SUMO - Simulation of Urban MObility
MSLCM_SL2015 Class Reference

A lane change model developed by J. Erdmann. More...

#include <MSLCM_SL2015.h>

Inheritance diagram for MSLCM_SL2015:
Inheritance graph
Collaboration diagram for MSLCM_SL2015:
Collaboration graph

Public Types

enum  MyLCAEnum {
  LCA_MNone = 0, LCA_AMBLOCKINGLEADER = 1 << 16, LCA_AMBLOCKINGFOLLOWER = 1 << 17, LCA_MRIGHT = 1 << 18,
  LCA_MLEFT = 1 << 19, LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21, LCA_CHANGE_TO_HELP = 1 << 23, LCA_AMBACKBLOCKER = 1 << 26,
  LCA_AMBACKBLOCKER_STANDING = 1 << 27
}
 

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 cleanupShadowLane ()
 
bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
double getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
double getLateralSpeed () const
 return the lateral speed of the current lane change maneuver 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...
 
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
 
MSLanegetShadowLane () const
 Returns the lane the vehicles shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
void * inform (void *info, MSVehicle *sender)
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
 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. More...
 
void prepareStep ()
 
void primaryLaneChanged (MSLane *source, MSLane *target, int direction)
 called once when the vehicles primary lane changes More...
 
SUMOTime remainingTime () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
void removeShadowApproachingInformation () const
 
void resetChanged ()
 reset the flag whether a vehicle already moved to false More...
 
void saveState (const int dir, const int stateWithoutTraCI, const int state)
 
void setNoShadowPartialOccupator (MSLane *lane)
 
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)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
void unchanged ()
 
bool updateCompletion ()
 
void updateShadowLane ()
 
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). This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
int wantsChangeSublane (int laneOffset, 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, 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 MSAbstractLaneChangeModelbuild (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 

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, 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, int &blocked)
 helper function for doing the actual work More...
 
bool amBlockingFollower ()
 
bool amBlockingFollowerNB ()
 
bool amBlockingFollowerPlusNB ()
 
bool amBlockingLeader ()
 
bool cancelRequest (int state)
 whether the influencer cancels the given request More...
 
int checkBlocking (const MSLane &neighLane, double &latDist, 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)
 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, 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, int lcaCounter, double currentDist, double neighDist, double laDist, int roundaboutEdgesAhead, double latLaneDist, double &latDist)
 compute strategic lane change actions 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...
 
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, 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 updateExpectedSublaneSpeeds (const MSLeaderInfo &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)
 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...
 
bool myCanChangeFully
 whether the current lane changing meneuver can be finished in a single step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
bool myDontBrake
 flag to prevent speed adaptation by slowing down More...
 
std::vector< double > myExpectedSublaneSpeeds
 expected travel speeds on all sublanes on the current edge(!) More...
 
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 MSEdgemyLastEdge
 expected travel speeds on all sublanes on the current edge(!) More...
 
double myLastLateralGapLeft
 the minimum lateral gaps to other vehicles that were found when last changing to the left and right More...
 
double myLastLateralGapRight
 
double myLateralspeed
 The lateral offset during a continuous LaneChangeManeuver. More...
 
double myLeadingBlockerLength
 
double myLeftSpace
 
double myLookAheadSpeed
 
const LaneChangeModel myModel
 the type of this model More...
 
std::vector< MSLane * > myNoPartiallyOccupatedByShadow
 
double myOrigLatDist
 the complete lateral distance the vehicle wants to travel to finish its maneuver More...
 
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...
 
std::map< int, std::pair< int, int > > mySavedStates
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< double > myShadowFurtherLanesPosLat
 
MSLanemyShadowLane
 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...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
std::vector< double > myVSafes
 speed adaptation requests by ego and surrounding vehicles More...
 
user configurable model parameters (can be changed via TraCI)
double myStrategicParam
 
double myCooperativeParam
 
double mySpeedGainParam
 
double myKeepRightParam
 
double mySublaneParam
 
double myPushy
 
double myAssertive
 
derived parameters
const double myChangeProbThresholdRight
 
const double myChangeProbThresholdLeft
 
const double mySpeedLossProbThreshold
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCOutput
 whether to record lane-changing More...
 
static const double NO_LATERAL_NEIGHBOR
 

Detailed Description

A lane change model developed by J. Erdmann.

Definition at line 44 of file MSLCM_SL2015.h.

Member Typedef Documentation

◆ Info

typedef std::pair<double, int> MSLCM_SL2015::Info
protected

information regarding save velocity (unused) and state flags of the ego vehicle

Definition at line 209 of file MSLCM_SL2015.h.

Member Enumeration Documentation

◆ MyLCAEnum

Enumerator
LCA_MNone 
LCA_AMBLOCKINGLEADER 
LCA_AMBLOCKINGFOLLOWER 
LCA_MRIGHT 
LCA_MLEFT 
LCA_AMBLOCKINGFOLLOWER_DONTBRAKE 
LCA_CHANGE_TO_HELP 
LCA_AMBACKBLOCKER 
LCA_AMBACKBLOCKER_STANDING 

Definition at line 47 of file MSLCM_SL2015.h.

Constructor & Destructor Documentation

◆ MSLCM_SL2015()

MSLCM_SL2015::MSLCM_SL2015 ( MSVehicle v)

Definition at line 104 of file MSLCM_SL2015.cpp.

◆ ~MSLCM_SL2015()

MSLCM_SL2015::~MSLCM_SL2015 ( )
virtual

Definition at line 128 of file MSLCM_SL2015.cpp.

References changed().

Member Function Documentation

◆ _patchSpeed()

◆ _wantsChangeSublane()

int MSLCM_SL2015::_wantsChangeSublane ( int  laneOffset,
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,
int &  blocked 
)
protected

helper function for doing the actual work

determine the leftmost and rightmost sublanes currently occupied

Definition at line 806 of file MSLCM_SL2015.cpp.

References abs, 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(), currentDistAllows(), DELTA_T, MSEdge::EDGEFUNCTION_INTERNAL, GAIN_PERCEPTION_THRESHOLD, gDebugFlag2, MSBaseVehicle::getArrivalPos(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSRoute::getLastEdge(), MSVehicle::getLateralPositionOnLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), getLongest(), MSBaseVehicle::getParameter(), MSVehicle::getPositionOnLane(), MSVehicleType::getPreferredLateralAlignment(), MSEdge::getPurpose(), MSLane::getRightmostSublane(), MSVehicle::getRightSideOnEdge(), MSLane::getRightSideOnEdge(), MSBaseVehicle::getRoute(), MSCFModel::getSecureGap(), getSlowest(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSEdge::getSubLaneSides(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSVehicleType::getWidth(), MSLane::getWidth(), MSEdge::getWidth(), MSLeaderInfo::hasStoppedVehicle(), informFollowers(), informLeaders(), KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, LATALIGN_ARBITRARY, LATALIGN_CENTER, LATALIGN_COMPACT, LATALIGN_LEFT, LATALIGN_NICE, LATALIGN_RIGHT, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_NONE, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD_LEFT, LOOK_FORWARD_RIGHT, max, MAX2(), MIN2(), myCanChangeFully, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myExpectedSublaneSpeeds, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, myOrigLatDist, MSAbstractLaneChangeModel::myOwnState, myPreviousState, mySpeedGainProbabilityLeft, mySpeedGainProbabilityRight, mySpeedLossProbThreshold, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, NUMERICAL_EPS, RELGAIN_NORMALIZATION_MIN_SPEED, ROUNDABOUT_DIST_BONUS, saveBlockerLength(), SIMTIME, slowDownForBlocked(), SPEED_GAIN_MIN_SECONDS, STEPS2TIME, SUMO_const_laneWidth, toString(), MSLeaderDistanceInfo::toString(), TS, and URGENCY.

Referenced by wantsChange(), and wantsChangeSublane().

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 338 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSLaneChanger::change().

◆ amBlockingFollower()

bool MSLCM_SL2015::amBlockingFollower ( )
inlineprotected

◆ amBlockingFollowerNB()

bool MSLCM_SL2015::amBlockingFollowerNB ( )
inlineprotected

◆ amBlockingFollowerPlusNB()

bool MSLCM_SL2015::amBlockingFollowerPlusNB ( )
inlineprotected

◆ amBlockingLeader()

bool MSLCM_SL2015::amBlockingLeader ( )
inlineprotected

Definition at line 189 of file MSLCM_SL2015.h.

References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.

◆ build()

MSAbstractLaneChangeModel * MSAbstractLaneChangeModel::build ( LaneChangeModel  lcm,
MSVehicle vehicle 
)
staticinherited

Factory method for instantiating new lane changing models.

Parameters
[in]lcmThe type of model to build
[in]vehicleThe vehicle for which this model shall be built

Definition at line 63 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().

◆ cancelRequest()

bool MSAbstractLaneChangeModel::cancelRequest ( int  state)
protectedinherited

◆ changed()

◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )
inherited

◆ checkBlocking()

int MSLCM_SL2015::checkBlocking ( const MSLane neighLane,
double &  latDist,
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 
)
protected

◆ checkBlockingVehicles()

int MSLCM_SL2015::checkBlockingVehicles ( const MSVehicle ego,
const MSLeaderDistanceInfo vehicles,
double  latDist,
double  foeOffset,
bool  leaders,
LaneChangeAction  blockType,
std::vector< CLeaderDist > *  collectBlockers = 0 
) const
protected

◆ checkStrategicChange()

int MSLCM_SL2015::checkStrategicChange ( int  ret,
int  laneOffset,
const std::vector< MSVehicle::LaneQ > &  preb,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo neighLeaders,
int  currIdx,
int  bestLaneOffset,
bool  changeToBest,
int  lcaCounter,
double  currentDist,
double  neighDist,
double  laDist,
int  roundaboutEdgesAhead,
double  latLaneDist,
double &  latDist 
)
protected

◆ cleanupShadowLane()

◆ computeSublaneShift()

int MSLCM_SL2015::computeSublaneShift ( const MSEdge prevEdge,
const MSEdge curEdge 
)
protected

compute shift so that prevSublane + shift = newSublane

Definition at line 746 of file MSLCM_SL2015.cpp.

References MSEdge::getLanes(), MSLane::getLinkCont(), max, and MSLeaderInfo::numSublanes().

Referenced by prepareStep().

◆ congested()

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited

◆ currentDistAllows()

bool MSLCM_SL2015::currentDistAllows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 204 of file MSLCM_SL2015.h.

References abs.

Referenced by _wantsChangeSublane().

◆ currentDistDisallows()

bool MSLCM_SL2015::currentDistDisallows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 201 of file MSLCM_SL2015.h.

References abs.

Referenced by checkStrategicChange().

◆ debugVehicle()

bool MSLCM_SL2015::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 134 of file MSLCM_SL2015.cpp.

References DEBUG_COND.

◆ decideDirection()

◆ endLaneChangeManeuver()

◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const
inherited

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inlineinherited

◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inlineinherited

◆ getLateralSpeed()

double MSAbstractLaneChangeModel::getLateralSpeed ( ) const
inlineinherited

return the lateral speed of the current lane change maneuver

Definition at line 333 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLateralspeed.

Referenced by MSLaneChanger::continueChange().

◆ getLCA()

LaneChangeAction MSLCM_SL2015::getLCA ( int  state,
double  latDist 
)
staticprotected

compute lane change action from desired lateral distance

Definition at line 1885 of file MSLCM_SL2015.cpp.

References LCA_CHANGE_REASONS, LCA_LEFT, LCA_NONE, and LCA_RIGHT.

Referenced by wantsChange(), and wantsChangeSublane().

◆ getLongest()

CLeaderDist MSLCM_SL2015::getLongest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the longest vehicle in the given info

Definition at line 1590 of file MSLCM_SL2015.cpp.

References MSLeaderInfo::numSublanes().

Referenced by _wantsChangeSublane().

◆ getOwnState()

int MSAbstractLaneChangeModel::getOwnState ( ) const
inlineinherited

◆ getParameter()

std::string MSLCM_SL2015::getParameter ( const std::string &  key) const
virtual

◆ getSavedState()

const std::pair<int, int>& MSAbstractLaneChangeModel::getSavedState ( const int  dir) const
inlineinherited

◆ getShadowDirection()

◆ getShadowFurtherLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited

◆ getShadowFurtherLanesPosLat()

const std::vector<double>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited

◆ getShadowLane() [1/2]

◆ getShadowLane() [2/2]

◆ getSlowest()

CLeaderDist MSLCM_SL2015::getSlowest ( const MSLeaderDistanceInfo ldi)
staticprotected

get the slowest vehicle in the given info

Definition at line 1607 of file MSLCM_SL2015.cpp.

References max, and MSLeaderInfo::numSublanes().

Referenced by _wantsChangeSublane(), and checkStrategicChange().

◆ inform()

void * MSLCM_SL2015::inform ( void *  info,
MSVehicle sender 
)
virtual

◆ informFollower()

◆ informFollowers()

void MSLCM_SL2015::informFollowers ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
double  remainingSeconds,
double  plannedSpeed 
)
protected

call informFollower for multiple followers

Definition at line 681 of file MSLCM_SL2015.cpp.

References informFollower().

Referenced by _wantsChangeSublane().

◆ informLeader()

◆ informLeaders()

double MSLCM_SL2015::informLeaders ( int  blocked,
int  dir,
const std::vector< CLeaderDist > &  blockers,
double  remainingSeconds 
)
protected

◆ initGlobalOptions()

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
staticinherited

◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited

◆ isChangingLanes()

◆ isOpposite()

◆ keepLatGap()

◆ msg()

void MSLCM_SL2015::msg ( const CLeaderDist cld,
double  speed,
int  state 
)
protected

send a speed recommendation to the given vehicle

Definition at line 405 of file MSLCM_SL2015.cpp.

References MSAbstractLaneChangeModel::myVehicle.

Referenced by informFollower(), and informLeader().

◆ overlap()

bool MSLCM_SL2015::overlap ( double  right,
double  left,
double  right2,
double  left2 
)
staticprotected

return whether the given intervals overlap

Definition at line 1815 of file MSLCM_SL2015.cpp.

References NUMERICAL_EPS.

Referenced by checkBlockingVehicles().

◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inlineinherited

◆ patchSpeed()

double MSLCM_SL2015::patchSpeed ( const double  min,
const double  wanted,
const double  max,
const MSCFModel cfModel 
)
virtual

Called to adapt the speed in order to allow a lane change.

Parameters
minThe minimum resulting speed
wantedThe aspired speed of the car following model
maxThe maximum resulting speed
cfModelThe model used
Returns
the new speed of the vehicle as proposed by the lane changer

Implements MSAbstractLaneChangeModel.

Definition at line 221 of file MSLCM_SL2015.cpp.

References _patchSpeed(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, and toString().

◆ predInteraction()

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, double > &  leader)
protectedvirtualinherited

◆ prepareStep()

◆ primaryLaneChanged()

◆ remainingTime()

SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const
inherited

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 342 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, and MSAbstractLaneChangeModel::myLaneChangeCompletion.

Referenced by MSAbstractLaneChangeModel::pastMidpoint().

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const
inherited

◆ resetChanged()

◆ saveBlockerLength() [1/2]

◆ saveBlockerLength() [2/2]

void MSLCM_SL2015::saveBlockerLength ( double  length)
inlineprotectedvirtual

reserve space at the end of the lane to avoid dead locks

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 185 of file MSLCM_SL2015.h.

References MAX2(), and myLeadingBlockerLength.

◆ saveState()

void MSAbstractLaneChangeModel::saveState ( const int  dir,
const int  stateWithoutTraCI,
const int  state 
)
inlineinherited

◆ setNoShadowPartialOccupator()

◆ setOwnState()

◆ setParameter()

void MSLCM_SL2015::setParameter ( const std::string &  key,
const std::string &  value 
)
virtual

◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const
inherited

set approach information for the shadow vehicle

Definition at line 348 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myApproachedByShadow.

Referenced by MSVehicle::checkRewindLinkLanes(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().

◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inlineinherited

set the shadow lane

Definition at line 291 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ slowDownForBlocked()

◆ startLaneChangeManeuver()

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inlineinherited

◆ updateCompletion()

◆ updateExpectedSublaneSpeeds()

◆ updateGaps()

void MSLCM_SL2015::updateGaps ( const MSLeaderDistanceInfo others,
double  foeOffset,
double  oldCenter,
double  gapFactor,
double &  surplusGapRight,
double &  surplusGapLeft,
bool  saveMinGap = false,
double  netOverlap = 0 
)
protected

◆ updateShadowLane()

◆ wantsChange()

int MSLCM_SL2015::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 
)
virtual

Called to examine whether the vehicle wants to change using the given laneOffset (this is a wrapper around wantsChangeSublane). This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 2331 of file MSLCM_SL2015.cpp.

References _wantsChangeSublane(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), LCA_BLOCKED, LCA_CHANGE_TO_HELP, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_OVERLAPPING, LCA_SPEEDGAIN, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE, myCanChangeFully, myOrigLatDist, MSAbstractLaneChangeModel::myVehicle, and STEPS2TIME.

◆ wantsChangeSublane()

int MSLCM_SL2015::wantsChangeSublane ( int  laneOffset,
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,
int &  blocked 
)
virtual

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.

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 140 of file MSLCM_SL2015.cpp.

References _wantsChangeSublane(), DEBUG_COND, gDebugFlag2, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), getLCA(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), gPrecision, keepLatGap(), LCA_BLOCKED, LCA_OVERLAPPING, LCA_WANTS_LANECHANGE, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, and toString().

Field Documentation

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited

◆ myAssertive

double MSLCM_SL2015::myAssertive
protected

Definition at line 339 of file MSLCM_SL2015.h.

Referenced by checkBlockingVehicles(), getParameter(), and setParameter().

◆ myCanChangeFully

bool MSLCM_SL2015::myCanChangeFully
protected

whether the current lane changing meneuver can be finished in a single step

Definition at line 322 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), checkBlocking(), prepareStep(), setOwnState(), and wantsChange().

◆ myCarFollowModel

◆ myChangeProbThresholdLeft

const double MSLCM_SL2015::myChangeProbThresholdLeft
protected

Definition at line 346 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and checkStrategicChange().

◆ myChangeProbThresholdRight

const double MSLCM_SL2015::myChangeProbThresholdRight
protected

Definition at line 345 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

◆ myCooperativeParam

double MSLCM_SL2015::myCooperativeParam
protected

Definition at line 333 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ myDontBrake

bool MSLCM_SL2015::myDontBrake
protected

flag to prevent speed adaptation by slowing down

Definition at line 319 of file MSLCM_SL2015.h.

Referenced by _patchSpeed(), changed(), and prepareStep().

◆ myExpectedSublaneSpeeds

std::vector<double> MSLCM_SL2015::myExpectedSublaneSpeeds
protected

expected travel speeds on all sublanes on the current edge(!)

Definition at line 313 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), prepareStep(), and updateExpectedSublaneSpeeds().

◆ myKeepRightParam

double MSLCM_SL2015::myKeepRightParam
protected

Definition at line 335 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ myKeepRightProbability

double MSLCM_SL2015::myKeepRightProbability
protected

Definition at line 300 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and prepareStep().

◆ myLaneChangeCompletion

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited

◆ myLastEdge

const MSEdge* MSLCM_SL2015::myLastEdge
protected

expected travel speeds on all sublanes on the current edge(!)

Definition at line 316 of file MSLCM_SL2015.h.

Referenced by prepareStep().

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protectedinherited

the minimum lateral gaps to other vehicles that were found when last changing to the left and right

Definition at line 452 of file MSAbstractLaneChangeModel.h.

Referenced by keepLatGap(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), and updateGaps().

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protectedinherited

◆ myLateralspeed

double MSAbstractLaneChangeModel::myLateralspeed
protectedinherited

The lateral offset during a continuous LaneChangeManeuver.

Definition at line 425 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::getLateralSpeed(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotectedinherited

whether to record lane-changing

Definition at line 464 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::primaryLaneChanged().

◆ myLeadingBlockerLength

double MSLCM_SL2015::myLeadingBlockerLength
protected

◆ myLeftSpace

double MSLCM_SL2015::myLeftSpace
protected

◆ myLookAheadSpeed

double MSLCM_SL2015::myLookAheadSpeed
protected

Definition at line 307 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and checkStrategicChange().

◆ myModel

◆ myNoPartiallyOccupatedByShadow

◆ myOrigLatDist

double MSLCM_SL2015::myOrigLatDist
protected

the complete lateral distance the vehicle wants to travel to finish its maneuver

Definition at line 328 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), checkBlocking(), prepareStep(), setOwnState(), and wantsChange().

◆ myOwnState

◆ myPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow
protectedinherited

list of lanes where the shadow vehicle is partial occupator

Definition at line 445 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().

◆ myPreviousState

int MSLCM_SL2015::myPreviousState
protected

lane changing state from the previous simulation step

Definition at line 325 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), and setOwnState().

◆ myPushy

double MSLCM_SL2015::myPushy
protected

Definition at line 338 of file MSLCM_SL2015.h.

Referenced by checkBlocking(), getParameter(), keepLatGap(), and setParameter().

◆ mySavedStates

std::map<int, std::pair<int, int> > MSAbstractLaneChangeModel::mySavedStates
protectedinherited

◆ myShadowFurtherLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited

◆ myShadowFurtherLanesPosLat

std::vector<double> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited

◆ mySpeedGainParam

double MSLCM_SL2015::mySpeedGainParam
protected

Definition at line 334 of file MSLCM_SL2015.h.

Referenced by getParameter(), and setParameter().

◆ mySpeedGainProbabilityLeft

double MSLCM_SL2015::mySpeedGainProbabilityLeft
protected

a value for tracking the probability that a change to the left is beneficial

Definition at line 295 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), and prepareStep().

◆ mySpeedGainProbabilityRight

double MSLCM_SL2015::mySpeedGainProbabilityRight
protected

a value for tracking the probability that a change to the right is beneficial

Definition at line 293 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), changed(), checkStrategicChange(), and prepareStep().

◆ mySpeedLossProbThreshold

const double MSLCM_SL2015::mySpeedLossProbThreshold
protected

Definition at line 347 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane().

◆ myStrategicParam

double MSLCM_SL2015::myStrategicParam
protected

Definition at line 332 of file MSLCM_SL2015.h.

Referenced by _wantsChangeSublane(), getParameter(), and setParameter().

◆ mySublaneParam

double MSLCM_SL2015::mySublaneParam
protected

Definition at line 336 of file MSLCM_SL2015.h.

Referenced by getParameter(), and setParameter().

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited

The vehicle this lane-changer belongs to.

Definition at line 412 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_patchSpeed(), _patchSpeed(), MSLCM_LC2013::_wantsChange(), _wantsChangeSublane(), MSAbstractLaneChangeModel::cancelRequest(), MSLCM_LC2013::changed(), changed(), checkBlocking(), checkStrategicChange(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::congested(), decideDirection(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLCM_LC2013::getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSLCM_LC2013::inform(), inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), informFollower(), MSLCM_LC2013::informLeader(), informLeader(), informLeaders(), keepLatGap(), msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), setOwnState(), MSAbstractLaneChangeModel::setOwnState(), MSLCM_LC2013::slowDownForBlocked(), slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), updateExpectedSublaneSpeeds(), updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSLCM_LC2013::wantsChange(), wantsChange(), wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ myVSafes

std::vector<double> MSLCM_SL2015::myVSafes
protected

speed adaptation requests by ego and surrounding vehicles

Definition at line 310 of file MSLCM_SL2015.h.

Referenced by _patchSpeed(), changed(), checkStrategicChange(), inform(), informFollower(), informLeader(), prepareStep(), and slowDownForBlocked().

◆ NO_LATERAL_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_LATERAL_NEIGHBOR
staticprotectedinherited

The documentation for this class was generated from the following files: