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Eclipse SUMO - Simulation of Urban MObility
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Interface for lane-change models. More...
#include <MSAbstractLaneChangeModel.h>
Data Structures | |
class | MSLCMessager |
A class responsible for exchanging messages between cars involved in lane-change interaction. More... | |
struct | StateAndDist |
Public Member Functions | |
bool | alreadyChanged () const |
reset the flag whether a vehicle already moved to false More... | |
virtual void | changed ()=0 |
void | changedToOpposite () |
called when a vehicle changes between lanes in opposite directions More... | |
void | checkTraCICommands () |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. More... | |
void | cleanupShadowLane () |
void | cleanupTargetLane () |
void | clearGapsAtLCInit () |
void | clearNeighbors () |
Clear info on neighboring vehicle from previous step. More... | |
virtual double | computeSpeedLat (double latDist, double &maneuverDist) 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... | |
MSLane * | determineTargetLane (int &targetDir) const |
void | endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE) |
virtual double | estimateLCDuration (const double speed, const double remainingManeuverDist, const double decel) const |
Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,. More... | |
double | 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< MSLeaderDistanceInfo > | getFollowers (const int dir) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction. More... | |
const std::vector< MSLane * > & | getFurtherTargetLanes () const |
double | getLaneChangeCompletion () const |
Get the current lane change completion ratio. More... | |
int | getLaneChangeDirection () const |
return the direction of the current lane change maneuver More... | |
SUMOTime | getLastLaneChangeOffset () const |
const std::shared_ptr< MSLeaderDistanceInfo > | getLeaders (const int dir) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction. More... | |
double | getManeuverDist () const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More... | |
virtual LaneChangeModel | getModelID () const =0 |
Returns the model's ID;. More... | |
virtual double | getOppositeSafetyFactor () const |
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model More... | |
int | getOwnState () const |
virtual std::string | getParameter (const std::string &key) const |
try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key More... | |
double | getPreviousManeuverDist () const |
int | getPrevState () const |
virtual double | getSafetyFactor () const |
return factor for modifying the safety constraints of the car-following model More... | |
const std::pair< int, int > & | getSavedState (const int dir) const |
int | getShadowDirection () const |
return the direction in which the current shadow lane lies More... | |
const std::vector< MSLane * > & | getShadowFurtherLanes () const |
const std::vector< double > & | getShadowFurtherLanesPosLat () const |
MSLane * | getShadowLane () const |
Returns the lane the vehicle's shadow is on during continuous/sublane lane change. More... | |
MSLane * | getShadowLane (const MSLane *lane) const |
return the shadow lane for the given lane More... | |
MSLane * | getShadowLane (const MSLane *lane, double posLat) const |
return the shadow lane for the given lane and lateral offset More... | |
double | getSpeedLat () const |
return the lateral speed of the current lane change maneuver More... | |
MSLane * | getTargetLane () const |
Returns the lane the vehicle has committed to enter during a sublane lane change. More... | |
virtual void * | inform (void *info, MSVehicle *sender)=0 |
bool | isChangingLanes () const |
return true if the vehicle currently performs a lane change maneuver More... | |
bool | isOpposite () const |
bool | isStrategicBlocked () const |
void | laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction, double maneuverDist=0) |
called once the vehicle ends a lane change manoeuvre (non-instant) More... | |
void | memorizeGapsAtLCInit () |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
MSAbstractLaneChangeModel (MSVehicle &v, const LaneChangeModel model) | |
Constructor. More... | |
bool | pastMidpoint () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver More... | |
virtual double | patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)=0 |
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More... | |
virtual void | prepareStep () |
void | primaryLaneChanged (MSLane *source, MSLane *target, int direction) |
called once when the vehicles primary lane changes More... | |
SUMOTime | remainingTime () const |
Compute the remaining time until LC completion. More... | |
void | removeShadowApproachingInformation () const |
void | resetChanged () |
reset the flag whether a vehicle already moved to false More... | |
virtual void | saveBlockerLength (double length) |
reserve space at the end of the lane to avoid dead locks More... | |
void | saveLCState (const int dir, const int stateWithoutTraCI, const int state) |
void | saveNeighbors (const int dir, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &leaders) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case. More... | |
void | saveNeighbors (const int dir, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &leader) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case. More... | |
void | setFollowerGaps (CLeaderDist follower, double secGap) |
void | setFollowerGaps (const MSLeaderDistanceInfo &vehicles) |
void | setLeaderGaps (CLeaderDist, double secGap) |
void | setLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
void | setManeuverDist (const double dist) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) More... | |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOrigLeaderGaps (CLeaderDist, double secGap) |
void | setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
virtual void | setOwnState (const int state) |
virtual void | setParameter (const std::string &key, const std::string &value) |
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More... | |
void | setShadowApproachingInformation (MSLink *link) const |
set approach information for the shadow vehicle More... | |
void | setShadowLane (MSLane *lane) |
set the shadow lane More... | |
void | setShadowPartialOccupator (MSLane *lane) |
void | setSpeedLat (double speedLat) |
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 () |
MSLane * | updateTargetLane () |
virtual int | wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked) |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
virtual int | wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &targetDistLat, int &blocked) |
virtual | ~MSAbstractLaneChangeModel () |
Destructor. More... | |
Static Public Member Functions | |
static MSAbstractLaneChangeModel * | build (LaneChangeModel lcm, MSVehicle &vehicle) |
Factory method for instantiating new lane changing models. More... | |
static bool | haveLateralDynamics () |
whether any kind of lateral dynamics is active More... | |
static bool | haveLCOutput () |
whether lanechange-output is active More... | |
static void | initGlobalOptions (const OptionsCont &oc) |
init global model parameters More... | |
static bool | outputLCEnded () |
whether start of maneuvers shall be recorede More... | |
static bool | outputLCStarted () |
whether start of maneuvers shall be recorede More... | |
Static Public Attributes | |
static const double | NO_NEIGHBOR |
Protected Member Functions | |
bool | cancelRequest (int state, int laneOffset) |
whether the influencer cancels the given request More... | |
virtual bool | congested (const MSVehicle *const neighLeader) |
void | initLastLaneChangeOffset (int dir) |
virtual bool | predInteraction (const std::pair< MSVehicle *, double > &leader) |
Protected Attributes | |
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 MSCFModel & | myCarFollowModel |
The vehicle's car following model. More... | |
double | myCommittedSpeed |
the speed when committing to a change maneuver More... | |
bool | myDontResetLCGaps |
Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
std::vector< MSLane * > | myFurtherTargetLanes |
double | myLaneChangeCompletion |
progress of the lane change maneuver 0:started, 1:complete More... | |
int | myLaneChangeDirection |
direction of the lane change maneuver -1 means right, 1 means left More... | |
double | myLastFollowerGap |
double | myLastFollowerSecureGap |
double | myLastFollowerSpeed |
double | myLastLateralGapLeft |
the minimum lateral gaps to other vehicles that were found when last changing to the left and right More... | |
double | myLastLateralGapRight |
double | myLastLeaderGap |
the actual minimum longitudinal distances to vehicles on the target lane More... | |
double | myLastLeaderSecureGap |
the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More... | |
double | myLastLeaderSpeed |
speeds of surrounding vehicles at the time of lane change More... | |
double | myLastOrigLeaderGap |
acutal and secure distance to closest leader vehicle on the original when performing lane change More... | |
double | myLastOrigLeaderSecureGap |
double | myLastOrigLeaderSpeed |
double | 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 |
MSLane * | myShadowLane |
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... | |
MSLane * | myTargetLane |
The target lane for the vehicle's current maneuver. More... | |
MSVehicle & | myVehicle |
The vehicle this lane-changer belongs to. More... | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftFollowers |
Cached info on lc-relevant neighboring vehicles. More... | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftLeaders |
std::shared_ptr< MSLeaderDistanceInfo > | myRightFollowers |
std::shared_ptr< MSLeaderDistanceInfo > | myRightLeaders |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted More... | |
static bool | myLCEndedOutput |
static bool | myLCOutput |
whether to record lane-changing More... | |
static bool | myLCStartedOutput |
static bool | myLCXYOutput |
Private Member Functions | |
MSAbstractLaneChangeModel & | operator= (const MSAbstractLaneChangeModel &s) |
Invalidated assignment operator. More... | |
Private Attributes | |
bool | myAmOpposite |
whether the vehicle is driving in the opposite direction More... | |
std::vector< MSLink * > | myApproachedByShadow |
links which are approached by the shadow vehicle More... | |
SUMOTime | myLastLaneChangeOffset |
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... | |
Interface for lane-change models.
