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SUMO - Simulation of Urban MObility
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A lane change model developed by J. Erdmann. More...
#include <MSLCM_SL2015.h>
Public Member Functions | |
double | _patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel) |
bool | alreadyChanged () const |
reset the flag whether a vehicle already moved to false More... | |
void | changed () |
void | changedToOpposite () |
called when a vehicle changes between lanes in opposite directions More... | |
void | checkTraCICommands () |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. More... | |
void | cleanupShadowLane () |
void | cleanupTargetLane () |
void | clearGapsAtLCInit () |
double | computeSpeedLat (double latDist, double &maneuverDist) |
decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints. More... | |
bool | debugVehicle () const |
whether the current vehicles shall be debugged More... | |
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 | getAngleOffset () const |
return the angle offset during a continuous change maneuver More... | |
virtual double | getAssumedDecelForLaneChangeDuration () const |
Returns a deceleration value which is used for the estimation of the duration of a lane change. More... | |
double | getCommittedSpeed () const |
const std::vector< MSLane * > & | getFurtherTargetLanes () const |
double | getLaneChangeCompletion () const |
Get the current lane change completion ratio. More... | |
int | getLaneChangeDirection () const |
return the direction of the current lane change maneuver More... | |
SUMOTime | getLastLaneChangeOffset () const |
double | getManeuverDist () const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More... | |
LaneChangeModel | getModelID () const |
Returns the model's id. More... | |
virtual double | getOppositeSafetyFactor () const |
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model More... | |
int | getOwnState () const |
std::string | getParameter (const std::string &key) const |
try to retrieve the given parameter from this device. Throw exception for unsupported key More... | |
int | getPrevState () const |
double | getSafetyFactor () const |
return factor for modifying the safety constraints of the car-following model More... | |
const std::pair< int, int > & | getSavedState (const int dir) const |
int | getShadowDirection () const |
return the direction in which the current shadow lane lies More... | |
const std::vector< MSLane * > & | getShadowFurtherLanes () const |
const std::vector< double > & | getShadowFurtherLanesPosLat () const |
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... | |
bool | hasSavedState (const int dir) const |
void * | inform (void *info, MSVehicle *sender) |
void | initDerivedParameters () |
init cached parameters derived directly from model parameters More... | |
bool | isChangingLanes () const |
return true if the vehicle currently performs a lane change maneuver More... | |
bool | isOpposite () const |
void | laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction) |
called once the vehicle ends a lane change manoeuvre (non-instant) More... | |
void | memorizeGapsAtLCInit () |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
MSLCM_SL2015 (MSVehicle &v) | |
bool | pastMidpoint () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver More... | |
double | patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel) |
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More... | |
void | prepareStep () |
void | primaryLaneChanged (MSLane *source, MSLane *target, int direction) |
called once when the vehicles primary lane changes More... | |
SUMOTime | remainingTime () const |
Compute the remaining time until LC completion. More... | |
void | removeShadowApproachingInformation () const |
void | resetChanged () |
reset the flag whether a vehicle already moved to false More... | |
void | saveLCState (const int dir, const int stateWithoutTraCI, const int state) |
void | setFollowerGaps (CLeaderDist follower, double secGap) |
void | setFollowerGaps (const MSLeaderDistanceInfo &vehicles) |
void | setLeaderGaps (CLeaderDist, double secGap) |
void | setLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
void | setManeuverDist (const double dist) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) More... | |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOrigLeaderGaps (CLeaderDist, double secGap) |
void | setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
void | setOwnState (const int state) |
void | setParameter (const std::string &key, const std::string &value) |
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More... | |
void | setShadowApproachingInformation (MSLink *link) const |
set approach information for the shadow vehicle More... | |
void | setShadowLane (MSLane *lane) |
set the shadow lane More... | |
void | setShadowPartialOccupator (MSLane *lane) |
void | setSpeedLat (double speedLat) |
bool | startLaneChangeManeuver (MSLane *source, MSLane *target, int direction) |
start the lane change maneuver and return whether it continues More... | |
virtual bool | sublaneChangeCompleted (const double latDist) const |
whether the current change completes the manoeuvre More... | |
void | unchanged () |
bool | updateCompletion () |
virtual void | updateSafeLatDist (const double travelledLatDist) |
Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuver continuation in non-action steps. More... | |
void | updateShadowLane () |
void | updateTargetLane () |
int | wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked) |
Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). XXX: no, it wraps _wantsChangeSublane This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
int | wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &maneuverDist, int &blocked) |
Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More... | |
virtual | ~MSLCM_SL2015 () |
Static Public Member Functions | |
static 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 Types | |
typedef std::pair< double, int > | Info |
information regarding save velocity (unused) and state flags of the ego vehicle More... | |
Protected Member Functions | |
int | _wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &maneuverDist, int &blocked) |
helper function for doing the actual work More... | |
void | addLCSpeedAdvice (const double vSafe) |
Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices. More... | |
bool | amBlockingFollower () |
bool | amBlockingFollowerNB () |
bool | amBlockingFollowerPlusNB () |
bool | amBlockingLeader () |
bool | cancelRequest (int state, int laneOffset) |
whether the influencer cancels the given request More... | |
int | checkBlocking (const MSLane &neighLane, double &latDist, double &maneuverDist, int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, std::vector< CLeaderDist > *collectLeadBlockers=0, std::vector< CLeaderDist > *collectFollowBlockers=0, bool keepLatGapManeuver=false, double gapFactor=0, int *retBlockedFully=0) |
restrict latDist to permissible speed and determine blocking state depending on that distance More... | |
int | checkBlockingVehicles (const MSVehicle *ego, const MSLeaderDistanceInfo &vehicles, double latDist, double foeOffset, bool leaders, LaneChangeAction blockType, double &safeLatGapRight, double &safeLatGapLeft, std::vector< CLeaderDist > *collectBlockers=0) const |
check whether any of the vehicles overlaps with ego More... | |
int | checkStrategicChange (int ret, int laneOffset, const std::vector< MSVehicle::LaneQ > &preb, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, int currIdx, int bestLaneOffset, bool changeToBest, double currentDist, double neighDist, double laDist, int roundaboutEdgesAhead, double latLaneDist, double &latDist) |
compute strategic lane change actions TODO: Better documentation, refs #2 More... | |
double | commitFollowSpeed (double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo &leaders, double foeOffset) const |
compute speed when committing to an urgent change that is safe in regard to leading vehicles More... | |
void | commitManoeuvre (int blocked, int blockedFully, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &neighLeaders, const MSLane &neighLane, double maneuverDist) |
commit to lane change maneuvre potentially overriding safe speed More... | |
double | computeGapFactor (int state) const |
compute the gap factor for the given state More... | |
double | computeSpeedGain (double latDistSublane, double defaultNextSpeed) const |
compute speedGain when moving by the given amount More... | |
int | computeSublaneShift (const MSEdge *prevEdge, const MSEdge *curEdge) |
compute shift so that prevSublane + shift = newSublane More... | |
virtual bool | congested (const MSVehicle *const neighLeader) |
bool | currentDistAllows (double dist, int laneOffset, double lookForwardDist) |
bool | currentDistDisallows (double dist, int laneOffset, double lookForwardDist) |
StateAndDist | decideDirection (StateAndDist sd1, StateAndDist sd2) const |
decide in which direction to move in case both directions are desirable More... | |
double | getSublaneWidth () |
return the current sublane width (and return a sensible value when running without sublanes) More... | |
double | getWidth () const |
return the widht of this vehicle (padded for numerical stability) More... | |
void | informFollower (int blocked, int dir, const CLeaderDist &neighFollow, double remainingSeconds, double plannedSpeed) |
decide whether we will try cut in before the follower or allow to be overtaken More... | |
void | informFollowers (int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds, double plannedSpeed) |
call informFollower for multiple followers More... | |
double | informLeader (int blocked, int dir, const CLeaderDist &neighLead, double remainingSeconds) |
double | informLeaders (int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds) |
void | initLastLaneChangeOffset (int dir) |
int | keepLatGap (int state, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, int laneOffset, double &latDist, double &maneuverDist, int &blocked) |
check whether lateral gap requirements are met override the current maneuver if necessary More... | |
void | msg (const CLeaderDist &cld, double speed, int state) |
send a speed recommendation to the given vehicle More... | |
