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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 | |
double | _patchSpeed (const double min, const double wanted, const double 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) |
double | 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 |
double | getLateralSpeed () const |
return the lateral speed of the current lane change maneuver More... | |
int | getOwnState () const |
std::string | getParameter (const std::string &key) const |
try to retrieve the given parameter from this device. Throw exception for unsupported key More... | |
const std::pair< int, int > & | getSavedState (const int dir) const |
int | getShadowDirection () const |
return the direction in which the current shadow lane lies More... | |
const std::vector< MSLane * > & | getShadowFurtherLanes () const |
const std::vector< double > & | 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... | |
double | patchSpeed (const double min, const double wanted, const double 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 | saveState (const int dir, const int stateWithoutTraCI, const int state) |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOwnState (const int state) |
void | setParameter (const std::string &key, const std::string &value) |
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More... | |
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 () |
int | wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &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 is a wrapper around wantsChangeSublane). 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, double &latDist, int &blocked) |
Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) 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< double, 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, double &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, double &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, double latDist, double 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, double currentDist, double neighDist, double laDist, int roundaboutEdgesAhead, double latLaneDist, double &latDist) |
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 (double dist, int laneOffset, double lookForwardDist) |
bool | currentDistDisallows (double dist, int laneOffset, double 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, double remainingSeconds, double 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, double remainingSeconds, double plannedSpeed) |
call informFollower for multiple followers More... | |
double | informLeader (int blocked, int dir, const CLeaderDist &neighLead, double remainingSeconds) |
double | informLeaders (int blocked, int dir, const std::vector< CLeaderDist > &blockers, double 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, double &latDist, int &blocked) |
check whether lateral gap requirements are met override the current maneuver if necessary More... | |
void | msg (const CLeaderDist &cld, double speed, int state) |
send a speed recommendation to the given vehicle More... | |
virtual bool | predInteraction (const std::pair< MSVehicle *, double > &leader) |
void | saveBlockerLength (const MSVehicle *blocker, int lcaCounter) |
save space for vehicles which need to counter-lane-change More... | |
void | saveBlockerLength (double 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, double foeOffset, double oldCenter, double gapFactor, double &surplusGapRight, double &surplusGapLeft, bool saveMinGap=false, double netOverlap=0) |
check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps More... | |
Static Protected Member Functions | |
static LaneChangeAction | getLCA (int state, double 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 (double right, double left, double right2, double 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< double > | myExpectedSublaneSpeeds |
expected travel speeds on all sublanes on the current edge(!) More... | |
double | myKeepRightProbability |
double | 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... | |
double | myLastLateralGapLeft |
the minimum lateral gaps to other vehicles that were found when last changing to the left and right More... | |
double | myLastLateralGapRight |
double | myLateralspeed |
The lateral offset during a continuous LaneChangeManeuver. More... | |
double | myLeadingBlockerLength |
double | myLeftSpace |
double | myLookAheadSpeed |
const LaneChangeModel | myModel |
the type of this model More... | |
std::vector< MSLane * > | myNoPartiallyOccupatedByShadow |
double | 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::map< int, std::pair< int, int > > | mySavedStates |
std::vector< MSLane * > | myShadowFurtherLanes |
std::vector< double > | myShadowFurtherLanesPosLat |
MSLane * | myShadowLane |
A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More... | |
double | mySpeedGainProbabilityLeft |
a value for tracking the probability that a change to the left is beneficial More... | |
double | 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< double > | myVSafes |
speed adaptation requests by ego and surrounding vehicles More... | |
user configurable model parameters (can be changed via TraCI) | |
double | myStrategicParam |
double | myCooperativeParam |
double | mySpeedGainParam |
double | myKeepRightParam |
double | mySublaneParam |
double | myPushy |
double | myAssertive |
derived parameters | |
const double | myChangeProbThresholdRight |
const double | myChangeProbThresholdLeft |
const double | mySpeedLossProbThreshold |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted More... | |
static bool | myLCOutput |
whether to record lane-changing More... | |
static const double | NO_LATERAL_NEIGHBOR |
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 209 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.
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Definition at line 128 of file MSLCM_SL2015.cpp.
