Eclipse SUMO - Simulation of Urban MObility
Data Structures | Public Types | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Member Functions
MSLaneChanger Class Reference

Performs lane changing of vehicles. More...

#include <MSLaneChanger.h>

Inheritance diagram for MSLaneChanger:
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Data Structures

struct  ChangeElem
 

Public Types

typedef std::vector< ChangeElem > Changer
 The list of changers; For each lane, a ChangeElem is being build. More...
 
typedef Changer::iterator ChangerIt
 the iterator moving over the ChangeElems More...
 
typedef Changer::const_iterator ConstChangerIt
 the iterator moving over the ChangeElems More...
 

Public Member Functions

Changer & getChanger ()
 return changer (only to be used by MSLaneChangerSublane from another instance) More...
 
void laneChange (SUMOTime t)
 Start lane-change-process for all vehicles on the edge'e lanes. More...
 
 MSLaneChanger (const std::vector< MSLane * > *lanes, bool allowChanging)
 Constructor. More...
 
virtual ~MSLaneChanger ()
 Destructor. More...
 

Protected Member Functions

bool applyTraCICommands (MSVehicle *vehicle)
 Execute TraCI LC-commands. More...
 
bool avoidDeadlock (MSVehicle *vehicle, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken, std::pair< MSVehicle *, double > leader)
 avoid opposite-diretion deadlock when vehicles are stopped on both sides of the road The method may call saveBlockerLength to affect vehicle speed in the next step More...
 
virtual bool change ()
 
bool changeOpposite (MSVehicle *vehicle, std::pair< MSVehicle *, double > leader, MSVehicle *lastStopped)
 
int checkChange (int laneOffset, const MSLane *targetLane, const std::pair< MSVehicle *const, double > &leader, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &neighLead, const std::pair< MSVehicle *const, double > &neighFollow, const std::vector< MSVehicle::LaneQ > &preb) const
 
virtual bool checkChangeOpposite (MSVehicle *vehicle, int laneOffset, MSLane *targetLane, const std::pair< MSVehicle *const, double > &leader, const std::pair< MSVehicle *const, double > &neighLead, const std::pair< MSVehicle *const, double > &neighFollow, const std::vector< MSVehicle::LaneQ > &preb)
 
int checkChangeWithinEdge (int laneOffset, const std::pair< MSVehicle *const, double > &leader, const std::vector< MSVehicle::LaneQ > &preb) const
 
bool checkOppositeStop (MSVehicle *vehicle, const MSLane *oncomingLane, const MSLane *opposite, std::pair< MSVehicle *, double > leader)
 decide whether to change (back or forth) for an opposite stop More...
 
void checkTraCICommands (MSVehicle *vehicle)
 Take into account traci LC-commands. More...
 
double computeSafeOppositeLength (MSVehicle *vehicle, double oppositeLength, const MSLane *source, double usableDist, std::pair< MSVehicle *, double > oncoming, double vMax, double oncomingSpeed, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken, std::pair< MSVehicle *, double > neighFollow, double surplusGap, const MSLane *opposite, bool canOvertake)
 determine for how long the vehicle can drive safely on the opposite side More...
 
bool continueChange (MSVehicle *vehicle, ChangerIt &from)
 continue a lane change maneuver and return whether the vehicle has completely moved onto the new lane (used if gLaneChangeDuration > 0) More...
 
ChangerIt findCandidate ()
 Find current candidate. If there is none, myChanger.end() is returned. More...
 
std::pair< MSVehicle *const, double > getOncomingOppositeVehicle (const MSVehicle *vehicle, std::pair< MSVehicle *, double > overtaken, double searchDist)
 
std::pair< MSVehicle *const, double > getOncomingVehicle (const MSLane *opposite, std::pair< MSVehicle *, double > neighOncoming, double searchDist, double &vMax, const MSVehicle *overtaken=nullptr, MSLane::MinorLinkMode mLinkMode=MSLane::MinorLinkMode::FOLLOW_NEVER)
 
std::pair< MSVehicle *const, double > getRealFollower (const ChangerIt &target) const
 
std::pair< MSVehicle *const, double > getRealLeader (const ChangerIt &target) const
 
virtual void initChanger ()
 Initialize the changer before looping over all vehicles. More...
 
bool mayChange (int direction) const
 whether changing to the lane in the given direction should be considered More...
 
void registerUnchanged (MSVehicle *vehicle)
 
bool resolveDeadlock (MSVehicle *vehicle, std::pair< MSVehicle *const, double > leader, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken)
 keep stopping to resolve opposite-diretion deadlock while there is oncoming traffic The method may call saveBlockerLength to affect vehicle speed in the next step More...
 
bool startChange (MSVehicle *vehicle, ChangerIt &from, int direction)
 
virtual void updateChanger (bool vehHasChanged)
 
void updateLanes (SUMOTime t)
 
MSVehicle * veh (ConstChangerIt ce) const
 
bool vehInChanger () const
 Check if there is a single change-candidate in the changer. Returns true if there is one. More...
 
bool yieldToDeadlockOncoming (const MSVehicle *vehicle, const MSVehicle *stoppedNeigh, double dist)
 check whether to keep stopping for oncoming vehicles in the deadlock zone More...
 
bool yieldToOppositeWaiting (const MSVehicle *vehicle, const MSVehicle *stoppedNeigh, double dist, SUMOTime deltaWait=0)
 check whether to yield for oncoming vehicles that have waited longer for opposite overtaking More...
 

