Eclipse SUMO - Simulation of Urban MObility
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MSVehicle.h
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3// Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
27// Representation of a vehicle in the micro simulation
28/****************************************************************************/
29#pragma once
30#include <config.h>
31
32#include <list>
33#include <deque>
34#include <map>
35#include <set>
36#include <string>
37#include <vector>
38#include <memory>
39#include "MSGlobals.h"
40#include "MSBaseVehicle.h"
41#include "MSNet.h"
42
43#define INVALID_SPEED 299792458 + 1 // nothing can go faster than the speed of light! Refs. #2577
44
45// ===========================================================================
46// class declarations
47// ===========================================================================
49class MSMoveReminder;
50class MSLaneChanger;
53class MSStoppingPlace;
54class MSStop;
56class MSOverheadWire;
57class MSParkingArea;
58class MSPerson;
59class MSDevice;
60class OutputDevice;
61class Position;
62class MSJunction;
63class MSLeaderInfo;
68
69
70// ===========================================================================
71// class definitions
72// ===========================================================================
77class MSVehicle : public MSBaseVehicle {
78public:
79
81 friend class MSLaneChanger;
83
87 class State {
89 friend class MSVehicle;
90 friend class MSLaneChanger;
92
93 public:
95 State(double pos, double speed, double posLat, double backPos, double previousSpeed);
96
98 State(const State& state);
99
101 State& operator=(const State& state);
102
104 bool operator!=(const State& state);
105
107 double pos() const {
108 return myPos;
109 }
110
112 double speed() const {
113 return mySpeed;
114 };
115
117 double posLat() const {
118 return myPosLat;
119 }
120
122 double backPos() const {
123 return myBackPos;
124 }
125
127 double lastCoveredDist() const {
128 return myLastCoveredDist;
129 }
130
131
132 private:
134 double myPos;
135
137 double mySpeed;
138
140 double myPosLat;
141
143 // if the vehicle occupies multiple lanes, this is the position relative
144 // to the lane occupied by its back
145 double myBackPos;
146
149
155
156 };
157
158
163 public:
166
167 // return the waiting time within the last memory millisecs
168 SUMOTime cumulatedWaitingTime(SUMOTime memory = -1) const;
169
170 // process time passing for dt millisecs
171 void passTime(SUMOTime dt, bool waiting);
172
173 const std::string getState() const;
174
175 void setState(const std::string& state);
176
177 private:
180
184 std::deque<std::pair<SUMOTime, SUMOTime> > myWaitingIntervals;
185 };
186
187
201
210 MSVehicleType* type, const double speedFactor);
211
213 virtual ~MSVehicle();
214
215 void initDevices();
216
218 bool hasValidRouteStart(std::string& msg);
219
221
222
232
233
234
236
237
241 bool hasArrived() const;
242
253 bool replaceRoute(ConstMSRoutePtr route, const std::string& info, bool onInit = false, int offset = 0, bool addStops = true, bool removeStops = true, std::string* msgReturn = nullptr);
254
256
257
259
260
278 void workOnMoveReminders(double oldPos, double newPos, double newSpeed);
280
286 void workOnIdleReminders();
287
293 bool checkActionStep(const SUMOTime t);
294
300 void resetActionOffset(const SUMOTime timeUntilNextAction = 0);
301
302
312 void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength);
313
314
332 void planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront);
333
337
339 void registerInsertionApproach(MSLink* link, double dist);
340
341
354 bool executeMove();
355
357 void executeFractionalMove(double dist);
358
365 double getDeltaPos(const double accel) const;
366
367
369
370
374 double getPositionOnLane() const {
375 return myState.myPos;
376 }
377
381 double getLastStepDist() const {
382 return myState.lastCoveredDist();
383 }
384
388 double getPositionOnLane(const MSLane* lane) const;
389
398 inline double getBackPositionOnLane(const MSLane* lane) const {
399 return getBackPositionOnLane(lane, false);
400 }
401
405 double getBackPositionOnLane() const {
407 }
408
414 return myState.myPosLat;
415 }
416
417 void setLateralPositionOnLane(double posLat) {
418 myState.myPosLat = posLat;
419 }
420
424
429 double getRightSideOnLane() const;
430
435 double getLeftSideOnLane() const;
436
441 double getRightSideOnLane(const MSLane* lane) const;
442
447 double getLeftSideOnLane(const MSLane* lane) const;
448
452 double lateralDistanceToLane(const int offset) const;
453
455 double getLateralOverlap() const;
456 double getLateralOverlap(const MSLane* lane) const;
457 double getLateralOverlap(double posLat, const MSLane* lane) const;
458
464 double getLeftSideOnEdge(const MSLane* lane = 0) const;
465
471 double getRightSideOnEdge(const MSLane* lane = 0) const;
472
478 double getCenterOnEdge(const MSLane* lane = 0) const;
479
485 double getLatOffset(const MSLane* lane) const;
486
490 double getSpeed() const {
491 return myState.mySpeed;
492 }
493
494
498 double getPreviousSpeed() const {
500 }
501
502
507 void setPreviousSpeed(double prevSpeed, double prevAcceleration);
508
509
514 double getAcceleration() const {
515 return myAcceleration;
516 }
517
519 double getCurrentApparentDecel() const;
520
528
533 double getActionStepLengthSecs() const {
535 }
536
537
542 return myLastActionTime;
543 }
544
546
547
548
550
551
555 double getSlope() const;
556
557
565 Position getPosition(const double offset = 0) const;
566
567
575 Position getPositionAlongBestLanes(double offset) const;
576
577
581 const MSLane* getLane() const {
582 return myLane;
583 }
584
590 return myLane;
591 }
592
593 // @brief return the lane on which the back of this vehicle resides
594 const MSLane* getBackLane() const;
595
600 double getMaxSpeedOnLane() const;
601
605 inline bool isOnRoad() const {
606 return myAmOnNet;
607 }
608
612 void
613 setIdling(bool amIdling) {
614 myAmIdling = amIdling;
615 }
616
621 inline bool isIdling() const {
622 return myAmIdling;
623 }
624
628 inline bool isActive() const {
629 return myActionStep;
630 }
631
635 inline bool isActionStep(SUMOTime t) const {
636 return (t - myLastActionTime) % getActionStepLength() == 0;
637// return t%getActionStepLength() == 0; // synchronized actions for all vehicles with identical actionsteplengths
638 }
639
640
644 bool isFrontOnLane(const MSLane* lane) const;
645
649 const MSEdge* getCurrentEdge() const;
650
652 const MSEdge* getNextEdgePtr() const;
653
660 ConstMSEdgeVector::const_iterator getRerouteOrigin() const;
661
662
670 SUMOTime getWaitingTime(const bool accumulated = false) const {
671 if (!accumulated) {
672 return myWaitingTime;
673 }
675 }
676
686
687 inline double getTimeSinceStartupSeconds() const {
689 }
690
701 return TIME2STEPS(myTimeLoss);
702 }
703
704
711 return STEPS2TIME(getWaitingTime(true));
712 }
713
716 double getTimeLossSeconds() const {
717 return myTimeLoss;
718 }
719
722 double getStopDelay() const;
723
726 double getStopArrivalDelay() const;
727
731 double getAngle() const {
732 return myAngle;
733 }
734
735
740 return Position(std::cos(myAngle) * myState.speed(), std::sin(myAngle) * myState.speed());
741 }
743
745 double computeAngle() const;
746
748 void setAngle(double angle, bool straightenFurther = false);
749
756 void setActionStepLength(double actionStepLength, bool resetActionOffset = true);
757
759 static bool overlap(const MSVehicle* veh1, const MSVehicle* veh2) {
760 if (veh1->myState.myPos < veh2->myState.myPos) {
761 return veh2->myState.myPos - veh2->getVehicleType().getLengthWithGap() < veh1->myState.myPos;
762 }
763 return veh1->myState.myPos - veh1->getVehicleType().getLengthWithGap() < veh2->myState.myPos;
764 }
765
768 bool congested() const;
769
770
777 void enterLaneAtMove(MSLane* enteredLane, bool onTeleporting = false);
778
779
780
789 void enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat,
790 MSMoveReminder::Notification notification);
791
796 void setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat = 0);
797
802 void enterLaneAtLaneChange(MSLane* enteredLane);
803
804
806 void leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane = 0);
807
810 void leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane* leftLane);
811
818 void updateDriveItems();
819
823 const std::pair<double, const MSLink*>& getNextTurn() {
824 return myNextTurn;
825 }
826
827
830
831 const std::vector<MSLane*>& getFurtherLanes() const {
832 return myFurtherLanes;
833 }
834
835 const std::vector<double>& getFurtherLanesPosLat() const {
837 }
838
839
841 bool onFurtherEdge(const MSEdge* edge) const;
842
844 bool isBidiOn(const MSLane* lane) const;
845
848
849 //
853 struct LaneQ {
855 MSLane* lane = nullptr;
857 double length;
868 /* @brief Longest sequence of (normal-edge) lanes that can be followed without a lane change
