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Eclipse SUMO - Simulation of Urban MObility
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Interface for lane-change models. More...
#include <MSAbstractLaneChangeModel.h>
Data Structures | |
class | MSLCMessager |
A class responsible for exchanging messages between cars involved in lane-change interaction. More... | |
struct | StateAndDist |
Public Member Functions | |
bool | alreadyChanged () const |
reset the flag whether a vehicle already moved to false More... | |
virtual void | changed ()=0 |
void | changedToOpposite () |
called when a vehicle changes between lanes in opposite directions More... | |
void | checkTraCICommands () |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. More... | |
void | cleanupShadowLane () |
void | cleanupTargetLane () |
void | clearGapsAtLCInit () |
void | clearNeighbors () |
Clear info on neighboring vehicle from previous step. More... | |
virtual double | computeSpeedLat (double latDist, double &maneuverDist) |
decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints. More... | |
virtual bool | debugVehicle () const |
whether the current vehicles shall be debugged More... | |
virtual StateAndDist | decideDirection (StateAndDist sd1, StateAndDist sd2) const |
decide in which direction to move in case both directions are desirable More... | |
MSLane * | determineTargetLane (int &targetDir) const |
void | endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE) |
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 lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,. More... | |
double | getAngleOffset () const |
return the angle offset during a continuous change maneuver More... | |
virtual double | getAssumedDecelForLaneChangeDuration () const |
Returns a deceleration value which is used for the estimation of the duration of a lane change. More... | |
int & | getCanceledState (const int dir) |
double | getCommittedSpeed () const |
const std::shared_ptr< MSLeaderDistanceInfo > | getFollowers (const int dir) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction. More... | |
const std::vector< MSLane * > & | getFurtherTargetLanes () const |
double | getLaneChangeCompletion () const |
Get the current lane change completion ratio. More... | |
int | getLaneChangeDirection () const |
return the direction of the current lane change maneuver More... | |
SUMOTime | getLastLaneChangeOffset () const |
const std::shared_ptr< MSLeaderDistanceInfo > | getLeaders (const int dir) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction. More... | |
double | getManeuverDist () const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More... | |
virtual LaneChangeModel | getModelID () const =0 |
Returns the model's ID;. More... | |
virtual double | getOppositeSafetyFactor () const |
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model More... | |
int | getOwnState () const |
virtual std::string | getParameter (const std::string &key) const |
try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key More... | |
double | getPreviousManeuverDist () const |
int | getPrevState () const |
virtual double | getSafetyFactor () const |
return factor for modifying the safety constraints of the car-following model 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 vehicle's shadow is on during continuous/sublane lane change. More... | |
MSLane * | getShadowLane (const MSLane *lane) const |
return the shadow lane for the given lane More... | |
MSLane * | getShadowLane (const MSLane *lane, double posLat) const |
return the shadow lane for the given lane and lateral offset More... | |
double | getSpeedLat () const |
return the lateral speed of the current lane change maneuver More... | |
MSLane * | getTargetLane () const |
Returns the lane the vehicle has committed to enter during a sublane lane change. More... | |
virtual void * | inform (void *info, MSVehicle *sender)=0 |
bool | isChangingLanes () const |
return true if the vehicle currently performs a lane change maneuver More... | |
bool | isOpposite () const |
bool | isStrategicBlocked () const |
void | laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction, double maneuverDist=0) |
called once the vehicle ends a lane change manoeuvre (non-instant) More... | |
void | memorizeGapsAtLCInit () |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
MSAbstractLaneChangeModel (MSVehicle &v, const LaneChangeModel model) | |
Constructor. More... | |
bool | pastMidpoint () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver More... | |
virtual double | patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)=0 |
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More... | |
virtual void | prepareStep () |
void | primaryLaneChanged (MSLane *source, MSLane *target, int direction) |
called once when the vehicles primary lane changes More... | |
SUMOTime | remainingTime () const |
Compute the remaining time until LC completion. More... | |
void | removeShadowApproachingInformation () const |
void | resetChanged () |
reset the flag whether a vehicle already moved to false More... | |
virtual void | saveBlockerLength (double length) |
reserve space at the end of the lane to avoid dead locks More... | |
void | saveLCState (const int dir, const int stateWithoutTraCI, const int state) |
void | saveNeighbors (const int dir, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &leaders) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case. More... | |
void | saveNeighbors (const int dir, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &leader) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case. More... | |
void | setFollowerGaps (CLeaderDist follower, double secGap) |
void | setFollowerGaps (const MSLeaderDistanceInfo &vehicles) |
void | setLeaderGaps (CLeaderDist, double secGap) |
void | setLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
void | setManeuverDist (const double dist) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) More... | |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOrigLeaderGaps (CLeaderDist, double secGap) |
void | setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
virtual void | setOwnState (const int state) |
virtual 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) |
void | setSpeedLat (double speedLat) |
