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SUMO - Simulation of Urban MObility
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Changes the wished vehicle speed / lanes. More...
#include <MSVehicle.h>
Public Member Functions | |
SUMOReal | changeRequestRemainingSeconds (const SUMOTime currentTime) const |
Return the remaining number of seconds of the current laneTimeLine assuming one exists. More... | |
bool | getEmergencyBrakeRedLight () const |
Returns whether red lights shall be a reason to brake. More... | |
SUMOTime | getLastAccessTimeStep () const |
SUMOReal | getOriginalSpeed () const |
Returns the originally longitudinal speed to use. More... | |
bool | getRespectJunctionPriority () const |
Returns whether junction priority rules shall be respected. More... | |
SUMOReal | implicitDeltaPosVTD (const MSVehicle *veh) |
return the change in longitudinal position that is implicit in the new VTD position More... | |
SUMOReal | implicitSpeedVTD (const MSVehicle *veh, SUMOReal oldSpeed) |
return the speed that is implicit in the new VTD position More... | |
int | influenceChangeDecision (const SUMOTime currentTime, const MSEdge ¤tEdge, const unsigned int currentLaneIndex, int state) |
Applies stored LaneChangeMode information and laneTimeLine. More... | |
Influencer () | |
Constructor. More... | |
SUMOReal | influenceSpeed (SUMOTime currentTime, SUMOReal speed, SUMOReal vSafe, SUMOReal vMin, SUMOReal vMax) |
Applies stored velocity information on the speed to use. More... | |
bool | isVTDAffected (SUMOTime t) const |
bool | isVTDControlled () const |
void | postProcessVTD (MSVehicle *v) |
void | setConsiderMaxAcceleration (bool value) |
Sets whether the maximum acceleration shall be regarded. More... | |
void | setConsiderMaxDeceleration (bool value) |
Sets whether the maximum deceleration shall be regarded. More... | |
void | setConsiderSafeVelocity (bool value) |
Sets whether the safe velocity shall be regarded. More... | |
void | setEmergencyBrakeRedLight (bool value) |
Sets whether red lights shall be a reason to brake. More... | |
void | setLaneChangeMode (int value) |
Sets lane changing behavior. More... | |
void | setLaneTimeLine (const std::vector< std::pair< SUMOTime, unsigned int > > &laneTimeLine) |
Sets a new lane timeline. More... | |
void | setRespectJunctionPriority (bool value) |
Sets whether junction priority rules shall be respected. More... | |
void | setSpeedTimeLine (const std::vector< std::pair< SUMOTime, SUMOReal > > &speedTimeLine) |
Sets a new velocity timeline. More... | |
void | setVTDControlled (MSLane *l, SUMOReal pos, SUMOReal angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t) |
~Influencer () | |
Destructor. More... | |
Private Attributes | |
bool | myConsiderMaxAcceleration |
Whether the maximum acceleration shall be regarded. More... | |
bool | myConsiderMaxDeceleration |
Whether the maximum deceleration shall be regarded. More... | |
bool | myConsiderSafeVelocity |
Whether the safe velocity shall be regarded. More... | |
bool | myEmergencyBrakeRedLight |
Whether red lights are a reason to brake. More... | |
std::vector< std::pair< SUMOTime, unsigned int > > | myLaneTimeLine |
The lane usage time line to apply. More... | |
SUMOTime | myLastVTDAccess |
SUMOReal | myOriginalSpeed |
The velocity before influence. More... | |
bool | myRespectJunctionPriority |
Whether the junction priority rules are respected. More... | |
bool | mySpeedAdaptationStarted |
Whether influencing the speed has already started. More... | |
std::vector< std::pair< SUMOTime, SUMOReal > > | mySpeedTimeLine |
The velocity time line to apply. More... | |
TraciLaneChangePriority | myTraciLaneChangePriority |
flags for determining the priority of traci lane change requests More... | |
SUMOReal | myVTDAngle |
int | myVTDEdgeOffset |
MSLane * | myVTDLane |
SUMOReal | myVTDPos |
ConstMSEdgeVector | myVTDRoute |
Flags for managing conflicts between the laneChangeModel and TraCI laneTimeLine | |
LaneChangeMode | myStrategicLC |
lane changing which is necessary to follow the current route More... | |
LaneChangeMode | myCooperativeLC |
lane changing with the intent to help other vehicles More... | |
LaneChangeMode | mySpeedGainLC |
lane changing to travel with higher speed More... | |
LaneChangeMode | myRightDriveLC |
changing to the rightmost lane More... | |
Changes the wished vehicle speed / lanes.
The class is used for passing velocities or velocity profiles obtained via TraCI to the vehicle. The speed adaptation is controlled by the stored speedTimeLine Additionally, the variables myConsiderSafeVelocity, myConsiderMaxAcceleration, and myConsiderMaxDeceleration control whether the safe velocity, the maximum acceleration, and the maximum deceleration have to be regarded.
Furthermore this class is used to affect lane changing decisions according to LaneChangeMode and any given laneTimeLine
Definition at line 1012 of file MSVehicle.h.
MSVehicle::Influencer::Influencer | ( | ) |
Constructor.
Definition at line 220 of file MSVehicle.cpp.
MSVehicle::Influencer::~Influencer | ( | ) |
Destructor.
Definition at line 236 of file MSVehicle.cpp.
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
[in] | currentTime | The current simulation time |
Definition at line 368 of file MSVehicle.cpp.
References myLaneTimeLine, and STEPS2TIME.
Referenced by MSLCM_JE2013::_wantsChange(), and MSLCM_LC2013::_wantsChange().
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Returns whether red lights shall be a reason to brake.
Definition at line 1105 of file MSVehicle.h.
Referenced by MSVehicle::executeMove().
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Definition at line 1125 of file MSVehicle.h.
References SUMOReal.
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Returns the originally longitudinal speed to use.
Definition at line 1119 of file MSVehicle.h.
References SUMOReal.
Referenced by MSVehicle::getSpeedWithoutTraciInfluence().
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Returns whether junction priority rules shall be respected.
Definition at line 1091 of file MSVehicle.h.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().
return the change in longitudinal position that is implicit in the new VTD position
Definition at line 466 of file MSVehicle.cpp.
References DIST2SPEED, MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), myVTDLane, myVTDPos, and SUMOReal.
Referenced by MSVehicle::executeMove().
return the speed that is implicit in the new VTD position
Definition at line 456 of file MSVehicle.cpp.
References DIST2SPEED, MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), myVTDLane, myVTDPos, and SUMOReal.
Referenced by MSVehicle::executeMove().
int MSVehicle::Influencer::influenceChangeDecision | ( | const SUMOTime | currentTime, |
const MSEdge & | currentEdge, | ||
const unsigned int | currentLaneIndex, | ||
int | state | ||
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Applies stored LaneChangeMode information and laneTimeLine.
[in] | currentTime | The current simulation time |
[in] | currentEdge | The current edge the vehicle is on |
[in] | currentLaneIndex | The index of the lane the vehicle is currently on |
[in] | state | The LaneChangeAction flags as computed by the laneChangeModel |
Definition at line 286 of file MSVehicle.cpp.
References MSEdge::getLanes(), MSVehicle::LC_ALWAYS, MSVehicle::LC_NEVER, MSVehicle::LC_NOCONFLICT, LCA_BLOCKED, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_OVERLAPPING, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE_OR_STAY, MSVehicle::LCP_ALWAYS, MSVehicle::LCP_NOOVERLAP, MSVehicle::LCP_OPPORTUNISTIC, myCooperativeLC, myLaneTimeLine, myRightDriveLC, mySpeedGainLC, myStrategicLC, myTraciLaneChangePriority, MSVehicle::REQUEST_HOLD, MSVehicle::REQUEST_LEFT, MSVehicle::REQUEST_NONE, MSVehicle::REQUEST_RIGHT, SUMOReal, time2string(), toString(), and WRITE_WARNING.
Referenced by MSVehicle::influenceChangeDecision().
SUMOReal MSVehicle::Influencer::influenceSpeed | ( | SUMOTime | currentTime, |
SUMOReal | speed, | ||
SUMOReal | vSafe, | ||
SUMOReal | vMin, | ||
SUMOReal | vMax | ||
) |
Applies stored velocity information on the speed to use.
The given speed is assumed to be the non-influenced speed from longitudinal control. It is stored for further usage in "myOriginalSpeed".
[in] | currentTime | The current simulation time |
[in] | speed | The undisturbed speed |
[in] | vSafe | The safe velocity |
[in] | vMin | The minimum velocity |
[in] | vMax | The maximum simulation time |
Definition at line 253 of file MSVehicle.cpp.
References DELTA_T, MAX2(), MIN2(), myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myOriginalSpeed, mySpeedAdaptationStarted, mySpeedTimeLine, STEPS2TIME, and SUMOReal.
Referenced by MSVehicle::executeMove(), and MSVehicle::planMoveInternal().
bool MSVehicle::Influencer::isVTDAffected | ( | SUMOTime | t | ) | const |
Definition at line 433 of file MSVehicle.cpp.
References myLastVTDAccess, and TIME2STEPS.
bool MSVehicle::Influencer::isVTDControlled | ( | ) | const |
Definition at line 427 of file MSVehicle.cpp.
References MSNet::getCurrentTimeStep(), MSNet::getInstance(), and myLastVTDAccess.
Referenced by MSLaneChanger::change(), MSVehicle::executeMove(), and MSLane::executeMovements().
void MSVehicle::Influencer::postProcessVTD | ( | MSVehicle * | v | ) |
Definition at line 438 of file MSVehicle.cpp.
References MSRoute::begin(), DEG2RAD, MSLane::forceVehicleInsertion(), MSVehicle::getLane(), MSLane::getLength(), MSBaseVehicle::getRoute(), M_PI, MSBaseVehicle::myCurrEdge, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDRoute, MSMoveReminder::NOTIFICATION_TELEPORT, MSVehicle::onRemovalFromNet(), MSLane::removeVehicle(), MSBaseVehicle::replaceRouteEdges(), MSVehicle::setAngle(), SUMOReal, and MSVehicle::updateBestLanes().
void MSVehicle::Influencer::setConsiderMaxAcceleration | ( | bool | value | ) |
Sets whether the maximum acceleration shall be regarded.
[in] | value | Whether the maximum acceleration shall be regarded |
Definition at line 382 of file MSVehicle.cpp.
References myConsiderMaxAcceleration.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setConsiderMaxDeceleration | ( | bool | value | ) |
Sets whether the maximum deceleration shall be regarded.
[in] | value | Whether the maximum deceleration shall be regarded |
Definition at line 388 of file MSVehicle.cpp.
References myConsiderMaxDeceleration.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setConsiderSafeVelocity | ( | bool | value | ) |
Sets whether the safe velocity shall be regarded.
[in] | value | Whether the safe velocity shall be regarded |
Definition at line 376 of file MSVehicle.cpp.
References myConsiderSafeVelocity.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setEmergencyBrakeRedLight | ( | bool | value | ) |
Sets whether red lights shall be a reason to brake.
[in] | value | Whether red lights shall be a reason to brake |
Definition at line 400 of file MSVehicle.cpp.
References myEmergencyBrakeRedLight.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setLaneChangeMode | ( | int | value | ) |
Sets lane changing behavior.
[in] | value | a bitset controlling the different modes |
Definition at line 406 of file MSVehicle.cpp.
References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, and myTraciLaneChangePriority.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setLaneTimeLine | ( | const std::vector< std::pair< SUMOTime, unsigned int > > & | laneTimeLine | ) |
Sets a new lane timeline.
[in] | laneTimeLine | The time line of lanes to use |
Definition at line 247 of file MSVehicle.cpp.
References myLaneTimeLine, and SUMOReal.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setRespectJunctionPriority | ( | bool | value | ) |
Sets whether junction priority rules shall be respected.
[in] | value | Whether junction priority rules be respected |
Definition at line 394 of file MSVehicle.cpp.
References myRespectJunctionPriority.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setSpeedTimeLine | ( | const std::vector< std::pair< SUMOTime, SUMOReal > > & | speedTimeLine | ) |
Sets a new velocity timeline.
[in] | speedTimeLine | The time line of speeds to use |
Definition at line 240 of file MSVehicle.cpp.
References mySpeedAdaptationStarted, and mySpeedTimeLine.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setVTDControlled | ( | MSLane * | l, |
SUMOReal | pos, | ||
SUMOReal | angle, | ||
int | edgeOffset, | ||
const ConstMSEdgeVector & | route, | ||
SUMOTime | t | ||
) |
Definition at line 416 of file MSVehicle.cpp.
References myLastVTDAccess, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, and myVTDRoute.
Referenced by TraCIServer::setVTDControlled().
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Whether the maximum acceleration shall be regarded.
Definition at line 1158 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderMaxAcceleration().
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Whether the maximum deceleration shall be regarded.
Definition at line 1161 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderMaxDeceleration().
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Whether the safe velocity shall be regarded.
Definition at line 1155 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderSafeVelocity().
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lane changing with the intent to help other vehicles
Definition at line 1181 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether red lights are a reason to brake.
Definition at line 1167 of file MSVehicle.h.
Referenced by setEmergencyBrakeRedLight().
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The lane usage time line to apply.
Definition at line 1146 of file MSVehicle.h.
Referenced by changeRequestRemainingSeconds(), influenceChangeDecision(), and setLaneTimeLine().
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Definition at line 1174 of file MSVehicle.h.
Referenced by isVTDAffected(), isVTDControlled(), and setVTDControlled().
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The velocity before influence.
Definition at line 1149 of file MSVehicle.h.
Referenced by influenceSpeed().
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Whether the junction priority rules are respected.
Definition at line 1164 of file MSVehicle.h.
Referenced by setRespectJunctionPriority().
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changing to the rightmost lane
Definition at line 1185 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether influencing the speed has already started.
Definition at line 1152 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing to travel with higher speed
Definition at line 1183 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
The velocity time line to apply.
Definition at line 1143 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing which is necessary to follow the current route
Definition at line 1179 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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flags for determining the priority of traci lane change requests
Definition at line 1188 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Definition at line 1171 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1172 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1169 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1170 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1173 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().