virtual bool | predInteraction (const std::pair< MSVehicle *, double > &leader) |
void | saveBlockerLength (const MSVehicle *blocker, int lcaCounter) |
save space for vehicles which need to counter-lane-change More... | |
void | saveBlockerLength (double length) |
reserve space at the end of the lane to avoid dead locks More... | |
int | slowDownForBlocked (MSVehicle **blocked, int state) |
compute useful slowdowns for blocked vehicles More... | |
void | updateCFRelated (const MSLeaderDistanceInfo &vehicles, double foeOffset, bool leaders) |
find leaders/followers that are already in a car-following relationship with ego More... | |
void | updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex) |
update expected speeds for each sublane of the current edge More... | |
void | updateGaps (const MSLeaderDistanceInfo &others, double foeOffset, double oldCenter, double gapFactor, double &surplusGapRight, double &surplusGapLeft, bool saveMinGap=false, double netOverlap=0, double latDist=0, std::vector< CLeaderDist > *collectBlockers=0) |
check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps More... | |
Static Protected Member Functions | |
static LaneChangeAction | getLCA (int state, double latDist) |
compute lane change action from desired lateral distance More... | |
static CLeaderDist | getLongest (const MSLeaderDistanceInfo &ldi) |
get the longest vehicle in the given info More... | |
static CLeaderDist | getSlowest (const MSLeaderDistanceInfo &ldi) |
get the slowest vehicle in the given info More... | |
static bool | overlap (double right, double left, double right2, double left2) |
return whether the given intervals overlap More... | |
Protected Attributes | |
bool | myAlreadyChanged |
whether the vehicle has already moved this step More... | |
std::map< int, int > | myCanceledStates |
bool | myCanChangeFully |
whether the current lane changing maneuver can be finished in a single step More... | |
const MSCFModel & | myCarFollowModel |
The vehicle's car following model. More... | |
std::set< const MSVehicle * > | myCFRelated |
set of vehicles that are in a car-following relationship with ego (leader of followers) More... | |
bool | myCFRelatedReady |
double | myCommittedSpeed |
the speed when committing to a change maneuver More... | |
bool | myDontBrake |
flag to prevent speed adaptation by slowing down More... | |
bool | myDontResetLCGaps |
Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More... | |
std::vector< double > | myExpectedSublaneSpeeds |
expected travel speeds on all sublanes on the current edge(!) More... | |
std::vector< MSLane * > | myFurtherTargetLanes |
double | myKeepRightProbability |
double | myLaneChangeCompletion |
progress of the lane change maneuver 0:started, 1:complete More... | |
int | myLaneChangeDirection |
direction of the lane change maneuver -1 means right, 1 means left More... | |
const MSEdge * | myLastEdge |
expected travel speeds on all sublanes on the current edge(!) More... | |
double | myLastFollowerGap |
double | myLastFollowerSecureGap |
double | myLastLateralGapLeft |
the minimum lateral gaps to other vehicles that were found when last changing to the left and right More... | |
double | myLastLateralGapRight |
double | myLastLeaderGap |
the actual minimum longitudinal distances to vehicles on the target lane More... | |
double | myLastLeaderSecureGap |
the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More... | |
double | myLastOrigLeaderGap |
acutal and secure distance to closest leader vehicle on the original when performing lane change More... | |
double | myLastOrigLeaderSecureGap |
std::vector< double > | myLCAccelerationAdvices |
vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed() More... | |
double | myLeadingBlockerLength |
double | myLeftSpace |
double | myLookAheadSpeed |
double | myManeuverDist |
The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. More... | |
double | myMaxSpeedLatFactor |
double | myMaxSpeedLatStanding |
const LaneChangeModel | myModel |
the type of this model More... | |
std::vector< MSLane * > | myNoPartiallyOccupatedByShadow |
int | myOwnState |
The current state of the vehicle. More... | |
std::vector< MSLane * > | myPartiallyOccupatedByShadow |
list of lanes where the shadow vehicle is partial occupator More... | |
int | myPreviousState |
lane changing state from the previous simulation step More... | |
int | myPreviousState2 |
lane changing state from step before the previous simulation step More... | |
double | mySafeLatDistLeft |
double | mySafeLatDistRight |
the lateral distance the vehicle can safely move in the currently considered direction More... | |
std::map< int, std::pair< int, int > > | mySavedStates |
std::vector< MSLane * > | myShadowFurtherLanes |
std::vector< double > | myShadowFurtherLanesPosLat |
MSLane * | myShadowLane |
A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More... | |
double | mySpeedGainProbabilityLeft |
a value for tracking the probability that a change to the left is beneficial More... | |
double | mySpeedGainProbabilityRight |
a value for tracking the probability that a change to the right is beneficial More... | |
double | mySpeedLat |
the current lateral speed More... | |
MSLane * | myTargetLane |
The target lane for the vehicle's current maneuver. More... | |
MSVehicle & | myVehicle |
The vehicle this lane-changer belongs to. More... | |
user configurable model parameters (can be changed via TraCI) | |
double | myStrategicParam |
double | myCooperativeParam |
double | mySpeedGainParam |
double | myKeepRightParam |
double | mySublaneParam |
double | myPushy |
double | myAssertive |
double | myImpatience |
double | myMinImpatience |
double | myTimeToImpatience |
double | myAccelLat |
double | myTurnAlignmentDist |
double | myLookaheadLeft |
double | mySpeedGainRight |
derived parameters | |
double | myChangeProbThresholdRight |
double | myChangeProbThresholdLeft |
double | mySpeedLossProbThreshold |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted More... | |
static bool | myLCEndedOutput |
static bool | myLCOutput |
whether to record lane-changing More... | |
static bool | myLCStartedOutput |
A lane change model developed by J. Erdmann.
Definition at line 38 of file MSLCM_SL2015.h.
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protected |
information regarding save velocity (unused) and state flags of the ego vehicle
Definition at line 216 of file MSLCM_SL2015.h.
MSLCM_SL2015::MSLCM_SL2015 | ( | MSVehicle & | v | ) |
Definition at line 117 of file MSLCM_SL2015.cpp.
References initDerivedParameters().
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virtual |
Definition at line 150 of file MSLCM_SL2015.cpp.
References changed().
double MSLCM_SL2015::_patchSpeed | ( | const double | min, |
const double | wanted, | ||
const double | max, | ||
const MSCFModel & | cfModel | ||
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helper function which contains the actual logic
Definition at line 318 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, gDebugFlag2, MSBaseVehicle::getID(), MSVehicleType::getMinGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, LCA_AMBLOCKINGLEADER, LCA_BLOCKED, LCA_BLOCKED_BY_FOLLOWER, LCA_BLOCKED_BY_LEADER, LCA_COOPERATIVE, LCA_STRATEGIC, LCA_WANTS_LANECHANGE, MAGIC_OFFSET, MAX2(), MIN2(), myDontBrake, myLCAccelerationAdvices, myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SIMTIME, and MSCFModel::stopSpeed().
Referenced by getModelID(), and patchSpeed().
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helper function for doing the actual work
determine the leftmost and rightmost sublanes currently occupied
Definition at line 978 of file MSLCM_SL2015.cpp.
References amBlockingFollowerPlusNB(), ARRIVAL_POSLAT_CENTER, ARRIVAL_POSLAT_DEFAULT, ARRIVAL_POSLAT_GIVEN, ARRIVAL_POSLAT_LEFT, ARRIVAL_POSLAT_RIGHT, ARRIVALPOS_LAT_THRESHOLD, SUMOVehicleParameter::arrivalPosLat, SUMOVehicleParameter::arrivalPosLatProcedure, MSVehicle::LaneQ::bestContinuations, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), checkBlocking(), checkStrategicChange(), commitManoeuvre(), computeGapFactor(), computeSpeedGain(), currentDistAllows(), DEBUG_COND, GAIN_PERCEPTION_THRESHOLD, gDebugFlag2, MSVehicle::getActionStepLengthSecs(), MSBaseVehicle::getArrivalPos(), MSVehicle::getCarFollowModel(), MSVehicle::getCenterOnEdge(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSRoute::getLastEdge(), MSVehicle::getLastStepDist(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), getLongest(), MSVehicle::getNextStop(), MSVehicle::getNextTurn(), MSBaseVehicle::getParameter(), MSVehicle::getPositionOnLane(), MSVehicleType::getPreferredLateralAlignment(), MSLane::getRightmostSublane(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getRoute(), MSCFModel::getSecureGap(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSEdge::getSubLaneSides(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), getWidth(), MSLane::getWidth(), MSEdge::getWidth(), gPrecision, MSLeaderInfo::hasStoppedVehicle(), informFollowers(), informLeaders(), MSEdge::isInternal(), KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, MSVehicle::Stop::lane, LATALIGN_ARBITRARY, LATALIGN_CENTER, LATALIGN_COMPACT, LATALIGN_LEFT, LATALIGN_NICE, LATALIGN_RIGHT, MSVehicle::lateralDistanceToLane(), LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_NONE, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LINKDIR_LEFT, LINKDIR_NODIR, LINKDIR_PARTLEFT, LINKDIR_PARTRIGHT, LINKDIR_RIGHT, LINKDIR_STRAIGHT, LINKDIR_TURN, LINKDIR_TURN_LEFTHAND, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD, MAX2(), MIN2(), myCanChangeFully, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myExpectedSublaneSpeeds, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookaheadLeft, myLookAheadSpeed, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myPreviousState, mySafeLatDistLeft, mySafeLatDistRight, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, mySpeedLossProbThreshold, myStrategicParam, mySublaneParam, myTurnAlignmentDist, MSAbstractLaneChangeModel::myVehicle, MSVehicle::nextStopDist(), NUMERICAL_EPS, RELGAIN_NORMALIZATION_MIN_SPEED, ROUNDABOUT_DIST_BONUS, saveBlockerLength(), SIMTIME, slowDownForBlocked(), SPEED_GAIN_MIN_SECONDS, SPEEDGAIN_DECAY_FACTOR, STEPS2TIME, SUMO_const_laneWidth, toString(), MSLeaderDistanceInfo::toString(), TS, UNUSED_PARAMETER, updateGaps(), and URGENCY.
Referenced by getModelID(), wantsChange(), and wantsChangeSublane().
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Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices.
Definition at line 1894 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSBaseVehicle::getID(), MSVehicle::getSpeed(), myLCAccelerationAdvices, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and SPEED2ACCEL.
Referenced by checkStrategicChange(), inform(), informFollower(), informLeader(), and slowDownForBlocked().
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inlineinherited |
reset the flag whether a vehicle already moved to false
Definition at line 441 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myAlreadyChanged.
Referenced by MSLaneChanger::change().
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inlineprotected |
Definition at line 198 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, and MSAbstractLaneChangeModel::myOwnState.
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inlineprotected |
Definition at line 201 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
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inlineprotected |
Definition at line 204 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE, and MSAbstractLaneChangeModel::myOwnState.
Referenced by _wantsChangeSublane().
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inlineprotected |
Definition at line 195 of file MSLCM_SL2015.h.
References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.
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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 69 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().
Referenced by MSVehicle::MSVehicle(), and MSAbstractLaneChangeModel::StateAndDist::sameDirection().
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whether the influencer cancels the given request
Definition at line 389 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::influenceChangeDecision(), MSAbstractLaneChangeModel::myCanceledStates, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), and _wantsChangeSublane().
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Implements MSAbstractLaneChangeModel.
Definition at line 944 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSVehicle::getBestLaneOffset(), MSBaseVehicle::getID(), LOOK_AHEAD_MIN_SPEED, myCanChangeFully, myDontBrake, myKeepRightProbability, myLCAccelerationAdvices, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, and SIMTIME.
Referenced by getModelID(), and ~MSLCM_SL2015().
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called when a vehicle changes between lanes in opposite directions
Definition at line 744 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myAlreadyChanged, and MSAbstractLaneChangeModel::myAmOpposite.
Referenced by MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSVehicle::executeMove(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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restrict latDist to permissible speed and determine blocking state depending on that distance
Definition at line 2026 of file MSLCM_SL2015.cpp.
References checkBlockingVehicles(), gDebugFlag2, MSVehicle::getCenterOnEdge(), MSVehicle::getInfluencer(), MSVehicle::getLane(), MSVehicle::Influencer::getLatDist(), MSVehicleType::getMaxSpeedLat(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getVehicleType(), MSVehicle::hasInfluencer(), MSVehicle::Influencer::ignoreOverlap(), LCA_BLOCKED_BY_FOLLOWER, LCA_BLOCKED_BY_LEADER, LCA_BLOCKED_BY_LEFT_FOLLOWER, LCA_BLOCKED_BY_LEFT_LEADER, LCA_BLOCKED_BY_RIGHT_FOLLOWER, LCA_BLOCKED_BY_RIGHT_LEADER, LCA_BLOCKED_LEFT, LCA_BLOCKED_RIGHT, LCA_OVERLAPPING, MAX2(), MIN2(), myCanChangeFully, myCFRelatedReady, MSAbstractLaneChangeModel::myManeuverDist, myPushy, mySafeLatDistLeft, mySafeLatDistRight, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SPEED2DIST, updateCFRelated(), and updateGaps().
Referenced by _wantsChangeSublane(), and keepLatGap().
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check whether any of the vehicles overlaps with ego
Definition at line 2164 of file MSLCM_SL2015.cpp.
References MSCFModel::gapExtrapolation(), gDebugFlag2, MSVehicle::getAcceleration(), MSVehicle::getActionStepLengthSecs(), MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicle::getRightSideOnEdge(), getSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), getWidth(), LCA_OVERLAPPING, MAX2(), MIN2(), myCanChangeFully, myCFRelated, MSLeaderInfo::numSublanes(), overlap(), toString(), and TS.
Referenced by checkBlocking().
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compute strategic lane change actions TODO: Better documentation, refs #2
we urgently need to change lanes to follow our route
Definition at line 2452 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, addLCSpeedAdvice(), MSVehicle::LaneQ::bestContinuations, MSVehicle::LaneQ::bestLaneOffset, MSVehicle::congested(), currentDistDisallows(), MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getActionStepLengthSecs(), MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), MSVehicle::getLateralPositionOnLane(), MSLane::getLength(), MSCFModel::getMaxDecel(), MSVehicle::getPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSVehicleType::getVehicleClass(), MSBaseVehicle::getVehicleType(), MSLeaderInfo::hasStoppedVehicle(), MSLeaderInfo::hasVehicles(), MSVehicle::influenceChangeDecision(), JAM_FACTOR, LCA_LEFT, LCA_RIGHT, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, MAX2(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCanceledStates, MSAbstractLaneChangeModel::myCarFollowModel, myChangeProbThresholdLeft, myLCAccelerationAdvices, myLeftSpace, myLookAheadSpeed, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, MSVehicle::LaneQ::occupation, SIMTIME, SUMO_const_haltingSpeed, SUMO_const_laneWidth, SVC_EMERGENCY, and TURN_LANE_DIST.
Referenced by _wantsChangeSublane().
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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 698 of file MSAbstractLaneChangeModel.cpp.
References DEBUG_COND, gDebugFlag2, MSBaseVehicle::getID(), MSVehicle::getInfluencer(), MSVehicle::getLaneChangeModel(), MSVehicle::Influencer::getLatDist(), MSAbstractLaneChangeModel::getOwnState(), MSGlobals::gLateralResolution, MSVehicle::hasInfluencer(), MSVehicle::influenceChangeDecision(), MSVehicle::lateralDistanceToLane(), LCA_LEFT, LCA_RIGHT, LCA_STAY, LCA_TRACI, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSVehicle::Influencer::resetLatDist(), MSAbstractLaneChangeModel::setManeuverDist(), MSAbstractLaneChangeModel::setOwnState(), SIMTIME, and toString().
Referenced by MSLaneChanger::checkTraCICommands(), and MSAbstractLaneChangeModel::setParameter().
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Definition at line 348 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myShadowFurtherLanes, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.
Referenced by MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::resetChanged(), and MSVehicle::~MSVehicle().
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Definition at line 367 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::myFurtherTargetLanes, MSAbstractLaneChangeModel::myTargetLane, MSAbstractLaneChangeModel::myVehicle, MSLane::resetManeuverReservation(), and SIMTIME.
Referenced by MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::resetChanged(), and MSVehicle::~MSVehicle().
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Definition at line 219 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myDontResetLCGaps.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), and MSAbstractLaneChangeModel::resetChanged().
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compute speed when committing to an urgent change that is safe in regard to leading vehicles
Definition at line 3155 of file MSLCM_SL2015.cpp.
References MSCFModel::followSpeed(), MSCFModel::followSpeedTransient(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSVehicle::getCenterOnEdge(), MSCFModel::getMaxDecel(), getSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), getWidth(), MSLeaderInfo::hasVehicles(), MIN2(), MSAbstractLaneChangeModel::myVehicle, MSLeaderInfo::numSublanes(), overlap(), and MSCFModel::setMaxDecel().
Referenced by commitManoeuvre(), and getSublaneWidth().
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commit to lane change maneuvre potentially overriding safe speed
Definition at line 3079 of file MSLCM_SL2015.cpp.