bool | startLaneChangeManeuver (MSLane *source, MSLane *target, int direction) |
start the lane change maneuver and return whether it continues More... | |
virtual bool | sublaneChangeCompleted (const double latDist) const |
whether the current change completes the manoeuvre More... | |
void | unchanged () |
bool | updateCompletion () |
virtual void | updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex) |
update expected speeds for each sublane of the current edge More... | |
virtual void | updateSafeLatDist (const double travelledLatDist) |
Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps. More... | |
void | updateShadowLane () |
MSLane * | updateTargetLane () |
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 the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
virtual 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 &targetDistLat, int &blocked) |
virtual | ~MSAbstractLaneChangeModel () |
Destructor. More... | |
Static Public Member Functions | |
static MSAbstractLaneChangeModel * | build (LaneChangeModel lcm, MSVehicle &vehicle) |
Factory method for instantiating new lane changing models. More... | |
static bool | haveLateralDynamics () |
whether any kind of lateral dynamics is active More... | |
static bool | haveLCOutput () |
whether lanechange-output is active More... | |
static void | initGlobalOptions (const OptionsCont &oc) |
init global model parameters More... | |
static bool | outputLCEnded () |
whether start of maneuvers shall be recorede More... | |
static bool | outputLCStarted () |
whether start of maneuvers shall be recorede More... | |
Static Public Attributes | |
static const double | NO_NEIGHBOR |
Protected Member Functions | |
bool | cancelRequest (int state, int laneOffset) |
whether the influencer cancels the given request More... | |
virtual bool | congested (const MSVehicle *const neighLeader) |
void | initLastLaneChangeOffset (int dir) |
virtual bool | predInteraction (const std::pair< MSVehicle *, double > &leader) |
Protected Attributes | |
bool | myAlreadyChanged |
whether the vehicle has already moved this step More... | |
int | myCanceledStateCenter |
int | myCanceledStateLeft |
int | myCanceledStateRight |
const MSCFModel & | myCarFollowModel |
The vehicle's car following model. More... | |
double | myCommittedSpeed |
the speed when committing to a change maneuver More... | |
bool | myDontResetLCGaps |
Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
std::vector< MSLane * > | myFurtherTargetLanes |
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... | |
double | myLastFollowerGap |
double | myLastFollowerSecureGap |
double | myLastFollowerSpeed |
double | myLastLateralGapLeft |
the minimum lateral gaps to other vehicles that were found when last changing to the left and right More... | |
double | myLastLateralGapRight |
double | myLastLeaderGap |
the actual minimum longitudinal distances to vehicles on the target lane More... | |
double | myLastLeaderSecureGap |
the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More... | |
double | myLastLeaderSpeed |
speeds of surrounding vehicles at the time of lane change More... | |
double | myLastOrigLeaderGap |
acutal and secure distance to closest leader vehicle on the original when performing lane change More... | |
double | myLastOrigLeaderSecureGap |
double | myLastOrigLeaderSpeed |
double | myManeuverDist |
The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. More... | |
double | myMaxSpeedLatFactor |
double | myMaxSpeedLatStanding |
const LaneChangeModel | myModel |
the type of this model More... | |
std::vector< MSLane * > | myNoPartiallyOccupatedByShadow |
int | myOwnState |
The current state of the vehicle. More... | |
std::vector< MSLane * > | myPartiallyOccupatedByShadow |
list of lanes where the shadow vehicle is partial occupator More... | |
double | myPreviousManeuverDist |
Maneuver distance from the previous simulation step. More... | |
int | myPreviousState |
lane changing state from the previous simulation step More... | |
int | myPreviousState2 |
lane changing state from step before the previous simulation step More... | |
std::pair< int, int > | mySavedStateCenter |
std::pair< int, int > | mySavedStateLeft |
std::pair< int, int > | mySavedStateRight |
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 | mySpeedLat |
the current lateral speed More... | |
MSLane * | myTargetLane |
The target lane for the vehicle's current maneuver. More... | |
MSVehicle & | myVehicle |
The vehicle this lane-changer belongs to. More... | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftFollowers |
Cached info on lc-relevant neighboring vehicles. More... | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftLeaders |
std::shared_ptr< MSLeaderDistanceInfo > | myRightFollowers |
std::shared_ptr< MSLeaderDistanceInfo > | myRightLeaders |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted More... | |
static bool | myLCEndedOutput |
static bool | myLCOutput |
whether to record lane-changing More... | |
static bool | myLCStartedOutput |
Private Member Functions | |
MSAbstractLaneChangeModel & | operator= (const MSAbstractLaneChangeModel &s) |
Invalidated assignment operator. More... | |
Private Attributes | |
bool | myAmOpposite |
whether the vehicle is driving in the opposite direction More... | |
std::vector< MSLink * > | myApproachedByShadow |
links which are approached by the shadow vehicle More... | |
SUMOTime | myLastLaneChangeOffset |
Interface for lane-change models.
Definition at line 46 of file MSAbstractLaneChangeModel.h.
MSAbstractLaneChangeModel::MSAbstractLaneChangeModel | ( | MSVehicle & | v, |
const LaneChangeModel | model | ||
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Constructor.
[in] | v | The vehicle this lane-changer belongs to |
[in] | model | The type of lane change model |
Definition at line 93 of file MSAbstractLaneChangeModel.cpp.
References LCA_UNKNOWN, and saveLCState().
Referenced by outputLCEnded().
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Destructor.
Definition at line 134 of file MSAbstractLaneChangeModel.cpp.
Referenced by outputLCEnded().
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reset the flag whether a vehicle already moved to false
Definition at line 484 of file MSAbstractLaneChangeModel.h.
References myAlreadyChanged.
Referenced by MSLaneChanger::change().
