SUMO - Simulation of Urban MObility
MSVehicle::Influencer Class Reference

Changes the wished vehicle speed / lanes. More...

#include <MSVehicle.h>

Collaboration diagram for MSVehicle::Influencer:
Collaboration graph

Public Member Functions

double changeRequestRemainingSeconds (const SUMOTime currentTime) const
 Return the remaining number of seconds of the current laneTimeLine assuming one exists. More...
 
bool getEmergencyBrakeRedLight () const
 Returns whether red lights shall be a reason to brake. More...
 
SUMOTime getLastAccessTimeStep () const
 
double getLatDist () const
 
double getOriginalSpeed () const
 Returns the originally longitudinal speed to use. More...
 
bool getRespectJunctionPriority () const
 Returns whether junction priority rules shall be respected. More...
 
int getSignals () const
 
int getSpeedMode () const
 return the current speed mode More...
 
double implicitDeltaPosVTD (const MSVehicle *veh)
 return the change in longitudinal position that is implicit in the new VTD position More...
 
double implicitSpeedVTD (const MSVehicle *veh, double oldSpeed)
 return the speed that is implicit in the new VTD position More...
 
int influenceChangeDecision (const SUMOTime currentTime, const MSEdge &currentEdge, const int currentLaneIndex, int state)
 Applies stored LaneChangeMode information and laneTimeLine. More...
 
 Influencer ()
 Constructor. More...
 
double influenceSpeed (SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax)
 Applies stored velocity information on the speed to use. More...
 
bool isVTDAffected (SUMOTime t) const
 
bool isVTDControlled () const
 
void postProcessVTD (MSVehicle *v)
 
void setLaneChangeMode (int value)
 Sets lane changing behavior. More...
 
void setLaneTimeLine (const std::vector< std::pair< SUMOTime, int > > &laneTimeLine)
 Sets a new lane timeline. More...
 
void setSignals (int signals)
 
void setSpeedMode (int speedMode)
 Sets speed-constraining behaviors. More...
 
void setSpeedTimeLine (const std::vector< std::pair< SUMOTime, double > > &speedTimeLine)
 Sets a new velocity timeline. More...
 
void setSublaneChange (double latDist)
 Sets a new sublane-change request. More...
 
void setVTDControlled (Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
 
 ~Influencer ()
 Destructor. More...
 

Private Attributes

bool myConsiderMaxAcceleration
 Whether the maximum acceleration shall be regarded. More...
 
bool myConsiderMaxDeceleration
 Whether the maximum deceleration shall be regarded. More...
 
bool myConsiderSafeVelocity
 Whether the safe velocity shall be regarded. More...
 
bool myEmergencyBrakeRedLight
 Whether red lights are a reason to brake. More...
 
std::vector< std::pair< SUMOTime, int > > myLaneTimeLine
 The lane usage time line to apply. More...
 
SUMOTime myLastVTDAccess
 
double myLatDist
 The requested lateral change. More...
 
double myOriginalSpeed
 The velocity before influence. More...
 
bool myRespectJunctionPriority
 Whether the junction priority rules are respected. More...
 
bool mySpeedAdaptationStarted
 Whether influencing the speed has already started. More...
 
std::vector< std::pair< SUMOTime, double > > mySpeedTimeLine
 The velocity time line to apply. More...
 
TraciLaneChangePriority myTraciLaneChangePriority
 flags for determining the priority of traci lane change requests More...
 
int myTraCISignals
 
double myVTDAngle
 
int myVTDEdgeOffset
 
MSLanemyVTDLane
 
double myVTDPos
 
double myVTDPosLat
 
ConstMSEdgeVector myVTDRoute
 
Position myVTDXYPos
 
Flags for managing conflicts between the laneChangeModel and TraCI laneTimeLine
LaneChangeMode myStrategicLC
 lane changing which is necessary to follow the current route More...
 
LaneChangeMode myCooperativeLC
 lane changing with the intent to help other vehicles More...
 
LaneChangeMode mySpeedGainLC
 lane changing to travel with higher speed More...
 
LaneChangeMode myRightDriveLC
 changing to the rightmost lane More...
 
LaneChangeMode mySublaneLC
 changing to the prefered lateral alignment More...
 

Detailed Description

Changes the wished vehicle speed / lanes.

The class is used for passing velocities or velocity profiles obtained via TraCI to the vehicle. The speed adaptation is controlled by the stored speedTimeLine Additionally, the variables myConsiderSafeVelocity, myConsiderMaxAcceleration, and myConsiderMaxDeceleration control whether the safe velocity, the maximum acceleration, and the maximum deceleration have to be regarded.

