SUMO - Simulation of Urban MObility
MSLCM_SL2015 Class Reference

A lane change model developed by J. Erdmann. More...

#include <MSLCM_SL2015.h>

Inheritance diagram for MSLCM_SL2015:
Inheritance graph
Collaboration diagram for MSLCM_SL2015:
Collaboration graph

Public Member Functions

double _patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 
bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
void changed ()
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void 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 ()
 
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...
 
bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
MSLanedetermineTargetLane (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...
 
double getCommittedSpeed () const
 
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
 
double getManeuverDist () const
 Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More...
 
LaneChangeModel getModelID () const
 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
 
std::string getParameter (const std::string &key) const
 try to retrieve the given parameter from this device. Throw exception for unsupported key More...
 
int getPrevState () const
 
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
 
MSLanegetShadowLane () const
 Returns the lane the vehicle's shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
MSLanegetShadowLane (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...
 
MSLanegetTargetLane () const
 Returns the lane the vehicle has committed to enter during a sublane lane change. More...
 
bool hasSavedState (const int dir) const
 
void * inform (void *info, MSVehicle *sender)
 
void initDerivedParameters ()
 init cached parameters derived directly from model parameters More...
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
void laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction)
 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...
 
 MSLCM_SL2015 (MSVehicle &v)
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
double patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More...
 
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...
 
void saveLCState (const int dir, const int stateWithoutTraCI, const int state)
 
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)
 
void setOwnState (const int state)
 
void setParameter (const std::string &key, const std::string &value)
 try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More...
 
void setShadowApproachingInformation (MSLink *link) const
 set approach information for the shadow vehicle More...
 
void setShadowLane (MSLane *lane)
 set the shadow lane More...
 
void setShadowPartialOccupator (MSLane *lane)
 
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 updateSafeLatDist (const double travelledLatDist)
 Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuver continuation in non-action steps. More...
 
void updateShadowLane ()
 
void updateTargetLane ()
 
int wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
 Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). XXX: no, it wraps _wantsChangeSublane This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
int wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &maneuverDist, int &blocked)
 Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
virtual ~MSLCM_SL2015 ()
 

Static Public Member Functions

static MSAbstractLaneChangeModelbuild (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 Types

typedef std::pair< double, int > Info
 information regarding save velocity (unused) and state flags of the ego vehicle More...
 

Protected Member Functions

int _wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &maneuverDist, int &blocked)
 helper function for doing the actual work More...
 
void addLCSpeedAdvice (const double vSafe)
 Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices. More...
 
bool amBlockingFollower ()
 
bool amBlockingFollowerNB ()
 
bool amBlockingFollowerPlusNB ()
 
bool amBlockingLeader ()
 
bool cancelRequest (int state, int laneOffset)
 whether the influencer cancels the given request More...
 
int checkBlocking (const MSLane &neighLane, double &latDist, double &maneuverDist, int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, std::vector< CLeaderDist > *collectLeadBlockers=0, std::vector< CLeaderDist > *collectFollowBlockers=0, bool keepLatGapManeuver=false, double gapFactor=0, int *retBlockedFully=0)
 restrict latDist to permissible speed and determine blocking state depending on that distance More...
 
int checkBlockingVehicles (const MSVehicle *ego, const MSLeaderDistanceInfo &vehicles, double latDist, double foeOffset, bool leaders, LaneChangeAction blockType, double &safeLatGapRight, double &safeLatGapLeft, std::vector< CLeaderDist > *collectBlockers=0) const
 check whether any of the vehicles overlaps with ego More...
 
int checkStrategicChange (int ret, int laneOffset, const std::vector< MSVehicle::LaneQ > &preb, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, int currIdx, int bestLaneOffset, bool changeToBest, double currentDist, double neighDist, double laDist, int roundaboutEdgesAhead, double latLaneDist, double &latDist)
 compute strategic lane change actions TODO: Better documentation, refs #2 More...
 
double commitFollowSpeed (double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo &leaders, double foeOffset) const
 compute speed when committing to an urgent change that is safe in regard to leading vehicles More...
 
void commitManoeuvre (int blocked, int blockedFully, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, const MSLane &neighLane, double maneuverDist)
 commit to lane change maneuvre potentially overriding safe speed More...
 
double computeGapFactor (int state) const
 compute the gap factor for the given state More...
 
double computeSpeedGain (double latDistSublane, double defaultNextSpeed) const
 compute speedGain when moving by the given amount More...
 
int computeSublaneShift (const MSEdge *prevEdge, const MSEdge *curEdge)
 compute shift so that prevSublane + shift = newSublane More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
bool currentDistAllows (double dist, int laneOffset, double lookForwardDist)
 
bool currentDistDisallows (double dist, int laneOffset, double lookForwardDist)
 
StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable More...
 
double getSublaneWidth ()
 return the current sublane width (and return a sensible value when running without sublanes) More...
 
double getWidth () const
 return the widht of this vehicle (padded for numerical stability) More...
 
void informFollower (int blocked, int dir, const CLeaderDist &neighFollow, double remainingSeconds, double plannedSpeed)
 decide whether we will try cut in before the follower or allow to be overtaken More...
 
void informFollowers (int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds, double plannedSpeed)
 call informFollower for multiple followers More...
 
double informLeader (int blocked, int dir, const CLeaderDist &neighLead, double remainingSeconds)
 
double informLeaders (int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds)
 
void initLastLaneChangeOffset (int dir)
 
int keepLatGap (int state, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, int laneOffset, double &latDist, double &maneuverDist, int &blocked)
 check whether lateral gap requirements are met override the current maneuver if necessary More...
 
void msg (const CLeaderDist &cld, double speed, int state)
 send a speed recommendation to the given vehicle More...
 
virtual bool predInteraction (const std::pair< MSVehicle *, double > &leader)
 
void saveBlockerLength (const MSVehicle *blocker, int lcaCounter)
 save space for vehicles which need to counter-lane-change More...
 
void saveBlockerLength (double length)
 reserve space at the end of the lane to avoid dead locks More...
 
int slowDownForBlocked (MSVehicle **blocked, int state)
 compute useful slowdowns for blocked vehicles More...
 
void updateCFRelated (const MSLeaderDistanceInfo &vehicles, double foeOffset, bool leaders)
 find leaders/followers that are already in a car-following relationship with ego More...
 
void updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
void updateGaps (const MSLeaderDistanceInfo &others, double foeOffset, double oldCenter, double gapFactor, double &surplusGapRight, double &surplusGapLeft, bool saveMinGap=false, double netOverlap=0, double latDist=0, std::vector< CLeaderDist > *collectBlockers=0)
 check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps More...
 

Static Protected Member Functions

static LaneChangeAction getLCA (int state, double latDist)
 compute lane change action from desired lateral distance More...
 
static CLeaderDist getLongest (const MSLeaderDistanceInfo &ldi)
 get the longest vehicle in the given info More...
 
static CLeaderDist getSlowest (const MSLeaderDistanceInfo &ldi)
 get the slowest vehicle in the given info More...
 
static bool overlap (double right, double left, double right2, double left2)
 return whether the given intervals overlap More...
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
std::map< int, int > myCanceledStates
 
bool myCanChangeFully
 whether the current lane changing maneuver can be finished in a single step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
std::set< const MSVehicle * > myCFRelated
 set of vehicles that are in a car-following relationship with ego (leader of followers) More...
 
bool myCFRelatedReady
 
double myCommittedSpeed
 the speed when committing to a change maneuver More...
 
bool myDontBrake
 flag to prevent speed adaptation by slowing down 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< double > myExpectedSublaneSpeeds
 expected travel speeds on all sublanes on the current edge(!) More...
 
std::vector< MSLane * > myFurtherTargetLanes
 
double myKeepRightProbability
 
double myLaneChangeCompletion
 progress of the lane change maneuver 0:started, 1:complete More...
 
int myLaneChangeDirection
 direction of the lane change maneuver -1 means right, 1 means left More...
 
const MSEdgemyLastEdge
 expected travel speeds on all sublanes on the current edge(!) More...
 
double myLastFollowerGap
 
double myLastFollowerSecureGap
 
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 myLastOrigLeaderGap
 acutal and secure distance to closest leader vehicle on the original when performing lane change More...
 
double myLastOrigLeaderSecureGap
 
std::vector< double > myLCAccelerationAdvices
 vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed() More...
 
double myLeadingBlockerLength
 
double myLeftSpace
 
double myLookAheadSpeed
 
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...
 
int myPreviousState
 lane changing state from the previous simulation step More...
 
int myPreviousState2
 lane changing state from step before the previous simulation step More...
 
double mySafeLatDistLeft
 
double mySafeLatDistRight
 the lateral distance the vehicle can safely move in the currently considered direction More...
 
std::map< int, std::pair< int, int > > mySavedStates
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< double > myShadowFurtherLanesPosLat
 
MSLanemyShadowLane
 A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More...
 
double mySpeedGainProbabilityLeft
 a value for tracking the probability that a change to the left is beneficial More...
 
double mySpeedGainProbabilityRight
 a value for tracking the probability that a change to the right is beneficial More...
 
double mySpeedLat
 the current lateral speed More...
 
MSLanemyTargetLane
 The target lane for the vehicle's current maneuver. More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
user configurable model parameters (can be changed via TraCI)
double myStrategicParam
 
double myCooperativeParam
 
double mySpeedGainParam
 
double myKeepRightParam
 
double mySublaneParam
 
double myPushy
 
double myAssertive
 
double myImpatience
 
double myMinImpatience
 
double myTimeToImpatience
 
double myAccelLat
 
double myTurnAlignmentDist
 
double myLookaheadLeft
 
double mySpeedGainRight
 
derived parameters
double myChangeProbThresholdRight
 
double myChangeProbThresholdLeft
 
double mySpeedLossProbThreshold
 

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
 

Detailed Description

A lane change model developed by J. Erdmann.

Definition at line 38 of file MSLCM_SL2015.h.

Member Typedef Documentation

◆ Info

typedef std::pair<double, int> MSLCM_SL2015::Info
protected

information regarding save velocity (unused) and state flags of the ego vehicle

Definition at line 216 of file MSLCM_SL2015.h.

Constructor & Destructor Documentation

◆ MSLCM_SL2015()

MSLCM_SL2015::MSLCM_SL2015 ( MSVehicle v)

Definition at line 117 of file MSLCM_SL2015.cpp.

References initDerivedParameters().

◆ ~MSLCM_SL2015()

MSLCM_SL2015::~MSLCM_SL2015 ( )
virtual

Definition at line 150 of file MSLCM_SL2015.cpp.

References changed().

Member Function Documentation

◆ _patchSpeed()

◆ _wantsChangeSublane()

int MSLCM_SL2015::_wantsChangeSublane ( int  laneOffset,
LaneChangeAction  alternatives,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked,
double &  latDist,
double &  maneuverDist,
int &  blocked 
)
protected

helper function for doing the actual work

determine the leftmost and rightmost sublanes currently occupied

Definition at line 978 of file MSLCM_SL2015.cpp.

