Eclipse SUMO - Simulation of Urban MObility
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Interface for lane-change models. More...
#include <MSAbstractLaneChangeModel.h>
Data Structures | |
class | MSLCMessager |
A class responsible for exchanging messages between cars involved in lane-change interaction. More... | |
struct | StateAndDist |
Public Member Functions | |
bool | alreadyChanged () const |
reset the flag whether a vehicle already moved to false | |
double | calcAngleOffset () |
return the angle offset during a continuous change maneuver | |
virtual void | changed ()=0 |
void | changedToOpposite () |
called when a vehicle changes between lanes in opposite directions | |
virtual int | checkChangeBeforeCommitting (const MSVehicle *veh, int state) const |
Informs the vehicle that it is about to be moved on an adjacent lane. The method can be used to re-evaluate the state of the vehicle and potentially abort the lane change. By default, if the method is not overridden by the lane change model implementation, nothing is altered and the vehicle will perform the lane change. | |
void | checkTraCICommands () |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. | |
void | cleanupShadowLane () |
void | cleanupTargetLane () |
void | clearGapsAtLCInit () |
void | clearNeighbors () |
Clear info on neighboring vehicle from previous step. | |
virtual double | computeSpeedLat (double latDist, double &maneuverDist, bool urgent) const |
decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints. | |
virtual bool | debugVehicle () const |
whether the current vehicles shall be debugged | |
virtual StateAndDist | decideDirection (StateAndDist sd1, StateAndDist sd2) const |
decide in which direction to move in case both directions are desirable | |
MSLane * | determineTargetLane (int &targetDir) const |
void | endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE) |
virtual double | estimateLCDuration (const double speed, const double remainingManeuverDist, const double decel, bool urgent) const |
Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,. | |
double | getAccelerationLat () const |
return the lateral speed of the current lane change maneuver | |
double | getAngleOffset () const |
return the angle offset resulting from lane change and sigma | |
virtual double | getAssumedDecelForLaneChangeDuration () const |
Returns a deceleration value which is used for the estimation of the duration of a lane change. | |
int & | getCanceledState (const int dir) |
double | getCommittedSpeed () const |
virtual LatAlignmentDefinition | getDesiredAlignment () const |
virtual double | getExtraReservation (int) const |
reserve extra space for unseen blockers when more tnan one lane change is required | |
const std::shared_ptr< MSLeaderDistanceInfo > | getFollowers (const int dir) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction. | |
double | getForwardPos () const |
get vehicle position relative to the forward direction lane | |
const std::vector< MSLane * > & | getFurtherTargetLanes () const |
double | getLaneChangeCompletion () const |
Get the current lane change completion ratio. | |
int | getLaneChangeDirection () const |
return the direction of the current lane change maneuver | |
SUMOTime | getLastLaneChangeOffset () const |
const std::shared_ptr< MSLeaderDistanceInfo > | getLeaders (const int dir) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction. | |
double | getManeuverDist () const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) | |
virtual LaneChangeModel | getModelID () const =0 |
Returns the model's ID;. | |
int | getNormalizedLaneIndex () |
brief return lane index that treats opposite lanes like normal lanes to the left of the forward lanes | |
virtual double | getOppositeSafetyFactor () const |
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model | |
int | getOwnState () const |
virtual std::string | getParameter (const std::string &key) const |
try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key | |
double | getPreviousManeuverDist () const |
int | getPrevState () const |
virtual double | getSafetyFactor () const |
return factor for modifying the safety constraints of the car-following model | |
const std::pair< int, int > & | getSavedState (const int dir) const |
int | getShadowDirection () const |
return the direction in which the current shadow lane lies | |
const std::vector< MSLane * > & | getShadowFurtherLanes () const |
const std::vector< double > & | getShadowFurtherLanesPosLat () const |
MSLane * | getShadowLane () const |
Returns the lane the vehicle's shadow is on during continuous/sublane lane change. | |
MSLane * | getShadowLane (const MSLane *lane) const |
return the shadow lane for the given lane | |
MSLane * | getShadowLane (const MSLane *lane, double posLat) const |
return the shadow lane for the given lane and lateral offset | |
double | getSpeedLat () const |
return the lateral speed of the current lane change maneuver | |
MSLane * | getTargetLane () const |
Returns the lane the vehicle has committed to enter during a sublane lane change. | |
bool | hasBlueLight () const |
virtual void * | inform (void *info, MSVehicle *sender)=0 |
bool | isChangingLanes () const |
return true if the vehicle currently performs a lane change maneuver | |
bool | isOpposite () const |
bool | isStrategicBlocked () const |
void | laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction, double maneuverDist=0) |
called once the vehicle ends a lane change manoeuvre (non-instant) | |
virtual void | loadState (const SUMOSAXAttributes &attrs) |
Loads the state of the laneChangeModel from the given attributes. | |
void | memorizeGapsAtLCInit () |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. | |
MSAbstractLaneChangeModel (MSVehicle &v, const LaneChangeModel model) | |
Constructor. | |
bool | pastMidpoint () const |
return whether the vehicle passed the midpoint of a continuous lane change maneuver | |
virtual double | patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)=0 |
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. | |
virtual void | prepareStep () |
void | primaryLaneChanged (MSLane *source, MSLane *target, int direction) |
called once when the vehicles primary lane changes | |
SUMOTime | remainingTime () const |
Compute the remaining time until LC completion. | |
void | removeShadowApproachingInformation () const |
void | resetChanged () |
reset the flag whether a vehicle already moved to false | |
virtual void | resetSpeedLat () |
virtual void | resetState () |
virtual bool | saveBlockerLength (double, double) |
reserve space at the end of the lane to avoid dead locks | |
void | saveLCState (const int dir, int stateWithoutTraCI, const int state) |
void | saveNeighbors (const int dir, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &leaders) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case. | |
void | saveNeighbors (const int dir, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &leader) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case. | |
virtual void | saveState (OutputDevice &out) const |
Save the state of the laneChangeModel. | |
void | setAngleOffset (const double angleOffset) |
set the angle offset resulting from lane change and sigma | |
void | setFollowerGaps (CLeaderDist follower, double secGap) |
void | setFollowerGaps (const MSLeaderDistanceInfo &vehicles) |
void | setLeaderGaps (CLeaderDist, double secGap) |
void | setLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
void | setManeuverDist (const double dist) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) | |
void | setNoShadowPartialOccupator (MSLane *lane) |
void | setOrigLeaderGaps (CLeaderDist, double secGap) |
void | setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles) |
virtual void | setOwnState (const int state) |
virtual void | setParameter (const std::string &key, const std::string &value) |
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key | |
void | setPreviousAngleOffset (const double angleOffset) |
set the angle offset of the previous time step | |
void | setShadowApproachingInformation (MSLink *link) const |
set approach information for the shadow vehicle | |
void | setShadowPartialOccupator (MSLane *lane) |
void | setSpeedLat (double speedLat) |
set the lateral speed and update lateral acceleraton | |
bool | startLaneChangeManeuver (MSLane *source, MSLane *target, int direction) |
start the lane change maneuver and return whether it continues | |
virtual bool | sublaneChangeCompleted (const double latDist) const |
whether the current change completes the manoeuvre | |
void | unchanged () |
bool | updateCompletion () |
virtual void | updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex) |
update expected speeds for each sublane of the current edge | |
