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MSLCM_LC2013 Class Reference

A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013. More...

#include <MSLCM_LC2013.h>

Inheritance diagram for MSLCM_LC2013:
Inheritance graph
Collaboration diagram for MSLCM_LC2013:
Collaboration graph

Public Types

enum  MyLCAEnum {
  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...
 
virtual StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable 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_LC2013 (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)
 
virtual 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 ()
 
virtual void updateExpectedSublaneSpeeds (const MSLeaderInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
void updateShadowLane ()
 
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...
 
virtual 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)
 
virtual ~MSLCM_LC2013 ()
 

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 _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)
 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...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
bool currentDistAllows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
 
bool currentDistDisallows (SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
 
void informFollower (MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, SUMOReal > &neighFollow, SUMOReal remainingSeconds, SUMOReal plannedSpeed)
 decide whether we will try cut in before the follower or allow to be overtaken More...
 
SUMOReal informLeader (MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, SUMOReal > &neighLead, SUMOReal remainingSeconds)
 
void initLastLaneChangeOffset (int dir)
 
virtual bool predInteraction (const std::pair< MSVehicle *, SUMOReal > &leader)
 
SUMOReal roundaboutDistBonus (SUMOReal roundaboutDistAhead, int roundaboutEdgesAhead) const
 Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts. More...
 
void saveBlockerLength (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...
 

Static Protected Member Functions

static SUMOReal distanceAlongNextRoundabout (SUMOReal position, const MSLane *initialLane, const std::vector< MSLane * > &continuationLanes)
 compute the distance on the next upcoming roundabout along a given sequence of lanes. More...
 
static void getRoundaboutAheadInfo (const MSLCM_LC2013 *lcm, const MSVehicle::LaneQ &curr, const MSVehicle::LaneQ &neigh, SUMOReal &roundaboutDistanceAhead, SUMOReal &roundaboutDistanceAheadNeigh, int &roundaboutEdgesAhead, int &roundaboutEdgesAheadNeigh)
 computes the distance and number of edges in the next upcoming roundabout along the lane continuations given in curr and neigh More...
 
static SUMOReal overtakeDistance (const MSVehicle *follower, const MSVehicle *leader, const SUMOReal gap, SUMOReal followerSpeed=INVALID_SPEED, SUMOReal leaderSpeed=INVALID_SPEED)
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
bool myDontBrake
 
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...
 
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
 
int myOwnState
 The current state of the vehicle. More...
 
std::vector< MSLane * > myPartiallyOccupatedByShadow
 list of lanes where the shadow vehicle is partial occupator 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 mySpeedGainProbability
 a value for tracking the probability that a change to the offset with the same sign is beneficial More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
std::vector< SUMORealmyVSafes
 
user configurable model parameters
const SUMOReal myStrategicParam
 
const SUMOReal myCooperativeParam
 
const SUMOReal mySpeedGainParam
 
const SUMOReal myKeepRightParam
 
derived parameters
const SUMOReal myChangeProbThresholdRight
 
const SUMOReal myChangeProbThresholdLeft
 

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 D. Krajzewicz, J. Erdmann et al. between 2004 and 2013.

Definition at line 55 of file MSLCM_LC2013.h.

Member Typedef Documentation

typedef std::pair<SUMOReal, int> MSLCM_LC2013::Info
protected

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

Definition at line 221 of file MSLCM_LC2013.h.

Member Enumeration Documentation

Enumerator
LCA_AMBLOCKINGLEADER 
LCA_AMBLOCKINGFOLLOWER 
LCA_MRIGHT 
LCA_MLEFT 
LCA_AMBLOCKINGFOLLOWER_DONTBRAKE 
LCA_CHANGE_TO_HELP 
LCA_AMBACKBLOCKER 
LCA_AMBACKBLOCKER_STANDING 

Definition at line 58 of file MSLCM_LC2013.h.

Constructor & Destructor Documentation

MSLCM_LC2013::~MSLCM_LC2013 ( )
virtual

Definition at line 129 of file MSLCM_LC2013.cpp.

References changed().

Member Function Documentation

int MSLCM_LC2013::_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 
)
protected

helper function for doing the actual work

we urgently need to change lanes to follow our route

Definition at line 1032 of file MSLCM_LC2013.cpp.

References abs, ACCEL2SPEED, amBlockingFollowerPlusNB(), MSVehicle::LaneQ::bestContinuations, MSVehicle::LaneQ::bestLaneOffset, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), MSVehicle::congested(), currentDistAllows(), currentDistDisallows(), DEBUG_COND, DELTA_T, MSEdge::EDGEFUNCTION_INTERNAL, MSCFModel::followSpeed(), MSLane::getBruttoOccupancy(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSLane::getLength(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeed(), MSVehicle::getPositionOnLane(), MSEdge::getPurpose(), getRoundaboutAheadInfo(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gSemiImplicitEulerUpdate, MSVehicle::influenceChangeDecision(), informFollower(), informLeader(), MSAbstractLaneChangeModel::isOpposite(), JAM_FACTOR, KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, MSVehicle::LaneQ::lane, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD_LEFT, LOOK_FORWARD_RIGHT, MAX2(), MIN2(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbability, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, myVSafes, NUMERICAL_EPS, MSVehicle::LaneQ::occupation, RELGAIN_NORMALIZATION_MIN_SPEED, roundaboutDistBonus(), saveBlockerLength(), SIMTIME, slowDownForBlocked(), STEPS2TIME, SUMO_const_haltingSpeed, SUMOReal, toString(), TS, TURN_LANE_DIST, and URGENCY.

Referenced by wantsChange().

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_LC2013::amBlockingFollower ( )
inlineprotected
bool MSLCM_LC2013::amBlockingFollowerNB ( )
inlineprotected
bool MSLCM_LC2013::amBlockingFollowerPlusNB ( )
inlineprotected
bool MSLCM_LC2013::amBlockingLeader ( )
inlineprotected

Definition at line 201 of file MSLCM_LC2013.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 _wantsChange(), and MSLCM_SL2015::_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().

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited
bool MSLCM_LC2013::currentDistAllows ( SUMOReal  dist,
int  laneOffset,
SUMOReal  lookForwardDist 
)
inlineprotected

Definition at line 216 of file MSLCM_LC2013.h.

References abs.

Referenced by _wantsChange().

bool MSLCM_LC2013::currentDistDisallows ( SUMOReal  dist,
int  laneOffset,
SUMOReal  lookForwardDist 
)
inlineprotected

Definition at line 213 of file MSLCM_LC2013.h.

References abs.

Referenced by _wantsChange().

bool MSLCM_LC2013::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 135 of file MSLCM_LC2013.cpp.

References DEBUG_COND.

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

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

Reimplemented in MSLCM_SL2015.

Definition at line 223 of file MSAbstractLaneChangeModel.h.

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

Referenced by MSLaneChangerSublane::change().

SUMOReal MSLCM_LC2013::distanceAlongNextRoundabout ( SUMOReal  position,
const MSLane initialLane,
const std::vector< MSLane * > &  continuationLanes 
)
staticprotected

compute the distance on the next upcoming roundabout along a given sequence of lanes.

Parameters
[in]positionposition of the vehicle on the initial lane
[in]initialLanestarting lane for the computation (may be internal)
[in]continuationLanessequence of lanes along which the roundabout distance is to be computed (only containing non-internal lanes)
Returns
distance along next upcoming roundabout on the given sequence of lanes continuationLanes

Definition at line 1778 of file MSLCM_LC2013.cpp.

References MSEdge::EDGEFUNCTION_INTERNAL, MSLinkContHelper::getConnectingLink(), MSLane::getEdge(), MSLink::getInternalLengthsAfter(), MSLane::getLength(), MSLane::getLinkCont(), MSLane::isInternal(), MSEdge::isRoundabout(), and SUMOReal.

Referenced by getRoundaboutAheadInfo().

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().

int MSAbstractLaneChangeModel::getOwnState ( ) const
inlineinherited
void MSLCM_LC2013::getRoundaboutAheadInfo ( const MSLCM_LC2013 lcm,
const MSVehicle::LaneQ curr,
const MSVehicle::LaneQ neigh,
SUMOReal roundaboutDistanceAhead,
SUMOReal roundaboutDistanceAheadNeigh,
int &  roundaboutEdgesAhead,
int &  roundaboutEdgesAheadNeigh 
)
staticprotected

computes the distance and number of edges in the next upcoming roundabout along the lane continuations given in curr and neigh

Parameters
[in]vehThe considered ego Vehicle
[in]currcontinuation info along veh's current lane
[in]neighcontinuation info along a neighboring lane (in MSLCM_2013::_wantsChange() the considered lane for a lanechange)
[out]roundaboutDistanceAheadAccumulated length of lanes in the next oncoming roundabout in curr
[out]roundaboutDistanceAheadNeighAccumulated length of lanes in the next oncoming roundabout in neigh
[out]roundaboutEdgesAheadNumber of lanes in the next oncoming roundabout in curr
[out]roundaboutEdgesAheadNeighNumber of lanes in the next oncoming roundabout in neigh

Definition at line 1675 of file MSLCM_LC2013.cpp.