References amBlockingFollowerPlusNB(), ARRIVAL_POSLAT_CENTER, ARRIVAL_POSLAT_DEFAULT, ARRIVAL_POSLAT_GIVEN, ARRIVAL_POSLAT_LEFT, ARRIVAL_POSLAT_RIGHT, ARRIVALPOS_LAT_THRESHOLD, SUMOVehicleParameter::arrivalPosLat, SUMOVehicleParameter::arrivalPosLatProcedure, MSVehicle::LaneQ::bestContinuations, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), checkBlocking(), checkStrategicChange(), commitManoeuvre(), computeGapFactor(), computeSpeedGain(), currentDistAllows(), DEBUG_COND, GAIN_PERCEPTION_THRESHOLD, gDebugFlag2, MSVehicle::getActionStepLengthSecs(), MSBaseVehicle::getArrivalPos(), MSVehicle::getCarFollowModel(), MSVehicle::getCenterOnEdge(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSRoute::getLastEdge(), MSVehicle::getLastStepDist(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), getLongest(), MSVehicle::getNextStop(), MSVehicle::getNextTurn(), MSBaseVehicle::getParameter(), MSVehicle::getPositionOnLane(), MSVehicleType::getPreferredLateralAlignment(), MSLane::getRightmostSublane(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getRoute(), MSCFModel::getSecureGap(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSEdge::getSubLaneSides(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), getWidth(), MSLane::getWidth(), MSEdge::getWidth(), gPrecision, MSLeaderInfo::hasStoppedVehicle(), informFollowers(), informLeaders(), MSEdge::isInternal(), KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, MSVehicle::Stop::lane, LATALIGN_ARBITRARY, LATALIGN_CENTER, LATALIGN_COMPACT, LATALIGN_LEFT, LATALIGN_NICE, LATALIGN_RIGHT, MSVehicle::lateralDistanceToLane(), LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_NONE, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LINKDIR_LEFT, LINKDIR_NODIR, LINKDIR_PARTLEFT, LINKDIR_PARTRIGHT, LINKDIR_RIGHT, LINKDIR_STRAIGHT, LINKDIR_TURN, LINKDIR_TURN_LEFTHAND, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD, MAX2(), MIN2(), myCanChangeFully, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myExpectedSublaneSpeeds, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookaheadLeft, myLookAheadSpeed, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myPreviousState, mySafeLatDistLeft, mySafeLatDistRight, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, mySpeedLossProbThreshold, myStrategicParam, mySublaneParam, myTurnAlignmentDist, MSAbstractLaneChangeModel::myVehicle, MSVehicle::nextStopDist(), NUMERICAL_EPS, RELGAIN_NORMALIZATION_MIN_SPEED, ROUNDABOUT_DIST_BONUS, saveBlockerLength(), SIMTIME, slowDownForBlocked(), SPEED_GAIN_MIN_SECONDS, SPEEDGAIN_DECAY_FACTOR, STEPS2TIME, SUMO_const_laneWidth, toString(), MSLeaderDistanceInfo::toString(), TS, UNUSED_PARAMETER, updateGaps(), and URGENCY.

Referenced by getModelID(), wantsChange(), and wantsChangeSublane().

◆ addLCSpeedAdvice()

void MSLCM_SL2015::addLCSpeedAdvice ( const double  vSafe)
protected

Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices.

Note
This construction was introduced to deal with action step lengths, where operation on the speed in the next sim step had to be replaced by acceleration throughout the next action step.

Definition at line 1894 of file MSLCM_SL2015.cpp.

References DEBUG_COND, MSBaseVehicle::getID(), MSVehicle::getSpeed(), myLCAccelerationAdvices, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and SPEED2ACCEL.

Referenced by checkStrategicChange(), inform(), informFollower(), informLeader(), and slowDownForBlocked().

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 441 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSLaneChanger::change().

◆ amBlockingFollower()

bool MSLCM_SL2015::amBlockingFollower ( )
inlineprotected

◆ amBlockingFollowerNB()

bool MSLCM_SL2015::amBlockingFollowerNB ( )
inlineprotected

◆ amBlockingFollowerPlusNB()

bool MSLCM_SL2015::amBlockingFollowerPlusNB ( )
inlineprotected

◆ amBlockingLeader()

bool MSLCM_SL2015::amBlockingLeader ( )
inlineprotected

Definition at line 195 of file MSLCM_SL2015.h.

References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.

◆ build()

MSAbstractLaneChangeModel * MSAbstractLaneChangeModel::build ( LaneChangeModel  lcm,
MSVehicle vehicle 
)
staticinherited

Factory method for instantiating new lane changing models.

Parameters
[in]lcmThe type of model to build
[in]vehicleThe vehicle for which this model shall be built

Definition at line 69 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().

◆ cancelRequest()

bool MSAbstractLaneChangeModel::cancelRequest ( int  state,
int  laneOffset 
)
protectedinherited

◆ changed()

◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )
inherited

◆ checkBlocking()

int MSLCM_SL2015::checkBlocking ( const MSLane neighLane,
double &  latDist,
double &  maneuverDist,
int  laneOffset,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
std::vector< CLeaderDist > *  collectLeadBlockers = 0,
std::vector< CLeaderDist > *  collectFollowBlockers = 0,
bool  keepLatGapManeuver = false,
double  gapFactor = 0,
int *  retBlockedFully = 0 
)
protected

◆ checkBlockingVehicles()

int MSLCM_SL2015::checkBlockingVehicles ( const MSVehicle ego,
const MSLeaderDistanceInfo vehicles,
double  latDist,
double  foeOffset,
bool  leaders,
LaneChangeAction  blockType,
double &  safeLatGapRight,
double &  safeLatGapLeft,
std::vector< CLeaderDist > *  collectBlockers = 0 
) const
protected

