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SUMO - Simulation of Urban MObility
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A lane change model developed by J. Erdmann. More...
#include <MSLCM_SL2015.h>
Public Types | |
enum | MyLCAEnum { LCA_MNone = 0, LCA_AMBLOCKINGLEADER = 1 << 16, LCA_AMBLOCKINGFOLLOWER = 1 << 17, LCA_MRIGHT = 1 << 18, LCA_MLEFT = 1 << 19, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21, LCA_CHANGE_TO_HELP = 1 << 23, LCA_AMBACKBLOCKER = 1 << 26, LCA_AMBACKBLOCKER_STANDING = 1 << 27 } |
Public Member Functions | |
SUMOReal | _patchSpeed (const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel) |
bool | alreadyChanged () const |
reset the flag whether a vehicle already moved to false More... | |
void | changed () |
void | changedToOpposite () |
called when a vehicle changes between lanes in opposite directions More... | |
void | cleanupShadowLane () |
bool | debugVehicle () const |
whether the current vehicles shall be debugged More... | |
void | endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE) |
SUMOReal | getAngleOffset () const |
return the angle offset during a continuous change maneuver More... | |
int | getLaneChangeDirection () const |
return the direction of the current lane change maneuver More... | |
SUMOTime | getLastLaneChangeOffset () const |
SUMOReal | getLateralSpeed () const |
return the lateral speed of the current lane change maneuver More... | |
int | getOwnState () const |
int | getShadowDirection () const |
return the direction in which the current shadow lane lies More... | |
const std::vector< MSLane * > & | getShadowFurtherLanes () const |
const std::vector< SUMOReal > & | getShadowFurtherLanesPosLat () const |
MSLane * | getShadowLane () const |
Returns the lane the vehicles shadow is on during continuous/sublane lane change. More... | |
MSLane * | getShadowLane (const MSLane *lane) const |
return the shadow lane for the given lane More... | |
void * | inform (void *info, MSVehicle *sender) |
bool | isChangingLanes () const |
return true if the vehicle currently performs a lane change maneuver More... | |
bool | isOpposite () const |
MSLCM_SL2015 (MSVehicle &v) | |
bool | pastMidpoint () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver More... | |
SUMOReal | patchSpeed (const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel) |
Called to adapt the speed in order to allow a lane change. More... | |
void | prepareStep () |
void | primaryLaneChanged (MSLane *source, MSLane *target, int direction) |
called once when the vehicles primary lane changes More... | |
SUMOTime | remainingTime () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver More... | |
void | removeShadowApproachingInformation () const |
void | resetChanged () |
reset the flag whether a vehicle already moved to false More... | |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOwnState (int state) |
void | setShadowApproachingInformation (MSLink *link) const |
set approach information for the shadow vehicle More... | |
void | setShadowLane (MSLane *lane) |
set the shadow lane More... | |
void | setShadowPartialOccupator (MSLane *lane) |
bool | startLaneChangeManeuver (MSLane *source, MSLane *target, int direction) |
start the lane change maneuver and return whether it continues More... | |
void | unchanged () |
bool | updateCompletion () |
void | updateShadowLane () |
virtual int | wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, SUMOReal > &leader, const std::pair< MSVehicle *, SUMOReal > &neighLead, const std::pair< MSVehicle *, SUMOReal > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked) |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
int | wantsChangeSublane (int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, SUMOReal &latDist, int &blocked) |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
virtual | ~MSLCM_SL2015 () |
Static Public Member Functions | |
static MSAbstractLaneChangeModel * | build (LaneChangeModel lcm, MSVehicle &vehicle) |
Factory method for instantiating new lane changing models. More... | |
static void | initGlobalOptions (const OptionsCont &oc) |
init global model parameters More... | |
Protected Types | |
typedef std::pair< SUMOReal, int > | Info |
information regarding save velocity (unused) and state flags of the ego vehicle More... | |
Protected Member Functions | |
int | _wantsChangeSublane (int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, SUMOReal &latDist, int &blocked) |
helper function for doing the actual work More... | |
bool | amBlockingFollower () |
bool | amBlockingFollowerNB () |
bool | amBlockingFollowerPlusNB () |
bool | amBlockingLeader () |
bool | cancelRequest (int state) |
whether the influencer cancels the given request More... | |
int | checkBlocking (const MSLane &neighLane, SUMOReal &latDist, int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, std::vector< CLeaderDist > *collectLeadBlockers=0, std::vector< CLeaderDist > *collectFollowBlockers=0, bool keepLatGapManeuver=false) |
restrict latDist to permissible speed and determine blocking state depending on that distance More... | |
int | checkBlockingVehicles (const MSVehicle *ego, const MSLeaderDistanceInfo &vehicles, SUMOReal latDist, SUMOReal foeOffset, bool leaders, LaneChangeAction blockType, std::vector< CLeaderDist > *collectBlockers=0) const |
check whether any of the vehicles overlaps with ego More... | |
int | checkStrategicChange (int ret, int laneOffset, const std::vector< MSVehicle::LaneQ > &preb, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, int currIdx, int bestLaneOffset, bool changeToBest, int lcaCounter, SUMOReal currentDist, SUMOReal neighDist, SUMOReal laDist, int roundaboutEdgesAhead) |
compute strategic lane change actions More... | |
int | computeSublaneShift (const MSEdge *prevEdge, const MSEdge *curEdge) |
compute shift so that prevSublane + shift = newSublane More... | |
virtual bool | congested (const MSVehicle *const neighLeader) |
bool | currentDistAllows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist) |
bool | currentDistDisallows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist) |
StateAndDist | decideDirection (StateAndDist sd1, StateAndDist sd2) const |
decide in which direction to move in case both directions are desirable More... | |
void | informFollower (int blocked, int dir, const CLeaderDist &neighFollow, SUMOReal remainingSeconds, SUMOReal plannedSpeed) |
decide whether we will try cut in before the follower or allow to be overtaken More... | |
void | informFollowers (int blocked, int dir, const std::vector< CLeaderDist > &blockers, SUMOReal remainingSeconds, SUMOReal plannedSpeed) |
call informFollower for multiple followers More... | |
SUMOReal | informLeader (int blocked, int dir, const CLeaderDist &neighLead, SUMOReal remainingSeconds) |
SUMOReal | informLeaders (int blocked, int dir, const std::vector< CLeaderDist > &blockers, SUMOReal remainingSeconds) |
void | initLastLaneChangeOffset (int dir) |
int | keepLatGap (int state, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, int laneOffset, SUMOReal &latDist, int &blocked) |
check whether lateral gap requirements are met override the current maneuver if necessary More... | |
void | msg (const CLeaderDist &cld, SUMOReal speed, int state) |
send a speed recommendation to the given vehicle More... | |
virtual bool | predInteraction (const std::pair< MSVehicle *, SUMOReal > &leader) |
void | saveBlockerLength (const MSVehicle *blocker, int lcaCounter) |
save space for vehicles which need to counter-lane-change More... | |
void | saveBlockerLength (SUMOReal length) |
reserve space at the end of the lane to avoid dead locks More... | |
int | slowDownForBlocked (MSVehicle **blocked, int state) |
compute useful slowdowns for blocked vehicles More... | |
void | updateExpectedSublaneSpeeds (const MSLeaderInfo &ahead, int sublaneOffset, int laneIndex) |
update expected speeds for each sublane of the current edge More... | |
void | updateGaps (const MSLeaderDistanceInfo &others, SUMOReal foeOffset, SUMOReal newCenter, SUMOReal gapFactor, SUMOReal &surplusGapRight, SUMOReal &surplusGapLeft) const |
check remaining lateral gaps for the given foe vehicles More... | |
Static Protected Member Functions | |
static LaneChangeAction | getLCA (int state, SUMOReal latDist) |
compute lane change action from desired lateral distance More... | |
static CLeaderDist | getLongest (const MSLeaderDistanceInfo &ldi) |
get the longest vehicle in the given info More... | |
static CLeaderDist | getSlowest (const MSLeaderDistanceInfo &ldi) |
get the slowest vehicle in the given info More... | |
static bool | overlap (SUMOReal right, SUMOReal left, SUMOReal right2, SUMOReal left2) |
return whether the given intervals overlap More... | |
Protected Attributes | |
bool | myAlreadyChanged |
whether the vehicle has already moved this step More... | |
bool | myCanChangeFully |
whether the current lane changing meneuver can be finished in a single step More... | |
const MSCFModel & | myCarFollowModel |
The vehicle's car following model. More... | |
bool | myDontBrake |
flag to prevent speed adaptation by slowing down More... | |
std::vector< SUMOReal > | myExpectedSublaneSpeeds |
expected travel speeds on all sublanes on the current edge(!) More... | |
SUMOReal | myKeepRightProbability |
SUMOReal | myLaneChangeCompletion |
progress of the lane change maneuver 0:started, 1:complete More... | |
int | myLaneChangeDirection |
direction of the lane change maneuver -1 means right, 1 means left More... | |
const MSEdge * | myLastEdge |
expected travel speeds on all sublanes on the current edge(!) More... | |
SUMOReal | myLateralspeed |
The lateral offset during a continuous LaneChangeManeuver. More... | |
SUMOReal | myLeadingBlockerLength |
SUMOReal | myLeftSpace |
SUMOReal | myLookAheadSpeed |
const LaneChangeModel | myModel |
the type of this model More... | |
std::vector< MSLane * > | myNoPartiallyOccupatedByShadow |
SUMOReal | myOrigLatDist |
the complete lateral distance the vehicle wants to travel to finish its maneuver More... | |
int | myOwnState |
The current state of the vehicle. More... | |
std::vector< MSLane * > | myPartiallyOccupatedByShadow |
list of lanes where the shadow vehicle is partial occupator More... | |
int | myPreviousState |
