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MSLCM_SL2015 Class Reference

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

#include <MSLCM_SL2015.h>

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

Public Types

enum  MyLCAEnum {
  LCA_MNone = 0, LCA_AMBLOCKINGLEADER = 1 << 16, LCA_AMBLOCKINGFOLLOWER = 1 << 17, LCA_MRIGHT = 1 << 18,
  LCA_MLEFT = 1 << 19, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21, LCA_CHANGE_TO_HELP = 1 << 23, LCA_AMBACKBLOCKER = 1 << 26,
  LCA_AMBACKBLOCKER_STANDING = 1 << 27
}
 

Public Member Functions

SUMOReal _patchSpeed (const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)
 
bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
void changed ()
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void cleanupShadowLane ()
 
bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
SUMOReal getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
SUMOReal getLateralSpeed () const
 return the lateral speed of the current lane change maneuver More...
 
int getOwnState () const
 
int getShadowDirection () const
 return the direction in which the current shadow lane lies More...
 
const std::vector< MSLane * > & getShadowFurtherLanes () const
 
const std::vector< SUMOReal > & getShadowFurtherLanesPosLat () const
 
MSLanegetShadowLane () const
 Returns the lane the vehicles shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
void * inform (void *info, MSVehicle *sender)
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
 MSLCM_SL2015 (MSVehicle &v)
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
SUMOReal patchSpeed (const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)
 Called to adapt the speed in order to allow a lane change. More...
 
void prepareStep ()
 
void primaryLaneChanged (MSLane *source, MSLane *target, int direction)
 called once when the vehicles primary lane changes More...
 
SUMOTime remainingTime () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
void removeShadowApproachingInformation () const
 
void resetChanged ()
 reset the flag whether a vehicle already moved to false More...
 
void setNoShadowPartialOccupator (MSLane *lane)
 
void setOwnState (int state)
 
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)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
void unchanged ()
 
bool updateCompletion ()
 
void updateShadowLane ()
 
virtual int wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, SUMOReal > &leader, const std::pair< MSVehicle *, SUMOReal > &neighLead, const std::pair< MSVehicle *, SUMOReal > &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...
 
int wantsChangeSublane (int laneOffset, 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, SUMOReal &latDist, int &blocked)
 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 ~MSLCM_SL2015 ()
 

Static Public Member Functions

static MSAbstractLaneChangeModelbuild (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 

Protected Types

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

Protected Member Functions

int _wantsChangeSublane (int laneOffset, 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, SUMOReal &latDist, int &blocked)
 helper function for doing the actual work More...
 
bool amBlockingFollower ()
 
bool amBlockingFollowerNB ()
 
bool amBlockingFollowerPlusNB ()
 
bool amBlockingLeader ()
 
bool cancelRequest (int state)
 whether the influencer cancels the given request More...
 
int checkBlocking (const MSLane &neighLane, SUMOReal &latDist, int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, std::vector< CLeaderDist > *collectLeadBlockers=0, std::vector< CLeaderDist > *collectFollowBlockers=0, bool keepLatGapManeuver=false)
 restrict latDist to permissible speed and determine blocking state depending on that distance More...
 
int checkBlockingVehicles (const MSVehicle *ego, const MSLeaderDistanceInfo &vehicles, SUMOReal latDist, SUMOReal foeOffset, bool leaders, LaneChangeAction blockType, std::vector< CLeaderDist > *collectBlockers=0) const
 check whether any of the vehicles overlaps with ego More...
 
int checkStrategicChange (int ret, int laneOffset, const std::vector< MSVehicle::LaneQ > &preb, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, int currIdx, int bestLaneOffset, bool changeToBest, int lcaCounter, SUMOReal currentDist, SUMOReal neighDist, SUMOReal laDist, int roundaboutEdgesAhead)
 compute strategic lane change actions More...
 
int computeSublaneShift (const MSEdge *prevEdge, const MSEdge *curEdge)
 compute shift so that prevSublane + shift = newSublane More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
bool currentDistAllows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
 
bool currentDistDisallows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
 
StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable More...
 
void informFollower (int blocked, int dir, const CLeaderDist &neighFollow, SUMOReal remainingSeconds, SUMOReal plannedSpeed)
 decide whether we will try cut in before the follower or allow to be overtaken More...
 
void informFollowers (int blocked, int dir, const std::vector< CLeaderDist > &blockers, SUMOReal remainingSeconds, SUMOReal plannedSpeed)
 call informFollower for multiple followers More...
 
