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SUMO - Simulation of Urban MObility
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Changes the wished vehicle speed / lanes. More...
#include <MSVehicle.h>
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 ¤tEdge, 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 |
MSLane * | myVTDLane |
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... | |
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.
MSVehicle::Influencer::Influencer | ( | ) |
Constructor.
Definition at line 233 of file MSVehicle.cpp.
MSVehicle::Influencer::~Influencer | ( | ) |
Destructor.
Definition at line 252 of file MSVehicle.cpp.
double MSVehicle::Influencer::changeRequestRemainingSeconds | ( | const SUMOTime | currentTime | ) | const |
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
[in] | currentTime | The current simulation time |
Definition at line 406 of file MSVehicle.cpp.
References myLaneTimeLine, and STEPS2TIME.
Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().
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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().
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Definition at line 1326 of file MSVehicle.h.
Referenced by MSVehicle::wasRemoteControlled().
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Definition at line 1350 of file MSVehicle.h.
Referenced by MSLCM_SL2015::keepLatGap().
double MSVehicle::Influencer::getOriginalSpeed | ( | ) | const |
Returns the originally longitudinal speed to use.
Definition at line 316 of file MSVehicle.cpp.
References myOriginalSpeed, and mySpeedTimeLine.
Referenced by MSVehicle::getSpeedWithoutTraciInfluence().
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Returns whether junction priority rules shall be respected.
Definition at line 1296 of file MSVehicle.h.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().
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Definition at line 1346 of file MSVehicle.h.
Referenced by MSVehicle::setBlinkerInformation().
int MSVehicle::Influencer::getSpeedMode | ( | ) | const |
return the current speed mode
Definition at line 273 of file MSVehicle.cpp.
References myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myEmergencyBrakeRedLight, and myRespectJunctionPriority.
Referenced by TraCI_Vehicle::getSpeedMode().
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().
double MSVehicle::Influencer::implicitSpeedVTD | ( | const MSVehicle * | veh, |
double | oldSpeed | ||
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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().
int MSVehicle::Influencer::influenceChangeDecision | ( | const SUMOTime | currentTime, |
const MSEdge & | currentEdge, | ||
const int | currentLaneIndex, | ||
int | state | ||
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Applies stored LaneChangeMode information and laneTimeLine.
[in] | currentTime | The current simulation time |
[in] | currentEdge | The current edge the vehicle is on |
[in] | currentLaneIndex | The index of the lane the vehicle is currently on |
[in] | state | The LaneChangeAction flags as computed by the laneChangeModel |
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().
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".
[in] | currentTime | The current simulation time |
[in] | speed | The undisturbed speed |
[in] | vSafe | The safe velocity |
[in] | vMin | The minimum velocity |
[in] | vMax | The maximum simulation time |
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().
bool MSVehicle::Influencer::isVTDAffected | ( | SUMOTime | t | ) | const |
Definition at line 454 of file MSVehicle.cpp.
References myLastVTDAccess, and TIME2STEPS.
Referenced by MSLane::detectCollisionBetween(), MSVehicle::getPosition(), and MSLane::handleCollisionBetween().
bool MSVehicle::Influencer::isVTDControlled | ( | ) | const |
Definition at line 448 of file MSVehicle.cpp.
References MSNet::getCurrentTimeStep(), MSNet::getInstance(), and myLastVTDAccess.
Referenced by MSVehicle::executeMove(), MSVehicle::isRemoteControlled(), and MSVehicle::updateState().
void MSVehicle::Influencer::postProcessVTD | ( | MSVehicle * | v | ) |
Definition at line 459 of file MSVehicle.cpp.
References MSRoute::begin(), DEG2RAD, MSVehicle::drawOutsideNetwork(), MSLane::forceVehicleInsertion(), MSBaseVehicle::getDeparture(), MSVehicle::getLane(), MSLane::getLength(), MSBaseVehicle::getRoute(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSVehicle::isOnRoad(), M_PI, MSBaseVehicle::myCurrEdge, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDPosLat, myVTDRoute, myVTDXYPos, MSBaseVehicle::NOT_YET_DEPARTED, MSMoveReminder::NOTIFICATION_TELEPORT, MSBaseVehicle::onDepart(), MSVehicle::onRemovalFromNet(), MSLane::removeVehicle(), MSBaseVehicle::replaceRouteEdges(), MSVehicle::setAngle(), MSVehicle::setVTDState(), and MSVehicle::updateBestLanes().
void MSVehicle::Influencer::setLaneChangeMode | ( | int | value | ) |
Sets lane changing behavior.
[in] | value | a 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().
void MSVehicle::Influencer::setLaneTimeLine | ( | const std::vector< std::pair< SUMOTime, int > > & | laneTimeLine | ) |
Sets a new lane timeline.
[in] | laneTimeLine | The time line of lanes to use |
Definition at line 263 of file MSVehicle.cpp.
References myLaneTimeLine.
Referenced by TraCIServerAPI_Vehicle::processSet().
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Definition at line 1342 of file MSVehicle.h.
Referenced by TraCIServerAPI_Vehicle::processSet(), and MSVehicle::setBlinkerInformation().
void MSVehicle::Influencer::setSpeedMode | ( | int | speedMode | ) |
Sets speed-constraining behaviors.
[in] | value | a 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().
void MSVehicle::Influencer::setSpeedTimeLine | ( | const std::vector< std::pair< SUMOTime, double > > & | speedTimeLine | ) |
Sets a new velocity timeline.
[in] | speedTimeLine | The time line of speeds to use |
Definition at line 256 of file MSVehicle.cpp.
References mySpeedAdaptationStarted, and mySpeedTimeLine.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setSublaneChange | ( | double | latDist | ) |
Sets a new sublane-change request.
[in] | latDist | The lateral distance for changing |
Definition at line 268 of file MSVehicle.cpp.
References myLatDist.
Referenced by TraCIServerAPI_Vehicle::processSet(), and MSAbstractLaneChangeModel::setOwnState().
void MSVehicle::Influencer::setVTDControlled | ( | Position | xyPos, |
MSLane * | l, | ||
double | pos, | ||
double | posLat, | ||
double | angle, | ||
int | edgeOffset, | ||
const ConstMSEdgeVector & | route, | ||
SUMOTime | t | ||
) |
Definition at line 435 of file MSVehicle.cpp.
References myLastVTDAccess, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDPosLat, myVTDRoute, and myVTDXYPos.
Referenced by TraCIServer::setVTDControlled().
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Whether the maximum acceleration shall be regarded.
Definition at line 1374 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().
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Whether the maximum deceleration shall be regarded.
Definition at line 1377 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().
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Whether the safe velocity shall be regarded.
Definition at line 1371 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setSpeedMode().
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lane changing with the intent to help other vehicles
Definition at line 1399 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether red lights are a reason to brake.
Definition at line 1383 of file MSVehicle.h.
Referenced by getSpeedMode(), and setSpeedMode().
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The lane usage time line to apply.
Definition at line 1359 of file MSVehicle.h.
Referenced by changeRequestRemainingSeconds(), influenceChangeDecision(), and setLaneTimeLine().
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Definition at line 1392 of file MSVehicle.h.
Referenced by isVTDAffected(), isVTDControlled(), and setVTDControlled().
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The requested lateral change.
Definition at line 1365 of file MSVehicle.h.
Referenced by setSublaneChange().
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The velocity before influence.
Definition at line 1362 of file MSVehicle.h.
Referenced by getOriginalSpeed(), and influenceSpeed().
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Whether the junction priority rules are respected.
Definition at line 1380 of file MSVehicle.h.
Referenced by getSpeedMode(), and setSpeedMode().
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changing to the rightmost lane
Definition at line 1403 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether influencing the speed has already started.
Definition at line 1368 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing to travel with higher speed
Definition at line 1401 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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The velocity time line to apply.
Definition at line 1356 of file MSVehicle.h.
Referenced by getOriginalSpeed(), influenceSpeed(), and setSpeedTimeLine().
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lane changing which is necessary to follow the current route
Definition at line 1397 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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changing to the prefered lateral alignment
Definition at line 1405 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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flags for determining the priority of traci lane change requests
Definition at line 1408 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Definition at line 1411 of file MSVehicle.h.
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Definition at line 1389 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1390 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1386 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1387 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1388 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1391 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1385 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().