virtual void | updateSafeLatDist (const double travelledLatDist) |
Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps. | |
void | updateShadowLane () |
MSLane * | updateTargetLane () |
virtual int | wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &follower, 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 method gets the information about the surrounding vehicles and whether another lane may be more preferable. | |
virtual int | wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &targetDistLat, int &blocked) |
virtual | ~MSAbstractLaneChangeModel () |
Destructor. | |
Static Public Member Functions | |
static MSAbstractLaneChangeModel * | build (LaneChangeModel lcm, MSVehicle &vehicle) |
Factory method for instantiating new lane changing models. | |
static bool | haveLCOutput () |
whether lanechange-output is active | |
static void | initGlobalOptions (const OptionsCont &oc) |
init global model parameters | |
static bool | outputLCEnded () |
whether start of maneuvers shall be recorede | |
static bool | outputLCStarted () |
whether start of maneuvers shall be recorede | |
Static Public Attributes | |
static const double | NO_NEIGHBOR |
Protected Member Functions | |
void | addLCSpeedAdvice (const double vSafe, bool ownAdvice=true) |
Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices. | |
virtual bool | avoidOvertakeRight () const |
bool | cancelRequest (int state, int laneOffset) |
whether the influencer cancels the given request | |
virtual bool | congested (const MSVehicle *const neighLeader) |
const MSCFModel & | getCarFollowModel () const |
The vehicle's car following model. | |
double | getMaxSpeedLat2 () const |
return the max of maxSpeedLat and lcMaxSpeedLatStanding | |
void | initLastLaneChangeOffset (int dir) |
virtual bool | predInteraction (const std::pair< MSVehicle *, double > &leader) |
Protected Attributes | |
double | myAccelerationLat |
the current lateral acceleration | |
bool | myAlreadyChanged |
whether the vehicle has already moved this step | |
double | myAngleOffset |
the current angle offset resulting from lane change and sigma | |
int | myCanceledStateCenter |
int | myCanceledStateLeft |
int | myCanceledStateRight |
double | myCommittedSpeed |
the speed when committing to a change maneuver | |
bool | myDontResetLCGaps |
Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. | |
std::vector< MSLane * > | myFurtherTargetLanes |
bool | myHaveBlueLight |
whether this vehicle is driving with special permissions and behavior | |
double | myLaneChangeCompletion |
progress of the lane change maneuver 0:started, 1:complete | |
int | myLaneChangeDirection |
direction of the lane change maneuver -1 means right, 1 means left | |
double | myLastFollowerGap |
double | myLastFollowerSecureGap |
double | myLastFollowerSpeed |
double | myLastLateralGapLeft |
the minimum lateral gaps to other vehicles that were found when last changing to the left and right | |
double | myLastLateralGapRight |
double | myLastLeaderGap |
the actual minimum longitudinal distances to vehicles on the target lane | |
double | myLastLeaderSecureGap |
the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security | |
double | myLastLeaderSpeed |
speeds of surrounding vehicles at the time of lane change | |
double | myLastOrigLeaderGap |
acutal and secure distance to closest leader vehicle on the original when performing lane change | |
double | myLastOrigLeaderSecureGap |
double | myLastOrigLeaderSpeed |
std::vector< std::pair< double, bool > > | myLCAccelerationAdvices |
double | myMaxDistLatStanding |
double | myMaxSpeedLatFactor |
double | myMaxSpeedLatStanding |
const LaneChangeModel | myModel |
the type of this model | |
std::vector< MSLane * > | myNoPartiallyOccupatedByShadow |
double | myOvertakeRightParam |
int | myOwnState |
The current state of the vehicle. | |
std::vector< MSLane * > | myPartiallyOccupatedByShadow |
list of lanes where the shadow vehicle is partial occupator | |
double | myPreviousAngleOffset |
the angle offset of the previous time step resulting from lane change and sigma | |
int | myPreviousState |
lane changing state from the previous simulation step | |
int | myPreviousState2 |
lane changing state from step before the previous simulation step | |
std::pair< int, int > | mySavedStateCenter |
std::pair< int, int > | mySavedStateLeft |
std::pair< int, int > | mySavedStateRight |
std::vector< MSLane * > | myShadowFurtherLanes |
std::vector< double > | myShadowFurtherLanesPosLat |
MSLane * | myShadowLane |
A lane that is partially occupied by the front of the vehicle but that is not the primary lane. | |
double | mySigma |
double | mySpeedLat |
the current lateral speed | |
MSLane * | myTargetLane |
The target lane for the vehicle's current maneuver. | |
MSVehicle & | myVehicle |
The vehicle this lane-changer belongs to. | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftFollowers |
Cached info on lc-relevant neighboring vehicles. | |
std::shared_ptr< MSLeaderDistanceInfo > | myLeftLeaders |
std::shared_ptr< MSLeaderDistanceInfo > | myRightFollowers |
std::shared_ptr< MSLeaderDistanceInfo > | myRightLeaders |
Static Protected Attributes | |
static bool | myAllowOvertakingRight |
whether overtaking on the right is permitted | |
static bool | myLCEndedOutput |
static bool | myLCOutput |
whether to record lane-changing | |
static bool | myLCStartedOutput |
static bool | myLCXYOutput |
Private Member Functions | |
MSAbstractLaneChangeModel & | operator= (const MSAbstractLaneChangeModel &s) |
Invalidated assignment operator. | |
Private Attributes | |
bool | myAmOpposite |
whether the vehicle is driving in the opposite direction | |
std::vector< MSLink * > | myApproachedByShadow |
links which are approached by the shadow vehicle | |
SUMOTime | myLastLaneChangeOffset |
double | myManeuverDist |
The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. | |
double | myPreviousManeuverDist |
Maneuver distance from the previous simulation step. | |
Interface for lane-change models.
Definition at line 47 of file MSAbstractLaneChangeModel.h.
MSAbstractLaneChangeModel::MSAbstractLaneChangeModel | ( | MSVehicle & | v, |
const LaneChangeModel | model | ||
) |
Constructor.
[in] | v | The vehicle this lane-changer belongs to |
[in] | model | The type of lane change model |
Definition at line 106 of file MSAbstractLaneChangeModel.cpp.
References LCA_UNKNOWN, and saveLCState().
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Destructor.
Definition at line 155 of file MSAbstractLaneChangeModel.cpp.
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Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices.
Definition at line 1101 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getSpeed(), myLCAccelerationAdvices, myVehicle, and SPEED2ACCEL.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_LC2013::slowDownForBlocked(), and MSLCM_SL2015::slowDownForBlocked().
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reset the flag whether a vehicle already moved to false
Definition at line 503 of file MSAbstractLaneChangeModel.h.
References myAlreadyChanged.
Referenced by MSLaneChanger::change(), and MSLaneChangerSublane::change().
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protectedvirtual |
Definition at line 283 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSBaseVehicle::getRNG(), MSVehicleType::getVehicleClass(), MSBaseVehicle::getVehicleType(), myAllowOvertakingRight, myOvertakeRightParam, myVehicle, RandHelper::rand(), and SVC_EMERGENCY.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::checkStrategicChange(), and MSLCM_SL2015::mustOvertakeStopped().
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Factory method for instantiating new lane changing models.
[in] | lcm | The type of model to build |
[in] | vehicle | The vehicle for which this model shall be built |
Definition at line 81 of file MSAbstractLaneChangeModel.cpp.
References DEFAULT, DK2008, MSGlobals::gLateralResolution, LC2013, LC2013_CC, SL2015, TLF, and toString().
Referenced by MSVehicle::initDevices().
double MSAbstractLaneChangeModel::calcAngleOffset | ( | ) |
return the angle offset during a continuous change maneuver
Definition at line 743 of file MSAbstractLaneChangeModel.cpp.
References MSBaseVehicle::getLength(), MSVehicle::getSpeed(), M_PI, myAngleOffset, myPreviousAngleOffset, mySpeedLat, myVehicle, and SPEED2DIST.
Referenced by MSVehicle::computeAngle().
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whether the influencer cancels the given request
Definition at line 558 of file MSAbstractLaneChangeModel.cpp.
References getCanceledState(), MSVehicle::influenceChangeDecision(), and myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().
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Implemented in MSLCM_DK2008, MSLCM_LC2013, and MSLCM_SL2015.
Referenced by primaryLaneChanged().
void MSAbstractLaneChangeModel::changedToOpposite | ( | ) |
called when a vehicle changes between lanes in opposite directions
Definition at line 948 of file MSAbstractLaneChangeModel.cpp.
References myAlreadyChanged, and myAmOpposite.
Referenced by endLaneChangeManeuver(), MSVehicle::executeMove(), and primaryLaneChanged().
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Informs the vehicle that it is about to be moved on an adjacent lane. The method can be used to re-evaluate the state of the vehicle and potentially abort the lane change. By default, if the method is not overridden by the lane change model implementation, nothing is altered and the vehicle will perform the lane change.
veh | the lane changing vehicle |
state | current lane change state |
Reimplemented in MSLCM_LC2013_CC.
Definition at line 155 of file MSAbstractLaneChangeModel.h.
References UNUSED_PARAMETER.
Referenced by MSLaneChanger::checkChange().
void MSAbstractLaneChangeModel::checkTraCICommands | ( | ) |
Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate.
Definition at line 902 of file MSAbstractLaneChangeModel.cpp.
References gDebugFlag2, Named::getID(), MSVehicle::getInfluencer(), MSVehicle::getLaneChangeModel(), MSVehicle::Influencer::getLatDist(), getOwnState(), MSGlobals::gLateralResolution, MSVehicle::hasInfluencer(), MSVehicle::influenceChangeDecision(), MSVehicle::lateralDistanceToLane(), LCA_LEFT, LCA_RIGHT, LCA_STAY, LCA_TRACI, myOwnState, myVehicle, MSVehicle::Influencer::resetLatDist(), setManeuverDist(), setOwnState(), SIMTIME, and toString().
Referenced by MSLaneChanger::checkTraCICommands().
void MSAbstractLaneChangeModel::cleanupShadowLane | ( | ) |
Definition at line 517 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), myNoPartiallyOccupatedByShadow, myShadowFurtherLanes, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), and SIMTIME.
Referenced by MSVehicle::cleanupFurtherLanes(), endLaneChangeManeuver(), and MSDevice_Bluelight::notifyMove().
void MSAbstractLaneChangeModel::cleanupTargetLane | ( | ) |
Definition at line 536 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), myFurtherTargetLanes, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), and SIMTIME.
Referenced by MSVehicle::cleanupFurtherLanes(), endLaneChangeManeuver(), and MSDevice_Bluelight::notifyMove().
void MSAbstractLaneChangeModel::clearGapsAtLCInit | ( | ) |
Definition at line 327 of file MSAbstractLaneChangeModel.cpp.
References myDontResetLCGaps.
Referenced by laneChangeOutput().
void MSAbstractLaneChangeModel::clearNeighbors | ( | ) |
Clear info on neighboring vehicle from previous step.
Definition at line 228 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.
Referenced by MSLaneChanger::change(), and MSLaneChangerSublane::change().
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decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints.
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 416 of file MSAbstractLaneChangeModel.cpp.
References DIST2SPEED, MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, myVehicle, SPEED2DIST, STEPS2TIME, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLaneChangerSublane::continueChangeSublane(), estimateLCDuration(), and updateCompletion().
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Definition at line 264 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::congested(), MSVehicle::getLane(), MSLane::getSpeedLimit(), and myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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whether the current vehicles shall be debugged
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 393 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChangerSublane::change(), cleanupShadowLane(), cleanupTargetLane(), endLaneChangeManeuver(), MSLCHelper::getRoundaboutDistBonus(), getShadowLane(), MSLCM_SL2015::inform(), primaryLaneChanged(), updateShadowLane(), and updateTargetLane().
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decide in which direction to move in case both directions are desirable
Reimplemented in MSLCM_SL2015.
Definition at line 350 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::change().
MSLane * MSAbstractLaneChangeModel::determineTargetLane | ( | int & | targetDir | ) | const |
Definition at line 711 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSBaseVehicle::getWidth(), MSLane::getWidth(), myManeuverDist, myShadowLane, and myVehicle.
Referenced by updateTargetLane().
void MSAbstractLaneChangeModel::endLaneChangeManeuver | ( | const MSMoveReminder::Notification | reason = MSMoveReminder::NOTIFICATION_LANE_CHANGE | ) |
Definition at line 458 of file MSAbstractLaneChangeModel.cpp.
References changedToOpposite(), cleanupShadowLane(), cleanupTargetLane(), debugVehicle(), MSVehicle::fixPosition(), Named::getID(), MSBaseVehicle::getNextStop(), MSStop::isOpposite, myAmOpposite, myLaneChangeCompletion, myNoPartiallyOccupatedByShadow, myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSMoveReminder::NOTIFICATION_PARKING, SIMTIME, MSVehicle::switchOffSignal(), UNUSED_PARAMETER, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSVehicleTransfer::add(), MSLaneChanger::continueChange(), MSVehicle::processLaneAdvances(), and updateShadowLane().
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Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,.
[in] | speed | Current longitudinal speed of the changing vehicle. |
[in] | remainingManeuverDist | dist which is still to be covered until LC is completed |
[in] | decel | Maximal assumed deceleration rate applied during the LC. |
Definition at line 759 of file MSAbstractLaneChangeModel.cpp.
References computeSpeedLat(), MSVehicle::getAcceleration(), SUMOVTypeParameter::getLCParams(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, myMaxSpeedLatFactor, myMaxSpeedLatStanding, myVehicle, STEPS2TIME, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, SUMO_const_haltingSpeed, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSLaneChanger::checkChange(), and remainingTime().
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inline |
return the lateral speed of the current lane change maneuver
Definition at line 597 of file MSAbstractLaneChangeModel.h.
References myAccelerationLat.
Referenced by MSFCDExport::write().
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inline |
return the angle offset resulting from lane change and sigma
Definition at line 488 of file MSAbstractLaneChangeModel.h.
References myAngleOffset.
Referenced by MSVehicle::executeMove(), and GUIVehicle::getVisualAngle().
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Returns a deceleration value which is used for the estimation of the duration of a lane change.
Definition at line 427 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getAcceleration(), LC_ASSUMED_DECEL, MAX2(), and myVehicle.
Referenced by MSLaneChanger::checkChange().
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Definition at line 258 of file MSAbstractLaneChangeModel.h.
References myCanceledStateCenter, myCanceledStateLeft, and myCanceledStateRight.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), cancelRequest(), MSLaneChangerSublane::checkChangeSublane(), MSLCM_SL2015::checkStrategicChange(), prepareStep(), and saveLCState().
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The vehicle's car following model.
Definition at line 743 of file MSAbstractLaneChangeModel.h.
References MSVehicle::getCarFollowModel(), and myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_LC2013::anticipateFollowSpeed(), MSLCM_SL2015::checkStrategicChange(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), predInteraction(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 583 of file MSAbstractLaneChangeModel.h.
References myCommittedSpeed.
Referenced by MSVehicle::planMoveInternal(), and MSLaneChangerSublane::startChangeSublane().
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Reimplemented in MSLCM_SL2015.
Definition at line 639 of file MSAbstractLaneChangeModel.h.
References MSVehicleType::getPreferredLateralAlignment(), MSBaseVehicle::getVehicleType(), and myVehicle.
Referenced by MSLCM_SL2015::getDesiredAlignment().
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reserve extra space for unseen blockers when more tnan one lane change is required
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 624 of file MSAbstractLaneChangeModel.h.
Referenced by MSLane::isInsertionSuccess().
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getFollowers | ( | const int | dir | ) |
Returns the neighboring, lc-relevant followers for the last step in the requested direction.
Definition at line 237 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, and myRightFollowers.
double MSAbstractLaneChangeModel::getForwardPos | ( | ) | const |
get vehicle position relative to the forward direction lane
Definition at line 1085 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), MSLane::getLength(), MSVehicle::getPositionOnLane(), myAmOpposite, and myVehicle.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_SL2015::checkStrategicChange(), and MSLaneChanger::getBestLanesOpposite().
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Definition at line 436 of file MSAbstractLaneChangeModel.h.
References myFurtherTargetLanes.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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Get the current lane change completion ratio.
Definition at line 472 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
Referenced by MSLaneChanger::continueChange(), and MSVehicle::planMoveInternal().
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return the direction of the current lane change maneuver
Definition at line 477 of file MSAbstractLaneChangeModel.h.
References myLaneChangeDirection.
Referenced by MSLaneChanger::continueChange(), and MSVehicle::setBlinkerInformation().
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Definition at line 440 of file MSAbstractLaneChangeModel.h.
References myLastLaneChangeOffset.
const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getLeaders | ( | const int | dir | ) |
Returns the neighboring, lc-relevant leaders for the last step in the requested direction.
Definition at line 250 of file MSAbstractLaneChangeModel.cpp.
References myLeftLeaders, and myRightLeaders.
double MSAbstractLaneChangeModel::getManeuverDist | ( | ) | const |
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
Definition at line 188 of file MSAbstractLaneChangeModel.cpp.
References myManeuverDist.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLaneChangerSublane::change(), MSLCM_SL2015::changed(), MSLaneChangerSublane::continueChangeSublane(), MSVehicle::getLatOffset(), MSLink::getLeaderInfo(), GUIVehicle::getManeuverDist(), MSLeaderInfo::getSubLanes(), MSLaneChangerSublane::startChangeSublane(), updateCompletion(), and MSLCM_SL2015::updateGaps().
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return the max of maxSpeedLat and lcMaxSpeedLatStanding
Definition at line 566 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getVehicleType(), MAX2(), myMaxSpeedLatStanding, and myVehicle.
Referenced by MSLCM_SL2015::checkBlocking().
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Returns the model's ID;.
Implemented in MSLCM_DK2008, MSLCM_LC2013, MSLCM_LC2013_CC, and MSLCM_SL2015.
int MSAbstractLaneChangeModel::getNormalizedLaneIndex | ( | ) |
brief return lane index that treats opposite lanes like normal lanes to the left of the forward lanes
Definition at line 1091 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), MSEdge::getNumLanes(), MSLane::getParallelOpposite(), myAmOpposite, and myVehicle.
Referenced by MSLaneChanger::checkOppositeStop().
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return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 388 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::changeOpposite(), MSLaneChanger::computeOvertakingTime(), and MSLaneChanger::getColumnleader().
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Definition at line 195 of file MSAbstractLaneChangeModel.h.
References myOwnState.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChanger::applyTraCICommands(), MSLaneChanger::change(), checkTraCICommands(), MSLaneChanger::checkTraCICommands(), MSLaneChangerSublane::continueChangeSublane(), MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), MSVehicle::setBlinkerInformation(), MSLaneChangerSublane::startChangeSublane(), and MSLCHelper::updateBlockerLength().
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try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 613 of file MSAbstractLaneChangeModel.h.
References myModel, and toString().
Referenced by MSBaseVehicle::getPrefixedParameter().
double MSAbstractLaneChangeModel::getPreviousManeuverDist | ( | ) | const |
Definition at line 193 of file MSAbstractLaneChangeModel.cpp.
References myPreviousManeuverDist.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLaneChangerSublane::abortLCManeuver(), and MSLaneChangerSublane::startChangeSublane().
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at the time of this call myPreviousState already holds the new value
Definition at line 199 of file MSAbstractLaneChangeModel.h.
References myPreviousState2.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::outputLCStarted(), and MSLaneChangerSublane::startChangeSublane().
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return factor for modifying the safety constraints of the car-following model
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 383 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange(), LIBSUMO_NAMESPACE::Vehicle::getNeighbors(), and MSCFModel::getSecureGap().
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Definition at line 215 of file MSAbstractLaneChangeModel.h.
References mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.
int MSAbstractLaneChangeModel::getShadowDirection | ( | ) | const |
return the direction in which the current shadow lane lies
Definition at line 641 of file MSAbstractLaneChangeModel.cpp.
References MSLane::getEdge(), MSLane::getIndex(), MSVehicle::getLane(), isChangingLanes(), myAmOpposite, myLaneChangeDirection, myShadowLane, myVehicle, and pastMidpoint().
Referenced by MSVehicle::checkLinkLeaderCurrentAndParallel(), MSVehicle::getCenterOnEdge(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), GUIVehicle::selectBlockingFoes(), and MSVehicle::setApproachingForAllLinks().
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Definition at line 421 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanes.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Definition at line 425 of file MSAbstractLaneChangeModel.h.
References myShadowFurtherLanesPosLat.
Referenced by MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), and MSVehicle::getLatOffset().
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Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
Definition at line 411 of file MSAbstractLaneChangeModel.h.
References myShadowLane.
Referenced by MSVehicle::adaptToLeaders(), MSLaneChangerSublane::addOutsideLeaders(), MSVehicle::brakeForOverlap(), MSVehicle::checkLinkLeader(), MSVehicle::checkLinkLeaderCurrentAndParallel(), MSLCM_SL2015::checkStrategicChange(), MSLaneChanger::computeSafeOppositeLength(), MSLaneChanger::computeSurplusGap(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::executeMove(), MSLane::executeMovements(), MSVehicle::getBackPosition(), MSVehicle::getBackPositionOnLane(), MSVehicle::getCenterOnEdge(), MSVehicle::getLatOffset(), MSLane::getLeader(), getShadowLane(), MSVehicle::interpolateLateralZ(), MSVehicle::isFrontOnLane(), MSLane::isInsertionSuccess(), MSVehicle::planMoveInternal(), MSVehicle::processLinkApproaches(), GUIVehicle::selectBlockingFoes(), MSVehicle::setApproachingForAllLinks(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), and updateShadowLane().
return the shadow lane for the given lane
Definition at line 511 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.
return the shadow lane for the given lane and lateral offset
Definition at line 483 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), Named::getID(), MSVehicle::getLateralOverlap(), MSLane::getParallelLane(), isChangingLanes(), myAmOpposite, myLaneChangeCompletion, myLaneChangeDirection, myNoPartiallyOccupatedByShadow, myVehicle, and SIMTIME.
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return the lateral speed of the current lane change maneuver
Definition at line 588 of file MSAbstractLaneChangeModel.h.
References mySpeedLat.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getColorValue(), MSLink::getLeaderInfo(), GUIVehicle::getParameterWindow(), MSLeaderInfo::getSubLanes(), MSFCDExport::write(), and MSXMLRawOut::writeVehicle().
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Returns the lane the vehicle has committed to enter during a sublane lane change.
Definition at line 432 of file MSAbstractLaneChangeModel.h.
References myTargetLane.
Referenced by MSVehicle::getBackPositionOnLane(), and MSVehicle::getLatOffset().
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Definition at line 635 of file MSAbstractLaneChangeModel.h.
References myHaveBlueLight.
Referenced by MSLCM_LC2013::anticipateFollowSpeed(), MSVehicle::executeMove(), MSVehicle::isLeader(), MSVehicle::planMoveInternal(), MSLane::resetPartialOccupation(), and MSLCM_SL2015::updateExpectedSublaneSpeeds().
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whether lanechange-output is active
Definition at line 172 of file MSAbstractLaneChangeModel.h.
References myLCOutput.
Referenced by MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
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Implemented in MSLCM_DK2008, MSLCM_LC2013, and MSLCM_SL2015.
Referenced by MSAbstractLaneChangeModel::MSLCMessager::informLeader(), MSAbstractLaneChangeModel::MSLCMessager::informNeighFollower(), and MSAbstractLaneChangeModel::MSLCMessager::informNeighLeader().
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init global model parameters
Definition at line 71 of file MSAbstractLaneChangeModel.cpp.
References OptionsCont::getBool(), OptionsCont::isSet(), myAllowOvertakingRight, myLCEndedOutput, myLCOutput, myLCStartedOutput, and myLCXYOutput.