References MSCFModel::avoidArrivalAccel(), commitFollowSpeed(), MSCFModel::estimateArrivalTime(), gDebugFlag2, MSVehicle::getAcceleration(), MSVehicle::getActionStepLengthSecs(), MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeedLat(), MSLane::getRightSideOnEdge(), MSVehicle::getSpeed(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gSemiImplicitEulerUpdate, MAX2(), MSCFModel::maxNextSpeed(), MIN3(), MSCFModel::minNextSpeed(), myAccelLat, myCanChangeFully, MSAbstractLaneChangeModel::myCommittedSpeed, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and TS.
Referenced by _wantsChangeSublane(), and getSublaneWidth().
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compute the gap factor for the given state
Definition at line 2637 of file MSLCM_SL2015.cpp.
References LCA_STRATEGIC, MAX2(), myImpatience, and myPushy.
Referenced by _wantsChangeSublane(), and keepLatGap().
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compute speedGain when moving by the given amount
Definition at line 1973 of file MSLCM_SL2015.cpp.
References MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSVehicle::getLane(), MSEdge::getSubLaneSides(), getWidth(), MSLane::getWidth(), MSGlobals::gLateralResolution, MIN2(), myExpectedSublaneSpeeds, MSAbstractLaneChangeModel::myVehicle, and overlap().
Referenced by _wantsChangeSublane(), and getSublaneWidth().
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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 from MSAbstractLaneChangeModel.
Definition at line 2964 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, MSCFModel::brakeGapEuler(), debugVehicle(), DIST2SPEED, MSBaseVehicle::getID(), MSVehicleType::getMaxSpeedLat(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), MIN2(), myAccelLat, MSAbstractLaneChangeModel::myMaxSpeedLatFactor, MSAbstractLaneChangeModel::myMaxSpeedLatStanding, mySafeLatDistLeft, mySafeLatDistRight, MSAbstractLaneChangeModel::mySpeedLat, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SIMTIME, and SPEED2DIST.
Referenced by getModelID(), and wantsChangeSublane().
compute shift so that prevSublane + shift = newSublane
Definition at line 914 of file MSLCM_SL2015.cpp.
References MSEdge::getLanes(), MSLane::getLinkCont(), and MSLeaderInfo::numSublanes().
Referenced by prepareStep().
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Definition at line 160 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 210 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane().
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Definition at line 207 of file MSLCM_SL2015.h.
Referenced by checkStrategicChange().
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whether the current vehicles shall be debugged
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 164 of file MSLCM_SL2015.cpp.
References DEBUG_COND.
Referenced by computeSpeedLat(), getModelID(), prepareStep(), and updateGaps().
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decide in which direction to move in case both directions are desirable
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 2372 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSAbstractLaneChangeModel::StateAndDist::dir, MSBaseVehicle::getID(), MSAbstractLaneChangeModel::StateAndDist::latDist, LCA_BLOCKED, LCA_CHANGE_REASONS, LCA_STAY, LCA_SUBLANE, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::StateAndDist::sameDirection(), SIMTIME, MSAbstractLaneChangeModel::StateAndDist::state, and toString().
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Definition at line 528 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSBaseVehicle::getWidth(), MSLane::getWidth(), MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myShadowLane, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSAbstractLaneChangeModel::resetChanged(), and MSAbstractLaneChangeModel::updateTargetLane().
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Definition at line 302 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changedToOpposite(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::cleanupTargetLane(), MSVehicle::fixPosition(), MSAbstractLaneChangeModel::myAmOpposite, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myVehicle, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::processLaneAdvances(), MSAbstractLaneChangeModel::resetChanged(), and MSAbstractLaneChangeModel::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 567 of file MSAbstractLaneChangeModel.cpp.
References SUMOVTypeParameter::getLCParams(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myMaxSpeedLatFactor, MSAbstractLaneChangeModel::myMaxSpeedLatStanding, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSLaneChanger::checkChange(), MSAbstractLaneChangeModel::pastMidpoint(), and MSAbstractLaneChangeModel::remainingTime().
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return the angle offset during a continuous change maneuver
Definition at line 560 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::pastMidpoint(), and STEPS2TIME.
Referenced by MSAbstractLaneChangeModel::getLaneChangeDirection().
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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 285 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myModel, and toString().
Referenced by MSLaneChanger::checkChange(), and MSAbstractLaneChangeModel::setSpeedLat().
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Definition at line 518 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myCommittedSpeed.
Referenced by MSVehicle::planMoveInternal(), and MSLaneChangerSublane::startChangeSublane().
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Definition at line 389 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myFurtherTargetLanes.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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Get the current lane change completion ratio.
Definition at line 425 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLaneChangeCompletion.
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return the direction of the current lane change maneuver
Definition at line 430 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::myLaneChangeDirection.
Referenced by MSLaneChanger::continueChange().
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Definition at line 393 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
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compute lane change action from desired lateral distance
Definition at line 2445 of file MSLCM_SL2015.cpp.
References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.
Referenced by wantsChange(), and wantsChangeSublane().
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get the longest vehicle in the given info
Definition at line 1992 of file MSLCM_SL2015.cpp.
References MSLeaderInfo::numSublanes().
Referenced by _wantsChangeSublane().
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Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
Definition at line 154 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myManeuverDist.
Referenced by MSLaneChangerSublane::change(), MSLaneChangerSublane::continueChangeSublane(), MSVehicle::getLatOffset(), GUIVehicle::getManeuverDist(), MSAbstractLaneChangeModel::getPrevState(), MSLeaderInfo::getSubLanes(), MSLaneChangerSublane::startChangeSublane(), MSAbstractLaneChangeModel::updateCompletion(), and updateGaps().
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Returns the model's id.
Implements MSAbstractLaneChangeModel.
Definition at line 46 of file MSLCM_SL2015.h.
References _patchSpeed(), _wantsChangeSublane(), changed(), computeSpeedLat(), debugVehicle(), getParameter(), getSafetyFactor(), inform(), informFollower(), informFollowers(), informLeader(), informLeaders(), initDerivedParameters(), LCM_SL2015, patchSpeed(), prepareStep(), saveBlockerLength(), setOwnState(), setParameter(), slowDownForBlocked(), updateSafeLatDist(), wantsChange(), and wantsChangeSublane().
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return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model
Reimplemented in MSLCM_LC2013.
Definition at line 336 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::computeOvertakingTime(), and MSLaneChanger::getColumnleader().
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Definition at line 175 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myOwnState.
Referenced by MSLaneChanger::applyTraCICommands(), MSLaneChanger::change(), MSLaneChanger::checkTraCICommands(), MSAbstractLaneChangeModel::checkTraCICommands(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSVehicle::setBlinkerInformation(), and MSLaneChangerSublane::startChangeSublane().
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try to retrieve the given parameter from this device. Throw exception for unsupported key
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 3242 of file MSLCM_SL2015.cpp.
References myAccelLat, myAssertive, myCooperativeParam, myImpatience, myKeepRightParam, myLookaheadLeft, MSAbstractLaneChangeModel::myModel, myPushy, mySpeedGainParam, mySpeedGainRight, myStrategicParam, mySublaneParam, myTimeToImpatience, SUMO_ATTR_LCA_ACCEL_LAT, SUMO_ATTR_LCA_ASSERTIVE, SUMO_ATTR_LCA_COOPERATIVE_PARAM, SUMO_ATTR_LCA_IMPATIENCE, SUMO_ATTR_LCA_KEEPRIGHT_PARAM, SUMO_ATTR_LCA_LOOKAHEADLEFT, SUMO_ATTR_LCA_PUSHY, SUMO_ATTR_LCA_SPEEDGAIN_PARAM, SUMO_ATTR_LCA_SPEEDGAINRIGHT, SUMO_ATTR_LCA_STRATEGIC_PARAM, SUMO_ATTR_LCA_SUBLANE_PARAM, SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, and toString().
Referenced by getModelID().
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at the time of this call myPreviousState already holds the new value
Definition at line 179 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::getManeuverDist(), MSAbstractLaneChangeModel::myPreviousState2, MSAbstractLaneChangeModel::setManeuverDist(), MSAbstractLaneChangeModel::setOwnState(), and MSAbstractLaneChangeModel::updateSafeLatDist().
Referenced by MSLaneChangerSublane::outputLCStarted().
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return factor for modifying the safety constraints of the car-following model
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 3236 of file MSLCM_SL2015.cpp.
References myAssertive, and myImpatience.
Referenced by checkBlockingVehicles(), commitFollowSpeed(), and getModelID().
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Definition at line 194 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::mySavedStates.
Referenced by libsumo::Vehicle::getLaneChangeState().
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return the direction in which the current shadow lane lies
Definition at line 464 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, and MSAbstractLaneChangeModel::pastMidpoint().
