42 #define OPPOSITE_OVERTAKING_SAFE_TIMEGAP 0.0 43 #define OPPOSITE_OVERTAKING_SAFETYGAP_HEADWAY_FACTOR 0.0 44 #define OPPOSITE_OVERTAKING_SAFETY_FACTOR 1.2 46 #define OPPOSITE_OVERTAKING_MAX_LOOKAHEAD 150.0 // just a guess 47 #define OPPOSITE_OVERTAKING_MAX_LOOKAHEAD_EMERGENCY 1000.0 // just a guess 49 #define OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD 200.0 // just a guess 64 #define DEBUG_COND (vehicle->isSelected()) 76 firstBlocked(nullptr),
78 aheadNext(lane, nullptr, 0) {
98 for (std::vector<MSLane*>::const_iterator lane = lanes->begin(); lane != lanes->end(); ++lane) {
100 myChanger.back().mayChangeRight = lane != lanes->begin();
101 myChanger.back().mayChangeLeft = (lane + 1) != lanes->end();
103 if ((*lane)->isInternal()) {
104 if (
myChanger.back().mayChangeRight && (*lane)->getLogicalPredecessorLane() == (*(lane - 1))->getLogicalPredecessorLane()) {
107 if (
myChanger.back().mayChangeLeft && (*lane)->getLogicalPredecessorLane() == (*(lane + 1))->getLogicalPredecessorLane()) {
128 const bool haveChanged =
change();
135 ce->lane->releaseVehicles();
147 ce->hoppedVeh =
nullptr;
148 ce->lastBlocked =
nullptr;
149 ce->firstBlocked =
nullptr;
151 ce->lane->getVehiclesSecure();
165 if (!vehHasChanged) {
188 ce->lane->swapAfterLaneChange(t);
189 ce->lane->releaseVehicles();
199 #ifdef DEBUG_CANDIDATE 200 std::cout <<
SIMTIME <<
" findCandidate() on edge " <<
myChanger.begin()->lane->getEdge().getID() << std::endl;
204 if (
veh(ce) ==
nullptr) {
207 #ifdef DEBUG_CANDIDATE 208 std::cout <<
" lane = " << ce->lane->getID() <<
"\n";
212 #ifdef DEBUG_CANDIDATE 218 assert(
veh(ce) != 0);
219 assert(
veh(max) != 0);
220 if (
veh(max)->getPositionOnLane() <
veh(ce)->getPositionOnLane()) {
221 #ifdef DEBUG_CANDIDATE 228 assert(
veh(max) != 0);
235 if (direction == 0) {
241 if (direction == -1) {
242 return myCandi->mayChangeRight && (
myCandi - 1)->lane->allowsVehicleClass(
veh(
myCandi)->getVehicleType().getVehicleClass());
243 }
else if (direction == 1) {
244 return myCandi->mayChangeLeft && (
myCandi + 1)->lane->allowsVehicleClass(
veh(
myCandi)->getVehicleType().getVehicleClass());
261 #ifdef DEBUG_ACTIONSTEPS 278 #ifdef DEBUG_ACTIONSTEPS 280 std::cout <<
SIMTIME <<
" veh '" << vehicle->
getID() <<
"' skips regular change checks." << std::endl;
283 bool changed =
false;
307 for (
int i = 0; i < (int)
myChanger.size(); ++i) {
311 const std::vector<MSVehicle::LaneQ>& preb = vehicle->
getBestLanes();
321 if ((stateRight & LCA_RIGHT) != 0 && (stateRight &
LCA_URGENT) != 0) {
322 (
myCandi - 1)->lastBlocked = vehicle;
323 if ((
myCandi - 1)->firstBlocked ==
nullptr) {
324 (
myCandi - 1)->firstBlocked = vehicle;
338 if ((stateLeft & LCA_LEFT) != 0 && (stateLeft &
LCA_URGENT) != 0) {
339 (
myCandi + 1)->lastBlocked = vehicle;
340 if ((
myCandi + 1)->firstBlocked ==
nullptr) {
341 (
myCandi + 1)->firstBlocked = vehicle;
384 <<
" veh=" << vehicle->
getID()
387 << ((newstate &
LCA_BLOCKED) != 0 ?
" (blocked)" :
"")
398 bool changed =
false;
400 const int dir = (state &
LCA_RIGHT) != 0 ? -1 : ((state &
LCA_LEFT) != 0 ? 1 : 0);
401 const bool execute = dir != 0 && ((state &
LCA_BLOCKED) == 0);
409 to->registerHop(vehicle);
431 to->registerHop(vehicle);
432 to->lane->requireCollisionCheck();
447 MSLane* target = to->lane;
450 to->registerHop(vehicle);
451 to->lane->requireCollisionCheck();
453 from->registerHop(vehicle);
454 from->lane->requireCollisionCheck();
464 shadow->hoppedVeh = vehicle;
469 #ifdef DEBUG_CONTINUE_CHANGE 472 <<
" continueChange veh=" << vehicle->
getID()
474 <<
" dir=" << direction
475 <<
" pastMidpoint=" << pastMidpoint
487 std::pair<MSVehicle* const, double>
491 #ifdef DEBUG_SURROUNDING_VEHICLES 493 std::cout <<
SIMTIME <<
" veh '" << vehicle->
getID() <<
"' looks for leader on lc-target lane '" << target->lane->getID() <<
"'." << std::endl;
499 #ifdef DEBUG_SURROUNDING_VEHICLES 501 if (neighLead != 0) {
502 std::cout <<
"Considering '" << neighLead->
getID() <<
"' at position " << neighLead->
getPositionOnLane() << std::endl;
513 if (target->hoppedVeh !=
nullptr) {
514 double hoppedPos = target->hoppedVeh->getPositionOnLane();
515 #ifdef DEBUG_SURROUNDING_VEHICLES 517 std::cout <<
"Considering hopped vehicle '" << target->hoppedVeh->getID() <<
"' at position " << hoppedPos << std::endl;
521 neighLead = target->hoppedVeh;
525 if (neighLead ==
nullptr) {
526 #ifdef DEBUG_SURROUNDING_VEHICLES 528 std::cout <<
"Looking for leader on consecutive lanes." << std::endl;
533 MSLane* targetLane = target->lane;
535 double leaderBack = targetLane->
getLength();
538 if (plBack < leaderBack &&
544 if (neighLead !=
nullptr) {
545 #ifdef DEBUG_SURROUNDING_VEHICLES 547 std::cout <<
" found leader=" << neighLead->
getID() <<
" (partial)\n";
556 if (seen > dist && !