◆ checkStrategicChange()

int MSLCM_SL2015::checkStrategicChange ( int  ret,
int  laneOffset,
const std::vector< MSVehicle::LaneQ > &  preb,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo neighLeaders,
int  currIdx,
int  bestLaneOffset,
bool  changeToBest,
double  currentDist,
double  neighDist,
double  laDist,
int  roundaboutEdgesAhead,
double  latLaneDist,
double &  latDist 
)
protected

◆ checkTraCICommands()

◆ cleanupShadowLane()

◆ cleanupTargetLane()

◆ clearGapsAtLCInit()

void MSAbstractLaneChangeModel::clearGapsAtLCInit ( )
inherited

◆ commitFollowSpeed()

double MSLCM_SL2015::commitFollowSpeed ( double  speed,
double  latDist,
double  secondsToLeaveLane,
const MSLeaderDistanceInfo leaders,
double  foeOffset 
) const
protected

◆ commitManoeuvre()

◆ computeGapFactor()

double MSLCM_SL2015::computeGapFactor ( int  state) const
protected

compute the gap factor for the given state

Definition at line 2637 of file MSLCM_SL2015.cpp.

References LCA_STRATEGIC, MAX2(), myImpatience, and myPushy.

Referenced by _wantsChangeSublane(), and keepLatGap().

◆ computeSpeedGain()

double MSLCM_SL2015::computeSpeedGain ( double  latDistSublane,
double  defaultNextSpeed 
) const
protected

◆ computeSpeedLat()

double MSLCM_SL2015::computeSpeedLat ( double  latDist,
double &  maneuverDist 
)
virtual

◆ computeSublaneShift()

int MSLCM_SL2015::computeSublaneShift ( const MSEdge prevEdge,
const MSEdge curEdge 
)
protected

compute shift so that prevSublane + shift = newSublane

Definition at line 914 of file MSLCM_SL2015.cpp.

References MSEdge::getLanes(), MSLane::getLinkCont(), and MSLeaderInfo::numSublanes().

Referenced by prepareStep().

◆ congested()

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited

◆ currentDistAllows()

bool MSLCM_SL2015::currentDistAllows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 210 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

◆ currentDistDisallows()

bool MSLCM_SL2015::currentDistDisallows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 207 of file MSLCM_SL2015.h.

Referenced by checkStrategicChange().

◆ debugVehicle()

bool MSLCM_SL2015::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 164 of file MSLCM_SL2015.cpp.

References DEBUG_COND.

Referenced by computeSpeedLat(), getModelID(), prepareStep(), and updateGaps().

◆ decideDirection()

◆ determineTargetLane()

◆ endLaneChangeManeuver()

◆ estimateLCDuration()

double MSAbstractLaneChangeModel::estimateLCDuration ( const double  speed,
const double  remainingManeuverDist,
const double  decel 
) const
virtualinherited

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,.

Parameters
[in]speedCurrent longitudinal speed of the changing vehicle.
[in]remainingManeuverDistdist which is still to be covered until LC is completed
[in]decelMaximal assumed deceleration rate applied during the LC.
Returns
maximal LC duration (or -1) if it is possible that it can't be completed.
Note
1) For the calculation it is assumed that the vehicle starts breaking with decel (>=0) immediately. If lcMaxSpeedStanding==0 the completion may be impossible, and -1 is returned. 2) In case that no maxSpeedLat is used to control lane changing, this is only called prior to a lane change, and the duration is MSGlobals::gLaneChangeDuration.

Definition at line 567 of file MSAbstractLaneChangeModel.cpp.

References SUMOVTypeParameter::getLCParams(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myMaxSpeedLatFactor, MSAbstractLaneChangeModel::myMaxSpeedLatStanding, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().

Referenced by MSLaneChanger::checkChange(), MSAbstractLaneChangeModel::pastMidpoint(), and MSAbstractLaneChangeModel::remainingTime().

◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const
inherited

◆ getAssumedDecelForLaneChangeDuration()

double MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration ( ) const
virtualinherited

Returns a deceleration value which is used for the estimation of the duration of a lane change.

Note
Effective only for continuous lane-changing when using attributes myMaxSpeedLatFactor and myMaxSpeedLatStanding. See #3771

Reimplemented in MSLCM_LC2013.

Definition at line 285 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myModel, and toString().

Referenced by MSLaneChanger::checkChange(), and MSAbstractLaneChangeModel::setSpeedLat().

◆ getCommittedSpeed()

double MSAbstractLaneChangeModel::getCommittedSpeed ( ) const
inlineinherited

◆ getFurtherTargetLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getFurtherTargetLanes ( ) const
inlineinherited

◆ getLaneChangeCompletion()

double MSAbstractLaneChangeModel::getLaneChangeCompletion ( ) const
inlineinherited

Get the current lane change completion ratio.

Definition at line 425 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeCompletion.

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inlineinherited

◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inlineinherited

◆ getLCA()

LaneChangeAction MSLCM_SL2015::getLCA ( int  state,
double  latDist 
)
staticprotected

compute lane change action from desired lateral distance

Definition at line 2445 of file MSLCM_SL2015.cpp.

References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.

Referenced by wantsChange(), and wantsChangeSublane().

◆ getLongest()

CLeaderDist MSLCM_SL2015::getLongest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the longest vehicle in the given info

Definition at line 1992 of file MSLCM_SL2015.cpp.

References MSLeaderInfo::numSublanes().

Referenced by _wantsChangeSublane().