SUMOReal informLeader (int blocked, int dir, const CLeaderDist &neighLead, SUMOReal remainingSeconds)
 
SUMOReal informLeaders (int blocked, int dir, const std::vector< CLeaderDist > &blockers, SUMOReal remainingSeconds)
 
void initLastLaneChangeOffset (int dir)
 
int keepLatGap (int state, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, int laneOffset, SUMOReal &latDist, int &blocked)
 check whether lateral gap requirements are met override the current maneuver if necessary More...
 
void msg (const CLeaderDist &cld, SUMOReal speed, int state)
 send a speed recommendation to the given vehicle More...
 
virtual bool predInteraction (const std::pair< MSVehicle *, SUMOReal > &leader)
 
void saveBlockerLength (const MSVehicle *blocker, int lcaCounter)
 save space for vehicles which need to counter-lane-change More...
 
void saveBlockerLength (SUMOReal length)
 reserve space at the end of the lane to avoid dead locks More...
 
int slowDownForBlocked (MSVehicle **blocked, int state)
 compute useful slowdowns for blocked vehicles More...
 
void updateExpectedSublaneSpeeds (const MSLeaderInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
void updateGaps (const MSLeaderDistanceInfo &others, SUMOReal foeOffset, SUMOReal newCenter, SUMOReal gapFactor, SUMOReal &surplusGapRight, SUMOReal &surplusGapLeft) const
 check remaining lateral gaps for the given foe vehicles More...
 

Static Protected Member Functions

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

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
bool myCanChangeFully
 whether the current lane changing meneuver can be finished in a single step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
bool myDontBrake
 flag to prevent speed adaptation by slowing down More...
 
std::vector< SUMORealmyExpectedSublaneSpeeds
 expected travel speeds on all sublanes on the current edge(!) More...
 
SUMOReal myKeepRightProbability
 
SUMOReal myLaneChangeCompletion
 progress of the lane change maneuver 0:started, 1:complete More...
 
int myLaneChangeDirection
 direction of the lane change maneuver -1 means right, 1 means left More...
 
const MSEdgemyLastEdge
 expected travel speeds on all sublanes on the current edge(!) More...
 
SUMOReal myLateralspeed
 The lateral offset during a continuous LaneChangeManeuver. More...
 
SUMOReal myLeadingBlockerLength
 
SUMOReal myLeftSpace
 
SUMOReal myLookAheadSpeed
 
const LaneChangeModel myModel
 the type of this model More...
 
std::vector< MSLane * > myNoPartiallyOccupatedByShadow
 
SUMOReal myOrigLatDist
 the complete lateral distance the vehicle wants to travel to finish its maneuver More...
 
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...
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< SUMORealmyShadowFurtherLanesPosLat
 
MSLanemyShadowLane
 A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More...
 
SUMOReal mySpeedGainProbabilityLeft
 a value for tracking the probability that a change to the left is beneficial More...
 
SUMOReal mySpeedGainProbabilityRight
 a value for tracking the probability that a change to the right is beneficial More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
std::vector< SUMORealmyVSafes
 speed adaptation requests by ego and surrounding vehicles More...
 
user configurable model parameters
const SUMOReal myStrategicParam
 
const SUMOReal myCooperativeParam
 
const SUMOReal mySpeedGainParam
 
const SUMOReal myKeepRightParam
 
const SUMOReal mySublaneParam
 
const SUMOReal myPushy
 
const SUMOReal myAssertive
 
derived parameters
const SUMOReal myChangeProbThresholdRight
 
const SUMOReal myChangeProbThresholdLeft
 
const SUMOReal mySpeedLossProbThreshold
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCOutput
 whether to record lane-changing More...
 

Detailed Description

A lane change model developed by J. Erdmann.

Definition at line 44 of file MSLCM_SL2015.h.

Member Typedef Documentation

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

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

Definition at line 191 of file MSLCM_SL2015.h.

Member Enumeration Documentation

Enumerator
LCA_MNone 
LCA_AMBLOCKINGLEADER 
LCA_AMBLOCKINGFOLLOWER 
LCA_MRIGHT 
LCA_MLEFT 
LCA_AMBLOCKINGFOLLOWER_DONTBRAKE 
LCA_CHANGE_TO_HELP 
LCA_AMBACKBLOCKER 
LCA_AMBACKBLOCKER_STANDING 

Definition at line 47 of file MSLCM_SL2015.h.

Constructor & Destructor Documentation

MSLCM_SL2015::MSLCM_SL2015 ( MSVehicle v)

Definition at line 104 of file MSLCM_SL2015.cpp.

References MSGlobals::gLateralResolution.

MSLCM_SL2015::~MSLCM_SL2015 ( )
virtual

Definition at line 131 of file MSLCM_SL2015.cpp.

References changed().

Member Function Documentation

int MSLCM_SL2015::_wantsChangeSublane ( int  laneOffset,
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,
SUMOReal latDist,
int &  blocked 
)
protected

helper function for doing the actual work

determine the leftmost and rightmost sublanes currently occupied

Definition at line 795 of file MSLCM_SL2015.cpp.

References abs, amBlockingFollowerPlusNB(), ARRIVAL_POSLAT_CENTER, ARRIVAL_POSLAT_DEFAULT, ARRIVAL_POSLAT_GIVEN, ARRIVAL_POSLAT_LEFT, ARRIVAL_POSLAT_RIGHT, ARRIVALPOS_LAT_THRESHOLD, SUMOVehicleParameter::arrivalPosLat, SUMOVehicleParameter::arrivalPosLatProcedure, MSVehicle::LaneQ::bestContinuations, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), checkBlocking(), checkStrategicChange(), currentDistAllows(), DELTA_T, MSEdge::EDGEFUNCTION_INTERNAL, GAIN_PERCEPTION_THRESHOLD, gDebugFlag2, MSBaseVehicle::getArrivalPos(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSRoute::getLastEdge(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), getLongest(), MSBaseVehicle::getParameter(), MSVehicle::getPositionOnLane(), MSVehicleType::getPreferredLateralAlignment(), MSEdge::getPurpose(), MSLane::getRightmostSublane(), MSVehicle::getRightSideOnEdge(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getRoute(), MSCFModel::getSecureGap(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSEdge::getSubLaneSides(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSEdge::getWidth(), MSLeaderInfo::hasStoppedVehicle(), informFollowers(), informLeaders(), KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, LATALIGN_ARBITRARY, LATALIGN_CENTER, LATALIGN_COMPACT, LATALIGN_LEFT, LATALIGN_NICE, LATALIGN_RIGHT, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_NONE, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD_LEFT, LOOK_FORWARD_RIGHT, max, MAX2(), MIN2(), myCanChangeFully, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myExpectedSublaneSpeeds, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, myPreviousState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, mySpeedLossProbThreshold, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, RELGAIN_NORMALIZATION_MIN_SPEED, ROUNDABOUT_DIST_BONUS, saveBlockerLength(), SIMTIME, slowDownForBlocked(), SPEED_GAIN_MIN_SECONDS, STEPS2TIME, SUMOReal, toString(), MSLeaderDistanceInfo::toString(), TS, and URGENCY.

Referenced by wantsChangeSublane().