Static Protected Member Functions

static void computeOvertakingTime (const MSVehicle *vehicle, double vMax, const MSVehicle *leader, double gap, double &timeToOvertake, double &spaceToOvertake)
 Compute the time and space required for overtaking the given leader. More...
 
static double computeSurplusGap (const MSVehicle *vehicle, const MSLane *opposite, std::pair< MSVehicle *, double > oncoming, double timeToOvertake, double spaceToOvertake, double &oncomingSpeed, bool oncomingOpposite=false)
 
static bool foundHilltop (MSVehicle *vehicle, bool foundHill, double searchDist, const std::vector< MSLane * > &bestLanes, int view, double pos, double lastMax, double hilltopThreshold)
 
static std::vector< MSVehicle::LaneQ > getBestLanesOpposite (MSVehicle *vehicle, const MSLane *stopLane, double oppositeLength)
 add LaneQ for opposite lanes More...
 
static MSVehicle * getCloserFollower (const double maxPos, MSVehicle *follow1, MSVehicle *follow2)
 return the closer follower of ego More...
 
static std::pair< MSVehicle *, double > getColumnleader (double &maxSpace, MSVehicle *vehicle, std::pair< MSVehicle *, double > leader, double maxLookAhead=std::numeric_limits< double >::max())
 return leader vehicle that is to be overtaken More...
 
static const MSLane * getLaneAfter (const MSLane *lane, const std::vector< MSLane * > &conts, bool allowMinor, bool &contsEnd)
 return the next lane in conts beyond lane or nullptr More...
 
static double getMaxOvertakingSpeed (const MSVehicle *vehicle, double maxSpaceToOvertake)
 compute maximum maneuver speed More...
 
static bool hasOppositeStop (MSVehicle *vehicle)
 whether vehicle has an opposite-direction stop within relevant range More...
 

Protected Attributes

const bool myAllowsChanging
 
ChangerIt myCandi
 
Changer myChanger
 Container for ChangeElemements, one for every lane in the edge. More...
 
const bool myChangeToOpposite
 whether this edge allows changing to the opposite direction edge More...
 

Private Member Functions

 MSLaneChanger ()
 Default constructor. More...
 
 MSLaneChanger (const MSLaneChanger &)
 Copy constructor. More...
 
MSLaneChanger & operator= (const MSLaneChanger &)
 Assignment operator. More...
 

Detailed Description

Performs lane changing of vehicles.

Definition at line 45 of file MSLaneChanger.h.

Member Typedef Documentation

◆ Changer

typedef std::vector< ChangeElem > MSLaneChanger::Changer

The list of changers; For each lane, a ChangeElem is being build.

Definition at line 108 of file MSLaneChanger.h.

◆ ChangerIt

typedef Changer::iterator MSLaneChanger::ChangerIt

the iterator moving over the ChangeElems

Definition at line 111 of file MSLaneChanger.h.

◆ ConstChangerIt

typedef Changer::const_iterator MSLaneChanger::ConstChangerIt

the iterator moving over the ChangeElems

Definition at line 114 of file MSLaneChanger.h.

Constructor & Destructor Documentation

◆ MSLaneChanger() [1/3]

MSLaneChanger::MSLaneChanger ( const std::vector< MSLane * > *  lanes,
bool  allowChanging 
)

Constructor.

Definition at line 104 of file MSLaneChanger.cpp.

References myChanger.

◆ ~MSLaneChanger()

MSLaneChanger::~MSLaneChanger ( )
virtual

Destructor.

Definition at line 136 of file MSLaneChanger.cpp.

◆ MSLaneChanger() [2/3]

MSLaneChanger::MSLaneChanger ( )
private

Default constructor.

◆ MSLaneChanger() [3/3]

MSLaneChanger::MSLaneChanger ( const MSLaneChanger &  )
private

Copy constructor.

Member Function Documentation

◆ applyTraCICommands()

bool MSLaneChanger::applyTraCICommands ( MSVehicle *  vehicle)
protected

Execute TraCI LC-commands.

Note
This is currently only used within non-actionsteps for the non-sublane model.
Returns
whether lane was changed

Definition at line 425 of file MSLaneChanger.cpp.

