Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2026 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 : /****************************************************************************/
14 : /// @file MSLink.cpp
15 : /// @author Daniel Krajzewicz
16 : /// @author Jakob Erdmann
17 : /// @author Michael Behrisch
18 : /// @author Laura Bieker
19 : /// @date Sept 2002
20 : ///
21 : // A connection between lanes
22 : /****************************************************************************/
23 : #include <config.h>
24 :
25 : #include <iostream>
26 : #include <algorithm>
27 : #include <limits>
28 : #include <utils/iodevices/OutputDevice.h>
29 : #include <utils/common/RandHelper.h>
30 : #include <utils/common/StringTokenizer.h>
31 : #include "MSNet.h"
32 : #include "MSJunction.h"
33 : #include "MSJunctionLogic.h"
34 : #include "MSLink.h"
35 : #include "MSLane.h"
36 : #include <microsim/transportables/MSPerson.h>
37 : #include <microsim/transportables/MSTransportableControl.h>
38 : #include "MSEdge.h"
39 : #include "MSGlobals.h"
40 : #include "MSVehicle.h"
41 : #include <microsim/lcmodels/MSAbstractLaneChangeModel.h>
42 : #include <microsim/transportables/MSPModel.h>
43 :
44 : //#define MSLink_DEBUG_CROSSING_POINTS
45 : //#define MSLink_DEBUG_CROSSING_POINTS_DETAILS
46 : //#define MSLink_DEBUG_OPENED
47 : //#define DEBUG_APPROACHING
48 : //#define DEBUG_ZIPPER
49 : //#define DEBUG_WALKINGAREA
50 : //#define DEBUG_COND (myLane->getID()=="43[0]_0" && myLaneBefore->getID()==":33_0_0")
51 : //#define DEBUG_COND (myLane->getID()=="end_0")
52 : //#define DEBUG_COND (true)
53 : #define DEBUG_COND2(obj) (obj->isSelected())
54 : //#define DEBUG_COND2(obj) (obj->getID() == "train2")
55 : //#define DEBUG_COND2(obj) (true)
56 : //#define DEBUG_COND_ZIPPER (gDebugFlag1)
57 : //#define DEBUG_COND_ZIPPER (true)
58 : #define DEBUG_COND_ZIPPER (ego->isSelected())
59 :
60 : // ===========================================================================
61 : // static member variables
62 : // ===========================================================================
63 :
64 : #define INVALID_TIME -1000
65 :
66 : // the default safety gap when passing before oncoming pedestrians
67 : #define JM_CROSSING_GAP_DEFAULT 10
68 :
69 : // minimim width between sibling lanes to qualify as non-overlapping
70 : #define DIVERGENCE_MIN_WIDTH 2.5
71 :
72 : const SUMOTime MSLink::myLookaheadTime = TIME2STEPS(1);
73 : // additional caution is needed when approaching a zipper link
74 : const SUMOTime MSLink::myLookaheadTimeZipper = TIME2STEPS(16);
75 : std::set<std::pair<MSLink*, MSLink*> > MSLink::myRecheck;
76 : const double MSLink::NO_INTERSECTION(10000);
77 :
78 : // ===========================================================================
79 : // ConflictInfo member method definitions
80 : // ===========================================================================
81 :
82 : double
83 483299189 : MSLink::ConflictInfo::getFoeLengthBehindCrossing(const MSLink* foeExitLink) const {
84 483299189 : if (flag == CONFLICT_DUMMY_MERGE) {
85 : return 0;
86 473413103 : } else if (foeConflictIndex >= 0) {
87 451494316 : return foeExitLink->myConflicts[foeConflictIndex].lengthBehindCrossing;
88 : } else {
89 : return -NO_INTERSECTION;
90 : }
91 : }
92 :
93 : double
94 249848650 : MSLink::ConflictInfo::getFoeConflictSize(const MSLink* foeExitLink) const {
95 249848650 : if (foeConflictIndex >= 0) {
96 227999055 : return foeExitLink->myConflicts[foeConflictIndex].conflictSize;
97 : } else {
98 : return 0;
99 : }
100 : }
101 :
102 : double
103 483428595 : MSLink::ConflictInfo::getLengthBehindCrossing(const MSLink* exitLink) const {
104 483428595 : if (flag == CONFLICT_STOP_AT_INTERNAL_JUNCTION) {
105 20160019 : return exitLink->getInternalLaneBefore()->getLength();
106 : } else {
107 463268576 : return lengthBehindCrossing;
108 : }
109 : }
110 :
111 : // ===========================================================================
112 : // member method definitions
113 : // ===========================================================================
114 2936198 : MSLink::MSLink(MSLane* predLane, MSLane* succLane, MSLane* via, LinkDirection dir, LinkState state,
115 : double length, double foeVisibilityDistance, bool keepClear,
116 : MSTrafficLightLogic* logic, int tlIndex,
117 2936198 : bool indirect) :
118 2936198 : myLane(succLane),
119 2936198 : myLaneBefore(predLane),
120 2936198 : myApproachingPersons(nullptr),
121 2936198 : myIndex(-1),
122 2936198 : myTLIndex(tlIndex),
123 2936198 : myLogic(logic),
124 2936198 : myState(state),
125 2936198 : myLastGreenState(LINKSTATE_TL_GREEN_MINOR),
126 2936198 : myOffState(state),
127 2936198 : myLastStateChange(SUMOTime_MIN / 2), // a large negative value, but avoid overflows when subtracting
128 2936198 : myDirection(dir),
129 2936198 : myLength(length),
130 2936198 : myFoeVisibilityDistance(foeVisibilityDistance),
131 2936198 : myDistToFoePedCrossing(std::numeric_limits<double>::max()),
132 2936198 : myHasFoes(false),
133 2936198 : myAmCont(false),
134 2936198 : myAmContOff(false),
135 2936198 : myKeepClear(keepClear),
136 2936198 : myInternalLane(via),
137 2936198 : myInternalLaneBefore(nullptr),
138 2936198 : myMesoTLSPenalty(0),
139 2936198 : myGreenFraction(1),
140 2936198 : myLateralShift(0),
141 2936198 : myOffFoeLinks(nullptr),
142 2936198 : myWalkingAreaFoe(nullptr),
143 2936198 : myWalkingAreaFoeExit(nullptr),
144 2936198 : myHavePedestrianCrossingFoe(false),
145 2936198 : myParallelRight(nullptr),
146 2936198 : myParallelLeft(nullptr),
147 2936198 : myAmIndirect(indirect),
148 2936198 : myRadius(std::numeric_limits<double>::max()),
149 2936198 : myPermissions(myLaneBefore->getPermissions() & myLane->getPermissions() & (via == nullptr ? SVCAll : via->getPermissions())),
150 2936198 : myJunction(nullptr) {
151 :
152 2936198 : if (MSGlobals::gLateralResolution > 0) {
153 : // detect lateral shift from lane geometries
154 : //std::cout << "DEBUG link=" << myLaneBefore->getID() << "->" << getViaLaneOrLane()->getID() << " hasInternal=" << MSNet::getInstance()->hasInternalLinks() << " shapeBefore=" << myLaneBefore->getShape().back() << " shapeFront=" << getViaLaneOrLane()->getShape().front() << "\n";
155 205427 : if ((myInternalLane != nullptr || predLane->isInternal())
156 512901 : && myLaneBefore->getShape().back() != getViaLaneOrLane()->getShape().front()) {
157 : PositionVector from = myLaneBefore->getShape();
158 : const PositionVector& to = getViaLaneOrLane()->getShape();
159 : const double dist = from.back().distanceTo2D(to.front());
160 : // figure out direction of shift
161 : try {
162 652 : from.move2side(dist);
163 0 : } catch (InvalidArgument&) {
164 0 : }
165 652 : myLateralShift = (from.back().distanceTo2D(to.front()) < dist) ? dist : -dist;
166 652 : if (MSGlobals::gLefthand) {
167 90 : myLateralShift *= -1;
168 : }
169 : //std::cout << " lateral shift link=" << myLaneBefore->getID() << "->" << getViaLaneOrLane()->getID() << " dist=" << dist << " shift=" << myLateralShift << "\n";
170 652 : }
171 : }
172 2936198 : }
173 :
174 :
175 2908923 : MSLink::~MSLink() {
176 2908923 : delete myOffFoeLinks;
177 2910265 : delete myApproachingPersons;
178 2908923 : }
179 :
180 :
181 : void
182 6 : MSLink::addCustomConflict(const MSLane* from, const MSLane* to, double startPos, double endPos) {
183 6 : myCustomConflicts.push_back(CustomConflict(from, to, startPos, endPos));
184 6 : }
185 :
186 : const MSLink::CustomConflict*
187 4070634 : MSLink::getCustomConflict(const MSLane* foeLane) const {
188 4070634 : if (myCustomConflicts.size() > 0) {
189 24 : const MSLane* foeFrom = foeLane->getNormalPredecessorLane();
190 24 : const MSLane* foeTo = foeLane->getNormalSuccessorLane();
191 36 : for (const CustomConflict& cc : myCustomConflicts) {
192 24 : if (cc.from == foeFrom && cc.to == foeTo) {
193 : return &cc;
194 : }
195 : }
196 :
197 : }
198 : return nullptr;
199 : }
200 :
201 : void
202 2656389 : MSLink::setRequestInformation(int index, bool hasFoes, bool isCont,
203 : const std::vector<MSLink*>& foeLinks,
204 : const std::vector<MSLane*>& foeLanes,
205 : MSLane* internalLaneBefore) {
206 : //#ifdef MSLink_DEBUG_CROSSING_POINTS
207 : // std::cout << " setRequestInformation() for junction " << getViaLaneOrLane()->getEdge().getFromJunction()->getID()
208 : // << "\nInternalLanes = " << toString(getViaLaneOrLane()->getEdge().getFromJunction()->getInternalLanes())
209 : // << std::endl;
210 : //#endif
211 2656389 : myIndex = index;
212 2656389 : myHasFoes = hasFoes;
213 2656389 : myAmCont = isCont && MSGlobals::gUsingInternalLanes;
214 2656389 : myFoeLinks = foeLinks;
215 10148677 : for (MSLane* foeLane : foeLanes) {
216 : // cannot assign vector due to const-ness
217 7492288 : myFoeLanes.push_back(foeLane);
218 : }
219 2656389 : myJunction = const_cast<MSJunction*>(myLane->getEdge().getFromJunction()); // junctionGraph is initialized after the whole network is loaded
220 2656389 : myAmContOff = isCont && myLogic != nullptr && internalLaneBefore == nullptr && checkContOff();
221 2656389 : myInternalLaneBefore = internalLaneBefore;
222 : MSLane* lane = nullptr;
223 : if (internalLaneBefore != nullptr) {
224 : // this is an exit link. compute crossing points with all foeLanes
225 : lane = internalLaneBefore;
226 : //} else if (myLane->isCrossing()) {
227 : // // this is the link to a pedestrian crossing. compute crossing points with all foeLanes
228 : // // @note not currently used by pedestrians
229 : // lane = myLane;
230 : }
231 2656389 : const MSLink* entryLink = getCorrespondingEntryLink();
232 2656389 : if (entryLink->getOffState() == LinkState::LINKSTATE_ALLWAY_STOP && entryLink->getTLLogic() != nullptr) {
233 : // TLS has "normal" right of way rules but all conflicting links are foes when switching TLS off
234 : // (unless it's an internal junction link which should ignore all foes and should be ignored by all foes
235 5762 : myOffFoeLinks = new std::vector<MSLink*>();
236 5762 : if (isEntryLink()) {
237 15648 : for (MSLane* foeLane : foeLanes) {
238 : assert(foeLane->isInternal() || foeLane->isCrossing());
239 13140 : MSLink* viaLink = foeLane->getIncomingLanes().front().viaLink;
240 13140 : if (viaLink->getLaneBefore()->isNormal()) {
241 7960 : myOffFoeLinks->push_back(viaLink);
242 : }
243 : }
244 : }
245 : }
246 : #ifdef MSLink_DEBUG_CROSSING_POINTS
247 : std::cout << "link " << myIndex << " to " << getViaLaneOrLane()->getID() << " internalLaneBefore=" << (lane == 0 ? "NULL" : lane->getID()) << " has foes: " << toString(foeLanes) << "\n";
248 : #endif
249 2656389 : if (lane != nullptr) {
250 1035473 : const bool beforeInternalJunction = lane->getLinkCont()[0]->getViaLaneOrLane()->getEdge().isInternal();
251 1035473 : if (lane->getIncomingLanes().size() != 1) {
252 0 : throw ProcessError(TLF("Internal lane '%' has % predecessors", lane->getID(), toString(lane->getIncomingLanes().size())));
253 : }
254 1035473 : const MSLink* junctionEntryLink = lane->getEntryLink();
255 1035473 : const bool isSecondPart = isExitLinkAfterInternalJunction();
256 : // compute crossing points
257 5266220 : for (const MSLane* foeLane : myFoeLanes) {
258 4230747 : const CustomConflict* cc = junctionEntryLink != nullptr ? junctionEntryLink->getCustomConflict(foeLane) : nullptr;
259 4070622 : if (cc != nullptr) {
260 : // handle custom conflict definition
261 12 : double startPos = cc->startPos;
262 12 : const double conflictSize = cc->endPos - cc->startPos;
263 12 : if (isSecondPart) {
264 0 : startPos -= junctionEntryLink->getViaLane()->getLength();
265 : }
266 : // the foe connection may be split at an internal
267 : // junction, we need to figure out whether the current
268 : // foeLane is the intended target for the custom conflict
269 : // There are two possibilities:
270 : // a) We have no custom conflict for the reverse pair of connections
271 : // -> just check whether lane and foeLane intersect
272 : // b) We have a "reverse" custom conflict
273 : // -> check whether it covers the foeLane
274 12 : const CustomConflict* rcc = foeLane->getEntryLink()->getCustomConflict(lane);
275 : bool haveIntersection = false;
276 12 : if (rcc == nullptr) {
277 : // a)
278 12 : haveIntersection = lane->getShape().intersectsAtLengths2D(foeLane->getShape()).size() > 0;
279 : } else {
280 : // b)
281 0 : const bool foeIsSecondPart = foeLane->getLogicalPredecessorLane()->isInternal();
282 0 : double foeStartPos = rcc->startPos;
283 0 : const double foeConflictSize = rcc->endPos - rcc->startPos;
284 0 : if (foeIsSecondPart) {
285 0 : foeStartPos -= foeLane->getLogicalPredecessorLane()->getLength();
286 : }
287 0 : const double foeEndPos = foeStartPos + foeConflictSize;
288 0 : haveIntersection = ((foeStartPos > 0 && foeStartPos < foeLane->getLength())
289 0 : || (foeEndPos > 0 && foeEndPos < foeLane->getLength()));
290 : }
291 12 : if (haveIntersection) {
292 6 : myConflicts.push_back(ConflictInfo(lane->getLength() - startPos, conflictSize));
293 : } else {
294 6 : myConflicts.push_back(ConflictInfo(-NO_INTERSECTION, 0));
295 : }
296 : #ifdef MSLink_DEBUG_CROSSING_POINTS
297 : std::cout << " " << lane->getID() << " custom conflict with " << foeLane->getID() << " customReverse=" << (rcc != nullptr)
298 : << " haveIntersection=" << haveIntersection
299 : << " startPos=" << startPos << " conflictSize=" << conflictSize
300 : << " lbc=" << myConflicts.back().lengthBehindCrossing
301 : << "\n";
302 : #endif
303 12 : continue;
304 12 : }
305 4230735 : myHavePedestrianCrossingFoe = myHavePedestrianCrossingFoe || foeLane->isCrossing();
306 4230735 : const bool sameTarget = myLane == foeLane->getLinkCont()[0]->getLane();
307 4230735 : if (sameTarget && !beforeInternalJunction && !contIntersect(lane, foeLane)) {
308 : //if (myLane == foeLane->getLinkCont()[0]->getLane()) {
309 : // this foeLane has the same target and merges at the end (lane exits the junction)
310 1424631 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + foeLane->getWidth()));
311 1424631 : if (lane->getShape().back().distanceTo2D(foeLane->getShape().back()) >= minDist) {
312 : // account for lateral shift by the entry links
313 127623 : if (foeLane->getEntryLink()->isIndirect()) {
314 39 : myConflicts.push_back(ConflictInfo(-NO_INTERSECTION, 0)); // dummy value, never used
315 : #ifdef MSLink_DEBUG_CROSSING_POINTS
316 : std::cout << " " << lane->getID() << " dummy merge with indirect" << foeLane->getID() << "\n";
317 : #endif
318 : } else {
319 127584 : myConflicts.push_back(ConflictInfo(0, foeLane->getWidth(), CONFLICT_DUMMY_MERGE)); // dummy value, never used
320 : #ifdef MSLink_DEBUG_CROSSING_POINTS
321 : std::cout << " " << lane->getID() << " dummy merge with " << foeLane->getID() << "\n";
322 : #endif
323 : }
324 : } else {
325 1297008 : const double distAfterDivergence = computeDistToDivergence(lane, foeLane, minDist, false);
326 : const double lbcLane = lane->interpolateGeometryPosToLanePos(distAfterDivergence);
327 1297008 : myConflicts.push_back(ConflictInfo(lbcLane, foeLane->getWidth()));
328 : #ifdef MSLink_DEBUG_CROSSING_POINTS
329 : std::cout
330 : << " " << lane->getID()
331 : << " merges with " << foeLane->getID()
332 : << " nextLane " << lane->getLinkCont()[0]->getViaLaneOrLane()->getID()
333 : << " dist1=" << myConflicts.back().lengthBehindCrossing
334 : << "\n";
335 : #endif
336 : }
337 : } else {
338 2806104 : std::vector<double> intersections1 = lane->getShape().intersectsAtLengths2D(foeLane->getShape());
339 : #ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
340 : std::cout << " intersections1=" << toString(intersections1) << "\n";
341 : #endif
342 : bool haveIntersection = true;
343 2806104 : if (intersections1.size() == 0) {
344 1453987 : intersections1.push_back(-NO_INTERSECTION); // disregard this foe (using maxdouble leads to nasty problems down the line)
345 : haveIntersection = false;
346 1352117 : } else if (intersections1.size() > 1) {
347 1296 : std::sort(intersections1.begin(), intersections1.end());
348 : }