lane changing state from the previous simulation step More... | |
std::vector< MSLane * > | myShadowFurtherLanes |
std::vector< SUMOReal > | myShadowFurtherLanesPosLat |
MSLane * | myShadowLane |
A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More... | |
SUMOReal | mySpeedGainProbabilityLeft |
a value for tracking the probability that a change to the left is beneficial More... | |
SUMOReal | mySpeedGainProbabilityRight |
a value for tracking the probability that a change to the right is beneficial More... | |
MSVehicle & | myVehicle |
The vehicle this lane-changer belongs to. More... | |
std::vector< SUMOReal > | myVSafes |
speed adaptation requests by ego and surrounding vehicles More... | |
user configurable model parameters | |
const SUMOReal | myStrategicParam |
const SUMOReal | myCooperativeParam |
const SUMOReal | mySpeedGainParam |
const SUMOReal | myKeepRightParam |
const SUMOReal | mySublaneParam |
const SUMOReal | myPushy |
const SUMOReal | myAssertive |
derived parameters | |
const SUMOReal | myChangeProbThresholdRight |
const SUMOReal | myChangeProbThresholdLeft |
const SUMOReal | mySpeedLossProbThreshold |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted More... | |
static bool | myLCOutput |
whether to record lane-changing More... | |
A lane change model developed by J. Erdmann.
Definition at line 44 of file MSLCM_SL2015.h.
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protected |
information regarding save velocity (unused) and state flags of the ego vehicle
Definition at line 191 of file MSLCM_SL2015.h.
Enumerator | |
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LCA_MNone | |
LCA_AMBLOCKINGLEADER | |
LCA_AMBLOCKINGFOLLOWER | |
LCA_MRIGHT | |
LCA_MLEFT | |
LCA_AMBLOCKINGFOLLOWER_DONTBRAKE | |
LCA_CHANGE_TO_HELP | |
LCA_AMBACKBLOCKER | |
LCA_AMBACKBLOCKER_STANDING |
Definition at line 47 of file MSLCM_SL2015.h.
MSLCM_SL2015::MSLCM_SL2015 | ( | MSVehicle & | v | ) |
Definition at line 104 of file MSLCM_SL2015.cpp.
References MSGlobals::gLateralResolution.
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virtual |
Definition at line 131 of file MSLCM_SL2015.cpp.
References changed().
SUMOReal MSLCM_SL2015::_patchSpeed | ( | const SUMOReal | min, |
const SUMOReal | wanted, | ||
const SUMOReal | max, | ||
const MSCFModel & | cfModel | ||
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helper function which contains the actual logic
Definition at line 236 of file MSLCM_SL2015.cpp.
References gDebugFlag2, MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicleType::getMinGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, LCA_AMBLOCKINGLEADER, LCA_BLOCKED, LCA_BLOCKED_BY_FOLLOWER, LCA_BLOCKED_BY_LEADER, LCA_COOPERATIVE, LCA_STRATEGIC, LCA_WANTS_LANECHANGE, MAX2(), MIN2(), myDontBrake, myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, myVSafes, NUMERICAL_EPS, STEPS2TIME, MSCFModel::stopSpeed(), and SUMOReal.
Referenced by patchSpeed().
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helper function for doing the actual work
determine the leftmost and rightmost sublanes currently occupied
Definition at line 795 of file MSLCM_SL2015.cpp.
References abs, amBlockingFollowerPlusNB(), ARRIVAL_POSLAT_CENTER, ARRIVAL_POSLAT_DEFAULT, ARRIVAL_POSLAT_GIVEN, ARRIVAL_POSLAT_LEFT, ARRIVAL_POSLAT_RIGHT, ARRIVALPOS_LAT_THRESHOLD, SUMOVehicleParameter::arrivalPosLat, SUMOVehicleParameter::arrivalPosLatProcedure, MSVehicle::LaneQ::bestContinuations, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), checkBlocking(), checkStrategicChange(), currentDistAllows(), DELTA_T, MSEdge::EDGEFUNCTION_INTERNAL, GAIN_PERCEPTION_THRESHOLD, gDebugFlag2, MSBaseVehicle::getArrivalPos(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSRoute::getLastEdge(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), getLongest(), MSBaseVehicle::getParameter(), MSVehicle::getPositionOnLane(), MSVehicleType::getPreferredLateralAlignment(), MSEdge::getPurpose(), MSLane::getRightmostSublane(), MSVehicle::getRightSideOnEdge(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getRoute(), MSCFModel::getSecureGap(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSEdge::getSubLaneSides(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSEdge::getWidth(), MSLeaderInfo::hasStoppedVehicle(), informFollowers(), informLeaders(), KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, LATALIGN_ARBITRARY, LATALIGN_CENTER, LATALIGN_COMPACT, LATALIGN_LEFT, LATALIGN_NICE, LATALIGN_RIGHT, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_NONE, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD_LEFT, LOOK_FORWARD_RIGHT, max, MAX2(), MIN2(), myCanChangeFully, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myExpectedSublaneSpeeds, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, myPreviousState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, mySpeedLossProbThreshold, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, RELGAIN_NORMALIZATION_MIN_SPEED, ROUNDABOUT_DIST_BONUS, saveBlockerLength(), SIMTIME, slowDownForBlocked(), SPEED_GAIN_MIN_SECONDS, STEPS2TIME, SUMOReal, toString(), MSLeaderDistanceInfo::toString(), TS, and URGENCY.
