Eclipse SUMO - Simulation of Urban MObility
MSAbstractLaneChangeModel Class Referenceabstract

Interface for lane-change models. More...

#include <MSAbstractLaneChangeModel.h>

Inheritance diagram for MSAbstractLaneChangeModel:
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Collaboration diagram for MSAbstractLaneChangeModel:
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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) const
 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...
 
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 getAccelerationLat () const
 return the lateral speed of the current lane change maneuver 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< MSLeaderDistanceInfogetFollowers (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< MSLeaderDistanceInfogetLeaders (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
 
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...
 
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)
 set the lateral speed and update lateral acceleraton More...
 
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 ()
 
MSLaneupdateTargetLane ()
 
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 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 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

double myAccelerationLat
 the current lateral acceleration More...
 
bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
int myCanceledStateCenter
 
int myCanceledStateLeft
 
int myCanceledStateRight
 
const MSCFModelmyCarFollowModel
 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 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...
 
std::pair< int, int > mySavedStateCenter
 
std::pair< int, int > mySavedStateLeft
 
std::pair< int, int > mySavedStateRight
 
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 mySigma
 
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...
 
std::shared_ptr< MSLeaderDistanceInfomyLeftFollowers
 Cached info on lc-relevant neighboring vehicles. More...
 
std::shared_ptr< MSLeaderDistanceInfomyLeftLeaders
 
std::shared_ptr< MSLeaderDistanceInfomyRightFollowers
 
std::shared_ptr< MSLeaderDistanceInfomyRightLeaders
 

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
 
static bool myLCXYOutput
 

Private Member Functions

MSAbstractLaneChangeModeloperator= (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
 
double myManeuverDist
 The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. More...
 
double myPreviousManeuverDist
 Maneuver distance from the previous simulation step. More...
 

Detailed Description

Interface for lane-change models.

Definition at line 44 of file MSAbstractLaneChangeModel.h.

Constructor & Destructor Documentation

◆ MSAbstractLaneChangeModel()

MSAbstractLaneChangeModel::MSAbstractLaneChangeModel ( MSVehicle v,
const LaneChangeModel  model 
)

Constructor.

Parameters
[in]vThe vehicle this lane-changer belongs to
[in]modelThe type of lane change model

Definition at line 95 of file MSAbstractLaneChangeModel.cpp.

References LCA_UNKNOWN, and saveLCState().

◆ ~MSAbstractLaneChangeModel()

MSAbstractLaneChangeModel::~MSAbstractLaneChangeModel ( )
virtual

Destructor.

Definition at line 138 of file MSAbstractLaneChangeModel.cpp.

Member Function Documentation

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inline

reset the flag whether a vehicle already moved to false

Definition at line 461 of file MSAbstractLaneChangeModel.h.

References myAlreadyChanged.

Referenced by MSLaneChanger::change().

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◆ build()

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

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 72 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().

Referenced by MSVehicle::initDevices().

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◆ cancelRequest()

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

whether the influencer cancels the given request

Definition at line 508 of file MSAbstractLaneChangeModel.cpp.

References getCanceledState(), MSVehicle::influenceChangeDecision(), and myVehicle.

Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().

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◆ changed()

virtual void MSAbstractLaneChangeModel::changed ( )
pure virtual

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by primaryLaneChanged().

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◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )

called when a vehicle changes between lanes in opposite directions

Definition at line 878 of file MSAbstractLaneChangeModel.cpp.

References myAlreadyChanged, and myAmOpposite.

Referenced by endLaneChangeManeuver(), MSVehicle::executeMove(), and primaryLaneChanged().

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◆ checkTraCICommands()

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 832 of file MSAbstractLaneChangeModel.cpp.

References gDebugFlag2, Named::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().

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◆ cleanupShadowLane()

void MSAbstractLaneChangeModel::cleanupShadowLane ( )

Definition at line 467 of file MSAbstractLaneChangeModel.cpp.

References debugVehicle(), myNoPartiallyOccupatedByShadow, myShadowFurtherLanes, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.

Referenced by endLaneChangeManeuver(), MSDevice_Bluelight::notifyMove(), and MSVehicle::~MSVehicle().

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◆ cleanupTargetLane()

void MSAbstractLaneChangeModel::cleanupTargetLane ( )

Definition at line 486 of file MSAbstractLaneChangeModel.cpp.