349 2806104 : std::vector<double> intersections2 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
350 : #ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
351 : std::cout << " intersections2=" << toString(intersections2) << "\n";
352 : #endif
353 2806104 : if (intersections2.size() == 0) {
354 1453987 : intersections2.push_back(0);
355 1352117 : } else if (intersections2.size() > 1) {
356 1296 : std::sort(intersections2.begin(), intersections2.end());
357 : }
358 :
359 : // check for near-intersection (internal junctions for a side road which are only relevant when they have stranded vehicles))
360 2806104 : if (!haveIntersection && foeLane->getLinkCont()[0]->getViaLane() != nullptr) {
361 256033 : const Position waitPos = foeLane->getShape().back();
362 256033 : const double dist = lane->getShape().distance2D(waitPos, true);
363 256033 : if (dist != GeomHelper::INVALID_OFFSET && dist < lane->getWidth() / 2) {
364 : // risk of collision
365 : intersections1.clear();
366 : intersections2.clear();
367 30039 : intersections1.push_back(lane->getShape().nearest_offset_to_point2D(waitPos));
368 30039 : intersections2.push_back(foeLane->getShape().length());
369 : haveIntersection = true;
370 : #ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
371 : std::cout << " link=" << myIndex << " " << getDescription() << " almostIntersection with foeLane " << foeLane->getID() << " offset=" << intersections1.back() << "\n";
372 : #endif
373 : }
374 : }
375 :
376 : double conflictSize = foeLane->getWidth();
377 : ConflictFlag flag = CONFLICT_NO_INTERSECTION;
378 2776065 : if (haveIntersection) {
379 : flag = CONFLICT_DEFAULT;
380 1382156 : const double angle1 = GeomHelper::naviDegree(lane->getShape().rotationAtOffset(intersections1.back()));
381 1382156 : const double angle2 = GeomHelper::naviDegree(foeLane->getShape().rotationAtOffset(intersections2.back()));
382 1382156 : const double angleDiff = GeomHelper::getMinAngleDiff(angle1, angle2);
383 : //const double angleDiff = MIN2(GeomHelper::getMinAngleDiff(angle1, angle2),
384 : // GeomHelper::getMinAngleDiff(angle1, angle2 + 180));
385 1382156 : const double widthFactor = 1 / MAX2(sin(DEG2RAD(angleDiff)), 0.2) * 2 - 1;
386 : //std::cout << " intersection of " << lane->getID() << " with " << foeLane->getID() << " angle1=" << angle1 << " angle2=" << angle2 << " angleDiff=" << angleDiff << " widthFactor=" << widthFactor << "\n";
387 1382156 : conflictSize *= widthFactor;
388 : conflictSize = MIN2(conflictSize, lane->getLength());
389 : // lane width affects the crossing point
390 1382156 : intersections1.back() -= conflictSize / 2;
391 : // ensure non-negative offset for weird geometries
392 1382156 : intersections1.back() = MAX2(0.0, intersections1.back());
393 :
394 : // also length/geometry factor. (XXX: Why subtract width/2 *before* converting geometric position to lane pos? refs #3031)
395 1382156 : intersections1.back() = lane->interpolateGeometryPosToLanePos(intersections1.back());
396 :
397 1382156 : if (internalLaneBefore->getLogicalPredecessorLane()->getEdge().isInternal() && !foeLane->isCrossing()) {
398 : flag = CONFLICT_STOP_AT_INTERNAL_JUNCTION;
399 : }
400 :
401 1382156 : if (foeLane->isCrossing()) {
402 112041 : const MSLink* before = myInternalLaneBefore->getCanonicalPredecessorLane()->getLinkTo(myInternalLaneBefore);
403 112041 : const_cast<MSLink*>(before)->updateDistToFoePedCrossing(intersections1.back());
404 : };
405 : }
406 :
407 2806104 : myConflicts.push_back(ConflictInfo(
408 2806104 : lane->getLength() - intersections1.back(),
409 : conflictSize, flag));
410 :
411 : #ifdef MSLink_DEBUG_CROSSING_POINTS
412 : std::cout
413 : << " intersection of " << lane->getID()
414 : << " totalLength=" << lane->getLength()
415 : << " with " << foeLane->getID()
416 : << " totalLength=" << foeLane->getLength()
417 : << " dist1=" << myConflicts.back().lengthBehindCrossing
418 : << " widthFactor=" << myConflicts.back().conflictSize / foeLane->getWidth()
419 : << "\n";
420 : #endif
421 2806104 : }
422 : }
423 : // check for overlap with internal lanes from the same source lane
424 1035473 : const MSLane* pred = lane->getLogicalPredecessorLane();
425 : // to avoid overlap with vehicles that came from pred (especially when pred has endOffset > 0)
426 : // we add all other internal lanes from pred as foeLanes
427 3386641 : for (const MSLink* const link : pred->getLinkCont()) {
428 2351168 : const MSLane* const sibling = link->getViaLane();
429 2351168 : if (sibling != lane && sibling != nullptr) {
430 1290764 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + sibling->getWidth()));
431 1290764 : if (lane->getShape().front().distanceTo2D(sibling->getShape().front()) >= minDist) {
432 : // account for lateral shift by the entry links
433 630 : continue;
434 : }
435 1290134 : const double distToDivergence = computeDistToDivergence(lane, sibling, minDist, true);
436 : double lbcLane;
437 1290134 : if (lane->getLength() == sibling->getLength() && &lane->getEdge() == &sibling->getEdge()) {
438 : // for parallel lanes, avoid inconsistency in distance estimation (#10988)
439 : // between forward distance (getLeaderInfo)
440 : // and backward distance used in lane-changing (getFollowersOnConsecutive)
441 18190 : lbcLane = lane->getLength() - distToDivergence;
442 : } else {
443 1271944 : lbcLane = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence));
444 : }
445 : ConflictInfo ci = ConflictInfo(lbcLane, sibling->getWidth());
446 1290134 : auto it = std::find(myFoeLanes.begin(), myFoeLanes.end(), sibling);
447 1290134 : if (it != myFoeLanes.end()) {
448 : // avoid duplicate foeLane
449 86 : const int replacedIndex = (int)(it - myFoeLanes.begin());
450 86 : myConflicts[replacedIndex] = ci;
451 : } else {
452 1290048 : myConflicts.push_back(ci);
453 1290048 : myFoeLanes.push_back(sibling);
454 : }
455 : #ifdef MSLink_DEBUG_CROSSING_POINTS
456 : std::cout << " adding same-origin foe" << sibling->getID()
457 : << " dist1=" << myConflicts.back().lengthBehindCrossing
458 : << "\n";
459 : #endif
460 1290134 : const MSLane* const siblingCont = sibling->getLinkCont().front()->getViaLaneOrLane();
461 1290134 : if (siblingCont->isInternal() && lane->getShape().distance2D(siblingCont->getShape().front()) < minDist) {
462 : // there may still be overlap with siblingCont (when considering vehicle widths)
463 291808 : const double distToDivergence2 = computeDistToDivergence(lane, siblingCont, minDist, true, sibling->getLength());
464 291808 : double lbcLane2 = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence2));
465 : ConflictInfo ci2 = ConflictInfo(lbcLane2, siblingCont->getWidth(), CONFLICT_SIBLING_CONTINUATION);
466 291808 : myConflicts.push_back(ci2);
467 291808 : myFoeLanes.push_back(siblingCont);
468 291808 : myRecheck.insert({this, siblingCont->getLinkCont().front()});
469 :
470 : #ifdef MSLink_DEBUG_CROSSING_POINTS
471 : std::cout << " adding same-origin foeContinuation" << siblingCont->getID()
472 : << " dist1=" << myConflicts.back().lengthBehindCrossing
473 : << "\n";
474 : #endif
475 : }
476 : }
477 : }
478 : // init points for the symmetrical conflict
479 : // for each pair of conflicting lanes, the link that gets second, sets the pointers
480 6848076 : for (int i = 0; i < (int)myFoeLanes.size(); i++) {
481 5812603 : const MSLane* foeLane = myFoeLanes[i];
482 5812603 : MSLink* foeExitLink = foeLane->getLinkCont()[0];
483 : int foundIndex = -1;
484 21764021 : for (int i2 = 0; i2 < (int)foeExitLink->myFoeLanes.size(); i2++) {
485 18453566 : if (foeExitLink->myFoeLanes[i2] == lane) {
486 2502148 : myConflicts[i].foeConflictIndex = i2;
487 2502148 : foeExitLink->myConflicts[i2].foeConflictIndex = i;
488 2502148 : myRecheck.erase({foeExitLink, this});
489 : foundIndex = i2;
490 2502148 : break;
491 : }
492 : }
493 : #ifdef MSLink_DEBUG_CROSSING_POINTS
494 : std::cout << lane->getID() << " foeLane=" << foeLane->getID() << " index=" << i << " foundIndex=" << foundIndex << "\n";
495 : #endif
496 5812603 : if (foundIndex < 0) {
497 3310455 : if (myConflicts[i].flag != CONFLICT_NO_INTERSECTION) {
498 2411568 : myRecheck.insert({this, foeExitLink});
499 : }
500 : }
501 : }
502 : }
503 2656389 : if (MSGlobals::gLateralResolution > 0) {
504 : // check for links with the same origin lane and the same destination edge
505 295658 : const MSEdge* myTarget = &myLane->getEdge();
506 : // save foes for entry links
507 934420 : for (MSLink* const it : myLaneBefore->getLinkCont()) {
508 : const MSEdge* target = &(it->getLane()->getEdge());
509 638762 : if (it == this) {
510 295658 : continue;
511 : }
512 343104 : if (target == myTarget) {
513 6788 : mySublaneFoeLinks.push_back(it);
514 : #ifdef MSLink_DEBUG_CROSSING_POINTS
515 : std::cout << " sublaneFoeLink (same target): " << it->getViaLaneOrLane()->getID() << "\n";
516 : #endif
517 336316 : } else if (myDirection != LinkDirection::STRAIGHT && it->getDirection() == LinkDirection::STRAIGHT) {
518 : // potential turn conflict
519 82278 : mySublaneFoeLinks2.push_back(it);
520 : #ifdef MSLink_DEBUG_CROSSING_POINTS
521 : std::cout << " sublaneFoeLink2 (other target: " << it->getViaLaneOrLane()->getID() << "\n";
522 : #endif
523 : }
524 : }
525 : // save foes for exit links
526 295658 : if (fromInternalLane()) {
527 : //std::cout << " setRequestInformation link=" << getViaLaneOrLane()->getID() << " before=" << myLaneBefore->getID() << " before2=" << myLaneBefore->getIncomingLanes().front().lane->getID() << "\n";
528 368776 : for (const MSLink* const link : myLaneBefore->getIncomingLanes().front().lane->getLinkCont()) {
529 259168 : if (link->getViaLane() != myInternalLaneBefore && &link->getLane()->getEdge() == myTarget) {
530 : //std::cout << " add sublaneFoe=" << (*it)->getViaLane()->getID() << "\n";
531 4344 : mySublaneFoeLanes.push_back(link->getViaLane());
532 : }
533 : }
534 : }
535 : }
536 2656389 : if (myInternalLaneBefore != nullptr
537 1035473 : && myDirection != LinkDirection::STRAIGHT
538 : // for right turns, the curvature helps rather than restricts the linkLeader check
539 603958 : && (
540 603958 : (!MSGlobals::gLefthand && myDirection != LinkDirection::RIGHT)
541 177435 : || (MSGlobals::gLefthand && myDirection != LinkDirection::LEFT))) {
542 853956 : const double angle = fabs(GeomHelper::angleDiff(
543 426978 : myLaneBefore->getNormalPredecessorLane()->getShape().angleAt2D(-2),
544 426978 : myLane->getShape().angleAt2D(0)));
545 426978 : if (angle > 0) {
546 426978 : double length = myInternalLaneBefore->getShape().length2D();
547 853956 : if (myInternalLaneBefore->getIncomingLanes().size() == 1 &&
548 426978 : myInternalLaneBefore->getIncomingLanes()[0].lane->isInternal()) {
549 121331 : length += myInternalLaneBefore->getIncomingLanes()[0].lane->getShape().length2D();
550 305647 : } else if (myInternalLane != nullptr) {
551 121331 : length += myInternalLane->getShape().length2D();
552 : }
553 426978 : myRadius = length / angle;
554 : //std::cout << getDescription() << " a=" << RAD2DEG(angle) << " l=" << length << " r=" << myRadius << "\n";
555 : }
556 : }
557 2656389 : }
558 :
559 :
560 : void
561 42137 : MSLink::recheckSetRequestInformation() {
562 355337 : for (auto item : myRecheck) {
563 : #ifdef MSLink_DEBUG_CROSSING_POINTS
564 : std::cout << " recheck l1=" << item.first->getDescription() << " l2=" << item.second->getDescription() << "\n";
565 : #endif
566 : MSLink* const link = item.first;
567 : MSLink* const foeExitLink = item.second;
568 : const MSLane* const lane = link->getInternalLaneBefore();
569 : const MSLane* const foeLane = foeExitLink->getInternalLaneBefore();
570 : int conflictIndex = -1;
571 2712823 : for (int i = 0; i < (int)link->myFoeLanes.size(); i++) {
572 2712823 : if (link->myFoeLanes[i] == foeLane) {
573 : conflictIndex = i;
574 : break;
575 : }
576 : }
577 313200 : if (conflictIndex == -1) {
578 0 : WRITE_WARNING("Could not recheck ConflictInfo for " + link->getDescription() + " and " + foeExitLink->getDescription() + "\n");
579 292053 : continue;
580 : }
581 313200 : ConflictInfo& ci = link->myConflicts[conflictIndex];
582 313200 : if (ci.flag & CONFLICT_SIBLING_CONTINUATION) {
583 291803 : const MSLane* const intLane = link->getInternalLaneBefore();
584 : const MSLane* const siblingCont = foeExitLink->getInternalLaneBefore();
585 291803 : const MSLane* const sibling = siblingCont->getLogicalPredecessorLane();
586 : // this is an approximation because intLane and sibling+siblingCont are still close to each other but may have different curvature
587 291803 : const double distToDivergence = intLane->getLength() - ci.lengthBehindCrossing;
588 291803 : double lbcSibCont = MIN2(siblingCont->getLength(), MAX2(0.0, sibling->getLength() + siblingCont->getLength() - distToDivergence));
589 : #ifdef MSLink_DEBUG_CROSSING_POINTS
590 : std::cout << " siblingContinuation: distToDivergence=" << distToDivergence << " lbcSibCont=" << lbcSibCont << "\n";
591 : #endif
592 : ConflictInfo ci2 = ConflictInfo(lbcSibCont, intLane->getWidth());
593 291803 : ci2.foeConflictIndex = conflictIndex;
594 291803 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
595 291803 : foeExitLink->myFoeLanes.push_back(intLane);
596 291803 : foeExitLink->myConflicts.push_back(ci2);
597 : continue;
598 291803 : }
599 :
600 21397 : std::vector<double> intersections1 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
601 21397 : if (intersections1.size() == 0) {
602 : #ifdef MSLink_DEBUG_CROSSING_POINTS
603 : std::cout << " no intersection\n";
604 : #endif
605 : continue;
606 : }
607 21147 : const double widthFactor = ci.conflictSize / foeLane->getWidth();
608 21147 : const double conflictSize2 = lane->getWidth() * widthFactor;
609 21147 : std::sort(intersections1.begin(), intersections1.end());
610 21147 : intersections1.back() -= conflictSize2 / 2;
611 21147 : intersections1.back() = MAX2(0.0, intersections1.back());
612 21147 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
613 21147 : foeExitLink->myConflicts.push_back(ConflictInfo(foeLane->getLength() - intersections1.back(), conflictSize2));
614 : #ifdef MSLink_DEBUG_CROSSING_POINTS
615 : std::cout << " ci=" << conflictIndex << " wf=" << widthFactor << " flag=" << ci.flag << " flbc=" << foeExitLink->myConflicts.back().lengthBehindCrossing << "\n";
616 : #endif
617 21397 : }
618 : myRecheck.clear();
619 42137 : }
620 :
621 : double
622 2878950 : MSLink::computeDistToDivergence(const MSLane* lane, const MSLane* sibling, double minDist, bool sameSource, double siblingPredLength) const {
623 : double lbcSibling = 0;
624 : double lbcLane = 0;
625 :
626 : PositionVector l = lane->getShape();
627 : PositionVector s = sibling->getShape();
628 2878950 : double length = l.length2D();
629 2878950 : double sibLength = s.length2D();
630 2878950 : if (!sameSource) {
631 2594016 : l = l.reverse();
632 2594016 : s = s.reverse();
633 1581942 : } else if (sibling->getEntryLink()->myAmIndirect) {
634 : // ignore final waiting position since it may be quite close to the lane
635 : // shape but the waiting position is perpendicular (so the minDist
636 : // requirement is not necessary
637 95 : lbcSibling += s[-1].distanceTo2D(s[-2]);
638 : s.pop_back();
639 1581847 : } else if (lane->getEntryLink()->myAmIndirect) {
640 : // ignore final waiting position since it may be quite close to the lane
641 : // shape but the waiting position is perpendicular (so the minDist
642 : // requirement is not necessary
643 94 : lbcLane += l[-1].distanceTo2D(l[-2]);
644 : l.pop_back();
645 : }
646 :
647 : #ifdef MSLink_DEBUG_CROSSING_POINTS_DETAILS
648 : std::cout << " sameSource=" << sameSource << " minDist=" << minDist << " backDist=" << l.back().distanceTo2D(s.back()) << "\n";
649 : #endif
650 2878950 : if (l.back().distanceTo2D(s.back()) > minDist) {
651 : // compute the final divergence point
652 : // this position serves two purposes:
653 : // 1) once the foe vehicle back (on sibling) has passed this point, we can safely ignore it
654 : // 2) both vehicles are put into a cf-relationship while before the point.