Referenced by setOwnState(), and wantsChangeSublane().
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inlineinherited |
reset the flag whether a vehicle already moved to false
Definition at line 324 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myAlreadyChanged.
Referenced by MSLaneChanger::change().
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inlineprotected |
Definition at line 174 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, and MSAbstractLaneChangeModel::myOwnState.
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inlineprotected |
Definition at line 177 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
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inlineprotected |
Definition at line 180 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
Referenced by _wantsChangeSublane().
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inlineprotected |
Definition at line 171 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.
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staticinherited |
Factory method for instantiating new lane changing models.
[in] | lcm | The type of model to build |
[in] | vehicle | The vehicle for which this model shall be built |
Definition at line 62 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().
Referenced by MSVehicle::MSVehicle(), and MSAbstractLaneChangeModel::StateAndDist::StateAndDist().
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protectedinherited |
whether the influencer cancels the given request
Definition at line 241 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::influenceChangeDecision(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), and MSAbstractLaneChangeModel::isOpposite().
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virtual |
Implements MSAbstractLaneChangeModel.
Definition at line 765 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSVehicle::getBestLaneOffset(), MSBaseVehicle::getID(), LOOK_AHEAD_MIN_SPEED, myCanChangeFully, myDontBrake, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, myVSafes, and SIMTIME.
Referenced by ~MSLCM_SL2015().
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inherited |
called when a vehicle changes between lanes in opposite directions
Definition at line 347 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myAlreadyChanged, and MSAbstractLaneChangeModel::myAmOpposite.
Referenced by MSAbstractLaneChangeModel::debugVehicle(), MSVehicle::executeMove(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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restrict latDist to permissible speed and determine blocking state depending on that distance
Definition at line 1601 of file MSLCM_SL2015.cpp.
References checkBlockingVehicles(), gDebugFlag2, MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSVehicle::getLane(), MSVehicleType::getMaxSpeedLat(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSEdge::getWidth(), LCA_BLOCKED_BY_FOLLOWER, LCA_BLOCKED_BY_LEADER, LCA_BLOCKED_BY_LEFT_FOLLOWER, LCA_BLOCKED_BY_LEFT_LEADER, LCA_BLOCKED_BY_RIGHT_FOLLOWER, LCA_BLOCKED_BY_RIGHT_LEADER, LCA_BLOCKED_LEFT, LCA_BLOCKED_RIGHT, LCA_OVERLAPPING, MAX2(), MIN2(), myCanChangeFully, myOrigLatDist, myPushy, MSAbstractLaneChangeModel::myVehicle, SPEED2DIST, SUMOReal, and updateGaps().
Referenced by _wantsChangeSublane(), and keepLatGap().
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check whether any of the vehicles overlaps with ego
Definition at line 1700 of file MSLCM_SL2015.cpp.
References MSCFModel::brakeGap(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSCFModel::getHeadwayTime(), MSBaseVehicle::getImpatience(), MSCFModel::getMaxDecel(), MSVehicle::getRightSideOnEdge(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSGlobals::gLateralResolution, LCA_OVERLAPPING, MAX2(), MIN2(), myAssertive, MSLeaderInfo::numSublanes(), overlap(), and SUMOReal.
Referenced by checkBlocking().
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protected |
compute strategic lane change actions
we urgently need to change lanes to follow our route
Definition at line 1860 of file MSLCM_SL2015.cpp.
References abs, MSVehicle::LaneQ::bestContinuations, MSVehicle::LaneQ::bestLaneOffset, MSVehicle::congested(), currentDistDisallows(), MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSCFModel::getMaxDecel(), MSVehicle::getPositionOnLane(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSLeaderInfo::hasStoppedVehicle(), MSLeaderInfo::hasVehicles(), MSVehicle::influenceChangeDecision(), JAM_FACTOR, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, MAX2(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myChangeProbThresholdLeft, myLookAheadSpeed, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, myVSafes, MSVehicle::LaneQ::occupation, SIMTIME, SUMO_const_haltingSpeed, SUMOReal, TS, and TURN_LANE_DIST.