◆ getManeuverDist()

double MSAbstractLaneChangeModel::getManeuverDist ( ) const
inherited

◆ getModelID()

◆ getOppositeSafetyFactor()

virtual double MSAbstractLaneChangeModel::getOppositeSafetyFactor ( ) const
inlinevirtualinherited

return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model

Reimplemented in MSLCM_LC2013.

Definition at line 336 of file MSAbstractLaneChangeModel.h.

Referenced by MSLaneChanger::computeOvertakingTime(), and MSLaneChanger::getColumnleader().

◆ getOwnState()

◆ getParameter()

◆ getPrevState()

int MSAbstractLaneChangeModel::getPrevState ( ) const
inlineinherited

◆ getSafetyFactor()

double MSLCM_SL2015::getSafetyFactor ( ) const
virtual

return factor for modifying the safety constraints of the car-following model

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 3236 of file MSLCM_SL2015.cpp.

References myAssertive, and myImpatience.

Referenced by checkBlockingVehicles(), commitFollowSpeed(), and getModelID().

◆ getSavedState()

const std::pair<int, int>& MSAbstractLaneChangeModel::getSavedState ( const int  dir) const
inlineinherited

◆ getShadowDirection()

◆ getShadowFurtherLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited

◆ getShadowFurtherLanesPosLat()

const std::vector<double>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited

◆ getShadowLane() [1/3]

◆ getShadowLane() [2/3]

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane lane) const
inherited

◆ getShadowLane() [3/3]

◆ getSlowest()

CLeaderDist MSLCM_SL2015::getSlowest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the slowest vehicle in the given info

Definition at line 2009 of file MSLCM_SL2015.cpp.

References MSLeaderInfo::numSublanes().

Referenced by _wantsChangeSublane(), and checkStrategicChange().

◆ getSpeedLat()

double MSAbstractLaneChangeModel::getSpeedLat ( ) const
inlineinherited

return the lateral speed of the current lane change maneuver

Definition at line 523 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::mySpeedLat.

Referenced by MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getParameterWindow(), and MSLeaderInfo::getSubLanes().

◆ getSublaneWidth()

double MSLCM_SL2015::getSublaneWidth ( )
inlineprotected

return the current sublane width (and return a sensible value when running without sublanes)

Definition at line 323 of file MSLCM_SL2015.h.

References commitFollowSpeed(), commitManoeuvre(), computeSpeedGain(), MSVehicle::getLane(), MSLane::getWidth(), MSGlobals::gLateralResolution, and MSAbstractLaneChangeModel::myVehicle.

◆ getTargetLane()

MSLane* MSAbstractLaneChangeModel::getTargetLane ( ) const
inlineinherited

Returns the lane the vehicle has committed to enter during a sublane lane change.

Returns
The vehicle's target lane.

Definition at line 385 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myTargetLane.

Referenced by GUIVehicle::getParameterWindow(), and MSLaneChangerSublane::startChangeSublane().

◆ getWidth()

double MSLCM_SL2015::getWidth ( ) const
protected

◆ hasSavedState()

bool MSAbstractLaneChangeModel::hasSavedState ( const int  dir) const
inlineinherited

◆ haveLateralDynamics()

◆ haveLCOutput()

static bool MSAbstractLaneChangeModel::haveLCOutput ( )
inlinestaticinherited

◆ inform()

◆ informFollower()

◆ informFollowers()

void MSLCM_SL2015::informFollowers ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
double  remainingSeconds,
double  plannedSpeed 
)
protected

call informFollower for multiple followers

Definition at line 831 of file MSLCM_SL2015.cpp.

References informFollower().

Referenced by _wantsChangeSublane(), and getModelID().

◆ informLeader()

◆ informLeaders()

double MSLCM_SL2015::informLeaders ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
double  remainingSeconds 
)
protected

◆ initDerivedParameters()

void MSLCM_SL2015::initDerivedParameters ( )

init cached parameters derived directly from model parameters

Definition at line 156 of file MSLCM_SL2015.cpp.

References MAX2(), myChangeProbThresholdLeft, myChangeProbThresholdRight, mySpeedGainParam, mySpeedGainRight, mySpeedLossProbThreshold, mySublaneParam, and NUMERICAL_EPS.

Referenced by getModelID(), MSLCM_SL2015(), and setParameter().

◆ initGlobalOptions()

◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited

◆ isChangingLanes()

◆ isOpposite()

◆ keepLatGap()

◆ laneChangeOutput()

void MSAbstractLaneChangeModel::laneChangeOutput ( const std::string &  tag,
MSLane source,
MSLane target,
int  direction 
)
inherited

called once the vehicle ends a lane change manoeuvre (non-instant)

Definition at line 238 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::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, MSAbstractLaneChangeModel::myLastFollowerGap, MSAbstractLaneChangeModel::myLastFollowerSecureGap, MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myLastLeaderGap, MSAbstractLaneChangeModel::myLastLeaderSecureGap, MSAbstractLaneChangeModel::myLastOrigLeaderGap, MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap, MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::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(), MSAbstractLaneChangeModel::primaryLaneChanged(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().

◆ memorizeGapsAtLCInit()

void MSAbstractLaneChangeModel::memorizeGapsAtLCInit ( )
inherited

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 214 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myDontResetLCGaps.

Referenced by MSAbstractLaneChangeModel::resetChanged(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

◆ msg()

void MSLCM_SL2015::msg ( const CLeaderDist cld,
double  speed,
int  state 
)
protected

send a speed recommendation to the given vehicle

Definition at line 504 of file MSLCM_SL2015.cpp.

References MSAbstractLaneChangeModel::myVehicle.

Referenced by informFollower(), and informLeader().