655 : // Since the actual crossing point is at the start of the junction,
656 : // we want to make sure that both vehicles have the same distance to the crossing point and thus follow each other naturally
657 2813531 : std::vector<double> distances = l.distances(s);
658 : #ifdef MSLink_DEBUG_CROSSING_POINTS
659 : std::cout << " distances=" << toString(distances) << "\n";
660 : #endif
661 : assert(distances.size() == l.size() + s.size());
662 2813531 : if (distances.back() > minDist && distances[l.size() - 1] > minDist) {
663 : // do a pairwise check between lane and sibling to make because we do not know which of them bends more
664 2839932 : for (int j = (int)s.size() - 2; j >= 0; j--) {
665 2839932 : const int i = j + (int)l.size();
666 2839932 : const double segLength = s[j].distanceTo2D(s[j + 1]);
667 2839932 : if (distances[i] > minDist) {
668 1085501 : lbcSibling += segLength;
669 : } else {
670 : // assume no sharp bends and just interpolate the last segment
671 1754431 : lbcSibling += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
672 1754431 : break;
673 : }
674 : }
675 2908513 : for (int i = (int)l.size() - 2; i >= 0; i--) {
676 2839206 : const double segLength = l[i].distanceTo2D(l[i + 1]);
677 2839206 : if (distances[i] > minDist) {
678 1154082 : lbcLane += segLength;
679 : } else {
680 : // assume no sharp bends and just interpolate the last segment
681 1685124 : lbcLane += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
682 1685124 : break;
683 : }
684 : }
685 : }
686 : assert(lbcSibling >= -NUMERICAL_EPS);
687 : assert(lbcLane >= -NUMERICAL_EPS);
688 2813531 : }
689 2878950 : const double distToDivergence1 = sibling->getLength() + siblingPredLength - lbcSibling;
690 2878950 : const double distToDivergence2 = lane->getLength() - lbcLane;
691 : const double distToDivergence = MIN3(
692 : MAX2(distToDivergence1, distToDivergence2),
693 : sibLength, length);
694 : #ifdef MSLink_DEBUG_CROSSING_POINTS
695 : std::cout << " distToDivergence=" << distToDivergence
696 : << " distTD1=" << distToDivergence1
697 : << " distTD2=" << distToDivergence2
698 : << " length=" << length
699 : << " sibLength=" << sibLength
700 : << "\n";
701 : #endif
702 2878950 : return distToDivergence;
703 2878950 : }
704 :
705 :
706 : bool
707 1424860 : MSLink::contIntersect(const MSLane* lane, const MSLane* foe) {
708 1424860 : if (foe->getLinkCont()[0]->getViaLane() != nullptr) {
709 128130 : std::vector<double> intersections = lane->getShape().intersectsAtLengths2D(foe->getShape());
710 128130 : return intersections.size() > 0;
711 128130 : }
712 : return false;
713 : }
714 :
715 :
716 : void
717 878776963 : MSLink::setApproaching(const SUMOVehicle* approaching, const SUMOTime arrivalTime, const double arrivalSpeed, const double leaveSpeed,
718 : const bool setRequest, const double arrivalSpeedBraking, const SUMOTime waitingTime, double dist, double latOffset) {
719 878776963 : const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, approaching->getVehicleType().getLength());
720 : #ifdef DEBUG_APPROACHING
721 : if (DEBUG_COND2(approaching)) {
722 : std::cout << SIMTIME << " link=" << getDescription() << " setApproaching veh=" << approaching->getID();
723 : if (myApproachingVehicles.size() > 0) {
724 : std::cout << " curApproaching=";
725 : for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
726 : std::cout << i->first->getID() << " ";
727 : }
728 : }
729 : std::cout << "\n";
730 : }
731 : #endif
732 878776963 : myApproachingVehicles.emplace(approaching,
733 1757553926 : ApproachingVehicleInformation(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, setRequest,
734 878776963 : arrivalSpeedBraking, waitingTime, dist, approaching->getSpeed(), latOffset));
735 878776963 : }
736 :
737 :
738 : void
739 1125641 : MSLink::setApproaching(const SUMOVehicle* approaching, ApproachingVehicleInformation ai) {
740 : #ifdef DEBUG_APPROACHING
741 : if (DEBUG_COND2(approaching)) {
742 : std::cout << SIMTIME << " link=" << getDescription() << " setApproaching veh=" << approaching->getID();
743 : if (myApproachingVehicles.size() > 0) {
744 : std::cout << " curApproaching=";
745 : for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
746 : std::cout << i->first->getID() << " ";
747 : }
748 : }
749 : std::cout << "\n";
750 : }
751 : #endif
752 1125641 : myApproachingVehicles.emplace(approaching, ai);
753 1125641 : }
754 :
755 : void
756 487792 : MSLink::setApproachingPerson(const MSPerson* approaching, const SUMOTime arrivalTime, const SUMOTime leaveTime) {
757 487792 : if (myApproachingPersons == nullptr) {
758 1342 : myApproachingPersons = new PersonApproachInfos();
759 : }
760 487792 : myApproachingPersons->emplace(approaching, ApproachingPersonInformation(arrivalTime, leaveTime));
761 487792 : }
762 :
763 : void
764 869692447 : MSLink::removeApproaching(const SUMOVehicle* veh) {
765 : #ifdef DEBUG_APPROACHING
766 : if (DEBUG_COND2(veh)) {
767 : std::cout << SIMTIME << " link=" << getDescription() << " removeApproaching veh=" << veh->getID();
768 : if (myApproachingVehicles.size() > 0) {
769 : std::cout << " curApproaching=";
770 : for (auto i = myApproachingVehicles.begin(); i != myApproachingVehicles.end(); ++i) {
771 : std::cout << i->first->getID() << " ";
772 : }
773 : }
774 : std::cout << "\n";
775 : }
776 : #endif
777 : myApproachingVehicles.erase(veh);
778 869692447 : }
779 :
780 :
781 : void
782 31251 : MSLink::removeApproachingPerson(const MSPerson* person) {
783 31251 : if (myApproachingPersons == nullptr) {
784 12 : WRITE_WARNINGF("Person '%' entered crossing lane '%' without registering approach, time=%", person->getID(), myLane->getID(), time2string(SIMSTEP));
785 3 : return;
786 : }
787 : #ifdef DEBUG_APPROACHING
788 : if (DEBUG_COND2(person)) {
789 : std::cout << SIMTIME << " Link '" << (myLaneBefore == 0 ? "NULL" : myLaneBefore->getID()) << "'->'" << (myLane == 0 ? "NULL" : myLane->getID()) << std::endl;
790 : std::cout << "' Removing approaching person '" << person->getID() << "'\nCurrently registered persons:" << std::endl;
791 : for (auto i = myApproachingPersons->begin(); i != myApproachingPersons->end(); ++i) {
792 : std::cout << "'" << i->first->getID() << "'" << std::endl;
793 : }
794 : }
795 : #endif
796 : myApproachingPersons->erase(person);
797 : }
798 :
799 :
800 : MSLink::ApproachingVehicleInformation
801 31859212 : MSLink::getApproaching(const SUMOVehicle* veh) const {
802 : auto i = myApproachingVehicles.find(veh);
803 31859212 : if (i != myApproachingVehicles.end()) {
804 27190162 : return i->second;
805 : } else {
806 : return ApproachingVehicleInformation(INVALID_TIME, INVALID_TIME, 0, 0, false, 0, 0, 0, 0, 0);
807 : }
808 : }
809 :
810 :
811 : const MSLink::ApproachingVehicleInformation*
812 2888450 : MSLink::getApproachingPtr(const SUMOVehicle* veh) const {
813 : auto i = myApproachingVehicles.find(veh);
814 2888450 : if (i != myApproachingVehicles.end()) {
815 2526207 : return &i->second;
816 : } else {
817 : return nullptr;
818 : }
819 : }
820 :
821 :
822 : void
823 11296 : MSLink::clearState() {
824 : myApproachingVehicles.clear();
825 11296 : }
826 :
827 :
828 : SUMOTime
829 1550377160 : MSLink::getLeaveTime(const SUMOTime arrivalTime, const double arrivalSpeed,
830 : const double leaveSpeed, const double vehicleLength) const {
831 1584034601 : return arrivalTime == SUMOTime_MAX ? SUMOTime_MAX : arrivalTime + TIME2STEPS((getLength() + vehicleLength) / MAX2(0.5 * (arrivalSpeed + leaveSpeed), NUMERICAL_EPS));
832 : }
833 :
834 :
835 : bool
836 684717712 : MSLink::opened(SUMOTime arrivalTime, double arrivalSpeed, double leaveSpeed, double vehicleLength,
837 : double impatience, double decel, SUMOTime waitingTime, double posLat,
838 : BlockingFoes* collectFoes, bool ignoreRed, const SUMOTrafficObject* ego, double dist) const {
839 : #ifdef MSLink_DEBUG_OPENED
840 : if (gDebugFlag1) {
841 : std::cout << SIMTIME << " opened? link=" << getDescription() << " red=" << haveRed() << " cont=" << isCont() << " numFoeLinks=" << myFoeLinks.size() << " havePrio=" << havePriority() << " lastWasContMajorGreen=" << lastWasContState(LINKSTATE_TL_GREEN_MAJOR) << "\n";
842 : }
843 : #endif
844 684717712 : if (haveRed() && !ignoreRed) {
845 : return false;
846 : }
847 675620989 : if (isCont() && MSGlobals::gUsingInternalLanes) {
848 : return true;
849 : }
850 671162149 : const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, vehicleLength);
851 671162149 : if (MSGlobals::gLateralResolution > 0) {
852 : // check for foes on the same lane with the same target edge
853 138014254 : for (const MSLink* foeLink : mySublaneFoeLinks) {
854 : assert(myLane != foeLink->getLane());
855 9995558 : for (const auto& it : foeLink->myApproachingVehicles) {
856 6802859 : const SUMOVehicle* foe = it.first;
857 : if (
858 : // there only is a conflict if the paths cross
859 7403055 : ((posLat < foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() > foeLink->myLane->getIndex())
860 6556242 : || (posLat > foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() < foeLink->myLane->getIndex()))
861 : // the vehicle that arrives later must yield
862 7402666 : && (arrivalTime > it.second.arrivalTime
863 : // if both vehicles arrive at the same time, the one
864 : // to the left must yield
865 387352 : || (arrivalTime == it.second.arrivalTime && posLat > foe->getLateralPositionOnLane()))) {
866 213106 : if (blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, false,
867 : impatience, decel, waitingTime, ego)) {
868 : #ifdef MSLink_DEBUG_OPENED
869 : if (gDebugFlag1) {
870 : std::cout << SIMTIME << " blocked by " << foe->getID() << " arrival=" << arrivalTime << " foeArrival=" << it.second.arrivalTime << "\n";
871 : }
872 : #endif
873 42336 : if (collectFoes == nullptr) {
874 : #ifdef MSLink_DEBUG_OPENED
875 : if (gDebugFlag1) {
876 : std::cout << " link=" << getViaLaneOrLane()->getID() << " blocked by sublaneFoe=" << foe->getID() << " foeLink=" << foeLink->getViaLaneOrLane()->getID() << " posLat=" << posLat << "\n";
877 : }
878 : #endif
879 : return false;
880 : } else {
881 0 : collectFoes->push_back(it.first);
882 : }
883 : }
884 : }
885 : }
886 : }
887 : // check for foes on the same lane with a different target edge
888 : // (straight movers take precedence if the paths cross)
889 134779219 : const int lhSign = MSGlobals::gLefthand ? -1 : 1;
890 136127253 : for (const MSLink* foeLink : mySublaneFoeLinks2) {
891 : assert(myDirection != LinkDirection::STRAIGHT);
892 5695189 : for (const auto& it : foeLink->myApproachingVehicles) {
893 4347155 : const SUMOVehicle* foe = it.first;
894 : // there only is a conflict if the paths cross
895 : // and if the vehicles are not currently in a car-following relationship
896 4347155 : const double egoWidth = ego == nullptr ? 1.8 : ego->getVehicleType().getWidth();
897 4347155 : if (!lateralOverlap(posLat, egoWidth, foe->getLateralPositionOnLane() + it.second.latOffset, foe->getVehicleType().getWidth())
898 4347155 : && (((myDirection == LinkDirection::RIGHT || myDirection == LinkDirection::PARTRIGHT)
899 496186 : && (posLat * lhSign > (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign))
900 449014 : || ((myDirection == LinkDirection::LEFT || myDirection == LinkDirection::PARTLEFT)
901 33197 : && (posLat * lhSign < (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign)))) {
902 81295 : if (blockedByFoe(foe, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, false,
903 : impatience, decel, waitingTime, ego)) {
904 : #ifdef MSLink_DEBUG_OPENED
905 : if (gDebugFlag1) {
906 : std::cout << SIMTIME << " blocked by sublane foe " << foe->getID() << " arrival=" << arrivalTime << " foeArrival=" << it.second.arrivalTime << "\n";
907 : }
908 : #endif
909 9067 : if (collectFoes == nullptr) {
910 : #ifdef MSLink_DEBUG_OPENED
911 : if (gDebugFlag1) {
912 : std::cout << " link=" << getViaLaneOrLane()->getID() << " blocked by sublaneFoe2=" << foe->getID() << " foeLink=" << foeLink->getViaLaneOrLane()->getID() << " posLat=" << posLat << "\n";
913 : }
914 : #endif
915 : return false;
916 : } else {
917 0 : collectFoes->push_back(it.first);
918 : }
919 : }
920 : }
921 : }
922 : }
923 : }
924 : #ifdef MSLink_DEBUG_OPENED
925 : /*
926 : if (gDebugFlag1) {
927 : std::cout << SIMTIME << " isExitLinkAfterInternalJunction=" << isExitLinkAfterInternalJunction()
928 : << " entryLink=" << getCorrespondingEntryLink()->getDescription()