869 * The 'length' attribute is the sum of these lane lengths
870 * (There may be alternative sequences that have equal length)
871 * It is the 'best' in the strategic sense of reducing required lane-changes
872 */
873 std::vector<MSLane*> bestContinuations;
874 };
875
879 const std::vector<LaneQ>& getBestLanes() const;
880
898 void updateBestLanes(bool forceRebuild = false, const MSLane* startLane = 0);
899
902 void updateLaneBruttoSum();
903
907 const std::vector<MSLane*>& getBestLanesContinuation() const;
908
909
913 const std::vector<MSLane*>& getBestLanesContinuation(const MSLane* const l) const;
914
921 const std::vector<const MSLane*> getUpcomingLanesUntil(double distance) const;
922
928 const std::vector<const MSLane*> getPastLanesUntil(double distance) const;
929
934 const std::vector<MSLane*> getUpstreamOppositeLanes() const;
935
936 /* @brief returns the current signed offset from the lane that is most
937 * suited for continuing the current route (in the strategic sense of reducing lane-changes)
938 * - 0 if the vehicle is on its best lane
939 * - negative if the vehicle should change to the right
940 * - positive if the vehicle should change to the left
941 */
942 int getBestLaneOffset() const;
943
945 double getBestLaneDist() const;
946
948 void adaptBestLanesOccupation(int laneIndex, double density);
949
951
953 void fixPosition();
954
956 std::pair<const MSLane*, double> getLanePosAfterDist(double distance) const;
957
965 inline const MSCFModel& getCarFollowModel() const {
966 return myType->getCarFollowModel();
967 }
968
974 std::shared_ptr<MSSimpleDriverState> getDriverState() const;
975
980 double getFriction() const;
981
989
992 inline bool hasDriverState() const {
993 return myDriverState != nullptr;
994 }
996
997
1000
1003 bool willStop() const;
1004
1006 bool isStoppedOnLane() const;
1007
1009 bool keepStopping(bool afterProcessing = false) const;
1010
1015
1018 bool brokeDown() const;
1019
1023 bool isRemoteControlled() const;
1024
1028 bool wasRemoteControlled(SUMOTime lookBack = DELTA_T) const;
1029
1031 double nextStopDist() const {
1032 return myStopDist;
1033 }
1035
1036 int getLaneIndex() const;
1037
1047 double getDistanceToPosition(double destPos, const MSLane* destLane) const;
1048
1049
1057 double processNextStop(double currentVelocity);
1058
1059
1067 std::pair<const MSVehicle* const, double> getLeader(double dist = 0) const;
1068
1077 std::pair<const MSVehicle* const, double> getFollower(double dist = 0) const;
1078
1085 double getTimeGapOnLane() const;
1086
1087
1092 void addTransportable(MSTransportable* transportable);
1093
1096
1132
1133
1139 LC_NEVER = 0, // lcModel shall never trigger changes at this level
1140 LC_NOCONFLICT = 1, // lcModel may trigger changes if not in conflict with TraCI request
1141 LC_ALWAYS = 2 // lcModel may always trigger changes of this level regardless of requests
1143
1144
1147 LCP_ALWAYS = 0, // change regardless of blockers, adapt own speed and speed of blockers
1148 LCP_NOOVERLAP = 1, // change unless overlapping with blockers, adapt own speed and speed of blockers
1149 LCP_URGENT = 2, // change if not blocked, adapt own speed and speed of blockers
1150 LCP_OPPORTUNISTIC = 3 // change if not blocked
1152
1153
1157 void switchOnSignal(int signal) {
1158 mySignals |= signal;
1159 }
1160
1161
1165 void switchOffSignal(int signal) {
1166 mySignals &= ~signal;
1167 }
1168
1169
1173 int getSignals() const {
1174 return mySignals;
1175 }
1176
1177
1182 bool signalSet(int which) const {
1183 return (mySignals & which) != 0;
1184 }
1186
1187
1189 bool unsafeLinkAhead(const MSLane* lane) const;
1190
1192 bool passingMinor() const;
1193
1194
1195
1203 double getSpeedWithoutTraciInfluence() const;
1204
1209 bool rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg);
1210
1217 bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg);
1218
1219 bool handleCollisionStop(MSStop& stop, const double distToStop);
1220
1225 bool resumeFromStopping();
1226
1228 double updateFurtherLanes(std::vector<MSLane*>& furtherLanes,
1229 std::vector<double>& furtherLanesPosLat,
1230 const std::vector<MSLane*>& passedLanes);
1231
1233 PositionVector getBoundingBox(double offset = 0) const;
1234
1236 PositionVector getBoundingPoly(double offset = 0) const;
1237
1249
1252 bool setExitManoeuvre();
1255
1257 bool manoeuvreIsComplete() const;
1260
1261
1269
1270 public:
1272 Manoeuvre();
1273
1275 Manoeuvre(const Manoeuvre& manoeuvre);
1276
1278 Manoeuvre& operator=(const Manoeuvre& manoeuvre);
1279
1281 bool operator!=(const Manoeuvre& manoeuvre);
1282
1285
1288
1291
1293 bool
1294 manoeuvreIsComplete(const ManoeuvreType checkType) const;
1295
1297 bool
1298 manoeuvreIsComplete() const;
1299
1301 double getGUIIncrement() const;
1302
1305
1308
1309 private:
1312
1314 std::string myManoeuvreStop;
1315
1318
1321
1324
1325 // @brief Angle (radians) through which parking vehicle moves in each sim step
1327 };
1328
1329 // Current or previous (completed) manoeuvre
1331
1345 private:
1346
1356 void vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& info = "");
1357 };
1358
1359
1363 virtual ~GapControlState();
1365 static void init();
1367 static void cleanup();
1369 void activate(double tauOriginal, double tauTarget, double additionalGap, double duration, double changeRate, double maxDecel, const MSVehicle* refVeh);
1371 void deactivate();
1388 double maxDecel;
1401
1403 static std::map<const MSVehicle*, GapControlState*> refVehMap;
1404
1405 private:
1407 };
1408
1409
1410 public:
1412 Influencer();
1413
1415 ~Influencer();
1416
1418 static void init();
1420 static void cleanup();
1421
1425 void setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine);
1426
1429 void activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh = nullptr);
1430
1434
1438 void setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine);
1439
1443 void adaptLaneTimeLine(int indexShift);
1444
1448 void setSublaneChange(double latDist);
1449
1451 int getSpeedMode() const;
1452
1454 int getLaneChangeMode() const;
1455
1457
1459
1471 double influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax);
1472
1485 double gapControlSpeed(SUMOTime currentTime, const SUMOVehicle* veh, double speed, double vSafe, double vMin, double vMax);
1486
1494 int influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state);
1495
1496
1502 double changeRequestRemainingSeconds(const SUMOTime currentTime) const;
1503
1508 inline bool getRespectJunctionPriority() const {
1510 }
1511
1512
1516 inline bool getEmergencyBrakeRedLight() const {
1518 }
1519
1527
1528
1532 }
1533
1537 void setSpeedMode(int speedMode);
1538
1542 void setLaneChangeMode(int value);
1543
1547 double getOriginalSpeed() const;
1548
1550 void setOriginalSpeed(double speed);
1551
1552 void setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t);
1553
1557
1560
1563
1565 double implicitSpeedRemote(const MSVehicle* veh, double oldSpeed);
1566
1568 double implicitDeltaPosRemote(const MSVehicle* veh);
1569
1570 bool isRemoteControlled() const;
1571
1572 bool isRemoteAffected(SUMOTime t) const;
1573
1574 void setSignals(int signals) {
1575 myTraCISignals = signals;
1576 }
1577
1578 int getSignals() const {
1579 return myTraCISignals;
1580 }
1581
1582 double getLatDist() const {
1583 return myLatDist;
1584 }
1585
1587 myLatDist = 0.;
1588 }
1589
1590 bool ignoreOverlap() const {
1592 }
1593
1594 private:
1596 std::vector<std::pair<SUMOTime, double> > mySpeedTimeLine;
1597
1599 std::vector<std::pair<SUMOTime, int> > myLaneTimeLine;
1600
1602 std::shared_ptr<GapControlState> myGapControlState;
1603
1606
1609
1612
1615
1618
1621
1624
1627
1630
1639
1641
1642
1653
1655
1656 // @brief the signals set via TraCI
1658
1659 };
1660
1661
1669
1670 const BaseInfluencer* getBaseInfluencer() const;
1671 const Influencer* getInfluencer() const;
1672
1673 bool hasInfluencer() const {
1674 return myInfluencer != nullptr;
1675 }
1676
1678 int influenceChangeDecision(int state);
1679
1681 void setRemoteState(Position xyPos);
1682
1684 static int nextLinkPriority(const std::vector<MSLane*>& conts);
1685
1687 bool isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const;
1688
1689 // @brief get the position of the back bumper;
1690 const Position getBackPosition() const;
1691
1693 bool ignoreCollision() const;
1694
1696 void updateParkingState();
1697
1703
1705 double getBrakeGap(bool delayed = false) const;
1706
1708
1709
1711 void saveState(OutputDevice& out);
1712
1715 void loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset);
1716
1717 void loadPreviousApproaching(MSLink* link, bool setRequest,
1718 SUMOTime arrivalTime, double arrivalSpeed,
1719 double arrivalSpeedBraking,
1720 double dist, double leaveSpeed);
1722
1723protected:
1724
1727
1743 void adaptLaneEntering2MoveReminder(const MSLane& enteredLane);