◆ outputLCEnded()

static bool MSAbstractLaneChangeModel::outputLCEnded ( )
inlinestaticinherited

◆ outputLCStarted()

static bool MSAbstractLaneChangeModel::outputLCStarted ( )
inlinestaticinherited

whether start of maneuvers shall be recorede

Definition at line 157 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLCStartedOutput.

Referenced by MSLaneChangerSublane::outputLCStarted().

◆ overlap()

bool MSLCM_SL2015::overlap ( double  right,
double  left,
double  right2,
double  left2 
)
staticprotected

return whether the given intervals overlap

Definition at line 2364 of file MSLCM_SL2015.cpp.

References NUMERICAL_EPS.

Referenced by checkBlockingVehicles(), commitFollowSpeed(), computeSpeedGain(), and updateCFRelated().

◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inlineinherited

◆ patchSpeed()

double MSLCM_SL2015::patchSpeed ( const double  min,
const double  wanted,
const double  max,
const MSCFModel cfModel 
)
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.

Parameters
minThe minimum resulting speed
wantedThe aspired speed of the car following model
maxThe maximum resulting speed
cfModelThe model used
Returns
the new speed of the vehicle as proposed by the lane changer

Implements MSAbstractLaneChangeModel.

Definition at line 293 of file MSLCM_SL2015.cpp.

References _patchSpeed(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MAX2(), MSAbstractLaneChangeModel::myVehicle, SIMTIME, and toString().

Referenced by getModelID().

◆ predInteraction()

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, double > &  leader)
protectedvirtualinherited

◆ prepareStep()

◆ primaryLaneChanged()

◆ remainingTime()

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const
inherited

◆ resetChanged()

◆ saveBlockerLength() [1/2]

◆ saveBlockerLength() [2/2]

void MSLCM_SL2015::saveBlockerLength ( double  length)
inlineprotectedvirtual

reserve space at the end of the lane to avoid dead locks

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 191 of file MSLCM_SL2015.h.

References MAX2(), and myLeadingBlockerLength.

◆ saveLCState()

◆ setFollowerGaps() [1/2]

◆ setFollowerGaps() [2/2]

◆ setLeaderGaps() [1/2]

◆ setLeaderGaps() [2/2]

◆ setManeuverDist()

void MSAbstractLaneChangeModel::setManeuverDist ( const double  dist)
inherited

◆ setNoShadowPartialOccupator()

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ setOrigLeaderGaps() [1/2]

◆ setOrigLeaderGaps() [2/2]

◆ setOwnState()

◆ setParameter()

◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const
inherited

set approach information for the shadow vehicle

Definition at line 681 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myApproachedByShadow.

Referenced by MSVehicle::setApproachingForAllLinks(), and MSAbstractLaneChangeModel::sublaneChangeCompleted().

◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inlineinherited

set the shadow lane

Definition at line 370 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ setSpeedLat()

◆ slowDownForBlocked()

◆ startLaneChangeManeuver()

◆ sublaneChangeCompleted()

virtual bool MSAbstractLaneChangeModel::sublaneChangeCompleted ( const double  latDist) const
inlinevirtualinherited

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inlineinherited

◆ updateCFRelated()

◆ updateCompletion()

◆ updateExpectedSublaneSpeeds()

◆ updateGaps()

void MSLCM_SL2015::updateGaps ( const MSLeaderDistanceInfo others,
double  foeOffset,
double  oldCenter,
double  gapFactor,
double &  surplusGapRight,
double &  surplusGapLeft,
bool  saveMinGap = false,
double  netOverlap = 0,
double  latDist = 0,
std::vector< CLeaderDist > *  collectBlockers = 0 
)
protected

◆ updateSafeLatDist()

void MSLCM_SL2015::updateSafeLatDist ( const double  travelledLatDist)
virtual

Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuver continuation in non-action steps.

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 279 of file MSLCM_SL2015.cpp.

References mySafeLatDistLeft, mySafeLatDistRight, and NUMERICAL_EPS.

Referenced by getModelID().

◆ updateShadowLane()

◆ updateTargetLane()

◆ wantsChange()

int MSLCM_SL2015::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 
)
virtual

Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). XXX: no, it wraps _wantsChangeSublane This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

TODO: better documentation. Refs #2

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 3314 of file MSLCM_SL2015.cpp.

References _wantsChangeSublane(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), LCA_BLOCKED, LCA_CHANGE_TO_HELP, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_NONE, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE, myCanChangeFully, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myVehicle, and SIMTIME.

Referenced by getModelID().

◆ wantsChangeSublane()

int MSLCM_SL2015::wantsChangeSublane ( int  laneOffset,
LaneChangeAction  alternatives,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked,
double &  latDist,
double &  maneuverDist,
int &  blocked 
)
virtual

Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

TODO better documentation. Refs #2 A.o.: When is this called (as a wantsChange() exists as well!? What's the difference?)

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 170 of file MSLCM_SL2015.cpp.

References _wantsChangeSublane(), computeSpeedLat(), DEBUG_COND, DIST2SPEED, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), gPrecision, keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::mySpeedLat, MSAbstractLaneChangeModel::myVehicle, SIMTIME, SPEED2DIST, and toString().

Referenced by getModelID().

Field Documentation

◆ myAccelLat

double MSLCM_SL2015::myAccelLat
protected

Definition at line 399 of file MSLCM_SL2015.h.

Referenced by commitManoeuvre(), computeSpeedLat(), getParameter(), and setParameter().

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited

◆ myAssertive

double MSLCM_SL2015::myAssertive
protected

Definition at line 392 of file MSLCM_SL2015.h.

Referenced by getParameter(), getSafetyFactor(), and setParameter().