Referenced by MSFrame::setMSGlobals().
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Definition at line 571 of file MSAbstractLaneChangeModel.cpp.
References myLastLaneChangeOffset.
Referenced by primaryLaneChanged().
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return true if the vehicle currently performs a lane change maneuver
Definition at line 467 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
Referenced by MSLaneChanger::change(), MSLaneChangerSublane::change(), MSVehicle::computeAngle(), MSLCM_LC2013::computeSpeedLat(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtLaneChange(), MSVehicle::fixPosition(), MSVehicle::getBackPosition(), MSLane::getLeader(), MSVehicle::getPosition(), getShadowDirection(), getShadowLane(), GUIVehicle::getVisualAngle(), MSVehicle::planMoveInternal(), MSLCM_LC2013::prepareStep(), MSVehicle::processLaneAdvances(), remainingTime(), resetSpeedLat(), MSVehicle::setBlinkerInformation(), and updateShadowLane().
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Definition at line 576 of file MSAbstractLaneChangeModel.h.
References myAmOpposite.
Referenced by MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSVehicle::adaptToLeaders(), libsumo::Helper::applySubscriptionFilterLateralDistance(), MSLane::appropriate(), MSLaneChanger::avoidDeadlock(), MSLaneChanger::change(), MSLaneChangerSublane::change(), MSLaneChanger::changeOpposite(), MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeHelper(), MSLaneChanger::checkChangeOpposite(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChanger::checkOppositeStop(), MSVehicle::checkRewindLinkLanes(), MSDevice_SSM::classifyEncounter(), MSTrainHelper::computeCarriages(), MSVehicle::computeFurtherLanes(), MSLaneChanger::computeSafeOppositeLength(), MSLaneChanger::computeSurplusGap(), MSLaneChanger::continueChange(), MSLane::detectCollisionBetween(), MSVehicle::enterLaneAtInsertion(), MSVehicle::enterLaneAtMove(), MSVehicle::executeMove(), MSDevice_SSM::findFoeConflictLane(), MSDevice_SSM::findSurroundingVehicles(), MSVehicle::getBackPositionOnLane(), MSLaneChanger::getBestLanesOpposite(), MSVehicle::getCenterOnEdge(), GUIVehicle::getColorValue(), MSLane::getFollowersOnConsecutive(), MSLane::getLeader(), MSLink::getLeaderInfo(), LIBSUMO_NAMESPACE::Vehicle::getNeighbors(), MSLCM_SL2015::getNeighRight(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSVehicle::getPastLanesUntil(), MSVehicle::getPositionAlongBestLanes(), MSLCHelper::getRoundaboutDistBonus(), GUIBaseVehicle::getScaleValue(), MSVehicle::getUpcomingLanesUntil(), MSLCM_SL2015::getVehicleCenter(), MSLane::handleCollisionBetween(), MSVehicle::handleCollisionStop(), MSVehicle::hasArrivedInternal(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::keepLatGap(), MSVehicle::lateralDistanceToLane(), MSVehicle::planMoveInternal(), MSLCM_SL2015::prepareStep(), MSLeaderInfo::removeOpposite(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), MSVehicle::setApproachingForAllLinks(), MSLaneChangerSublane::startChangeSublane(), MSVehicle::updateBestLanes(), and MSLCM_SL2015::updateExpectedSublaneSpeeds().
bool MSAbstractLaneChangeModel::isStrategicBlocked | ( | ) | const |
Definition at line 1066 of file MSAbstractLaneChangeModel.cpp.
References LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_STRATEGIC, mySavedStateLeft, and mySavedStateRight.
Referenced by MSLink::getLeaderInfo().
void MSAbstractLaneChangeModel::laneChangeOutput | ( | const std::string & | tag, |
MSLane * | source, | ||
MSLane * | target, | ||
int | direction, | ||
double | maneuverDist = 0 |
||
) |
called once the vehicle ends a lane change manoeuvre (non-instant)
Definition at line 370 of file MSAbstractLaneChangeModel.cpp.
References clearGapsAtLCInit(), OutputDevice::closeTag(), DELTA_T, OutputDevice::getDeviceByOption(), MSVehicleType::getID(), Named::getID(), MSNet::getInstance(), MSBaseVehicle::getParameter(), Parameterised::getParameter(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGLEADER, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, myLCOutput, myLCXYOutput, myOwnState, myVehicle, NO_NEIGHBOR, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_POSITION, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, SUMO_ATTR_X, SUMO_ATTR_Y, time2string(), toString(), OutputDevice::writeAttr(), Position::x(), and Position::y().
Referenced by MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and primaryLaneChanged().
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Loads the state of the laneChangeModel from the given attributes.
[in] | attrs | XML attributes describing the current state |
Definition at line 1121 of file MSAbstractLaneChangeModel.cpp.
References SUMOSAXAttributes::getString(), SUMOSAXAttributes::hasAttribute(), myLaneChangeCompletion, myLaneChangeDirection, mySpeedLat, and SUMO_ATTR_LCSTATE.
Referenced by MSVehicle::loadState().
void MSAbstractLaneChangeModel::memorizeGapsAtLCInit | ( | ) |
Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 322 of file MSAbstractLaneChangeModel.cpp.
References myDontResetLCGaps.
Referenced by startLaneChangeManeuver().
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Invalidated assignment operator.
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inlinestatic |
whether start of maneuvers shall be recorede
Definition at line 182 of file MSAbstractLaneChangeModel.h.
References myLCEndedOutput.
Referenced by MSLaneChangerSublane::outputLCEnded().
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inlinestatic |
whether start of maneuvers shall be recorede
Definition at line 177 of file MSAbstractLaneChangeModel.h.
References myLCStartedOutput.
Referenced by MSLaneChangerSublane::outputLCStarted().
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return whether the vehicle passed the midpoint of a continuous lane change maneuver
Definition at line 446 of file MSAbstractLaneChangeModel.h.
References myLaneChangeCompletion.
Referenced by getShadowDirection(), and updateCompletion().
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Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step.
It is guaranteed that min<=wanted<=max, but the implementation needs to make sure that the return value is between min and max.
min | The minimum resulting speed |
wanted | The aspired speed of the car following model |
max | The maximum resulting speed |
cfModel | The model used |
Implemented in MSLCM_DK2008, MSLCM_LC2013, and MSLCM_SL2015.
Referenced by MSCFModel::finalizeSpeed(), MSCFModel_Daniel1::finalizeSpeed(), and MSCFModel_EIDM::finalizeSpeed().
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Definition at line 291 of file MSAbstractLaneChangeModel.cpp.
References getCarFollowModel(), MSVehicle::getSpeed(), MSCFModel::interactionGap(), and myVehicle.
Referenced by MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Reimplemented in MSLCM_DK2008, MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 981 of file MSAbstractLaneChangeModel.cpp.
References getCanceledState(), LCA_NONE, LCA_UNKNOWN, myCommittedSpeed, myDontResetLCGaps, myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, myLastLateralGapLeft, myLastLateralGapRight, myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, NO_NEIGHBOR, and saveLCState().
Referenced by MSVehicle::executeMove(), MSDevice_Bluelight::notifyMove(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), and MSLCM_SL2015::prepareStep().
void MSAbstractLaneChangeModel::primaryLaneChanged | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
called once when the vehicles primary lane changes
Definition at line 332 of file MSAbstractLaneChangeModel.cpp.
References changed(), changedToOpposite(), debugVehicle(), MSLane::enteredByLaneChange(), MSVehicle::enterLaneAtLaneChange(), MSLane::forceVehicleInsertion(), MSLane::getEdge(), Named::getID(), MSVehicle::getLateralPositionOnLane(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), MSGlobals::gSublane, initLastLaneChangeOffset(), laneChangeOutput(), MSVehicle::leaveLane(), MSLane::leftByLaneChange(), myAlreadyChanged, myAmOpposite, myVehicle, MSMoveReminder::NOTIFICATION_LANE_CHANGE, MSVehicle::setTentativeLaneAndPosition(), SIMTIME, and MSVehicle::updateDriveItems().
Referenced by MSLaneChanger::continueChange(), and startLaneChangeManeuver().
SUMOTime MSAbstractLaneChangeModel::remainingTime | ( | ) | const |
Compute the remaining time until LC completion.
Definition at line 866 of file MSAbstractLaneChangeModel.cpp.
References estimateLCDuration(), MSVehicle::getCarFollowModel(), SUMOVTypeParameter::getLCParams(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, isChangingLanes(), LCA_URGENT, myLaneChangeCompletion, myManeuverDist, myOwnState, myVehicle, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, TIME2STEPS, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().
Referenced by MSVehicle::planMoveInternal().
void MSAbstractLaneChangeModel::removeShadowApproachingInformation | ( | ) | const |
Definition at line 891 of file MSAbstractLaneChangeModel.cpp.
References myApproachedByShadow, and myVehicle.
Referenced by MSVehicle::removeApproachingInformation().
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reset the flag whether a vehicle already moved to false
Definition at line 508 of file MSAbstractLaneChangeModel.h.
References myAlreadyChanged.
Referenced by MSVehicle::planMove().
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Definition at line 439 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, isChangingLanes(), and setSpeedLat().
Referenced by MSVehicle::executeMove(), MSLCM_DK2008::prepareStep(), and MSLCM_LC2013::prepareStep().
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inlinevirtual |
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 380 of file MSAbstractLaneChangeModel.h.
Referenced by MSVehicle::enterLaneAtInsertion().
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inlinevirtual |
reserve space at the end of the lane to avoid dead locks
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 548 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::avoidDeadlock(), MSLaneChanger::resolveDeadlock(), and MSLCHelper::updateBlockerLength().
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Definition at line 225 of file MSAbstractLaneChangeModel.h.
References getCanceledState(), LCA_WANTS_LANECHANGE_OR_STAY, mySavedStateCenter, mySavedStateLeft, and mySavedStateRight.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeSublane(), MSAbstractLaneChangeModel(), and prepareStep().
void MSAbstractLaneChangeModel::saveNeighbors | ( | const int | dir, |
const MSLeaderDistanceInfo & | followers, | ||
const MSLeaderDistanceInfo & | leaders | ||
) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case.
Definition at line 198 of file MSAbstractLaneChangeModel.cpp.
References myLeftFollowers, myLeftLeaders, myRightFollowers, and myRightLeaders.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeOpposite(), and MSLaneChangerSublane::checkChangeSublane().
void MSAbstractLaneChangeModel::saveNeighbors | ( | const int | dir, |
const std::pair< MSVehicle *const, double > & | follower, | ||
const std::pair< MSVehicle *const, double > & | leader | ||
) |
Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case.
Definition at line 213 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getLane(), MSLane::getWidth(), myLeftFollowers, myLeftLeaders, myRightFollowers, myRightLeaders, and myVehicle.
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Save the state of the laneChangeModel.
[in] | out | The OutputDevice to write the information into |
Definition at line 1108 of file MSAbstractLaneChangeModel.cpp.
References MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, mySpeedLat, SUMO_ATTR_LCSTATE, toString(), and OutputDevice::writeAttr().
Referenced by MSVehicle::saveState().
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set the angle offset resulting from lane change and sigma
Definition at line 493 of file MSAbstractLaneChangeModel.h.
References myAngleOffset.
void MSAbstractLaneChangeModel::setFollowerGaps | ( | CLeaderDist | follower, |
double | secGap | ||
) |
Definition at line 954 of file MSAbstractLaneChangeModel.cpp.
References myLastFollowerGap, myLastFollowerSecureGap, and myLastFollowerSpeed.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setFollowerGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 1005 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastFollowerGap, myLastFollowerSecureGap, myLastFollowerSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setLeaderGaps | ( | CLeaderDist | leader, |
double | secGap | ||
) |
Definition at line 963 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 1025 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastLeaderGap, myLastLeaderSecureGap, myLastLeaderSpeed, and myVehicle.
void MSAbstractLaneChangeModel::setManeuverDist | ( | const double | dist | ) |
Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model)
Definition at line 172 of file MSAbstractLaneChangeModel.cpp.
References DEBUG_COND, Named::getID(), myManeuverDist, myPreviousManeuverDist, myVehicle, and SIMTIME.
Referenced by MSLaneChangerSublane::abortLCManeuver(), checkTraCICommands(), MSLaneChangerSublane::startChangeSublane(), and startLaneChangeManeuver().
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Definition at line 556 of file MSAbstractLaneChangeModel.h.
References myNoPartiallyOccupatedByShadow.
Referenced by MSVehicle::enterLaneAtLaneChange().
void MSAbstractLaneChangeModel::setOrigLeaderGaps | ( | CLeaderDist | leader, |
double | secGap | ||
) |
Definition at line 972 of file MSAbstractLaneChangeModel.cpp.
References MSVehicleType::getMinGap(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.
Referenced by MSLaneChanger::checkChange(), MSLaneChangerSublane::checkChangeToNewLane(), MSLaneChangerSublane::outputLCEnded(), and MSLaneChangerSublane::outputLCStarted().
void MSAbstractLaneChangeModel::setOrigLeaderGaps | ( | const MSLeaderDistanceInfo & | vehicles | ) |
Definition at line 1045 of file MSAbstractLaneChangeModel.cpp.
References MSVehicle::getCarFollowModel(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLeaderInfo::getSubLanes(), MSBaseVehicle::getVehicleType(), myLastOrigLeaderGap, myLastOrigLeaderSecureGap, myLastOrigLeaderSpeed, and myVehicle.
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Reimplemented in MSLCM_SL2015.
Definition at line 159 of file MSAbstractLaneChangeModel.cpp.
References myOwnState, myPreviousState, and myPreviousState2.
Referenced by MSLaneChanger::change(), MSLaneChangerSublane::change(), MSLaneChanger::checkChangeOpposite(), MSLaneChangerSublane::checkChangeOpposite(), checkTraCICommands(), and MSLCM_SL2015::setOwnState().
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try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 618 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSDevice_Bluelight::notifyMove(), and MSDevice_Bluelight::resetVehicle().
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set the angle offset of the previous time step
Definition at line 498 of file MSAbstractLaneChangeModel.h.
References myPreviousAngleOffset.
Referenced by MSVehicle::executeMove().
void MSAbstractLaneChangeModel::setShadowApproachingInformation | ( | MSLink * | link | ) | const |
set approach information for the shadow vehicle
Definition at line 885 of file MSAbstractLaneChangeModel.cpp.
References myApproachedByShadow.
Referenced by MSVehicle::setApproachingForAllLinks().
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Definition at line 552 of file MSAbstractLaneChangeModel.h.
References myPartiallyOccupatedByShadow.
void MSAbstractLaneChangeModel::setSpeedLat | ( | double | speedLat | ) |
set the lateral speed and update lateral acceleraton
Definition at line 432 of file MSAbstractLaneChangeModel.cpp.
References myAccelerationLat, mySpeedLat, and SPEED2ACCEL.
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::checkChangeOpposite(), MSLCM_LC2013::prepareStep(), resetSpeedLat(), MSLaneChangerSublane::startChangeSublane(), and updateCompletion().
bool MSAbstractLaneChangeModel::startLaneChangeManeuver | ( | MSLane * | source, |
MSLane * | target, | ||
int | direction | ||
) |
start the lane change maneuver and return whether it continues
Definition at line 304 of file MSAbstractLaneChangeModel.cpp.