myCandi->lane->isInternal()) {
557 #ifdef DEBUG_SURROUNDING_VEHICLES 559 std::cout <<
" found no leader within dist=" << dist <<
"\n";
562 return std::pair<MSVehicle* const, double>(
static_cast<MSVehicle*
>(
nullptr), -1);
566 std::pair<MSVehicle* const, double> result = target->lane->getLeaderOnConsecutive(dist, seen, speed, *
veh(
myCandi), bestLaneConts);
567 #ifdef DEBUG_SURROUNDING_VEHICLES 575 #ifdef DEBUG_SURROUNDING_VEHICLES 577 std::cout <<
" found leader=" << neighLead->
getID() <<
"\n";
585 std::pair<MSVehicle* const, double>
589 #ifdef DEBUG_SURROUNDING_VEHICLES 592 std::cout <<
SIMTIME <<
" veh '" << vehicle->
getID() <<
"' looks for follower on lc-target lane '" << target->lane->getID() <<
"'." << std::endl;
599 #ifdef DEBUG_SURROUNDING_VEHICLES 601 if (neighFollow != 0) {
602 std::cout <<
"veh(target) returns '" << neighFollow->
getID() <<
"' at position " << neighFollow->
getPositionOnLane() << std::endl;
604 std::cout <<
"veh(target) returns none." << std::endl;
610 #ifdef DEBUG_SURROUNDING_VEHICLES 612 if (
getCloserFollower(candiPos, neighFollow, target->hoppedVeh) != neighFollow) {
613 std::cout <<
"Hopped vehicle '" << target->hoppedVeh->getID() <<
"' at position " << target->hoppedVeh->getPositionOnLane() <<
" is closer." << std::endl;
622 #ifdef DEBUG_SURROUNDING_VEHICLES 625 if (partialBehind != 0 && partialBehind != neighFollow) {
626 std::cout <<
"'Partial behind'-vehicle '" << target->lane->getPartialBehind(candi)->
getID() <<
"' at position " << partialBehind->
getPositionOnLane() <<
" is closer." << std::endl;
631 neighFollow =
getCloserFollower(candiPos, neighFollow, target->lane->getPartialBehind(candi));
633 if (neighFollow ==
nullptr) {
635 #ifdef DEBUG_SURROUNDING_VEHICLES 637 if (consecutiveFollower.first == 0) {
638 std::cout <<
"no follower found." << std::endl;
640 std::cout <<
"found follower '" << consecutiveFollower.first->
getID() <<
"' on consecutive lanes." << std::endl;
644 return std::make_pair(const_cast<MSVehicle*>(consecutiveFollower.first), consecutiveFollower.second);
646 #ifdef DEBUG_SURROUNDING_VEHICLES 648 std::cout <<
"found follower '" << neighFollow->
getID() <<
"'." << std::endl;
652 return std::pair<MSVehicle* const, double>(neighFollow,
676 const std::pair<MSVehicle* const, double>& leader,
677 const std::vector<MSVehicle::LaneQ>& preb)
const {
681 if (neighLead.first !=
nullptr && neighLead.first == neighFollow.first) {
684 neighFollow.first = 0;
687 return checkChange(laneOffset, target->lane, leader, neighLead, neighFollow, preb);
694 const std::pair<MSVehicle* const, double>& leader,
695 const std::pair<MSVehicle* const, double>& neighLead,
696 const std::pair<MSVehicle* const, double>& neighFollow,
697 const std::vector<MSVehicle::LaneQ>& preb)
const {
701 #ifdef DEBUG_CHECK_CHANGE 704 <<
"\n" <<
SIMTIME <<
" checkChange() for vehicle '" << vehicle->
getID() <<
"'" 713 if (neighFollow.first !=
nullptr && neighFollow.second < 0) {
717 #ifdef DEBUG_CHECK_CHANGE 720 <<
" overlapping with follower..." 726 if (neighLead.first !=
nullptr && neighLead.second < 0) {
729 #ifdef DEBUG_CHECK_CHANGE 732 <<
" overlapping with leader..." 744 if ((blocked & blockedByFollower) == 0 && neighFollow.first !=
nullptr) {
752 const double vNextFollower = neighFollow.first->getSpeed() +
MAX2(0., tauRemainder * neighFollow.first->getAcceleration());
755 secureBackGap = neighFollow.first->getCarFollowModel().getSecureGap(vNextFollower,
758 blocked |= blockedByFollower;
761 #ifdef DEBUG_CHECK_CHANGE 764 <<
" back gap unsafe: " 765 <<
"gap = " << neighFollow.second
766 <<
" vNextFollower=" << vNextFollower
767 <<
" vNextEgo=" << vNextLeader
769 << neighFollow.first->getCarFollowModel().getSecureGap(vNextFollower,