1745
1746
1754 void processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist);
1755
1756
1764 void processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason);
1765
1766
1774 double processTraCISpeedControl(double vSafe, double vNext);
1775
1776
1784
1787 void updateWaitingTime(double vNext);
1788
1791 void updateTimeLoss(double vNext);
1792
1793 /* @brief Check whether the vehicle is a train that can reverse its direction at the current point in its route
1794 * and return the speed in preparation for reversal
1795 *
1796 * @param[out] canReverse
1797 * @param[in] speedThreshold
1798 * @return speed for reversal
1799 */
1800 double checkReversal(bool& canReverse, double speedThreshold = SUMO_const_haltingSpeed, double seen = 0) const;
1801
1804 void setBrakingSignals(double vNext) ;
1805
1808 void setBlinkerInformation();
1809
1812 void setEmergencyBlueLight(SUMOTime currentTime);
1813
1815 void computeFurtherLanes(MSLane* enteredLane, double pos, bool collision = false);
1816
1818 void updateOccupancyAndCurrentBestLane(const MSLane* startLane);
1819
1821 Position validatePosition(Position result, double offset = 0) const;
1822
1824 virtual void drawOutsideNetwork(bool /*add*/) {};
1825
1827 void boardTransportables(MSStop& stop);
1828
1830 bool joinTrainPart(MSVehicle* veh);
1831
1833 bool joinTrainPartFront(MSVehicle* veh);
1834
1836 double slowDownForSchedule(double vMinComfortable) const;
1837
1839 void interpolateLateralZ(Position& pos, double offset, double posLat) const;
1840
1844 double getDistanceToLeaveJunction() const;
1845
1846protected:
1847
1851
1854
1857
1860
1863
1869
1870
1871
1874
1876
1879
1880 /* @brief Complex data structure for keeping and updating LaneQ:
1881 * Each element of the outer vector corresponds to an upcoming edge on the vehicles route
1882 * The first element corresponds to the current edge and is returned in getBestLanes()
1883 * The other elements are only used as a temporary structure in updateBestLanes();
1884 */
1885 std::vector<std::vector<LaneQ> > myBestLanes;
1886
1887 /* @brief iterator to speed up retrieval of the current lane's LaneQ in getBestLaneOffset() and getBestLanesContinuation()
1888 * This is updated in updateOccupancyAndCurrentBestLane()
1889 */
1890 std::vector<LaneQ>::iterator myCurrentLaneInBestLanes;
1891
1892 static std::vector<MSLane*> myEmptyLaneVector;
1893
1896
1899 std::pair<double, const MSLink*> myNextTurn;
1900
1902 std::vector<MSLane*> myFurtherLanes;
1904 std::vector<double> myFurtherLanesPosLat;
1905
1908
1911
1914
1916
1918 double myAngle;
1919
1922
1925
1927
1932
1935
1936protected:
1937
1950 double accelV;
1953
1954 DriveProcessItem(MSLink* link, double vPass, double vWait, bool setRequest,
1955 SUMOTime arrivalTime, double arrivalSpeed,
1956 double arrivalSpeedBraking,
1957 double distance,
1958 double leaveSpeed) :
1959 myLink(link), myVLinkPass(vPass), myVLinkWait(vWait), mySetRequest(setRequest),
1960 myArrivalTime(arrivalTime), myArrivalSpeed(arrivalSpeed),
1961 myArrivalSpeedBraking(arrivalSpeedBraking),
1962 myDistance(distance),
1963 accelV(leaveSpeed), hadStoppedVehicle(false), availableSpace(0) {
1964 assert(vWait >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1965 assert(vPass >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1966 };
1967
1968
1970 DriveProcessItem(double vWait, double distance, double _availableSpace = 0) :
1971 myLink(0), myVLinkPass(vWait), myVLinkWait(vWait), mySetRequest(false),
1974 myDistance(distance),
1975 accelV(-1), hadStoppedVehicle(false), availableSpace(_availableSpace) {
1976 assert(vWait >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1977 };
1978
1979
1980 inline void adaptLeaveSpeed(const double v) {
1981 if (accelV < 0) {
1982 accelV = v;
1983 } else {
1984 accelV = MIN2(accelV, v);
1985 }
1986 }
1987
1988 inline void adaptStopSpeed(const double v) {
1990 }
1991
1992 inline double getLeaveSpeed() const {
1993 return accelV < 0 ? myVLinkPass : accelV;
1994 }
1995 };
1996
1998 // TODO: Consider making LFLinkLanes a std::deque for efficient front removal (needs refactoring in checkRewindLinkLanes()...)
1999 typedef std::vector< DriveProcessItem > DriveItemVector;
2000
2003
2006
2012 DriveItemVector::iterator myNextDriveItem;
2013
2015 void planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& myStopDist, std::pair<double, const MSLink*>& myNextTurn) const;
2016
2018 void checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const;
2019
2021 void removeApproachingInformation(const DriveItemVector& lfLinks) const;
2022
2023 /* @brief adapt safe velocity in accordance to a moving obstacle:
2024 * - a leader vehicle
2025 * - a vehicle or pedestrian that crosses this vehicles path on an upcoming intersection
2026 * @param[in] leaderInfo The leading vehicle and the (virtual) distance to it
2027 * @param[in] lastLink the lastLink index
2028 * @param[in,out] the safe velocity for driving
2029 * @param[in,out] the safe velocity for arriving at the next link
2030 */
2031 void adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
2032 double seen,
2033 DriveProcessItem* const lastLink,
2034 double& v, double& vLinkPass) const;
2035
2037 bool brakeForOverlap(const MSLink* link, const MSLane* lane) const;
2038
2039public:
2040 void adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
2041 const double seen, DriveProcessItem* const lastLink,
2042 const MSLane* const lane, double& v, double& vLinkPass,
2043 double distToCrossing = -1) const;
2044
2045 void adaptToOncomingLeader(const std::pair<const MSVehicle*, double> leaderInfo,
2046 DriveProcessItem* const lastLink,
2047 double& v, double& vLinkPass) const;
2048
2050 bool ignoreRed(const MSLink* link, bool canBrake) const;
2051
2053 bool ignoreFoe(const SUMOTrafficObject* foe) const;
2054
2056 inline double accelThresholdForWaiting() const {
2057 return 0.5 * getCarFollowModel().getMaxAccel();
2058 }
2059
2060 /* @brief return the previous lane in this vehicles route including internal lanes
2061 * @param[in] current The lane of which the predecessor should be returned
2062 * @param[in,out] routeIndex The index of the current or previous non-internal edge in the route
2063 */
2064 const MSLane* getPreviousLane(const MSLane* current, int& furtherIndex) const;
2065
2067 void checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
2068 DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
2069 bool isShadowLink = false) const;
2070protected:
2071
2072 /* @brief adapt safe velocity in accordance to multiple vehicles ahead:
2073 * @param[in] ahead The leader information according to the current lateral-resolution
2074 * @param[in] latOffset the lateral offset for locating the ego vehicle on the given lane
2075 * @param[in] seen the distance to the end of the current lane
2076 * @param[in] lastLink the lastLink index
2077 * @param[in] lane The current Lane the vehicle is on
2078 * @param[in,out] the safe velocity for driving
2079 * @param[in,out] the safe velocity for arriving at the next link
2080 */
2081 void adaptToLeaders(const MSLeaderInfo& ahead,
2082 double latOffset,
2083 const double seen, DriveProcessItem* const lastLink,
2084 const MSLane* const lane, double& v, double& vLinkPass) const;
2085
2086 void adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
2087 double seen,
2088 DriveProcessItem* const lastLink,
2089 double& v, double& vLinkPass) const;
2090
2091
2093 void checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
2094 DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const;
2095
2096
2104 void updateState(double vNext);
2105
2106
2108 bool keepClear(const MSLink* link) const;
2109
2111 std::pair<double, double> estimateTimeToNextStop() const;
2112
2113 /* @brief special considerations for opposite direction driving so that the
2114 * result can be used directly by getPositionOnLane(...) */
2115 double getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const;
2116
2123 bool hasArrivedInternal(bool oppositeTransformed = true) const;
2124
2125
2126 SUMOTime getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const;
2127
2129 bool isOppositeLane(const MSLane* lane) const;
2130
2132 void cleanupFurtherLanes();
2133
2135 bool betterContinuation(const LaneQ* bestConnectedNext, const LaneQ& m) const;
2136
2137private:
2140
2143
2144
2145private:
2148
2151
2154
2155};
long long int SUMOTime
Definition GUI.h:36
std::vector< const MSEdge * > ConstMSEdgeVector
Definition MSEdge.h:74
std::shared_ptr< const MSRoute > ConstMSRoutePtr
Definition Route.h:32
SUMOTime DELTA_T
Definition SUMOTime.cpp:38
#define STEPS2TIME(x)
Definition SUMOTime.h:55
#define TIME2STEPS(x)
Definition SUMOTime.h:57
T MIN2(T a, T b)
Definition StdDefs.h:76
const double SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
Definition StdDefs.h:58
Interface for lane-change models.