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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 70 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 485 of file MSAbstractLaneChangeModel.cpp.
References getCanceledState(), MSVehicle::influenceChangeDecision(), and myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().
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Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Referenced by decideDirection(), and primaryLaneChanged().
void MSAbstractLaneChangeModel::changedToOpposite | ( | ) |
called when a vehicle changes between lanes in opposite directions
Definition at line 844 of file MSAbstractLaneChangeModel.cpp.
References myAlreadyChanged, and myAmOpposite.
Referenced by debugVehicle(), endLaneChangeManeuver(), MSVehicle::executeMove(), and primaryLaneChanged().
void MSAbstractLaneChangeModel::checkTraCICommands | ( | ) |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate.
Definition at line 798 of file MSAbstractLaneChangeModel.cpp.
References gDebugFlag2, MSBaseVehicle::getID(), MSVehicle::getInfluencer(), MSVehicle::getLaneChangeModel(), MSVehicle::Influencer::getLatDist(), getOwnState(), MSGlobals::gLateralResolution, MSVehicle::hasInfluencer(), MSVehicle::influenceChangeDecision(), MSVehicle::lateralDistanceToLane(), LCA_LEFT, LCA_RIGHT, LCA_STAY, LCA_TRACI, myOwnState, myVehicle, MSVehicle::Influencer::resetLatDist(), setManeuverDist(), setOwnState(), SIMTIME, and toString().
Referenced by MSLaneChanger::checkTraCICommands(), and setParameter().
void MSAbstractLaneChangeModel::cleanupShadowLane | ( | ) |
Definition at line 444 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), myNoPartiallyOccupatedByShadow, myShadowFurtherLanes, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.
Referenced by endLaneChangeManeuver(), resetChanged(), and MSVehicle::~MSVehicle().
void MSAbstractLaneChangeModel::cleanupTargetLane | ( | ) |
Definition at line 463 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), myFurtherTargetLanes, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), and SIMTIME.
Referenced by endLaneChangeManeuver(), resetChanged(), and MSVehicle::~MSVehicle().
void MSAbstractLaneChangeModel::clearGapsAtLCInit | ( | ) |
Definition at line 299 of file MSAbstractLaneChangeModel.cpp.
References myDontResetLCGaps.
Referenced by laneChangeOutput(), and resetChanged().
void MSAbstractLaneChangeModel::clearNeighbors | ( | ) |
Clear info on neighboring vehicle from previous step.
Definition at line 207 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), and saveLCState().
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decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints.
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 366 of file MSAbstractLaneChangeModel.cpp.
References DIST2SPEED, MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, myVehicle, SPEED2DIST, STEPS2TIME, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLaneChangerSublane::continueChangeSublane(), setSpeedLat(), and updateCompletion().
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Definition at line 243 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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whether the current vehicles shall be debugged
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 384 of file MSAbstractLaneChangeModel.h.
References changedToOpposite().
Referenced by MSLaneChangerSublane::change(), cleanupShadowLane(), cleanupTargetLane(), getShadowLane(), MSLCM_SL2015::inform(), MSLaneChangerSublane::startChangeSublane(), updateShadowLane(), and updateTargetLane().
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decide in which direction to move in case both directions are desirable
Reimplemented in MSLCM_SL2015.
Definition at line 344 of file MSAbstractLaneChangeModel.h.
References changed(), inform(), myModel, patchSpeed(), toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::change().
MSLane * MSAbstractLaneChangeModel::determineTargetLane | ( | int & | targetDir | ) | const |
Definition at line 628 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSBaseVehicle::getWidth(), MSLane::getWidth(), myManeuverDist, myShadowLane, and myVehicle.
Referenced by resetChanged(), and updateTargetLane().
void MSAbstractLaneChangeModel::endLaneChangeManeuver | ( | const MSMoveReminder::Notification | reason = MSMoveReminder::NOTIFICATION_LANE_CHANGE | ) |
Definition at line 394 of file MSAbstractLaneChangeModel.cpp.
References changedToOpposite(), cleanupShadowLane(), cleanupTargetLane(), MSVehicle::fixPosition(), myAmOpposite, myLaneChangeCompletion, myNoPartiallyOccupatedByShadow, myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::processLaneAdvances(), resetChanged(), and updateShadowLane().
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Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,.
[in] | speed | Current longitudinal speed of the changing vehicle. |
[in] | remainingManeuverDist | dist which is still to be covered until LC is completed |
[in] | decel | Maximal assumed deceleration rate applied during the LC. |
Definition at line 667 of file MSAbstractLaneChangeModel.cpp.
References SUMOVTypeParameter::getLCParams(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, myMaxSpeedLatFactor, myMaxSpeedLatStanding, myVehicle, STEPS2TIME, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSLaneChanger::checkChange(), pastMidpoint(), and remainingTime().
double MSAbstractLaneChangeModel::getAngleOffset | ( | ) | const |
return the angle offset during a continuous change maneuver
Definition at line 660 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, pastMidpoint(), and STEPS2TIME.
Referenced by getLaneChangeDirection().
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Returns a deceleration value which is used for the estimation of the duration of a lane change.
Reimplemented in MSLCM_LC2013.
Definition at line 377 of file MSAbstractLaneChangeModel.cpp.
References myModel, and toString().
Referenced by MSLaneChanger::checkChange(), and setSpeedLat().
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Definition at line 233 of file MSAbstractLaneChangeModel.h.
References isStrategicBlocked(), myCanceledStateCenter, myCanceledStateLeft, myCanceledStateRight, setFollowerGaps(), setLeaderGaps(), and setOrigLeaderGaps().
Referenced by MSLCM_LC2013::_wantsChange(), cancelRequest(), MSLCM_SL2015::checkStrategicChange(), prepareStep(), and saveLCState().
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Definition at line 561 of file MSAbstractLaneChangeModel.h.
References myCommittedSpeed.
Referenced by MSVehicle::planMoveInternal(), and MSLaneChangerSublane::startChangeSublane().
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getFollowers | ( | const int | dir | ) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction.
Definition at line 216 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, and myRightFollowers.
Referenced by saveLCState().
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Definition at line 432 of file MSAbstractLaneChangeModel.h.
References myFurtherTargetLanes.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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Get the current lane change completion ratio.
Definition at line 468 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
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return the direction of the current lane change maneuver
Definition at line 473 of file MSAbstractLaneChangeModel.h.
References getAngleOffset(), getShadowDirection(), and myLaneChangeDirection.
Referenced by MSLaneChanger::continueChange().
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Definition at line 436 of file MSAbstractLaneChangeModel.h.
References myLastLaneChangeOffset.
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getLeaders | ( | const int | dir | ) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction.
Definition at line 229 of file MSAbstractLaneChangeModel.cpp.
References myLeftLeaders, and myRightLeaders.
Referenced by libsumo::Vehicle::getNeighbors(), and saveLCState().
double MSAbstractLaneChangeModel::getManeuverDist | ( | ) | const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
Definition at line 167 of file MSAbstractLaneChangeModel.cpp.
References myManeuverDist.
Referenced by MSLaneChangerSublane::change(), MSLaneChangerSublane::continueChangeSublane(), MSVehicle::getLatOffset(), GUIVehicle::getManeuverDist(), getPrevState(), MSLeaderInfo::getSubLanes(), MSLaneChangerSublane::startChangeSublane(), updateCompletion(), and MSLCM_SL2015::updateGaps().
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Returns the model's ID;.
Implemented in MSLCM_LC2013, MSLCM_DK2008, and MSLCM_SL2015.
Referenced by haveLateralDynamics().
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return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model
Reimplemented in MSLCM_LC2013.
Definition at line 379 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::computeOvertakingTime(), and MSLaneChanger::getColumnleader().
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inline |
Definition at line 175 of file MSAbstractLaneChangeModel.h.
References myOwnState.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChanger::applyTraCICommands(), MSLaneChanger::change(), MSLaneChanger::checkTraCICommands(), checkTraCICommands(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), MSVehicle::setBlinkerInformation(), and MSLaneChangerSublane::startChangeSublane().
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inlinevirtual |
try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 583 of file MSAbstractLaneChangeModel.h.
References myModel, and toString().
Referenced by libsumo::Vehicle::getParameter().
double MSAbstractLaneChangeModel::getPreviousManeuverDist | ( | ) | const |
Definition at line 172 of file MSAbstractLaneChangeModel.cpp.
References myPreviousManeuverDist.
Referenced by MSLaneChangerSublane::abortLCManeuver(), getPrevState(), and MSLaneChangerSublane::startChangeSublane().
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inline |
at the time of this call myPreviousState already holds the new value
Definition at line 179 of file MSAbstractLaneChangeModel.h.
References getManeuverDist(), getPreviousManeuverDist(), myPreviousState2, setManeuverDist(), setOwnState(), and updateSafeLatDist().
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::outputLCStarted(), and MSLaneChangerSublane::startChangeSublane().
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inlinevirtual |
return factor for modifying the safety constraints of the car-following model
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 374 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange().
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inline |
Definition at line 195 of file MSAbstractLaneChangeModel.h.
References mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.
Referenced by libsumo::Vehicle::getLaneChangeState().
int MSAbstractLaneChangeModel::getShadowDirection | ( | ) | const |
return the direction in which the current shadow lane lies
Definition at line 560 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), isChangingLanes(), myAmOpposite, myLaneChangeDirection, myShadowLane, myVehicle, and pastMidpoint().
Referenced by MSLaneChanger::continueChange(), getLaneChangeDirection(), MSVehicle::processLinkApproaches(), and GUIVehicle::selectBlockingFoes().
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inline |
Definition at line 417 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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inline |
Definition at line 421 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanesPosLat.
Referenced by MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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inline |
Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
Definition at line 402 of file MSAbstractLaneChangeModel.h.
References myShadowLane.
Referenced by MSVehicle::checkLinkLeader(), MSLCM_SL2015::checkStrategicChange(), MSLaneChanger::continueChange(), MSLane::detectCollisions(), MSVehicle::getBackPosition(), MSVehicle::getCenterOnEdge(), getShadowLane(), MSVehicle::isFrontOnLane(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), GUIVehicle::selectBlockingFoes(), MSVehicle::setApproachingForAllLinks(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and updateShadowLane().
return the shadow lane for the given lane
Definition at line 438 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.
return the shadow lane for the given lane and lateral offset
Definition at line 410 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), MSBaseVehicle::getID(), MSVehicle::getLateralOverlap(), MSLane::getParallelLane(), isChangingLanes(), myAmOpposite, myLaneChangeCompletion, myLaneChangeDirection, myNoPartiallyOccupatedByShadow, myVehicle, NUMERICAL_EPS, and SIMTIME.
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inline |
return the lateral speed of the current lane change maneuver
Definition at line 566 of file MSAbstractLaneChangeModel.h.
References mySpeedLat.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getColorValue(), libsumo::Vehicle::getLateralSpeed(), GUIVehicle::getParameterWindow(), MSLeaderInfo::getSubLanes(), and MSXMLRawOut::writeVehicle().
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inline |
Returns the lane the vehicle has committed to enter during a sublane lane change.
Definition at line 428 of file MSAbstractLaneChangeModel.h.
References myTargetLane.
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inlinestatic |
whether any kind of lateral dynamics is active
Definition at line 142 of file MSAbstractLaneChangeModel.h.
References getModelID(), MSGlobals::gLaneChangeDuration, and MSGlobals::gLateralResolution.
Referenced by MSLane::detectCollisionBetween(), MSLane::detectCollisions(), GUIVehicle::getParameterWindow(), MSLane::handleCollisionBetween(), updateShadowLane(), and MSXMLRawOut::writeVehicle().
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inlinestatic |
whether lanechange-output is active
Definition at line 152 of file MSAbstractLaneChangeModel.h.
References myLCOutput.
Referenced by MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
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pure virtual |
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static |
init global model parameters
Definition at line 61 of file MSAbstractLaneChangeModel.cpp.
References OptionsCont::getBool(), OptionsCont::isSet(), myAllowOvertakingRight, myLCEndedOutput, myLCOutput, and myLCStartedOutput.
Referenced by MSAbstractLaneChangeModel::StateAndDist::sameDirection(), and MSFrame::setMSGlobals().
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protected |
Definition at line 494 of file MSAbstractLaneChangeModel.cpp.
References myLastLaneChangeOffset.
Referenced by primaryLaneChanged().
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inline |
return true if the vehicle currently performs a lane change maneuver
Definition at line 463 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion, and NUMERICAL_EPS.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), MSVehicle::computeAngle(), MSLCM_LC2013::computeSpeedLat(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::getBackPosition(), MSVehicle::getPosition(), getShadowDirection(), getShadowLane(), remainingTime(), and updateShadowLane().
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inline |
Definition at line 557 of file MSAbstractLaneChangeModel.h.
References myAmOpposite.
Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::adaptToLeaders(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSDevice_SSM::classifyEncounter(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), MSDevice_SSM::findFoeConflictLane(), MSDevice_SSM::findSurroundingVehicles(), GUIVehicle::getColorValue(), MSVehicle::getLatOffset(), MSLink::getLeaderInfo(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSVehicle::getPositionAlongBestLanes(), MSLCM_LC2013::getRoundaboutDistBonus(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), and MSVehicle::planMoveInternal().
bool MSAbstractLaneChangeModel::isStrategicBlocked | ( | ) | const |
Definition at line 938 of file MSAbstractLaneChangeModel.cpp.
References LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_STRATEGIC, mySavedStateLeft, and mySavedStateRight.
Referenced by getCanceledState(), and MSLink::getLeaderInfo().
void MSAbstractLaneChangeModel::laneChangeOutput | ( | const std::string & | tag, |
MSLane * | source, | ||
MSLane * | target, | ||
int | direction, | ||
double | maneuverDist = 0 |
||
) |
called once the vehicle ends a lane change manoeuvre (non-instant)
Definition at line 324 of file MSAbstractLaneChangeModel.cpp.
References clearGapsAtLCInit(), OutputDevice::closeTag(), DELTA_T, OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSVehicleType::getID(), MSNet::getInstance(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGLEADER, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, myLCOutput, myOwnState, myVehicle, NO_NEIGHBOR, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_POSITION, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, time2string(), toString(), and OutputDevice::writeAttr().
Referenced by MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), primaryLaneChanged(), and setNoShadowPartialOccupator().
void MSAbstractLaneChangeModel::memorizeGapsAtLCInit | ( | ) |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 294 of file MSAbstractLaneChangeModel.cpp.
References myDontResetLCGaps.
Referenced by resetChanged(), and startLaneChangeManeuver().
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private |
Invalidated assignment operator.
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inlinestatic |
whether start of maneuvers shall be recorede
Definition at line 162 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel(), myLCEndedOutput, and ~MSAbstractLaneChangeModel().
Referenced by MSLaneChangerSublane::outputLCEnded().
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inlinestatic |
whether start of maneuvers shall be recorede
Definition at line 157 of file MSAbstractLaneChangeModel.h.
References myLCStartedOutput.
Referenced by MSLaneChangerSublane::outputLCStarted().
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inline |
return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 442 of file MSAbstractLaneChangeModel.h.
References estimateLCDuration(), myLaneChangeCompletion, and remainingTime().
Referenced by getAngleOffset(), getShadowDirection(), and updateCompletion().
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pure virtual |
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step.
It is guaranteed that min<=wanted<=max, but the implementation needs to make sure that the return value is between min and max.
min | The minimum resulting speed |
wanted | The aspired speed of the car following model |
max | The maximum resulting speed |
cfModel | The model used |
Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Referenced by decideDirection(), MSCFModel_Daniel1::finalizeSpeed(), and MSCFModel::finalizeSpeed().