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 324 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSLaneChanger::change().

bool MSLCM_SL2015::amBlockingFollower ( )
inlineprotected
bool MSLCM_SL2015::amBlockingFollowerNB ( )
inlineprotected
bool MSLCM_SL2015::amBlockingFollowerPlusNB ( )
inlineprotected
bool MSLCM_SL2015::amBlockingLeader ( )
inlineprotected

Definition at line 171 of file MSLCM_SL2015.h.

References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.

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

Factory method for instantiating new lane changing models.

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

Definition at line 62 of file MSAbstractLaneChangeModel.cpp.

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

Referenced by MSVehicle::MSVehicle().

bool MSAbstractLaneChangeModel::cancelRequest ( int  state)
protectedinherited

whether the influencer cancels the given request

Definition at line 241 of file MSAbstractLaneChangeModel.cpp.

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

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

void MSAbstractLaneChangeModel::changedToOpposite ( )
inherited

called when a vehicle changes between lanes in opposite directions

Definition at line 347 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myAlreadyChanged, and MSAbstractLaneChangeModel::myAmOpposite.

Referenced by MSVehicle::executeMove(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

int MSLCM_SL2015::checkBlocking ( const MSLane neighLane,
SUMOReal latDist,
int  laneOffset,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
std::vector< CLeaderDist > *  collectLeadBlockers = 0,
std::vector< CLeaderDist > *  collectFollowBlockers = 0,
bool  keepLatGapManeuver = false 
)
protected
int MSLCM_SL2015::checkBlockingVehicles ( const MSVehicle ego,
const MSLeaderDistanceInfo vehicles,
SUMOReal  latDist,
SUMOReal  foeOffset,
bool  leaders,
LaneChangeAction  blockType,
std::vector< CLeaderDist > *  collectBlockers = 0 
) const
protected
int MSLCM_SL2015::computeSublaneShift ( const MSEdge prevEdge,
const MSEdge curEdge 
)
protected

compute shift so that prevSublane + shift = newSublane

Definition at line 735 of file MSLCM_SL2015.cpp.

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

Referenced by prepareStep().

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited
bool MSLCM_SL2015::currentDistAllows ( SUMOReal  dist,
int  laneOffset,
SUMOReal  lookForwardDist 
)
inlineprotected

Definition at line 186 of file MSLCM_SL2015.h.

References abs.

Referenced by _wantsChangeSublane().

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

Definition at line 183 of file MSLCM_SL2015.h.

References abs.

Referenced by checkStrategicChange().

bool MSLCM_SL2015::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 137 of file MSLCM_SL2015.cpp.

References DEBUG_COND.

SUMOReal MSAbstractLaneChangeModel::getAngleOffset ( ) const
inherited
int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inlineinherited

return the direction of the current lane change maneuver

Definition at line 308 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeDirection.

Referenced by MSLaneChanger::continueChange().

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inlineinherited
SUMOReal MSAbstractLaneChangeModel::getLateralSpeed ( ) const
inlineinherited

return the lateral speed of the current lane change maneuver

Definition at line 319 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLateralspeed.

Referenced by MSLaneChanger::continueChange().

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

compute lane change action from desired lateral distance

Definition at line 1853 of file MSLCM_SL2015.cpp.

References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.

Referenced by wantsChangeSublane().

CLeaderDist MSLCM_SL2015::getLongest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the longest vehicle in the given info

Definition at line 1567 of file MSLCM_SL2015.cpp.

References MSLeaderInfo::numSublanes(), and SUMOReal.

Referenced by _wantsChangeSublane().

int MSAbstractLaneChangeModel::getOwnState ( ) const
inlineinherited
const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited
const std::vector<SUMOReal>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited
CLeaderDist MSLCM_SL2015::getSlowest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the slowest vehicle in the given info

Definition at line 1584 of file MSLCM_SL2015.cpp.

References max, MSLeaderInfo::numSublanes(), and SUMOReal.