The base class for microscopic and mesoscopic vehicles.
MSVehicleType * myType
This vehicle's type.
void addStops(const bool ignoreStopErrors, MSRouteIterator *searchStart=nullptr, bool addRouteStops=true)
Adds stops to the built vehicle.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
The car-following model abstraction.
Definition MSCFModel.h:55
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
Definition MSCFModel.h:256
The ToC Device controls transition of control between automated and manual driving.
A device which collects info on current friction Coefficient on the road.
Abstract in-vehicle / in-person device.
Definition MSDevice.h:62
A road/street connecting two junctions.
Definition MSEdge.h:77
static bool gSemiImplicitEulerUpdate
Definition MSGlobals.h:53
static SUMOTime gWaitingTimeMemory
length of memory for waiting times (in millisecs)
Definition MSGlobals.h:115
The base class for an intersection.
Definition MSJunction.h:58
Performs lane changing of vehicles.
Performs lane changing of vehicles.
Representation of a lane in the micro simulation.
Definition MSLane.h:84
saves leader/follower vehicles and their distances relative to an ego vehicle
Something on a lane to be noticed about vehicle movement.
Notification
Definition of a vehicle state.
Interface for objects listening to vehicle state changes.
Definition MSNet.h:641
VehicleState
Definition of a vehicle state.
Definition MSNet.h:608
Definition of overhead wire segment.
A lane area vehicles can halt at.
Provides an interface to an error whose fluctuation is controlled via the driver's 'awareness',...
A lane area vehicles can halt at.
A static instance of this class in GapControlState deactivates gap control for vehicles whose referen...
Definition MSVehicle.h:1349
void vehicleStateChanged(const SUMOVehicle *const vehicle, MSNet::VehicleState to, const std::string &info="")
Called if a vehicle changes its state.
Changes the wished vehicle speed / lanes.
Definition MSVehicle.h:1344
void setLaneChangeMode(int value)
Sets lane changing behavior.
TraciLaneChangePriority myTraciLaneChangePriority
flags for determining the priority of traci lane change requests
Definition MSVehicle.h:1654
bool getEmergencyBrakeRedLight() const
Returns whether red lights shall be a reason to brake.
Definition MSVehicle.h:1516
SUMOTime getLaneTimeLineEnd()
void adaptLaneTimeLine(int indexShift)
Adapts lane timeline when moving to a new lane and the lane index changes.
void setRemoteControlled(Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
bool isRemoteAffected(SUMOTime t) const
int getSpeedMode() const
return the current speed mode
void deactivateGapController()
Deactivates the gap control.
Influencer()
Constructor.
void setSpeedMode(int speedMode)
Sets speed-constraining behaviors.
std::shared_ptr< GapControlState > myGapControlState
The gap control state.
Definition MSVehicle.h:1602
bool considerSafeVelocity() const
Returns whether safe velocities shall be considered.
Definition MSVehicle.h:1530
int getSignals() const
Definition MSVehicle.h:1578
bool myConsiderMaxDeceleration
Whether the maximum deceleration shall be regarded.
Definition MSVehicle.h:1620
ConstMSEdgeVector myRemoteRoute
Definition MSVehicle.h:1637
void setLaneTimeLine(const std::vector< std::pair< SUMOTime, int > > &laneTimeLine)
Sets a new lane timeline.
bool myRespectJunctionLeaderPriority
Whether the junction priority rules are respected (within)
Definition MSVehicle.h:1629
void setOriginalSpeed(double speed)
Stores the originally longitudinal speed.
double myOriginalSpeed
The velocity before influence.
Definition MSVehicle.h:1605
double getLatDist() const
Definition MSVehicle.h:1582
double implicitDeltaPosRemote(const MSVehicle *veh)
return the change in longitudinal position that is implicit in the new remote position
double implicitSpeedRemote(const MSVehicle *veh, double oldSpeed)
return the speed that is implicit in the new remote position
void postProcessRemoteControl(MSVehicle *v)
update position from remote control
double gapControlSpeed(SUMOTime currentTime, const SUMOVehicle *veh, double speed, double vSafe, double vMin, double vMax)
Applies gap control logic on the speed.
void setSublaneChange(double latDist)
Sets a new sublane-change request.
double getOriginalSpeed() const
Returns the originally longitudinal speed to use.
SUMOTime myLastRemoteAccess
Definition MSVehicle.h:1638
std::vector< std::pair< SUMOTime, int > > myLaneTimeLine
The lane usage time line to apply.
Definition MSVehicle.h:1599
bool getRespectJunctionLeaderPriority() const
Returns whether junction priority rules within the junction shall be respected (concerns vehicles wit...
Definition MSVehicle.h:1524
LaneChangeMode myStrategicLC
lane changing which is necessary to follow the current route
Definition MSVehicle.h:1643
LaneChangeMode mySpeedGainLC
lane changing to travel with higher speed
Definition MSVehicle.h:1647
static void init()
Static initalization.
LaneChangeMode mySublaneLC
changing to the prefered lateral alignment
Definition MSVehicle.h:1651
bool getRespectJunctionPriority() const
Returns whether junction priority rules shall be respected (concerns approaching vehicles outside the...
Definition MSVehicle.h:1508
static void cleanup()
Static cleanup.
int getLaneChangeMode() const
return the current lane change mode
SUMOTime getLaneTimeLineDuration()
double influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax)
Applies stored velocity information on the speed to use.
double changeRequestRemainingSeconds(const SUMOTime currentTime) const
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
bool myConsiderSafeVelocity
Whether the safe velocity shall be regarded.
Definition MSVehicle.h:1614
bool mySpeedAdaptationStarted
Whether influencing the speed has already started.
Definition MSVehicle.h:1611
~Influencer()
Destructor.
void setSignals(int signals)
Definition MSVehicle.h:1574
double myLatDist
The requested lateral change.
Definition MSVehicle.h:1608
bool myEmergencyBrakeRedLight
Whether red lights are a reason to brake.
Definition MSVehicle.h:1626
LaneChangeMode myRightDriveLC
changing to the rightmost lane
Definition MSVehicle.h:1649
void setSpeedTimeLine(const std::vector< std::pair< SUMOTime, double > > &speedTimeLine)
Sets a new velocity timeline.
void updateRemoteControlRoute(MSVehicle *v)
update route if provided by remote control
std::vector< std::pair< SUMOTime, double > > mySpeedTimeLine
The velocity time line to apply.
Definition MSVehicle.h:1596
SUMOTime getLastAccessTimeStep() const
Definition MSVehicle.h:1554
bool myConsiderMaxAcceleration
Whether the maximum acceleration shall be regarded.
Definition MSVehicle.h:1617
LaneChangeMode myCooperativeLC
lane changing with the intent to help other vehicles
Definition MSVehicle.h:1645
bool isRemoteControlled() const
bool ignoreOverlap() const
Definition MSVehicle.h:1590
bool myRespectJunctionPriority
Whether the junction priority rules are respected (approaching)
Definition MSVehicle.h:1623
int influenceChangeDecision(const SUMOTime currentTime, const MSEdge &currentEdge, const int currentLaneIndex, int state)
Applies stored LaneChangeMode information and laneTimeLine.
void activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle *refVeh=nullptr)
Activates the gap control with the given parameters,.