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protectedvirtual |
Definition at line 263 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getSpeed(), MSCFModel::interactionGap(), myCarFollowModel, and myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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inlinevirtual |
Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Definition at line 253 of file MSAbstractLaneChangeModel.h.
References getCanceledState(), LCA_NONE, LCA_UNKNOWN, myCommittedSpeed, myDontResetLCGaps, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, NO_NEIGHBOR, and saveLCState().
Referenced by MSVehicle::executeMove(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), and MSLCM_SL2015::prepareStep().
void MSAbstractLaneChangeModel::primaryLaneChanged | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
called once when the vehicles primary lane changes
Definition at line 304 of file MSAbstractLaneChangeModel.cpp.
References changed(), changedToOpposite(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), MSLane::forceVehicleInsertion(), MSLane::getEdge(), MSVehicle::getLateralPositionOnLane(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), initLastLaneChangeOffset(), laneChangeOutput(), MSVehicle::leaveLane(), MSLane::leftByLaneChange(), myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSVehicle::setTentativeLaneAndPosition(), and MSVehicle::updateDriveItems().
Referenced by MSLaneChanger::continueChange(), setNoShadowPartialOccupator(), and startLaneChangeManeuver().
SUMOTime MSAbstractLaneChangeModel::remainingTime | ( | ) | const |
Compute the remaining time until LC completion.
Definition at line 765 of file MSAbstractLaneChangeModel.cpp.
References estimateLCDuration(), MSVehicle::getCarFollowModel(), SUMOVTypeParameter::getLCParams(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, isChangingLanes(), myLaneChangeCompletion, myManeuverDist, myVehicle, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, TIME2STEPS, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by pastMidpoint().
void MSAbstractLaneChangeModel::removeShadowApproachingInformation | ( | ) | const |
Definition at line 787 of file MSAbstractLaneChangeModel.cpp.
References myApproachedByShadow, and myVehicle.
Referenced by MSVehicle::removeApproachingInformation(), and sublaneChangeCompleted().
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inline |
reset the flag whether a vehicle already moved to false
Definition at line 489 of file MSAbstractLaneChangeModel.h.
References cleanupShadowLane(), cleanupTargetLane(), clearGapsAtLCInit(), determineTargetLane(), endLaneChangeManeuver(), memorizeGapsAtLCInit(), myAlreadyChanged, MSMoveReminder::NOTIFICATION_LANE_CHANGE, startLaneChangeManeuver(), updateCompletion(), updateShadowLane(), and updateTargetLane().
Referenced by MSVehicle::planMove().
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inlinevirtual |
reserve space at the end of the lane to avoid dead locks
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 529 of file MSAbstractLaneChangeModel.h.
References UNUSED_PARAMETER.
Referenced by MSLCM_LC2013::saveBlockerLength().
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inline |
Definition at line 205 of file MSAbstractLaneChangeModel.h.
References clearNeighbors(), getCanceledState(), getFollowers(), getLeaders(), mySavedStateCenter, mySavedStateLeft, mySavedStateRight, and saveNeighbors().
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), MSAbstractLaneChangeModel(), and prepareStep().
void MSAbstractLaneChangeModel::saveNeighbors | ( | const int | dir, |
const MSLeaderDistanceInfo & | followers, | ||
const MSLeaderDistanceInfo & | leaders | ||
) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case.
Definition at line 177 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), and saveLCState().
void MSAbstractLaneChangeModel::saveNeighbors | ( | const int | dir, |
const std::pair< MSVehicle *const, double > & | follower, | ||
const std::pair< MSVehicle *const, double > & | leader | ||
) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case.
Definition at line 192 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), myLeftFollowers, myLeftLeaders, myRightFollowers, myRightLeaders, and myVehicle.
void MSAbstractLaneChangeModel::setFollowerGaps | ( | CLeaderDist | follower, |
double | secGap | ||
) |
Definition at line 850 of file MSAbstractLaneChangeModel.cpp.
References myLastFollowerGap, myLastFollowerSecureGap, and myLastFollowerSpeed.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), getCanceledState(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setFollowerGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 877 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setLeaderGaps | ( | CLeaderDist | leader, |
double | secGap | ||
) |
Definition at line 859 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), getCanceledState(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 897 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setManeuverDist | ( | const double | dist | ) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model)
Definition at line 151 of file MSAbstractLaneChangeModel.cpp.
References DEBUG_COND, MSBaseVehicle::getID(), myManeuverDist, myPreviousManeuverDist, myVehicle, NUMERICAL_EPS, and SIMTIME.
Referenced by MSLaneChangerSublane::abortLCManeuver(), checkTraCICommands(), getPrevState(), MSLaneChangerSublane::startChangeSublane(), and startLaneChangeManeuver().
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inline |
Definition at line 537 of file MSAbstractLaneChangeModel.h.
References laneChangeOutput(), myNoPartiallyOccupatedByShadow, and primaryLaneChanged().
Referenced by MSVehicle::enterLaneAtLaneChange().
void MSAbstractLaneChangeModel::setOrigLeaderGaps | ( | CLeaderDist | leader, |
double | secGap | ||
) |
Definition at line 868 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), getCanceledState(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setOrigLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 917 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.
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virtual |
Reimplemented in MSLCM_SL2015.
Definition at line 138 of file MSAbstractLaneChangeModel.cpp.
References myOwnState, myPreviousState, and myPreviousState2.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), checkTraCICommands(), getPrevState(), and MSLCM_SL2015::setOwnState().
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inlinevirtual |
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.
Definition at line 588 of file MSAbstractLaneChangeModel.h.
References checkTraCICommands(), myModel, toString(), and UNUSED_PARAMETER.
Referenced by libsumo::Vehicle::setParameter().
void MSAbstractLaneChangeModel::setShadowApproachingInformation | ( | MSLink * | link | ) | const |
set approach information for the shadow vehicle
Definition at line 781 of file MSAbstractLaneChangeModel.cpp.
References myApproachedByShadow.
Referenced by MSVehicle::setApproachingForAllLinks(), and sublaneChangeCompleted().
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inline |
set the shadow lane
Definition at line 413 of file MSAbstractLaneChangeModel.h.
References myShadowLane.
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inline |
Definition at line 533 of file MSAbstractLaneChangeModel.h.
References myPartiallyOccupatedByShadow.
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inline |
Definition at line 570 of file MSAbstractLaneChangeModel.h.
References computeSpeedLat(), getAssumedDecelForLaneChangeDuration(), and mySpeedLat.
Referenced by MSLaneChangerSublane::abortLCManeuver(), and MSLaneChangerSublane::startChangeSublane().
bool MSAbstractLaneChangeModel::startLaneChangeManeuver | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
start the lane change maneuver and return whether it continues
Definition at line 276 of file MSAbstractLaneChangeModel.cpp.
References DELTA_T, MSLane::getWidth(), MSGlobals::gLaneChangeDuration, memorizeGapsAtLCInit(), myLaneChangeCompletion, myLaneChangeDirection, myLCOutput, myVehicle, primaryLaneChanged(), setManeuverDist(), MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSLaneChanger::applyTraCICommands(), MSLaneChanger::changeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), resetChanged(), and MSLaneChanger::startChange().
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inlinevirtual |
whether the current change completes the manoeuvre
Definition at line 548 of file MSAbstractLaneChangeModel.h.
References myModel, removeShadowApproachingInformation(), setShadowApproachingInformation(), toString(), and UNUSED_PARAMETER.
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inline |
Definition at line 391 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
bool MSAbstractLaneChangeModel::updateCompletion | ( | ) |
Definition at line 383 of file MSAbstractLaneChangeModel.cpp.
References computeSpeedLat(), getManeuverDist(), myLaneChangeCompletion, myManeuverDist, mySpeedLat, pastMidpoint(), and SPEED2DIST.
Referenced by MSLaneChanger::continueChange(), and resetChanged().
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inlinevirtual |
update expected speeds for each sublane of the current edge
Reimplemented in MSLCM_SL2015.
Definition at line 336 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::change().
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virtual |
Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps.
Reimplemented in MSLCM_SL2015.
Definition at line 145 of file MSAbstractLaneChangeModel.cpp.
References UNUSED_PARAMETER.
Referenced by getPrevState(), and MSLaneChangerSublane::startChangeSublane().
void MSAbstractLaneChangeModel::updateShadowLane | ( | ) |
Definition at line 503 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), endLaneChangeManeuver(), MSLinkContHelper::getConnectingLink(), MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), getShadowLane(), haveLateralDynamics(), isChangingLanes(), myShadowFurtherLanes, myShadowFurtherLanesPosLat, myShadowLane, myVehicle, NUMERICAL_EPS, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.
Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), resetChanged(), and MSLaneChangerSublane::startChangeSublane().
MSLane * MSAbstractLaneChangeModel::updateTargetLane | ( | ) |
Definition at line 580 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), determineTargetLane(), MSVehicle::getFurtherLanes(), Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSLane::getParallelLane(), myFurtherTargetLanes, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), MSLane::setManeuverReservation(), SIMTIME, and toString().
Referenced by MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), resetChanged(), and MSLaneChangerSublane::startChangeSublane().
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inlinevirtual |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Definition at line 280 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChanger::checkChange().
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inlinevirtual |
Reimplemented in MSLCM_SL2015.
Definition at line 303 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::checkChangeSublane().
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staticprotected |
whether overtaking on the right is permitted
Definition at line 727 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), and initGlobalOptions().
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protected |
whether the vehicle has already moved this step
Definition at line 655 of file MSAbstractLaneChangeModel.h.
Referenced by alreadyChanged(), changedToOpposite(), and resetChanged().
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private |
whether the vehicle is driving in the opposite direction
Definition at line 745 of file MSAbstractLaneChangeModel.h.
Referenced by changedToOpposite(), endLaneChangeManeuver(), getShadowDirection(), getShadowLane(), and isOpposite().
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links which are approached by the shadow vehicle
Definition at line 742 of file MSAbstractLaneChangeModel.h.
Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().
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Definition at line 624 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 625 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 623 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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The vehicle's car following model.
Definition at line 683 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), predInteraction(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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the speed when committing to a change maneuver
Definition at line 639 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().
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Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 715 of file MSAbstractLaneChangeModel.h.
Referenced by clearGapsAtLCInit(), memorizeGapsAtLCInit(), and prepareStep().
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Definition at line 680 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getFurtherTargetLanes(), and updateTargetLane().
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progress of the lane change maneuver 0:started, 1:complete
Definition at line 642 of file MSAbstractLaneChangeModel.h.
Referenced by endLaneChangeManeuver(), getAngleOffset(), getLaneChangeCompletion(), getShadowLane(), isChangingLanes(), pastMidpoint(), remainingTime(), startLaneChangeManeuver(), and updateCompletion().
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direction of the lane change maneuver -1 means right, 1 means left
Definition at line 645 of file MSAbstractLaneChangeModel.h.
Referenced by getAngleOffset(), getLaneChangeDirection(), getShadowDirection(), getShadowLane(), and startLaneChangeManeuver().
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Definition at line 701 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 704 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 710 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 739 of file MSAbstractLaneChangeModel.h.
Referenced by getLastLaneChangeOffset(), initLastLaneChangeOffset(), and unchanged().
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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 696 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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Definition at line 697 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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the actual minimum longitudinal distances to vehicles on the target lane
Definition at line 700 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security
Definition at line 703 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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speeds of surrounding vehicles at the time of lane change
Definition at line 709 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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acutal and secure distance to closest leader vehicle on the original when performing lane change
Definition at line 706 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 707 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 711 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 732 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCEnded().
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whether to record lane-changing
Definition at line 730 of file MSAbstractLaneChangeModel.h.
Referenced by haveLCOutput(), initGlobalOptions(), laneChangeOutput(), and startLaneChangeManeuver().
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Definition at line 731 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCStarted().
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Cached info on lc-relevant neighboring vehicles.
Definition at line 629 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().
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Definition at line 630 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().
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The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently.
Definition at line 649 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLCM_SL2015::checkBlocking(), determineTargetLane(), getManeuverDist(), MSLCM_SL2015::prepareStep(), remainingTime(), setManeuverDist(), MSLCM_SL2015::setOwnState(), updateCompletion(), and MSLCM_SL2015::wantsChange().
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Definition at line 720 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), and estimateLCDuration().
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Definition at line 718 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), and estimateLCDuration().
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the type of this model
Definition at line 686 of file MSAbstractLaneChangeModel.h.
Referenced by decideDirection(), getAssumedDecelForLaneChangeDuration(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), getParameter(), MSLCM_LC2013::setParameter(), MSLCM_SL2015::setParameter(), setParameter(), sublaneChangeCompleted(), updateExpectedSublaneSpeeds(), wantsChange(), and wantsChangeSublane().
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Definition at line 693 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), endLaneChangeManeuver(), getShadowLane(), and setNoShadowPartialOccupator().
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The current state of the vehicle.
Definition at line 614 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_SL2015::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_SL2015::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_SL2015::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_SL2015::amBlockingLeader(), MSLCM_DK2008::changed(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), checkTraCICommands(), getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), laneChangeOutput(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), 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 689 of file MSAbstractLaneChangeModel.h.
Referenced by setShadowPartialOccupator().
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Maneuver distance from the previous simulation step.
Definition at line 652 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), getPreviousManeuverDist(), and setManeuverDist().
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lane changing state from the previous simulation step
Definition at line 616 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), and setOwnState().
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lane changing state from step before the previous simulation step
Definition at line 618 of file MSAbstractLaneChangeModel.h.
Referenced by getPrevState(), and setOwnState().
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Definition at line 631 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().
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Definition at line 632 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().
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Definition at line 621 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), and saveLCState().
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Definition at line 622 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 620 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 661 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), getShadowFurtherLanes(), and updateShadowLane().
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Definition at line 662 of file MSAbstractLaneChangeModel.h.
Referenced by getShadowFurtherLanesPosLat(), and 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 658 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), determineTargetLane(), getShadowDirection(), getShadowLane(), setShadowLane(), and updateShadowLane().
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the current lateral speed
Definition at line 636 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::computeSpeedLat(), getSpeedLat(), setSpeedLat(), updateCompletion(), and MSLCM_SL2015::wantsChangeSublane().
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The target lane for the vehicle's current maneuver.
Definition at line 672 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getTargetLane(), and updateTargetLane().
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The vehicle this lane-changer belongs to.
Definition at line 611 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSLCM_LC2013::addLCSpeedAdvice(), MSLCM_SL2015::addLCSpeedAdvice(), cancelRequest(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), checkTraCICommands(), cleanupShadowLane(), cleanupTargetLane(), MSLCM_SL2015::commitFollowSpeed(), MSLCM_SL2015::commitManoeuvre(), MSLCM_SL2015::computeSpeedGain(), MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), computeSpeedLat(), congested(), MSLCM_SL2015::decideDirection(), determineTargetLane(), endLaneChangeManeuver(), estimateLCDuration(), MSLCM_LC2013::getAssumedDecelForLaneChangeDuration(), MSLCM_LC2013::getRoundaboutDistBonus(), getShadowDirection(), getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getWidth(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), MSLCM_SL2015::msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), MSLCM_SL2015::patchSpeed(), predInteraction(), MSLCM_SL2015::prepareStep(), primaryLaneChanged(), remainingTime(), removeShadowApproachingInformation(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), saveNeighbors(), setFollowerGaps(), setLeaderGaps(), setManeuverDist(), setOrigLeaderGaps(), MSLCM_SL2015::setOwnState(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), startLaneChangeManeuver(), MSLCM_SL2015::updateCFRelated(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), updateShadowLane(), updateTargetLane(), MSLCM_LC2013::wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 598 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), and prepareStep().