Referenced by MSLaneChanger::continueChange(), MSAbstractLaneChangeModel::getLaneChangeDirection(), MSVehicle::processLinkAproaches(), and GUIVehicle::selectBlockingFoes().
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Definition at line 374 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Definition at line 378 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat.
Referenced by 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 359 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
Referenced by MSVehicle::checkLinkLeader(), checkStrategicChange(), MSLaneChanger::continueChange(), MSLane::detectCollisions(), MSVehicle::getBackPosition(), MSVehicle::getCenterOnEdge(), GUIVehicle::getParameterWindow(), MSAbstractLaneChangeModel::getShadowLane(), MSVehicle::isFrontOnLane(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), MSVehicle::processLinkAproaches(), GUIVehicle::selectBlockingFoes(), MSVehicle::setApproachingForAllLinks(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and MSAbstractLaneChangeModel::updateShadowLane().
return the shadow lane for the given lane
Definition at line 342 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLateralPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), and MSAbstractLaneChangeModel::myVehicle.
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return the shadow lane for the given lane and lateral offset
Definition at line 317 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSBaseVehicle::getID(), MSVehicle::getLateralOverlap(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, and SIMTIME.
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get the slowest vehicle in the given info
Definition at line 2009 of file MSLCM_SL2015.cpp.
References MSLeaderInfo::numSublanes().
Referenced by _wantsChangeSublane(), and checkStrategicChange().
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return the lateral speed of the current lane change maneuver
Definition at line 523 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::mySpeedLat.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getParameterWindow(), and MSLeaderInfo::getSubLanes().
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return the current sublane width (and return a sensible value when running without sublanes)
Definition at line 323 of file MSLCM_SL2015.h.
References commitFollowSpeed(), commitManoeuvre(), computeSpeedGain(), MSVehicle::getLane(), MSLane::getWidth(), MSGlobals::gLateralResolution, and MSAbstractLaneChangeModel::myVehicle.
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Returns the lane the vehicle has committed to enter during a sublane lane change.
Definition at line 385 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myTargetLane.
Referenced by GUIVehicle::getParameterWindow(), and MSLaneChangerSublane::startChangeSublane().
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protected |
return the widht of this vehicle (padded for numerical stability)
Definition at line 2958 of file MSLCM_SL2015.cpp.
References MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSAbstractLaneChangeModel::myVehicle, and NUMERICAL_EPS.
Referenced by _wantsChangeSublane(), checkBlockingVehicles(), commitFollowSpeed(), computeSpeedGain(), keepLatGap(), prepareStep(), and updateGaps().
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Definition at line 198 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::mySavedStates.
Referenced by libsumo::Vehicle::getLaneChangeState().
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whether any kind of lateral dynamics is active
Definition at line 142 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::getModelID(), MSGlobals::gLaneChangeDuration, and MSGlobals::gLateralResolution.
Referenced by MSLane::detectCollisionBetween(), MSLane::detectCollisions(), GUIVehicle::getParameterWindow(), MSLane::handleCollisionBetween(), MSAbstractLaneChangeModel::updateShadowLane(), and MSXMLRawOut::writeVehicle().
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whether lanechange-output is active
Definition at line 152 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLCOutput.
Referenced by MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
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Implements MSAbstractLaneChangeModel.
Definition at line 479 of file MSLCM_SL2015.cpp.
References addLCSpeedAdvice(), DEBUG_COND, MSAbstractLaneChangeModel::debugVehicle(), gDebugFlag2, MSBaseVehicle::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and UNUSED_PARAMETER.
Referenced by getModelID().
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decide whether we will try cut in before the follower or allow to be overtaken
Definition at line 649 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, addLCSpeedAdvice(), MSVehicle::congested(), CUT_IN_LEFT_SPEED_THRESHOLD, MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSVehicle::getWaitingSeconds(), HELP_DECEL_FACTOR, HELP_OVERTAKE, LCA_AMBLOCKINGFOLLOWER, LCA_BLOCKED_BY_FOLLOWER, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT_IMPATIENCE, MAX2(), MAX_ONRAMP_LENGTH, msg(), MSAbstractLaneChangeModel::myAllowOvertakingRight, myLCAccelerationAdvices, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, POSITION_EPS, SIMTIME, and SPEED2DIST.
Referenced by getModelID(), and informFollowers().
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call informFollower for multiple followers
Definition at line 831 of file MSLCM_SL2015.cpp.
References informFollower().
Referenced by _wantsChangeSublane(), and getModelID().
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Definition at line 511 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, addLCSpeedAdvice(), MSCFModel::brakeGap(), MSVehicle::congested(), MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getActionStepLengthSecs(), MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gSemiImplicitEulerUpdate, HELP_OVERTAKE, LCA_AMBLOCKINGLEADER, LCA_BLOCKED_BY_LEADER, LCA_MLEFT, MAX2(), MIN2(), MIN_FALLBEHIND, msg(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myLCAccelerationAdvices, myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, SIMTIME, SPEED2DIST, and MSCFModel::stopSpeed().
Referenced by getModelID(), and informLeaders().
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Definition at line 811 of file MSLCM_SL2015.cpp.
References MSVehicle::getCarFollowModel(), MSVehicleType::getMinGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), informLeader(), MAGIC_OFFSET, MIN2(), myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, and MSCFModel::stopSpeed().
Referenced by _wantsChangeSublane(), and getModelID().
void MSLCM_SL2015::initDerivedParameters | ( | ) |
init cached parameters derived directly from model parameters
Definition at line 156 of file MSLCM_SL2015.cpp.
References MAX2(), myChangeProbThresholdLeft, myChangeProbThresholdRight, mySpeedGainParam, mySpeedGainRight, mySpeedLossProbThreshold, mySublaneParam, and NUMERICAL_EPS.
Referenced by getModelID(), MSLCM_SL2015(), and setParameter().
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init global model parameters
Definition at line 60 of file MSAbstractLaneChangeModel.cpp.
References OptionsCont::getBool(), OptionsCont::isSet(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myLCEndedOutput, MSAbstractLaneChangeModel::myLCOutput, and MSAbstractLaneChangeModel::myLCStartedOutput.
Referenced by MSAbstractLaneChangeModel::StateAndDist::sameDirection(), and MSFrame::setMSGlobals().
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Definition at line 398 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSAbstractLaneChangeModel::primaryLaneChanged().
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return true if the vehicle currently performs a lane change maneuver
Definition at line 420 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLaneChangeCompletion, and NUMERICAL_EPS.
Referenced by MSLaneChangerSublane::change(), MSLaneChanger::change(), MSVehicle::computeAngle(), MSLCM_LC2013::computeSpeedLat(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::getBackPosition(), MSVehicle::getPosition(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::remainingTime(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 514 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myAmOpposite.
Referenced by MSLCM_LC2013::_wantsChange(), MSVehicle::adaptToLeaders(), MSLaneChanger::change(), MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), GUIVehicle::getColorValue(), MSLink::getLeaderInfo(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSLane::handleCollisionBetween(), MSLCM_LC2013::informLeader(), and MSVehicle::planMoveInternal().
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check whether lateral gap requirements are met override the current maneuver if necessary
XXX to be made configurable
Definition at line 2643 of file MSLCM_SL2015.cpp.
References checkBlocking(), computeGapFactor(), gDebugFlag2, MSVehicle::getActionStepLengthSecs(), MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSVehicle::getInfluencer(), MSVehicle::getLane(), MSVehicle::Influencer::getLatDist(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLength(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getVehicleType(), getWidth(), MSLane::getWidth(), MSEdge::getWidth(), MSVehicle::hasInfluencer(), LCA_BLOCKED_LEFT, LCA_BLOCKED_RIGHT, LCA_CHANGE_REASONS, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, MAX2(), MIN2(), MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::NO_NEIGHBOR, NUMERICAL_EPS, SIMTIME, toString(), and updateGaps().
Referenced by wantsChangeSublane().
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called once the vehicle ends a lane change manoeuvre (non-instant)
Definition at line 238 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::clearGapsAtLCInit(), OutputDevice::closeTag(), DELTA_T, OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSVehicleType::getID(), MSNet::getInstance(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGLEADER, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, MSAbstractLaneChangeModel::myLastFollowerGap, MSAbstractLaneChangeModel::myLastFollowerSecureGap, MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myLastLeaderGap, MSAbstractLaneChangeModel::myLastLeaderSecureGap, MSAbstractLaneChangeModel::myLastOrigLeaderGap, MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap, MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::NO_NEIGHBOR, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_POSITION, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, time2string(), toString(), and OutputDevice::writeAttr().
Referenced by MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), MSAbstractLaneChangeModel::primaryLaneChanged(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().
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Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 214 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myDontResetLCGaps.
Referenced by MSAbstractLaneChangeModel::resetChanged(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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send a speed recommendation to the given vehicle
Definition at line 504 of file MSLCM_SL2015.cpp.
References MSAbstractLaneChangeModel::myVehicle.
Referenced by informFollower(), and informLeader().
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whether start of maneuvers shall be recorede
Definition at line 162 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::MSAbstractLaneChangeModel(), MSAbstractLaneChangeModel::myLCEndedOutput, and MSAbstractLaneChangeModel::~MSAbstractLaneChangeModel().
Referenced by MSLaneChangerSublane::outputLCEnded().
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whether start of maneuvers shall be recorede
Definition at line 157 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myLCStartedOutput.
Referenced by MSLaneChangerSublane::outputLCStarted().
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return whether the given intervals overlap
Definition at line 2364 of file MSLCM_SL2015.cpp.
References NUMERICAL_EPS.
Referenced by checkBlockingVehicles(), commitFollowSpeed(), computeSpeedGain(), and updateCFRelated().
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return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 399 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::estimateLCDuration(), MSAbstractLaneChangeModel::myLaneChangeCompletion, and MSAbstractLaneChangeModel::remainingTime().
Referenced by MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::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.
min | The minimum resulting speed |
wanted | The aspired speed of the car following model |
max | The maximum resulting speed |
cfModel | The model used |
Implements MSAbstractLaneChangeModel.
Definition at line 293 of file MSLCM_SL2015.cpp.
References _patchSpeed(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MAX2(), MSAbstractLaneChangeModel::myVehicle, SIMTIME, and toString().
Referenced by getModelID().
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Definition at line 180 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getSpeed(), MSCFModel::interactionGap(), MSAbstractLaneChangeModel::myCarFollowModel, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Reimplemented from MSAbstractLaneChangeModel.
Definition at line 843 of file MSLCM_SL2015.cpp.
References computeSublaneShift(), DEBUG_COND, debugVehicle(), MSVehicle::getCenterOnEdge(), MSLane::getEdge(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSEdge::getLanes(), MSEdge::getSubLaneSides(), getWidth(), MSEdge::getWidth(), MSGlobals::gLateralResolution, LCA_COOPERATIVE, LCA_STRATEGIC, LCA_WANTS_LANECHANGE, MAX2(), myCanChangeFully, myCFRelated, myCFRelatedReady, myDontBrake, myExpectedSublaneSpeeds, myKeepRightProbability, myLastEdge, myLCAccelerationAdvices, myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myOwnState, mySafeLatDistLeft, mySafeLatDistRight, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::prepareStep(), SIMTIME, and toString().
Referenced by getModelID().
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called once when the vehicles primary lane changes
Definition at line 224 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changed(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), MSAbstractLaneChangeModel::initLastLaneChangeOffset(), MSAbstractLaneChangeModel::laneChangeOutput(), MSVehicle::leaveLane(), MSLane::leftByLaneChange(), MSAbstractLaneChangeModel::myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, and MSVehicle::updateDriveItems().
Referenced by MSLaneChanger::continueChange(), MSAbstractLaneChangeModel::setNoShadowPartialOccupator(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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Compute the remaining time until LC completion.
Definition at line 665 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::estimateLCDuration(), MSVehicle::getCarFollowModel(), SUMOVTypeParameter::getLCParams(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myVehicle, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, TIME2STEPS, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSAbstractLaneChangeModel::pastMidpoint().
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Definition at line 687 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSVehicle::removeApproachingInformation(), and MSAbstractLaneChangeModel::sublaneChangeCompleted().
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reset the flag whether a vehicle already moved to false
Definition at line 446 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::cleanupTargetLane(), MSAbstractLaneChangeModel::clearGapsAtLCInit(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::memorizeGapsAtLCInit(), MSAbstractLaneChangeModel::myAlreadyChanged, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSAbstractLaneChangeModel::startLaneChangeManeuver(), MSAbstractLaneChangeModel::updateCompletion(), MSAbstractLaneChangeModel::updateShadowLane(), and MSAbstractLaneChangeModel::updateTargetLane().
Referenced by MSVehicle::planMove().
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save space for vehicles which need to counter-lane-change
Definition at line 1849 of file MSLCM_SL2015.cpp.
References MSCFModel::brakeGap(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), Named::getIDSecure(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSAbstractLaneChangeModel::getOwnState(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), myLeadingBlockerLength, myLeftSpace, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and toString().
Referenced by _wantsChangeSublane(), and getModelID().
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reserve space at the end of the lane to avoid dead locks
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 191 of file MSLCM_SL2015.h.
References MAX2(), and myLeadingBlockerLength.
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Definition at line 202 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myCanceledStates, MSAbstractLaneChangeModel::mySavedStates, MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeSublane(), and MSAbstractLaneChangeModel::prepareStep().
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Definition at line 750 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myLastFollowerGap, and MSAbstractLaneChangeModel::myLastFollowerSecureGap.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and MSAbstractLaneChangeModel::saveLCState().
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Definition at line 774 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), MSAbstractLaneChangeModel::myLastFollowerGap, MSAbstractLaneChangeModel::myLastFollowerSecureGap, and MSAbstractLaneChangeModel::myVehicle.
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Definition at line 758 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), MSAbstractLaneChangeModel::myLastLeaderGap, MSAbstractLaneChangeModel::myLastLeaderSecureGap, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and MSAbstractLaneChangeModel::saveLCState().
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Definition at line 793 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), MSAbstractLaneChangeModel::myLastLeaderGap, MSAbstractLaneChangeModel::myLastLeaderSecureGap, and MSAbstractLaneChangeModel::myVehicle.
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Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model)
Definition at line 140 of file MSAbstractLaneChangeModel.cpp.
References DEBUG_COND, MSBaseVehicle::getID(), MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myVehicle, and SIMTIME.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::change(), MSAbstractLaneChangeModel::checkTraCICommands(), MSAbstractLaneChangeModel::getPrevState(), MSLaneChangerSublane::startChangeSublane(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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Definition at line 494 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow, and MSAbstractLaneChangeModel::primaryLaneChanged().
Referenced by MSVehicle::enterLaneAtLaneChange().
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Definition at line 766 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), MSAbstractLaneChangeModel::myLastOrigLeaderGap, MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap, and MSAbstractLaneChangeModel::myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and MSAbstractLaneChangeModel::saveLCState().
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Definition at line 812 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), MSAbstractLaneChangeModel::myLastOrigLeaderGap, MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap, and MSAbstractLaneChangeModel::myVehicle.
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Reimplemented from MSAbstractLaneChangeModel.
Definition at line 249 of file MSLCM_SL2015.cpp.
References DEBUG_COND, MSVehicle::getActionStepLengthSecs(), MSBaseVehicle::getID(), MSVehicle::isActive(), LCA_BLOCKED, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, MAX2(), MIN2(), myCanChangeFully, myImpatience, MSAbstractLaneChangeModel::myManeuverDist, myMinImpatience, myTimeToImpatience, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::setOwnState(), SIMTIME, and toString().
Referenced by getModelID().
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try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 3272 of file MSLCM_SL2015.cpp.
References initDerivedParameters(), myAccelLat, myAssertive, myCooperativeParam, myImpatience, myKeepRightParam, myLookaheadLeft, myMinImpatience, MSAbstractLaneChangeModel::myModel, myPushy, mySpeedGainParam, mySpeedGainRight, myStrategicParam, mySublaneParam, myTimeToImpatience, myTurnAlignmentDist, SUMO_ATTR_LCA_ACCEL_LAT, SUMO_ATTR_LCA_ASSERTIVE, SUMO_ATTR_LCA_COOPERATIVE_PARAM, SUMO_ATTR_LCA_IMPATIENCE, SUMO_ATTR_LCA_KEEPRIGHT_PARAM, SUMO_ATTR_LCA_LOOKAHEADLEFT, SUMO_ATTR_LCA_PUSHY, SUMO_ATTR_LCA_SPEEDGAIN_PARAM, SUMO_ATTR_LCA_SPEEDGAINRIGHT, SUMO_ATTR_LCA_STRATEGIC_PARAM, SUMO_ATTR_LCA_SUBLANE_PARAM, SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE, StringUtils::toDouble(), and toString().
Referenced by getModelID().
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set approach information for the shadow vehicle
Definition at line 681 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::myApproachedByShadow.