Furthermore this class is used to affect lane changing decisions according to LaneChangeMode and any given laneTimeLine

Definition at line 1234 of file MSVehicle.h.

Constructor & Destructor Documentation

◆ Influencer()

MSVehicle::Influencer::Influencer ( )

Constructor.

Definition at line 233 of file MSVehicle.cpp.

◆ ~Influencer()

MSVehicle::Influencer::~Influencer ( )

Destructor.

Definition at line 252 of file MSVehicle.cpp.

Member Function Documentation

◆ changeRequestRemainingSeconds()

double MSVehicle::Influencer::changeRequestRemainingSeconds ( const SUMOTime  currentTime) const

Return the remaining number of seconds of the current laneTimeLine assuming one exists.

Parameters
[in]currentTimeThe current simulation time
Returns
The remaining seconds to change lanes

Definition at line 406 of file MSVehicle.cpp.

References myLaneTimeLine, and STEPS2TIME.

Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().

◆ getEmergencyBrakeRedLight()

bool MSVehicle::Influencer::getEmergencyBrakeRedLight ( ) const
inline

Returns whether red lights shall be a reason to brake.

Returns
Whether red lights shall be a reason to brake

Definition at line 1304 of file MSVehicle.h.

Referenced by MSVehicle::executeMove(), and MSVehicle::planMoveInternal().

◆ getLastAccessTimeStep()

SUMOTime MSVehicle::Influencer::getLastAccessTimeStep ( ) const
inline

Definition at line 1326 of file MSVehicle.h.

Referenced by MSVehicle::wasRemoteControlled().

◆ getLatDist()

double MSVehicle::Influencer::getLatDist ( ) const
inline

Definition at line 1350 of file MSVehicle.h.

Referenced by MSLCM_SL2015::keepLatGap().

◆ getOriginalSpeed()

double MSVehicle::Influencer::getOriginalSpeed ( ) const

Returns the originally longitudinal speed to use.

Returns
The speed given before influence or -1 if no influence is active

Definition at line 316 of file MSVehicle.cpp.

References myOriginalSpeed, and mySpeedTimeLine.

Referenced by MSVehicle::getSpeedWithoutTraciInfluence().

◆ getRespectJunctionPriority()

bool MSVehicle::Influencer::getRespectJunctionPriority ( ) const
inline

Returns whether junction priority rules shall be respected.

Returns
Whether junction priority rules be respected

Definition at line 1296 of file MSVehicle.h.

Referenced by MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().

◆ getSignals()

int MSVehicle::Influencer::getSignals ( ) const
inline

Definition at line 1346 of file MSVehicle.h.

Referenced by MSVehicle::setBlinkerInformation().

◆ getSpeedMode()

int MSVehicle::Influencer::getSpeedMode ( ) const

◆ implicitDeltaPosVTD()

double MSVehicle::Influencer::implicitDeltaPosVTD ( const MSVehicle veh)

return the change in longitudinal position that is implicit in the new VTD position

Definition at line 508 of file MSVehicle.cpp.

References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, and myVTDXYPos.

Referenced by MSVehicle::updateState().

◆ implicitSpeedVTD()

double MSVehicle::Influencer::implicitSpeedVTD ( const MSVehicle veh,
double  oldSpeed 
)

return the speed that is implicit in the new VTD position

Definition at line 493 of file MSVehicle.cpp.

References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, and myVTDXYPos.

Referenced by MSVehicle::executeMove().

◆ influenceChangeDecision()

int MSVehicle::Influencer::influenceChangeDecision ( const SUMOTime  currentTime,
const MSEdge currentEdge,
const int  currentLaneIndex,
int  state 
)

Applies stored LaneChangeMode information and laneTimeLine.

Parameters
[in]currentTimeThe current simulation time
[in]currentEdgeThe current edge the vehicle is on
[in]currentLaneIndexThe index of the lane the vehicle is currently on
[in]stateThe LaneChangeAction flags as computed by the laneChangeModel
Returns
The new LaneChangeAction flags to use

Definition at line 322 of file MSVehicle.cpp.

References MSEdge::getLanes(), MSVehicle::LC_ALWAYS, MSVehicle::LC_NEVER, MSVehicle::LC_NOCONFLICT, LCA_BLOCKED, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_OVERLAPPING, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE_OR_STAY, MSVehicle::LCP_ALWAYS, MSVehicle::LCP_NOOVERLAP, MSVehicle::LCP_OPPORTUNISTIC, myCooperativeLC, myLaneTimeLine, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, myTraciLaneChangePriority, MSVehicle::REQUEST_HOLD, MSVehicle::REQUEST_LEFT, MSVehicle::REQUEST_NONE, MSVehicle::REQUEST_RIGHT, time2string(), toString(), and WRITE_WARNING.

