SUMO - Simulation of Urban MObility
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MSAbstractLaneChangeModel.cpp
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1 /****************************************************************************/
11 // Interface for lane-change models
12 /****************************************************************************/
13 // SUMO, Simulation of Urban MObility; see http://sumo.dlr.de/
14 // Copyright (C) 2001-2015 DLR (http://www.dlr.de/) and contributors
15 /****************************************************************************/
16 //
17 // This file is part of SUMO.
18 // SUMO is free software: you can redistribute it and/or modify
19 // it under the terms of the GNU General Public License as published by
20 // the Free Software Foundation, either version 3 of the License, or
21 // (at your option) any later version.
22 //
23 /****************************************************************************/
24 
25 // ===========================================================================
26 // included modules
27 // ===========================================================================
28 #ifdef _MSC_VER
29 #include <windows_config.h>
30 #else
31 #include <config.h>
32 #endif
33 
36 #include "MSLCM_DK2008.h"
37 #include "MSLCM_LC2013.h"
38 #include "MSLCM_JE2013.h"
39 #include <microsim/MSNet.h>
40 #include <microsim/MSEdge.h>
41 #include <microsim/MSLane.h>
42 #include <microsim/MSGlobals.h>
43 
44 /* -------------------------------------------------------------------------
45  * static members
46  * ----------------------------------------------------------------------- */
48 
49 /* -------------------------------------------------------------------------
50  * MSAbstractLaneChangeModel-methods
51  * ----------------------------------------------------------------------- */
52 
53 void
55  myAllowOvertakingRight = oc.getBool("lanechange.overtake-right");
56 }
57 
58 
61  switch (lcm) {
62  case LCM_DK2008:
63  return new MSLCM_DK2008(v);
64  case LCM_LC2013:
65  return new MSLCM_LC2013(v);
66  case LCM_JE2013:
67  return new MSLCM_JE2013(v);
68  default:
69  throw ProcessError("Lane change model '" + toString(lcm) + "' not implemented");
70  }
71 }
72 
73 
75  myVehicle(v),
76  myOwnState(0),
77  myLaneChangeCompletion(1.0),
78  myLaneChangeDirection(0),
79  myLaneChangeMidpointPassed(false),
80  myAlreadyMoved(false),
81  myShadowLane(0),
82  myHaveShadow(false),
83  myCarFollowModel(v.getCarFollowModel()),
84  myLastLaneChangeOffset(0) {
85 }
86 
87 
89  if (myShadowLane != 0 && myHaveShadow) {
91  }
92 }
93 
94 
95 bool
97  if (neighLeader == 0) {
98  return false;
99  }
100  // Congested situation are relevant only on highways (maxSpeed > 70km/h)
101  // and congested on German Highways means that the vehicles have speeds
102  // below 60km/h. Overtaking on the right is allowed then.
103  if ((myVehicle.getLane()->getSpeedLimit() <= 70.0 / 3.6) || (neighLeader->getLane()->getSpeedLimit() <= 70.0 / 3.6)) {
104 
105  return false;
106  }
107  if (myVehicle.congested() && neighLeader->congested()) {
108  return true;
109  }
110  return false;
111 }
112 
113 
114 bool
116  if (leader == 0) {
117  return false;
118  }
119  // let's check it on highways only
120  if (leader->getSpeed() < (80.0 / 3.6)) {
121  return false;
122  }
124  return gap < myCarFollowModel.interactionGap(&myVehicle, leader->getSpeed());
125 }
126 
127 
128 bool
130  target->enteredByLaneChange(&myVehicle);
133  myShadowLane = target;
134  myHaveShadow = true;
136  myLaneChangeDirection = direction;
138  return true;
139  } else {
141  source->leftByLaneChange(&myVehicle);
143  changed(direction);
144  return false;
145  }
146 }
147 
148 
149 void
151  if (moved && myHaveShadow) {
152  // move shadow to next lane
155  myShadowLane = myVehicle.getLane()->getParallelLane(shadowDirection);
156  if (myShadowLane == 0) {
157  // abort lane change
158  WRITE_WARNING("Vehicle '" + myVehicle.getID() + "' could not finish continuous lane change (lane disappeared) time=" +
159  time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
161  return;
162  }
163  myHaveShadow = true;
164  }
168  // maneuver midpoint reached, swap myLane and myShadowLane
170  MSLane* tmp = myVehicle.getLane();
173  myShadowLane = tmp;
174  if (myVehicle.fixPosition()) {
175  WRITE_WARNING("vehicle '" + myVehicle.getID() + "' set back by " + toString(myVehicle.getPositionOnLane() - myVehicle.getLane()->getLength()) +
176  "m when changing lanes on lane '" + myVehicle.getLane()->getID() + " time=" +
177  time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
178  }
180  myAlreadyMoved = true;
181  }
182  // remove shadow as soon as the vehicle leaves the original lane geometrically
184  const SUMOReal sourceHalfWidth = myShadowLane->getWidth() / 2.0;
185  const SUMOReal targetHalfWidth = myVehicle.getLane()->getWidth() / 2.0;
186  if (myLaneChangeCompletion * (sourceHalfWidth + targetHalfWidth) - myVehicle.getVehicleType().getWidth() / 2.0 > sourceHalfWidth) {
188  }
189  }
190  // finish maneuver
191  if (!isChangingLanes()) {
194  }
195 }
196 
197 
198 void
200  if (myShadowLane != 0 && myHaveShadow) {
202  myHaveShadow = false;
203  }
204 }
205 
206 
207 bool
209  int ret = myVehicle.influenceChangeDecision(state);
210  return ret != state;
211 }
212 
213 
214 void
216  if (dir > 0) {
218  } else if (dir < 0) {
220  }
221 }
MSAbstractLaneChangeModel(MSVehicle &v)
Constructor.
bool myHaveShadow
Wether a vehicle shadow exists.
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:80
bool isChangingLanes() const
return true if the vehicle currently performs a lane change maneuver
bool congested() const
Definition: MSVehicle.h:393
SUMOReal getLength() const
Returns the lane's length.
Definition: MSLane.h:370
bool getBool(const std::string &name) const
Returns the boolean-value of the named option (only for Option_Bool)
std::string time2string(SUMOTime t)
Definition: SUMOTime.cpp:61
SUMOReal getLength() const
Get vehicle's length [m].
virtual MSVehicle * removeVehicle(MSVehicle *remVehicle, MSMoveReminder::Notification notification, bool notify=true)
Definition: MSLane.cpp:1053
SUMOReal getWidth() const
Returns the lane's width.
Definition: MSLane.h:386
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
Definition: MSNet.cpp:159
The vehicle got vaporized.
void leftByLaneChange(MSVehicle *v)
Definition: MSLane.cpp:1407
virtual bool predInteraction(const MSVehicle *const leader)
MSLane * myShadowLane
The lane the vehicle shadow is on during a continuous lane change.
SUMOReal getPositionOnLane() const
Get the vehicle's position along the lane.
Definition: MSVehicle.h:286
void enterLaneAtLaneChange(MSLane *enteredLane)
Update when the vehicle enters a new lane in the laneChange step.
Definition: MSVehicle.cpp:1759
#define WRITE_WARNING(msg)
Definition: MsgHandler.h:200
A lane change model developed by J. Erdmann.
Definition: MSLCM_JE2013.h:47
static bool myAllowOvertakingRight
whether overtaking on the right is permitted
const std::string & getID() const
Returns the id.
Definition: Named.h:60
LaneChangeModel
The vehicle changes lanes (micro only)
A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013...
Definition: MSLCM_LC2013.h:49
bool cancelRequest(int state)
whether the influencer cancels the given request
void removeLaneChangeShadow()
remove the shadow copy of a lane change maneuver
virtual SUMOReal interactionGap(const MSVehicle *const veh, SUMOReal vL) const
Returns the maximum gap at which an interaction between both vehicles occurs.
Definition: MSCFModel.cpp:71
SUMOReal getMinGap() const
Get the free space in front of vehicles of this class.
bool myLaneChangeMidpointPassed
whether myLane has already been set to the target of the lane-change maneuver
void enteredByLaneChange(MSVehicle *v)
Definition: MSLane.cpp:1414
MSLane * getParallelLane(int offset) const
Returns the lane with the given offset parallel to this one or 0 if it does not exist.
Definition: MSLane.cpp:1070
SUMOReal getSpeedLimit() const
Returns the lane's maximum allowed speed.
Definition: MSLane.h:362
int myLaneChangeDirection
direction of the lane change maneuver -1 means right, 1 means left
static void initGlobalOptions(const OptionsCont &oc)
init global model parameters
std::string toString(const T &t, std::streamsize accuracy=OUTPUT_ACCURACY)
Definition: ToString.h:53
bool myAlreadyMoved
whether the vehicle has already moved this step
bool startLaneChangeManeuver(MSLane *source, MSLane *target, int direction)
start the lane change maneuver and return whether it continues
void leaveLane(const MSMoveReminder::Notification reason)
Update of members if vehicle leaves a new lane in the lane change step or at arrival.
Definition: MSVehicle.cpp:1844
SUMOReal getWidth() const
Get the width which vehicles of this class shall have when being drawn.
MSVehicle & myVehicle
The vehicle this lane-changer belongs to.
bool fixPosition()
repair errors in vehicle position after changing between internal edges
Definition: MSVehicle.cpp:2214
A storage for options typed value containers)
Definition: OptionsCont.h:108
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
Definition: MSBaseVehicle.h:90
SUMOReal getSpeed() const
Returns the vehicle's current speed.
Definition: MSVehicle.h:294
virtual void changed(int dir)=0
A lane change model developed by D. Krajzewicz between 2004 and 2010.
Definition: MSLCM_DK2008.h:47
#define SUMOReal
Definition: config.h:218
#define DELTA_T
Definition: SUMOTime.h:50
MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:331
SUMOReal myLaneChangeCompletion
progress of the lane change maneuver 0:started, 1:complete
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
Definition: MSVehicle.cpp:2528
static SUMOTime gLaneChangeDuration
Definition: MSGlobals.h:83
static MSAbstractLaneChangeModel * build(LaneChangeModel lcm, MSVehicle &vehicle)
Factory method for instantiating new lane changing models.
Representation of a lane in the micro simulation.
Definition: MSLane.h:77
const MSCFModel & myCarFollowModel
The vehicle's car following model.
Interface for lane-change models.
const std::string & getID() const
Returns the name of the vehicle.
virtual bool congested(const MSVehicle *const neighLeader)
virtual ~MSAbstractLaneChangeModel()
Destructor.