References continueChange(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, myCandi, and MSAbstractLaneChangeModel::startLaneChangeManeuver().

Referenced by change().

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◆ avoidDeadlock()

bool MSLaneChanger::avoidDeadlock ( MSVehicle *  vehicle,
std::pair< MSVehicle *, double >  neighLead,
std::pair< MSVehicle *, double >  overtaken,
std::pair< MSVehicle *, double >  leader 
)
protected

avoid opposite-diretion deadlock when vehicles are stopped on both sides of the road The method may call saveBlockerLength to affect vehicle speed in the next step

Definition at line 1630 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), MSVehicle::getBestLanesContinuation(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), MSAbstractLaneChangeModel::isOpposite(), MAX2(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, MSAbstractLaneChangeModel::saveBlockerLength(), SIMTIME, and yieldToDeadlockOncoming().

Referenced by changeOpposite().

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◆ change()

bool MSLaneChanger::change ( )
protectedvirtual

Find a new candidate and try to change it.

Reimplemented in MSLaneChangerSublane.

Definition at line 275 of file MSLaneChanger.cpp.

References MSVehicle::adaptBestLanesOccupation(), MSAbstractLaneChangeModel::alreadyChanged(), applyTraCICommands(), changeOpposite(), checkChangeWithinEdge(), checkTraCICommands(), MSAbstractLaneChangeModel::clearNeighbors(), continueChange(), DEBUG_COND, findCandidate(), MSVehicle::getBestLanes(), Named::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), getRealLeader(), MSVehicleType::getVehicleClass(), MSBaseVehicle::getVehicleType(), hasOppositeStop(), MSVehicle::isActive(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::isOpposite(), MSVehicle::isStoppedOnLane(), LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_URGENT, mayChange(), myAllowsChanging, myCandi, myChanger, registerUnchanged(), MSAbstractLaneChangeModel::setOwnState(), SIMTIME, startChange(), SVC_EMERGENCY, MSVehicle::updateBestLanes(), and veh().

Referenced by laneChange().

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◆ changeOpposite()

bool MSLaneChanger::changeOpposite ( MSVehicle *  vehicle,
std::pair< MSVehicle *, double >  leader,
MSVehicle *  lastStopped 
)
protected

try changing to the opposite direction edge.

Definition at line 1189 of file MSLaneChanger.cpp.

References MSLane::allowsChangingLeft(), MSLane::allowsVehicleClass(), avoidDeadlock(), checkChangeOpposite(), checkOppositeStop(), computeOvertakingTime(), computeSafeOppositeLength(), computeSurplusGap(), DEBUG_COND, foundHilltop(), gDebugFlag5, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanes(), MSVehicle::getBestLanesContinuation(), getBestLanesOpposite(), getColumnleader(), MSLink::getDirection(), Named::getID(), Named::getIDSecure(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::Influencer::getLaneTimeLineDuration(), MSLane::getLeader(), MSLane::getLength(), MSVehicleType::getLength(), MSLane::getLinkTo(), getMaxOvertakingSpeed(), MSVehicleType::getMinGap(), MSVehicle::getMutableLane(), getOncomingOppositeVehicle(), getOncomingVehicle(), MSLane::getOpposite(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLane::getOppositePos(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSLane::getParallelLane(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), MSVehicle::Influencer::getRespectJunctionPriority(), MSVehicle::getSlope(), MSLane::getSpeedLimit(), MSLink::getState(), MSBaseVehicle::getVClass(), MSVehicleType::getVehicleClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSLink::getViaLaneOrLane(), MSBaseVehicle::getWaitingSeconds(), MSGlobals::gLefthand, MSNet::hasElevation(), MSVehicle::hasInfluencer(), hasOppositeStop(), MSLink::havePriority(), MSLink::haveRed(), MSLink::haveYellow(), MSVehicle::ignoreRed(), MSVehicle::influenceChangeDecision(), MSLane::isInternal(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), LCA_LEFT, LCA_TRACI, LINKSTATE_ZIPPER, MAX2(), MIN2(), myChangeToOpposite, MSVehicle::nextStopDist(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, OPPOSITE_OVERTAKING_HILLTOP_THRESHOHOLD, OPPOSITE_OVERTAKING_MAX_SPACE_TO_OVERTAKE, OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD, resolveDeadlock(), SIMTIME, STEPS2TIME, STRAIGHT, SVC_EMERGENCY, TIME2STEPS, toString(), TS, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, MSVehicle::VEH_SIGNAL_BLINKER_RIGHT, yieldToOppositeWaiting(), and Position::z().

Referenced by change(), and MSLaneChangerSublane::change().