Referenced by MSVehicle::influenceChangeDecision().

◆ influenceSpeed()

double MSVehicle::Influencer::influenceSpeed ( SUMOTime  currentTime,
double  speed,
double  vSafe,
double  vMin,
double  vMax 
)

Applies stored velocity information on the speed to use.

The given speed is assumed to be the non-influenced speed from longitudinal control. It is stored for further usage in "myOriginalSpeed".

Parameters
[in]currentTimeThe current simulation time
[in]speedThe undisturbed speed
[in]vSafeThe safe velocity
[in]vMinThe minimum velocity
[in]vMaxThe maximum simulation time
Returns
The speed to use

Definition at line 283 of file MSVehicle.cpp.

References DELTA_T, MAX2(), MIN2(), myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myOriginalSpeed, mySpeedAdaptationStarted, mySpeedTimeLine, and STEPS2TIME.

Referenced by MSVehicle::executeMove(), and MSVehicle::planMoveInternal().

◆ isVTDAffected()

bool MSVehicle::Influencer::isVTDAffected ( SUMOTime  t) const

◆ isVTDControlled()

bool MSVehicle::Influencer::isVTDControlled ( ) const

◆ postProcessVTD()

◆ setLaneChangeMode()

void MSVehicle::Influencer::setLaneChangeMode ( int  value)

Sets lane changing behavior.

Parameters
[in]valuea bitset controlling the different modes

Definition at line 424 of file MSVehicle.cpp.

References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, and myTraciLaneChangePriority.

Referenced by TraCIServerAPI_Vehicle::processSet().

◆ setLaneTimeLine()

void MSVehicle::Influencer::setLaneTimeLine ( const std::vector< std::pair< SUMOTime, int > > &  laneTimeLine)

Sets a new lane timeline.

Parameters
[in]laneTimeLineThe time line of lanes to use

Definition at line 263 of file MSVehicle.cpp.

References myLaneTimeLine.

Referenced by TraCIServerAPI_Vehicle::processSet().

◆ setSignals()

void MSVehicle::Influencer::setSignals ( int  signals)
inline

◆ setSpeedMode()

void MSVehicle::Influencer::setSpeedMode ( int  speedMode)

Sets speed-constraining behaviors.

Parameters
[in]valuea bitset controlling the different modes

Definition at line 414 of file MSVehicle.cpp.

References myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myEmergencyBrakeRedLight, and myRespectJunctionPriority.

Referenced by TraCIServerAPI_Vehicle::processSet().

◆ setSpeedTimeLine()

void MSVehicle::Influencer::setSpeedTimeLine ( const std::vector< std::pair< SUMOTime, double > > &  speedTimeLine)

Sets a new velocity timeline.

Parameters
[in]speedTimeLineThe time line of speeds to use

Definition at line 256 of file MSVehicle.cpp.

References mySpeedAdaptationStarted, and mySpeedTimeLine.

Referenced by TraCIServerAPI_Vehicle::processSet().

◆ setSublaneChange()

void MSVehicle::Influencer::setSublaneChange ( double  latDist)

Sets a new sublane-change request.

Parameters
[in]latDistThe lateral distance for changing

Definition at line 268 of file MSVehicle.cpp.

References myLatDist.

Referenced by TraCIServerAPI_Vehicle::processSet(), and MSAbstractLaneChangeModel::setOwnState().

◆ setVTDControlled()

void MSVehicle::Influencer::setVTDControlled ( Position  xyPos,
MSLane l,
double  pos,
double  posLat,
double  angle,
int  edgeOffset,
const ConstMSEdgeVector route,
SUMOTime  t 
)

Field Documentation

◆ myConsiderMaxAcceleration

bool MSVehicle::Influencer::myConsiderMaxAcceleration
private

Whether the maximum acceleration shall be regarded.

Definition at line 1374 of file MSVehicle.h.

Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().

◆ myConsiderMaxDeceleration

bool MSVehicle::Influencer::myConsiderMaxDeceleration
private

Whether the maximum deceleration shall be regarded.

Definition at line 1377 of file MSVehicle.h.

Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().

◆ myConsiderSafeVelocity

bool MSVehicle::Influencer::myConsiderSafeVelocity
private

Whether the safe velocity shall be regarded.

Definition at line 1371 of file MSVehicle.h.

Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().

◆ myCooperativeLC

LaneChangeMode MSVehicle::Influencer::myCooperativeLC
private

lane changing with the intent to help other vehicles

Definition at line 1399 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ myEmergencyBrakeRedLight

bool MSVehicle::Influencer::myEmergencyBrakeRedLight
private

Whether red lights are a reason to brake.

Definition at line 1383 of file MSVehicle.h.

Referenced by getSpeedMode(), and setSpeedMode().

◆ myLaneTimeLine

std::vector<std::pair<SUMOTime, int> > MSVehicle::Influencer::myLaneTimeLine
private

The lane usage time line to apply.

Definition at line 1359 of file MSVehicle.h.

Referenced by changeRequestRemainingSeconds(), influenceChangeDecision(), and setLaneTimeLine().

◆ myLastVTDAccess

SUMOTime MSVehicle::Influencer::myLastVTDAccess
private

Definition at line 1392 of file MSVehicle.h.

Referenced by isVTDAffected(), isVTDControlled(), and setVTDControlled().

◆ myLatDist

double MSVehicle::Influencer::myLatDist
private

The requested lateral change.

Definition at line 1365 of file MSVehicle.h.

Referenced by setSublaneChange().

◆ myOriginalSpeed

double MSVehicle::Influencer::myOriginalSpeed
private

The velocity before influence.

Definition at line 1362 of file MSVehicle.h.

Referenced by getOriginalSpeed(), and influenceSpeed().

◆ myRespectJunctionPriority

bool MSVehicle::Influencer::myRespectJunctionPriority
private

Whether the junction priority rules are respected.

Definition at line 1380 of file MSVehicle.h.

Referenced by getSpeedMode(), and setSpeedMode().

◆ myRightDriveLC

LaneChangeMode MSVehicle::Influencer::myRightDriveLC
private

changing to the rightmost lane

Definition at line 1403 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ mySpeedAdaptationStarted

bool MSVehicle::Influencer::mySpeedAdaptationStarted
private

Whether influencing the speed has already started.

Definition at line 1368 of file MSVehicle.h.

Referenced by influenceSpeed(), and setSpeedTimeLine().

◆ mySpeedGainLC

LaneChangeMode MSVehicle::Influencer::mySpeedGainLC
private

lane changing to travel with higher speed

Definition at line 1401 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ mySpeedTimeLine

std::vector<std::pair<SUMOTime, double> > MSVehicle::Influencer::mySpeedTimeLine
private

The velocity time line to apply.

Definition at line 1356 of file MSVehicle.h.

Referenced by getOriginalSpeed(), influenceSpeed(), and setSpeedTimeLine().

◆ myStrategicLC

LaneChangeMode MSVehicle::Influencer::myStrategicLC
private

lane changing which is necessary to follow the current route

Definition at line 1397 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ mySublaneLC

LaneChangeMode MSVehicle::Influencer::mySublaneLC
private

changing to the prefered lateral alignment

Definition at line 1405 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ myTraciLaneChangePriority

TraciLaneChangePriority MSVehicle::Influencer::myTraciLaneChangePriority
private

flags for determining the priority of traci lane change requests

Definition at line 1408 of file MSVehicle.h.

Referenced by influenceChangeDecision(), and setLaneChangeMode().

◆ myTraCISignals

int MSVehicle::Influencer::myTraCISignals
private

Definition at line 1411 of file MSVehicle.h.

◆ myVTDAngle

double MSVehicle::Influencer::myVTDAngle
private

Definition at line 1389 of file MSVehicle.h.

Referenced by postProcessVTD(), and setVTDControlled().

◆ myVTDEdgeOffset

int MSVehicle::Influencer::myVTDEdgeOffset
private

Definition at line 1390 of file MSVehicle.h.

Referenced by postProcessVTD(), and setVTDControlled().

◆ myVTDLane

MSLane* MSVehicle::Influencer::myVTDLane
private

◆ myVTDPos

double MSVehicle::Influencer::myVTDPos
private

◆ myVTDPosLat

double MSVehicle::Influencer::myVTDPosLat
private

Definition at line 1388 of file MSVehicle.h.

Referenced by postProcessVTD(), and setVTDControlled().

◆ myVTDRoute

ConstMSEdgeVector MSVehicle::Influencer::myVTDRoute
private

Definition at line 1391 of file MSVehicle.h.

Referenced by postProcessVTD(), and setVTDControlled().

◆ myVTDXYPos

Position MSVehicle::Influencer::myVTDXYPos
private

The documentation for this class was generated from the following files: