SUMO交通仿真平台内嵌的跟驰模型怎么理解，怎么用伪代码表示出来？

跟驰模型是SUMO平台内嵌的模型，源码都是C++源码

这些源码怎么用伪代码表示呢？

以下是Kruass跟驰模型

/****************************************************************************/
// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
// Copyright (C) 2001-2021 German Aerospace Center (DLR) and others.
// This program and the accompanying materials are made available under the
// terms of the Eclipse Public License 2.0 which is available at
// https://www.eclipse.org/legal/epl-2.0/
// This Source Code may also be made available under the following Secondary
// Licenses when the conditions for such availability set forth in the Eclipse
// Public License 2.0 are satisfied: GNU General Public License, version 2
// or later which is available at
// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
/****************************************************************************/
/// @file    MSCFModel_Krauss.cpp
/// @author  Tobias Mayer
/// @author  Daniel Krajzewicz
/// @author  Jakob Erdmann
/// @author  Michael Behrisch
/// @author  Laura Bieker
/// @date    Mon, 04 Aug 2009
///
// Krauss car-following model, with acceleration decrease and faster start
/****************************************************************************/
#include <config.h>

#include <microsim/MSVehicle.h>
#include <microsim/MSLane.h>
#include <microsim/MSGlobals.h>
#include "MSCFModel_Krauss.h"
#include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
#include <utils/common/RandHelper.h>



// ===========================================================================
// DEBUG constants
// ===========================================================================
//#define DEBUG_COND (true)
#define DEBUG_COND (veh->isSelected())
#define DEBUG_DRIVER_ERRORS


// ===========================================================================
// method definitions
// ===========================================================================
MSCFModel_Krauss::MSCFModel_Krauss(const MSVehicleType* vtype) :
    MSCFModel_KraussOrig1(vtype) {
}


MSCFModel_Krauss::~MSCFModel_Krauss() {}


double
MSCFModel_Krauss::patchSpeedBeforeLC(const MSVehicle* veh, double vMin, double vMax) const {
    const double sigma = (veh->passingMinor()
                          ? veh->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_SIGMA_MINOR, myDawdle)
                          : myDawdle);
    const double vDawdle = MAX2(vMin, dawdle2(vMax, sigma, veh->getRNG()));
    return vDawdle;
}


double
MSCFModel_Krauss::stopSpeed(const MSVehicle* const veh, const double speed, double gap, double decel) const {
    // NOTE: This allows return of smaller values than minNextSpeed().
    // Only relevant for the ballistic update: We give the argument headway=veh->getActionStepLengthSecs(), to assure that
    // the stopping position is approached with a uniform deceleration also for tau!=veh->getActionStepLengthSecs().
    applyHeadwayPerceptionError(veh, speed, gap);
    return MIN2(maximumSafeStopSpeed(gap, decel, speed, false, veh->getActionStepLengthSecs()), maxNextSpeed(speed, veh));
}


double
MSCFModel_Krauss::followSpeed(const MSVehicle* const veh, double speed, double gap, double predSpeed, double predMaxDecel, const MSVehicle* const pred) const {
    //gDebugFlag1 = DEBUG_COND;
    applyHeadwayAndSpeedDifferencePerceptionErrors(veh, speed, gap, predSpeed, predMaxDecel, pred);
    //gDebugFlag1 = DEBUG_COND; // enable for DEBUG_EMERGENCYDECEL
    const double vsafe = maximumSafeFollowSpeed(gap, speed, predSpeed, predMaxDecel);
    //gDebugFlag1 = false;
    const double vmin = minNextSpeedEmergency(speed);
    const double vmax = maxNextSpeed(speed, veh);
    if (MSGlobals::gSemiImplicitEulerUpdate) {
        return MIN2(vsafe, vmax);
    } else {
        // ballistic
        // XXX: the euler variant can break as strong as it wishes immediately! The ballistic cannot, refs. #2575.
        return MAX2(MIN2(vsafe, vmax), vmin);
    }
}


double
MSCFModel_Krauss::dawdle2(double speed, double sigma, std::mt19937* rng) const {
    if (!MSGlobals::gSemiImplicitEulerUpdate) {
        // in case of the ballistic update, negative speeds indicate
        // a desired stop before the completion of the next timestep.
        // We do not allow dawdling to overwrite this indication
        if (speed < 0) {
            return speed;
        }
    }
    // generate random number out of [0,1)
    const double random = RandHelper::rand(rng);
    // Dawdle.
    if (speed < myAccel) {
        // we should not prevent vehicles from driving just due to dawdling
        //  if someone is starting, he should definitely start
        // (but what about slow-to-start?)!!!
        speed -= ACCEL2SPEED(sigma * speed * random);
    } else {
        speed -= ACCEL2SPEED(sigma * myAccel * random);
    }
    return MAX2(0., speed);
}


MSCFModel*
MSCFModel_Krauss::duplicate(const MSVehicleType* vtype) const {
    return new MSCFModel_Krauss(vtype);
}


/****************************************************************************/

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你对伪代码的具体要求是什么样子啊，像流程图那样表示么。

这些函数编写的比较精炼啊，几乎不需要画流程了

如果是要表达函数的调用关系，可能光看这些代码也不够