◆ myCanceledStates

std::map<int, int> MSAbstractLaneChangeModel::myCanceledStates
protectedinherited

◆ myCanChangeFully

bool MSLCM_SL2015::myCanChangeFully
protected

whether the current lane changing maneuver can be finished in a single step

Definition at line 372 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), checkBlocking(), checkBlockingVehicles(), commitManoeuvre(), prepareStep(), setOwnState(), and wantsChange().

◆ myCarFollowModel

◆ myCFRelated

std::set<const MSVehicle*> MSLCM_SL2015::myCFRelated
protected

set of vehicles that are in a car-following relationship with ego (leader of followers)

Definition at line 379 of file MSLCM_SL2015.h.

Referenced by checkBlockingVehicles(), prepareStep(), updateCFRelated(), and updateGaps().

◆ myCFRelatedReady

bool MSLCM_SL2015::myCFRelatedReady
protected

Definition at line 380 of file MSLCM_SL2015.h.

Referenced by checkBlocking(), and prepareStep().

◆ myChangeProbThresholdLeft

double MSLCM_SL2015::myChangeProbThresholdLeft
protected

◆ myChangeProbThresholdRight

double MSLCM_SL2015::myChangeProbThresholdRight
protected

Definition at line 411 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and initDerivedParameters().

◆ myCommittedSpeed

double MSAbstractLaneChangeModel::myCommittedSpeed
protectedinherited

the speed when committing to a change maneuver

Definition at line 584 of file MSAbstractLaneChangeModel.h.

Referenced by commitManoeuvre(), MSAbstractLaneChangeModel::getCommittedSpeed(), and MSAbstractLaneChangeModel::prepareStep().

◆ myCooperativeParam

double MSLCM_SL2015::myCooperativeParam
protected

Definition at line 385 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ myDontBrake

bool MSLCM_SL2015::myDontBrake
protected

flag to prevent speed adaptation by slowing down

Definition at line 369 of file MSLCM_SL2015.h.

Referenced by _patchSpeed(), changed(), and prepareStep().

◆ myDontResetLCGaps

bool MSAbstractLaneChangeModel::myDontResetLCGaps
protectedinherited

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 653 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::clearGapsAtLCInit(), MSAbstractLaneChangeModel::memorizeGapsAtLCInit(), and MSAbstractLaneChangeModel::prepareStep().

◆ myExpectedSublaneSpeeds

std::vector<double> MSLCM_SL2015::myExpectedSublaneSpeeds
protected

expected travel speeds on all sublanes on the current edge(!)

Definition at line 363 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), computeSpeedGain(), prepareStep(), and updateExpectedSublaneSpeeds().

◆ myFurtherTargetLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myFurtherTargetLanes
protectedinherited

◆ myImpatience

double MSLCM_SL2015::myImpatience
protected

◆ myKeepRightParam

double MSLCM_SL2015::myKeepRightParam
protected

Definition at line 387 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ myKeepRightProbability

double MSLCM_SL2015::myKeepRightProbability
protected

Definition at line 349 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and prepareStep().

◆ myLaneChangeCompletion

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited

◆ myLastEdge

const MSEdge* MSLCM_SL2015::myLastEdge
protected

expected travel speeds on all sublanes on the current edge(!)

Definition at line 366 of file MSLCM_SL2015.h.

Referenced by prepareStep().

◆ myLastFollowerGap

double MSAbstractLaneChangeModel::myLastFollowerGap
protectedinherited

◆ myLastFollowerSecureGap

double MSAbstractLaneChangeModel::myLastFollowerSecureGap
protectedinherited

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protectedinherited

the minimum lateral gaps to other vehicles that were found when last changing to the left and right

Definition at line 638 of file MSAbstractLaneChangeModel.h.

Referenced by keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and updateGaps().

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protectedinherited

◆ myLastLeaderGap

double MSAbstractLaneChangeModel::myLastLeaderGap
protectedinherited

the actual minimum longitudinal distances to vehicles on the target lane

Definition at line 642 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().

◆ myLastLeaderSecureGap

double MSAbstractLaneChangeModel::myLastLeaderSecureGap
protectedinherited

the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security

Definition at line 645 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().

◆ myLastOrigLeaderGap

double MSAbstractLaneChangeModel::myLastOrigLeaderGap
protectedinherited

acutal and secure distance to closest leader vehicle on the original when performing lane change

Definition at line 648 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().

◆ myLastOrigLeaderSecureGap

double MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap
protectedinherited

◆ myLCAccelerationAdvices

std::vector<double> MSLCM_SL2015::myLCAccelerationAdvices
protected

vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed()

Definition at line 360 of file MSLCM_SL2015.h.

Referenced by _patchSpeed(), addLCSpeedAdvice(), changed(), checkStrategicChange(), informFollower(), informLeader(), and prepareStep().

◆ myLCEndedOutput

bool MSAbstractLaneChangeModel::myLCEndedOutput
staticprotectedinherited

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotectedinherited

◆ myLCStartedOutput

bool MSAbstractLaneChangeModel::myLCStartedOutput
staticprotectedinherited

◆ myLeadingBlockerLength

double MSLCM_SL2015::myLeadingBlockerLength
protected

◆ myLeftSpace

◆ myLookaheadLeft

double MSLCM_SL2015::myLookaheadLeft
protected

Definition at line 403 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ myLookAheadSpeed

double MSLCM_SL2015::myLookAheadSpeed
protected

Definition at line 356 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and checkStrategicChange().

◆ myManeuverDist

double MSAbstractLaneChangeModel::myManeuverDist
protectedinherited

◆ myMaxSpeedLatFactor

double MSAbstractLaneChangeModel::myMaxSpeedLatFactor
protectedinherited

◆ myMaxSpeedLatStanding

double MSAbstractLaneChangeModel::myMaxSpeedLatStanding
protectedinherited

◆ myMinImpatience

double MSLCM_SL2015::myMinImpatience
protected

Definition at line 395 of file MSLCM_SL2015.h.

Referenced by setOwnState(), and setParameter().

◆ myModel

◆ myNoPartiallyOccupatedByShadow

◆ myOwnState

◆ myPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow
protectedinherited

list of lanes where the shadow vehicle is partial occupator

Definition at line 631 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().

◆ myPreviousState

int MSAbstractLaneChangeModel::myPreviousState
protectedinherited

lane changing state from the previous simulation step

Definition at line 573 of file MSAbstractLaneChangeModel.h.

Referenced by _wantsChangeSublane(), and MSAbstractLaneChangeModel::setOwnState().

◆ myPreviousState2

int MSAbstractLaneChangeModel::myPreviousState2
protectedinherited

lane changing state from step before the previous simulation step

Definition at line 575 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::getPrevState(), and MSAbstractLaneChangeModel::setOwnState().

◆ myPushy

double MSLCM_SL2015::myPushy
protected

Definition at line 390 of file MSLCM_SL2015.h.

Referenced by checkBlocking(), computeGapFactor(), getParameter(), and setParameter().

◆ mySafeLatDistLeft

double MSLCM_SL2015::mySafeLatDistLeft
protected

◆ mySafeLatDistRight

double MSLCM_SL2015::mySafeLatDistRight
protected

the lateral distance the vehicle can safely move in the currently considered direction

Definition at line 375 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), checkBlocking(), computeSpeedLat(), prepareStep(), and updateSafeLatDist().

◆ mySavedStates

std::map<int, std::pair<int, int> > MSAbstractLaneChangeModel::mySavedStates
protectedinherited

◆ myShadowFurtherLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited

◆ myShadowFurtherLanesPosLat

std::vector<double> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited

◆ mySpeedGainParam

double MSLCM_SL2015::mySpeedGainParam
protected

Definition at line 386 of file MSLCM_SL2015.h.

Referenced by getParameter(), initDerivedParameters(), and setParameter().

◆ mySpeedGainProbabilityLeft

double MSLCM_SL2015::mySpeedGainProbabilityLeft
protected

a value for tracking the probability that a change to the left is beneficial

Definition at line 344 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and prepareStep().

◆ mySpeedGainProbabilityRight

double MSLCM_SL2015::mySpeedGainProbabilityRight
protected

a value for tracking the probability that a change to the right is beneficial

Definition at line 342 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), checkStrategicChange(), and prepareStep().

◆ mySpeedGainRight

double MSLCM_SL2015::mySpeedGainRight
protected

Definition at line 405 of file MSLCM_SL2015.h.

Referenced by getParameter(), initDerivedParameters(), and setParameter().

◆ mySpeedLat

double MSAbstractLaneChangeModel::mySpeedLat
protectedinherited

◆ mySpeedLossProbThreshold

double MSLCM_SL2015::mySpeedLossProbThreshold
protected

Definition at line 415 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and initDerivedParameters().

◆ myStrategicParam

double MSLCM_SL2015::myStrategicParam
protected

Definition at line 384 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ mySublaneParam

double MSLCM_SL2015::mySublaneParam
protected

◆ myTargetLane

MSLane* MSAbstractLaneChangeModel::myTargetLane
protectedinherited

The target lane for the vehicle's current maneuver.

Note
This is used by the sublane model to register the vehicle at lanes, it will reach within the current action step, so vehicles on that lane may react to the started lc-maneuver during the car-following process. If the shadow lane is the same as the lc maneuver target, myTargetLane is set to nullptr. The current shadow lanes and further lanes should always be updated before updating the target lane.

Definition at line 614 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::cleanupTargetLane(), MSAbstractLaneChangeModel::getTargetLane(), and MSAbstractLaneChangeModel::updateTargetLane().

◆ myTimeToImpatience

double MSLCM_SL2015::myTimeToImpatience
protected

Definition at line 397 of file MSLCM_SL2015.h.

Referenced by getParameter(), setOwnState(), and setParameter().

◆ myTurnAlignmentDist

double MSLCM_SL2015::myTurnAlignmentDist
protected

Definition at line 401 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and setParameter().

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited

The vehicle this lane-changer belongs to.

Definition at line 568 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_patchSpeed(), _patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), addLCSpeedAdvice(), MSLCM_LC2013::addLCSpeedAdvice(), MSAbstractLaneChangeModel::cancelRequest(), MSLCM_LC2013::changed(), changed(), checkBlocking(), checkStrategicChange(), MSAbstractLaneChangeModel::checkTraCICommands(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::cleanupTargetLane(), commitFollowSpeed(), commitManoeuvre(), computeSpeedGain(), MSLCM_LC2013::computeSpeedLat(), computeSpeedLat(), MSAbstractLaneChangeModel::computeSpeedLat(), MSAbstractLaneChangeModel::congested(), decideDirection(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::estimateLCDuration(), MSLCM_LC2013::getAssumedDecelForLaneChangeDuration(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), getSublaneWidth(), getWidth(), MSLCM_LC2013::inform(), inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), informLeaders(), keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setManeuverDist(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), setOwnState(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), updateCFRelated(), updateExpectedSublaneSpeeds(), updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSAbstractLaneChangeModel::updateTargetLane(), MSLCM_LC2013::wantsChange(), wantsChange(), wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ NO_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_NEIGHBOR
staticinherited

The documentation for this class was generated from the following files: