Eclipse SUMO - Simulation of Urban MObility
CC_Const.h
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18 // File defining constants, structs, and enums for cruise controllers
19 /****************************************************************************/
20 #pragma once
21 
22 #include <string>
23 #include <sstream>
24 
25 namespace Plexe {
26 
31  DRIVER_CHOICE = 0, //the platooning management is not active, so just let the driver choose the lane
32  STAY_IN_CURRENT_LANE = 3, //the car is part of a platoon, so it has to stay on the dedicated platooning lane
33  MOVE_TO_FIXED_LANE = 4 //move the car to a specific lane
34 };
35 
39 #define FIX_LC 0b1000000000
40 #define DEFAULT_NOTRACI_LC 0b1010101010
41 
48 {DRIVER = 0, ACC = 1, CACC = 2, FAKED_CACC = 3, PLOEG = 4, CONSENSUS = 5, FLATBED = 6};
49 
54 struct CCDataHeader {
55  int type; //type of message. indicates what comes after the header
56  int size; //size of message. indicates how many bytes comes after the header
57 };
58 
62 struct VEHICLE_DATA {
63  int index; //position in the platoon (0 = first)
64  double speed; //vehicle speed
65  double acceleration; //vehicle acceleration
66  double positionX; //position of the vehicle in the simulation
67  double positionY; //position of the vehicle in the simulation
68  double time; //time at which such information was read from vehicle's sensors
69  double length; //vehicle length
70  double u; //controller acceleration
71  double speedX; //vehicle speed on the X axis
72  double speedY; //vehicle speed on the Y axis
73  double angle; //vehicle angle in radians
74 };
75 
76 #define MAX_N_CARS 8
77 
78 #define CC_ENGINE_MODEL_FOLM 0x00 //first order lag model
79 #define CC_ENGINE_MODEL_REALISTIC 0x01 //the detailed and realistic engine model
80 
81 //parameter names for engine models
82 #define FOLM_PAR_TAU "tau_s"
83 #define FOLM_PAR_DT "dt_s"
84 
85 #define ENGINE_PAR_VEHICLE "vehicle"
86 #define ENGINE_PAR_XMLFILE "xmlFile"
87 #define ENGINE_PAR_DT "dt_s"
88 
89 #define CC_PAR_VEHICLE_DATA "ccvd" //data about a vehicle, like position, speed, acceleration, etc
90 #define CC_PAR_VEHICLE_POSITION "ccvp" //position of the vehicle in the platoon (0 based)
91 #define CC_PAR_PLATOON_SIZE "ccps" //number of cars in the platoon
92 
93 //set of controller-related constants
94 #define CC_PAR_CACC_XI "ccxi" //xi
95 #define CC_PAR_CACC_OMEGA_N "ccon" //omega_n
96 #define CC_PAR_CACC_C1 "ccc1" //C1
97 #define CC_PAR_ENGINE_TAU "cctau" //engine time constant
98 
99 #define CC_PAR_UMIN "ccumin" //lower saturation for u
100 #define CC_PAR_UMAX "ccumax" //upper saturation for u
101 
102 #define CC_PAR_PLOEG_H "ccph" //time headway of ploeg's CACC
103 #define CC_PAR_PLOEG_KP "ccpkp" //kp parameter of ploeg's CACC
104 #define CC_PAR_PLOEG_KD "ccpkd" //kd parameter of ploeg's CACC
105 
106 #define CC_PAR_FLATBED_KA "ccfka" //ka parameter of flatbed CACC
107 #define CC_PAR_FLATBED_KV "ccfkv" //kv parameter of flatbed CACC
108 #define CC_PAR_FLATBED_KP "ccfkp" //kp parameter of flatbed CACC
109 #define CC_PAR_FLATBED_H "ccfh" //h parameter of flatbed CACC
110 #define CC_PAR_FLATBED_D "ccfd" //distance parameter of flatbed CACC
111 
112 #define CC_PAR_VEHICLE_ENGINE_MODEL "ccem" //set the engine model for a vehicle
113 
114 #define CC_PAR_VEHICLE_MODEL "ccvm" //set the vehicle model, i.e., engine characteristics
115 #define CC_PAR_VEHICLES_FILE "ccvf" //set the location of the vehicle parameters file