779 if ((blocked & blockedByLeader) == 0 && neighLead.first !=
nullptr) {
788 const double vNextLeader = neighLead.first->getSpeed() +
MIN2(0., tauRemainder * neighLead.first->getAcceleration());
791 vNextLeader, neighLead.first->getCarFollowModel().getMaxDecel());
793 blocked |= blockedByLeader;
796 #ifdef DEBUG_CHECK_CHANGE 799 <<
" front gap unsafe: " 800 <<
"gap = " << neighLead.second
801 <<
" vNextLeader=" << vNextLeader
802 <<
" vNextEgo=" << vNextFollower
805 vNextLeader, neighLead.first->getCarFollowModel().getMaxDecel())
816 if (leader.first != 0) {
820 #ifdef DEBUG_CHECK_CHANGE 822 std::cout <<
SIMTIME <<
" pedestrian on road " + leader.first->getID() <<
" gap=" << gap <<
" brakeGap=" << brakeGap <<
"\n";
825 if (brakeGap > gap) {
826 blocked |= blockedByLeader;
827 #ifdef DEBUG_CHECK_CHANGE 829 std::cout <<
SIMTIME <<
" blocked by pedestrian " + leader.first->getID() <<
"\n";
836 if (leader.first !=
nullptr) {
842 laneOffset, msg, blocked, leader, neighLead, neighFollow, *targetLane, preb, &(
myCandi->lastBlocked), &(
myCandi->firstBlocked));
851 const double speed = vehicle->
getSpeed();
853 if (seen < dist || myCandi->lane->isInternal()) {
854 std::pair<MSVehicle* const, double> neighLead2 = targetLane->
getCriticalLeader(dist, seen, speed, *vehicle);
855 if (neighLead2.first !=
nullptr && neighLead2.first != neighLead.first) {
857 neighLead2.first->getSpeed(), neighLead2.first->getCarFollowModel().getMaxDecel());
859 #ifdef DEBUG_SURROUNDING_VEHICLES 861 std::cout <<
SIMTIME <<
" found critical leader=" << neighLead2.first->getID()
862 <<
" gap=" << neighLead2.second <<
" secGap=" << secureGap <<
" secGap2=" << secureGap2 <<
"\n";
865 if (neighLead2.second < secureGap2) {
866 state |= blockedByLeader;
871 if (blocked == 0 && (state & LCA_WANTS_LANECHANGE)) {
874 state |= blockedByLeader;
886 if (estimatedLCDuration == -1) {
888 #ifdef DEBUG_CHECK_CHANGE 890 std::cout <<
SIMTIME <<
" checkChange() too slow to guarantee completion of continuous lane change." 891 <<
"\nestimatedLCDuration=" << estimatedLCDuration
892 <<
"\ndistToNeighLane=" << distToNeighLane
900 const double avgSpeed = 0.5 * (
904 const double space2change = avgSpeed * estimatedLCDuration;
907 #ifdef DEBUG_CHECK_CHANGE 909 std::cout <<
SIMTIME <<
" checkChange() checking continuous lane change..." 910 <<
"\ndistToNeighLane=" << distToNeighLane
911 <<
" estimatedLCDuration=" << estimatedLCDuration
912 <<
" space2change=" << space2change
913 <<
" avgSpeed=" << avgSpeed
922 MSLinkCont::const_iterator link =
MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
923 while (!nextLane->
isLinkEnd(link) && seen <= space2change) {
927 || (nextLane->
getEdge().
isInternal() && (*link)->getViaLaneOrLane()->getEdge().isInternal())
932 if ((*link)->getViaLane() ==
nullptr) {
935 nextLane = (*link)->getViaLaneOrLane();
940 #ifdef DEBUG_CHECK_CHANGE 942 std::cout <<
" available distance=" << seen << std::endl;
945 if (nextLane->
isLinkEnd(link) && seen < space2change) {
946 #ifdef DEBUG_CHECK_CHANGE 948 std::cout <<
SIMTIME <<
" checkChange insufficientSpace: seen=" << seen <<
" space2change=" << space2change <<
"\n";
954 if ((state & LCA_BLOCKED) == 0) {
957 const double speed = vehicle->
getSpeed();
962 MSLinkCont::const_iterator link =
MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
963 while (!nextLane->
isLinkEnd(link) && seen <= space2change && seen <= dist) {
964 nextLane = (*link)->getViaLaneOrLane();
966 if (targetLane ==
nullptr) {
970 std::pair<MSVehicle* const, double> neighLead2 = targetLane->
getLeader(vehicle, -seen, std::vector<MSLane*>());
971 if (neighLead2.first !=
nullptr && neighLead2.first != neighLead.first
973 vehicle->
getSpeed(), neighLead2.first->getSpeed(), neighLead2.first->getCarFollowModel().getMaxDecel()))) {