References debugVehicle(), myFurtherTargetLanes, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), and SIMTIME.

Referenced by endLaneChangeManeuver(), MSDevice_Bluelight::notifyMove(), and MSVehicle::~MSVehicle().

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◆ clearGapsAtLCInit()

void MSAbstractLaneChangeModel::clearGapsAtLCInit ( )

Definition at line 303 of file MSAbstractLaneChangeModel.cpp.

References myDontResetLCGaps.

Referenced by laneChangeOutput().

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◆ clearNeighbors()

void MSAbstractLaneChangeModel::clearNeighbors ( )

Clear info on neighboring vehicle from previous step.

Definition at line 211 of file MSAbstractLaneChangeModel.cpp.

References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.

Referenced by MSLaneChanger::change(), and MSLaneChangerSublane::change().

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◆ computeSpeedLat()

double MSAbstractLaneChangeModel::computeSpeedLat ( double  latDist,
double &  maneuverDist 
) const
virtual

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 379 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(), estimateLCDuration(), and updateCompletion().

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◆ congested()

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

Definition at line 247 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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◆ debugVehicle()

virtual bool MSAbstractLaneChangeModel::debugVehicle ( ) const
inlinevirtual

whether the current vehicles shall be debugged

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 361 of file MSAbstractLaneChangeModel.h.

Referenced by MSLaneChangerSublane::change(), cleanupShadowLane(), cleanupTargetLane(), endLaneChangeManeuver(), MSLCHelper::getRoundaboutDistBonus(), getShadowLane(), MSLCM_SL2015::inform(), primaryLaneChanged(), MSLaneChangerSublane::startChangeSublane(), updateShadowLane(), and updateTargetLane().

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◆ decideDirection()

virtual StateAndDist MSAbstractLaneChangeModel::decideDirection ( StateAndDist  sd1,
StateAndDist  sd2 
) const
inlinevirtual

decide in which direction to move in case both directions are desirable

Reimplemented in MSLCM_SL2015.

Definition at line 321 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

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◆ determineTargetLane()

MSLane * MSAbstractLaneChangeModel::determineTargetLane ( int &  targetDir) const

Definition at line 651 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSBaseVehicle::getWidth(), MSLane::getWidth(), myManeuverDist, myShadowLane, and myVehicle.

Referenced by updateTargetLane().

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◆ endLaneChangeManeuver()

◆ estimateLCDuration()

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

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 694 of file MSAbstractLaneChangeModel.cpp.

References computeSpeedLat(), 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(), and remainingTime().

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◆ getAccelerationLat()

double MSAbstractLaneChangeModel::getAccelerationLat ( ) const
inline

return the lateral speed of the current lane change maneuver

Definition at line 548 of file MSAbstractLaneChangeModel.h.

References myAccelerationLat.

Referenced by MSFCDExport::write().

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◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const

return the angle offset during a continuous change maneuver

Definition at line 683 of file MSAbstractLaneChangeModel.cpp.

References MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, myVehicle, pastMidpoint(), STEPS2TIME, SUMO_const_laneWidth, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().

Referenced by MSVehicle::computeAngle().

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◆ getAssumedDecelForLaneChangeDuration()

double MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration ( ) const
virtual

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 390 of file MSAbstractLaneChangeModel.cpp.

References myModel, and toString().

Referenced by MSLaneChanger::checkChange().

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◆ getCanceledState()

int& MSAbstractLaneChangeModel::getCanceledState ( const int  dir)
inline

Definition at line 231 of file MSAbstractLaneChangeModel.h.

References myCanceledStateCenter, myCanceledStateLeft, and myCanceledStateRight.

Referenced by MSLCM_LC2013::_wantsChange(), cancelRequest(), MSLCM_SL2015::checkStrategicChange(), prepareStep(), and saveLCState().

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◆ getCommittedSpeed()

double MSAbstractLaneChangeModel::getCommittedSpeed ( ) const
inline

Definition at line 538 of file MSAbstractLaneChangeModel.h.

References myCommittedSpeed.

Referenced by MSVehicle::planMoveInternal(), and MSLaneChangerSublane::startChangeSublane().

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◆ getFollowers()

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 220 of file MSAbstractLaneChangeModel.cpp.