References changed().
double MSLCM_SL2015::_patchSpeed | ( | const double | min, |
const double | wanted, | ||
const double | max, | ||
const MSCFModel & | cfModel | ||
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helper function which contains the actual logic
Definition at line 242 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, and MSCFModel::stopSpeed().
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 806 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, myOrigLatDist, 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, SUMO_const_laneWidth, toString(), MSLeaderDistanceInfo::toString(), TS, and URGENCY.
Referenced by wantsChange(), and wantsChangeSublane().
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reset the flag whether a vehicle already moved to false
Definition at line 338 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myAlreadyChanged.
Referenced by MSLaneChanger::change().
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Definition at line 192 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, and MSAbstractLaneChangeModel::myOwnState.
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Definition at line 195 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
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Definition at line 198 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
Referenced by _wantsChangeSublane().
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Definition at line 189 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 63 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().
Referenced by MSVehicle::MSVehicle(), and MSAbstractLaneChangeModel::StateAndDist::sameDirection().
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whether the influencer cancels the given request
Definition at line 257 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::influenceChangeDecision(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), and MSAbstractLaneChangeModel::setParameter().
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Implements MSAbstractLaneChangeModel.
Definition at line 776 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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called when a vehicle changes between lanes in opposite directions
Definition at line 364 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myAlreadyChanged, and MSAbstractLaneChangeModel::myAmOpposite.
Referenced by MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), 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 1624 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, NUMERICAL_EPS, SPEED2DIST, and updateGaps().
Referenced by _wantsChangeSublane(), and keepLatGap().
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check whether any of the vehicles overlaps with ego
Definition at line 1723 of file MSLCM_SL2015.cpp.
References MSCFModel::brakeGap(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSCFModel::getHeadwayTime(), MSBaseVehicle::getImpatience(), MSCFModel::getMaxDecel(), MSVehicle::getRightSideOnEdge(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), LCA_OVERLAPPING, MAX2(), MIN2(), myAssertive, MSLeaderInfo::numSublanes(), overlap(), and SUMO_const_haltingSpeed.
Referenced by checkBlocking().
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compute strategic lane change actions
we urgently need to change lanes to follow our route
Definition at line 1892 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(), MSVehicle::getLateralOverlap(), MSVehicle::getLateralPositionOnLane(), MSLane::getLength(), MSCFModel::getMaxDecel(), MSVehicle::getPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), 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, SUMO_const_laneWidth, TS, and TURN_LANE_DIST.
Referenced by _wantsChangeSublane().
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Definition at line 237 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 746 of file MSLCM_SL2015.cpp.
References MSEdge::getLanes(), MSLane::getLinkCont(), max, and MSLeaderInfo::numSublanes().
Referenced by prepareStep().
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Definition at line 114 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSAbstractLaneChangeModel::setParameter(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 201 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 134 of file MSLCM_SL2015.cpp.
References DEBUG_COND.
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decide in which direction to move in case both directions are desirable
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 1823 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, MSAbstractLaneChangeModel::StateAndDist::sameDirection(), SIMTIME, MSAbstractLaneChangeModel::StateAndDist::state, and toString().
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Definition at line 201 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changedToOpposite(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSVehicle::fixPosition(), MSAbstractLaneChangeModel::myAmOpposite, 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 335 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::pastMidpoint(), and STEPS2TIME.
Referenced by MSAbstractLaneChangeModel::getLaneChangeDirection().
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return the direction of the current lane change maneuver
Definition at line 322 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::myLaneChangeDirection.
Referenced by MSLaneChanger::continueChange().
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Definition at line 303 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
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return the lateral speed of the current lane change maneuver
Definition at line 333 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLateralspeed.
Referenced by MSLaneChanger::continueChange().
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compute lane change action from desired lateral distance
Definition at line 1885 of file MSLCM_SL2015.cpp.
References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.
Referenced by wantsChange(), and wantsChangeSublane().
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get the longest vehicle in the given info
Definition at line 1590 of file MSLCM_SL2015.cpp.
References MSLeaderInfo::numSublanes().
Referenced by _wantsChangeSublane().
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Definition at line 152 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myOwnState, and MSAbstractLaneChangeModel::setOwnState().
Referenced by saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), and MSVehicle::setBlinkerInformation().
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try to retrieve the given parameter from this device. Throw exception for unsupported key
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 2283 of file MSLCM_SL2015.cpp.
References myAssertive, myCooperativeParam, myKeepRightParam, MSAbstractLaneChangeModel::myModel, myPushy, mySpeedGainParam, myStrategicParam, mySublaneParam, SUMO_ATTR_LCA_ASSERTIVE, SUMO_ATTR_LCA_COOPERATIVE_PARAM, SUMO_ATTR_LCA_KEEPRIGHT_PARAM, SUMO_ATTR_LCA_PUSHY, SUMO_ATTR_LCA_SPEEDGAIN_PARAM, SUMO_ATTR_LCA_STRATEGIC_PARAM, SUMO_ATTR_LCA_SUBLANE_PARAM, and toString().
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Definition at line 158 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::mySavedStates.
Referenced by TraCI_Vehicle::getLaneChangeState().
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return the direction in which the current shadow lane lies
Definition at line 318 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, and MSAbstractLaneChangeModel::pastMidpoint().
Referenced by MSLaneChanger::continueChange(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::getLaneChangeDirection(), and GUIVehicle::selectBlockingFoes().
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Definition at line 295 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Definition at line 299 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 283 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
Referenced by MSVehicle::checkRewindLinkLanes(), checkStrategicChange(), 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 215 of file MSAbstractLaneChangeModel.cpp.
References MSBaseVehicle::getID(), MSVehicle::getLateralOverlap(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, and SIMTIME.
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get the slowest vehicle in the given info
Definition at line 1607 of file MSLCM_SL2015.cpp.
References max, and MSLeaderInfo::numSublanes().
Referenced by _wantsChangeSublane(), and checkStrategicChange().
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Implements MSAbstractLaneChangeModel.
Definition at line 384 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 526 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, and STEPS2TIME.
Referenced by informFollowers().
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call informFollower for multiple followers
Definition at line 681 of file MSLCM_SL2015.cpp.
References informFollower().
Referenced by _wantsChangeSublane().
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Definition at line 412 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, NUMERICAL_EPS, SPEED2DIST, STEPS2TIME, and MSCFModel::stopSpeed().
Referenced by informLeaders().
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Definition at line 669 of file MSLCM_SL2015.cpp.
References MSVehicle::getSpeed(), informLeader(), MIN2(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by _wantsChangeSublane().
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init global model parameters
Definition at line 56 of file MSAbstractLaneChangeModel.cpp.
References OptionsCont::getBool(), OptionsCont::isSet(), MSAbstractLaneChangeModel::myAllowOvertakingRight, and MSAbstractLaneChangeModel::myLCOutput.
Referenced by MSAbstractLaneChangeModel::StateAndDist::sameDirection(), and MSFrame::setMSGlobals().
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Definition at line 264 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSAbstractLaneChangeModel::primaryLaneChanged().
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return true if the vehicle currently performs a lane change maneuver
Definition at line 317 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 386 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myAmOpposite.
Referenced by MSLCM_LC2013::_wantsChange(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), MSLink::getLeaderInfo(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSLCM_LC2013::informLeader(), 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
Definition at line 2054 of file MSLCM_SL2015.cpp.
References checkBlocking(), gDebugFlag2, MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSVehicle::getInfluencer(), MSVehicle::getLane(), MSVehicle::Influencer::getLatDist(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLength(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSEdge::getWidth(), MSVehicle::hasInfluencer(), LCA_BLOCKED_LEFT, LCA_BLOCKED_RIGHT, LCA_COOPERATIVE, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, MAX2(), MIN2(), MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, myPushy, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::NO_LATERAL_NEIGHBOR, NUMERICAL_EPS, toString(), and updateGaps().
Referenced by wantsChangeSublane().
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send a speed recommendation to the given vehicle
Definition at line 405 of file MSLCM_SL2015.cpp.
References MSAbstractLaneChangeModel::myVehicle.
Referenced by informFollower(), and informLeader().
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return whether the given intervals overlap
Definition at line 1815 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 309 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 221 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, and toString().
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Definition at line 134 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getSpeed(), MSCFModel::interactionGap(), MSAbstractLaneChangeModel::myCarFollowModel, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSAbstractLaneChangeModel::setParameter(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Reimplemented from MSAbstractLaneChangeModel.