974 state |= blockedByLeader;
978 if ((*link)->getViaLane() ==
nullptr) {
988 const int oldstate = state;
991 #ifdef DEBUG_CHECK_CHANGE 994 <<
" veh=" << vehicle->
getID()
1003 if (blocked == 0 && (state & LCA_WANTS_LANECHANGE)) {
1028 bool oppositeChangeByTraci =
false;
1031 oppositeChangeByTraci =
true;
1034 if (!isOpposite && leader.first == 0 && !oppositeChangeByTraci) {
1040 if (!isOpposite && !oppositeChangeByTraci
1042 && leader.first != 0
1047 #ifdef DEBUG_CHANGE_OPPOSITE 1049 std::cout <<
" not overtaking leader " << leader.first->getID() <<
" that has blinker set\n";
1061 int direction = isOpposite ? -1 : 1;
1062 std::pair<MSVehicle*, double> neighLead((
MSVehicle*)
nullptr, -1);
1065 double timeToOvertake;
1066 double spaceToOvertake;
1075 std::pair<MSVehicle*, double> overtaken;
1076 std::pair<MSVehicle*, double> oncoming;
1079 if (!isOpposite && !oppositeChangeByTraci) {
1081 if (overtaken.first == 0) {
1084 #ifdef DEBUG_CHANGE_OPPOSITE 1086 std::cout <<
" compute time/space to overtake for columnLeader=" << overtaken.first->getID() <<
" egoGap=" << overtaken.second <<
"\n";
1092 #ifdef DEBUG_CHANGE_OPPOSITE 1094 std::cout <<
" cannot changeOpposite due to upcoming stop (dist=" << vehicle->
nextStopDist() <<
" spaceToOvertake=" << spaceToOvertake <<
")\n";
1101 #ifdef DEBUG_CHANGE_OPPOSITE 1104 <<
" veh=" << vehicle->
getID()
1105 <<
" changeOpposite opposite=" << opposite->
getID()
1107 <<
" timeToOvertake=" << timeToOvertake
1108 <<
" spaceToOvertake=" << spaceToOvertake
1113 if (neighLead.first != 0) {
1114 const MSVehicle* oncoming = neighLead.first;
1120 const double surplusGap = neighLead.second - spaceToOvertake - timeToOvertake * oncomingSpeed - safetyGap;
1121 #ifdef DEBUG_CHANGE_OPPOSITE 1124 <<
" oncoming=" << oncoming->
getID()
1125 <<
" oncomingGap=" << neighLead.second
1126 <<
" leaderGap=" << leader.second
1127 <<
" safetyGap=" << safetyGap
1128 <<
" surplusGap=" << surplusGap
1132 if (surplusGap < 0) {
1134 #ifdef DEBUG_CHANGE_OPPOSITE 1136 std::cout <<
" cannot changeOpposite due to dangerous oncoming (surplusGap=" << surplusGap <<
")\n";
1140 #ifdef DEBUG_CHANGE_OPPOSITE 1143 std::cout <<
SIMTIME <<
" ego=" << vehicle->
getID() <<
" does not changeOpposite due to dangerous oncoming " << oncoming->
getID() <<
" (but the leader is also opposite)\n";
1151 }
else if (!oppositeChangeByTraci) {
1152 timeToOvertake = -1;
1154 spaceToOvertake = std::numeric_limits<double>::max();
1157 double gap = leader.second;
1158 while (leader.first !=
nullptr && leader.first->getLaneChangeModel().isOpposite() && dist > 0) {
1160 #ifdef DEBUG_CHANGE_OPPOSITE 1162 std::cout <<
SIMTIME <<
" ego=" << vehicle->
getID() <<
" opposite leader=" << leader.first->getID() <<
" gap=" << gap <<
" is driving against the flow\n";
1165 const double gapToLeaderFront = leader.second + leader.first->getVehicleType().getLengthWithGap();
1166 dist -= gapToLeaderFront;
1168 if (leader.first != 0) {
1169 gap += gapToLeaderFront;
1172 leader.second = gap;
1183 if (usableDist < spaceToOvertake) {
1186 assert(bestLaneConts.size() >= 1);
1187 std::vector<MSLane*>::const_iterator it = bestLaneConts.begin() + 1;
1188 while (usableDist < spaceToOvertake && it != bestLaneConts.end()) {
1189 #ifdef DEBUG_CHANGE_OPPOSITE 1191 std::cout <<
" usableDist=" << usableDist <<
" opposite=" <<
Named::getIDSecure((*it)->getOpposite()) <<
"\n";
1194 if ((*it)->getOpposite() ==
nullptr || !(*it)->getOpposite()->allowsVehicleClass(vehicle->
getVClass())) {
1199 if (*(it - 1) !=
nullptr) {
1208 #ifdef DEBUG_CHANGE_OPPOSITE 1210 std::cout <<
" stop lookahead at link=" << (link == 0 ?
"NULL" : link->
getViaLaneOrLane()->
getID()) <<
" state=" << (link == 0 ?
"?" :
toString(link->getState())) <<
" ignoreRed=" << vehicle->
ignoreRed(link,
true) <<
"\n";
1216 usableDist += (*it)->getLength();
1220 if (!isOpposite && usableDist < spaceToOvertake) {
1221 #ifdef DEBUG_CHANGE_OPPOSITE 1223 std::cout <<
" cannot changeOpposite due to insufficient space (seen=" << usableDist <<
" spaceToOvertake=" << spaceToOvertake <<
")\n";
1228 #ifdef DEBUG_CHANGE_OPPOSITE 1230 std::cout <<
" usableDist=" << usableDist <<
" spaceToOvertake=" << spaceToOvertake <<
" timeToOvertake=" << timeToOvertake <<
"\n";
1235 std::vector<MSVehicle::LaneQ> preb = vehicle->
getBestLanes();
1250 if (leader.first != 0) {
1251 if (!leader.first->getLaneChangeModel().isOpposite()) {
1257 laneQ.
length =
MIN2(laneQ.
length, leader.second / 2 + forwardPos - safetyGap);
1258 #ifdef DEBUG_CHANGE_OPPOSITE 1260 std::cout <<
SIMTIME <<
" found oncoming leader=" << oncoming->
getID() <<
" gap=" << leader.second <<
"\n";
1264 #ifdef DEBUG_CHANGE_OPPOSITE 1266 std::cout <<
SIMTIME <<
" opposite leader=" << leader.first->getID() <<
" gap=" << leader.second <<
" is driving against the flow\n";
1270 if (neighLead.first != 0) {
1272 if (overtaken.first == 0) {
1273 #ifdef DEBUG_CHANGE_OPPOSITE 1275 std::cout <<
SIMTIME <<
" ego=" << vehicle->
getID() <<
" did not find columnleader to overtake\n";
1279 const double remainingDist = laneQ.
length - forwardPos;
1281 #ifdef DEBUG_CHANGE_OPPOSITE 1283 std::cout <<
SIMTIME <<
" ego=" << vehicle->
getID() <<
" is overtaking " << overtaken.first->getID()
1284 <<
" remainingDist=" << remainingDist <<
" spaceToOvertake=" << spaceToOvertake <<
" timeToOvertake=" << timeToOvertake <<
"\n";
1287 if (remainingDist > spaceToOvertake) {
1296 #ifdef DEBUG_CHANGE_OPPOSITE 1298 std::cout <<
SIMTIME <<
" veh=" << vehicle->
getID() <<
" remaining dist=" << laneQ.
length - forwardPos <<
" forwardPos=" << forwardPos <<
" laneQ.length=" << laneQ.
length <<
"\n";
1303 int state =
checkChange(direction, opposite, leader, neighLead, neighFollow, preb);
1306 bool changingAllowed = (state &
LCA_BLOCKED) == 0;
1319 #ifdef DEBUG_CHANGE_OPPOSITE 1321 std::cout <<
SIMTIME <<
" changing to opposite veh=" << vehicle->
getID() <<
" dir=" << direction <<
" opposite=" <<
Named::getIDSecure(opposite) <<
" state=" << state <<
"\n";
1326 #ifdef DEBUG_CHANGE_OPPOSITE 1328 std::cout <<
SIMTIME <<
" not changing to opposite veh=" << vehicle->
getID() <<
" dir=" << direction
1346 const double v = vehicle->
getSpeed();
1359 const double sign = -1;
1363 double t = (u - v - sqrt(4 * (u - v) * (u - v) + 8 * a * g) * sign * 0.5) / a;
1364 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1366 std::cout <<
" computeOvertakingTime v=" << v <<
" vMax=" << vMax <<
" u=" << u <<
" a=" << a <<
" d=" << d <<
" gap=" << gap <<
" g=" << g <<
" t=" << t
1367 <<
" distEgo=" << v* t + t* t* a * 0.5 <<
" distLead=" << g + u* t
1376 t = ceil(t /
TS) *
TS;
1379 const double timeToMaxSpeed = (vMax - v) / a;
1381 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1383 std::cout <<
" t=" << t <<
" tvMax=" << timeToMaxSpeed <<
"\n";
1386 if (t <= timeToMaxSpeed) {
1388 spaceToOvertake = v * t + t * t * a * 0.5;
1389 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1391 std::cout <<
" sto=" << spaceToOvertake <<
"\n";
1396 const double s = v * timeToMaxSpeed + timeToMaxSpeed * timeToMaxSpeed * a * 0.5;
1397 const double m = timeToMaxSpeed;
1400 t = (g - s + m * vMax) / (vMax - u);
1403 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1405 std::cout <<
" t2=" << t <<
"\n";
1408 timeToOvertake = std::numeric_limits<double>::max();
1409 spaceToOvertake = std::numeric_limits<double>::max();
1414 t = ceil(t /
TS) *
TS;
1417 spaceToOvertake = s + (t - m) * vMax;
1418 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1420 std::cout <<
" t2=" << t <<
" s=" << s <<
" sto=" << spaceToOvertake <<
" m=" << m <<
"\n";
1426 timeToOvertake *= safetyFactor;
1427 spaceToOvertake *= safetyFactor;
1428 #ifdef DEBUG_CHANGE_OPPOSITE_OVERTAKINGTIME 1430 if (safetyFactor != 1) {
1431 std::cout <<
" applying safetyFactor=" << safetyFactor
1432 <<
" tto=" << timeToOvertake <<
" sto=" << spaceToOvertake <<
"\n";
1441 std::pair<MSVehicle*, double>
1443 assert(leader.first != 0);
1448 std::pair<MSVehicle*, double> columnLeader = leader;
1449 double egoGap = leader.second;
1450 bool foundSpaceAhead =
false;
1451 double seen = leader.second + leader.first->getVehicleType().getLengthWithGap();
1453 if (maxLookAhead == std::numeric_limits<double>::max()) {
1458 #ifdef DEBUG_CHANGE_OPPOSITE 1460 std::cout <<
" getColumnleader vehicle=" << vehicle->
getID() <<
" leader=" << leader.first->getID() <<
" gap=" << leader.second <<
" maxLookAhead=" << maxLookAhead <<
"\n";
1464 while (!foundSpaceAhead) {
1465 const double requiredSpaceAfterLeader = (columnLeader.first->getCarFollowModel().getSecureGap(
1467 + columnLeader.first->getVehicleType().getMinGap()
1472 const bool checkTmpVehicles = (&columnLeader.first->getLane()->getEdge() == &source->
getEdge());
1473 std::pair<MSVehicle* const, double> leadLead = columnLeader.first->getLane()->getLeader(
1474 columnLeader.first, columnLeader.first->getPositionOnLane(), conts, requiredSpaceAfterLeader + mergeBrakeGap,
1477 #ifdef DEBUG_CHANGE_OPPOSITE 1479 std::cout <<
" leadLead=" <<
Named::getIDSecure(leadLead.first) <<
" gap=" << leadLead.second <<
"\n";
1482 if (leadLead.first ==
nullptr) {
1483 double availableSpace = columnLeader.first->getLane()->getLength() - columnLeader.first->getPositionOnLane();
1484 const double requiredSpace = safetyFactor * (requiredSpaceAfterLeader
1486 #ifdef DEBUG_CHANGE_OPPOSITE 1488 std::cout <<
" no direct leader found after columnLeader " << columnLeader.first->getID()
1489 <<
" availableSpace=" << availableSpace
1490 <<
" req1=" << requiredSpaceAfterLeader
1491 <<
" req2=" << requiredSpace / safetyFactor
1492 <<
" req3=" << requiredSpace
1496 if (availableSpace > requiredSpace) {
1497 foundSpaceAhead =
true;
1502 #ifdef DEBUG_CHANGE_OPPOSITE 1504 std::cout <<
" look for another leader on lane " <<
Named::getIDSecure(next) <<
"\n";
1507 while (next !=
nullptr) {
1510 if (cand ==
nullptr) {
1512 if (availableSpace > requiredSpace) {
1513 foundSpaceAhead =
true;
1518 if (availableSpace > requiredSpace) {
1519 foundSpaceAhead =
true;
1526 if (!foundSpaceAhead) {
1527 return std::make_pair(
nullptr, -1);
1531 const double requiredSpace = safetyFactor * (requiredSpaceAfterLeader
1532 + vehicle->
getCarFollowModel().
getSecureGap(overtakingSpeed, leadLead.first->getSpeed(), leadLead.first->getCarFollowModel().getMaxDecel()));
1533 #ifdef DEBUG_CHANGE_OPPOSITE 1535 std::cout <<
" leader's leader " << leadLead.first->getID() <<
" space=" << leadLead.second
1536 <<
" req1=" << requiredSpaceAfterLeader
1537 <<
" req2=" << requiredSpace / safetyFactor
1538 <<
" req3=" << requiredSpace
1542 if (leadLead.second > requiredSpace) {
1543 foundSpaceAhead =
true;
1545 #ifdef DEBUG_CHANGE_OPPOSITE 1547 std::cout <<
" not enough space after columnLeader=" << columnLeader.first->getID() <<
" required=" << requiredSpace <<
"\n";
1550 seen +=
MAX2(0., leadLead.second) + leadLead.first->getVehicleType().getLengthWithGap();
1551 if (seen > maxLookAhead) {
1552 #ifdef DEBUG_CHANGE_OPPOSITE 1554 std::cout <<
" cannot changeOpposite due to insufficient free space after columnLeader (seen=" << seen <<
" columnLeader=" << columnLeader.first->getID() <<
")\n";
1557 return std::make_pair(
nullptr, -1);
1560 egoGap += columnLeader.first->getVehicleType().getLengthWithGap() + leadLead.second;
1561 columnLeader = leadLead;
1562 #ifdef DEBUG_CHANGE_OPPOSITE 1564 std::cout <<
" new columnLeader=" << columnLeader.first->getID() <<
"\n";
1570 columnLeader.second = egoGap;
1571 return columnLeader;
1577 for (
auto it = conts.begin(); it != conts.end(); ++it) {
1579 if (it + 1 != conts.end()) {
double myPos
the stored position
void laneChange(SUMOTime t)
Start lane-change-process for all vehicles on the edge'e lanes.
bool getRespectJunctionPriority() const
Returns whether junction priority rules shall be respected.
bool isChangingLanes() const
return true if the vehicle currently performs a lane change maneuver
double getLengthWithGap() const
Get vehicle's length including the minimum gap [m].
double computeAngle() const
compute the current vehicle angle
static MSVehicle * getCloserFollower(const double maxPos, MSVehicle *follow1, MSVehicle *follow2)
return the closer follower of ego
double getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
double brakeGap(const double speed) const
Returns the distance the vehicle needs to halt including driver's reaction time tau (i...
bool ignoreRed(const MSLink *link, bool canBrake) const
decide whether a red (or yellow light) may be ignore
MSEdge & getEdge() const
Returns the lane's edge.
double myAngle
the angle in radians (
Representation of a vehicle in the micro simulation.
bool isRemoteControlled() const
Returns the information whether the vehicle is fully controlled via TraCI.
MSLane * lane
the lane corresponding to this ChangeElem (the current change candidate is on this lane) ...
The action is done to help someone else.
static std::pair< MSVehicle *, double > getColumnleader(MSVehicle *vehicle, std::pair< MSVehicle *, double > leader, double maxLookAhead=std::numeric_limits< double >::max())
LinkDirection getDirection() const
Returns the direction the vehicle passing this link take.
virtual bool hasPedestrians(const MSLane *lane)
whether the given lane has pedestrians on it
std::pair< MSVehicle *const, double > getOppositeLeader(const MSVehicle *ego, double dist, bool oppositeDir) const
State myState
This Vehicles driving state (pos and speed)
virtual double getAssumedDecelForLaneChangeDuration() const
Returns a deceleration value which is used for the estimation of the duration of a lane change...
