20 #ifndef MSLCM_SL2015_h 21 #define MSLCM_SL2015_h 88 const std::vector<MSVehicle::LaneQ>& preb,
91 double& latDist,
double& maneuverDist,
int& blocked);
103 const std::pair<MSVehicle*, double>& leader,
104 const std::pair<MSVehicle*, double>& neighLead,
105 const std::pair<MSVehicle*, double>& neighFollow,
107 const std::vector<MSVehicle::LaneQ>& preb,
123 double patchSpeed(
const double min,
const double wanted,
const double max,
126 double _patchSpeed(
const double min,
const double wanted,
const double max,
146 void setParameter(
const std::string& key,
const std::string& value);
165 const std::vector<MSVehicle::LaneQ>& preb,
168 double& latDist,
double& maneuverDist,
int& blocked);
176 const std::vector<CLeaderDist>& blockers,
177 double remainingSeconds);
181 const std::vector<CLeaderDist>& blockers,
182 double remainingSeconds,
183 double plannedSpeed);
191 double remainingSeconds);
196 double remainingSeconds,
197 double plannedSpeed);
224 return dist / (abs(laneOffset)) < lookForwardDist;
227 return dist / abs(laneOffset) > lookForwardDist;
232 typedef std::pair<double, int>
Info;
264 int checkBlocking(
const MSLane& neighLane,
double& latDist,
double& maneuverDist,
int laneOffset,
271 std::vector<CLeaderDist>* collectLeadBlockers = 0,
272 std::vector<CLeaderDist>* collectFollowBlockers = 0,
273 bool keepLatGapManeuver =
false,
274 double gapFactor = 0,
275 int* retBlockedFully = 0);
280 double& safeLatGapRight,
double& safeLatGapLeft,
281 std::vector<CLeaderDist>* collectBlockers = 0)
const;
284 static bool overlap(
double right,
double left,
double right2,
double left2);
293 const std::vector<MSVehicle::LaneQ>& preb,
302 int roundaboutEdgesAhead,
319 double& maneuverDist,
325 double& surplusGapRight,
double& surplusGapLeft,
bool saveMinGap =
false,
double netOverlap = 0,
327 std::vector<CLeaderDist>* collectBlockers = 0);
348 double maneuverDist);
354 double computeSpeedGain(
double latDistSublane,
double defaultNextSpeed)
const;
void * inform(void *info, MSVehicle *sender)
static double gLateralResolution
A lane change model developed by J. Erdmann.
void initDerivedParameters()
init cached parameters derived directly from model parameters
saves leader/follower vehicles and their distances relative to an ego vehicle
double myChangeProbThresholdLeft
Representation of a vehicle in the micro simulation.
void msg(const CLeaderDist &cld, double speed, int state)
send a speed recommendation to the given vehicle
void setParameter(const std::string &key, const std::string &value)
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key ...
double mySpeedGainProbabilityLeft
a value for tracking the probability that a change to the left is beneficial
std::set< const MSVehicle * > myCFRelated
set of vehicles that are in a car-following relationship with ego (leader of followers) ...
double informLeaders(int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds)
MSLane * getLane() const
Returns the lane the vehicle is on.
bool myCanChangeFully
whether the current lane changing maneuver can be finished in a single step
double computeGapFactor(int state) const
compute the gap factor for the given state
void saveBlockerLength(double length)
reserve space at the end of the lane to avoid dead locks
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
The car-following model abstraction.
double computeSpeedLat(double latDist, double &maneuverDist)
decides the next lateral speed depending on the remaining lane change distance to be covered and upda...
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 ...
double mySpeedLossProbThreshold
void setOwnState(const int state)
static CLeaderDist getSlowest(const MSLeaderDistanceInfo &ldi)
get the slowest vehicle in the given info
std::vector< double > myExpectedSublaneSpeeds
expected travel speeds on all sublanes on the current edge(!)
double myTimeToImpatience
bool debugVehicle() const
whether the current vehicles shall be debugged
bool amBlockingFollower()
double getWidth() const
Returns the lane's width.
MSLCM_SL2015(MSVehicle &v)
double myChangeProbThresholdRight
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 ...
double getSublaneWidth()
return the current sublane width (and return a sensible value when running without sublanes) ...
double mySafeLatDistRight
the lateral distance the vehicle can safely move in the currently considered direction ...
void saveBlockerLength(const MSVehicle *blocker, int lcaCounter)
save space for vehicles which need to counter-lane-change
double getWidth() const
return the widht of this vehicle (padded for numerical stability)
static bool overlap(double right, double left, double right2, double left2)
return whether the given intervals overlap
A class responsible for exchanging messages between cars involved in lane-change interaction.
StateAndDist decideDirection(StateAndDist sd1, StateAndDist sd2) const
decide in which direction to move in case both directions are desirable
A road/street connecting two junctions.
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
double myLeadingBlockerLength
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 ...
void updateCFRelated(const MSLeaderDistanceInfo &vehicles, double foeOffset, bool leaders)
find leaders/followers that are already in a car-following relationship with ego
void addLCSpeedAdvice(const double vSafe)
Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration ...
const MSEdge * myLastEdge
expected travel speeds on all sublanes on the current edge(!)
double informLeader(int blocked, int dir, const CLeaderDist &neighLead, double remainingSeconds)
static LaneChangeAction getLCA(int state, double latDist)
compute lane change action from desired lateral distance
void informFollowers(int blocked, int dir, const std::vector< CLeaderDist > &blockers, double remainingSeconds, double plannedSpeed)
call informFollower for multiple followers
bool amBlockingFollowerNB()
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 mo...
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
virtual void updateSafeLatDist(const double travelledLatDist)
Updates the value of safe lateral distances (mySafeLatDistLeft and mySafeLatDistRight) during maneuve...
double _patchSpeed(const double min, const double wanted, const double max, const MSCFModel &cfModel)
int myOwnState
The current state of the vehicle.
static CLeaderDist getLongest(const MSLeaderDistanceInfo &ldi)
get the longest vehicle in the given info
double myCooperativeParam
std::pair< double, int > Info
information regarding save velocity (unused) and state flags of the ego vehicle
double computeSpeedGain(double latDistSublane, double defaultNextSpeed) const
compute speedGain when moving by the given amount
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
MSVehicle & myVehicle
The vehicle this lane-changer belongs to.
std::pair< const MSVehicle *, double > CLeaderDist
LaneChangeAction
The state of a vehicle's lane-change behavior.
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 ...
double myKeepRightProbability
int slowDownForBlocked(MSVehicle **blocked, int state)
compute useful slowdowns for blocked vehicles
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
bool currentDistDisallows(double dist, int laneOffset, double lookForwardDist)
std::vector< double > myLCAccelerationAdvices
vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed()...
std::string getParameter(const std::string &key) const
try to retrieve the given parameter from this device. Throw exception for unsupported key ...
double mySpeedGainProbabilityRight
a value for tracking the probability that a change to the right is beneficial
bool currentDistAllows(double dist, int laneOffset, double lookForwardDist)
bool myDontBrake
flag to prevent speed adaptation by slowing down
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 a...
Representation of a lane in the micro simulation.
int computeSublaneShift(const MSEdge *prevEdge, const MSEdge *curEdge)
compute shift so that prevSublane + shift = newSublane
Interface for lane-change models.
void updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex)
update expected speeds for each sublane of the current edge
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 ...
bool amBlockingFollowerPlusNB()