Definition at line 692 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, MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, myLeadingBlockerLength, myLeftSpace, myOrigLatDist, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, myVSafes, MSAbstractLaneChangeModel::NO_LATERAL_NEIGHBOR, and MSAbstractLaneChangeModel::prepareStep().
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called once when the vehicles primary lane changes
Definition at line 166 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changed(), OutputDevice::closeTag(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getSpeed(), MSGlobals::gLateralResolution, MSAbstractLaneChangeModel::initLastLaneChangeOffset(), LCA_LEFT, LCA_RIGHT, MSVehicle::leaveLane(), MSLane::leftByLaneChange(), MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::NO_LATERAL_NEIGHBOR, 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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return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 342 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, and MSAbstractLaneChangeModel::myLaneChangeCompletion.
Referenced by MSAbstractLaneChangeModel::pastMidpoint().
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Definition at line 354 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSVehicle::removeApproachingInformation(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().
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reset the flag whether a vehicle already moved to false
Definition at line 343 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 1516 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, and toString().
Referenced by _wantsChangeSublane().
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reserve space at the end of the lane to avoid dead locks
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 185 of file MSLCM_SL2015.h.
References MAX2(), and myLeadingBlockerLength.
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Definition at line 162 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::mySavedStates.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), and MSAbstractLaneChangeModel::prepareStep().
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Definition at line 375 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), and MSAbstractLaneChangeModel::setShadowApproachingInformation().
Referenced by MSVehicle::enterLaneAtLaneChange().
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Reimplemented from MSAbstractLaneChangeModel.
Definition at line 204 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSBaseVehicle::getID(), LCA_STAY, myCanChangeFully, myOrigLatDist, myPreviousState, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::setOwnState(), SIMTIME, and toString().
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try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 2303 of file MSLCM_SL2015.cpp.
References TplConvert::_2double(), LCA_KEEPRIGHT, myAssertive, myCooperativeParam, myKeepRightParam, MSAbstractLaneChangeModel::myModel, myPushy, mySpeedGainParam, myStrategicParam, mySublaneParam, SUMO_ATTR_LCA_ASSERTIVE, SUMO_ATTR_LCA_COOPERATIVE_PARAM, SUMO_ATTR_LCA_PUSHY, SUMO_ATTR_LCA_SPEEDGAIN_PARAM, SUMO_ATTR_LCA_STRATEGIC_PARAM, SUMO_ATTR_LCA_SUBLANE_PARAM, and toString().
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set approach information for the shadow vehicle
Definition at line 348 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().
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set the shadow lane
Definition at line 291 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
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inlineinherited |
Definition at line 371 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow.
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compute useful slowdowns for blocked vehicles
Definition at line 1480 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, and SUMO_const_haltingSpeed.
Referenced by _wantsChangeSublane().
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inherited |
start the lane change maneuver and return whether it continues
Definition at line 147 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(), 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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Definition at line 272 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
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inherited |
Definition at line 193 of file MSAbstractLaneChangeModel.cpp.
References DELTA_T, MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, and MSAbstractLaneChangeModel::pastMidpoint().
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 1556 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, and MSLeaderInfo::numSublanes().
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check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps
foe vehicle occupies full sublanes
Definition at line 2227 of file MSLCM_SL2015.cpp.
References gDebugFlag2, MSBaseVehicle::getID(), MSVehicleType::getMinGapLat(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSGlobals::gLateralResolution, MSLeaderInfo::hasVehicles(), LATGAP_SPEED_THRESHOLD, MAX2(), MIN2(), MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, MSLeaderInfo::numSublanes(), POSITION_EPS, and SUMO_const_haltingSpeed.
Referenced by checkBlocking(), and keepLatGap().
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Definition at line 273 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLinkContHelper::getConnectingLink(), 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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Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 2331 of file MSLCM_SL2015.cpp.
References _wantsChangeSublane(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), LCA_BLOCKED, LCA_CHANGE_TO_HELP, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE, myCanChangeFully, myOrigLatDist, MSAbstractLaneChangeModel::myVehicle, and STEPS2TIME.
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Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 140 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(), gPrecision, keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, and toString().
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whether overtaking on the right is permitted
Definition at line 461 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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whether the vehicle has already moved this step
Definition at line 428 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::alreadyChanged(), MSAbstractLaneChangeModel::changedToOpposite(), and MSAbstractLaneChangeModel::resetChanged().