MSLane * getLane() const
Returns the lane the vehicle is on.
void setLeaderGaps(CLeaderDist, double secGap)
The vehicle is blocked by left follower.
int checkChange(int laneOffset, const MSLane *targetLane, const std::pair< MSVehicle *const, double > &leader, const std::pair< MSVehicle *const, double > &neighLead, const std::pair< MSVehicle *const, double > &neighFollow, const std::vector< MSVehicle::LaneQ > &preb) const
bool continueChange(MSVehicle *vehicle, ChangerIt &from)
continue a lane change maneuver and return whether the vehicle has completely moved onto the new lane...
virtual void initChanger()
Initialize the changer before looping over all vehicles.
int getShadowDirection() const
return the direction in which the current shadow lane lies
virtual bool changeOpposite(std::pair< MSVehicle *, double > leader)
const bool myAllowsChanging
double getPositionOnLane() const
Get the vehicle's position along the lane.
double myPosLat
the stored lateral position
MSVehicle * veh(ConstChangerIt ce) const
static MSLane * getLaneAfter(MSLane *lane, const std::vector< MSLane *> &conts)
return the next lane in conts beyond lane or nullptr
std::pair< MSVehicle *const, double > getRealLeader(const ChangerIt &target) const
Vehicle is too slow to guarantee success of lane change (used for continuous lane changing in case th...
const bool myChangeToOpposite
whether this edge allows changing to the opposite direction edge
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
#define OPPOSITE_OVERTAKING_MAX_LOOKAHEAD
double getLength() const
Returns the lane's length.
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null
bool isLinkEnd(MSLinkCont::const_iterator &i) const
bool isStoppedOnLane() const
double getRightSideOnLane() const
Get the vehicle's lateral position on the lane:
void adaptBestLanesOccupation(int laneIndex, double density)
update occupation from MSLaneChanger
bool alreadyChanged() const
reset the flag whether a vehicle already moved to false
static const double NO_NEIGHBOR
bool startChange(MSVehicle *vehicle, ChangerIt &from, int direction)
const std::string & getID() const
Returns the id.
ChangeElem(MSLane *_lane)
double length
The overall length which may be driven when using this lane without a lane change.
VehCont myPartialVehicles
The lane's partial vehicles. This container holds all vehicles that are partially on this lane but wh...
double getWidth() const
Returns the lane's width.
ChangerIt findCandidate()
Find current candidate. If there is none, myChanger.end() is returned.
This is an uncontrolled, zipper-merge link.
The link is a (hard) left direction.
void checkTraCICommands()
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the s...
MSAbstractLaneChangeModel & getLaneChangeModel()
SUMOTime getLaneTimeLineDuration()
void requireCollisionCheck()
require another collision check due to relevant changes in the simulation
virtual double getOppositeSafetyFactor() const
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-foll...
bool isFrontOnLane(const MSLane *lane) const
Returns the information whether the front of the vehicle is on the given lane.
bool vehInChanger() const
Check if there is a single change-candidate in the changer. Returns true if there is one...
LinkState getState() const
Returns the current state of the link.
Right blinker lights are switched on.
bool applyTraCICommands(MSVehicle *vehicle)
Execute TraCI LC-commands.
The link is a straight direction.
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
void setFollowerGaps(CLeaderDist follower, double secGap)
void checkTraCICommands(MSVehicle *vehicle)
Take into account traci LC-commands.
A class responsible for exchanging messages between cars involved in lane-change interaction.
The vehicle changes lanes (micro only)
virtual double estimateLCDuration(const double speed, const double remainingManeuverDist, const double decel) const
Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMa...
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
Left blinker lights are switched on.
virtual void updateChanger(bool vehHasChanged)
VehCont myTmpVehicles
Container for lane-changing vehicles. After completion of lane-change- process, the containers will b...
blocked in all directions
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
The action is urgent (to be defined by lc-model)
virtual double getSecureGap(const double speed, const double leaderSpeed, const double leaderMaxDecel) const
Returns the minimum gap to reserve if the leader is braking at maximum (>=0)
static MSPModel * getModel()
SUMOTime getActionStepLength() const
Returns the vehicle's action step length in millisecs, i.e. the interval between two action points...
void updateBestLanes(bool forceRebuild=false, const MSLane *startLane=0)
computes the best lanes to use in order to continue the route
const std::vector< MSLane * > & getBestLanesContinuation() const
Returns the best sequence of lanes to continue the route starting at myLane.
#define OPPOSITE_OVERTAKING_MAX_LOOKAHEAD_EMERGENCY
virtual 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 method gets th...
Position myCachedPosition
std::pair< MSVehicle *const, double > getOppositeFollower(const MSVehicle *ego) const
int getLaneChangeDirection() const
return the direction of the current lane change maneuver
double getSpeedLimit() const
Returns the lane's maximum allowed speed.
void registerHop(MSVehicle *vehicle)
Register that vehicle belongs to Changer Item to after LC decisions.
bool havePriority() const
Returns whether this link is a major link.
void forceVehicleInsertion(MSVehicle *veh, double pos, MSMoveReminder::Notification notification, double posLat=0)
Inserts the given vehicle at the given position.