929 : << " entryState=" << getCorrespondingEntryLink()->getState()
930 : << "\n";
931 : }
932 : */
933 : #endif
934 : if ((havePriority()
935 29838918 : || lastWasContState(LINKSTATE_TL_GREEN_MAJOR)
936 29427700 : || (isExitLinkAfterInternalJunction() && getCorrespondingEntryLink()->getState() == LINKSTATE_TL_GREEN_MAJOR))
937 671593182 : && myState != LINKSTATE_ZIPPER) {
938 : // priority usually means the link is open but there are exceptions:
939 : // zipper still needs to collect foes
940 : // sublane model could have detected a conflict
941 640038759 : return collectFoes == nullptr || collectFoes->size() == 0;
942 : }
943 31071987 : if (myState == LINKSTATE_ALLWAY_STOP && waitingTime < TIME2STEPS(ego == nullptr ? TS : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ALLWAYSTOP_WAIT, TS))) {
944 : return false;
945 30095825 : } else if (myState == LINKSTATE_STOP && waitingTime < TIME2STEPS(ego == nullptr ? TS : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPSIGN_WAIT, TS))) {
946 : return false;
947 : }
948 :
949 30031791 : const std::vector<MSLink*>& foeLinks = (myOffFoeLinks == nullptr || getCorrespondingEntryLink()->getState() != LINKSTATE_ALLWAY_STOP) ? myFoeLinks : *myOffFoeLinks;
950 :
951 30031791 : if (MSGlobals::gUseMesoSim && impatience == 1 && !myLane->getEdge().isRoundabout()) {
952 : return true;
953 : }
954 30031663 : if (myLane->getBidiLane() != nullptr) {
955 131950 : MSLane* bidi = myLane->getBidiLane();
956 131950 : if (bidi->getVehicleNumber() > 0) {
957 20109 : if (ego == nullptr) {
958 : return false;
959 : }
960 : double maxOncomingWidth = 0;
961 20109 : const MSLane::VehCont& vehs = bidi->getVehiclesSecure();
962 128598 : for (MSVehicle* foe : vehs) {
963 108489 : maxOncomingWidth = MAX2(maxOncomingWidth, foe->getVehicleType().getWidth());
964 : }
965 20109 : bidi->releaseVehicles();
966 20109 : if (MSGlobals::gLateralResolution > 0) {
967 16779 : if (ego->getVehicleType().getWidth() + maxOncomingWidth + MSGlobals::gLateralResolution < myLane->getWidth()) {
968 : return false;
969 : }
970 3330 : } else if (maxOncomingWidth > 0) {
971 : // do not enter a lane that has any oncoming vehicles
972 : return false;
973 : }
974 : }
975 266323 : for (auto ili : bidi->getIncomingLanes()) {
976 138285 : if (ili.lane->getEdge().getPriority() > myLaneBefore->getEdge().getPriority()
977 138285 : || (ili.lane->getEdge().getPriority() == myLaneBefore->getEdge().getPriority()
978 107447 : && ili.lane->getID() > myLaneBefore->getID())) {
979 : BlockingFoes bidiApproachFoes;
980 : double maxOncomingWidth = 0;
981 21198 : if (ili.viaLink->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, false, 0, decel, 0,
982 42396 : MSGlobals::gLateralResolution ? &bidiApproachFoes : nullptr, ego) || bidiApproachFoes.size() > 0) {
983 506 : if (MSGlobals::gLateralResolution > 0) {
984 437 : for (const SUMOTrafficObject* foe : bidiApproachFoes) {
985 226 : maxOncomingWidth = MAX2(maxOncomingWidth, foe->getVehicleType().getWidth());
986 : }
987 211 : if (ego->getVehicleType().getWidth() + maxOncomingWidth + MSGlobals::gLateralResolution < myLane->getWidth()) {
988 : return false;
989 : }
990 : } else {
991 : return false;
992 : }
993 : }
994 21198 : }
995 : }
996 : }
997 30027751 : const bool lastWasContRed = lastWasContState(LINKSTATE_TL_RED);
998 83766369 : for (const MSLink* const link : foeLinks) {
999 58644093 : if (MSGlobals::gUseMesoSim) {
1000 1938961 : if (link->haveRed()) {
1001 46892 : continue;
1002 : }
1003 : }
1004 : #ifdef MSLink_DEBUG_OPENED
1005 : if (gDebugFlag1) {
1006 : std::cout << SIMTIME << " foeLink=" << link->getViaLaneOrLane()->getID() << " numApproaching=" << link->getApproaching().size() << "\n";
1007 : if (link->getLane()->isCrossing()) {
1008 : std::cout << SIMTIME << " approachingPersons=" << (link->myApproachingPersons == nullptr ? "NULL" : toString(link->myApproachingPersons->size())) << "\n";
1009 : }
1010 : }
1011 : #endif
1012 58597201 : if (link->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, myLane == link->getLane(),
1013 : impatience, decel, waitingTime, collectFoes, ego, lastWasContRed, dist)) {
1014 : return false;
1015 : }
1016 : }
1017 25122276 : if (collectFoes != nullptr && collectFoes->size() > 0) {
1018 : return false;
1019 : }
1020 : return true;
1021 : }
1022 :
1023 :
1024 : bool
1025 58676475 : MSLink::blockedAtTime(SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
1026 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
1027 : BlockingFoes* collectFoes, const SUMOTrafficObject* ego, bool lastWasContRed, double dist) const {
1028 218873751 : for (const auto& it : myApproachingVehicles) {
1029 : #ifdef MSLink_DEBUG_OPENED
1030 : if (gDebugFlag1) {
1031 : if (ego != nullptr
1032 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) >= it.second.speed
1033 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) > 0) {
1034 : std::stringstream stream; // to reduce output interleaving from different threads
1035 : stream << SIMTIME << " " << myApproachingVehicles.size() << " foe link=" << getViaLaneOrLane()->getID()
1036 : << " foeVeh=" << it.first->getID() << " (below ignore speed)"
1037 : << " ignoreFoeProb=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0)
1038 : << "\n";
1039 : std::cout << stream.str();
1040 : }
1041 : }
1042 : #endif
1043 165000523 : if (it.first != ego
1044 164991251 : && (ego == nullptr
1045 164931461 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1046 22492 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.second.speed
1047 1524 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1048 164989883 : && !ignoreFoe(ego, it.first)
1049 164989641 : && (!lastWasContRed || it.first->getSpeed() > SUMO_const_haltingSpeed)
1050 329973791 : && blockedByFoe(it.first, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, sameTargetLane,
1051 : impatience, decel, waitingTime, ego)) {
1052 11287919 : if (collectFoes == nullptr) {
1053 : return true;
1054 : } else {
1055 6484672 : collectFoes->push_back(it.first);
1056 : }
1057 : }
1058 : }
1059 53873228 : if (myApproachingPersons != nullptr && !haveRed()) {
1060 : const SUMOTime lookAhead = (ego == nullptr
1061 847594 : ? myLookaheadTime
1062 847422 : : TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime))));
1063 922437 : for (const auto& it : *myApproachingPersons) {
1064 : #ifdef MSLink_DEBUG_OPENED
1065 : if (gDebugFlag1) {
1066 : std::cout << SIMTIME << ": " << ego->getID() << " check person " << it.first->getID() << " aTime=" << arrivalTime << " foeATime=" << it.second.arrivalTime
1067 : << " lTime=" << leaveTime << " foeLTime=" << it.second.leavingTime
1068 : << " dist=" << dist << "\n";
1069 : }
1070 : #endif
1071 : if ((ego == nullptr
1072 204470 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1073 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.first->getSpeed()
1074 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1075 204091 : && !ignoreFoe(ego, it.first)
1076 408702 : && !((arrivalTime > it.second.leavingTime + lookAhead) || (leaveTime + lookAhead < it.second.arrivalTime))) {
1077 143299 : if (ego == nullptr) {
1078 : // during insertion
1079 165 : if (myJunction->getType() == SumoXMLNodeType::RAIL_CROSSING) {
1080 165 : continue;
1081 : } else {
1082 : return true;
1083 : }
1084 : }
1085 : // check whether braking is feasible (ego might have started to accelerate already)
1086 143134 : const auto& cfm = ego->getVehicleType().getCarFollowModel();
1087 : #ifdef MSLink_DEBUG_OPENED
1088 : if (gDebugFlag1) {
1089 : std::cout << SIMTIME << ": " << ego->getID() << " conflict with person " << it.first->getID() << " aTime=" << arrivalTime << " foeATime=" << it.second.arrivalTime << " dist=" << dist << " bGap=" << cfm.brakeGap(ego->getSpeed(), cfm.getMaxDecel(), 0) << "\n";
1090 : }
1091 : #endif
1092 143134 : if (dist > cfm.brakeGap(ego->getSpeed(), cfm.getMaxDecel(), 0)) {
1093 : #ifdef MSLink_DEBUG_OPENED
1094 : if (gDebugFlag1) {
1095 : std::cout << SIMTIME << ": " << ego->getID() << " blocked by person " << it.first->getID() << "\n";
1096 : }
1097 : #endif
1098 129848 : if (collectFoes == nullptr) {
1099 : return true;
1100 : } else {
1101 0 : collectFoes->push_back(it.first);
1102 : }
1103 : }
1104 : }
1105 : }
1106 : }
1107 : return false;
1108 : }
1109 :
1110 :
1111 : bool
1112 165267669 : MSLink::blockedByFoe(const SUMOVehicle* veh, const ApproachingVehicleInformation& avi,
1113 : SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
1114 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
1115 : const SUMOTrafficObject* ego) const {
1116 : #ifdef MSLink_DEBUG_OPENED
1117 : if (gDebugFlag1) {
1118 : std::stringstream stream; // to reduce output interleaving from different threads
1119 : stream << " link=" << getDescription()
1120 : << " foeVeh=" << veh->getID()
1121 : << " req=" << avi.willPass
1122 : << " aT=" << avi.arrivalTime
1123 : << " lT=" << avi.leavingTime
1124 : << "\n";
1125 : std::cout << stream.str();
1126 : }
1127 : #endif
1128 165267669 : if (!avi.willPass) {
1129 : return false;
1130 : }
1131 60303894 : if (myState == LINKSTATE_ALLWAY_STOP) {
1132 : assert(waitingTime > 0);
1133 : #ifdef MSLink_DEBUG_OPENED
1134 : if (gDebugFlag1) {
1135 : std::stringstream stream; // to reduce output interleaving from different threads
1136 : stream << " foeDist=" << avi.dist
1137 : << " foeBGap=" << veh->getBrakeGap(false)
1138 : << " foeWait=" << avi.waitingTime
1139 : << " wait=" << waitingTime
1140 : << "\n";
1141 : std::cout << stream.str();
1142 : }
1143 : #endif
1144 : // when using actionSteps, the foe waiting time may be outdated
1145 1566781 : const SUMOTime actionDelta = SIMSTEP - veh->getLastActionTime();
1146 1566781 : if (waitingTime > avi.waitingTime + actionDelta) {
1147 : return false;
1148 : }
1149 232841 : if (waitingTime == (avi.waitingTime + actionDelta) && arrivalTime < avi.arrivalTime + actionDelta) {
1150 : return false;
1151 : }
1152 : }
1153 58940380 : SUMOTime foeArrivalTime = avi.arrivalTime;
1154 58940380 : double foeArrivalSpeedBraking = avi.arrivalSpeedBraking;
1155 58940380 : if (impatience > 0 && arrivalTime < avi.arrivalTime) {
1156 : #ifdef MSLink_DEBUG_OPENED
1157 : gDebugFlag6 = ((ego == nullptr || ego->isSelected()) && (veh == nullptr || veh->isSelected()));
1158 : #endif
1159 2754504 : const SUMOTime fatb = computeFoeArrivalTimeBraking(arrivalTime, veh, avi.arrivalTime, impatience, avi.dist, foeArrivalSpeedBraking);
1160 2754504 : foeArrivalTime = (SUMOTime)((1. - impatience) * (double)avi.arrivalTime + impatience * (double)fatb);
1161 : #ifdef MSLink_DEBUG_OPENED
1162 : if (gDebugFlag6) {
1163 : std::cout << SIMTIME << " link=" << getDescription() << " ego=" << ego->getID() << " foe=" << veh->getID()
1164 : << " at=" << STEPS2TIME(arrivalTime)
1165 : << " fat=" << STEPS2TIME(avi.arrivalTime)
1166 : << " fatb=" << STEPS2TIME(fatb)
1167 : << " fat2=" << STEPS2TIME(foeArrivalTime)
1168 : << "\n";
1169 : }
1170 : #endif
1171 : }
1172 :
1173 :
1174 58940380 : const SUMOTime lookAhead = (myState == LINKSTATE_ZIPPER
1175 58940380 : ? myLookaheadTimeZipper
1176 : : (ego == nullptr
1177 47219654 : ? myLookaheadTime
1178 47213594 : : TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime)))));
1179 : //if (ego != 0) std::cout << SIMTIME << " ego=" << ego->getID() << " jmTimegapMinor=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, -1) << " lookAhead=" << lookAhead << "\n";
1180 : #ifdef MSLink_DEBUG_OPENED
1181 : if (gDebugFlag1 || gDebugFlag6) {
1182 : std::stringstream stream; // to reduce output interleaving from different threads
1183 : stream << " imp=" << impatience << " fAT2=" << foeArrivalTime << " fASb=" << foeArrivalSpeedBraking << " lA=" << lookAhead << " egoAT=" << arrivalTime << " egoLT=" << leaveTime << " egoLS=" << leaveSpeed << "\n";
1184 : std::cout << stream.str();
1185 : }
1186 : #endif
1187 58940380 : if (avi.leavingTime < arrivalTime) {
1188 : // ego wants to be follower
1189 43110580 : if (sameTargetLane && (arrivalTime - avi.leavingTime < lookAhead
1190 18847534 : || unsafeMergeSpeeds(avi.leaveSpeed, arrivalSpeed,
1191 18847534 : veh->getVehicleType().getCarFollowModel().getMaxDecel(), decel))) {
1192 : #ifdef MSLink_DEBUG_OPENED
1193 : if (gDebugFlag1 || gDebugFlag6) {
1194 : std::cout << " blocked (cannot follow)\n";
1195 : }
1196 : #endif
1197 4178006 : return true;
1198 : }
1199 15829800 : } else if (foeArrivalTime > leaveTime + lookAhead) {
1200 : // ego wants to be leader.
1201 14647254 : if (sameTargetLane && unsafeMergeSpeeds(leaveSpeed, foeArrivalSpeedBraking,
1202 5818323 : decel, veh->getVehicleType().getCarFollowModel().getMaxDecel())) {
1203 : #ifdef MSLink_DEBUG_OPENED
1204 : if (gDebugFlag1 || gDebugFlag6) {
1205 : std::cout << " blocked (cannot lead)\n";
1206 : }
1207 : #endif
1208 : return true;
1209 : }
1210 : } else {
1211 : // even without considering safeHeadwayTime there is already a conflict
1212 : #ifdef MSLink_DEBUG_OPENED
1213 : if (gDebugFlag1 || gDebugFlag6) {
1214 : std::cout << " blocked (hard conflict)\n";
1215 : }
1216 : #endif
1217 : return true;
1218 : }
1219 : return false;
1220 : }
1221 :
1222 :
1223 : SUMOTime
1224 2754504 : MSLink::computeFoeArrivalTimeBraking(SUMOTime arrivalTime, const SUMOVehicle* foe, SUMOTime foeArrivalTime, double impatience, double dist, double& fasb) {
1225 : // a: distance saved when foe brakes from arrivalTime to foeArrivalTime
1226 : // b: distance driven past foeArrivalTime
1227 : // m: permitted decceleration
1228 : // d: total deceleration until foeArrivalTime
1229 : // dist2: distance of foe at arrivalTime
1230 : // actual arrivalTime must fall on a simulation step
1231 2754504 : if (arrivalTime - arrivalTime % DELTA_T == foeArrivalTime - foeArrivalTime % DELTA_T) {
1232 : // foe enters the junction in the same step
1233 : #ifdef MSLink_DEBUG_OPENED
1234 : if (gDebugFlag6) {
1235 : std::cout << " foeAT before egoAT\n";
1236 : }
1237 : #endif
1238 : return foeArrivalTime;
1239 : }
1240 2422597 : if (arrivalTime % DELTA_T > 0) {
1241 2393058 : arrivalTime = arrivalTime - (arrivalTime % DELTA_T) + DELTA_T;
1242 : }
1243 : //arrivalTime += DELTA_T - arrivalTime % DELTA_T;
1244 2422597 : const double m = foe->getVehicleType().getCarFollowModel().getMaxDecel() * impatience;
1245 2422597 : const double dt = STEPS2TIME(foeArrivalTime - arrivalTime);
1246 2422597 : const double d = dt * m;
1247 2422597 : const double a = dt * d / 2;
1248 2422597 : const double v = dist / STEPS2TIME(foeArrivalTime - SIMSTEP + DELTA_T);
1249 2422597 : const double dist2 = dist - v * STEPS2TIME(arrivalTime - SIMSTEP);
1250 : #ifdef MSLink_DEBUG_OPENED
1251 : if (gDebugFlag6) {
1252 : std::cout << " dist=" << dist << " dist2=" << dist2
1253 : << " at=" << STEPS2TIME(arrivalTime)
1254 : << " fat=" << STEPS2TIME(foeArrivalTime)
1255 : << " dt=" << dt << " v=" << v << " m=" << m << " d=" << d << " a=" << a << "\n";
1256 : }
1257 : #endif
1258 2422597 : if (0.5 * v * v / m <= dist2) {
1259 : #ifdef MSLink_DEBUG_OPENED
1260 : if (gDebugFlag6) {
1261 : std::cout << " canBrakeToStop\n";
1262 : }
1263 : #endif
1264 1212129 : fasb = 0;
1265 1212129 : return foeArrivalTime + TIME2STEPS(30);
1266 : }
1267 : // a = b (foe reaches the original distance to the stop line)
1268 : // x: time driven past foeArrivalTime
1269 : // v: foe speed without braking
1270 : // v2: average foe speed after foeArrivalTime (braking continues for time x)
1271 : // v2 = (v - d - x * m / 2)
1272 : // b = v2 * x
1273 : // solving for x gives:
1274 1210468 : const double x = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * -0.5 - d + v) / m;
1275 :
1276 : #ifdef MSLink_DEBUG_OPENED
1277 : const double x2 = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * 0.5 - d + v) / m;
1278 : if (gDebugFlag6 || std::isnan(x)) {
1279 : std::cout << SIMTIME << " dist=" << dist << " dist2=" << dist2 << " at=" << STEPS2TIME(arrivalTime) << " m=" << m << " d=" << d << " v=" << v << " a=" << a << " x=" << x << " x2=" << x2 << "\n";
1280 : }
1281 : #endif
1282 1210468 : fasb = v - (dt + x) * m;
1283 1210468 : return foeArrivalTime + TIME2STEPS(x);
1284 : }
1285 :
1286 :
1287 : bool
1288 438196 : MSLink::hasApproachingFoe(SUMOTime arrivalTime, SUMOTime leaveTime, double speed, double decel) const {
1289 468652 : for (const MSLink* const link : myFoeLinks) {
1290 58076 : if (link->blockedAtTime(arrivalTime, leaveTime, speed, speed, myLane == link->getLane(), 0, decel, 0)) {
1291 : return true;
1292 : }
1293 : }
1294 511126 : for (const MSLane* const lane : myFoeLanes) {
1295 107188 : if (lane->getVehicleNumberWithPartials() > 0) {
1296 : return true;
1297 : }
1298 : }
1299 : return false;
1300 : }
1301 :
1302 :
1303 : std::pair<const SUMOVehicle*, const MSLink*>
1304 5622 : MSLink::getFirstApproachingFoe(const MSLink* wrapAround) const {
1305 : double closetDist = std::numeric_limits<double>::max();
1306 : const SUMOVehicle* closest = nullptr;
1307 : const MSLink* foeLink = nullptr;
1308 18308 : for (MSLink* link : myFoeLinks) {
1309 19750 : for (const auto& it : link->myApproachingVehicles) {
1310 : //std::cout << " link=" << getDescription() << " foeLink_in=" << link->getLaneBefore()->getID() << " wrapAround=" << wrapAround->getDescription() << "\n";
1311 7064 : if (link->getLaneBefore() == wrapAround->getLaneBefore()) {
1312 489 : return std::make_pair(nullptr, wrapAround);
1313 6575 : } else if (it.second.dist < closetDist) {
1314 : closetDist = it.second.dist;
1315 3423 : if (it.second.willPass) {
1316 3162 : closest = it.first;
1317 : foeLink = link;
1318 : }
1319 : }
1320 : }
1321 : }
1322 : return std::make_pair(closest, foeLink);
1323 : }
1324 :
1325 :
1326 : void
1327 71198791 : MSLink::setTLState(LinkState state, SUMOTime t) {
1328 71198791 : if (myState != state) {
1329 16499810 : myLastStateChange = t;
1330 : }
1331 71198791 : myState = state;
1332 71198791 : if (haveGreen()) {
1333 12087453 : myLastGreenState = myState;
1334 : }
1335 71198791 : }
1336 :
1337 :
1338 : void
1339 176971 : MSLink::setTLLogic(const MSTrafficLightLogic* logic) {
1340 176971 : myLogic = logic;
1341 176971 : }
1342 :
1343 :
1344 : bool
1345 1282125442 : MSLink::isCont() const {
1346 : // when a traffic light is switched off minor roads have their cont status revoked
1347 1282125442 : return (myState == LINKSTATE_TL_OFF_BLINKING || myState == LINKSTATE_ALLWAY_STOP || myState == LINKSTATE_STOP) ? myAmContOff : myAmCont;
1348 : }
1349 :
1350 :
1351 : bool
1352 66780282 : MSLink::lastWasContMajor() const {
1353 67459025 : if (isExitLinkAfterInternalJunction()) {
1354 678743 : return myInternalLaneBefore->getIncomingLanes()[0].viaLink->lastWasContMajor();
1355 : }
1356 66780282 : if (myInternalLane == nullptr || myAmCont) {
1357 : return false;
1358 : } else {
1359 48799633 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1360 48799633 : if (!pred->getEdge().isInternal()) {
1361 : return false;
1362 : } else {
1363 11708413 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1364 : assert(pred2 != nullptr);
1365 11708413 : const MSLink* const predLink = pred2->getLinkTo(pred);
1366 : assert(predLink != nullptr);
1367 11708413 : if (predLink->havePriority()) {
1368 : return true;
1369 : }
1370 11074495 : if (myHavePedestrianCrossingFoe) {
1371 1437138 : return predLink->getLastGreenState() == LINKSTATE_TL_GREEN_MAJOR;
1372 : } else {
1373 9637357 : return predLink->haveYellow();
1374 : }
1375 : }
1376 : }
1377 : }
1378 :
1379 :
1380 : bool
1381 59866669 : MSLink::lastWasContState(LinkState linkState) const {
1382 59866669 : if (myInternalLane == nullptr || myAmCont || myHavePedestrianCrossingFoe) {
1383 : return false;
1384 : } else {
1385 52569176 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1386 52569176 : if (!pred->getEdge().isInternal()) {
1387 : return false;
1388 : } else {
1389 15363312 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1390 : assert(pred2 != nullptr);
1391 15363312 : const MSLink* const predLink = pred2->getLinkTo(pred);
1392 : assert(predLink != nullptr);
1393 15363312 : return predLink->getState() == linkState;
1394 : }
1395 : }
1396 : }
1397 :
1398 :
1399 : void
1400 113904 : MSLink::writeApproaching(OutputDevice& od, const std::string fromLaneID) const {
1401 113904 : if (myApproachingVehicles.size() > 0) {
1402 9765 : od.openTag("link");
1403 9765 : od.writeAttr(SUMO_ATTR_FROM, fromLaneID);
1404 9765 : const std::string via = getViaLane() == nullptr ? "" : getViaLane()->getID();
1405 9765 : od.writeAttr(SUMO_ATTR_VIA, via);
1406 19530 : od.writeAttr(SUMO_ATTR_TO, getLane() == nullptr ? "" : getLane()->getID());
1407 : std::vector<std::pair<SUMOTime, const SUMOVehicle*> > toSort; // stabilize output
1408 21325 : for (auto it : myApproachingVehicles) {
1409 11560 : toSort.push_back(std::make_pair(it.second.arrivalTime, it.first));
1410 : }
1411 9765 : std::sort(toSort.begin(), toSort.end());
1412 21325 : for (std::vector<std::pair<SUMOTime, const SUMOVehicle*> >::const_iterator it = toSort.begin(); it != toSort.end(); ++it) {
1413 11560 : od.openTag("approaching");
1414 11560 : const ApproachingVehicleInformation& avi = myApproachingVehicles.find(it->second)->second;
1415 11560 : od.writeAttr(SUMO_ATTR_ID, it->second->getID());
1416 11560 : od.writeAttr(SUMO_ATTR_IMPATIENCE, it->second->getImpatience());
1417 11560 : od.writeAttr("arrivalTime", time2string(avi.arrivalTime));
1418 11560 : od.writeAttr("leaveTime", time2string(avi.leavingTime));
1419 11560 : od.writeAttr("arrivalSpeed", toString(avi.arrivalSpeed));
1420 11560 : od.writeAttr("arrivalSpeedBraking", toString(avi.arrivalSpeedBraking));
1421 11560 : od.writeAttr("leaveSpeed", toString(avi.leaveSpeed));
1422 11560 : od.writeAttr("willPass", toString(avi.willPass));
1423 23120 : od.closeTag();
1424 : }
1425 9765 : od.closeTag();
1426 9765 : }
1427 113904 : }
1428 :
1429 :
1430 : double
1431 921909 : MSLink::getInternalLengthsAfter() const {
1432 : double len = 0.;
1433 921909 : MSLane* lane = myInternalLane;
1434 :
1435 1760033 : while (lane != nullptr && lane->isInternal()) {
1436 838124 : len += lane->getLength();
1437 838124 : lane = lane->getLinkCont()[0]->getViaLane();
1438 : }
1439 921909 : return len;
1440 : }
1441 :
1442 : double
1443 0 : MSLink::getInternalLengthsBefore() const {
1444 : double len = 0.;
1445 0 : const MSLane* lane = myInternalLane;
1446 :
1447 0 : while (lane != nullptr && lane->isInternal()) {
1448 0 : len += lane->getLength();
1449 0 : if (lane->getIncomingLanes().size() == 1) {
1450 0 : lane = lane->getIncomingLanes()[0].lane;
1451 : } else {
1452 : break;
1453 : }
1454 : }
1455 0 : return len;
1456 : }
1457 :
1458 :
1459 : double
1460 129526 : MSLink::getLengthsBeforeCrossing(const MSLane* foeLane) const {
1461 129526 : MSLane* via = myInternalLane;
1462 : double totalDist = 0.;
1463 : bool foundCrossing = false;
1464 132382 : while (via != nullptr) {
1465 131022 : MSLink* link = via->getLinkCont()[0];
1466 131022 : double dist = link->getLengthBeforeCrossing(foeLane);
1467 131022 : if (dist != INVALID_DOUBLE) {
1468 : // found conflicting lane
1469 128166 : totalDist += dist;
1470 : foundCrossing = true;
1471 : break;
1472 : } else {
1473 2856 : totalDist += via->getLength();
1474 : via = link->getViaLane();
1475 : }
1476 : }
1477 : if (foundCrossing) {
1478 128166 : return totalDist;
1479 : } else {
1480 : return INVALID_DOUBLE;
1481 : }
1482 : }
1483 :
1484 :
1485 : double
1486 131022 : MSLink::getLengthBeforeCrossing(const MSLane* foeLane) const {
1487 : int foe_ix;
1488 785495 : for (foe_ix = 0; foe_ix != (int)myFoeLanes.size(); ++foe_ix) {
1489 783999 : if (myFoeLanes[foe_ix] == foeLane) {
1490 : break;
1491 : }
1492 : }
1493 131022 : if (foe_ix == (int)myFoeLanes.size()) {
1494 : // no conflict with the given lane, indicate by returning -1
1495 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1496 : std::cout << "No crossing of lanes '" << foeLane->getID() << "' and '" << myInternalLaneBefore->getID() << "'" << std::endl;
1497 : #endif
1498 : return INVALID_DOUBLE;
1499 : } else {
1500 : // found conflicting lane index
1501 129526 : double dist = myInternalLaneBefore->getLength() - myConflicts[foe_ix].getLengthBehindCrossing(this);
1502 129526 : if (dist == -10000.) {
1503 : // this is the value in myConflicts, if the relation allows intersection but none is present for the actual geometry.