References DELTA_T, MSLane::getWidth(), MSGlobals::gLaneChangeDuration, MSGlobals::gLefthand, memorizeGapsAtLCInit(), myLaneChangeCompletion, myLaneChangeDirection, myLCOutput, myVehicle, primaryLaneChanged(), setManeuverDist(), MSVehicle::switchOffSignal(), MSVehicle::switchOnSignal(), MSVehicle::VEH_SIGNAL_BLINKER_LEFT, and MSVehicle::VEH_SIGNAL_BLINKER_RIGHT.
Referenced by MSLaneChanger::applyTraCICommands(), MSLaneChanger::checkChangeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), and MSLaneChanger::startChange().
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whether the current change completes the manoeuvre
Definition at line 567 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
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Definition at line 400 of file MSAbstractLaneChangeModel.h.
References DELTA_T, and myLastLaneChangeOffset.
Referenced by MSLaneChanger::registerUnchanged().
bool MSAbstractLaneChangeModel::updateCompletion | ( | ) |
Definition at line 447 of file MSAbstractLaneChangeModel.cpp.
References computeSpeedLat(), getManeuverDist(), LCA_URGENT, myLaneChangeCompletion, myManeuverDist, myOwnState, mySpeedLat, pastMidpoint(), setSpeedLat(), and SPEED2DIST.
Referenced by MSLaneChanger::continueChange().
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update expected speeds for each sublane of the current edge
Reimplemented in MSLCM_SL2015.
Definition at line 342 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::change(), and MSLaneChangerSublane::checkChangeOpposite().
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Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps.
Reimplemented in MSLCM_SL2015.
Definition at line 166 of file MSAbstractLaneChangeModel.cpp.
References UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::startChangeSublane().
void MSAbstractLaneChangeModel::updateShadowLane | ( | ) |
Definition at line 580 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), endLaneChangeManeuver(), MSVehicle::getFurtherLanes(), MSVehicle::getFurtherLanesPosLat(), Named::getID(), Named::getIDSecure(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralOverlap(), MSLane::getLinkTo(), getShadowLane(), MSGlobals::gSublane, isChangingLanes(), myAmOpposite, myShadowFurtherLanes, myShadowFurtherLanesPosLat, myShadowLane, myVehicle, MSLane::resetPartialOccupation(), MSLane::setPartialOccupation(), SIMTIME, time2string(), toString(), MSVehicle::updateFurtherLanes(), and WRITE_WARNING.
Referenced by MSLaneChanger::continueChange(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), and MSLaneChangerSublane::startChangeSublane().
MSLane * MSAbstractLaneChangeModel::updateTargetLane | ( | ) |
Definition at line 663 of file MSAbstractLaneChangeModel.cpp.
References debugVehicle(), determineTargetLane(), MSVehicle::getFurtherLanes(), Named::getID(), MSVehicle::getLane(), MSLane::getParallelLane(), myFurtherTargetLanes, myManeuverDist, myTargetLane, myVehicle, MSLane::resetManeuverReservation(), MSLane::setManeuverReservation(), SIMTIME, and toString().
Referenced by MSLaneChangerSublane::abortLCManeuver(), MSVehicle::enterLaneAtInsertion(), MSVehicle::executeMove(), and MSLaneChangerSublane::startChangeSublane().
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Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.
Reimplemented in MSLCM_DK2008, MSLCM_LC2013, and MSLCM_SL2015.
Definition at line 284 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChanger::checkChange().
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Reimplemented in MSLCM_SL2015.
Definition at line 309 of file MSAbstractLaneChangeModel.h.
References myModel, toString(), and UNUSED_PARAMETER.
Referenced by MSLaneChangerSublane::checkChangeOpposite(), and MSLaneChangerSublane::checkChangeSublane().
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the current lateral acceleration
Definition at line 697 of file MSAbstractLaneChangeModel.h.
Referenced by getAccelerationLat(), and setSpeedLat().
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whether overtaking on the right is permitted
Definition at line 803 of file MSAbstractLaneChangeModel.h.
Referenced by avoidOvertakeRight(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), and initGlobalOptions().
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whether the vehicle has already moved this step
Definition at line 715 of file MSAbstractLaneChangeModel.h.
Referenced by alreadyChanged(), changedToOpposite(), primaryLaneChanged(), and resetChanged().
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whether the vehicle is driving in the opposite direction
Definition at line 822 of file MSAbstractLaneChangeModel.h.
Referenced by changedToOpposite(), endLaneChangeManeuver(), getForwardPos(), getNormalizedLaneIndex(), getShadowDirection(), getShadowLane(), isOpposite(), primaryLaneChanged(), and updateShadowLane().
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the current angle offset resulting from lane change and sigma
Definition at line 700 of file MSAbstractLaneChangeModel.h.
Referenced by calcAngleOffset(), getAngleOffset(), and setAngleOffset().
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links which are approached by the shadow vehicle
Definition at line 819 of file MSAbstractLaneChangeModel.h.
Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().
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Definition at line 682 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 683 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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Definition at line 681 of file MSAbstractLaneChangeModel.h.
Referenced by getCanceledState().
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the speed when committing to a change maneuver
Definition at line 706 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().
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Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.
Definition at line 777 of file MSAbstractLaneChangeModel.h.
Referenced by clearGapsAtLCInit(), memorizeGapsAtLCInit(), and prepareStep().
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Definition at line 740 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getFurtherTargetLanes(), and updateTargetLane().
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whether this vehicle is driving with special permissions and behavior
Definition at line 791 of file MSAbstractLaneChangeModel.h.
Referenced by hasBlueLight().
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progress of the lane change maneuver 0:started, 1:complete
Definition at line 709 of file MSAbstractLaneChangeModel.h.
Referenced by endLaneChangeManeuver(), getLaneChangeCompletion(), getShadowLane(), isChangingLanes(), loadState(), pastMidpoint(), remainingTime(), saveState(), startLaneChangeManeuver(), and updateCompletion().
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direction of the lane change maneuver -1 means right, 1 means left
Definition at line 712 of file MSAbstractLaneChangeModel.h.
Referenced by getLaneChangeDirection(), getShadowDirection(), getShadowLane(), loadState(), saveState(), and startLaneChangeManeuver().
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Definition at line 763 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setFollowerGaps(), and setFollowerGaps().
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Definition at line 766 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setFollowerGaps(), and setFollowerGaps().
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Definition at line 772 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setFollowerGaps(), and setFollowerGaps().
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Definition at line 816 of file MSAbstractLaneChangeModel.h.
Referenced by getLastLaneChangeOffset(), initLastLaneChangeOffset(), and unchanged().
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the minimum lateral gaps to other vehicles that were found when last changing to the left and right
Definition at line 758 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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Definition at line 759 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::keepLatGap(), laneChangeOutput(), prepareStep(), and MSLCM_SL2015::updateGaps().
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the actual minimum longitudinal distances to vehicles on the target lane
Definition at line 762 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setLeaderGaps(), and setLeaderGaps().
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the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security
Definition at line 765 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setLeaderGaps(), and setLeaderGaps().
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speeds of surrounding vehicles at the time of lane change
Definition at line 771 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setLeaderGaps(), and setLeaderGaps().
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acutal and secure distance to closest leader vehicle on the original when performing lane change
Definition at line 768 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setOrigLeaderGaps(), and setOrigLeaderGaps().
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Definition at line 769 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setOrigLeaderGaps(), and setOrigLeaderGaps().
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Definition at line 773 of file MSAbstractLaneChangeModel.h.
Referenced by laneChangeOutput(), prepareStep(), setOrigLeaderGaps(), and setOrigLeaderGaps().
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Definition at line 800 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), addLCSpeedAdvice(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkStrategicChange(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), MSLCM_LC2013::resetState(), MSLCM_SL2015::resetState(), and MSLCM_LC2013::slowDownForBlocked().
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Definition at line 808 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCEnded().
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whether to record lane-changing
Definition at line 806 of file MSAbstractLaneChangeModel.h.
Referenced by haveLCOutput(), initGlobalOptions(), laneChangeOutput(), and startLaneChangeManeuver().
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Definition at line 807 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and outputLCStarted().
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Definition at line 809 of file MSAbstractLaneChangeModel.h.
Referenced by initGlobalOptions(), and laneChangeOutput().
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Cached info on lc-relevant neighboring vehicles.
Definition at line 687 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), saveNeighbors(), and saveNeighbors().
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Definition at line 688 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), saveNeighbors(), and saveNeighbors().
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The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently.
Definition at line 826 of file MSAbstractLaneChangeModel.h.
Referenced by determineTargetLane(), getManeuverDist(), remainingTime(), setManeuverDist(), updateCompletion(), and updateTargetLane().
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Definition at line 784 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), MSLCM_SL2015::preventSliding(), MSLCM_LC2013::setParameter(), and MSLCM_SL2015::setParameter().
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Definition at line 782 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), estimateLCDuration(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), MSLCM_SL2015::preventSliding(), MSLCM_LC2013::setParameter(), and MSLCM_SL2015::setParameter().
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Definition at line 780 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), estimateLCDuration(), getMaxSpeedLat2(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), MSLCM_LC2013::setParameter(), and MSLCM_SL2015::setParameter().
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the type of this model
Definition at line 748 of file MSAbstractLaneChangeModel.h.
Referenced by decideDirection(), getParameter(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), setParameter(), MSLCM_LC2013::setParameter(), MSLCM_SL2015::setParameter(), sublaneChangeCompleted(), updateExpectedSublaneSpeeds(), wantsChange(), and wantsChangeSublane().
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Definition at line 755 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), endLaneChangeManeuver(), getShadowLane(), and setNoShadowPartialOccupator().
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Definition at line 788 of file MSAbstractLaneChangeModel.h.
Referenced by avoidOvertakeRight(), MSLCM_LC2013::getParameter(), and MSLCM_LC2013::setParameter().
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The current state of the vehicle.
Definition at line 672 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_DK2008::amBlockingFollower(), MSLCM_LC2013::amBlockingFollower(), MSLCM_SL2015::amBlockingFollower(), MSLCM_DK2008::amBlockingFollowerNB(), MSLCM_LC2013::amBlockingFollowerNB(), MSLCM_SL2015::amBlockingFollowerNB(), MSLCM_DK2008::amBlockingFollowerPlusNB(), MSLCM_LC2013::amBlockingFollowerPlusNB(), MSLCM_SL2015::amBlockingFollowerPlusNB(), MSLCM_DK2008::amBlockingLeader(), MSLCM_LC2013::amBlockingLeader(), MSLCM_SL2015::amBlockingLeader(), MSLCM_DK2008::changed(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), checkTraCICommands(), getOwnState(), MSLCM_DK2008::inform(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), laneChangeOutput(), MSLCM_DK2008::patchSpeed(), MSLCM_DK2008::prepareStep(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), remainingTime(), MSLCM_LC2013::resetState(), MSLCM_SL2015::resetState(), setOwnState(), updateCompletion(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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list of lanes where the shadow vehicle is partial occupator
Definition at line 751 of file MSAbstractLaneChangeModel.h.
Referenced by setShadowPartialOccupator().
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the angle offset of the previous time step resulting from lane change and sigma
Definition at line 703 of file MSAbstractLaneChangeModel.h.
Referenced by calcAngleOffset(), and setPreviousAngleOffset().
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Maneuver distance from the previous simulation step.
Definition at line 829 of file MSAbstractLaneChangeModel.h.
Referenced by getPreviousManeuverDist(), and setManeuverDist().
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lane changing state from the previous simulation step
Definition at line 674 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::_wantsChangeSublane(), and setOwnState().
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lane changing state from step before the previous simulation step
Definition at line 676 of file MSAbstractLaneChangeModel.h.
Referenced by getPrevState(), and setOwnState().
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Definition at line 689 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getFollowers(), saveNeighbors(), and saveNeighbors().
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Definition at line 690 of file MSAbstractLaneChangeModel.h.
Referenced by clearNeighbors(), getLeaders(), saveNeighbors(), and saveNeighbors().
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Definition at line 679 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), and saveLCState().
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Definition at line 680 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 678 of file MSAbstractLaneChangeModel.h.
Referenced by getSavedState(), isStrategicBlocked(), and saveLCState().
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Definition at line 721 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), getShadowFurtherLanes(), and updateShadowLane().
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Definition at line 722 of file MSAbstractLaneChangeModel.h.
Referenced by getShadowFurtherLanesPosLat(), and updateShadowLane().
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A lane that is partially occupied by the front of the vehicle but that is not the primary lane.
Definition at line 718 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupShadowLane(), determineTargetLane(), getShadowDirection(), getShadowLane(), and updateShadowLane().
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Definition at line 786 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_SL2015::getLateralDrift(), MSLCM_LC2013::getParameter(), MSLCM_SL2015::getParameter(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), MSLCM_LC2013::setParameter(), and MSLCM_SL2015::setParameter().
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the current lateral speed
Definition at line 694 of file MSAbstractLaneChangeModel.h.
Referenced by calcAngleOffset(), MSLCM_SL2015::computeSpeedLat(), getSpeedLat(), loadState(), saveState(), setSpeedLat(), updateCompletion(), and MSLCM_SL2015::wantsChangeSublane().
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The target lane for the vehicle's current maneuver.
Definition at line 732 of file MSAbstractLaneChangeModel.h.
Referenced by cleanupTargetLane(), getTargetLane(), and updateTargetLane().
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The vehicle this lane-changer belongs to.
Definition at line 669 of file MSAbstractLaneChangeModel.h.
Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), addLCSpeedAdvice(), MSLCM_LC2013::anticipateFollowSpeed(), avoidOvertakeRight(), calcAngleOffset(), cancelRequest(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), checkTraCICommands(), cleanupShadowLane(), cleanupTargetLane(), MSLCM_SL2015::commitFollowSpeed(), MSLCM_SL2015::commitManoeuvre(), MSLCM_SL2015::computeSpeedGain(), computeSpeedLat(), MSLCM_LC2013::computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), congested(), MSLCM_SL2015::decideDirection(), determineTargetLane(), endLaneChangeManeuver(), estimateLCDuration(), getAssumedDecelForLaneChangeDuration(), getCarFollowModel(), getDesiredAlignment(), MSLCM_SL2015::getDesiredAlignment(), getForwardPos(), MSLCM_SL2015::getLateralDrift(), MSLCM_SL2015::getLeftBorder(), getMaxSpeedLat2(), MSLCM_SL2015::getNeighRight(), getNormalizedLaneIndex(), MSLCM_SL2015::getPosLat(), getShadowDirection(), getShadowLane(), getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getVehicleCenter(), MSLCM_SL2015::getWidth(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informLeader(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::isBidi(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), MSLCM_SL2015::msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_SL2015::mustOvertakeStopped(), MSLCM_SL2015::outsideEdge(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), MSLCM_SL2015::patchSpeed(), predInteraction(), MSLCM_LC2013::prepareStep(), MSLCM_SL2015::prepareStep(), MSLCM_SL2015::preventSliding(), primaryLaneChanged(), remainingTime(), removeShadowApproachingInformation(), MSLCM_LC2013::saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), saveNeighbors(), setFollowerGaps(), setLeaderGaps(), setLeaderGaps(), setManeuverDist(), setOrigLeaderGaps(), setOrigLeaderGaps(), MSLCM_SL2015::setOwnState(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), startLaneChangeManeuver(), MSLCM_SL2015::tieBrakeLeader(), MSLCM_SL2015::updateCFRelated(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), updateShadowLane(), updateTargetLane(), MSLCM_LC2013::wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().
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Definition at line 643 of file MSAbstractLaneChangeModel.h.
Referenced by MSLaneChanger::checkChange(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), and prepareStep().