The link is a (hard) right direction.
std::pair< MSVehicle *const, double > getLeader(const MSVehicle *veh, const double vehPos, const std::vector< MSLane *> &bestLaneConts, double dist=-1, bool checkTmpVehicles=false) const
Returns the immediate leader of veh and the distance to veh starting on this lane.
static void computeOvertakingTime(const MSVehicle *vehicle, const MSVehicle *leader, double gap, double &timeToOvertake, double &spaceToOvertake)
Compute the time and space required for overtaking the given leader.
A structure representing the best lanes for continuing the current route starting at 'lane'...
virtual PersonDist nextBlocking(const MSLane *lane, double minPos, double minRight, double maxLeft, double stopTime=0)
returns the next pedestrian beyond minPos that is laterally between minRight and maxLeft or 0 ...
bool hasInfluencer() const
double getMinGap() const
Get the free space in front of vehicles of this class.
double getMaxDecel() const
Get the vehicle type's maximal comfortable deceleration [m/s^2].
MSLaneChanger()
Default constructor.
MSLane * getOpposite() const
return the opposite direction lane for lane changing or 0
bool isInternal() const
return whether this edge is an internal edge
void updateLanes(SUMOTime t)
std::vector< MSVehicle * > VehCont
Container for vehicles.
static MSLinkCont::const_iterator succLinkSec(const SUMOVehicle &veh, int nRouteSuccs, const MSLane &succLinkSource, const std::vector< MSLane *> &conts)
int checkChangeWithinEdge(int laneOffset, const std::pair< MSVehicle *const, double > &leader, const std::vector< MSVehicle::LaneQ > &preb) const
std::pair< MSVehicle *const, double > getRealFollower(const ChangerIt &target) const
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
void setOrigLeaderGaps(CLeaderDist, double secGap)
bool startLaneChangeManeuver(MSLane *source, MSLane *target, int direction)
start the lane change maneuver and return whether it continues
#define OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD
std::pair< const MSPerson *, double > PersonDist
void primaryLaneChanged(MSLane *source, MSLane *target, int direction)
called once when the vehicles primary lane changes
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
#define OPPOSITE_OVERTAKING_SAFE_TIMEGAP
std::pair< const MSVehicle *, double > CLeaderDist
SUMOVehicleClass getVClass() const
Returns the vehicle's access class.
Influencer & getInfluencer()
Returns the velocity/lane influencer.
virtual double getSafetyFactor() const
return factor for modifying the safety constraints of the car-following model
LaneChangeAction
The state of a vehicle's lane-change behavior.
virtual void setOwnState(const int state)
double getOppositePos(double pos) const
return the corresponding position on the opposite lane
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
bool isActive() const
Returns whether the current simulation step is an action point for the vehicle.
static MSLink * getConnectingLink(const MSLane &from, const MSLane &to)
Returns the link connecting both lanes Both lanes have to be non-internal; 0 may be returned if no co...
virtual ~MSLaneChanger()
Destructor.
virtual double getHeadwayTime() const
Get the driver's desired headway [s].
The vehicle is blocked being overlapping.
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
Changer::iterator ChangerIt
the iterator moving over the ChangeElems
MSVehicle * getLastAnyVehicle() const
returns the last vehicle that is fully or partially on this lane
MSLane * getViaLaneOrLane() const
return the via lane if it exists and the lane otherwise
std::pair< MSVehicle *const, double > getCriticalLeader(double dist, double seen, double speed, const MSVehicle &veh) const
Returns the most dangerous leader and the distance to him.
double getLength() const
Get vehicle's length [m].
bool allowsVehicleClass(SUMOVehicleClass vclass) const
Changer myChanger
Container for ChangeElemements, one for every lane in the edge.
The action is due to a TraCI request.
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
#define OPPOSITE_OVERTAKING_SAFETY_FACTOR
void registerUnchanged(MSVehicle *vehicle)
The vehicle does not have enough space to complete a continuous lane and change before the next turni...
bool unsafeLinkAhead(const MSLane *lane) const
whether the vehicle may safely move to the given lane with regard to upcoming links ...
MSLane * getShadowLane() const
Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
bool isStopped() const
Returns whether the vehicle is at a stop.
MSVehicle * hoppedVeh
last vehicle that changed into this lane
const std::vector< LaneQ > & getBestLanes() const
Returns the description of best lanes to use in order to continue the route.
double getSpeed() const
Returns the vehicle's current speed.
The vehicle is blocked by right leader.
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
public emergency vehicles
static SUMOTime gLaneChangeDuration
const std::string & getID() const
Returns the name of the vehicle.
Representation of a lane in the micro simulation.
double myBackPos
the stored back position
The vehicle is blocked by right follower.
bool mayChange(int direction) const
whether changing to the lane in the given direction should be considered
void saveLCState(const int dir, const int stateWithoutTraCI, const int state)
double getSpeedLat() const
return the lateral speed of the current lane change maneuver
bool haveRed() const
Returns whether this link is blocked by a red (or redyellow) traffic light.
Interface for lane-change models.
SUMOVehicleClass getVehicleClass() const
Get this vehicle type's vehicle class.
#define OPPOSITE_OVERTAKING_SAFETYGAP_HEADWAY_FACTOR
static const Position INVALID
used to indicate that a position is valid
double nextStopDist() const
return the distance to the next stop or doubleMax if there is none.
MSLane * getParallelLane(int offset) const
Returns the lane with the given offset parallel to this one or 0 if it does not exist.
void endLaneChangeManeuver(const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)