References myLeftFollowers, and myRightFollowers.

◆ getFurtherTargetLanes()

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

Definition at line 409 of file MSAbstractLaneChangeModel.h.

References myFurtherTargetLanes.

Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().

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◆ getLaneChangeCompletion()

double MSAbstractLaneChangeModel::getLaneChangeCompletion ( ) const
inline

Get the current lane change completion ratio.

Definition at line 445 of file MSAbstractLaneChangeModel.h.

References myLaneChangeCompletion.

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inline

return the direction of the current lane change maneuver

Definition at line 450 of file MSAbstractLaneChangeModel.h.

References myLaneChangeDirection.

Referenced by MSLaneChanger::continueChange(), and MSVehicle::setBlinkerInformation().

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◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inline

Definition at line 413 of file MSAbstractLaneChangeModel.h.

References myLastLaneChangeOffset.

◆ getLeaders()

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 233 of file MSAbstractLaneChangeModel.cpp.

References myLeftLeaders, and myRightLeaders.

Referenced by LIBSUMO_NAMESPACE::Vehicle::getNeighbors().

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◆ getManeuverDist()

double MSAbstractLaneChangeModel::getManeuverDist ( ) const

Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)

Definition at line 171 of file MSAbstractLaneChangeModel.cpp.

References myManeuverDist.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLaneChangerSublane::change(), MSLaneChangerSublane::continueChangeSublane(), MSVehicle::getLatOffset(), GUIVehicle::getManeuverDist(), MSLeaderInfo::getSubLanes(), MSLaneChangerSublane::startChangeSublane(), updateCompletion(), and MSLCM_SL2015::updateGaps().

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◆ getModelID()

virtual LaneChangeModel MSAbstractLaneChangeModel::getModelID ( ) const
pure virtual

Returns the model's ID;.

Returns
The model's ID

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by MSLaneChanger::changeOpposite().

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◆ getOppositeSafetyFactor()

virtual double MSAbstractLaneChangeModel::getOppositeSafetyFactor ( ) const
inlinevirtual

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

Reimplemented in MSLCM_LC2013.

Definition at line 356 of file MSAbstractLaneChangeModel.h.

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

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◆ getOwnState()

int MSAbstractLaneChangeModel::getOwnState ( ) const
inline

◆ getParameter()

virtual std::string MSAbstractLaneChangeModel::getParameter ( const std::string &  key) const
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 564 of file MSAbstractLaneChangeModel.h.

References myModel, and toString().

Referenced by MSBaseVehicle::getPrefixedParameter().

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◆ getPreviousManeuverDist()

double MSAbstractLaneChangeModel::getPreviousManeuverDist ( ) const

Definition at line 176 of file MSAbstractLaneChangeModel.cpp.

References myPreviousManeuverDist.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLaneChangerSublane::abortLCManeuver(), and MSLaneChangerSublane::startChangeSublane().

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◆ getPrevState()

int MSAbstractLaneChangeModel::getPrevState ( ) const
inline

at the time of this call myPreviousState already holds the new value

Definition at line 177 of file MSAbstractLaneChangeModel.h.

References myPreviousState2.

Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::outputLCStarted(), and MSLaneChangerSublane::startChangeSublane().

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◆ getSafetyFactor()

virtual double MSAbstractLaneChangeModel::getSafetyFactor ( ) const
inlinevirtual

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

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 351 of file MSAbstractLaneChangeModel.h.

Referenced by MSLaneChanger::checkChange().

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◆ getSavedState()

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

◆ getShadowDirection()

int MSAbstractLaneChangeModel::getShadowDirection ( ) const

return the direction in which the current shadow lane lies

Definition at line 583 of file MSAbstractLaneChangeModel.cpp.

References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), isChangingLanes(), myAmOpposite, myLaneChangeDirection, myShadowLane, myVehicle, and pastMidpoint().

Referenced by MSVehicle::checkLinkLeaderCurrentAndParallel(), MSLaneChanger::continueChange(), MSVehicle::getCenterOnEdge(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), GUIVehicle::selectBlockingFoes(), and MSVehicle::setApproachingForAllLinks().

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◆ getShadowFurtherLanes()

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

Definition at line 394 of file MSAbstractLaneChangeModel.h.

References myShadowFurtherLanes.

Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().

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◆ getShadowFurtherLanesPosLat()

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

Definition at line 398 of file MSAbstractLaneChangeModel.h.

References myShadowFurtherLanesPosLat.

Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().

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◆ getShadowLane() [1/3]

◆ getShadowLane() [2/3]

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

return the shadow lane for the given lane

Definition at line 461 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.

◆ getShadowLane() [3/3]

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane lane,
double  posLat 
) const

◆ getSpeedLat()

double MSAbstractLaneChangeModel::getSpeedLat ( ) const
inline

return the lateral speed of the current lane change maneuver

Definition at line 543 of file MSAbstractLaneChangeModel.h.

References mySpeedLat.

Referenced by MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getColorValue(), MSLink::getLeaderInfo(), GUIVehicle::getParameterWindow(), MSLeaderInfo::getSubLanes(), and MSXMLRawOut::writeVehicle().

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◆ getTargetLane()

MSLane* MSAbstractLaneChangeModel::getTargetLane ( ) const
inline

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

Returns
The vehicle's target lane.

Definition at line 405 of file MSAbstractLaneChangeModel.h.

References myTargetLane.

Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().

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◆ haveLateralDynamics()

static bool MSAbstractLaneChangeModel::haveLateralDynamics ( )
inlinestatic

whether any kind of lateral dynamics is active

Definition at line 140 of file MSAbstractLaneChangeModel.h.

References MSGlobals::gLaneChangeDuration, and MSGlobals::gLateralResolution.

Referenced by MSLane::detectCollisionBetween(), MSLane::detectCollisions(), GUIVehicle::getParameterWindow(), MSLane::handleCollisionBetween(), updateShadowLane(), and MSXMLRawOut::writeVehicle().

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◆ haveLCOutput()

static bool MSAbstractLaneChangeModel::haveLCOutput ( )
inlinestatic

whether lanechange-output is active

Definition at line 150 of file MSAbstractLaneChangeModel.h.

References myLCOutput.

Referenced by MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().

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◆ inform()

virtual void* MSAbstractLaneChangeModel::inform ( void *  info,
MSVehicle sender 
)
pure virtual

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by MSAbstractLaneChangeModel::MSLCMessager::informLeader(), MSAbstractLaneChangeModel::MSLCMessager::informNeighFollower(), and MSAbstractLaneChangeModel::MSLCMessager::informNeighLeader().

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◆ initGlobalOptions()

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
static

init global model parameters

Definition at line 62 of file MSAbstractLaneChangeModel.cpp.

References OptionsCont::getBool(), OptionsCont::isSet(), myAllowOvertakingRight, myLCEndedOutput, myLCOutput, myLCStartedOutput, and myLCXYOutput.

Referenced by MSFrame::setMSGlobals().

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◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protected

Definition at line 517 of file MSAbstractLaneChangeModel.cpp.

References myLastLaneChangeOffset.

Referenced by primaryLaneChanged().

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◆ isChangingLanes()

bool MSAbstractLaneChangeModel::isChangingLanes ( ) const
inline

◆ isOpposite()

◆ isStrategicBlocked()

bool MSAbstractLaneChangeModel::isStrategicBlocked ( ) const
Returns
whether this vehicle is blocked from performing a strategic change

Definition at line 996 of file MSAbstractLaneChangeModel.cpp.

References LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_STRATEGIC, mySavedStateLeft, and mySavedStateRight.

Referenced by MSLink::getLeaderInfo().

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◆ laneChangeOutput()

void MSAbstractLaneChangeModel::laneChangeOutput ( const std::string &  tag,
MSLane source,
MSLane target,
int  direction,
double  maneuverDist = 0 
)

◆ memorizeGapsAtLCInit()

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 298 of file MSAbstractLaneChangeModel.cpp.

References myDontResetLCGaps.

Referenced by startLaneChangeManeuver().

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◆ operator=()

MSAbstractLaneChangeModel& MSAbstractLaneChangeModel::operator= ( const MSAbstractLaneChangeModel s)
private

Invalidated assignment operator.

◆ outputLCEnded()

static bool MSAbstractLaneChangeModel::outputLCEnded ( )
inlinestatic

whether start of maneuvers shall be recorede

Definition at line 160 of file MSAbstractLaneChangeModel.h.

References myLCEndedOutput.

Referenced by MSLaneChangerSublane::outputLCEnded().

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◆ outputLCStarted()

static bool MSAbstractLaneChangeModel::outputLCStarted ( )
inlinestatic

whether start of maneuvers shall be recorede

Definition at line 155 of file MSAbstractLaneChangeModel.h.

References myLCStartedOutput.

Referenced by MSLaneChangerSublane::outputLCStarted().

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◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inline

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 419 of file MSAbstractLaneChangeModel.h.

References myLaneChangeCompletion.

Referenced by getAngleOffset(), getShadowDirection(), and updateCompletion().

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◆ patchSpeed()

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

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

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by MSCFModel::finalizeSpeed(), and MSCFModel_Daniel1::finalizeSpeed().

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◆ predInteraction()

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

Definition at line 267 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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◆ prepareStep()

◆ primaryLaneChanged()

void MSAbstractLaneChangeModel::primaryLaneChanged ( MSLane source,
MSLane target,
int  direction 
)

◆ remainingTime()

SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const

Definition at line 821 of file MSAbstractLaneChangeModel.cpp.

References myApproachedByShadow, and myVehicle.

Referenced by MSVehicle::removeApproachingInformation().

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◆ resetChanged()

void MSAbstractLaneChangeModel::resetChanged ( )
inline

reset the flag whether a vehicle already moved to false

Definition at line 466 of file MSAbstractLaneChangeModel.h.

References myAlreadyChanged.

Referenced by MSVehicle::planMove().

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◆ saveBlockerLength()

virtual void MSAbstractLaneChangeModel::saveBlockerLength ( double  length)
inlinevirtual

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

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 506 of file MSAbstractLaneChangeModel.h.

References UNUSED_PARAMETER.

Referenced by MSLCM_LC2013::saveBlockerLength().

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◆ saveLCState()

void MSAbstractLaneChangeModel::saveLCState ( const int  dir,
const int  stateWithoutTraCI,
const int  state 
)
inline

Definition at line 203 of file MSAbstractLaneChangeModel.h.

References getCanceledState(), mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.

Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), MSAbstractLaneChangeModel(), and prepareStep().

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◆ saveNeighbors() [1/2]

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 181 of file MSAbstractLaneChangeModel.cpp.

References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.

Referenced by MSLaneChanger::checkChange(), and MSLaneChangerSublane::checkChangeSublane().

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◆ saveNeighbors() [2/2]

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 196 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLane(), myLeftFollowers, myLeftLeaders, myRightFollowers, myRightLeaders, and myVehicle.

◆ setFollowerGaps() [1/2]

void MSAbstractLaneChangeModel::setFollowerGaps ( CLeaderDist  follower,
double  secGap 
)

Definition at line 884 of file MSAbstractLaneChangeModel.cpp.

References myLastFollowerGap, myLastFollowerSecureGap, and myLastFollowerSpeed.

Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().

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◆ setFollowerGaps() [2/2]

◆ setLeaderGaps() [1/2]

void MSAbstractLaneChangeModel::setLeaderGaps ( CLeaderDist  leader,
double  secGap 
)

Definition at line 893 of file MSAbstractLaneChangeModel.cpp.

References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.

Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().

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◆ setLeaderGaps() [2/2]

◆ setManeuverDist()

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 155 of file MSAbstractLaneChangeModel.cpp.

References DEBUG_COND, Named::getID(), myManeuverDist, myPreviousManeuverDist, myVehicle, and SIMTIME.

Referenced by MSLaneChangerSublane::abortLCManeuver(), checkTraCICommands(), MSLaneChangerSublane::startChangeSublane(), and startLaneChangeManeuver().

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◆ setNoShadowPartialOccupator()

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inline

Definition at line 514 of file MSAbstractLaneChangeModel.h.

References myNoPartiallyOccupatedByShadow.

Referenced by MSVehicle::enterLaneAtLaneChange().

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◆ setOrigLeaderGaps() [1/2]

void MSAbstractLaneChangeModel::setOrigLeaderGaps ( CLeaderDist  leader,
double  secGap 
)

Definition at line 902 of file MSAbstractLaneChangeModel.cpp.

References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.

Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().

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◆ setOrigLeaderGaps() [2/2]

◆ setOwnState()

void MSAbstractLaneChangeModel::setOwnState ( const int  state)
virtual

Reimplemented in MSLCM_SL2015.

Definition at line 142 of file MSAbstractLaneChangeModel.cpp.

References myOwnState, myPreviousState, and myPreviousState2.

Referenced by MSLaneChanger::change(), MSLaneChangerSublane::change(), MSLaneChanger::changeOpposite(), checkTraCICommands(), and MSLCM_SL2015::setOwnState().

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◆ setParameter()

virtual void MSAbstractLaneChangeModel::setParameter ( const std::string &  key,
const std::string &  value 
)
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 569 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSDevice_Bluelight::notifyMove().

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◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const

set approach information for the shadow vehicle

Definition at line 815 of file MSAbstractLaneChangeModel.cpp.

References myApproachedByShadow.

Referenced by MSVehicle::setApproachingForAllLinks().

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◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inline

set the shadow lane

Definition at line 390 of file MSAbstractLaneChangeModel.h.

References myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inline

Definition at line 510 of file MSAbstractLaneChangeModel.h.

References myPartiallyOccupatedByShadow.

◆ setSpeedLat()

void MSAbstractLaneChangeModel::setSpeedLat ( double  speedLat)

set the lateral speed and update lateral acceleraton

Definition at line 395 of file MSAbstractLaneChangeModel.cpp.

References myAccelerationLat, mySpeedLat, and SPEED2ACCEL.

Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChanger::change(), MSLaneChangerSublane::startChangeSublane(), and updateCompletion().

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◆ startLaneChangeManeuver()

bool MSAbstractLaneChangeModel::startLaneChangeManeuver ( MSLane source,
MSLane target,
int  direction 
)

◆ sublaneChangeCompleted()

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

whether the current change completes the manoeuvre

Definition at line 525 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inline

Definition at line 368 of file MSAbstractLaneChangeModel.h.

References DELTA_T, and myLastLaneChangeOffset.

Referenced by MSLaneChanger::registerUnchanged().

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◆ updateCompletion()

bool MSAbstractLaneChangeModel::updateCompletion ( )

Definition at line 401 of file MSAbstractLaneChangeModel.cpp.

References computeSpeedLat(), getManeuverDist(), myLaneChangeCompletion, myManeuverDist, mySpeedLat, pastMidpoint(), setSpeedLat(), and SPEED2DIST.

Referenced by MSLaneChanger::continueChange().

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◆ updateExpectedSublaneSpeeds()

virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderDistanceInfo ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtual

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 313 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

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◆ updateSafeLatDist()

void MSAbstractLaneChangeModel::updateSafeLatDist ( const double  travelledLatDist)
virtual

Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps.

Reimplemented in MSLCM_SL2015.

Definition at line 149 of file MSAbstractLaneChangeModel.cpp.

References UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::startChangeSublane().

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◆ updateShadowLane()

◆ updateTargetLane()

MSLane * MSAbstractLaneChangeModel::updateTargetLane ( )

◆ wantsChange()

virtual int MSAbstractLaneChangeModel::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 
)
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 257 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChanger::checkChange().

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◆ wantsChangeSublane()

virtual int MSAbstractLaneChangeModel::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 
)
inlinevirtual

Reimplemented in MSLCM_SL2015.

Definition at line 280 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::checkChangeSublane().

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Field Documentation

◆ myAccelerationLat

double MSAbstractLaneChangeModel::myAccelerationLat
protected

the current lateral acceleration

Definition at line 620 of file MSAbstractLaneChangeModel.h.

Referenced by getAccelerationLat(), and setSpeedLat().

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotected

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protected

whether the vehicle has already moved this step

Definition at line 632 of file MSAbstractLaneChangeModel.h.

Referenced by alreadyChanged(), changedToOpposite(), and resetChanged().

◆ myAmOpposite

bool MSAbstractLaneChangeModel::myAmOpposite
private

whether the vehicle is driving in the opposite direction

Definition at line 725 of file MSAbstractLaneChangeModel.h.

Referenced by changedToOpposite(), endLaneChangeManeuver(), getShadowDirection(), getShadowLane(), isOpposite(), and primaryLaneChanged().

◆ myApproachedByShadow

std::vector<MSLink*> MSAbstractLaneChangeModel::myApproachedByShadow
mutableprivate

links which are approached by the shadow vehicle

Definition at line 722 of file MSAbstractLaneChangeModel.h.

Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().

◆ myCanceledStateCenter

int MSAbstractLaneChangeModel::myCanceledStateCenter
protected

Definition at line 605 of file MSAbstractLaneChangeModel.h.

Referenced by getCanceledState().

◆ myCanceledStateLeft

int MSAbstractLaneChangeModel::myCanceledStateLeft
protected

Definition at line 606 of file MSAbstractLaneChangeModel.h.

Referenced by getCanceledState().

◆ myCanceledStateRight

int MSAbstractLaneChangeModel::myCanceledStateRight
protected

Definition at line 604 of file MSAbstractLaneChangeModel.h.

Referenced by getCanceledState().

◆ myCarFollowModel

◆ myCommittedSpeed

double MSAbstractLaneChangeModel::myCommittedSpeed
protected

the speed when committing to a change maneuver

Definition at line 623 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().

◆ myDontResetLCGaps

bool MSAbstractLaneChangeModel::myDontResetLCGaps
protected

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 692 of file MSAbstractLaneChangeModel.h.

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

◆ myFurtherTargetLanes

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

◆ myLaneChangeCompletion

double MSAbstractLaneChangeModel::myLaneChangeCompletion
protected

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protected

direction of the lane change maneuver -1 means right, 1 means left

Definition at line 629 of file MSAbstractLaneChangeModel.h.

Referenced by getAngleOffset(), getLaneChangeDirection(), getShadowDirection(), getShadowLane(), and startLaneChangeManeuver().

◆ myLastFollowerGap

double MSAbstractLaneChangeModel::myLastFollowerGap
protected

Definition at line 678 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().

◆ myLastFollowerSecureGap

double MSAbstractLaneChangeModel::myLastFollowerSecureGap
protected

Definition at line 681 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().

◆ myLastFollowerSpeed

double MSAbstractLaneChangeModel::myLastFollowerSpeed
protected

Definition at line 687 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().

◆ myLastLaneChangeOffset

SUMOTime MSAbstractLaneChangeModel::myLastLaneChangeOffset
private

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protected

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

Definition at line 673 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protected

◆ myLastLeaderGap

double MSAbstractLaneChangeModel::myLastLeaderGap
protected

the actual minimum longitudinal distances to vehicles on the target lane

Definition at line 677 of file MSAbstractLaneChangeModel.h.

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

◆ myLastLeaderSecureGap

double MSAbstractLaneChangeModel::myLastLeaderSecureGap
protected

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

Definition at line 680 of file MSAbstractLaneChangeModel.h.

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

◆ myLastLeaderSpeed

double MSAbstractLaneChangeModel::myLastLeaderSpeed
protected

speeds of surrounding vehicles at the time of lane change

Definition at line 686 of file MSAbstractLaneChangeModel.h.

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

◆ myLastOrigLeaderGap

double MSAbstractLaneChangeModel::myLastOrigLeaderGap
protected

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

Definition at line 683 of file MSAbstractLaneChangeModel.h.

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

◆ myLastOrigLeaderSecureGap

double MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap
protected

Definition at line 684 of file MSAbstractLaneChangeModel.h.

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

◆ myLastOrigLeaderSpeed

double MSAbstractLaneChangeModel::myLastOrigLeaderSpeed
protected

Definition at line 688 of file MSAbstractLaneChangeModel.h.

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

◆ myLCEndedOutput

bool MSAbstractLaneChangeModel::myLCEndedOutput
staticprotected

Definition at line 711 of file MSAbstractLaneChangeModel.h.

Referenced by initGlobalOptions(), and outputLCEnded().

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotected

whether to record lane-changing

Definition at line 709 of file MSAbstractLaneChangeModel.h.

Referenced by haveLCOutput(), initGlobalOptions(), laneChangeOutput(), and startLaneChangeManeuver().

◆ myLCStartedOutput

bool MSAbstractLaneChangeModel::myLCStartedOutput
staticprotected

Definition at line 710 of file MSAbstractLaneChangeModel.h.

Referenced by initGlobalOptions(), and outputLCStarted().

◆ myLCXYOutput

bool MSAbstractLaneChangeModel::myLCXYOutput
staticprotected

Definition at line 712 of file MSAbstractLaneChangeModel.h.

Referenced by initGlobalOptions(), and laneChangeOutput().

◆ myLeftFollowers

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myLeftFollowers
protected

Cached info on lc-relevant neighboring vehicles.

Definition at line 610 of file MSAbstractLaneChangeModel.h.

Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().

◆ myLeftLeaders

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myLeftLeaders
protected

Definition at line 611 of file MSAbstractLaneChangeModel.h.

Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().

◆ myManeuverDist

double MSAbstractLaneChangeModel::myManeuverDist
private

The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently.

Definition at line 729 of file MSAbstractLaneChangeModel.h.

Referenced by determineTargetLane(), getManeuverDist(), remainingTime(), setManeuverDist(), and updateCompletion().

◆ myMaxSpeedLatFactor

double MSAbstractLaneChangeModel::myMaxSpeedLatFactor
protected

◆ myMaxSpeedLatStanding

double MSAbstractLaneChangeModel::myMaxSpeedLatStanding
protected

◆ myModel

◆ myNoPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow
protected

◆ myOwnState

◆ myPartiallyOccupatedByShadow

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

list of lanes where the shadow vehicle is partial occupator

Definition at line 666 of file MSAbstractLaneChangeModel.h.

Referenced by setShadowPartialOccupator().

◆ myPreviousManeuverDist

double MSAbstractLaneChangeModel::myPreviousManeuverDist
private

Maneuver distance from the previous simulation step.

Definition at line 732 of file MSAbstractLaneChangeModel.h.

Referenced by getPreviousManeuverDist(), and setManeuverDist().

◆ myPreviousState

int MSAbstractLaneChangeModel::myPreviousState
protected

lane changing state from the previous simulation step

Definition at line 597 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), and setOwnState().

◆ myPreviousState2

int MSAbstractLaneChangeModel::myPreviousState2
protected

lane changing state from step before the previous simulation step

Definition at line 599 of file MSAbstractLaneChangeModel.h.

Referenced by getPrevState(), and setOwnState().

◆ myRightFollowers

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myRightFollowers
protected

Definition at line 612 of file MSAbstractLaneChangeModel.h.

Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().

◆ myRightLeaders

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myRightLeaders
protected

Definition at line 613 of file MSAbstractLaneChangeModel.h.

Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().

◆ mySavedStateCenter

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateCenter
protected

Definition at line 602 of file MSAbstractLaneChangeModel.h.

Referenced by getSavedState(), and saveLCState().

◆ mySavedStateLeft

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateLeft
protected

Definition at line 603 of file MSAbstractLaneChangeModel.h.

Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().

◆ mySavedStateRight

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateRight
protected

Definition at line 601 of file MSAbstractLaneChangeModel.h.

Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().

◆ myShadowFurtherLanes

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

◆ myShadowFurtherLanesPosLat

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

Definition at line 639 of file MSAbstractLaneChangeModel.h.

Referenced by getShadowFurtherLanesPosLat(), and updateShadowLane().

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protected

A lane that is partially occupied by the front of the vehicle but that is not the primary lane.

Definition at line 635 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupShadowLane(), determineTargetLane(), getShadowDirection(), getShadowLane(), setShadowLane(), and updateShadowLane().

◆ mySigma

◆ mySpeedLat

double MSAbstractLaneChangeModel::mySpeedLat
protected

◆ myTargetLane

MSLane* MSAbstractLaneChangeModel::myTargetLane
protected

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 649 of file MSAbstractLaneChangeModel.h.

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

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protected

The vehicle this lane-changer belongs to.

Definition at line 592 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(), MSLCM_LC2013::anticipateFollowSpeed(), 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(), computeSpeedLat(), MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), congested(), MSLCM_SL2015::decideDirection(), determineTargetLane(), endLaneChangeManeuver(), estimateLCDuration(), getAngleOffset(), MSLCM_LC2013::getAssumedDecelForLaneChangeDuration(), MSLCM_SL2015::getLateralDrift(), MSLCM_SL2015::getPosLat(), getShadowDirection(), getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getWidth(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::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_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), primaryLaneChanged(), remainingTime(), removeShadowApproachingInformation(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::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().

◆ NO_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_NEIGHBOR
static

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