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Definition at line 339 of file MSLCM_SL2015.h.
Referenced by checkBlockingVehicles(), getParameter(), and setParameter().
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whether the current lane changing meneuver can be finished in a single step
Definition at line 322 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkBlocking(), prepareStep(), setOwnState(), and wantsChange().
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The vehicle's car following model.
Definition at line 439 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 346 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and checkStrategicChange().
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Definition at line 345 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 333 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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flag to prevent speed adaptation by slowing down
Definition at line 319 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), changed(), and prepareStep().
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expected travel speeds on all sublanes on the current edge(!)
Definition at line 313 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), prepareStep(), and updateExpectedSublaneSpeeds().
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Definition at line 335 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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Definition at line 300 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and prepareStep().
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progress of the lane change maneuver 0:started, 1:complete
Definition at line 419 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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direction of the lane change maneuver -1 means right, 1 means left
Definition at line 422 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 316 of file MSLCM_SL2015.h.
Referenced by prepareStep().
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the minimum lateral gaps to other vehicles that were found when last changing to the left and right
Definition at line 452 of file MSAbstractLaneChangeModel.h.
Referenced by keepLatGap(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), and updateGaps().
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Definition at line 453 of file MSAbstractLaneChangeModel.h.
Referenced by keepLatGap(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), and updateGaps().
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The lateral offset during a continuous LaneChangeManeuver.
Definition at line 425 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getLateralSpeed(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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whether to record lane-changing
Definition at line 464 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::primaryLaneChanged().
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Definition at line 302 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), informLeader(), prepareStep(), and saveBlockerLength().
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Definition at line 303 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), informFollower(), informLeader(), prepareStep(), and saveBlockerLength().
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Definition at line 307 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and checkStrategicChange().
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the type of this model
Definition at line 442 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::decideDirection(), MSLCM_LC2013::getParameter(), getParameter(), MSAbstractLaneChangeModel::getParameter(), MSLCM_LC2013::setParameter(), setParameter(), MSAbstractLaneChangeModel::setParameter(), MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds(), MSAbstractLaneChangeModel::wantsChange(), and MSAbstractLaneChangeModel::wantsChangeSublane().
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protectedinherited |
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the complete lateral distance the vehicle wants to travel to finish its maneuver
Definition at line 328 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), checkBlocking(), prepareStep(), setOwnState(), and wantsChange().
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The current state of the vehicle.
Definition at line 415 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), _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(), MSLCM_LC2013::changed(), changed(), MSAbstractLaneChangeModel::getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), inform(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), 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 445 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().
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lane changing state from the previous simulation step
Definition at line 325 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and setOwnState().
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Definition at line 338 of file MSLCM_SL2015.h.
Referenced by checkBlocking(), getParameter(), keepLatGap(), and setParameter().
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Definition at line 416 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getSavedState(), and MSAbstractLaneChangeModel::saveState().
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Definition at line 435 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::getShadowFurtherLanes(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 436 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 431 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::setShadowLane(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 334 of file MSLCM_SL2015.h.
Referenced by getParameter(), and setParameter().
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a value for tracking the probability that a change to the left is beneficial
Definition at line 295 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 293 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkStrategicChange(), and prepareStep().
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Definition at line 347 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 332 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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Definition at line 336 of file MSLCM_SL2015.h.
Referenced by getParameter(), and setParameter().
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The vehicle this lane-changer belongs to.
Definition at line 412 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), _patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSAbstractLaneChangeModel::cancelRequest(), MSLCM_LC2013::changed(), changed(), checkBlocking(), checkStrategicChange(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::congested(), decideDirection(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSLCM_LC2013::inform(), inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), informLeaders(), keepLatGap(), msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), setOwnState(), MSAbstractLaneChangeModel::setOwnState(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), updateExpectedSublaneSpeeds(), updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSLCM_LC2013::wantsChange(), wantsChange(), wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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speed adaptation requests by ego and surrounding vehicles
Definition at line 310 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), changed(), checkStrategicChange(), inform(), informFollower(), informLeader(), prepareStep(), and slowDownForBlocked().
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Definition at line 466 of file MSAbstractLaneChangeModel.h.
Referenced by keepLatGap(), prepareStep(), and MSAbstractLaneChangeModel::primaryLaneChanged().