Referenced by _wantsChangeSublane(), and checkStrategicChange().

void * MSLCM_SL2015::inform ( void *  info,
MSVehicle sender 
)
virtual
void MSLCM_SL2015::informFollowers ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
SUMOReal  remainingSeconds,
SUMOReal  plannedSpeed 
)
protected

call informFollower for multiple followers

Definition at line 673 of file MSLCM_SL2015.cpp.

References informFollower().

Referenced by _wantsChangeSublane().

SUMOReal MSLCM_SL2015::informLeaders ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
SUMOReal  remainingSeconds 
)
protected
void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
staticinherited
void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited
int MSLCM_SL2015::keepLatGap ( int  state,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
const MSLane neighLane,
int  laneOffset,
SUMOReal latDist,
int &  blocked 
)
protected
void MSLCM_SL2015::msg ( const CLeaderDist cld,
SUMOReal  speed,
int  state 
)
protected

send a speed recommendation to the given vehicle

Definition at line 399 of file MSLCM_SL2015.cpp.

References MSAbstractLaneChangeModel::myVehicle.

Referenced by informFollower(), and informLeader().

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

return whether the given intervals overlap

Definition at line 1786 of file MSLCM_SL2015.cpp.

References NUMERICAL_EPS.

Referenced by checkBlockingVehicles().

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inlineinherited

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

Definition at line 295 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeCompletion.

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

SUMOReal MSLCM_SL2015::patchSpeed ( const SUMOReal  min,
const SUMOReal  wanted,
const SUMOReal  max,
const MSCFModel cfModel 
)
virtual

Called to adapt the speed in order to allow a lane change.

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

Implements MSAbstractLaneChangeModel.

Definition at line 215 of file MSLCM_SL2015.cpp.

References _patchSpeed(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMOReal, and toString().

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, SUMOReal > &  leader)
protectedvirtualinherited
SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const
inherited

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

Definition at line 325 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, and MSAbstractLaneChangeModel::myLaneChangeCompletion.

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const
inherited
void MSAbstractLaneChangeModel::resetChanged ( )
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 329 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSVehicle::planMove().

void MSLCM_SL2015::saveBlockerLength ( SUMOReal  length)
inlineprotectedvirtual

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

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 167 of file MSLCM_SL2015.h.

References MAX2(), and myLeadingBlockerLength.

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inlineinherited
void MSLCM_SL2015::setOwnState ( int  state)
inlinevirtual

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 108 of file MSLCM_SL2015.h.

References MSAbstractLaneChangeModel::myOwnState, and myPreviousState.

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const
inherited

set approach information for the shadow vehicle

Definition at line 331 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myApproachedByShadow.

Referenced by MSVehicle::checkRewindLinkLanes().

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inlineinherited

set the shadow lane

Definition at line 277 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myShadowLane.

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inlineinherited
void MSAbstractLaneChangeModel::unchanged ( )
inlineinherited
bool MSAbstractLaneChangeModel::updateCompletion ( )
inherited
void MSLCM_SL2015::updateGaps ( const MSLeaderDistanceInfo others,
SUMOReal  foeOffset,
SUMOReal  newCenter,
SUMOReal  gapFactor,
SUMOReal surplusGapRight,
SUMOReal surplusGapLeft 
) const
protected
virtual int MSAbstractLaneChangeModel::wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager msgPass,
int  blocked,
const std::pair< MSVehicle *, SUMOReal > &  leader,
const std::pair< MSVehicle *, SUMOReal > &  neighLead,
const std::pair< MSVehicle *, SUMOReal > &  neighFollow,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked 
)
inlinevirtualinherited

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_LC2013, and MSLCM_DK2008.

Definition at line 162 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChanger::checkChange().

int MSLCM_SL2015::wantsChangeSublane ( int  laneOffset,
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,
SUMOReal latDist,
int &  blocked 
)
virtual

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 from MSAbstractLaneChangeModel.

Definition at line 143 of file MSLCM_SL2015.cpp.

References _wantsChangeSublane(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_STAY, LCA_WANTS_LANECHANGE, myCanChangeFully, myOrigLatDist, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, and toString().

Field Documentation

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited
bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited
const SUMOReal MSLCM_SL2015::myAssertive
protected

Definition at line 319 of file MSLCM_SL2015.h.

Referenced by checkBlockingVehicles().

bool MSLCM_SL2015::myCanChangeFully
protected

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

Definition at line 302 of file MSLCM_SL2015.h.

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

const SUMOReal MSLCM_SL2015::myChangeProbThresholdLeft
protected

Definition at line 326 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and checkStrategicChange().

const SUMOReal MSLCM_SL2015::myChangeProbThresholdRight
protected

Definition at line 325 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

const SUMOReal MSLCM_SL2015::myCooperativeParam
protected

Definition at line 313 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

bool MSLCM_SL2015::myDontBrake
protected

flag to prevent speed adaptation by slowing down

Definition at line 299 of file MSLCM_SL2015.h.

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

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

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

Definition at line 293 of file MSLCM_SL2015.h.

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

const SUMOReal MSLCM_SL2015::myKeepRightParam
protected

Definition at line 315 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

SUMOReal MSLCM_SL2015::myKeepRightProbability
protected

Definition at line 280 of file MSLCM_SL2015.h.

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

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited
const MSEdge* MSLCM_SL2015::myLastEdge
protected

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

Definition at line 296 of file MSLCM_SL2015.h.

Referenced by prepareStep().

SUMOReal MSAbstractLaneChangeModel::myLateralspeed
protectedinherited

The lateral offset during a continuous LaneChangeManeuver.

Definition at line 399 of file MSAbstractLaneChangeModel.h.

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

bool MSAbstractLaneChangeModel::myLCOutput
staticprotectedinherited

whether to record lane-changing

Definition at line 433 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::primaryLaneChanged().

SUMOReal MSLCM_SL2015::myLeadingBlockerLength
protected
SUMOReal MSLCM_SL2015::myLeftSpace
protected
SUMOReal MSLCM_SL2015::myLookAheadSpeed
protected

Definition at line 287 of file MSLCM_SL2015.h.

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

SUMOReal MSLCM_SL2015::myOrigLatDist
protected

the complete lateral distance the vehicle wants to travel to finish its maneuver

Definition at line 308 of file MSLCM_SL2015.h.

Referenced by checkBlocking(), prepareStep(), and wantsChangeSublane().

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

list of lanes where the shadow vehicle is partial occupator

Definition at line 419 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().

int MSLCM_SL2015::myPreviousState
protected

lane changing state from the previous simulation step

Definition at line 305 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and setOwnState().

const SUMOReal MSLCM_SL2015::myPushy
protected

Definition at line 318 of file MSLCM_SL2015.h.

Referenced by checkBlocking().

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited
std::vector<SUMOReal> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited
MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited
const SUMOReal MSLCM_SL2015::mySpeedGainParam
protected

Definition at line 314 of file MSLCM_SL2015.h.

SUMOReal MSLCM_SL2015::mySpeedGainProbabilityLeft
protected

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

Definition at line 275 of file MSLCM_SL2015.h.

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

SUMOReal MSLCM_SL2015::mySpeedGainProbabilityRight
protected

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

Definition at line 273 of file MSLCM_SL2015.h.

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

const SUMOReal MSLCM_SL2015::mySpeedLossProbThreshold
protected

Definition at line 327 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

const SUMOReal MSLCM_SL2015::myStrategicParam
protected

Definition at line 312 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

const SUMOReal MSLCM_SL2015::mySublaneParam
protected

Definition at line 316 of file MSLCM_SL2015.h.

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited
std::vector<SUMOReal> MSLCM_SL2015::myVSafes
protected

speed adaptation requests by ego and surrounding vehicles

Definition at line 290 of file MSLCM_SL2015.h.

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


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