1504 : return INVALID_DOUBLE;
1505 : }
1506 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1507 : std::cout << "Crossing of lanes '" << myInternalLaneBefore->getID() << "' and '" << foeLane->getID()
1508 : << "' at distance " << dist << " (approach along '"
1509 : << myInternalLaneBefore->getEntryLink()->getLaneBefore()->getID() << "')" << std::endl;
1510 : #endif
1511 : return dist;
1512 : }
1513 : }
1514 :
1515 :
1516 : bool
1517 40135375 : MSLink::isEntryLink() const {
1518 40135375 : if (MSGlobals::gUsingInternalLanes) {
1519 63822301 : return myInternalLane != nullptr && myInternalLaneBefore == nullptr;
1520 : } else {
1521 : return false;
1522 : }
1523 : }
1524 :
1525 : bool
1526 19493948 : MSLink::isConflictEntryLink() const {
1527 : // either a non-cont entry link or the link after a cont-link
1528 19493948 : return !myAmCont && (isEntryLink() || (myInternalLaneBefore != nullptr && myInternalLane != nullptr));
1529 : }
1530 :
1531 : bool
1532 94821489 : MSLink::isExitLink() const {
1533 94821489 : if (MSGlobals::gUsingInternalLanes) {
1534 162954969 : return myInternalLaneBefore != nullptr && myInternalLane == nullptr;
1535 : } else {
1536 : return false;
1537 : }
1538 : }
1539 :
1540 : bool
1541 156809857 : MSLink::isExitLinkAfterInternalJunction() const {
1542 156809857 : if (MSGlobals::gUsingInternalLanes) {
1543 : return (getInternalLaneBefore() != nullptr
1544 81054409 : && myInternalLaneBefore->getIncomingLanes().size() == 1
1545 237520746 : && myInternalLaneBefore->getIncomingLanes().front().viaLink->isInternalJunctionLink());
1546 : } else {
1547 : return false;
1548 : }
1549 : }
1550 :
1551 :
1552 : const MSLink*
1553 140042 : MSLink::getCorrespondingExitLink() const {
1554 140042 : MSLane* lane = myInternalLane;
1555 : const MSLink* link = this;
1556 284660 : while (lane != nullptr) {
1557 144618 : link = lane->getLinkCont()[0];
1558 : lane = link->getViaLane();
1559 : }
1560 140042 : return link;
1561 : }
1562 :
1563 :
1564 : const MSLink*
1565 809396661 : MSLink::getCorrespondingEntryLink() const {
1566 : const MSLink* link = this;
1567 1088132707 : while (link->myLaneBefore->isInternal()) {
1568 : assert(myLaneBefore->getIncomingLanes().size() == 1);
1569 278736046 : link = link->myLaneBefore->getIncomingLanes().front().viaLink;
1570 : }
1571 809396661 : return link;
1572 : }
1573 :
1574 :
1575 : bool
1576 424401485 : MSLink::isInternalJunctionLink() const {
1577 424401485 : return getInternalLaneBefore() != nullptr && myInternalLane != nullptr;
1578 : }
1579 :
1580 :
1581 : const MSLink::LinkLeaders
1582 879130379 : MSLink::getLeaderInfo(const MSVehicle* ego, double dist, std::vector<const MSPerson*>* collectBlockers, bool isShadowLink) const {
1583 : LinkLeaders result;
1584 : // this link needs to start at an internal lane (either an exit link or between two internal lanes)
1585 : // or it must be queried by the pedestrian model (ego == 0)
1586 879130379 : if (ego != nullptr && (!fromInternalLane() || ego->getLaneChangeModel().isOpposite())) {
1587 : // ignore link leaders
1588 : return result;
1589 : }
1590 : //gDebugFlag1 = true;
1591 296654192 : if (gDebugFlag1) {
1592 0 : std::cout << SIMTIME << " getLeaderInfo link=" << getDescription() << " dist=" << dist << " isShadowLink=" << isShadowLink << "\n";
1593 : }
1594 296654192 : if (MSGlobals::gComputeLC && ego != nullptr && ego->getLane()->isNormal()) {
1595 25753169 : const MSLink* junctionEntry = getLaneBefore()->getEntryLink();
1596 6453515 : if (junctionEntry->haveRed() && !ego->ignoreRed(junctionEntry, true)
1597 : // check oncoming on bidiLane during laneChanging
1598 32202001 : && (!MSGlobals::gComputeLC || junctionEntry->getLaneBefore()->getBidiLane() == nullptr)) {
1599 6401573 : if (gDebugFlag1) {
1600 0 : std::cout << " ignore linkLeaders beyond red light\n";
1601 : }
1602 : return result;
1603 : }
1604 : }
1605 : // this is an exit link
1606 290252619 : const double extraGap = ego != nullptr ? ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_EXTRA_GAP, 0) : 0;
1607 770480524 : for (int i = 0; i < (int)myFoeLanes.size(); ++i) {
1608 480227908 : const MSLane* foeLane = myFoeLanes[i];
1609 480227908 : const MSLink* foeExitLink = foeLane->getLinkCont()[0];
1610 : // distance from the querying vehicle to the crossing point with foeLane
1611 480227908 : double distToCrossing = dist - myConflicts[i].getLengthBehindCrossing(this);
1612 480227908 : const double foeDistToCrossing = foeLane->getLength() - myConflicts[i].getFoeLengthBehindCrossing(foeExitLink);
1613 480227908 : const bool sameTarget = (myLane == foeExitLink->getLane()) && !isInternalJunctionLink() && !foeExitLink->isInternalJunctionLink();
1614 480227908 : const bool sameSource = (myInternalLaneBefore != nullptr && myInternalLaneBefore->getNormalPredecessorLane() == foeLane->getNormalPredecessorLane());
1615 480227908 : const double crossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].conflictSize;
1616 480227908 : const double foeCrossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].getFoeConflictSize(foeExitLink);
1617 : // special treatment of contLane foe only applies if this lane is not a contLane or contLane follower itself
1618 607223610 : const bool contLane = (foeExitLink->getViaLaneOrLane()->getEdge().isInternal() && !(
1619 126995702 : isInternalJunctionLink() || isExitLinkAfterInternalJunction()));
1620 480227908 : if (gDebugFlag1) {
1621 : std::cout << " distToCrossing=" << distToCrossing << " foeLane=" << foeLane->getID() << " cWidth=" << crossingWidth
1622 0 : << " flag=" << myConflicts[i].flag
1623 0 : << " ijl=" << isInternalJunctionLink() << " sT=" << sameTarget << " sS=" << sameSource
1624 0 : << " lbc=" << myConflicts[i].getLengthBehindCrossing(this)
1625 0 : << " flbc=" << myConflicts[i].getFoeLengthBehindCrossing(foeExitLink)
1626 : << " cw=" << crossingWidth
1627 : << " fcw=" << foeCrossingWidth
1628 : << " contLane=" << contLane
1629 0 : << " state=" << toString(myState)
1630 0 : << " foeState=" << toString(foeExitLink->getState())
1631 0 : << "\n";
1632 : }
1633 106501316 : if (distToCrossing + crossingWidth < 0 && !sameTarget
1634 581055357 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing + crossingWidth + ego->getVehicleType().getLength() < 0)) {
1635 96626177 : if (gDebugFlag1) {
1636 0 : std::cout << " ignore:egoBeyondCrossingPoint\n";
1637 : }
1638 96626177 : continue; // vehicle is behind the crossing point, continue with next foe lane
1639 : }
1640 : bool ignoreGreenCont = false;
1641 : bool foeIndirect = false;
1642 383601731 : if (contLane) {
1643 41952162 : const MSLink* entry = getLaneBefore()->getEntryLink();
1644 41952162 : const MSLink* foeEntry = foeLane->getEntryLink();
1645 41952162 : foeIndirect = foeEntry->myAmIndirect;
1646 41671299 : if (entry != nullptr && entry->haveGreen()
1647 26453745 : && foeEntry != nullptr && foeEntry->haveGreen()
1648 54339714 : && entry->myLaneBefore != foeEntry->myLaneBefore) {
1649 : // ignore vehicles before an internaljunction as long as they are still in green minor mode
1650 : ignoreGreenCont = true;
1651 : }
1652 : }
1653 41952162 : if (foeIndirect && distToCrossing >= NO_INTERSECTION) {
1654 28087 : if (gDebugFlag1) {
1655 0 : std::cout << " ignore:noIntersection\n";
1656 : }
1657 28087 : continue;
1658 : }
1659 : // it is not sufficient to return the last vehicle on the foeLane because ego might be its leader
1660 : // therefore we return all vehicles on the lane
1661 : //
1662 : // special care must be taken for continuation lanes. (next lane is also internal)
1663 : // vehicles on cont. lanes or on internal lanes with the same target as this link can not be ignored
1664 : // and should block (gap = -1) unless they are part of an indirect turn
1665 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1666 30697035 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1667 30697038 : MSVehicle* leader = (MSVehicle*)*it_veh;
1668 30697038 : const double leaderBack = leader->getBackPositionOnLane(foeLane) - extraGap;
1669 30697038 : const double leaderBackDist = foeDistToCrossing - leaderBack;
1670 30697038 : const double l2 = ego != nullptr ? ego->getLength() + 2 : 0; // add some slack to account for further meeting-angle effects
1671 30584699 : const double sagitta = ego != nullptr && myRadius != std::numeric_limits<double>::max() ? myRadius - sqrt(myRadius * myRadius - 0.25 * l2 * l2) : 0;
1672 30697038 : const bool pastTheCrossingPoint = leaderBackDist + foeCrossingWidth + sagitta < 0;
1673 30697038 : const bool enteredTheCrossingPoint = leaderBackDist < leader->getVehicleType().getLength();
1674 30697038 : const bool foeIsBicycleTurn = (leader->getVehicleType().getVehicleClass() == SVC_BICYCLE
1675 30697038 : && foeLane->getIncomingLanes().front().viaLink->getDirection() == LinkDirection::LEFT);
1676 30697038 : const bool ignoreIndirectBicycleTurn = pastTheCrossingPoint && foeIsBicycleTurn;
1677 30697038 : const bool cannotIgnore = ((contLane && !ignoreIndirectBicycleTurn) || sameTarget || (sameSource && !MSGlobals::gComputeLC)) && ego != nullptr;
1678 30697038 : const bool inTheWay = ((((!pastTheCrossingPoint && distToCrossing > 0) || (sameTarget && distToCrossing > leaderBackDist - leader->getLength()))
1679 24019763 : && (enteredTheCrossingPoint || (sameSource && !enteredTheCrossingPoint && foeDistToCrossing < distToCrossing))
1680 16125642 : && (!(myConflicts[i].flag == CONFLICT_DUMMY_MERGE) || foeIsBicycleTurn || sameSource))
1681 45303920 : || foeExitLink->getLaneBefore()->getNormalPredecessorLane() == myLane->getBidiLane());
1682 30697038 : const bool isOpposite = leader->getLaneChangeModel().isOpposite();
1683 30697038 : const auto avi = foeExitLink->getApproaching(leader);
1684 : // if leader is not found, assume that it performed a lane change in the last step
1685 30697038 : const bool willPass = avi.willPass || (avi.arrivalTime == INVALID_TIME && sameTarget);
1686 30697038 : if (gDebugFlag1) {
1687 : std::cout << " candidate leader=" << leader->getID()
1688 : << " cannotIgnore=" << cannotIgnore
1689 : << " fdtc=" << foeDistToCrossing
1690 : << " lb=" << leaderBack
1691 : << " lbd=" << leaderBackDist
1692 : << " fcwidth=" << foeCrossingWidth
1693 0 : << " r=" << myRadius
1694 : << " sagitta=" << sagitta
1695 : << " foePastCP=" << pastTheCrossingPoint
1696 : << " foeEnteredCP=" << enteredTheCrossingPoint
1697 : << " inTheWay=" << inTheWay
1698 : << " willPass=" << willPass
1699 0 : << " isFrontOnLane=" << leader->isFrontOnLane(foeLane)
1700 : << " ignoreGreenCont=" << ignoreGreenCont
1701 : << " foeIndirect=" << foeIndirect
1702 : << " foeBikeTurn=" << foeIsBicycleTurn
1703 0 : << " isOpposite=" << isOpposite << "\n";
1704 : }
1705 30697038 : if (leader == ego) {
1706 9477964 : continue;
1707 : }
1708 : // ignore greenCont foe vehicles that are not in the way
1709 29761824 : if (!inTheWay && ignoreGreenCont) {
1710 6890 : if (gDebugFlag1) {
1711 0 : std::cout << " ignoreGreenCont\n";
1712 : }
1713 6890 : continue;
1714 : }
1715 : // after entering the conflict area, ignore foe vehicles that are not in the way
1716 3811009 : if ((!MSGlobals::gComputeLC || (ego != nullptr && ego->getLane() == foeLane) || MSGlobals::gSublane)
1717 28412440 : && distToCrossing < -POSITION_EPS && !inTheWay
1718 30078368 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing < -ego->getVehicleType().getLength())) {
1719 129569 : if (gDebugFlag1) {
1720 0 : std::cout << " ego entered conflict area\n";
1721 : }
1722 129569 : continue;
1723 : }
1724 29709136 : if (!MSGlobals::gComputeLC
1725 25858210 : && sameSource
1726 8109322 : && &ego->getLane()->getEdge() == &myInternalLaneBefore->getEdge()
1727 30060594 : && leaderBack + leader->getLength() < ego->getPositionOnLane() - ego->getLength()) {
1728 : // ego is already on the junction and clearly ahead of foe
1729 83771 : if (gDebugFlag1) {
1730 0 : std::cout << " ego ahead of same-source foe\n";
1731 : }
1732 83771 : continue;
1733 : }
1734 :
1735 : // ignore foe vehicles that will not pass
1736 18886952 : if ((!cannotIgnore || leader->isStopped() || sameTarget)
1737 19850367 : && !willPass
1738 2370007 : && (avi.arrivalTime == INVALID_TIME || leader->getSpeed() < SUMO_const_haltingSpeed)
1739 2369735 : && leader->isFrontOnLane(foeLane)
1740 : && !isOpposite
1741 1199414 : && !inTheWay
1742 : // willPass is false if the vehicle is already on the stopping edge
1743 30019703 : && !leader->willStop()) {
1744 477320 : if (gDebugFlag1) {
1745 0 : std::cout << " foe will not pass\n";
1746 : }
1747 477320 : continue;
1748 : }
1749 29064274 : if (leader->isBidiOn(foeLane)) {
1750 : // conflict resolved via forward lane of the foe
1751 1277810 : continue;
1752 : }
1753 : // check whether foe is blocked and might need to change before leaving the junction
1754 27786464 : const bool foeStrategicBlocked = (leader->getLaneChangeModel().isStrategicBlocked() &&
1755 1390592 : leader->getCarFollowModel().brakeGap(leader->getSpeed()) <= foeLane->getLength() - leaderBack);
1756 27786464 : const bool sameInternalEdge = &myInternalLaneBefore->getEdge() == &foeExitLink->getInternalLaneBefore()->getEdge();
1757 :
1758 27786464 : const bool foeLaneIsBidi = myInternalLaneBefore->getBidiLane() == foeLane;
1759 27786464 : if (MSGlobals::gSublane && ego != nullptr && (sameSource || sameTarget || foeLaneIsBidi)
1760 7349704 : && (!foeStrategicBlocked || sameInternalEdge)) {
1761 7223154 : if (ego->getLane() == leader->getLane()) {
1762 153330 : continue;
1763 : }
1764 : // ignore vehicles if not in conflict sublane-wise
1765 7069824 : const double egoLatOffset = isShadowLink ? ego->getLatOffset(ego->getLaneChangeModel().getShadowLane()) : 0;
1766 7069824 : const double posLat = ego->getLateralPositionOnLane() + egoLatOffset;
1767 7069824 : double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1768 7069824 : if (foeLaneIsBidi) {
1769 : // leader is oncoming
1770 431 : posLatLeader = foeLane->getWidth() - posLatLeader;
1771 : }
1772 7069824 : const double latGap = (fabs(posLat - posLatLeader)
1773 7069824 : - 0.5 * (ego->getVehicleType().getWidth() + leader->getVehicleType().getWidth()));
1774 7069824 : const double maneuverDist = leader->getLaneChangeModel().getManeuverDist() * (posLat < posLatLeader ? -1 : 1);
1775 7069824 : if (gDebugFlag1) {
1776 0 : std::cout << " checkIgnore sublaneFoe lane=" << myInternalLaneBefore->getID()
1777 : << " sameSource=" << sameSource
1778 : << " sameTarget=" << sameTarget
1779 : << " foeLaneIsBidi=" << foeLaneIsBidi
1780 : << " foeLane=" << foeLane->getID()
1781 : << " leader=" << leader->getID()
1782 0 : << " egoLane=" << ego->getLane()->getID()
1783 0 : << " leaderLane=" << leader->getLane()->getID()
1784 : << " egoLat=" << posLat
1785 : << " egoLatOffset=" << egoLatOffset
1786 : << " leaderLat=" << posLatLeader
1787 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1788 : << " latGap=" << latGap
1789 : << " maneuverDist=" << maneuverDist
1790 0 : << " computeLC=" << MSGlobals::gComputeLC
1791 0 : << " egoMaxSpeedLat=" << ego->getVehicleType().getMaxSpeedLat()
1792 0 : << "\n";
1793 : }
1794 1714659 : if (latGap > 0 && (latGap > maneuverDist || !sameTarget || !MSGlobals::gComputeLC)
1795 : // do not perform sublane changes that interfere with the leader vehicle
1796 8778222 : && (!MSGlobals::gComputeLC || latGap > ego->getVehicleType().getMaxSpeedLat())) {
1797 1568700 : const MSLink* foeEntryLink = foeLane->getIncomingLanes().front().viaLink;
1798 1568700 : if (sameSource) {
1799 : // for lanes from the same edge, higer index implies a
1800 : // connection further to the left
1801 1269214 : const bool leaderFromRight = (myIndex > foeEntryLink->getIndex());
1802 1269214 : if ((posLat > posLatLeader) == leaderFromRight) {
1803 : // ignore speed since lanes diverge
1804 691539 : if (gDebugFlag1) {
1805 0 : std::cout << " ignored (same source) leaderFromRight=" << leaderFromRight << "\n";
1806 : }
1807 691539 : continue;
1808 : }
1809 299486 : } else if (sameTarget) {
1810 : // for lanes from different edges we cannot rely on the
1811 : // index due to wrap-around issues
1812 299055 : if (myDirection != foeEntryLink->getDirection()) {
1813 293274 : bool leaderFromRight = foeEntryLink->getDirection() < myDirection;
1814 : // leader vehicle should not move towards ego
1815 293274 : if (MSGlobals::gLefthand) {
1816 0 : leaderFromRight = !leaderFromRight;
1817 : }
1818 405493 : if ((posLat > posLatLeader) == leaderFromRight
1819 : // leader should keep lateral position or move away from ego
1820 160268 : && (leader->getLaneChangeModel().getSpeedLat() == 0
1821 47748 : || leaderFromRight == (leader->getLaneChangeModel().getSpeedLat() < latGap))
1822 414639 : && (ego->getLaneChangeModel().getSpeedLat() == 0
1823 16386 : || leaderFromRight == (ego->getLaneChangeModel().getSpeedLat() > -latGap))) {
1824 112219 : if (gDebugFlag1) {
1825 0 : std::cout << " ignored (different source) leaderFromRight=" << leaderFromRight << "\n";
1826 : }
1827 112219 : continue;
1828 : }
1829 : } else {
1830 : // XXX figure out relative direction somehow
1831 : }
1832 : } else {
1833 431 : if (gDebugFlag1) {
1834 0 : std::cout << " ignored oncoming bidi leader\n";
1835 : }
1836 431 : continue;
1837 : }
1838 : }
1839 : }
1840 26828945 : if (leader->getWaitingTime() < MSGlobals::gIgnoreJunctionBlocker) {
1841 : // compute distance between vehicles on the superimposition of both lanes
1842 : // where the crossing point is the common point
1843 : double gap;
1844 : bool fromLeft = true;
1845 26337713 : if (ego == nullptr) {
1846 : // request from pedestrian model. return distance between leaderBack and crossing point
1847 : //std::cout << " foeLane=" << foeLane->getID() << " leaderBack=" << leaderBack << " foeDistToCrossing=" << foeDistToCrossing << " foeLength=" << foeLane->getLength() << " foebehind=" << myConflicts[i].second << " dist=" << dist << " behind=" << myConflicts[i].first << "\n";
1848 111929 : gap = leaderBackDist;
1849 : // distToCrossing should not take into account the with of the foe lane
1850 : // (which was subtracted in setRequestInformation)
1851 : // Instead, the width of the foe vehicle is used directly by the caller.
1852 111929 : distToCrossing += myConflicts[i].conflictSize / 2;
1853 111929 : if (gap + foeCrossingWidth < 0) {
1854 : // leader is completely past the crossing point
1855 : // or there is no crossing point
1856 4674657 : continue; // next vehicle
1857 : }
1858 : // we need to determine whether the vehicle passes the
1859 : // crossing from the left or the right (heuristic)
1860 109788 : fromLeft = foeDistToCrossing > 0.5 * foeLane->getLength();
1861 26225784 : } else if ((contLane && !sameSource && !ignoreIndirectBicycleTurn) || isOpposite) {
1862 1589493 : gap = -std::numeric_limits<double>::max(); // always break for vehicles which are on a continuation lane or for opposite-direction vehicles
1863 : } else {
1864 24636291 : if (pastTheCrossingPoint && !sameTarget) {
1865 : // leader is completely past the crossing point
1866 : // or there is no crossing point
1867 4672437 : if (gDebugFlag1) {
1868 0 : std::cout << " foePastCP ignored\n";
1869 : }
1870 4672437 : continue;
1871 : }
1872 : double leaderBackDist2 = leaderBackDist;
1873 19963854 : if (sameTarget && leaderBackDist2 < 0) {
1874 3071161 : const double mismatch = myConflicts[i].getFoeLengthBehindCrossing(foeExitLink) - myConflicts[i].getLengthBehindCrossing(this);
1875 3071161 : if (mismatch > 0) {
1876 1541716 : leaderBackDist2 += mismatch;
1877 : }
1878 : }
1879 19963854 : if (gDebugFlag1) {
1880 : std::cout << " distToCrossing=" << distToCrossing << " leaderBack=" << leaderBack
1881 : << " backDist=" << leaderBackDist
1882 : << " backDist2=" << leaderBackDist2
1883 0 : << " blockedStrategic=" << leader->getLaneChangeModel().isStrategicBlocked()
1884 0 : << "\n";
1885 : }
1886 19963854 : gap = distToCrossing - ego->getVehicleType().getMinGap() - leaderBackDist2 - foeCrossingWidth;
1887 : }
1888 : // if the foe is already moving off the intersection, we may
1889 : // advance up to the crossing point unless we have the same target or same source
1890 : // (for sameSource, the crossing point indicates the point of divergence)
1891 25329984 : const bool stopAsap = ((leader->isFrontOnLane(foeLane) ? cannotIgnore : (sameTarget || sameSource))
1892 22214195 : || (ego != nullptr && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ADVANCE, 1.0) == 0.0));
1893 21663135 : if (gDebugFlag1) {
1894 0 : std::cout << " leader=" << leader->getID() << " contLane=" << contLane << " cannotIgnore=" << cannotIgnore << " stopAsap=" << stopAsap << " gap=" << gap << "\n";
1895 : }
1896 21663135 : if (ignoreFoe(ego, leader)) {
1897 79 : continue;
1898 : }
1899 21663056 : const int llFlags = ((fromLeft ? LL_FROM_LEFT : 0) |
1900 21663056 : (inTheWay ? LL_IN_THE_WAY : 0) |
1901 21663056 : (sameSource ? LL_SAME_SOURCE : 0) |
1902 21663056 : (sameTarget ? LL_SAME_TARGET : 0));
1903 28666690 : result.emplace_back(leader, gap, stopAsap ? -1 : distToCrossing, llFlags, leader->getLatOffset(foeLane));
1904 : }
1905 :
1906 : }
1907 383573641 : if (ego != nullptr && MSNet::getInstance()->hasPersons()) {
1908 : // check for crossing pedestrians (keep driving if already on top of the crossing
1909 8727499 : const double distToPeds = distToCrossing - ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP);
1910 8727499 : const double vehWidth = ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP; // + configurable safety gap
1911 : /// @todo consider lateral position (depending on whether the crossing is encountered on the way in or out)
1912 : // @check lefthand?!
1913 8727499 : const bool wayIn = myConflicts[i].lengthBehindCrossing < myLaneBefore->getLength() * 0.5;
1914 8727499 : const double vehCenter = (foeDistToCrossing + myLaneBefore->getWidth() * 0.5
1915 8727499 : + ego->getLateralPositionOnLane() * (wayIn ? -1 : 1));
1916 : // can access the movement model here since we already checked for existing persons above
1917 16971611 : if (distToPeds >= -MSPModel::SAFETY_GAP && MSNet::getInstance()->getPersonControl().getMovementModel()->blockedAtDist(ego, foeLane, vehCenter, vehWidth,
1918 8244112 : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_CROSSING_GAP, JM_CROSSING_GAP_DEFAULT),
1919 : collectBlockers)) {
1920 519407 : result.emplace_back(nullptr, -1, distToPeds);
1921 8208092 : } else if (foeLane->isCrossing() && ego->getLane()->isInternal() && ego->getLane()->getEdge().getToJunction() == myJunction) {
1922 147025 : const MSLink* crossingLink = foeLane->getIncomingLanes()[0].viaLink;
1923 147025 : if (distToCrossing > 0 && crossingLink->havePriority() && crossingLink->myApproachingPersons != nullptr) {
1924 : // a person might step on the crossing at any moment, since ego
1925 : // is already on the junction, the opened() check is not done anymore
1926 26437 : const double timeToEnterCrossing = distToCrossing / MAX2(ego->getSpeed(), 1.0);
1927 31748 : for (const auto& item : (*crossingLink->myApproachingPersons)) {
1928 6875 : if (!ignoreFoe(ego, item.first) && timeToEnterCrossing > STEPS2TIME(item.second.arrivalTime - SIMSTEP)) {
1929 1564 : if (gDebugFlag1) {
1930 0 : std::cout << SIMTIME << ": " << ego->getID() << " breaking for approaching person " << item.first->getID()
1931 : //<< " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1932 0 : << "\n";
1933 : }
1934 1564 : result.emplace_back(nullptr, -1, distToPeds);
1935 1564 : break;
1936 : //} else {
1937 : // if (gDebugFlag1) {
1938 : // std::cout << SIMTIME << ": " << ego->getID() << " notBreaking for approaching person " << item.first->getID()
1939 : // << " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1940 : // << "\n";
1941 : // }
1942 : }
1943 : }
1944 : }
1945 : }
1946 : }
1947 : }
1948 :
1949 : //std::cout << SIMTIME << " ego=" << Named::getIDSecure(ego) << " link=" << getViaLaneOrLane()->getID() << " myWalkingAreaFoe=" << Named::getIDSecure(myWalkingAreaFoe) << "\n";
1950 290252616 : if (ego != nullptr) {
1951 289311431 : checkWalkingAreaFoe(ego, myWalkingAreaFoe, collectBlockers, result);
1952 289311431 : checkWalkingAreaFoe(ego, myWalkingAreaFoeExit, collectBlockers, result);
1953 : }
1954 :
1955 290252616 : if (MSGlobals::gLateralResolution > 0 && ego != nullptr && !isShadowLink) {
1956 : // check for foes on the same edge
1957 71930219 : for (std::vector<MSLane*>::const_iterator it = mySublaneFoeLanes.begin(); it != mySublaneFoeLanes.end(); ++it) {
1958 5998977 : const MSLane* foeLane = *it;
1959 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1960 4172956 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1961 4172956 : MSVehicle* leader = (MSVehicle*)*it_veh;
1962 4172956 : if (leader == ego) {
1963 2440217 : continue;
1964 : }
1965 3536146 : if (leader->getLane()->isNormal()) {
1966 : // leader is past the conflict point
1967 1352589 : continue;
1968 : }
1969 2183557 : const double maxLength = MAX2(myInternalLaneBefore->getLength(), foeLane->getLength());
1970 2183557 : const double gap = dist - maxLength - ego->getVehicleType().getMinGap() + leader->getBackPositionOnLane(foeLane) - extraGap;
1971 2183557 : if (gap < -(ego->getVehicleType().getMinGap() + leader->getLength())) {
1972 : // ego is ahead of leader
1973 450818 : continue;
1974 : }
1975 1732739 : const double posLat = ego->getLateralPositionOnLane();
1976 1732739 : const double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1977 1732739 : if (gDebugFlag1) {
1978 0 : std::cout << " sublaneFoe lane=" << myInternalLaneBefore->getID()
1979 : << " foeLane=" << foeLane->getID()
1980 : << " leader=" << leader->getID()
1981 0 : << " egoLane=" << ego->getLane()->getID()
1982 0 : << " leaderLane=" << leader->getLane()->getID()
1983 : << " gap=" << gap
1984 : << " egoLat=" << posLat
1985 : << " leaderLat=" << posLatLeader
1986 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1987 0 : << " egoIndex=" << myInternalLaneBefore->getIndex()
1988 0 : << " foeIndex=" << foeLane->getIndex()
1989 0 : << " dist=" << dist
1990 0 : << " leaderBack=" << leader->getBackPositionOnLane(foeLane)
1991 0 : << "\n";
1992 : }
1993 : // there only is a conflict if the paths cross
1994 695860 : if ((posLat < posLatLeader && myInternalLaneBefore->getIndex() > foeLane->getIndex())
1995 2060630 : || (posLat > posLatLeader && myInternalLaneBefore->getIndex() < foeLane->getIndex())) {
1996 796679 : if (gDebugFlag1) {
1997 0 : std::cout << SIMTIME << " blocked by " << leader->getID() << " (sublane split) foeLane=" << foeLane->getID() << "\n";
1998 : }
1999 796679 : if (ignoreFoe(ego, leader)) {
2000 0 : continue;
2001 : }
2002 796679 : result.emplace_back(leader, gap, -1);
2003 : }
2004 : }
2005 : }
2006 : }
2007 : return result;
2008 3 : }
2009 :
2010 :
2011 : void
2012 578622862 : MSLink::checkWalkingAreaFoe(const MSVehicle* ego, const MSLane* foeLane, std::vector<const MSPerson*>* collectBlockers, LinkLeaders& result) const {
2013 578622862 : if (foeLane != nullptr && foeLane->getEdge().getPersons().size() > 0) {
2014 : // pedestrians may be on an arbitrary path across this
2015 : // walkingarea. make sure to keep enough distance.