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◆ checkChange()

int MSLaneChanger::checkChange ( int  laneOffset,
const MSLane *  targetLane,
const std::pair< MSVehicle *const, double > &  leader,
const std::pair< MSVehicle *const, double > &  follower,
const std::pair< MSVehicle *const, double > &  neighLead,
const std::pair< MSVehicle *const, double > &  neighFollow,
const std::vector< MSVehicle::LaneQ > &  preb 
) const
protected

Definition at line 744 of file MSLaneChanger.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::checkChangeBeforeCommitting(), DEBUG_COND, DELTA_T, MSAbstractLaneChangeModel::estimateLCDuration(), MSVehicle::getAcceleration(), MSVehicle::getActionStepLength(), MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration(), MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), MSLane::getCriticalLeader(), MSLane::getEdge(), MSCFModel::getHeadwayTime(), Named::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSLane::getLeader(), MSLane::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSLane::getParallelLane(), MSVehicle::getPositionOnLane(), MSVehicle::getRightSideOnLane(), MSAbstractLaneChangeModel::getSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSLane::getWidth(), MSVehicleType::getWidth(), MSGlobals::gLaneChangeDuration, MSLane::hasPedestrians(), MSVehicle::influenceChangeDecision(), MSEdge::isInternal(), MSLane::isLinkEnd(), MSAbstractLaneChangeModel::isOpposite(), LCA_BLOCKED, LCA_BLOCKED_BY_LEFT_FOLLOWER, LCA_BLOCKED_BY_LEFT_LEADER, LCA_BLOCKED_BY_RIGHT_FOLLOWER, LCA_BLOCKED_BY_RIGHT_LEADER, LCA_INSUFFICIENT_SPACE, LCA_INSUFFICIENT_SPEED, LCA_OVERLAPPING, LCA_URGENT, LCA_WANTS_LANECHANGE, LEFT, MAX2(), MIN2(), myCandi, MSLane::nextBlocking(), MSAbstractLaneChangeModel::NO_NEIGHBOR, RIGHT, MSAbstractLaneChangeModel::saveLCState(), MSAbstractLaneChangeModel::saveNeighbors(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), SIMTIME, MSLane::succLinkSec(), toString(), TS, MSVehicle::unsafeLinkAhead(), veh(), and MSAbstractLaneChangeModel::wantsChange().

Referenced by checkChangeOpposite(), and checkChangeWithinEdge().

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◆ checkChangeOpposite()

bool MSLaneChanger::checkChangeOpposite ( MSVehicle *  vehicle,
int  laneOffset,
MSLane *  targetLane,
const std::pair< MSVehicle *const, double > &  leader,
const std::pair< MSVehicle *const, double > &  neighLead,
const std::pair< MSVehicle *const, double > &  neighFollow,
const std::vector< MSVehicle::LaneQ > &  preb 
)
protectedvirtual

Reimplemented in MSLaneChangerSublane.

Definition at line 2155 of file MSLaneChanger.cpp.

References checkChange(), continueChange(), DEBUG_COND, Named::getID(), Named::getIDSecure(), MSVehicle::getLaneChangeModel(), MSVehicle::getMutableLane(), MSAbstractLaneChangeModel::isOpposite(), LCA_BLOCKED, LCA_COOPERATIVE, LCA_WANTS_LANECHANGE, myCandi, MSAbstractLaneChangeModel::setOwnState(), SIMTIME, MSAbstractLaneChangeModel::startLaneChangeManeuver(), and toString().

Referenced by changeOpposite(), and checkOppositeStop().

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◆ checkChangeWithinEdge()

int MSLaneChanger::checkChangeWithinEdge ( int  laneOffset,
const std::pair< MSVehicle *const, double > &  leader,
const std::vector< MSVehicle::LaneQ > &  preb 
) const
protected

Definition at line 726 of file MSLaneChanger.cpp.

References checkChange(), getRealFollower(), getRealLeader(), and myCandi.

Referenced by change().

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◆ checkOppositeStop()

bool MSLaneChanger::checkOppositeStop ( MSVehicle *  vehicle,
const MSLane *  oncomingLane,
const MSLane *  opposite,
std::pair< MSVehicle *, double >  leader 
)
protected

decide whether to change (back or forth) for an opposite stop

Definition at line 1095 of file MSLaneChanger.cpp.

References checkChangeOpposite(), computeSurplusGap(), DEBUG_COND, getBestLanesOpposite(), MSVehicle::getCarFollowModel(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getNextStop(), MSAbstractLaneChangeModel::getNormalizedLaneIndex(), getOncomingVehicle(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, MSAbstractLaneChangeModel::isOpposite(), MSStop::lane, MAX2(), MSVehicle::nextStopDist(), OPPOSITE_OVERTAKING_MAX_LOOKAHEAD, OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD, STEPS2TIME, and SUMO_const_laneWidth.

Referenced by changeOpposite().