116 
117 // set CACC constant spacing
118 #define PAR_CACC_SPACING "ccsp"
119 
120 // get ACC computed acceleration when faked CACC controller is enabled
121 #define PAR_ACC_ACCELERATION "ccacc"
122 
123 // determine whether a vehicle has crashed or not
124 #define PAR_CRASHED "cccr"
125 
126 // set a fixed acceleration to a vehicle controlled by CC/ACC/CACC
127 #define PAR_FIXED_ACCELERATION "ccfa"
128 
129 // get vehicle speed and acceleration, needed for example by the platoon leader (get: vehicle)
130 #define PAR_SPEED_AND_ACCELERATION "ccsa"
131 
132 // set speed and acceleration of the platoon leader
133 #define PAR_LEADER_SPEED_AND_ACCELERATION "cclsa"
134 
135 // set whether CACCs should use real or controller acceleration
136 #define PAR_USE_CONTROLLER_ACCELERATION "ccca"
137 
138 // get lane count for the street the vehicle is currently traveling
139 #define PAR_LANES_COUNT "cclc"
140 
141 // set the cruise control desired speed
142 #define PAR_CC_DESIRED_SPEED "ccds"
143 
144 // set the currently active vehicle controller which can be either the driver, or the ACC or the CACC
145 #define PAR_ACTIVE_CONTROLLER "ccac"
146 
147 // get radar data from the car
148 #define PAR_RADAR_DATA "ccrd"
149 
150 // communicate with the cruise control to give him fake indications. this can be useful when you want
151 // to advance a vehicle to a certain position, for example, for joining a platoon. clearly the ACC
152 // must always take into consideration both fake and real data
153 #define PAR_LEADER_FAKE_DATA "cclfd"
154 #define PAR_FRONT_FAKE_DATA "ccffd"
155 
156 // get the distance that a car has to travel until it reaches the end of its route
157 #define PAR_DISTANCE_TO_END "ccdte"
158 
159 // get the distance from the beginning of the route
160 #define PAR_DISTANCE_FROM_BEGIN "ccdfb"
161 
162 // set speed and acceleration of preceding vehicle
163 #define PAR_PRECEDING_SPEED_AND_ACCELERATION "ccpsa"
164 
165 // set ACC headway time
166 #define PAR_ACC_HEADWAY_TIME "ccaht"
167 
168 // return engine information (for the realistic engine model)
169 #define PAR_ENGINE_DATA "cced"
170 
171 // enabling/disabling auto feeding
172 #define PAR_USE_AUTO_FEEDING "ccaf"
173 
174 // enabling/disabling data prediction
175 #define PAR_USE_PREDICTION "ccup"
176 
177 // add/remove members from own platoon
178 #define PAR_ADD_MEMBER "ccam"
179 #define PAR_REMOVE_MEMBER "ccrm"
180 
181 // let the leader automatically change lane for the whole platoon if there is a speed advantage
182 #define PAR_ENABLE_AUTO_LANE_CHANGE "ccalc"
183 
184 }
185 
Definition: CC_Const.h:25
PLATOONING_LANE_CHANGE_ACTION
action that might be requested by the platooning management
Definition: CC_Const.h:30
@ DRIVER_CHOICE
Definition: CC_Const.h:31
@ STAY_IN_CURRENT_LANE
Definition: CC_Const.h:32
@ MOVE_TO_FIXED_LANE
Definition: CC_Const.h:33
ACTIVE_CONTROLLER
Determines the currently active controller, i.e., ACC, CACC, or the driver. In future we might need t...
Definition: CC_Const.h:48
@ DRIVER
Definition: CC_Const.h:48
@ CONSENSUS
Definition: CC_Const.h:48
@ FAKED_CACC
Definition: CC_Const.h:48
@ CACC
Definition: CC_Const.h:48
@ PLOEG
Definition: CC_Const.h:48
@ ACC
Definition: CC_Const.h:48
@ FLATBED
Definition: CC_Const.h:48
struct used as header for generic data passing to this model through traci
Definition: CC_Const.h:54
double acceleration
Definition: CC_Const.h:65