67 const std::vector<MSVehicle::LaneQ>& preb,
70 double& latDist,
double& maneuverDist,
int& blocked);
82 const std::pair<MSVehicle*, double>& leader,
83 const std::pair<MSVehicle*, double>& neighLead,
84 const std::pair<MSVehicle*, double>& neighFollow,
86 const std::vector<MSVehicle::LaneQ>& preb,
102 double patchSpeed(
const double min,
const double wanted,
const double max,
105 double _patchSpeed(
const double min,
const double wanted,
const double max,
127 void setParameter(
const std::string& key,
const std::string& value);
146 const std::vector<MSVehicle::LaneQ>& preb,
149 double& latDist,
double& maneuverDist,
int& blocked);
157 const std::vector<CLeaderDist>& blockers,
158 double remainingSeconds);
162 const std::vector<CLeaderDist>& blockers,
163 double remainingSeconds,
164 double plannedSpeed);
172 double remainingSeconds);
177 double remainingSeconds,
178 double plannedSpeed);
205 return dist / (abs(laneOffset)) < lookForwardDist;
208 return dist / abs(laneOffset) > lookForwardDist;
213 typedef std::pair<double, int>
Info;
247 int checkBlocking(
const MSLane& neighLane,
double& latDist,
double maneuverDist,
int laneOffset,
254 std::vector<CLeaderDist>* collectLeadBlockers = 0,
255 std::vector<CLeaderDist>* collectFollowBlockers = 0,
256 bool keepLatGapManeuver =
false,
257 double gapFactor = 0,
258 int* retBlockedFully = 0);
263 double& safeLatGapRight,
double& safeLatGapLeft,
264 std::vector<CLeaderDist>* collectBlockers = 0)
const;
267 static bool overlap(
double right,
double left,
double right2,
double left2);
276 const std::vector<MSVehicle::LaneQ>& preb,
285 double roundaboutBonus,
302 double& maneuverDist,
308 double& surplusGapRight,
double& surplusGapLeft,
bool saveMinGap =
false,
double netOverlap = 0,
310 std::vector<CLeaderDist>* collectBlockers = 0);
331 double maneuverDist);
337 double computeSpeedGain(
double latDistSublane,
double defaultNextSpeed)
const;
std::pair< const MSVehicle *, double > CLeaderDist
LaneChangeAction
The state of a vehicle's lane-change behavior.
@ LCA_AMBLOCKINGFOLLOWER_DONTBRAKE
A class responsible for exchanging messages between cars involved in lane-change interaction.
Interface for lane-change models.
int myOwnState
The current state of the vehicle.
MSVehicle & myVehicle
The vehicle this lane-changer belongs to.
The car-following model abstraction.
A road/street connecting two junctions.
static double gLateralResolution
A lane change model developed by J. Erdmann.
std::vector< double > myLCAccelerationAdvices
vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed()
double mySafeLatDistRight
the lateral distance the vehicle can safely move in the currently considered direction
static bool overlap(double right, double left, double right2, double left2)
return whether the given intervals overlap
double informLeaders(int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds)
void commitManoeuvre(int blocked, int blockedFully, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, const MSLane &neighLane, double maneuverDist)
commit to lane change maneuvre potentially overriding safe speed
std::set< const MSVehicle * > myCFRelated
set of vehicles that are in a car-following relationship with ego (leader of followers)
void setOwnState(const int state)
double myKeepRightProbability
double commitFollowSpeed(double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo &leaders, double foeOffset) const
compute speed when committing to an urgent change that is safe in regard to leading vehicles
double myChangeProbThresholdRight
double informLeader(int blocked, int dir, const CLeaderDist &neighLead, double remainingSeconds)
double getSublaneWidth()
return the current sublane width (and return a sensible value when running without sublanes)
MSLCM_SL2015(MSVehicle &v)
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. It uses information on LC-related desired ...
int computeSublaneShift(const MSEdge *prevEdge, const MSEdge *curEdge)
compute shift so that prevSublane + shift = newSublane
double myCooperativeSpeed
StateAndDist decideDirection(StateAndDist sd1, StateAndDist sd2) const
decide in which direction to move in case both directions are desirable
void updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex)
update expected speeds for each sublane of the current edge
void * inform(void *info, MSVehicle *sender)
std::vector< double > myExpectedSublaneSpeeds
expected travel speeds on all sublanes on the current edge(!)
int checkStrategicChange(int ret, int laneOffset, const std::vector< MSVehicle::LaneQ > &preb, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, int currIdx, int bestLaneOffset, bool changeToBest, double currentDist, double neighDist, double laDist, double roundaboutBonus, double latLaneDist, double &latDist)
compute strategic lane change actions TODO: Better documentation, refs #2
double getWidth() const
return the widht of this vehicle (padded for numerical stability)
LaneChangeModel getModelID() const
Returns the model's id.
bool myCanChangeFully
whether the current lane changing maneuver can be finished in a single step
void addLCSpeedAdvice(const double vSafe)
Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration ...
bool myDontBrake
flag to prevent speed adaptation by slowing down
void saveBlockerLength(const MSVehicle *blocker, int lcaCounter)
save space for vehicles which need to counter-lane-change
bool amBlockingFollower()
std::string getParameter(const std::string &key) const
try to retrieve the given parameter from this device. Throw exception for unsupported key
void updateCFRelated(const MSLeaderDistanceInfo &vehicles, double foeOffset, bool leaders)
find leaders/followers that are already in a car-following relationship with ego
double mySpeedGainProbabilityRight
a value for tracking the probability that a change to the right is beneficial
int slowDownForBlocked(MSVehicle **blocked, int state)
compute useful slowdowns for blocked vehicles
void initDerivedParameters()
init cached parameters derived directly from model parameters
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, double &maneuverDist, int &blocked)
check whether lateral gap requirements are met override the current maneuver if necessary
bool currentDistAllows(double dist, int laneOffset, double lookForwardDist)
double myCooperativeParam
double computeSpeedGain(double latDistSublane, double defaultNextSpeed) const
compute speedGain when moving by the given amount
double getSafetyFactor() const
return factor for modifying the safety constraints of the car-following model
void updateGaps(const MSLeaderDistanceInfo &others, double foeOffset, double oldCenter, double gapFactor, double &surplusGapRight, double &surplusGapLeft, bool saveMinGap=false, double netOverlap=0, double latDist=0, std::vector< CLeaderDist > *collectBlockers=0)
check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps
const MSEdge * myLastEdge
expected travel speeds on all sublanes on the current edge(!)
int wantsChangeSublane(int laneOffset, LaneChangeAction alternatives, 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, double &maneuverDist, int &blocked)
Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane mo...
void saveBlockerLength(double length)
reserve space at the end of the lane to avoid dead locks
std::pair< double, int > Info
information regarding save velocity (unused) and state flags of the ego vehicle
virtual void updateSafeLatDist(const double travelledLatDist)
Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuve...
void msg(const CLeaderDist &cld, double speed, int state)
send a speed recommendation to the given vehicle
int checkBlocking(const MSLane &neighLane, double &latDist, double maneuverDist, 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, double gapFactor=0, int *retBlockedFully=0)
restrict latDist to permissible speed and determine blocking state depending on that distance
int _wantsChangeSublane(int laneOffset, LaneChangeAction alternatives, 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, double &maneuverDist, int &blocked)
helper function for doing the actual work
double getLateralDrift()
get lateral drift for the current step
double computeGapFactor(int state) const
compute the gap factor for the given state
double getPosLat()
get lateral position of this vehicle
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 a...
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
double myTurnAlignmentDist
double myLeadingBlockerLength
void informFollowers(int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds, double plannedSpeed)
call informFollower for multiple followers
double mySpeedGainLookahead
bool debugVehicle() const
whether the current vehicles shall be debugged
double _patchSpeed(const double min, const double wanted, const double max, const MSCFModel &cfModel)
double mySpeedLossProbThreshold
double mySpeedGainProbabilityLeft
a value for tracking the probability that a change to the left is beneficial
bool amBlockingFollowerNB()
int checkBlockingVehicles(const MSVehicle *ego, const MSLeaderDistanceInfo &vehicles, double latDist, double foeOffset, bool leaders, LaneChangeAction blockType, double &safeLatGapRight, double &safeLatGapLeft, std::vector< CLeaderDist > *collectBlockers=0) const
check whether any of the vehicles overlaps with ego
static LaneChangeAction getLCA(int state, double latDist)
compute lane change action from desired lateral distance
void setParameter(const std::string &key, const std::string &value)
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
double myChangeProbThresholdLeft
static CLeaderDist getLongest(const MSLeaderDistanceInfo &ldi)
get the longest vehicle in the given info
bool currentDistDisallows(double dist, int laneOffset, double lookForwardDist)
double computeSpeedLat(double latDist, double &maneuverDist) const
decides the next lateral speed depending on the remaining lane change distance to be covered and upda...
double myTimeToImpatience
static int lowest_bit(int changeReason)
return the most important change reason
static CLeaderDist getSlowest(const MSLeaderDistanceInfo &ldi)
get the slowest vehicle in the given info
bool amBlockingFollowerPlusNB()
Representation of a lane in the micro simulation.
double getWidth() const
Returns the lane's width.
saves leader/follower vehicles and their distances relative to an ego vehicle
Representation of a vehicle in the micro simulation.
const MSLane * getLane() const
Returns the lane the vehicle is on.