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◆ checkTraCICommands()

void MSLaneChanger::checkTraCICommands ( MSVehicle *  vehicle)
protected

Take into account traci LC-commands.

Note
This is currently only used within non-actionsteps.

Definition at line 404 of file MSLaneChanger.cpp.

References MSAbstractLaneChangeModel::checkTraCICommands(), DEBUG_COND, Named::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), LCA_BLOCKED, LCA_OVERLAPPING, SIMTIME, and toString().

Referenced by change(), and MSLaneChangerSublane::change().

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◆ computeOvertakingTime()

void MSLaneChanger::computeOvertakingTime ( const MSVehicle *  vehicle,
double  vMax,
const MSVehicle *  leader,
double  gap,
double &  timeToOvertake,
double &  spaceToOvertake 
)
staticprotected

Compute the time and space required for overtaking the given leader.

Parameters
[in]vehicleThe vehicle that wants to overtake
[in]leaderThe vehicle to be overtaken
[in]gapThe gap between vehicle and leader
[out]timeToOvertakeThe time for overtaking
[out]spaceToOvertakeThe space for overtaking

XXX ignore speed limit when overtaking through the opposite lane?

Definition at line 2196 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getAcceleration(), MSVehicle::getCarFollowModel(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getMinGap(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getStopDuration(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSLane::getWidth(), MSGlobals::gSublane, MAX2(), OPPOSITE_OVERTAKING_SAFE_TIMEGAP, OPPOSITE_OVERTAKING_SAFETY_FACTOR, STEPS2TIME, and TS.

Referenced by changeOpposite().

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◆ computeSafeOppositeLength()

double MSLaneChanger::computeSafeOppositeLength ( MSVehicle *  vehicle,
double  oppositeLength,
const MSLane *  source,
double  usableDist,
std::pair< MSVehicle *, double >  oncoming,
double  vMax,
double  oncomingSpeed,
std::pair< MSVehicle *, double >  neighLead,
std::pair< MSVehicle *, double >  overtaken,
std::pair< MSVehicle *, double >  neighFollow,
double  surplusGap,
const MSLane *  opposite,
bool  canOvertake 
)
protected

determine for how long the vehicle can drive safely on the opposite side

Definition at line 1871 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getCarFollowModel(), Named::getID(), MSVehicle::getLaneChangeModel(), MSCFModel::getMaxDecel(), MSLane::getOppositeFollower(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), MAX2(), MIN2(), MSVehicle::nextStopDist(), SIMTIME, TIME2STEPS, and yieldToOppositeWaiting().

Referenced by changeOpposite().

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◆ computeSurplusGap()

double MSLaneChanger::computeSurplusGap ( const MSVehicle *  vehicle,
const MSLane *  opposite,
std::pair< MSVehicle *, double >  oncoming,
double  timeToOvertake,
double  spaceToOvertake,
double &  oncomingSpeed,
bool  oncomingOpposite = false 
)
staticprotected

Definition at line 2067 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getCarFollowModel(), MSCFModel::getHeadwayTime(), Named::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getShadowLane(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getWaitingSeconds(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, OPPOSITE_OVERTAKING_SAFETYGAP_HEADWAY_FACTOR, and SIMTIME.

Referenced by changeOpposite(), and checkOppositeStop().

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◆ continueChange()

bool MSLaneChanger::continueChange ( MSVehicle *  vehicle,
ChangerIt &  from 
)
protected

continue a lane change maneuver and return whether the vehicle has completely moved onto the new lane (used if gLaneChangeDuration > 0)

Definition at line 467 of file MSLaneChanger.cpp.

References MSVehicle::computeAngle(), DEBUG_COND, MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLane::getEdge(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSAbstractLaneChangeModel::getLaneChangeCompletion(), MSAbstractLaneChangeModel::getLaneChangeDirection(), MSVehicle::getLaneChangeModel(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::getSpeedLat(), MSLane::getWidth(), Position::INVALID, MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::isOpposite(), M_PI, MSVehicle::myAngle, MSVehicle::myCachedPosition, myCandi, myChanger, MSVehicle::State::myPosLat, MSVehicle::myState, MSAbstractLaneChangeModel::primaryLaneChanged(), MSLane::requireCollisionCheck(), SIMTIME, SPEED2DIST, MSAbstractLaneChangeModel::updateCompletion(), and MSAbstractLaneChangeModel::updateShadowLane().

Referenced by applyTraCICommands(), change(), checkChangeOpposite(), and startChange().

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◆ findCandidate()

MSLaneChanger::ChangerIt MSLaneChanger::findCandidate ( )
protected

Find current candidate. If there is none, myChanger.end() is returned.

Definition at line 217 of file MSLaneChanger.cpp.

References Named::getID(), MSVehicle::getPositionOnLane(), MSVehicle::isFrontOnLane(), myChanger, SIMTIME, and veh().

Referenced by change(), and MSLaneChangerSublane::change().

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◆ foundHilltop()

bool MSLaneChanger::foundHilltop ( MSVehicle *  vehicle,
bool  foundHill,
double  searchDist,
const std::vector< MSLane * > &  bestLanes,
int  view,
double  pos,
double  lastMax,
double  hilltopThreshold 
)
staticprotected

Definition at line 2101 of file MSLaneChanger.cpp.

References DEBUG_COND, Named::getID(), MSLane::getShape(), MSLane::interpolateGeometryPosToLanePos(), and SIMTIME.

Referenced by changeOpposite().

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◆ getBestLanesOpposite()

std::vector< MSVehicle::LaneQ > MSLaneChanger::getBestLanesOpposite ( MSVehicle *  vehicle,
const MSLane *  stopLane,
double  oppositeLength 
)
staticprotected

add LaneQ for opposite lanes

Definition at line 1151 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), MSLane::getEdge(), MSAbstractLaneChangeModel::getForwardPos(), Named::getID(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSEdge::getLanes(), MSEdge::getNormalSuccessor(), MSEdge::getNumLanes(), MSEdge::getOppositeEdge(), MSAbstractLaneChangeModel::isOpposite(), MSVehicle::nextStopDist(), and SIMTIME.

Referenced by changeOpposite(), MSLaneChangerSublane::checkChangeHelper(), and checkOppositeStop().

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◆ getChanger()

Changer& MSLaneChanger::getChanger ( )
inline

return changer (only to be used by MSLaneChangerSublane from another instance)

Definition at line 117 of file MSLaneChanger.h.

References myChanger.

Referenced by MSLaneChangerSublane::startChangeSublane().

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◆ getCloserFollower()

MSVehicle * MSLaneChanger::getCloserFollower ( const double  maxPos,
MSVehicle *  follow1,
MSVehicle *  follow2 
)
staticprotected

return the closer follower of ego

Definition at line 711 of file MSLaneChanger.cpp.

References MSVehicle::getPositionOnLane().

Referenced by getRealFollower().

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◆ getColumnleader()

std::pair< MSVehicle *, double > MSLaneChanger::getColumnleader ( double &  maxSpace,
MSVehicle *  vehicle,
std::pair< MSVehicle *, double >  leader,
double  maxLookAhead = std::numeric_limits<double>::max() 
)
staticprotected

return leader vehicle that is to be overtaken

Parameters
[out]maxSpaceThe maxium space that can be used for the overtaking maneuver (limits speed)
[in]vehicleThe vehicle that wants to overtake
[in]leaderThe vehicle to be overtaken and the gap to this vehicle
[in]maxLookAheadThe maximum lookahead distance

This methods calls itself recursively to find the leader of a column of vehicles to be overtaken (if there is no sufficient gap for stopping in between)

Definition at line 2319 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), MSLane::getEdge(), Named::getID(), Named::getIDSecure(), MSVehicle::getLane(), getLaneAfter(), MSVehicle::getLaneChangeModel(), MSLane::getLastAnyVehicle(), MSLane::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSVehicle::getPositionOnLane(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSVehicleType::getVehicleClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), OPPOSITE_OVERTAKING_MAX_LOOKAHEAD, OPPOSITE_OVERTAKING_MAX_LOOKAHEAD_EMERGENCY, OPPOSITE_OVERTAKING_SAFETY_FACTOR, SVC_EMERGENCY, and toString().

Referenced by changeOpposite().

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◆ getLaneAfter()

const MSLane * MSLaneChanger::getLaneAfter ( const MSLane *  lane,
const std::vector< MSLane * > &  conts,
bool  allowMinor,
bool &  contsEnd 
)
staticprotected

return the next lane in conts beyond lane or nullptr

Definition at line 2508 of file MSLaneChanger.cpp.

References MSLane::getLinkTo(), and MSLink::havePriority().

Referenced by getColumnleader().

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◆ getMaxOvertakingSpeed()

double MSLaneChanger::getMaxOvertakingSpeed ( const MSVehicle *  vehicle,
double  maxSpaceToOvertake 
)
staticprotected

compute maximum maneuver speed

Definition at line 2529 of file MSLaneChanger.cpp.

References MSVehicle::getCarFollowModel(), MSCFModel::getMaxAccel(), and MSCFModel::getMaxDecel().

Referenced by changeOpposite().

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◆ getOncomingOppositeVehicle()

std::pair< MSVehicle *const, double > MSLaneChanger::getOncomingOppositeVehicle ( const MSVehicle *  vehicle,
std::pair< MSVehicle *, double >  overtaken,
double  searchDist 
)
protected

Definition at line 2022 of file MSLaneChanger.cpp.

References gDebugFlag5, MSVehicle::getBestLanesContinuation(), Named::getID(), Named::getIDSecure(), MSVehicle::getLane(), MSLane::getLeader(), MSVehicleType::getLengthWithGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), and SIMTIME.

Referenced by changeOpposite(), and resolveDeadlock().

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◆ getOncomingVehicle()

std::pair< MSVehicle *const, double > MSLaneChanger::getOncomingVehicle ( const MSLane *  opposite,
std::pair< MSVehicle *, double >  neighOncoming,
double  searchDist,
double &  vMax,
const MSVehicle *  overtaken = nullptr,
MSLane::MinorLinkMode  mLinkMode = MSLane::MinorLinkMode::FOLLOW_NEVER 
)
protected

Definition at line 1983 of file MSLaneChanger.cpp.

References gDebugFlag5, MSLane::getFollower(), MAX2(), MIN2(), and SIMTIME.

Referenced by changeOpposite(), and checkOppositeStop().

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◆ getRealFollower()

std::pair< MSVehicle *const, double > MSLaneChanger::getRealFollower ( const ChangerIt &  target) const
protected

Definition at line 633 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBackPositionOnLane(), getCloserFollower(), Named::getID(), MSVehicleType::getLength(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), myCandi, SIMTIME, and veh().

Referenced by checkChangeWithinEdge().

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◆ getRealLeader()

std::pair< MSVehicle *const, double > MSLaneChanger::getRealLeader ( const ChangerIt &  target) const
protected

Definition at line 524 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), Named::getID(), Named::getIDSecure(), MSLane::getLength(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSVehicle::isBidiOn(), myCandi, MSLane::myPartialVehicles, SIMTIME, and veh().

Referenced by change(), and checkChangeWithinEdge().

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◆ hasOppositeStop()

bool MSLaneChanger::hasOppositeStop ( MSVehicle *  vehicle)
staticprotected

whether vehicle has an opposite-direction stop within relevant range

Definition at line 1083 of file MSLaneChanger.cpp.

References MSBaseVehicle::getNextStop(), MSBaseVehicle::hasStops(), MSStop::isOpposite, MSVehicle::nextStopDist(), and OPPOSITE_OVERTAKING_MAX_LOOKAHEAD.

Referenced by change(), MSLaneChangerSublane::change(), and changeOpposite().

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◆ initChanger()

void MSLaneChanger::initChanger ( )
protectedvirtual

Initialize the changer before looping over all vehicles.

Reimplemented in MSLaneChangerSublane.

Definition at line 164 of file MSLaneChanger.cpp.

References myChanger.

Referenced by MSLaneChangerSublane::initChanger(), and laneChange().

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◆ laneChange()

void MSLaneChanger::laneChange ( SUMOTime  t)

Start lane-change-process for all vehicles on the edge'e lanes.

Definition at line 141 of file MSLaneChanger.cpp.

References change(), initChanger(), myChanger, updateChanger(), updateLanes(), and vehInChanger().

Referenced by MSEdge::changeLanes().

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◆ mayChange()

bool MSLaneChanger::mayChange ( int  direction) const
protected

whether changing to the lane in the given direction should be considered

Definition at line 256 of file MSLaneChanger.cpp.

References MSBaseVehicle::getVClass(), myAllowsChanging, myCandi, and veh().

Referenced by change(), MSLaneChangerSublane::change(), MSLaneChangerSublane::checkChangeHelper(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), and MSLaneChangerSublane::startChangeSublane().

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◆ operator=()

MSLaneChanger& MSLaneChanger::operator= ( const MSLaneChanger &  )
private

Assignment operator.

◆ registerUnchanged()

void MSLaneChanger::registerUnchanged ( MSVehicle *  vehicle)
protected

Update changer for vehicles that did not change

Definition at line 394 of file MSLaneChanger.cpp.

References MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSBaseVehicle::getVehicleType(), myCandi, MSAbstractLaneChangeModel::unchanged(), and veh().

Referenced by change(), MSLaneChangerSublane::change(), and startChange().

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◆ resolveDeadlock()

bool MSLaneChanger::resolveDeadlock ( MSVehicle *  vehicle,
std::pair< MSVehicle *const, double >  leader,
std::pair< MSVehicle *, double >  neighLead,
std::pair< MSVehicle *, double >  overtaken 
)
protected

keep stopping to resolve opposite-diretion deadlock while there is oncoming traffic The method may call saveBlockerLength to affect vehicle speed in the next step

Definition at line 1799 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSVehicleType::getMinGap(), getOncomingOppositeVehicle(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, MSAbstractLaneChangeModel::saveBlockerLength(), SIMTIME, UNUSED_PARAMETER, and yieldToDeadlockOncoming().

Referenced by changeOpposite().