2016 : // This is a simple but conservative solution that could be improved
2017 : // by ignoring pedestrians that are "obviously" not on a collision course
2018 125722 : double distToPeds = std::numeric_limits<double>::max();
2019 : assert(myInternalLaneBefore != nullptr);
2020 125722 : PositionVector egoPath = myInternalLaneBefore->getShape();
2021 125722 : if (ego->getLateralPositionOnLane() != 0) {
2022 107434 : egoPath.move2side((MSGlobals::gLefthand ? 1 : -1) * ego->getLateralPositionOnLane());
2023 : }
2024 959871 : for (MSTransportable* t : foeLane->getEdge().getPersons()) {
2025 834149 : MSPerson* p = static_cast<MSPerson*>(t);
2026 834149 : double dist = ego->getPosition().distanceTo2D(p->getPosition()) - p->getVehicleType().getLength();
2027 834149 : const bool inFront = isInFront(ego, egoPath, p->getPosition()) || isInFront(ego, egoPath, getFuturePosition(p));
2028 : if (inFront) {
2029 305944 : dist -= MAX2(ego->getVehicleType().getMinGap(), MSPModel::SAFETY_GAP);
2030 : }
2031 : #ifdef DEBUG_WALKINGAREA
2032 : if (ego->isSelected()) {
2033 : std::cout << SIMTIME << " veh=" << ego->getID() << " ped=" << p->getID()
2034 : << " pos=" << ego->getPosition() << " pedPos=" << p->getPosition()
2035 : << " futurePedPos=" << getFuturePosition(p)
2036 : << " rawDist=" << ego->getPosition().distanceTo2D(p->getPosition())
2037 : << " inFront=" << inFront
2038 : << " dist=" << dist << "\n";
2039 : }
2040 : #endif
2041 834149 : if (dist < ego->getVehicleType().getWidth() / 2 || inFront) {
2042 153263 : if (inFront) {
2043 152972 : const double oncomingFactor = isOnComingPed(ego, p);
2044 152972 : if (oncomingFactor > 0) {
2045 : // account for pedestrian movement while closing in
2046 53953 : const double timeToStop = sqrt(dist) / 2;
2047 53953 : const double pedDist = p->getMaxSpeed() * MAX2(timeToStop, TS) * oncomingFactor;
2048 53953 : dist = MAX2(0.0, dist - pedDist);
2049 : #ifdef DEBUG_WALKINGAREA
2050 : if (ego->isSelected()) {
2051 : std::cout << " timeToStop=" << timeToStop << " pedDist=" << pedDist << " factor=" << oncomingFactor << " dist2=" << dist << "\n";
2052 : }
2053 : #endif
2054 : }
2055 : }
2056 153263 : if (ignoreFoe(ego, p)) {
2057 25237 : continue;
2058 : }
2059 128026 : distToPeds = MIN2(distToPeds, dist);
2060 128026 : if (collectBlockers != nullptr) {
2061 0 : collectBlockers->push_back(p);
2062 : }
2063 : }
2064 : }
2065 125722 : if (distToPeds != std::numeric_limits<double>::max()) {
2066 : // leave extra space in front
2067 87106 : result.emplace_back(nullptr, -1, distToPeds);
2068 : }
2069 125722 : }
2070 578622862 : }
2071 :
2072 : bool
2073 1531703 : MSLink::isInFront(const MSVehicle* ego, const PositionVector& egoPath, const Position& pPos) const {
2074 1531703 : const double pedAngle = ego->getPosition().angleTo2D(pPos);
2075 1531703 : const double angleDiff = fabs(GeomHelper::angleDiff(ego->getAngle(), pedAngle));
2076 : #ifdef DEBUG_WALKINGAREA
2077 : if (ego->isSelected()) {
2078 : std::cout << " angleDiff=" << RAD2DEG(angleDiff) << "\n";
2079 : }
2080 : #endif
2081 1531703 : if (angleDiff < DEG2RAD(75)) {
2082 1082850 : return egoPath.distance2D(pPos) < ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP;
2083 : }
2084 : return false;
2085 : }
2086 :
2087 :
2088 : double
2089 152972 : MSLink::isOnComingPed(const MSVehicle* ego, const MSPerson* p) const {
2090 152972 : const double pedToEgoAngle = p->getPosition().angleTo2D(ego->getPosition());
2091 152972 : const double angleDiff = fabs(GeomHelper::angleDiff(p->getAngle(), pedToEgoAngle));
2092 : #ifdef DEBUG_WALKINGAREA
2093 : if (ego->isSelected()) {
2094 : std::cout << " ped-angleDiff=" << RAD2DEG(angleDiff) << " res=" << cos(angleDiff) << "\n";
2095 : }
2096 : #endif
2097 152972 : if (angleDiff <= DEG2RAD(90)) {
2098 : ;
2099 53953 : return cos(angleDiff);
2100 : } else {
2101 : return 0;
2102 : }
2103 : }
2104 :
2105 :
2106 : Position
2107 697554 : MSLink::getFuturePosition(const MSPerson* p, double timeHorizon) const {
2108 697554 : const double a = p->getAngle();
2109 697554 : const double dist = timeHorizon * p->getMaxSpeed();
2110 :
2111 697554 : const Position offset(cos(a) * dist, sin(a) * dist);
2112 697554 : return p->getPosition() + offset;
2113 : }
2114 :
2115 :
2116 : MSLink*
2117 10495238 : MSLink::getParallelLink(int direction) const {
2118 10495238 : if (direction == -1) {
2119 4028692 : return myParallelRight;
2120 6466546 : } else if (direction == 1) {
2121 5784573 : return myParallelLeft;
2122 : } else {
2123 : assert(false || myLane->getOpposite() != nullptr || MSGlobals::gComputeLC);
2124 : return nullptr;
2125 : }
2126 : }
2127 :
2128 : MSLink*
2129 169638 : MSLink::getOppositeDirectionLink() const {
2130 169638 : if (myLane->getOpposite() != nullptr && myLaneBefore->getOpposite() != nullptr) {
2131 42686 : for (MSLink* cand : myLane->getOpposite()->getLinkCont()) {
2132 39514 : if (cand->getLane() == myLaneBefore->getOpposite()) {
2133 : return cand;
2134 : }
2135 : }
2136 : }
2137 : return nullptr;
2138 : }
2139 :
2140 :
2141 : MSLink*
2142 5859876 : MSLink::computeParallelLink(int direction) {
2143 5859876 : const MSLane* const before = getLaneBefore()->getParallelLane(direction, false);
2144 5859876 : const MSLane* const after = getLane()->getParallelLane(direction, false);
2145 5859876 : if (before != nullptr && after != nullptr) {
2146 995139 : for (MSLink* const link : before->getLinkCont()) {
2147 657017 : if (link->getLane() == after) {
2148 : return link;
2149 : }
2150 : }
2151 : }
2152 : return nullptr;
2153 : }
2154 :
2155 :
2156 : double
2157 1327198 : MSLink::getZipperSpeed(const MSVehicle* ego, const double dist, double vSafe,
2158 : SUMOTime arrivalTime,
2159 : const BlockingFoes* foes) const {
2160 1327198 : if (myFoeLinks.size() == 0) {
2161 : // link should have LINKSTATE_MAJOR in this case
2162 : assert(false);
2163 : return vSafe;
2164 : }
2165 1327198 : const double brakeGap = ego->getCarFollowModel().brakeGap(vSafe, ego->getCarFollowModel().getMaxDecel(), TS);
2166 1442573 : if (dist > MAX2(myFoeVisibilityDistance, brakeGap)) {
2167 : #ifdef DEBUG_ZIPPER
2168 : const SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2169 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2170 : << " dist=" << dist << " bGap=" << brakeGap << " ignoring foes (arrival in " << STEPS2TIME(arrivalTime - now) << ")\n")
2171 : #endif
2172 : return vSafe;
2173 : }
2174 : #ifdef DEBUG_ZIPPER
2175 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2176 : << " egoAT=" << arrivalTime
2177 : << " dist=" << dist
2178 : << " brakeGap=" << brakeGap
2179 : << " vSafe=" << vSafe
2180 : << " numFoes=" << foes->size()
2181 : << "\n")
2182 : #endif
2183 : const bool uniqueFoeLink = myFoeLinks.size() == 1;
2184 496173 : MSLink* foeLink = myFoeLinks[0];
2185 2597487 : for (const auto& item : *foes) {
2186 2101314 : if (!item->isVehicle()) {
2187 0 : continue;
2188 : }
2189 2101314 : const MSVehicle* foe = dynamic_cast<const MSVehicle*>(item);
2190 : assert(foe != 0);
2191 : const ApproachingVehicleInformation* aviPtr = nullptr;
2192 2101314 : if (uniqueFoeLink) {
2193 1396081 : aviPtr = foeLink->getApproachingPtr(foe);
2194 : } else {
2195 : // figure out which link is approached by the current foe
2196 1067476 : for (MSLink* fl : myFoeLinks) {
2197 1067476 : aviPtr = fl->getApproachingPtr(foe);
2198 1067476 : if (aviPtr != nullptr) {
2199 : break;
2200 : }
2201 : }
2202 : }
2203 2101314 : if (aviPtr == nullptr) {
2204 0 : continue;
2205 : }
2206 : const ApproachingVehicleInformation& avi = *aviPtr;
2207 2101314 : const double foeDist = (foe->isActive() ? avi.dist : MAX2(0.0, avi.dist -
2208 36 : STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - foe->getLastActionTime()) * avi.speed));
2209 :
2210 1428338 : if ( // ignore vehicles that arrive after us (unless they are ahead and we could easily brake for them)
2211 2202076 : ((avi.arrivalTime > arrivalTime) && !couldBrakeForLeader(dist, foeDist, ego, foe)) ||
2212 : // also ignore vehicles that are behind us and are able to brake for us
2213 2202076 : couldBrakeForLeader(foeDist, dist, foe, ego) ||
2214 : // resolve ties by lane index
2215 672984 : (avi.arrivalTime == arrivalTime && foeDist == dist && ego->getLane()->getIndex() < foe->getLane()->getIndex())) {
2216 : #ifdef DEBUG_ZIPPER
2217 : if (DEBUG_COND_ZIPPER) std::cout
2218 : << " ignoring foe=" << foe->getID()
2219 : << " foeAT=" << avi.arrivalTime
2220 : << " foeDist=" << avi.dist
2221 : << " foeDist2=" << foeDist
2222 : << " foeSpeed=" << avi.speed
2223 : << " egoSpeed=" << ego->getSpeed()
2224 : << " deltaDist=" << foeDist - dist
2225 : << " delteSpeed=" << avi.speed - foe->getCarFollowModel().getMaxDecel() - ego->getSpeed()
2226 : << " egoCouldBrake=" << couldBrakeForLeader(dist, foeDist, ego, foe)
2227 : << " foeCouldBrake=" << couldBrakeForLeader(foeDist, dist, foe, ego)
2228 : << "\n";
2229 : #endif
2230 1428338 : continue;
2231 : }
2232 : // the idea behind speed adaption is three-fold:
2233 : // 1) ego needs to be in a car-following relationship with foe eventually
2234 : // thus, the ego speed should be equal to the follow speed once the foe enters
2235 : // the zipper junction
2236 : // 2) ego vehicle needs to put a certain distance beteen himself and foe (safeGap)
2237 : // achieving this distance can be spread over time but computing
2238 : // safeGap is subject to estimation errors of future speeds
2239 : // 3) deceleration can be spread out over the time until true
2240 : // car-following happens, at the start of speed adaptions, smaller
2241 : // decelerations should be sufficient
2242 :
2243 : // we cannot trust avi.arrivalSpeed if the foe has leader vehicles that are accelerating
2244 : // lets try to extrapolate
2245 672976 : const double uMax = foe->getLane()->getVehicleMaxSpeed(foe);
2246 672976 : const double uAccel = foe->getCarFollowModel().estimateSpeedAfterDistance(foeDist, avi.speed, foe->getCarFollowModel().getMaxAccel());
2247 : const double uEnd = MIN2(uMax, uAccel);
2248 672976 : const double uAvg = (avi.speed + uEnd) / 2;
2249 672976 : const double tf0 = foeDist / MAX2(NUMERICAL_EPS, uAvg);
2250 672976 : const double tf = MAX2(1.0, ceil((tf0) / TS) * TS);
2251 :
2252 672976 : const double vMax = ego->getLane()->getVehicleMaxSpeed(ego);
2253 672976 : const double vAccel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), ego->getCarFollowModel().getMaxAccel());
2254 672976 : const double vDecel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), -ego->getCarFollowModel().getMaxDecel());
2255 : const double vEnd = MIN3(vMax, vAccel, MAX2(uEnd, vDecel));
2256 672976 : const double vAvg = (ego->getSpeed() + vEnd) / 2;
2257 672976 : const double te0 = dist / MAX2(NUMERICAL_EPS, vAvg);
2258 672976 : const double te = MAX2(1.0, ceil((te0) / TS) * TS);
2259 :
2260 672976 : const double tTarget = tf + ego->getCarFollowModel().getHeadwayTime();
2261 672976 : const double a = ego->getCarFollowModel().avoidArrivalAccel(dist, tTarget, vSafe, ego->getCarFollowModel().getMaxDecel());
2262 :
2263 672976 : const double gap = dist - foe->getVehicleType().getLength() - ego->getVehicleType().getMinGap() - foeDist;
2264 672976 : const double vFollow = ego->getCarFollowModel().followSpeed(
2265 672976 : ego, ego->getSpeed(), gap, avi.speed, foe->getCarFollowModel().getMaxDecel(), foe);
2266 672976 : const double vSafeGap = MAX2(vFollow, ego->getSpeed() + ACCEL2SPEED(a));
2267 :
2268 : // scale behavior based on ego time to link (te)
2269 672976 : const double w = MIN2(1.0, te / 10);
2270 672976 : const double maxDecel = w * ego->getCarFollowModel().getMaxDecel() + (1 - w) * ego->getCarFollowModel().getEmergencyDecel();
2271 672976 : const double vZipper = MAX3(vFollow, ego->getSpeed() - ACCEL2SPEED(maxDecel), vSafeGap);
2272 :
2273 : vSafe = MIN2(vSafe, vZipper);
2274 : #ifdef DEBUG_ZIPPER
2275 : if (DEBUG_COND_ZIPPER) std::cout << " adapting to foe=" << foe->getID()
2276 : << " foeDist=" << foeDist
2277 : << " foeSpeed=" << avi.speed
2278 : << " foeAS=" << avi.arrivalSpeed
2279 : << " egoSpeed=" << ego->getSpeed()
2280 : << " uMax=" << uMax
2281 : << " uAccel=" << uAccel
2282 : << " uEnd=" << uEnd
2283 : << " uAvg=" << uAvg
2284 : << " gap=" << gap
2285 : << "\n "
2286 : << " tf=" << tf
2287 : << " te=" << te
2288 : << " aSafeGap=" << a
2289 : << " vMax=" << vMax
2290 : << " vAccel=" << vAccel
2291 : << " vDecel=" << vDecel
2292 : << " vEnd=" << vEnd
2293 : << " vSafeGap=" << vSafeGap
2294 : << " vFollow=" << vFollow
2295 : << " w=" << w
2296 : << " maxDecel=" << maxDecel
2297 : << " vZipper=" << vZipper
2298 : << " vSafe=" << vSafe
2299 : << "\n";
2300 : #endif
2301 : }
2302 : return vSafe;
2303 : }
2304 :
2305 :
2306 : bool
2307 2202076 : MSLink::couldBrakeForLeader(double followDist, double leaderDist, const MSVehicle* follow, const MSVehicle* leader) {
2308 : return (// leader is ahead of follower
2309 2202076 : followDist > leaderDist &&
2310 : // and follower could brake for 1 s to stay behind leader
2311 397310 : followDist - leaderDist > follow->getSpeed() - follow->getCarFollowModel().getMaxDecel() - leader->getSpeed());
2312 : }
2313 :
2314 :
2315 : void
2316 2929938 : MSLink::initParallelLinks() {
2317 2929938 : myParallelRight = computeParallelLink(-1);
2318 2929938 : myParallelLeft = computeParallelLink(1);
2319 2929938 : }
2320 :
2321 : bool
2322 73418 : MSLink::checkContOff() const {
2323 : // check whether this link gets to keep its cont status switching the tls off
2324 : // @note: this could also be pre-computed in netconvert
2325 : // we check whether there is any major link from this edge
2326 218884 : for (const MSLane* cand : myLaneBefore->getEdge().getLanes()) {
2327 433583 : for (const MSLink* link : cand->getLinkCont()) {
2328 288117 : if (link->getOffState() == LINKSTATE_TL_OFF_NOSIGNAL) {
2329 : return true;
2330 : }
2331 : }
2332 : }
2333 : return false;
2334 : }
2335 :
2336 : bool
2337 4347155 : MSLink::lateralOverlap(double posLat, double width, double posLat2, double width2) {
2338 4347155 : return fabs(posLat2 - posLat) < (width + width2) / 2;
2339 : }
2340 :
2341 : std::string
2342 0 : MSLink::getDescription() const {
2343 0 : return myLaneBefore->getID() + "->" + getViaLaneOrLane()->getID();
2344 : }
2345 :
2346 :
2347 : bool
2348 188333363 : MSLink::ignoreFoe(const SUMOTrafficObject* ego, const SUMOTrafficObject* foe) {
2349 188333363 : if (ego == nullptr || !ego->getParameter().wasSet(VEHPARS_JUNCTIONMODEL_PARAMS_SET)) {
2350 188300924 : return false;
2351 : }
2352 32439 : const SUMOVehicleParameter& param = ego->getParameter();
2353 71050 : for (const std::string& typeID : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_TYPES), "")).getVector()) {
2354 31537 : if (typeID == foe->getVehicleType().getID()) {
2355 : return true;
2356 : }
2357 32439 : }
2358 16136 : for (const std::string& id : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_IDS), "")).getVector()) {
2359 2291 : if (id == foe->getID()) {
2360 : return true;
2361 : }
2362 7074 : }
2363 6771 : return false;
2364 : }
2365 :
2366 :
2367 : void
2368 112041 : MSLink::updateDistToFoePedCrossing(double dist) {
2369 112041 : myDistToFoePedCrossing = MIN2(myDistToFoePedCrossing, dist);
2370 112041 : }
2371 :
2372 :
2373 : std::pair<const SUMOVehicle* const, const MSLink::ApproachingVehicleInformation>
2374 8917927 : MSLink::getClosest() const {
2375 : assert(getApproaching().size() > 0);
2376 : double minDist = std::numeric_limits<double>::max();
2377 : auto closestIt = getApproaching().begin();
2378 17836478 : for (auto apprIt = getApproaching().begin(); apprIt != getApproaching().end(); apprIt++) {
2379 8918551 : if (apprIt->second.dist < minDist) {
2380 : minDist = apprIt->second.dist;
2381 : closestIt = apprIt;
2382 : }
2383 : }
2384 : // maybe a parallel link has a closer vehicle
2385 : /*
2386 : for (MSLink* link2 : link->getLaneBefore()->getLinkCont()) {
2387 : if (link2 != link) {
2388 : for (auto apprIt2 = link2->getApproaching().begin(); apprIt2 != link2->getApproaching().end(); apprIt2++) {
2389 : if (apprIt2->second.dist < minDist) {
2390 : minDist = apprIt2->second.dist;
2391 : closestIt = apprIt2;
2392 : }
2393 : }
2394 : }
2395 : }
2396 : */
2397 8917927 : return *closestIt;
2398 : }
2399 :
2400 :
2401 : bool
2402 472333 : MSLink::railSignalWasPassed() const {
2403 472333 : if (myJunction != nullptr && myJunction->getType() == SumoXMLNodeType::RAIL_SIGNAL) {
2404 2006 : for (const auto& item : myApproachingVehicles) {
2405 9 : if (item.second.dist < SPEED2DIST(item.first->getSpeed())) {
2406 : return true;
2407 : }
2408 : }
2409 : }
2410 : return false;
2411 : }
2412 :
2413 : /****************************************************************************/
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