Referenced by _wantsChangeSublane().
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inherited |
Definition at line 221 of file MSAbstractLaneChangeModel.cpp.
References MSBaseVehicle::getID(), MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myShadowFurtherLanes, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.
Referenced by MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::resetChanged(), and MSVehicle::~MSVehicle().
compute shift so that prevSublane + shift = newSublane
Definition at line 735 of file MSLCM_SL2015.cpp.
References MSEdge::getLanes(), MSLane::getLinkCont(), max, and MSLeaderInfo::numSublanes().
Referenced by prepareStep().
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protectedvirtualinherited |
Definition at line 105 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSAbstractLaneChangeModel::isOpposite(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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inlineprotected |
Definition at line 183 of file MSLCM_SL2015.h.
References abs.
Referenced by checkStrategicChange().
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whether the current vehicles shall be debugged
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 137 of file MSLCM_SL2015.cpp.
References DEBUG_COND.
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protectedvirtual |
decide in which direction to move in case both directions are desirable
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 1794 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSAbstractLaneChangeModel::StateAndDist::dir, MSBaseVehicle::getID(), MSAbstractLaneChangeModel::StateAndDist::latDist, LCA_BLOCKED, LCA_CHANGE_REASONS, LCA_STAY, LCA_SUBLANE, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::myVehicle, SIMTIME, MSAbstractLaneChangeModel::StateAndDist::state, and toString().
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inherited |
Definition at line 188 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::cleanupShadowLane(), MSVehicle::fixPosition(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myVehicle, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::resetChanged(), and MSAbstractLaneChangeModel::updateShadowLane().
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return the angle offset during a continuous change maneuver
Definition at line 318 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::pastMidpoint(), STEPS2TIME, and SUMOReal.
Referenced by MSAbstractLaneChangeModel::getLaneChangeDirection().
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inlineinherited |
return the direction of the current lane change maneuver
Definition at line 308 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::myLaneChangeDirection, and SUMOReal.
Referenced by MSLaneChanger::continueChange().
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inlineinherited |
Definition at line 289 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
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inlineinherited |
return the lateral speed of the current lane change maneuver
Definition at line 319 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLateralspeed.
Referenced by MSLaneChanger::continueChange().
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staticprotected |
compute lane change action from desired lateral distance
Definition at line 1853 of file MSLCM_SL2015.cpp.
References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.
Referenced by wantsChangeSublane().
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staticprotected |
get the longest vehicle in the given info
Definition at line 1567 of file MSLCM_SL2015.cpp.
References MSLeaderInfo::numSublanes(), and SUMOReal.
Referenced by _wantsChangeSublane().
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inlineinherited |
Definition at line 148 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myOwnState.
Referenced by saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::setBlinkerInformation().
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inherited |
return the direction in which the current shadow lane lies
Definition at line 301 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::pastMidpoint(), and SUMOReal.
Referenced by MSLaneChanger::continueChange(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::getLaneChangeDirection(), and GUIVehicle::selectBlockingFoes().
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inlineinherited |
Definition at line 281 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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inlineinherited |
Definition at line 285 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat.
Referenced by MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Returns the lane the vehicles shadow is on during continuous/sublane lane change.
Definition at line 269 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
Referenced by MSVehicle::checkRewindLinkLanes(), MSLaneChanger::continueChange(), MSLane::detectCollisions(), MSVehicle::executeMove(), MSVehicle::getBackPosition(), MSVehicle::getCenterOnEdge(), GUIVehicle::getParameterWindow(), MSVehicle::isFrontOnLane(), MSVehicle::planMoveInternal(), GUIVehicle::selectBlockingFoes(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and MSAbstractLaneChangeModel::updateShadowLane().
return the shadow lane for the given lane
Definition at line 199 of file MSAbstractLaneChangeModel.cpp.
References MSBaseVehicle::getID(), MSVehicle::getLateralOverlap(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SIMTIME, and SUMOReal.
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get the slowest vehicle in the given info
Definition at line 1584 of file MSLCM_SL2015.cpp.
References max, MSLeaderInfo::numSublanes(), and SUMOReal.
Referenced by _wantsChangeSublane(), and checkStrategicChange().
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Implements MSAbstractLaneChangeModel.
Definition at line 378 of file MSLCM_SL2015.cpp.
References DEBUG_COND, gDebugFlag2, MSBaseVehicle::getID(), MSNet::getInstance(), MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, myVSafes, and STEPS2TIME.
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decide whether we will try cut in before the follower or allow to be overtaken
Definition at line 518 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, MSVehicle::congested(), CUT_IN_LEFT_SPEED_THRESHOLD, MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSVehicle::getWaitingSeconds(), HELP_DECEL_FACTOR, HELP_OVERTAKE, LCA_AMBLOCKINGFOLLOWER, LCA_BLOCKED_BY_FOLLOWER, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT_IMPATIENCE, MAX2(), MAX_ONRAMP_LENGTH, msg(), MSAbstractLaneChangeModel::myAllowOvertakingRight, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, myVSafes, POSITION_EPS, SPEED2DIST, STEPS2TIME, and SUMOReal.
Referenced by informFollowers(), and setOwnState().
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call informFollower for multiple followers
Definition at line 673 of file MSLCM_SL2015.cpp.
References informFollower().
Referenced by _wantsChangeSublane(), and setOwnState().
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Definition at line 406 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, MSCFModel::brakeGap(), MSVehicle::congested(), MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), HELP_OVERTAKE, LCA_AMBLOCKINGLEADER, LCA_BLOCKED_BY_LEADER, LCA_MLEFT, MAX2(), MIN2(), MIN_FALLBEHIND, msg(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, myVSafes, SPEED2DIST, STEPS2TIME, MSCFModel::stopSpeed(), and SUMOReal.
Referenced by informLeaders(), and setOwnState().
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Definition at line 661 of file MSLCM_SL2015.cpp.
References MSVehicle::getSpeed(), informLeader(), MIN2(), MSAbstractLaneChangeModel::myVehicle, and SUMOReal.
Referenced by _wantsChangeSublane(), and setOwnState().
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staticinherited |
init global model parameters
Definition at line 55 of file MSAbstractLaneChangeModel.cpp.
References OptionsCont::getBool(), OptionsCont::isSet(), MSAbstractLaneChangeModel::myAllowOvertakingRight, and MSAbstractLaneChangeModel::myLCOutput.
Referenced by MSFrame::setMSGlobals(), and MSAbstractLaneChangeModel::StateAndDist::StateAndDist().
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protectedinherited |
Definition at line 248 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSAbstractLaneChangeModel::primaryLaneChanged().
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inlineinherited |
return true if the vehicle currently performs a lane change maneuver
Definition at line 303 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLaneChangeCompletion, and NUMERICAL_EPS.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), MSVehicle::computeAngle(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::getBackPosition(), MSVehicle::getPosition(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 372 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::cancelRequest(), MSAbstractLaneChangeModel::congested(), MSAbstractLaneChangeModel::myAmOpposite, and MSAbstractLaneChangeModel::predInteraction().
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLCM_LC2013::getRoundaboutAheadInfo(), and MSVehicle::planMoveInternal().
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check whether lateral gap requirements are met override the current maneuver if necessary
XXX to be made configurable
XXX todo
Definition at line 1993 of file MSLCM_SL2015.cpp.
References checkBlocking(), gDebugFlag2, MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getMaxSpeedLat(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSEdge::getWidth(), LCA_BLOCKED_LEFT, LCA_BLOCKED_RIGHT, LCA_OVERLAPPING, LCA_STAY, LCA_STRATEGIC, MAX3(), MIN2(), MIN3(), MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SPEED2DIST, SUMOReal, toString(), and updateGaps().
Referenced by wantsChangeSublane().
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send a speed recommendation to the given vehicle
Definition at line 399 of file MSLCM_SL2015.cpp.
References MSAbstractLaneChangeModel::myVehicle, and SUMOReal.
Referenced by informFollower(), and informLeader().
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return whether the given intervals overlap
Definition at line 1786 of file MSLCM_SL2015.cpp.
References NUMERICAL_EPS.
Referenced by checkBlockingVehicles().
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return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 295 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLaneChangeCompletion, and MSAbstractLaneChangeModel::remainingTime().
Referenced by MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::updateCompletion().
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Called to adapt the speed in order to allow a lane change.
min | The minimum resulting speed |
wanted | The aspired speed of the car following model |
max | The maximum resulting speed |
cfModel | The model used |
Implements MSAbstractLaneChangeModel.
Definition at line 215 of file MSLCM_SL2015.cpp.
References _patchSpeed(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMOReal, and toString().
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Definition at line 125 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getSpeed(), MSCFModel::interactionGap(), MSAbstractLaneChangeModel::myCarFollowModel, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSAbstractLaneChangeModel::isOpposite(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Reimplemented from MSAbstractLaneChangeModel.
Definition at line 684 of file MSLCM_SL2015.cpp.
References computeSublaneShift(), MSLane::getEdge(), MSVehicle::getLane(), MSEdge::getLanes(), MSEdge::getSubLaneSides(), MSGlobals::gLateralResolution, LCA_STRATEGIC, LCA_WANTS_LANECHANGE, max, MAX2(), myCanChangeFully, myDontBrake, myExpectedSublaneSpeeds, myKeepRightProbability, myLastEdge, myLeadingBlockerLength, myLeftSpace, myOrigLatDist, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, and myVSafes.
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called once when the vehicles primary lane changes
Definition at line 157 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changed(), OutputDevice::closeTag(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::initLastLaneChangeOffset(), LCA_LEFT, LCA_RIGHT, MSVehicle::leaveLane(), MSLane::leftByLaneChange(), MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, time2string(), toString(), and OutputDevice::writeAttr().
Referenced by MSLaneChanger::continueChange(), MSAbstractLaneChangeModel::setNoShadowPartialOccupator(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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inherited |
return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 325 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, and MSAbstractLaneChangeModel::myLaneChangeCompletion.
Referenced by MSAbstractLaneChangeModel::pastMidpoint().
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inherited |
Definition at line 337 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSVehicle::removeApproachingInformation(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().
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inlineinherited |
reset the flag whether a vehicle already moved to false
Definition at line 329 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::myAlreadyChanged, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSAbstractLaneChangeModel::startLaneChangeManeuver(), MSAbstractLaneChangeModel::updateCompletion(), and MSAbstractLaneChangeModel::updateShadowLane().
Referenced by MSVehicle::planMove().
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save space for vehicles which need to counter-lane-change
Definition at line 1493 of file MSLCM_SL2015.cpp.
References MSCFModel::brakeGap(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSAbstractLaneChangeModel::getOwnState(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMOReal, and toString().
Referenced by _wantsChangeSublane(), and setOwnState().
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inlineprotectedvirtual |
reserve space at the end of the lane to avoid dead locks
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 167 of file MSLCM_SL2015.h.
References MAX2(), and myLeadingBlockerLength.
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inlineinherited |
Definition at line 361 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), and MSAbstractLaneChangeModel::setShadowApproachingInformation().
Referenced by MSVehicle::enterLaneAtLaneChange().
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inlinevirtual |
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 108 of file MSLCM_SL2015.h.
References _wantsChangeSublane(), informFollower(), informFollowers(), informLeader(), informLeaders(), MSAbstractLaneChangeModel::myOwnState, myPreviousState, saveBlockerLength(), slowDownForBlocked(), and SUMOReal.
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set approach information for the shadow vehicle
Definition at line 331 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().
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inlineinherited |
set the shadow lane
Definition at line 277 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
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inlineinherited |
Definition at line 357 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow.
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compute useful slowdowns for blocked vehicles
Definition at line 1457 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, MSAbstractLaneChangeModel::myCarFollowModel, MSAbstractLaneChangeModel::myVehicle, myVSafes, POSITION_EPS, STEPS2TIME, SUMO_const_haltingSpeed, and SUMOReal.
Referenced by _wantsChangeSublane(), and setOwnState().
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inherited |
start the lane change maneuver and return whether it continues
Definition at line 138 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changedToOpposite(), DELTA_T, MSLane::getCenterOnEdge(), MSLane::getEdge(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myLateralspeed, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::primaryLaneChanged(), SUMOReal, MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSLaneChanger::changeOpposite(), MSAbstractLaneChangeModel::resetChanged(), MSLaneChanger::startChange(), and MSLaneChangerSublane::startChangeSublane().
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inlineinherited |
Definition at line 258 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
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inherited |
Definition at line 180 of file MSAbstractLaneChangeModel.cpp.
References DELTA_T, MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::pastMidpoint(), and SUMOReal.
Referenced by MSLaneChanger::continueChange(), and MSAbstractLaneChangeModel::resetChanged().
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protectedvirtual |
update expected speeds for each sublane of the current edge
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 1533 of file MSLCM_SL2015.cpp.
References MSLane::allowsVehicleClass(), MSCFModel::followSpeed(), MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanes(), MSVehicle::getCarFollowModel(), MSLane::getEdge(), MSVehicle::getLane(), MSEdge::getLanes(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSVehicleType::getVehicleClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MIN2(), MSAbstractLaneChangeModel::myCarFollowModel, myExpectedSublaneSpeeds, MSAbstractLaneChangeModel::myVehicle, MSLeaderInfo::numSublanes(), and SUMOReal.
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protected |
check remaining lateral gaps for the given foe vehicles
foe vehicle occupies full sublanes
Definition at line 2111 of file MSLCM_SL2015.cpp.
References gDebugFlag2, MSBaseVehicle::getID(), MSVehicleType::getMinGapLat(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSGlobals::gLateralResolution, MSLeaderInfo::hasVehicles(), MAX2(), MIN2(), MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, MSLeaderInfo::numSublanes(), and SUMOReal.
Referenced by checkBlocking(), and keepLatGap().
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inherited |
Definition at line 257 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::endLaneChangeManeuver(), gDebugFlag4, MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), MSVehicle::getLateralPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myShadowFurtherLanes, MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.
Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::resetChanged(), and MSLaneChangerSublane::startChangeSublane().
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inlinevirtualinherited |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented in MSLCM_LC2013, and MSLCM_DK2008.
Definition at line 162 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChanger::checkChange().
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virtual |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 143 of file MSLCM_SL2015.cpp.
References _wantsChangeSublane(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_STAY, LCA_WANTS_LANECHANGE, myCanChangeFully, myOrigLatDist, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMOReal, and toString().
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staticprotectedinherited |
whether overtaking on the right is permitted
Definition at line 430 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), checkStrategicChange(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), and MSAbstractLaneChangeModel::initGlobalOptions().
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protectedinherited |
whether the vehicle has already moved this step
Definition at line 402 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::alreadyChanged(), MSAbstractLaneChangeModel::changedToOpposite(), and MSAbstractLaneChangeModel::resetChanged().
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Definition at line 319 of file MSLCM_SL2015.h.
Referenced by checkBlockingVehicles().
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protected |
whether the current lane changing meneuver can be finished in a single step
Definition at line 302 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkBlocking(), prepareStep(), and wantsChangeSublane().
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protectedinherited |
The vehicle's car following model.
Definition at line 413 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_LC2013::informLeader(), informLeader(), MSAbstractLaneChangeModel::predInteraction(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 326 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and checkStrategicChange().
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Definition at line 325 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 313 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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protected |
flag to prevent speed adaptation by slowing down
Definition at line 299 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), changed(), and prepareStep().
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protected |
expected travel speeds on all sublanes on the current edge(!)
Definition at line 293 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), prepareStep(), and updateExpectedSublaneSpeeds().
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protected |
Definition at line 315 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 280 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and prepareStep().
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protectedinherited |
progress of the lane change maneuver 0:started, 1:complete
Definition at line 393 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::pastMidpoint(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), and MSAbstractLaneChangeModel::updateCompletion().
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protectedinherited |
direction of the lane change maneuver -1 means right, 1 means left
Definition at line 396 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getLaneChangeDirection(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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expected travel speeds on all sublanes on the current edge(!)
Definition at line 296 of file MSLCM_SL2015.h.
Referenced by prepareStep().
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The lateral offset during a continuous LaneChangeManeuver.
Definition at line 399 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getLateralSpeed(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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whether to record lane-changing
Definition at line 433 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::primaryLaneChanged().
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Definition at line 282 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), informLeader(), prepareStep(), and saveBlockerLength().
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Definition at line 283 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), informFollower(), informLeader(), prepareStep(), and saveBlockerLength().
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Definition at line 287 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and checkStrategicChange().
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the type of this model
Definition at line 416 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::decideDirection(), MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds(), MSAbstractLaneChangeModel::wantsChange(), and MSAbstractLaneChangeModel::wantsChangeSublane().
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the complete lateral distance the vehicle wants to travel to finish its maneuver
Definition at line 308 of file MSLCM_SL2015.h.
Referenced by checkBlocking(), prepareStep(), and wantsChangeSublane().
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The current state of the vehicle.
Definition at line 390 of file MSAbstractLaneChangeModel.h.
Referenced by _patchSpeed(), MSLCM_LC2013::_patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_DK2008::changed(), changed(), MSLCM_LC2013::changed(), MSAbstractLaneChangeModel::getOwnState(), MSLCM_DK2008::inform(), inform(), MSLCM_LC2013::inform(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), prepareStep(), MSLCM_LC2013::prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), setOwnState(), MSAbstractLaneChangeModel::setOwnState(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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list of lanes where the shadow vehicle is partial occupator
Definition at line 419 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().
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lane changing state from the previous simulation step
Definition at line 305 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and setOwnState().
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Definition at line 318 of file MSLCM_SL2015.h.
Referenced by checkBlocking().
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Definition at line 409 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::getShadowFurtherLanes(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 410 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat(), and MSAbstractLaneChangeModel::updateShadowLane().
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A lane that is partially occupied by the front of the vehicle but that is not the primary lane.
Definition at line 405 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::setShadowLane(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 314 of file MSLCM_SL2015.h.
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a value for tracking the probability that a change to the left is beneficial
Definition at line 275 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and prepareStep().
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a value for tracking the probability that a change to the right is beneficial
Definition at line 273 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkStrategicChange(), and prepareStep().
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Definition at line 327 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 312 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 316 of file MSLCM_SL2015.h.
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The vehicle this lane-changer belongs to.
Definition at line 387 of file MSAbstractLaneChangeModel.h.
Referenced by _patchSpeed(), MSLCM_LC2013::_patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSAbstractLaneChangeModel::cancelRequest(), changed(), MSLCM_LC2013::changed(), checkBlocking(), checkStrategicChange(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::congested(), decideDirection(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), inform(), MSLCM_LC2013::inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), informLeaders(), keepLatGap(), msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), patchSpeed(), MSLCM_LC2013::patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), updateExpectedSublaneSpeeds(), updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSLCM_LC2013::wantsChange(), wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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speed adaptation requests by ego and surrounding vehicles
Definition at line 290 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), changed(), checkStrategicChange(), inform(), informFollower(), informLeader(), prepareStep(), and slowDownForBlocked().