References MSVehicle::LaneQ::bestContinuations, DEBUG_COND, distanceAlongNextRoundabout(), MSEdge::EDGEFUNCTION_INTERNAL, MSLinkContHelper::getConnectingLink(), MSLane::getEdge(), MSLink::getInternalLengthsAfter(), MSVehicle::getLane(), MSLane::getLength(), MSVehicle::getPositionOnLane(), MSEdge::getPurpose(), MSAbstractLaneChangeModel::isOpposite(), MSEdge::isRoundabout(), MSVehicle::LaneQ::lane, MSAbstractLaneChangeModel::myVehicle, and SUMOReal.

Referenced by _wantsChange().

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited
const std::vector<SUMOReal>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited
void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
staticinherited
void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited
SUMOReal MSLCM_LC2013::overtakeDistance ( const MSVehicle follower,
const MSVehicle leader,
const SUMOReal  gap,
SUMOReal  followerSpeed = INVALID_SPEED,
SUMOReal  leaderSpeed = INVALID_SPEED 
)
staticprotected
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_LC2013::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 194 of file MSLCM_LC2013.cpp.

References _patchSpeed(), DEBUG_COND, 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().

SUMOReal MSLCM_LC2013::roundaboutDistBonus ( SUMOReal  roundaboutDistAhead,
int  roundaboutEdgesAhead 
) const
protected

Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts.

Parameters
[in]roundaboutDistAheadDistance on roundabout
[in]roundaboutEdgesAheadnumber of edges on roundabout

Definition at line 1749 of file MSLCM_LC2013.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, myCooperativeParam, ROUNDABOUT_DIST_BONUS, ROUNDABOUT_DIST_FACTOR, and ROUNDABOUT_DIST_TRESH.

Referenced by _wantsChange().

void MSLCM_LC2013::saveBlockerLength ( SUMOReal  length)
inlineprotectedvirtual

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

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 197 of file MSLCM_LC2013.h.

References MAX2(), and myLeadingBlockerLength.

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inlineinherited
virtual void MSAbstractLaneChangeModel::setOwnState ( int  state)
inlinevirtualinherited
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
virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderInfo ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtualinherited

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 215 of file MSAbstractLaneChangeModel.h.

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

Referenced by MSLaneChangerSublane::change().

int MSLCM_LC2013::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 
)
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 141 of file MSLCM_LC2013.cpp.

References _wantsChange(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), LCA_BLOCKED, LCA_CHANGE_TO_HELP, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::myVehicle, and STEPS2TIME.

virtual int MSAbstractLaneChangeModel::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 
)
inlinevirtualinherited

Field Documentation

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited
bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited
const SUMOReal MSLCM_LC2013::myChangeProbThresholdLeft
protected

Definition at line 255 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

const SUMOReal MSLCM_LC2013::myChangeProbThresholdRight
protected

Definition at line 254 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

const SUMOReal MSLCM_LC2013::myCooperativeParam
protected

Definition at line 246 of file MSLCM_LC2013.h.

Referenced by _patchSpeed(), _wantsChange(), MSLCM_LC2013(), and roundaboutDistBonus().

bool MSLCM_LC2013::myDontBrake
protected

Definition at line 241 of file MSLCM_LC2013.h.

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

const SUMOReal MSLCM_LC2013::myKeepRightParam
protected

Definition at line 248 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), and MSLCM_LC2013().

SUMOReal MSLCM_LC2013::myKeepRightProbability
protected

Definition at line 231 of file MSLCM_LC2013.h.

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

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited
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_LC2013::myLeadingBlockerLength
protected
SUMOReal MSLCM_LC2013::myLeftSpace
protected
SUMOReal MSLCM_LC2013::myLookAheadSpeed
protected

Definition at line 238 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and informLeader().

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().

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited
std::vector<SUMOReal> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited
MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited
const SUMOReal MSLCM_LC2013::mySpeedGainParam
protected

Definition at line 247 of file MSLCM_LC2013.h.

Referenced by MSLCM_LC2013().

SUMOReal MSLCM_LC2013::mySpeedGainProbability
protected

a value for tracking the probability that a change to the offset with the same sign is beneficial

Definition at line 227 of file MSLCM_LC2013.h.

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

const SUMOReal MSLCM_LC2013::myStrategicParam
protected

Definition at line 245 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), and MSLCM_LC2013().

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited

The vehicle this lane-changer belongs to.

Definition at line 387 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_patchSpeed(), _patchSpeed(), _wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSAbstractLaneChangeModel::cancelRequest(), MSLCM_SL2015::changed(), changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::congested(), MSLCM_SL2015::decideDirection(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSLCM_SL2015::inform(), inform(), MSLCM_DK2008::informBlocker(), informFollower(), MSLCM_SL2015::informFollower(), informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), MSLCM_SL2015::msg(), MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_SL2015::patchSpeed(), patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), MSLCM_SL2015::prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), MSLCM_SL2015::saveBlockerLength(), saveBlockerLength(), slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

std::vector<SUMOReal> MSLCM_LC2013::myVSafes
protected

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