Referenced by MSVehicle::setApproachingForAllLinks(), and MSAbstractLaneChangeModel::sublaneChangeCompleted().
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set the shadow lane
Definition at line 370 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myShadowLane.
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inlineinherited |
Definition at line 490 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow.
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Definition at line 527 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::computeSpeedLat(), MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration(), and MSAbstractLaneChangeModel::mySpeedLat.
Referenced by MSLaneChangerSublane::abortLCManeuver(), and MSLaneChangerSublane::startChangeSublane().
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compute useful slowdowns for blocked vehicles
Definition at line 1811 of file MSLCM_SL2015.cpp.
References ACCEL2SPEED, addLCSpeedAdvice(), MSCFModel::followSpeed(), gDebugFlag2, MSVehicle::getCarFollowModel(), MSBaseVehicle::getID(), Named::getIDSecure(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, MSAbstractLaneChangeModel::myCarFollowModel, MSAbstractLaneChangeModel::myVehicle, POSITION_EPS, SIMTIME, and SUMO_const_haltingSpeed.
Referenced by _wantsChangeSublane(), and getModelID().
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start the lane change maneuver and return whether it continues
Definition at line 193 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::changedToOpposite(), DELTA_T, MSLane::getCenterOnEdge(), MSLane::getEdge(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::memorizeGapsAtLCInit(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myLaneChangeDirection, MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::setManeuverDist(), MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSLaneChanger::applyTraCICommands(), MSLaneChanger::changeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), MSAbstractLaneChangeModel::resetChanged(), and MSLaneChanger::startChange().
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whether the current change completes the manoeuvre
Definition at line 505 of file MSAbstractLaneChangeModel.h.
References MSAbstractLaneChangeModel::myModel, MSAbstractLaneChangeModel::removeShadowApproachingInformation(), MSAbstractLaneChangeModel::setShadowApproachingInformation(), toString(), and UNUSED_PARAMETER.
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Definition at line 348 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and MSAbstractLaneChangeModel::myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
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find leaders/followers that are already in a car-following relationship with ego
Definition at line 2319 of file MSLCM_SL2015.cpp.
References gDebugFlag2, MSVehicle::getCenterOnEdge(), MSLane::getEdge(), Named::getID(), MSVehicle::getLane(), MSVehicleType::getLength(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), myCFRelated, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, MSLeaderInfo::numSublanes(), overlap(), SUMO_const_haltingSpeed, and MSLeaderDistanceInfo::toString().
Referenced by checkBlocking().
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Definition at line 291 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::computeSpeedLat(), MSAbstractLaneChangeModel::getManeuverDist(), MSAbstractLaneChangeModel::myLaneChangeCompletion, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::mySpeedLat, MSAbstractLaneChangeModel::pastMidpoint(), and SPEED2DIST.
Referenced by MSLaneChanger::continueChange(), and MSAbstractLaneChangeModel::resetChanged().
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update expected speeds for each sublane of the current edge
XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 1907 of file MSLCM_SL2015.cpp.
References MSLane::allowsVehicleClass(), DEBUG_COND, MSCFModel::followSpeed(), MSVehicle::getAcceleration(), MSVehicle::getActionStepLengthSecs(), MSVehicle::getBestLanes(), MSVehicle::getCarFollowModel(), MSLane::getEdge(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSEdge::getLanes(), MSVehicleType::getLength(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSPModel::getModel(), MSEdge::getPersons(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), MSVehicleType::getVehicleClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSPModel::hasPedestrians(), MIN2(), MSAbstractLaneChangeModel::myCarFollowModel, myExpectedSublaneSpeeds, MSAbstractLaneChangeModel::myVehicle, MSPModel::nextBlocking(), MSLeaderInfo::numSublanes(), SIMTIME, SPEEDGAIN_MEMORY_FACTOR, and MSCFModel::stopSpeed().
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check remaining lateral gaps for the given foe vehicles and optionally update minimum lateral gaps
foe vehicle occupies full sublanes
Definition at line 2868 of file MSLCM_SL2015.cpp.
References debugVehicle(), gDebugFlag2, MSBaseVehicle::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getManeuverDist(), MSVehicleType::getMinGapLat(), MSVehicle::getSpeed(), MSLeaderInfo::getSublaneBorders(), MSBaseVehicle::getVehicleType(), getWidth(), MSGlobals::gLateralResolution, MSLeaderInfo::hasVehicles(), LATGAP_SPEED_THRESHOLD, LATGAP_SPEED_THRESHOLD2, MAX2(), MAX3(), MIN2(), MIN3(), myCFRelated, MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, and MSLeaderInfo::numSublanes().
Referenced by _wantsChangeSublane(), checkBlocking(), and keepLatGap().
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Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuver continuation in non-action steps.
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 279 of file MSLCM_SL2015.cpp.
References mySafeLatDistLeft, mySafeLatDistRight, and NUMERICAL_EPS.
Referenced by getModelID().
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Definition at line 407 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLinkContHelper::getConnectingLink(), MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), MSBaseVehicle::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::haveLateralDynamics(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::myShadowFurtherLanes, MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat, MSAbstractLaneChangeModel::myShadowLane, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.
Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::resetChanged(), and MSLaneChangerSublane::startChangeSublane().
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Definition at line 481 of file MSAbstractLaneChangeModel.cpp.
References MSAbstractLaneChangeModel::debugVehicle(), MSAbstractLaneChangeModel::determineTargetLane(), MSVehicle::getFurtherLanes(), Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::myFurtherTargetLanes, MSAbstractLaneChangeModel::myTargetLane, MSAbstractLaneChangeModel::myVehicle, MSLane::resetManeuverReservation(), MSLane::setManeuverReservation(), SIMTIME, and toString().
Referenced by MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), MSAbstractLaneChangeModel::resetChanged(), and MSLaneChangerSublane::startChangeSublane().
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Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). XXX: no, it wraps _wantsChangeSublane This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
TODO: better documentation. Refs #2
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 3314 of file MSLCM_SL2015.cpp.
References _wantsChangeSublane(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), LCA_BLOCKED, LCA_CHANGE_TO_HELP, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_NONE, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE, myCanChangeFully, MSAbstractLaneChangeModel::myManeuverDist, MSAbstractLaneChangeModel::myVehicle, and SIMTIME.
Referenced by getModelID().
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Called to examine whether the vehicle wants to change with the given laneOffset (using the sublane model) This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
TODO better documentation. Refs #2 A.o.: When is this called (as a wantsChange() exists as well!? What's the difference?)
Reimplemented from MSAbstractLaneChangeModel.
Definition at line 170 of file MSLCM_SL2015.cpp.
References _wantsChangeSublane(), computeSpeedLat(), DEBUG_COND, DIST2SPEED, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), gPrecision, keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::mySpeedLat, MSAbstractLaneChangeModel::myVehicle, SIMTIME, SPEED2DIST, and toString().
Referenced by getModelID().
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Definition at line 399 of file MSLCM_SL2015.h.
Referenced by commitManoeuvre(), computeSpeedLat(), getParameter(), and setParameter().
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whether overtaking on the right is permitted
Definition at line 665 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), checkStrategicChange(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), and MSAbstractLaneChangeModel::initGlobalOptions().
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whether the vehicle has already moved this step
Definition at line 597 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::alreadyChanged(), MSAbstractLaneChangeModel::changedToOpposite(), and MSAbstractLaneChangeModel::resetChanged().
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Definition at line 392 of file MSLCM_SL2015.h.
Referenced by getParameter(), getSafetyFactor(), and setParameter().
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Definition at line 578 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), MSAbstractLaneChangeModel::cancelRequest(), checkStrategicChange(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::saveLCState().
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whether the current lane changing maneuver can be finished in a single step
Definition at line 372 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkBlocking(), checkBlockingVehicles(), commitManoeuvre(), prepareStep(), setOwnState(), and wantsChange().
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The vehicle's car following model.
Definition at line 625 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_wantsChange(), checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_LC2013::informLeader(), informLeader(), MSAbstractLaneChangeModel::predInteraction(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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set of vehicles that are in a car-following relationship with ego (leader of followers)
Definition at line 379 of file MSLCM_SL2015.h.
Referenced by checkBlockingVehicles(), prepareStep(), updateCFRelated(), and updateGaps().
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Definition at line 380 of file MSLCM_SL2015.h.
Referenced by checkBlocking(), and prepareStep().
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Definition at line 413 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), checkStrategicChange(), and initDerivedParameters().
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Definition at line 411 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and initDerivedParameters().
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the speed when committing to a change maneuver
Definition at line 584 of file MSAbstractLaneChangeModel.h.