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◆ startChange()

bool MSLaneChanger::startChange ( MSVehicle *  vehicle,
ChangerIt &  from,
int  direction 
)
protected

Definition at line 447 of file MSLaneChanger.cpp.

References continueChange(), MSVehicle::getLaneChangeModel(), MSVehicle::isRemoteControlled(), myCandi, registerUnchanged(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

Referenced by change().

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◆ updateChanger()

void MSLaneChanger::updateChanger ( bool  vehHasChanged)
protectedvirtual

After the possible change, update the changer.

Reimplemented in MSLaneChangerSublane.

Definition at line 181 of file MSLaneChanger.cpp.

References myCandi, and veh().

Referenced by laneChange(), and MSLaneChangerSublane::updateChanger().

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◆ updateLanes()

void MSLaneChanger::updateLanes ( SUMOTime  t)
protected

During lane-change a temporary vehicle container is filled within the lanes (bad practice to modify foreign members, I know). Swap this container with the real one.

Definition at line 199 of file MSLaneChanger.cpp.

References myChanger.

Referenced by laneChange().

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◆ veh()

MSVehicle* MSLaneChanger::veh ( ConstChangerIt  ce) const
inlineprotected

Returns the furthes unhandled vehicle on this change-elements lane or 0 if there is none.

Definition at line 141 of file MSLaneChanger.h.

Referenced by change(), MSLaneChangerSublane::change(), checkChange(), MSLaneChangerSublane::checkChangeSublane(), findCandidate(), MSLaneChangerSublane::getLeaders(), MSEdge::getMinimumTravelTime(), getRealFollower(), getRealLeader(), MSEdge::getTravelTimeStatic(), mayChange(), registerUnchanged(), updateChanger(), and vehInChanger().

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◆ vehInChanger()

bool MSLaneChanger::vehInChanger ( ) const
inlineprotected

Check if there is a single change-candidate in the changer. Returns true if there is one.

Definition at line 128 of file MSLaneChanger.h.

References myChanger, and veh().

Referenced by laneChange().

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◆ yieldToDeadlockOncoming()

bool MSLaneChanger::yieldToDeadlockOncoming ( const MSVehicle *  vehicle,
const MSVehicle *  stoppedNeigh,
double  dist 
)
protected

check whether to keep stopping for oncoming vehicles in the deadlock zone

Definition at line 1748 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getFollower(), Named::getID(), Named::getIDSecure(), MSVehicleType::getLengthWithGap(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, and SIMTIME.

Referenced by avoidDeadlock(), and resolveDeadlock().

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◆ yieldToOppositeWaiting()

bool MSLaneChanger::yieldToOppositeWaiting ( const MSVehicle *  vehicle,
const MSVehicle *  stoppedNeigh,
double  dist,
SUMOTime  deltaWait = 0 
)
protected

check whether to yield for oncoming vehicles that have waited longer for opposite overtaking

Definition at line 1776 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getFollower(), Named::getID(), MSBaseVehicle::getWaitingSeconds(), MSVehicle::getWaitingTime(), SIMTIME, and STEPS2TIME.

Referenced by changeOpposite(), and computeSafeOppositeLength().

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Field Documentation

◆ myAllowsChanging

const bool MSLaneChanger::myAllowsChanging
protected

Definition at line 320 of file MSLaneChanger.h.

Referenced by change(), and mayChange().

◆ myCandi

ChangerIt MSLaneChanger::myCandi
protected

Change-candidate. Last of the vehicles in changer. Only this one will try to change. Every vehicle on the edge will be a candidate once in the change-process.

Definition at line 316 of file MSLaneChanger.h.

Referenced by MSLaneChangerSublane::abortLCManeuver(), applyTraCICommands(), change(), MSLaneChangerSublane::change(), checkChange(), MSLaneChangerSublane::checkChangeHelper(), checkChangeOpposite(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeSublane(), checkChangeWithinEdge(), continueChange(), getRealFollower(), getRealLeader(), mayChange(), registerUnchanged(), startChange(), updateChanger(), and MSLaneChangerSublane::updateChanger().

◆ myChanger

Changer MSLaneChanger::myChanger
protected

Container for ChangeElemements, one for every lane in the edge.

Definition at line 311 of file MSLaneChanger.h.

Referenced by change(), MSLaneChangerSublane::change(), continueChange(), findCandidate(), getChanger(), initChanger(), MSLaneChangerSublane::initChanger(), laneChange(), MSLaneChanger(), MSLaneChangerSublane::MSLaneChangerSublane(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), updateLanes(), and vehInChanger().

◆ myChangeToOpposite

const bool MSLaneChanger::myChangeToOpposite
protected

whether this edge allows changing to the opposite direction edge

Definition at line 323 of file MSLaneChanger.h.

Referenced by MSLaneChangerSublane::change(), and changeOpposite().

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