Definition at line 44 of file MSAbstractLaneChangeModel.h.
MSAbstractLaneChangeModel::MSAbstractLaneChangeModel | ( | MSVehicle & | v, |
const LaneChangeModel | model | ||
) |
Constructor.
[in] | v | The vehicle this lane-changer belongs to |
[in] | model | The type of lane change model |
Definition at line 95 of file MSAbstractLaneChangeModel.cpp.
References LCA_UNKNOWN, and saveLCState().
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virtual |
Destructor.
Definition at line 138 of file MSAbstractLaneChangeModel.cpp.
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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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Factory method for instantiating new lane changing models.
[in] | lcm | The type of model to build |
[in] | vehicle | The vehicle for which this model shall be built |
Definition at line 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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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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pure virtual |
Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Referenced by primaryLaneChanged().
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().
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().
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().
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().
void MSAbstractLaneChangeModel::clearGapsAtLCInit | ( | ) |
Definition at line 303 of file MSAbstractLaneChangeModel.cpp.
References myDontResetLCGaps.
Referenced by laneChangeOutput().
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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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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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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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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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().
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().
void MSAbstractLaneChangeModel::endLaneChangeManeuver | ( | const MSMoveReminder::Notification | reason = MSMoveReminder::NOTIFICATION_LANE_CHANGE | ) |
Definition at line 412 of file MSAbstractLaneChangeModel.cpp.
References changedToOpposite(), cleanupShadowLane(), cleanupTargetLane(), debugVehicle(), MSVehicle::fixPosition(), Named::getID(), myAmOpposite, myLaneChangeCompletion, myNoPartiallyOccupatedByShadow, myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, SIMTIME, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::processLaneAdvances(), and updateShadowLane().
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Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,.
[in] | speed | Current longitudinal speed of the changing vehicle. |
[in] | remainingManeuverDist | dist which is still to be covered until LC is completed |
[in] | decel | Maximal assumed deceleration rate applied during the LC. |
Definition at line 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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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().
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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Returns a deceleration value which is used for the estimation of the duration of a lane change.
Reimplemented in MSLCM_LC2013.
Definition at line 390 of file MSAbstractLaneChangeModel.cpp.
References myModel, and toString().
Referenced by MSLaneChanger::checkChange().
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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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inline |
Definition at line 538 of file MSAbstractLaneChangeModel.h.
References myCommittedSpeed.
Referenced by MSVehicle::planMoveInternal(), and MSLaneChangerSublane::startChangeSublane().
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getFollowers | ( | const int | dir | ) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction.
Definition at line 220 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, and myRightFollowers.
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inline |
Definition at line 409 of file MSAbstractLaneChangeModel.h.
References myFurtherTargetLanes.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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Get the current lane change completion ratio.
Definition at line 445 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
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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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inline |
Definition at line 413 of file MSAbstractLaneChangeModel.h.
References myLastLaneChangeOffset.
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getLeaders | ( | const int | dir | ) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction.
Definition at line 233 of file MSAbstractLaneChangeModel.cpp.
References myLeftLeaders, and myRightLeaders.
Referenced by LIBSUMO_NAMESPACE::Vehicle::getNeighbors().
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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pure virtual |
Returns the model's ID;.
Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Referenced by MSLaneChanger::changeOpposite().
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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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inline |
Definition at line 173 of file MSAbstractLaneChangeModel.h.
References myOwnState.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChanger::applyTraCICommands(), MSLaneChanger::change(), checkTraCICommands(), MSLaneChanger::checkTraCICommands(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSVehicle::setBlinkerInformation(), and MSLaneChangerSublane::startChangeSublane().
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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().
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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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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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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Definition at line 193 of file MSAbstractLaneChangeModel.h.
References mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.
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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Definition at line 394 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Definition at line 398 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanesPosLat.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
Definition at line 379 of file MSAbstractLaneChangeModel.h.
References myShadowLane.
Referenced by MSVehicle::checkLinkLeader(), MSVehicle::checkLinkLeaderCurrentAndParallel(), MSLCM_SL2015::checkStrategicChange(), MSLaneChanger::continueChange(), MSLane::detectCollisions(), MSVehicle::executeMove(), MSVehicle::getBackPosition(), MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), MSVehicle::getLatOffset(), getShadowLane(), MSVehicle::isFrontOnLane(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), GUIVehicle::selectBlockingFoes(), MSVehicle::setApproachingForAllLinks(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and updateShadowLane().
return the shadow lane for the given lane
Definition at line 461 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.
return the shadow lane for the given lane and lateral offset
Definition at line 433 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), Named::getID(), MSVehicle::getLateralOverlap(), MSLane::getParallelLane(), isChangingLanes(), myAmOpposite, myLaneChangeCompletion, myLaneChangeDirection, myNoPartiallyOccupatedByShadow, myVehicle, and SIMTIME.
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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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Returns the lane the vehicle has committed to enter during a sublane lane change.
Definition at line 405 of file MSAbstractLaneChangeModel.h.
References myTargetLane.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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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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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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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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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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Definition at line 517 of file MSAbstractLaneChangeModel.cpp.
References myLastLaneChangeOffset.
Referenced by primaryLaneChanged().
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return true if the vehicle currently performs a lane change maneuver
Definition at line 440 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
Referenced by MSLaneChanger::change(), MSLaneChangerSublane::change(), MSVehicle::computeAngle(), MSLCM_LC2013::computeSpeedLat(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::fixPosition(), MSVehicle::getBackPosition(), MSVehicle::getPosition(), getShadowDirection(), getShadowLane(), MSVehicle::planMoveInternal(), MSLCM_LC2013::prepareStep(), MSVehicle::processLaneAdvances(), remainingTime(), MSVehicle::setBlinkerInformation(), and updateShadowLane().
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Definition at line 534 of file MSAbstractLaneChangeModel.h.
References myAmOpposite.
Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::adaptToLeaders(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSDevice_SSM::classifyEncounter(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), MSDevice_SSM::findFoeConflictLane(), MSDevice_SSM::findSurroundingVehicles(), MSVehicle::getBackPositionOnLane(), GUIVehicle::getColorValue(), MSVehicle::getLatOffset(), MSLink::getLeaderInfo(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSVehicle::getPositionAlongBestLanes(), MSLCHelper::getRoundaboutDistBonus(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), MSVehicle::planMoveInternal(), MSVehicle::updateBestLanes(), and MSVehicle::updateState().
bool MSAbstractLaneChangeModel::isStrategicBlocked | ( | ) | const |
Definition at line 996 of file MSAbstractLaneChangeModel.cpp.
References LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_STRATEGIC, mySavedStateLeft, and mySavedStateRight.
Referenced by MSLink::getLeaderInfo().
void MSAbstractLaneChangeModel::laneChangeOutput | ( | const std::string & | tag, |
MSLane * | source, | ||
MSLane * | target, | ||
int | direction, | ||
double | maneuverDist = 0 |
||
) |
called once the vehicle ends a lane change manoeuvre (non-instant)
Definition at line 333 of file MSAbstractLaneChangeModel.cpp.