Referenced by commitManoeuvre(), MSAbstractLaneChangeModel::getCommittedSpeed(), and MSAbstractLaneChangeModel::prepareStep().
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Definition at line 385 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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flag to prevent speed adaptation by slowing down
Definition at line 369 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), changed(), 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 653 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::clearGapsAtLCInit(), MSAbstractLaneChangeModel::memorizeGapsAtLCInit(), and MSAbstractLaneChangeModel::prepareStep().
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expected travel speeds on all sublanes on the current edge(!)
Definition at line 363 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), computeSpeedGain(), prepareStep(), and updateExpectedSublaneSpeeds().
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Definition at line 622 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupTargetLane(), MSAbstractLaneChangeModel::getFurtherTargetLanes(), and MSAbstractLaneChangeModel::updateTargetLane().
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Definition at line 394 of file MSLCM_SL2015.h.
Referenced by computeGapFactor(), getParameter(), getSafetyFactor(), setOwnState(), and setParameter().
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Definition at line 387 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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Definition at line 349 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and prepareStep().
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progress of the lane change maneuver 0:started, 1:complete
Definition at line 587 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getLaneChangeCompletion(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::pastMidpoint(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), and MSAbstractLaneChangeModel::updateCompletion().
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direction of the lane change maneuver -1 means right, 1 means left
Definition at line 590 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getLaneChangeDirection(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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expected travel speeds on all sublanes on the current edge(!)
Definition at line 366 of file MSLCM_SL2015.h.
Referenced by prepareStep().
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Definition at line 643 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setFollowerGaps().
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Definition at line 646 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setFollowerGaps().
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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 638 of file MSAbstractLaneChangeModel.h.
Referenced by keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and updateGaps().
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Definition at line 639 of file MSAbstractLaneChangeModel.h.
Referenced by keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and updateGaps().
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the actual minimum longitudinal distances to vehicles on the target lane
Definition at line 642 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().
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the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security
Definition at line 645 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().
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acutal and secure distance to closest leader vehicle on the original when performing lane change
Definition at line 648 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().
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Definition at line 649 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().
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vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed()
Definition at line 360 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), addLCSpeedAdvice(), changed(), checkStrategicChange(), informFollower(), informLeader(), and prepareStep().
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Definition at line 670 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::outputLCEnded().
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whether to record lane-changing
Definition at line 668 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::haveLCOutput(), MSAbstractLaneChangeModel::initGlobalOptions(), MSAbstractLaneChangeModel::laneChangeOutput(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().
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Definition at line 669 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::outputLCStarted().
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Definition at line 351 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), informLeader(), informLeaders(), prepareStep(), and saveBlockerLength().
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Definition at line 352 of file MSLCM_SL2015.h.
Referenced by _patchSpeed(), _wantsChangeSublane(), changed(), checkStrategicChange(), commitManoeuvre(), informFollower(), informLeader(), informLeaders(), prepareStep(), and saveBlockerLength().
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Definition at line 403 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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Definition at line 356 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and checkStrategicChange().
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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 594 of file MSAbstractLaneChangeModel.h.
Referenced by _wantsChangeSublane(), checkBlocking(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::getManeuverDist(), prepareStep(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::setManeuverDist(), setOwnState(), MSAbstractLaneChangeModel::updateCompletion(), and wantsChange().
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Definition at line 658 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), computeSpeedLat(), and MSAbstractLaneChangeModel::estimateLCDuration().
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Definition at line 656 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), computeSpeedLat(), and MSAbstractLaneChangeModel::estimateLCDuration().
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Definition at line 395 of file MSLCM_SL2015.h.
Referenced by setOwnState(), and setParameter().
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the type of this model
Definition at line 628 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::decideDirection(), MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration(), MSLCM_LC2013::getParameter(), getParameter(), MSAbstractLaneChangeModel::getParameter(), MSLCM_LC2013::setParameter(), setParameter(), MSAbstractLaneChangeModel::setParameter(), MSAbstractLaneChangeModel::sublaneChangeCompleted(), MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds(), MSAbstractLaneChangeModel::wantsChange(), and MSAbstractLaneChangeModel::wantsChangeSublane().
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The current state of the vehicle.
Definition at line 571 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), _patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_DK2008::changed(), MSLCM_LC2013::changed(), changed(), MSAbstractLaneChangeModel::checkTraCICommands(), MSAbstractLaneChangeModel::getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), inform(), MSAbstractLaneChangeModel::laneChangeOutput(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), prepareStep(), MSAbstractLaneChangeModel::setOwnState(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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protectedinherited |
list of lanes where the shadow vehicle is partial occupator
Definition at line 631 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().
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protectedinherited |
lane changing state from the previous simulation step
Definition at line 573 of file MSAbstractLaneChangeModel.h.
Referenced by _wantsChangeSublane(), and MSAbstractLaneChangeModel::setOwnState().
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protectedinherited |
lane changing state from step before the previous simulation step
Definition at line 575 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getPrevState(), and MSAbstractLaneChangeModel::setOwnState().
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Definition at line 390 of file MSLCM_SL2015.h.
Referenced by checkBlocking(), computeGapFactor(), getParameter(), and setParameter().
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Definition at line 376 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), checkBlocking(), computeSpeedLat(), prepareStep(), and updateSafeLatDist().
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the lateral distance the vehicle can safely move in the currently considered direction
Definition at line 375 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), checkBlocking(), computeSpeedLat(), prepareStep(), and updateSafeLatDist().
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protectedinherited |
Definition at line 577 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getSavedState(), MSAbstractLaneChangeModel::hasSavedState(), and MSAbstractLaneChangeModel::saveLCState().
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protectedinherited |
Definition at line 603 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::getShadowFurtherLanes(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 604 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat(), and MSAbstractLaneChangeModel::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 600 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::setShadowLane(), and MSAbstractLaneChangeModel::updateShadowLane().
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Definition at line 386 of file MSLCM_SL2015.h.
Referenced by getParameter(), initDerivedParameters(), and setParameter().
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a value for tracking the probability that a change to the left is beneficial
Definition at line 344 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), and prepareStep().
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a value for tracking the probability that a change to the right is beneficial
Definition at line 342 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), changed(), checkStrategicChange(), and prepareStep().
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Definition at line 405 of file MSLCM_SL2015.h.
Referenced by getParameter(), initDerivedParameters(), and setParameter().
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the current lateral speed
Definition at line 581 of file MSAbstractLaneChangeModel.h.
Referenced by computeSpeedLat(), MSAbstractLaneChangeModel::getSpeedLat(), MSAbstractLaneChangeModel::setSpeedLat(), MSAbstractLaneChangeModel::updateCompletion(), and wantsChangeSublane().
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Definition at line 415 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and initDerivedParameters().
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Definition at line 384 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), and setParameter().
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Definition at line 388 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), getParameter(), initDerivedParameters(), and setParameter().
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The target lane for the vehicle's current maneuver.
Definition at line 614 of file MSAbstractLaneChangeModel.h.
Referenced by MSAbstractLaneChangeModel::cleanupTargetLane(), MSAbstractLaneChangeModel::getTargetLane(), and MSAbstractLaneChangeModel::updateTargetLane().
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Definition at line 397 of file MSLCM_SL2015.h.
Referenced by getParameter(), setOwnState(), and setParameter().
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Definition at line 401 of file MSLCM_SL2015.h.
Referenced by _wantsChangeSublane(), and setParameter().
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The vehicle this lane-changer belongs to.
Definition at line 568 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), _patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), addLCSpeedAdvice(), MSLCM_LC2013::addLCSpeedAdvice(), MSAbstractLaneChangeModel::cancelRequest(), MSLCM_LC2013::changed(), changed(), checkBlocking(), checkStrategicChange(), MSAbstractLaneChangeModel::checkTraCICommands(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::cleanupTargetLane(), commitFollowSpeed(), commitManoeuvre(), computeSpeedGain(), MSLCM_LC2013::computeSpeedLat(), computeSpeedLat(), MSAbstractLaneChangeModel::computeSpeedLat(), MSAbstractLaneChangeModel::congested(), decideDirection(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::estimateLCDuration(), MSLCM_LC2013::getAssumedDecelForLaneChangeDuration(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), getSublaneWidth(), getWidth(), MSLCM_LC2013::inform(), inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), informLeaders(), keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setManeuverDist(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), setOwnState(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), updateCFRelated(), updateExpectedSublaneSpeeds(), updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSAbstractLaneChangeModel::updateTargetLane(), MSLCM_LC2013::wantsChange(), wantsChange(), wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 555 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange(), keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), and MSAbstractLaneChangeModel::prepareStep().