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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... | |
int | getSpeedMode () const |
return the current speed mode 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 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, 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 (Position xyPos, MSLane *l, SUMOReal pos, SUMOReal posLat, 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, 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 |
SUMOReal | myVTDPosLat |
ConstMSEdgeVector | myVTDRoute |
Position | myVTDXYPos |
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... | |
LaneChangeMode | mySublaneLC |
changing to the prefered lateral alignment 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 1163 of file MSVehicle.h.
MSVehicle::Influencer::Influencer | ( | ) |
Constructor.
Definition at line 235 of file MSVehicle.cpp.
MSVehicle::Influencer::~Influencer | ( | ) |
Destructor.
Definition at line 252 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 396 of file MSVehicle.cpp.
References myLaneTimeLine, and STEPS2TIME.
Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().
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Returns whether red lights shall be a reason to brake.
Definition at line 1258 of file MSVehicle.h.
Referenced by MSVehicle::executeMove().
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Definition at line 1278 of file MSVehicle.h.
References SUMOReal.
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Returns the originally longitudinal speed to use.
Definition at line 1272 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 1244 of file MSVehicle.h.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().
int MSVehicle::Influencer::getSpeedMode | ( | ) | const |
return the current speed mode
Definition at line 269 of file MSVehicle.cpp.
References myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myEmergencyBrakeRedLight, myRespectJunctionPriority, and SUMOReal.
Referenced by TraCIServerAPI_Vehicle::processGet().
return the change in longitudinal position that is implicit in the new VTD position
Definition at line 513 of file MSVehicle.cpp.
References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, myVTDXYPos, and SUMOReal.
Referenced by MSVehicle::updateState().
return the speed that is implicit in the new VTD position
Definition at line 498 of file MSVehicle.cpp.
References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, myVTDXYPos, and SUMOReal.
Referenced by MSVehicle::executeMove().
int MSVehicle::Influencer::influenceChangeDecision | ( | const SUMOTime | currentTime, |
const MSEdge & | currentEdge, | ||
const 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 312 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_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE_OR_STAY, MSVehicle::LCP_ALWAYS, MSVehicle::LCP_NOOVERLAP, MSVehicle::LCP_OPPORTUNISTIC, myCooperativeLC, myLaneTimeLine, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, 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 279 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 464 of file MSVehicle.cpp.
References myLastVTDAccess, and TIME2STEPS.
Referenced by MSLane::detectCollisionBetween(), and MSLane::handleCollisionBetween().
bool MSVehicle::Influencer::isVTDControlled | ( | ) | const |
Definition at line 458 of file MSVehicle.cpp.
References MSNet::getCurrentTimeStep(), MSNet::getInstance(), and myLastVTDAccess.
Referenced by MSVehicle::executeMove(), MSLane::executeMovements(), MSVehicle::isRemoteControlled(), and MSVehicle::updateState().
void MSVehicle::Influencer::postProcessVTD | ( | MSVehicle * | v | ) |
Definition at line 469 of file MSVehicle.cpp.
References MSRoute::begin(), DEG2RAD, MSVehicle::drawOutsideNetwork(), MSLane::forceVehicleInsertion(), MSVehicle::getLane(), MSLane::getLength(), MSBaseVehicle::getRoute(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSVehicle::isOnRoad(), M_PI, MSBaseVehicle::myCurrEdge, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDPosLat, myVTDRoute, myVTDXYPos, MSMoveReminder::NOTIFICATION_TELEPORT, MSVehicle::onRemovalFromNet(), MSLane::removeVehicle(), MSBaseVehicle::replaceRouteEdges(), MSVehicle::setAngle(), MSVehicle::setVTDState(), 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 410 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 416 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 404 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 428 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 434 of file MSVehicle.cpp.
References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, and myTraciLaneChangePriority.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setLaneTimeLine | ( | const std::vector< std::pair< SUMOTime, int > > & | laneTimeLine | ) |
Sets a new lane timeline.
[in] | laneTimeLine | The time line of lanes to use |
Definition at line 263 of file MSVehicle.cpp.
References myLaneTimeLine.
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 422 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 256 of file MSVehicle.cpp.
References mySpeedAdaptationStarted, and mySpeedTimeLine.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setVTDControlled | ( | Position | xyPos, |
MSLane * | l, | ||
SUMOReal | pos, | ||
SUMOReal | posLat, | ||
SUMOReal | angle, | ||
int | edgeOffset, | ||
const ConstMSEdgeVector & | route, | ||
SUMOTime | t | ||
) |
Definition at line 445 of file MSVehicle.cpp.
References myLastVTDAccess, myVTDAngle, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDPosLat, myVTDRoute, and myVTDXYPos.
Referenced by TraCIServer::setVTDControlled().
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Whether the maximum acceleration shall be regarded.
Definition at line 1311 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setConsiderMaxAcceleration().
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Whether the maximum deceleration shall be regarded.
Definition at line 1314 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setConsiderMaxDeceleration().
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Whether the safe velocity shall be regarded.
Definition at line 1308 of file MSVehicle.h.
Referenced by getSpeedMode(), influenceSpeed(), and setConsiderSafeVelocity().
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lane changing with the intent to help other vehicles
Definition at line 1336 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether red lights are a reason to brake.
Definition at line 1320 of file MSVehicle.h.
Referenced by getSpeedMode(), and setEmergencyBrakeRedLight().
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The lane usage time line to apply.
Definition at line 1299 of file MSVehicle.h.
Referenced by changeRequestRemainingSeconds(), influenceChangeDecision(), and setLaneTimeLine().
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Definition at line 1329 of file MSVehicle.h.
Referenced by isVTDAffected(), isVTDControlled(), and setVTDControlled().
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The velocity before influence.
Definition at line 1302 of file MSVehicle.h.
Referenced by influenceSpeed().
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Whether the junction priority rules are respected.
Definition at line 1317 of file MSVehicle.h.
Referenced by getSpeedMode(), and setRespectJunctionPriority().
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changing to the rightmost lane
Definition at line 1340 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether influencing the speed has already started.
Definition at line 1305 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing to travel with higher speed
Definition at line 1338 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
The velocity time line to apply.
Definition at line 1296 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 1334 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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changing to the prefered lateral alignment
Definition at line 1342 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 1345 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Definition at line 1326 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1327 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1323 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1324 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().
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Definition at line 1325 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1328 of file MSVehicle.h.
Referenced by postProcessVTD(), and setVTDControlled().
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Definition at line 1322 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), postProcessVTD(), and setVTDControlled().