References clearGapsAtLCInit(), OutputDevice::closeTag(), DELTA_T, OutputDevice::getDeviceByOption(), MSVehicleType::getID(), Named::getID(), MSNet::getInstance(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGLEADER, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, myLCOutput, myLCXYOutput, myOwnState, myVehicle, NO_NEIGHBOR, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_POSITION, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, SUMO_ATTR_X, SUMO_ATTR_Y, time2string(), toString(), OutputDevice::writeAttr(), Position::x(), and Position::y().
Referenced by MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and primaryLaneChanged().
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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Invalidated assignment operator.
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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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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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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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Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step.
It is guaranteed that min<=wanted<=max, but the implementation needs to make sure that the return value is between min and max.
min | The minimum resulting speed |
wanted | The aspired speed of the car following model |
max | The maximum resulting speed |
cfModel | The model used |
Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Referenced by MSCFModel::finalizeSpeed(), and MSCFModel_Daniel1::finalizeSpeed().
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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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Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Definition at line 911 of file MSAbstractLaneChangeModel.cpp.
References getCanceledState(), LCA_NONE, LCA_UNKNOWN, myCommittedSpeed, myDontResetLCGaps, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, NO_NEIGHBOR, and saveLCState().
Referenced by MSVehicle::executeMove(), MSDevice_Bluelight::notifyMove(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), and MSLCM_SL2015::prepareStep().
void MSAbstractLaneChangeModel::primaryLaneChanged | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
called once when the vehicles primary lane changes
Definition at line 308 of file MSAbstractLaneChangeModel.cpp.
References changed(), changedToOpposite(), debugVehicle(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), MSLane::forceVehicleInsertion(), MSLane::getEdge(), Named::getID(), MSVehicle::getLateralPositionOnLane(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), initLastLaneChangeOffset(), laneChangeOutput(), MSVehicle::leaveLane(), MSLane::leftByLaneChange(), myAmOpposite, myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSVehicle::setTentativeLaneAndPosition(), SIMTIME, and MSVehicle::updateDriveItems().
Referenced by MSLaneChanger::continueChange(), and startLaneChangeManeuver().
SUMOTime MSAbstractLaneChangeModel::remainingTime | ( | ) | const |
Compute the remaining time until LC completion.
Definition at line 799 of file MSAbstractLaneChangeModel.cpp.
References estimateLCDuration(), MSVehicle::getCarFollowModel(), SUMOVTypeParameter::getLCParams(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, isChangingLanes(), myLaneChangeCompletion, myManeuverDist, myVehicle, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, TIME2STEPS, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSVehicle::planMoveInternal().
void MSAbstractLaneChangeModel::removeShadowApproachingInformation | ( | ) | const |
Definition at line 821 of file MSAbstractLaneChangeModel.cpp.
References myApproachedByShadow, and myVehicle.
Referenced by MSVehicle::removeApproachingInformation().
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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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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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Definition at line 203 of file MSAbstractLaneChangeModel.h.
References getCanceledState(), mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), MSAbstractLaneChangeModel(), and prepareStep().
void MSAbstractLaneChangeModel::saveNeighbors | ( | const int | dir, |
const MSLeaderDistanceInfo & | followers, | ||
const MSLeaderDistanceInfo & | leaders | ||
) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case.
Definition at line 181 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.
Referenced by MSLaneChanger::checkChange(), and MSLaneChangerSublane::checkChangeSublane().
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.
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().
void MSAbstractLaneChangeModel::setFollowerGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 935 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setLeaderGaps | ( | CLeaderDist | leader, |
double | secGap | ||
) |
Definition at line 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().
void MSAbstractLaneChangeModel::setLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 955 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setManeuverDist | ( | const double | dist | ) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model)
Definition at line 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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inline |
Definition at line 514 of file MSAbstractLaneChangeModel.h.
References myNoPartiallyOccupatedByShadow.
Referenced by MSVehicle::enterLaneAtLaneChange().
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().
void MSAbstractLaneChangeModel::setOrigLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 975 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.
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virtual |
Reimplemented in MSLCM_SL2015.
Definition at line 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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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().
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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inline |
set the shadow lane
Definition at line 390 of file MSAbstractLaneChangeModel.h.
References myShadowLane.
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Definition at line 510 of file MSAbstractLaneChangeModel.h.
References myPartiallyOccupatedByShadow.
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().
bool MSAbstractLaneChangeModel::startLaneChangeManeuver | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
start the lane change maneuver and return whether it continues
Definition at line 280 of file MSAbstractLaneChangeModel.cpp.
References DELTA_T, MSLane::getWidth(), MSGlobals::gLaneChangeDuration, memorizeGapsAtLCInit(), myLaneChangeCompletion, myLaneChangeDirection, myLCOutput, myVehicle, primaryLaneChanged(), setManeuverDist(), MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSLaneChanger::applyTraCICommands(), MSLaneChanger::changeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), and MSLaneChanger::startChange().
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inlinevirtual |
whether the current change completes the manoeuvre
Definition at line 525 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
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inline |
Definition at line 368 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
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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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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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().
void MSAbstractLaneChangeModel::updateShadowLane | ( | ) |
Definition at line 526 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), endLaneChangeManeuver(), MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), Named::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), MSLane::getLinkTo(), getShadowLane(), haveLateralDynamics(), isChangingLanes(), myShadowFurtherLanes, myShadowFurtherLanesPosLat, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.
Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), and MSLaneChangerSublane::startChangeSublane().
MSLane * MSAbstractLaneChangeModel::updateTargetLane | ( | ) |
Definition at line 603 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), determineTargetLane(), MSVehicle::getFurtherLanes(), Named::getID(), MSVehicle::getLane(), MSLane::getParallelLane(), myFurtherTargetLanes, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), MSLane::setManeuverReservation(), SIMTIME, and toString().
Referenced by MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), and MSLaneChangerSublane::startChangeSublane().
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inlinevirtual |
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.
Definition at line 257 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChanger::checkChange().
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inlinevirtual |
Reimplemented in MSLCM_SL2015.
Definition at line 280 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::checkChangeSublane().
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protected |
the current lateral acceleration
Definition at line 620 of file MSAbstractLaneChangeModel.h.
Referenced by getAccelerationLat(), and setSpeedLat().
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whether overtaking on the right is permitted
Definition at line 706 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), and initGlobalOptions().
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whether the vehicle has already moved this step
Definition at line 632 of file MSAbstractLaneChangeModel.h.
Referenced by alreadyChanged(), changedToOpposite(), and resetChanged().
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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().
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links which are approached by the shadow vehicle
Definition at line 722 of file MSAbstractLaneChangeModel.h.
Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().
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Definition at line 605 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 606 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 604 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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The vehicle's car following model.
Definition at line 660 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::anticipateFollowSpeed(), MSLCM_SL2015::checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), predInteraction(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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the speed when committing to a change maneuver
Definition at line 623 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().
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Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 692 of file MSAbstractLaneChangeModel.h.
Referenced by clearGapsAtLCInit(), memorizeGapsAtLCInit(), and prepareStep().
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Definition at line 657 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getFurtherTargetLanes(), and updateTargetLane().
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progress of the lane change maneuver 0:started, 1:complete
Definition at line 626 of file MSAbstractLaneChangeModel.h.
Referenced by endLaneChangeManeuver(), getAngleOffset(), getLaneChangeCompletion(), getShadowLane(), isChangingLanes(), pastMidpoint(), remainingTime(), startLaneChangeManeuver(), and updateCompletion().
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direction of the lane change maneuver -1 means right, 1 means left
Definition at line 629 of file MSAbstractLaneChangeModel.h.
Referenced by getAngleOffset(), getLaneChangeDirection(), getShadowDirection(), getShadowLane(), and startLaneChangeManeuver().
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Definition at line 678 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 681 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 687 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().
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Definition at line 719 of file MSAbstractLaneChangeModel.h.
Referenced by getLastLaneChangeOffset(), initLastLaneChangeOffset(), and unchanged().
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the minimum lateral gaps to other vehicles that were found when last changing to the left and right
Definition at line 673 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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Definition at line 674 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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the actual minimum longitudinal distances to vehicles on the target lane
Definition at line 677 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security
Definition at line 680 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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speeds of surrounding vehicles at the time of lane change
Definition at line 686 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().
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acutal and secure distance to closest leader vehicle on the original when performing lane change
Definition at line 683 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 684 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 688 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().
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Definition at line 711 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCEnded().
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whether to record lane-changing
Definition at line 709 of file MSAbstractLaneChangeModel.h.
Referenced by haveLCOutput(), initGlobalOptions(), laneChangeOutput(), and startLaneChangeManeuver().
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Definition at line 710 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCStarted().
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Definition at line 712 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and laneChangeOutput().
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Cached info on lc-relevant neighboring vehicles.
Definition at line 610 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().
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Definition at line 611 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().
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The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently.
Definition at line 729 of file MSAbstractLaneChangeModel.h.
Referenced by determineTargetLane(), getManeuverDist(), remainingTime(), setManeuverDist(), and updateCompletion().
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Definition at line 697 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), and estimateLCDuration().
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Definition at line 695 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), and estimateLCDuration().
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the type of this model
Definition at line 663 of file MSAbstractLaneChangeModel.h.
Referenced by decideDirection(), getAssumedDecelForLaneChangeDuration(), getParameter(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), setParameter(), MSLCM_LC2013::setParameter(), MSLCM_SL2015::setParameter(), sublaneChangeCompleted(), updateExpectedSublaneSpeeds(), wantsChange(), and wantsChangeSublane().
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Definition at line 670 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), endLaneChangeManeuver(), getShadowLane(), and setNoShadowPartialOccupator().
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The current state of the vehicle.
Definition at line 595 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_SL2015::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_SL2015::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_SL2015::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_SL2015::amBlockingLeader(), MSLCM_DK2008::changed(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), checkTraCICommands(), getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), laneChangeOutput(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), setOwnState(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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list of lanes where the shadow vehicle is partial occupator
Definition at line 666 of file MSAbstractLaneChangeModel.h.
Referenced by setShadowPartialOccupator().
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Maneuver distance from the previous simulation step.
Definition at line 732 of file MSAbstractLaneChangeModel.h.
Referenced by getPreviousManeuverDist(), and setManeuverDist().
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lane changing state from the previous simulation step
Definition at line 597 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), and setOwnState().
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lane changing state from step before the previous simulation step
Definition at line 599 of file MSAbstractLaneChangeModel.h.
Referenced by getPrevState(), and setOwnState().
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Definition at line 612 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), and saveNeighbors().
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Definition at line 613 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), and saveNeighbors().
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Definition at line 602 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), and saveLCState().
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Definition at line 603 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 601 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 638 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), getShadowFurtherLanes(), and updateShadowLane().
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Definition at line 639 of file MSAbstractLaneChangeModel.h.
Referenced by getShadowFurtherLanesPosLat(), and updateShadowLane().
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A lane that is partially occupied by the front of the vehicle but that is not the primary lane.
Definition at line 635 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), determineTargetLane(), getShadowDirection(), getShadowLane(), setShadowLane(), and updateShadowLane().
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Definition at line 699 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::getLateralDrift(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), MSLCM_LC2013::setParameter(), and MSLCM_SL2015::setParameter().
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the current lateral speed
Definition at line 617 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::computeSpeedLat(), getSpeedLat(), setSpeedLat(), updateCompletion(), and MSLCM_SL2015::wantsChangeSublane().
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The target lane for the vehicle's current maneuver.
Definition at line 649 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getTargetLane(), and updateTargetLane().
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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().
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Definition at line 579 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), and prepareStep().