Container for manouevering time associated with stopping.
Definition MSVehicle.h:1268
SUMOTime myManoeuvreCompleteTime
Time at which this manoeuvre should complete.
Definition MSVehicle.h:1320
MSVehicle::ManoeuvreType getManoeuvreType() const
Accessor (get) for manoeuvre type.
std::string myManoeuvreStop
The name of the stop associated with the Manoeuvre - for debug output.
Definition MSVehicle.h:1314
bool manoeuvreIsComplete() const
Check if any manoeuver is ongoing and whether the completion time is beyond currentTime.
bool configureExitManoeuvre(MSVehicle *veh)
Setup the myManoeuvre for exiting (Sets completion time and manoeuvre type)
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
Accessor (set) for manoeuvre type.
Manoeuvre & operator=(const Manoeuvre &manoeuvre)
Assignment operator.
Manoeuvre()
Constructor.
std::string myManoeuvreVehicleID
The name of the vehicle associated with the Manoeuvre - for debug output.
Definition MSVehicle.h:1311
ManoeuvreType myManoeuvreType
Manoeuvre type - currently entry, exit or none.
Definition MSVehicle.h:1323
double getGUIIncrement() const
Accessor for GUI rotation step when parking (radians)
SUMOTime myManoeuvreStartTime
Time at which the Manoeuvre for this stop started.
Definition MSVehicle.h:1317
bool operator!=(const Manoeuvre &manoeuvre)
Operator !=.
bool entryManoeuvreIsComplete(MSVehicle *veh)
Configure an entry manoeuvre if nothing is configured - otherwise check if complete.
bool configureEntryManoeuvre(MSVehicle *veh)
Setup the entry manoeuvre for this vehicle (Sets completion time and manoeuvre type)
Container that holds the vehicles driving state (position+speed).
Definition MSVehicle.h:87
double lastCoveredDist() const
previous Speed of this state
Definition MSVehicle.h:127
double myPosLat
the stored lateral position
Definition MSVehicle.h:140
double myPreviousSpeed
the speed at the begin of the previous time step
Definition MSVehicle.h:148
double myPos
the stored position
Definition MSVehicle.h:134
bool operator!=(const State &state)
Operator !=.
double myLastCoveredDist
Definition MSVehicle.h:154
double mySpeed
the stored speed (should be >=0 at any time)
Definition MSVehicle.h:137
State & operator=(const State &state)
Assignment operator.
double posLat() const
Lateral Position of this state (m relative to the centerline of the lane).
Definition MSVehicle.h:117
double pos() const
Position of this state.
Definition MSVehicle.h:107
double speed() const
Speed of this state.
Definition MSVehicle.h:112
double backPos() const
back Position of this state
Definition MSVehicle.h:122
double myBackPos
the stored back position
Definition MSVehicle.h:145
Stores the waiting intervals over the previous seconds (memory is to be specified in ms....
Definition MSVehicle.h:162
void passTime(SUMOTime dt, bool waiting)
const std::string getState() const
SUMOTime cumulatedWaitingTime(SUMOTime memory=-1) const
std::deque< std::pair< SUMOTime, SUMOTime > > myWaitingIntervals
Definition MSVehicle.h:184
void setState(const std::string &state)
SUMOTime myMemorySize
the maximal memory to store
Definition MSVehicle.h:179
Representation of a vehicle in the micro simulation.
Definition MSVehicle.h:77
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
accessor function to myManoeuvre equivalent
TraciLaneChangePriority
modes for prioritizing traci lane change requests
Definition MSVehicle.h:1146
@ LCP_OPPORTUNISTIC
Definition MSVehicle.h:1150
const std::vector< double > & getFurtherLanesPosLat() const
Definition MSVehicle.h:835
double getRightSideOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
bool wasRemoteControlled(SUMOTime lookBack=DELTA_T) const
Returns the information whether the vehicle is fully controlled via TraCI within the lookBack time.
void processLinkApproaches(double &vSafe, double &vSafeMin, double &vSafeMinDist)
This method iterates through the driveprocess items for the vehicle and adapts the given in/out param...
SUMOTime getTimeSinceStartup() const
Returns the SUMOTime spent driving since startup (speed was larger than 0.1m/s)
Definition MSVehicle.h:683
const MSLane * getPreviousLane(const MSLane *current, int &furtherIndex) const
void checkLinkLeader(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest, bool isShadowLink=false) const
checks for link leaders on the given link
void checkRewindLinkLanes(const double lengthsInFront, DriveItemVector &lfLinks) const
runs heuristic for keeping the intersection clear in case of downstream jamming
MSVehicle(const MSVehicle &)
invalidated copy constructor
bool willStop() const
Returns whether the vehicle will stop on the current edge.
bool hasDriverState() const
Whether this vehicle is equipped with a MSDriverState.
Definition MSVehicle.h:992
static int nextLinkPriority(const std::vector< MSLane * > &conts)
get a numerical value for the priority of the upcoming link
double getTimeGapOnLane() const
Returns the time gap in seconds to the leader of the vehicle on the same lane.
void updateBestLanes(bool forceRebuild=false, const MSLane *startLane=0)
computes the best lanes to use in order to continue the route
bool myAmIdling
Whether the vehicle is trying to enter the network (eg after parking so engine is running)
Definition MSVehicle.h:1913
SUMOTime myWaitingTime
The time the vehicle waits (is not faster than 0.1m/s) in seconds.
Definition MSVehicle.h:1849
double getStopDelay() const
Returns the public transport stop delay in seconds.
double computeAngle() const
compute the current vehicle angle
double myTimeLoss
the time loss in seconds due to driving with less than maximum speed
Definition MSVehicle.h:1853
SUMOTime myLastActionTime
Action offset (actions are taken at time myActionOffset + N*getActionStepLength()) Initialized to 0,...
Definition MSVehicle.h:1868
ConstMSEdgeVector::const_iterator getRerouteOrigin() const
Returns the starting point for reroutes (usually the current edge)
bool hasArrivedInternal(bool oppositeTransformed=true) const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge) metho...
double getFriction() const
Returns the current friction on the road as perceived by the friction device.
bool ignoreFoe(const SUMOTrafficObject *foe) const
decide whether a given foe object may be ignored
void boardTransportables(MSStop &stop)
board persons and load transportables at the given stop
const std::vector< const MSLane * > getUpcomingLanesUntil(double distance) const
Returns the upcoming (best followed by default 0) sequence of lanes to continue the route starting at...
bool isOnRoad() const
Returns the information whether the vehicle is on a road (is simulated)
Definition MSVehicle.h:605
void adaptLaneEntering2MoveReminder(const MSLane &enteredLane)
Adapts the vehicle's entering of a new lane.
void addTransportable(MSTransportable *transportable)
Adds a person or container to this vehicle.
SUMOTime myJunctionConflictEntryTime
Definition MSVehicle.h:1931
SUMOTime getLastActionTime() const
Returns the time of the vehicle's last action point.
Definition MSVehicle.h:541
double getLeftSideOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
PositionVector getBoundingPoly(double offset=0) const
get bounding polygon
void setTentativeLaneAndPosition(MSLane *lane, double pos, double posLat=0)
set tentative lane and position during insertion to ensure that all cfmodels work (some of them requi...
bool brakeForOverlap(const MSLink *link, const MSLane *lane) const
handle with transitions
void workOnMoveReminders(double oldPos, double newPos, double newSpeed)
Processes active move reminder.
bool isStoppedOnLane() const
double getDistanceToPosition(double destPos, const MSLane *destLane) const
bool brokeDown() const
Returns how long the vehicle has been stopped already due to lack of energy.
double myAcceleration
The current acceleration after dawdling in m/s.
Definition MSVehicle.h:1895
void registerInsertionApproach(MSLink *link, double dist)
register approach on insertion
SUMOTime getTimeLoss() const
Returns the SUMOTime lost (speed was lesser maximum speed)
Definition MSVehicle.h:700
void cleanupFurtherLanes()
remove vehicle from further lanes (on leaving the network)
void adaptToLeaders(const MSLeaderInfo &ahead, double latOffset, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass) const
bool isActive() const
Returns whether the current simulation step is an action point for the vehicle.
Definition MSVehicle.h:628
const MSLane * getBackLane() const
Returns the lane the where the rear of the object is currently at.
double getTimeLossSeconds() const
Returns the time loss in seconds.
Definition MSVehicle.h:716
void enterLaneAtInsertion(MSLane *enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification)
Update when the vehicle enters a new lane in the emit step.
double getBackPositionOnLane() const
Get the vehicle's position relative to its current lane.
