@ -660,6 +668,7 @@ SUMOVehicleParserHelper::getAllowedCFModelAttrs() {
         ACCParams.insert(SUMO_ATTR_ACCEL);
         ACCParams.insert(SUMO_ATTR_DECEL);
         ACCParams.insert(SUMO_ATTR_EMERGENCYDECEL);
+        ACCParams.insert(SUMO_ATTR_COLLISION_MINGAP_FACTOR);
         ACCParams.insert(SUMO_ATTR_TAU);
         ACCParams.insert(SUMO_ATTR_SC_GAIN);
         ACCParams.insert(SUMO_ATTR_GCC_GAIN_SPEED);

diff --git a/src/utils/xml/SUMOXMLDefinitions.cpp b/src/utils/xml/SUMOXMLDefinitions.cpp
@@ -283,6 +283,7 @@ StringBijection<int>::Entry SUMOXMLDefinitions::attrs[] = {
     { "laneChangeModel",        SUMO_ATTR_LANE_CHANGE_MODEL },
     { "carFollowModel",         SUMO_ATTR_CAR_FOLLOW_MODEL },
     { "minGap",                 SUMO_ATTR_MINGAP },
+    { "collisionMinGapFactor",  SUMO_ATTR_COLLISION_MINGAP_FACTOR },
     { "boardingDuration",       SUMO_ATTR_BOARDING_DURATION },
     { "loadingDuration",        SUMO_ATTR_LOADING_DURATION },
     // Charging Station

diff --git a/src/utils/xml/SUMOXMLDefinitions.h b/src/utils/xml/SUMOXMLDefinitions.h
@@ -413,6 +413,7 @@ enum SumoXMLAttr {
     SUMO_ATTR_LANE_CHANGE_MODEL,
     SUMO_ATTR_CAR_FOLLOW_MODEL,
     SUMO_ATTR_MINGAP,
+    SUMO_ATTR_COLLISION_MINGAP_FACTOR,
     SUMO_ATTR_BOARDING_DURATION,
     SUMO_ATTR_LOADING_DURATION,
     /// @}