Definition MSVehicle.h:405
void setPreviousSpeed(double prevSpeed, double prevAcceleration)
Sets the influenced previous speed.
const std::pair< double, const MSLink * > & getNextTurn()
Get the distance and direction of the next upcoming turn for the vehicle (within its look-ahead range...
Definition MSVehicle.h:823
SUMOTime getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const
double getAccumulatedWaitingSeconds() const
Returns the number of seconds waited (speed was lesser than 0.1m/s) within the last millisecs.
Definition MSVehicle.h:710
SUMOTime getWaitingTime(const bool accumulated=false) const
Returns the SUMOTime waited (speed was lesser than 0.1m/s)
Definition MSVehicle.h:670
bool isFrontOnLane(const MSLane *lane) const
Returns the information whether the front of the vehicle is on the given lane.
virtual ~MSVehicle()
Destructor.
double getTimeSinceStartupSeconds() const
Definition MSVehicle.h:687
void processLaneAdvances(std::vector< MSLane * > &passedLanes, std::string &emergencyReason)
This method checks if the vehicle has advanced over one or several lanes along its route and triggers...
MSAbstractLaneChangeModel & getLaneChangeModel()
void setEmergencyBlueLight(SUMOTime currentTime)
sets the blue flashing light for emergency vehicles
bool isActionStep(SUMOTime t) const
Returns whether the next simulation step will be an action point for the vehicle.
Definition MSVehicle.h:635
MSAbstractLaneChangeModel * myLaneChangeModel
Definition MSVehicle.h:1875
Position getPositionAlongBestLanes(double offset) const
Return the (x,y)-position, which the vehicle would reach if it continued along its best continuation ...
bool hasValidRouteStart(std::string &msg)
checks wether the vehicle can depart on the first edge
double getLeftSideOnLane() const
Get the lateral position of the vehicles left side on the lane:
std::vector< MSLane * > myFurtherLanes
The information into which lanes the vehicle laps into.
Definition MSVehicle.h:1902
bool signalSet(int which) const
Returns whether the given signal is on.
Definition MSVehicle.h:1182
MSCFModel::VehicleVariables * myCFVariables
The per vehicle variables of the car following model.
Definition MSVehicle.h:2139
bool betterContinuation(const LaneQ *bestConnectedNext, const LaneQ &m) const
comparison between different continuations from the same lane
double getActionStepLengthSecs() const
Returns the vehicle's action step length in secs, i.e. the interval between two action points.
Definition MSVehicle.h:533
bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string &errorMsg)
void checkLinkLeaderCurrentAndParallel(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest) const
checks for link leaders of the current link as well as the parallel link (if there is one)
void planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector &lfLinks, double &myStopDist, std::pair< double, const MSLink * > &myNextTurn) const
std::pair< double, const MSLink * > myNextTurn
the upcoming turn for the vehicle
Definition MSVehicle.h:1899
double getDistanceToLeaveJunction() const
get the distance from the start of this lane to the start of the next normal lane (or 0 if this lane ...
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
double getMaxSpeedOnLane() const
Returns the maximal speed for the vehicle on its current lane (including speed factor and deviation,...
bool isRemoteControlled() const
Returns the information whether the vehicle is fully controlled via TraCI.
bool myAmOnNet
Whether the vehicle is on the network (not parking, teleported, vaporized, or arrived)
Definition MSVehicle.h:1910
double nextStopDist() const
return the distance to the next stop or doubleMax if there is none.
Definition MSVehicle.h:1031
void enterLaneAtMove(MSLane *enteredLane, bool onTeleporting=false)
Update when the vehicle enters a new lane in the move step.
void adaptBestLanesOccupation(int laneIndex, double density)
update occupation from MSLaneChanger
std::pair< double, double > estimateTimeToNextStop() const
return time (s) and distance to the next stop
double accelThresholdForWaiting() const
maximum acceleration to consider a vehicle as 'waiting' at low speed
Definition MSVehicle.h:2056
void setAngle(double angle, bool straightenFurther=false)
Set a custom vehicle angle in rad, optionally updates furtherLanePosLat.
std::vector< LaneQ >::iterator myCurrentLaneInBestLanes
Definition MSVehicle.h:1890
MSVehicle & operator=(const MSVehicle &)
invalidated assignment operator
double getDeltaPos(const double accel) const
calculates the distance covered in the next integration step given an acceleration and assuming the c...
const MSLane * myLastBestLanesInternalLane
Definition MSVehicle.h:1878
void updateOccupancyAndCurrentBestLane(const MSLane *startLane)
updates LaneQ::nextOccupation and myCurrentLaneInBestLanes
const std::vector< MSLane * > getUpstreamOppositeLanes() const
Returns the sequence of opposite lanes corresponding to past lanes.
WaitingTimeCollector myWaitingTimeCollector
Definition MSVehicle.h:1850
void setRemoteState(Position xyPos)
sets position outside the road network
void fixPosition()
repair errors in vehicle position after changing between internal edges
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
Definition MSVehicle.h:514
double getSpeedWithoutTraciInfluence() const
Returns the uninfluenced velocity.
PositionVector getBoundingBox(double offset=0) const
get bounding rectangle
ManoeuvreType
flag identifying which, if any, manoeuvre is in progress
Definition MSVehicle.h:1241
@ MANOEUVRE_ENTRY
Manoeuvre into stopping place.
Definition MSVehicle.h:1243
@ MANOEUVRE_NONE
not manouevring
Definition MSVehicle.h:1247
@ MANOEUVRE_EXIT
Manoeuvre out of stopping place.
Definition MSVehicle.h:1245
const MSEdge * getNextEdgePtr() const
returns the next edge (possibly an internal edge)
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
void setBrakingSignals(double vNext)
sets the braking lights on/off
const std::vector< MSLane * > & getBestLanesContinuation() const
Returns the best sequence of lanes to continue the route starting at myLane.
const MSEdge * myLastBestLanesEdge
Definition MSVehicle.h:1877
bool ignoreCollision() const
whether this vehicle is except from collision checks
Influencer * myInfluencer
An instance of a velocity/lane influencing instance; built in "getInfluencer".
Definition MSVehicle.h:2142
void saveState(OutputDevice &out)
Saves the states of a vehicle.
void setIdling(bool amIdling)
access function for Idling flag used to record whether vehicle is waiting to enter lane (after parkin...
Definition MSVehicle.h:613
void onRemovalFromNet(const MSMoveReminder::Notification reason)
Called when the vehicle is removed from the network.
void planMove(const SUMOTime t, const MSLeaderInfo &ahead, const double lengthsInFront)
Compute safe velocities for the upcoming lanes based on positions and speeds from the last time step....
bool resumeFromStopping()
int getBestLaneOffset() const
void adaptToJunctionLeader(const std::pair< const MSVehicle *, double > leaderInfo, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass, double distToCrossing=-1) const
double lateralDistanceToLane(const int offset) const
Get the minimal lateral distance required to move fully onto the lane at given offset.
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
Definition MSVehicle.h:398
void leaveLaneBack(const MSMoveReminder::Notification reason, const MSLane *leftLane)
Update of reminders if vehicle back leaves a lane during (during forward movement.
void resetActionOffset(const SUMOTime timeUntilNextAction=0)
Resets the action offset for the vehicle.
std::vector< DriveProcessItem > DriveItemVector
Container for used Links/visited Lanes during planMove() and executeMove.
Definition MSVehicle.h:1999
void interpolateLateralZ(Position &pos, double offset, double posLat) const
perform lateral z interpolation in elevated networks
void setBlinkerInformation()
sets the blue flashing light for emergency vehicles
const MSEdge * getCurrentEdge() const
Returns the edge the vehicle is currently at (possibly an internal edge or nullptr)
void adaptToLeaderDistance(const MSLeaderDistanceInfo &ahead, double latOffset, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
DriveItemVector::iterator myNextDriveItem
iterator pointing to the next item in myLFLinkLanes
Definition MSVehicle.h:2012
void leaveLane(const MSMoveReminder::Notification reason, const MSLane *approachedLane=0)
Update of members if vehicle leaves a new lane in the lane change step or at arrival.
bool isIdling() const
Returns whether a sim vehicle is waiting to enter a lane (after parking has completed)
Definition MSVehicle.h:621
std::shared_ptr< MSSimpleDriverState > getDriverState() const
Returns the vehicle driver's state.
void removeApproachingInformation(const DriveItemVector &lfLinks) const
unregister approach from all upcoming links
void replaceVehicleType(MSVehicleType *type)
Replaces the current vehicle type by the one given.
SUMOTime myJunctionEntryTimeNeverYield
Definition MSVehicle.h:1930
double getLatOffset(const MSLane *lane) const
Get the offset that that must be added to interpret myState.myPosLat for the given lane.
bool rerouteParkingArea(const std::string &parkingAreaID, std::string &errorMsg)
bool hasArrived() const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge)
void switchOffSignal(int signal)
Switches the given signal off.
Definition MSVehicle.h:1165
void updateState(double vNext)
updates the vehicles state, given a next value for its speed. This value can be negative in case of t...
double getStopArrivalDelay() const
Returns the estimated public transport stop arrival delay in seconds.
int getSignals() const
Returns the signals.
Definition MSVehicle.h:1173
int mySignals
State of things of the vehicle that can be on or off.
Definition MSVehicle.h:1907
bool setExitManoeuvre()
accessor function to myManoeuvre equivalent
bool isOppositeLane(const MSLane *lane) const
whether the give lane is reverse direction of the current route or not
double myStopDist
distance to the next stop or doubleMax if there is none
Definition MSVehicle.h:1921
Signalling
Some boolean values which describe the state of some vehicle parts.
Definition MSVehicle.h:1100
@ VEH_SIGNAL_EMERGENCY_RED
A red emergency light is on.
Definition MSVehicle.h:1128
@ VEH_SIGNAL_NONE
Everything is switched off.
Definition MSVehicle.h:1102
@ VEH_SIGNAL_FOGLIGHT
The fog lights are on (no visualisation)
Definition MSVehicle.h:1114
@ VEH_SIGNAL_FRONTLIGHT
The front lights are on (no visualisation)
Definition MSVehicle.h:1112
@ VEH_SIGNAL_DOOR_OPEN_LEFT
One of the left doors is opened.
Definition MSVehicle.h:1122
@ VEH_SIGNAL_BLINKER_RIGHT
Right blinker lights are switched on.
Definition MSVehicle.h:1104
@ VEH_SIGNAL_BRAKELIGHT
The brake lights are on.
Definition MSVehicle.h:1110
@ VEH_SIGNAL_BACKDRIVE
The backwards driving lights are on (no visualisation)
Definition MSVehicle.h:1118
@ VEH_SIGNAL_EMERGENCY_BLUE
A blue emergency light is on.
Definition MSVehicle.h:1126
@ VEH_SIGNAL_BLINKER_LEFT
Left blinker lights are switched on.
Definition MSVehicle.h:1106
@ VEH_SIGNAL_DOOR_OPEN_RIGHT
One of the right doors is opened.
Definition MSVehicle.h:1124
@ VEH_SIGNAL_BLINKER_EMERGENCY
Blinker lights on both sides are switched on.
Definition MSVehicle.h:1108
@ VEH_SIGNAL_WIPER
The wipers are on.
Definition MSVehicle.h:1120
@ VEH_SIGNAL_EMERGENCY_YELLOW
A yellow emergency light is on.
Definition MSVehicle.h:1130
@ VEH_SIGNAL_HIGHBEAM
The high beam lights are on (no visualisation)
Definition MSVehicle.h:1116
SUMOTime getActionStepLength() const
Returns the vehicle's action step length in millisecs, i.e. the interval between two action points.
Definition MSVehicle.h:525
bool myHaveToWaitOnNextLink
Definition MSVehicle.h:1915
SUMOTime collisionStopTime() const
Returns the remaining time a vehicle needs to stop due to a collision. A negative value indicates tha...
const std::vector< const MSLane * > getPastLanesUntil(double distance) const
Returns the sequence of past lanes (right-most on edge) based on the route starting at the current la...
double getBestLaneDist() const
returns the distance that can be driven without lane change
std::pair< const MSVehicle *const, double > getLeader(double dist=0) const
Returns the leader of the vehicle looking for a fixed distance.
double slowDownForSchedule(double vMinComfortable) const
optionally return an upper bound on speed to stay within the schedule
bool executeMove()
Executes planned vehicle movements with regards to right-of-way.
const MSLane * getLane() const
Returns the lane the vehicle is on.
Definition MSVehicle.h:581
std::pair< const MSVehicle *const, double > getFollower(double dist=0) const
Returns the follower of the vehicle looking for a fixed distance.
double getLastStepDist() const
Get the distance the vehicle covered in the previous timestep.
Definition MSVehicle.h:381
void invalidateCachedPosition()
Definition MSVehicle.h:421
ChangeRequest
Requests set via TraCI.
Definition MSVehicle.h:191
@ REQUEST_HOLD
vehicle want's to keep the current lane
Definition MSVehicle.h:199
@ REQUEST_LEFT
vehicle want's to change to left lane
Definition MSVehicle.h:195
@ REQUEST_NONE
vehicle doesn't want to change
Definition MSVehicle.h:193
@ REQUEST_RIGHT
vehicle want's to change to right lane
Definition MSVehicle.h:197
bool isLeader(const MSLink *link, const MSVehicle *veh, const double gap) const
whether the given vehicle must be followed at the given junction
void computeFurtherLanes(MSLane *enteredLane, double pos, bool collision=false)
updates myFurtherLanes on lane insertion or after collision
MSLane * getMutableLane() const
Returns the lane the vehicle is on Non const version indicates that something volatile is going on.
Definition MSVehicle.h:589
std::pair< const MSLane *, double > getLanePosAfterDist(double distance) const
return lane and position along bestlanes at the given distance
SUMOTime myCollisionImmunity
amount of time for which the vehicle is immune from collisions
Definition MSVehicle.h:1924
bool passingMinor() const
decide whether the vehicle is passing a minor link or has comitted to do so
void updateWaitingTime(double vNext)
Updates the vehicle's waiting time counters (accumulated and consecutive)
void enterLaneAtLaneChange(MSLane *enteredLane)
Update when the vehicle enters a new lane in the laneChange step.
BaseInfluencer & getBaseInfluencer()
Returns the velocity/lane influencer.
Influencer & getInfluencer()
bool isBidiOn(const MSLane *lane) const
whether this vehicle is driving against lane
double getRightSideOnLane() const
Get the lateral position of the vehicles right side on the lane:
bool unsafeLinkAhead(const MSLane *lane) const
whether the vehicle may safely move to the given lane with regard to upcoming links
double getCurrentApparentDecel() const
get apparent deceleration based on vType parameters and current acceleration
double updateFurtherLanes(std::vector< MSLane * > &furtherLanes, std::vector< double > &furtherLanesPosLat, const std::vector< MSLane * > &passedLanes)
update a vector of further lanes and return the new backPos
DriveItemVector myLFLinkLanesPrev
planned speeds from the previous step for un-registering from junctions after the new container is fi...
Definition MSVehicle.h:2005
std::vector< std::vector< LaneQ > > myBestLanes
Definition MSVehicle.h:1885
void setActionStepLength(double actionStepLength, bool resetActionOffset=true)
Sets the action steplength of the vehicle.
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
Definition MSVehicle.h:413
double getSlope() const
Returns the slope of the road at vehicle's position in degrees.
bool myActionStep
The flag myActionStep indicates whether the current time step is an action point for the vehicle.
Definition MSVehicle.h:1865
const Position getBackPosition() const
bool congested() const
void loadState(const SUMOSAXAttributes &attrs, const SUMOTime offset)
Loads the state of this vehicle from the given description.
SUMOTime myTimeSinceStartup
duration of driving (speed > SUMO_const_haltingSpeed) after the last halting episode
Definition MSVehicle.h:1934
double getSpeed() const
Returns the vehicle's current speed.
Definition MSVehicle.h:490
void setApproachingForAllLinks(const SUMOTime t)
Register junction approaches for all link items in the current plan.
SUMOTime remainingStopDuration() const
Returns the remaining stop duration for a stopped vehicle or 0.
bool keepStopping(bool afterProcessing=false) const
Returns whether the vehicle is stopped and must continue to do so.
void workOnIdleReminders()
cycle through vehicle devices invoking notifyIdle
static std::vector< MSLane * > myEmptyLaneVector
Definition MSVehicle.h:1892
Position myCachedPosition
Definition MSVehicle.h:1926
bool replaceRoute(ConstMSRoutePtr route, const std::string &info, bool onInit=false, int offset=0, bool addStops=true, bool removeStops=true, std::string *msgReturn=nullptr)
Replaces the current route by the given one.
MSVehicle::ManoeuvreType getManoeuvreType() const
accessor function to myManoeuvre equivalent
double checkReversal(bool &canReverse, double speedThreshold=SUMO_const_haltingSpeed, double seen=0) const
void updateLaneBruttoSum()
Update the lane brutto occupancy after a change in minGap.
void removePassedDriveItems()
Erase passed drive items from myLFLinkLanes (and unregister approaching information for corresponding...
const std::vector< MSLane * > & getFurtherLanes() const
Definition MSVehicle.h:831
const std::vector< LaneQ > & getBestLanes() const
Returns the description of best lanes to use in order to continue the route.
std::vector< double > myFurtherLanesPosLat
lateral positions on further lanes
Definition MSVehicle.h:1904
bool checkActionStep(const SUMOTime t)
Returns whether the vehicle is supposed to take action in the current simulation step Updates myActio...
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
Definition MSVehicle.h:965
Position validatePosition(Position result, double offset=0) const
ensure that a vehicle-relative position is not invalid
void loadPreviousApproaching(MSLink *link, bool setRequest, SUMOTime arrivalTime, double arrivalSpeed, double arrivalSpeedBraking, double dist, double leaveSpeed)
bool keepClear(const MSLink *link) const
decide whether the given link must be kept clear
bool manoeuvreIsComplete() const
accessor function to myManoeuvre equivalent
double processNextStop(double currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
double myAngle
the angle in radians (
Definition MSVehicle.h:1918
bool ignoreRed(const MSLink *link, bool canBrake) const
decide whether a red (or yellow light) may be ignored
double getPositionOnLane() const
Get the vehicle's position along the lane.
Definition MSVehicle.h:374
void updateTimeLoss(double vNext)
Updates the vehicle's time loss.
MSDevice_DriverState * myDriverState
This vehicle's driver state.
Definition MSVehicle.h:1859
bool joinTrainPart(MSVehicle *veh)
try joining the given vehicle to the rear of this one (to resolve joinTriggered)
MSLane * myLane
The lane the vehicle is on.
Definition MSVehicle.h:1873
bool onFurtherEdge(const MSEdge *edge) const
whether this vehicle has its back (and no its front) on the given edge
double processTraCISpeedControl(double vSafe, double vNext)
Check for speed advices from the traci client and adjust the speed vNext in the current (euler) / aft...
Manoeuvre myManoeuvre
Definition MSVehicle.h:1330
double getLateralOverlap() const
return the amount by which the vehicle extends laterally outside it's primary lane
double getAngle() const
Returns the vehicle's direction in radians.
Definition MSVehicle.h:731
bool handleCollisionStop(MSStop &stop, const double distToStop)
bool hasInfluencer() const
whether the vehicle is individually influenced (via TraCI or special parameters)
Definition MSVehicle.h:1673
MSDevice_Friction * myFrictionDevice
This vehicle's friction perception.
Definition MSVehicle.h:1862
double getPreviousSpeed() const
Returns the vehicle's speed before the previous time step.
Definition MSVehicle.h:498
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition MSVehicle.h:986
MSVehicle()
invalidated default constructor
bool joinTrainPartFront(MSVehicle *veh)
try joining the given vehicle to the front of this one (to resolve joinTriggered)
void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength)
Process an updated action step length value (only affects the vehicle's action offset,...
double getBrakeGap(bool delayed=false) const
get distance for coming to a stop (used for rerouting checks)
void executeFractionalMove(double dist)
move vehicle forward by the given distance during insertion
LaneChangeMode
modes for resolving conflicts between external control (traci) and vehicle control over lane changing...
Definition MSVehicle.h:1138
virtual void drawOutsideNetwork(bool)
register vehicle for drawing while outside the network
Definition MSVehicle.h:1824
void initDevices()
void adaptToOncomingLeader(const std::pair< const MSVehicle *, double > leaderInfo, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
State myState
This Vehicles driving state (pos and speed)
Definition MSVehicle.h:1856
double getCenterOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
void setLateralPositionOnLane(double posLat)
Definition MSVehicle.h:417
void adaptToLeader(const std::pair< const MSVehicle *, double > leaderInfo, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
void switchOnSignal(int signal)
Switches the given signal on.
Definition MSVehicle.h:1157
static bool overlap(const MSVehicle *veh1, const MSVehicle *veh2)
Definition MSVehicle.h:759
int getLaneIndex() const
void updateParkingState()
update state while parking
DriveItemVector myLFLinkLanes
container for the planned speeds in the current step
Definition MSVehicle.h:2002
void updateDriveItems()
Check whether the drive items (myLFLinkLanes) are up to date, and update them if required.
Position getVelocityVector() const
Returns the vehicle's direction in radians.
Definition MSVehicle.h:739
SUMOTime myJunctionEntryTime
time at which the current junction was entered
Definition MSVehicle.h:1929
The car-following model and parameter.
double getLengthWithGap() const
Get vehicle's length including the minimum gap [m].
double getActionStepLengthSecs() const
Returns this type's default action step length in seconds.
const MSCFModel & getCarFollowModel() const
Returns the vehicle type's car following model definition (const version)
SUMOTime getActionStepLength() const
Returns this type's default action step length.
Static storage of an output device and its base (abstract) implementation.
A point in 2D or 3D with translation and scaling methods.
Definition Position.h:37
static const Position INVALID
used to indicate that a position is valid
Definition Position.h:322
A list of positions.
Encapsulated SAX-Attributes.
Representation of a vehicle, person, or container.
Representation of a vehicle.
Definition SUMOVehicle.h:62
Definition of vehicle stop (position and duration)
Structure representing possible vehicle parameter.
Drive process items represent bounds on the safe velocity corresponding to the upcoming links.
Definition MSVehicle.h:1941
void adaptStopSpeed(const double v)
Definition MSVehicle.h:1988
DriveProcessItem(MSLink *link, double vPass, double vWait, bool setRequest, SUMOTime arrivalTime, double arrivalSpeed, double arrivalSpeedBraking, double distance, double leaveSpeed)
Definition MSVehicle.h:1954
double getLeaveSpeed() const
Definition MSVehicle.h:1992
DriveProcessItem(double vWait, double distance, double _availableSpace=0)
constructor if the link shall not be passed
Definition MSVehicle.h:1970
void adaptLeaveSpeed(const double v)
Definition MSVehicle.h:1980
Container for state and parameters of the gap control.
Definition MSVehicle.h:1361
bool active
Whether the gap control is active.
Definition MSVehicle.h:1392
static std::map< const MSVehicle *, GapControlState * > refVehMap
stores reference vehicles currently in use by a gapController
Definition MSVehicle.h:1403
SUMOTime lastUpdate
Time of the last update of the gap control.
Definition MSVehicle.h:1398
double changeRate
Rate by which the current time and space headways are changed towards the target value....
Definition MSVehicle.h:1386
double addGapTarget
Target value for the desired space headway.
Definition MSVehicle.h:1381
static GapControlVehStateListener vehStateListener
Definition MSVehicle.h:1406
double timeHeadwayIncrement
cache storage for the headway increments of the current operation
Definition MSVehicle.h:1400
double tauOriginal
Original value for the desired headway (will be reset after duration has expired)
Definition MSVehicle.h:1373
double tauCurrent
Current, interpolated value for the desired time headway.
Definition MSVehicle.h:1375
double remainingDuration
Remaining duration for keeping the target headway.
Definition MSVehicle.h:1383
void activate(double tauOriginal, double tauTarget, double additionalGap, double duration, double changeRate, double maxDecel, const MSVehicle *refVeh)
Start gap control with given params.
double addGapCurrent
Current, interpolated value for the desired space headway.
Definition MSVehicle.h:1379
static void cleanup()
Static cleanup (removes vehicle state listener)
double tauTarget
Target value for the desired time headway.
Definition MSVehicle.h:1377
void deactivate()
Stop gap control.
const MSVehicle * referenceVeh
reference vehicle for the gap - if it is null, the current leader on the ego's lane is used as a refe...
Definition MSVehicle.h:1390
double maxDecel
Maximal deceleration to be applied due to the adapted headway.
Definition MSVehicle.h:1388
bool gapAttained
Whether the desired gap was attained during the current activity phase (induces the remaining duratio...
Definition MSVehicle.h:1394
const MSVehicle * prevLeader
The last recognized leader.
Definition MSVehicle.h:1396
static void init()
Static initalization (adds vehicle state listener)
A structure representing the best lanes for continuing the current route starting at 'lane'.
Definition MSVehicle.h:853
double length
The overall length which may be driven when using this lane without a lane change.
Definition MSVehicle.h:857
bool allowsContinuation
Whether this lane allows to continue the drive.
Definition MSVehicle.h:867
double nextOccupation
As occupation, but without the first lane.
Definition MSVehicle.h:863
std::vector< MSLane * > bestContinuations
Definition MSVehicle.h:873
MSLane * lane
The described lane.
Definition MSVehicle.h:855
double currentLength
The length which may be driven on this lane.
Definition MSVehicle.h:859
int bestLaneOffset
The (signed) number of lanes to be crossed to get to the lane which allows to continue the drive.
Definition MSVehicle.h:865
double occupation
The overall vehicle sum on consecutive lanes which can be passed without a lane change.
Definition MSVehicle.h:861