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 442402933 : MSLink::ConflictInfo::getFoeLengthBehindCrossing(const MSLink* foeExitLink) const {
84 442402933 : if (flag == CONFLICT_DUMMY_MERGE) {
85 : return 0;
86 432792496 : } else if (foeConflictIndex >= 0) {
87 415685474 : return foeExitLink->myConflicts[foeConflictIndex].lengthBehindCrossing;
88 : } else {
89 : return -NO_INTERSECTION;
90 : }
91 : }
92 :
93 : double
94 229074216 : MSLink::ConflictInfo::getFoeConflictSize(const MSLink* foeExitLink) const {
95 229074216 : if (foeConflictIndex >= 0) {
96 212036386 : return foeExitLink->myConflicts[foeConflictIndex].conflictSize;
97 : } else {
98 : return 0;
99 : }
100 : }
101 :
102 : double
103 442534035 : MSLink::ConflictInfo::getLengthBehindCrossing(const MSLink* exitLink) const {
104 442534035 : if (flag == CONFLICT_STOP_AT_INTERNAL_JUNCTION) {
105 17268868 : return exitLink->getInternalLaneBefore()->getLength();
106 : } else {
107 425265167 : return lengthBehindCrossing;
108 : }
109 : }
110 :
111 : // ===========================================================================
112 : // member method definitions
113 : // ===========================================================================
114 2643121 : 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 2643121 : bool indirect) :
118 2643121 : myLane(succLane),
119 2643121 : myLaneBefore(predLane),
120 2643121 : myApproachingPersons(nullptr),
121 2643121 : myIndex(-1),
122 2643121 : myTLIndex(tlIndex),
123 2643121 : myLogic(logic),
124 2643121 : myState(state),
125 2643121 : myLastGreenState(LINKSTATE_TL_GREEN_MINOR),
126 2643121 : myOffState(state),
127 2643121 : myLastStateChange(SUMOTime_MIN / 2), // a large negative value, but avoid overflows when subtracting
128 2643121 : myDirection(dir),
129 2643121 : myLength(length),
130 2643121 : myFoeVisibilityDistance(foeVisibilityDistance),
131 2643121 : myDistToFoePedCrossing(std::numeric_limits<double>::max()),
132 2643121 : myHasFoes(false),
133 2643121 : myAmCont(false),
134 2643121 : myAmContOff(false),
135 2643121 : myKeepClear(keepClear),
136 2643121 : myInternalLane(via),
137 2643121 : myInternalLaneBefore(nullptr),
138 2643121 : myMesoTLSPenalty(0),
139 2643121 : myGreenFraction(1),
140 2643121 : myLateralShift(0),
141 2643121 : myOffFoeLinks(nullptr),
142 2643121 : myWalkingAreaFoe(nullptr),
143 2643121 : myWalkingAreaFoeExit(nullptr),
144 2643121 : myHavePedestrianCrossingFoe(false),
145 2643121 : myParallelRight(nullptr),
146 2643121 : myParallelLeft(nullptr),
147 2643121 : myAmIndirect(indirect),
148 2643121 : myRadius(std::numeric_limits<double>::max()),
149 2643121 : myPermissions(myLaneBefore->getPermissions() & myLane->getPermissions() & (via == nullptr ? SVCAll : via->getPermissions())),
150 2643121 : myJunction(nullptr) {
151 :
152 2643121 : 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 201876 : if ((myInternalLane != nullptr || predLane->isInternal())
156 502209 : && 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 2643121 : }
173 :
174 :
175 2618632 : MSLink::~MSLink() {
176 2618632 : delete myOffFoeLinks;
177 2619981 : delete myApproachingPersons;
178 2618632 : }
179 :
180 :
181 : void
182 4 : MSLink::addCustomConflict(const MSLane* from, const MSLane* to, double startPos, double endPos) {
183 4 : myCustomConflicts.push_back(CustomConflict(from, to, startPos, endPos));
184 4 : }
185 :
186 : const MSLink::CustomConflict*
187 3149928 : MSLink::getCustomConflict(const MSLane* foeLane) const {
188 3149928 : if (myCustomConflicts.size() > 0) {
189 16 : const MSLane* foeFrom = foeLane->getNormalPredecessorLane();
190 16 : const MSLane* foeTo = foeLane->getNormalSuccessorLane();
191 24 : for (const CustomConflict& cc : myCustomConflicts) {
192 16 : if (cc.from == foeFrom && cc.to == foeTo) {
193 : return &cc;
194 : }
195 : }
196 :
197 : }
198 : return nullptr;
199 : }
200 :
201 : void
202 2396995 : 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 2396995 : myIndex = index;
212 2396995 : myHasFoes = hasFoes;
213 2396995 : myAmCont = isCont && MSGlobals::gUsingInternalLanes;
214 2396995 : myFoeLinks = foeLinks;
215 8216446 : for (MSLane* foeLane : foeLanes) {
216 : // cannot assign vector due to const-ness
217 5819451 : myFoeLanes.push_back(foeLane);
218 : }
219 2396995 : myJunction = const_cast<MSJunction*>(myLane->getEdge().getFromJunction()); // junctionGraph is initialized after the whole network is loaded
220 2396995 : myAmContOff = isCont && myLogic != nullptr && internalLaneBefore == nullptr && checkContOff();
221 2396995 : 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 2396995 : const MSLink* entryLink = getCorrespondingEntryLink();
232 2396995 : 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 5470 : myOffFoeLinks = new std::vector<MSLink*>();
236 5470 : if (isEntryLink()) {
237 14776 : for (MSLane* foeLane : foeLanes) {
238 : assert(foeLane->isInternal() || foeLane->isCrossing());
239 12388 : MSLink* viaLink = foeLane->getIncomingLanes().front().viaLink;
240 12388 : if (viaLink->getLaneBefore()->isNormal()) {
241 7476 : 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 2396995 : if (lane != nullptr) {
250 822483 : const bool beforeInternalJunction = lane->getLinkCont()[0]->getViaLaneOrLane()->getEdge().isInternal();
251 822483 : if (lane->getIncomingLanes().size() != 1) {
252 0 : throw ProcessError(TLF("Internal lane '%' has % predecessors", lane->getID(), toString(lane->getIncomingLanes().size())));
253 : }
254 822483 : const MSLink* junctionEntryLink = lane->getEntryLink();
255 822483 : const bool isSecondPart = isExitLinkAfterInternalJunction();
256 : // compute crossing points
257 4112087 : for (const MSLane* foeLane : myFoeLanes) {
258 3289604 : const CustomConflict* cc = junctionEntryLink != nullptr ? junctionEntryLink->getCustomConflict(foeLane) : nullptr;
259 3149920 : if (cc != nullptr) {
260 : // handle custom conflict definition
261 8 : double startPos = cc->startPos;
262 8 : const double conflictSize = cc->endPos - cc->startPos;
263 8 : 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 8 : const CustomConflict* rcc = foeLane->getEntryLink()->getCustomConflict(lane);
275 : bool haveIntersection = false;
276 8 : if (rcc == nullptr) {
277 : // a)
278 8 : 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 8 : if (haveIntersection) {
292 4 : myConflicts.push_back(ConflictInfo(lane->getLength() - startPos, conflictSize));
293 : } else {
294 4 : 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 8 : continue;
304 8 : }
305 3289596 : myHavePedestrianCrossingFoe = myHavePedestrianCrossingFoe || foeLane->isCrossing();
306 3289596 : const bool sameTarget = myLane == foeLane->getLinkCont()[0]->getLane();
307 3289596 : 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 1074730 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + foeLane->getWidth()));
311 1074730 : if (lane->getShape().back().distanceTo2D(foeLane->getShape().back()) >= minDist) {
312 : // account for lateral shift by the entry links
313 98302 : if (foeLane->getEntryLink()->isIndirect()) {
314 29 : 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 98273 : 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 976428 : const double distAfterDivergence = computeDistToDivergence(lane, foeLane, minDist, false);
326 : const double lbcLane = lane->interpolateGeometryPosToLanePos(distAfterDivergence);
327 976428 : 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 2214866 : 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 2214866 : if (intersections1.size() == 0) {
344 1147603 : intersections1.push_back(-NO_INTERSECTION); // disregard this foe (using maxdouble leads to nasty problems down the line)
345 : haveIntersection = false;
346 1067263 : } else if (intersections1.size() > 1) {
347 1154 : std::sort(intersections1.begin(), intersections1.end());
348 : }
349 2214866 : 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 2214866 : if (intersections2.size() == 0) {
354 1147603 : intersections2.push_back(0);
355 1067263 : } else if (intersections2.size() > 1) {
356 1154 : 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 2214866 : if (!haveIntersection && foeLane->getLinkCont()[0]->getViaLane() != nullptr) {
361 207043 : const Position waitPos = foeLane->getShape().back();
362 207043 : const double dist = lane->getShape().distance2D(waitPos, true);
363 207043 : if (dist != GeomHelper::INVALID_OFFSET && dist < lane->getWidth() / 2) {
364 : // risk of collision
365 : intersections1.clear();
366 : intersections2.clear();
367 23978 : intersections1.push_back(lane->getShape().nearest_offset_to_point2D(waitPos));
368 23978 : 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 2190888 : if (haveIntersection) {
379 : flag = CONFLICT_DEFAULT;
380 1091241 : const double angle1 = GeomHelper::naviDegree(lane->getShape().rotationAtOffset(intersections1.back()));
381 1091241 : const double angle2 = GeomHelper::naviDegree(foeLane->getShape().rotationAtOffset(intersections2.back()));
382 1091241 : const double angleDiff = GeomHelper::getMinAngleDiff(angle1, angle2);
383 : //const double angleDiff = MIN2(GeomHelper::getMinAngleDiff(angle1, angle2),
384 : // GeomHelper::getMinAngleDiff(angle1, angle2 + 180));
385 1091241 : 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 1091241 : conflictSize *= widthFactor;
388 : conflictSize = MIN2(conflictSize, lane->getLength());
389 : // lane width affects the crossing point
390 1091241 : intersections1.back() -= conflictSize / 2;
391 : // ensure non-negative offset for weird geometries
392 1091241 : 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 1091241 : intersections1.back() = lane->interpolateGeometryPosToLanePos(intersections1.back());
396 :
397 1091241 : if (internalLaneBefore->getLogicalPredecessorLane()->getEdge().isInternal() && !foeLane->isCrossing()) {
398 : flag = CONFLICT_STOP_AT_INTERNAL_JUNCTION;
399 : }
400 :
401 1091241 : if (foeLane->isCrossing()) {
402 98739 : const MSLink* before = myInternalLaneBefore->getCanonicalPredecessorLane()->getLinkTo(myInternalLaneBefore);
403 98739 : const_cast<MSLink*>(before)->updateDistToFoePedCrossing(intersections1.back());
404 : };
405 : }
406 :
407 2214866 : myConflicts.push_back(ConflictInfo(
408 2214866 : 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 2214866 : }
422 : }
423 : // check for overlap with internal lanes from the same source lane
424 822483 : 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 2641595 : for (const MSLink* const link : pred->getLinkCont()) {
428 1819112 : const MSLane* const sibling = link->getViaLane();
429 1819112 : if (sibling != lane && sibling != nullptr) {
430 973612 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + sibling->getWidth()));
431 973612 : if (lane->getShape().front().distanceTo2D(sibling->getShape().front()) >= minDist) {
432 : // account for lateral shift by the entry links
433 570 : continue;
434 : }
435 973042 : const double distToDivergence = computeDistToDivergence(lane, sibling, minDist, true);
436 : double lbcLane;
437 973042 : 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 12626 : lbcLane = lane->getLength() - distToDivergence;
442 : } else {
443 960416 : lbcLane = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence));
444 : }
445 : ConflictInfo ci = ConflictInfo(lbcLane, sibling->getWidth());
446 973042 : auto it = std::find(myFoeLanes.begin(), myFoeLanes.end(), sibling);
447 973042 : if (it != myFoeLanes.end()) {
448 : // avoid duplicate foeLane
449 66 : const int replacedIndex = (int)(it - myFoeLanes.begin());
450 66 : myConflicts[replacedIndex] = ci;
451 : } else {
452 972976 : myConflicts.push_back(ci);
453 972976 : 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 973042 : const MSLane* const siblingCont = sibling->getLinkCont().front()->getViaLaneOrLane();
461 973042 : if (siblingCont->isInternal() && lane->getShape().distance2D(siblingCont->getShape().front()) < minDist) {
462 : // there may still be overlap with siblingCont (when considering vehicle widths)
463 222439 : const double distToDivergence2 = computeDistToDivergence(lane, siblingCont, minDist, true, sibling->getLength());
464 222439 : double lbcLane2 = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence2));
465 : ConflictInfo ci2 = ConflictInfo(lbcLane2, siblingCont->getWidth(), CONFLICT_SIBLING_CONTINUATION);
466 222439 : myConflicts.push_back(ci2);
467 222439 : myFoeLanes.push_back(siblingCont);
468 222439 : 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 5307502 : for (int i = 0; i < (int)myFoeLanes.size(); i++) {
481 4485019 : const MSLane* foeLane = myFoeLanes[i];
482 4485019 : MSLink* foeExitLink = foeLane->getLinkCont()[0];
483 : int foundIndex = -1;
484 16918685 : for (int i2 = 0; i2 < (int)foeExitLink->myFoeLanes.size(); i2++) {
485 14364472 : if (foeExitLink->myFoeLanes[i2] == lane) {
486 1930806 : myConflicts[i].foeConflictIndex = i2;
487 1930806 : foeExitLink->myConflicts[i2].foeConflictIndex = i;
488 1930806 : myRecheck.erase({foeExitLink, this});
489 : foundIndex = i2;
490 1930806 : 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 4485019 : if (foundIndex < 0) {
497 2554213 : if (myConflicts[i].flag != CONFLICT_NO_INTERSECTION) {
498 1846727 : myRecheck.insert({this, foeExitLink});
499 : }
500 : }
501 : }
502 : }
503 2396995 : if (MSGlobals::gLateralResolution > 0) {
504 : // check for links with the same origin lane and the same destination edge
505 290177 : const MSEdge* myTarget = &myLane->getEdge();
506 : // save foes for entry links
507 919330 : for (MSLink* const it : myLaneBefore->getLinkCont()) {
508 : const MSEdge* target = &(it->getLane()->getEdge());
509 629153 : if (it == this) {
510 290177 : continue;
511 : }
512 338976 : if (target == myTarget) {
513 6774 : mySublaneFoeLinks.push_back(it);
514 : #ifdef MSLink_DEBUG_CROSSING_POINTS
515 : std::cout << " sublaneFoeLink (same target): " << it->getViaLaneOrLane()->getID() << "\n";
516 : #endif
517 332202 : } else if (myDirection != LinkDirection::STRAIGHT && it->getDirection() == LinkDirection::STRAIGHT) {
518 : // potential turn conflict
519 81239 : 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 290177 : if (fromInternalLane()) {
527 : //std::cout << " setRequestInformation link=" << getViaLaneOrLane()->getID() << " before=" << myLaneBefore->getID() << " before2=" << myLaneBefore->getIncomingLanes().front().lane->getID() << "\n";
528 360844 : for (const MSLink* const link : myLaneBefore->getIncomingLanes().front().lane->getLinkCont()) {
529 253803 : if (link->getViaLane() != myInternalLaneBefore && &link->getLane()->getEdge() == myTarget) {
530 : //std::cout << " add sublaneFoe=" << (*it)->getViaLane()->getID() << "\n";
531 4324 : mySublaneFoeLanes.push_back(link->getViaLane());
532 : }
533 : }
534 : }
535 : }
536 2396995 : if (myInternalLaneBefore != nullptr
537 822483 : && myDirection != LinkDirection::STRAIGHT
538 : // for right turns, the curvature helps rather than restricts the linkLeader check
539 488980 : && (
540 488980 : (!MSGlobals::gLefthand && myDirection != LinkDirection::RIGHT)
541 148893 : || (MSGlobals::gLefthand && myDirection != LinkDirection::LEFT))) {
542 681004 : const double angle = fabs(GeomHelper::angleDiff(
543 340502 : myLaneBefore->getNormalPredecessorLane()->getShape().angleAt2D(-2),
544 340502 : myLane->getShape().angleAt2D(0)));
545 340502 : if (angle > 0) {
546 340502 : double length = myInternalLaneBefore->getShape().length2D();
547 681004 : if (myInternalLaneBefore->getIncomingLanes().size() == 1 &&
548 340502 : myInternalLaneBefore->getIncomingLanes()[0].lane->isInternal()) {
549 91456 : length += myInternalLaneBefore->getIncomingLanes()[0].lane->getShape().length2D();
550 249046 : } else if (myInternalLane != nullptr) {
551 91456 : length += myInternalLane->getShape().length2D();
552 : }
553 340502 : myRadius = length / angle;
554 : //std::cout << getDescription() << " a=" << RAD2DEG(angle) << " l=" << length << " r=" << myRadius << "\n";
555 : }
556 : }
557 2396995 : }
558 :
559 :
560 : void
561 40889 : MSLink::recheckSetRequestInformation() {
562 281295 : 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 2093486 : for (int i = 0; i < (int)link->myFoeLanes.size(); i++) {
572 2093486 : if (link->myFoeLanes[i] == foeLane) {
573 : conflictIndex = i;
574 : break;
575 : }
576 : }
577 240406 : if (conflictIndex == -1) {
578 0 : WRITE_WARNING("Could not recheck ConflictInfo for " + link->getDescription() + " and " + foeExitLink->getDescription() + "\n");
579 222623 : continue;
580 : }
581 240406 : ConflictInfo& ci = link->myConflicts[conflictIndex];
582 240406 : if (ci.flag & CONFLICT_SIBLING_CONTINUATION) {
583 222435 : const MSLane* const intLane = link->getInternalLaneBefore();
584 : const MSLane* const siblingCont = foeExitLink->getInternalLaneBefore();
585 222435 : 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 222435 : const double distToDivergence = intLane->getLength() - ci.lengthBehindCrossing;
588 222435 : 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 222435 : ci2.foeConflictIndex = conflictIndex;
594 222435 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
595 222435 : foeExitLink->myFoeLanes.push_back(intLane);
596 222435 : foeExitLink->myConflicts.push_back(ci2);
597 : continue;
598 222435 : }
599 :
600 17971 : std::vector<double> intersections1 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
601 17971 : if (intersections1.size() == 0) {
602 : #ifdef MSLink_DEBUG_CROSSING_POINTS
603 : std::cout << " no intersection\n";
604 : #endif
605 : continue;
606 : }
607 17783 : const double widthFactor = ci.conflictSize / foeLane->getWidth();
608 17783 : const double conflictSize2 = lane->getWidth() * widthFactor;
609 17783 : std::sort(intersections1.begin(), intersections1.end());
610 17783 : intersections1.back() -= conflictSize2 / 2;
611 17783 : intersections1.back() = MAX2(0.0, intersections1.back());
612 17783 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
613 17783 : 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 17971 : }
618 : myRecheck.clear();
619 40889 : }
620 :
621 : double
622 2171909 : 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 2171909 : double length = l.length2D();
629 2171909 : double sibLength = s.length2D();
630 2171909 : if (!sameSource) {
631 1952856 : l = l.reverse();
632 1952856 : s = s.reverse();
633 1195481 : } 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 74 : lbcSibling += s[-1].distanceTo2D(s[-2]);
638 : s.pop_back();
639 1195407 : } 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 74 : 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 2171909 : 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 2109091 : 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 2109091 : 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 2089803 : for (int j = (int)s.size() - 2; j >= 0; j--) {
665 2089803 : const int i = j + (int)l.size();
666 2089803 : const double segLength = s[j].distanceTo2D(s[j + 1]);
667 2089803 : if (distances[i] > minDist) {
668 787021 : lbcSibling += segLength;
669 : } else {
670 : // assume no sharp bends and just interpolate the last segment
671 1302782 : lbcSibling += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
672 1302782 : break;
673 : }
674 : }
675 2140242 : for (int i = (int)l.size() - 2; i >= 0; i--) {
676 2086603 : const double segLength = l[i].distanceTo2D(l[i + 1]);
677 2086603 : if (distances[i] > minDist) {
678 837460 : lbcLane += segLength;
679 : } else {
680 : // assume no sharp bends and just interpolate the last segment
681 1249143 : lbcLane += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
682 1249143 : break;
683 : }
684 : }
685 : }
686 : assert(lbcSibling >= -NUMERICAL_EPS);
687 : assert(lbcLane >= -NUMERICAL_EPS);
688 2109091 : }
689 2171909 : const double distToDivergence1 = sibling->getLength() + siblingPredLength - lbcSibling;
690 2171909 : 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 2171909 : return distToDivergence;
703 2171909 : }
704 :
705 :
706 : bool
707 1074903 : MSLink::contIntersect(const MSLane* lane, const MSLane* foe) {
708 1074903 : if (foe->getLinkCont()[0]->getViaLane() != nullptr) {
709 98713 : std::vector<double> intersections = lane->getShape().intersectsAtLengths2D(foe->getShape());
710 98713 : return intersections.size() > 0;
711 98713 : }
712 : return false;
713 : }
714 :
715 :
716 : void
717 862607676 : 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 862607676 : 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 862607676 : myApproachingVehicles.emplace(approaching,
733 1725215352 : ApproachingVehicleInformation(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, setRequest,
734 862607676 : arrivalSpeedBraking, waitingTime, dist, approaching->getSpeed(), latOffset));
735 862607676 : }
736 :
737 :
738 : void
739 1107784 : 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 1107784 : myApproachingVehicles.emplace(approaching, ai);
753 1107784 : }
754 :
755 : void
756 488017 : MSLink::setApproachingPerson(const MSPerson* approaching, const SUMOTime arrivalTime, const SUMOTime leaveTime) {
757 488017 : if (myApproachingPersons == nullptr) {
758 1349 : myApproachingPersons = new PersonApproachInfos();
759 : }
760 488017 : myApproachingPersons->emplace(approaching, ApproachingPersonInformation(arrivalTime, leaveTime));
761 488017 : }
762 :
763 : void
764 853812205 : 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 853812205 : }
779 :
780 :
781 : void
782 31307 : MSLink::removeApproachingPerson(const MSPerson* person) {
783 31307 : if (myApproachingPersons == nullptr) {
784 20 : WRITE_WARNINGF("Person '%' entered crossing lane '%' without registering approach, time=%", person->getID(), myLane->getID(), time2string(SIMSTEP));
785 5 : 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 28951609 : MSLink::getApproaching(const SUMOVehicle* veh) const {
802 : auto i = myApproachingVehicles.find(veh);
803 28951609 : if (i != myApproachingVehicles.end()) {
804 26061503 : 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 2881629 : MSLink::getApproachingPtr(const SUMOVehicle* veh) const {
813 : auto i = myApproachingVehicles.find(veh);
814 2881629 : if (i != myApproachingVehicles.end()) {
815 2516306 : return &i->second;
816 : } else {
817 : return nullptr;
818 : }
819 : }
820 :
821 :
822 : void
823 13040 : MSLink::clearState() {
824 : myApproachingVehicles.clear();
825 13040 : }
826 :
827 :
828 : SUMOTime
829 1529422360 : MSLink::getLeaveTime(const SUMOTime arrivalTime, const double arrivalSpeed,
830 : const double leaveSpeed, const double vehicleLength) const {
831 1562519620 : return arrivalTime == SUMOTime_MAX ? SUMOTime_MAX : arrivalTime + TIME2STEPS((getLength() + vehicleLength) / MAX2(0.5 * (arrivalSpeed + leaveSpeed), NUMERICAL_EPS));
832 : }
833 :
834 :
835 : bool
836 679400930 : 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 679400930 : if (haveRed() && !ignoreRed) {
845 : return false;
846 : }
847 670053634 : if (isCont() && MSGlobals::gUsingInternalLanes) {
848 : return true;
849 : }
850 666375588 : const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, vehicleLength);
851 666375588 : if (MSGlobals::gLateralResolution > 0) {
852 : // check for foes on the same lane with the same target edge
853 136742568 : for (const MSLink* foeLink : mySublaneFoeLinks) {
854 : assert(myLane != foeLink->getLane());
855 9975215 : for (const auto& it : foeLink->myApproachingVehicles) {
856 6781400 : const SUMOVehicle* foe = it.first;
857 : if (
858 : // there only is a conflict if the paths cross
859 7391600 : ((posLat < foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() > foeLink->myLane->getIndex())
860 6529271 : || (posLat > foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() < foeLink->myLane->getIndex()))
861 : // the vehicle that arrives later must yield
862 7348979 : && (arrivalTime > it.second.arrivalTime
863 : // if both vehicles arrive at the same time, the one
864 : // to the left must yield
865 364191 : || (arrivalTime == it.second.arrivalTime && posLat > foe->getLateralPositionOnLane()))) {
866 203980 : 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 41240 : 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 133507513 : const int lhSign = MSGlobals::gLefthand ? -1 : 1;
890 134770115 : for (const MSLink* foeLink : mySublaneFoeLinks2) {
891 : assert(myDirection != LinkDirection::STRAIGHT);
892 5619416 : for (const auto& it : foeLink->myApproachingVehicles) {
893 4356814 : 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 4356814 : const double egoWidth = ego == nullptr ? 1.8 : ego->getVehicleType().getWidth();
897 4356814 : if (!lateralOverlap(posLat, egoWidth, foe->getLateralPositionOnLane() + it.second.latOffset, foe->getVehicleType().getWidth())
898 4356814 : && (((myDirection == LinkDirection::RIGHT || myDirection == LinkDirection::PARTRIGHT)
899 490859 : && (posLat * lhSign > (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign))
900 443435 : || ((myDirection == LinkDirection::LEFT || myDirection == LinkDirection::PARTLEFT)
901 33186 : && (posLat * lhSign < (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign)))) {
902 81489 : 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 9168 : 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 28219004 : || lastWasContState(LINKSTATE_TL_GREEN_MAJOR)
936 27886599 : || (isExitLinkAfterInternalJunction() && getCorrespondingEntryLink()->getState() == LINKSTATE_TL_GREEN_MAJOR))
937 666790854 : && 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 636855021 : return collectFoes == nullptr || collectFoes->size() == 0;
942 : }
943 29470159 : if (myState == LINKSTATE_ALLWAY_STOP && waitingTime < TIME2STEPS(ego == nullptr ? TS : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ALLWAYSTOP_WAIT, TS))) {
944 : return false;
945 28495759 : } 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 28432885 : const std::vector<MSLink*>& foeLinks = (myOffFoeLinks == nullptr || getCorrespondingEntryLink()->getState() != LINKSTATE_ALLWAY_STOP) ? myFoeLinks : *myOffFoeLinks;
950 :
951 28432885 : if (MSGlobals::gUseMesoSim && impatience == 1 && !myLane->getEdge().isRoundabout()) {
952 : return true;
953 : }
954 28432697 : const bool lastWasContRed = lastWasContState(LINKSTATE_TL_RED);
955 78872542 : for (const MSLink* const link : foeLinks) {
956 55014363 : if (MSGlobals::gUseMesoSim) {
957 1790078 : if (link->haveRed()) {
958 45798 : continue;
959 : }
960 : }
961 : #ifdef MSLink_DEBUG_OPENED
962 : if (gDebugFlag1) {
963 : std::cout << SIMTIME << " foeLink=" << link->getViaLaneOrLane()->getID() << " numApproaching=" << link->getApproaching().size() << "\n";
964 : if (link->getLane()->isCrossing()) {
965 : std::cout << SIMTIME << " approachingPersons=" << (link->myApproachingPersons == nullptr ? "NULL" : toString(link->myApproachingPersons->size())) << "\n";
966 : }
967 : }
968 : #endif
969 54968565 : if (link->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, myLane == link->getLane(),
970 : impatience, decel, waitingTime, collectFoes, ego, lastWasContRed, dist)) {
971 : return false;
972 : }
973 : }
974 23858179 : if (collectFoes != nullptr && collectFoes->size() > 0) {
975 : return false;
976 : }
977 : return true;
978 : }
979 :
980 :
981 : bool
982 55006834 : MSLink::blockedAtTime(SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
983 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
984 : BlockingFoes* collectFoes, const SUMOTrafficObject* ego, bool lastWasContRed, double dist) const {
985 205424640 : for (const auto& it : myApproachingVehicles) {
986 : #ifdef MSLink_DEBUG_OPENED
987 : if (gDebugFlag1) {
988 : if (ego != nullptr
989 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) >= it.second.speed
990 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) > 0) {
991 : std::stringstream stream; // to reduce output interleaving from different threads
992 : stream << SIMTIME << " " << myApproachingVehicles.size() << " foe link=" << getViaLaneOrLane()->getID()
993 : << " foeVeh=" << it.first->getID() << " (below ignore speed)"
994 : << " ignoreFoeProb=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0)
995 : << "\n";
996 : std::cout << stream.str();
997 : }
998 : }
999 : #endif
1000 154887621 : if (it.first != ego
1001 154880815 : && (ego == nullptr
1002 154843221 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1003 23313 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.second.speed
1004 1733 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1005 154879238 : && !ignoreFoe(ego, it.first)
1006 154878996 : && (!lastWasContRed || it.first->getSpeed() > SUMO_const_haltingSpeed)
1007 309750604 : && blockedByFoe(it.first, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, sameTargetLane,
1008 : impatience, decel, waitingTime, ego)) {
1009 11002209 : if (collectFoes == nullptr) {
1010 : return true;
1011 : } else {
1012 6532394 : collectFoes->push_back(it.first);
1013 : }
1014 : }
1015 : }
1016 50537019 : if (myApproachingPersons != nullptr && !haveRed()) {
1017 : const SUMOTime lookAhead = (ego == nullptr
1018 847977 : ? myLookaheadTime
1019 847805 : : TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime))));
1020 922710 : for (const auto& it : *myApproachingPersons) {
1021 : #ifdef MSLink_DEBUG_OPENED
1022 : if (gDebugFlag1) {
1023 : std::cout << SIMTIME << ": " << ego->getID() << " check person " << it.first->getID() << " aTime=" << arrivalTime << " foeATime=" << it.second.arrivalTime
1024 : << " lTime=" << leaveTime << " foeLTime=" << it.second.leavingTime
1025 : << " dist=" << dist << "\n";
1026 : }
1027 : #endif
1028 : if ((ego == nullptr
1029 204309 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1030 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.first->getSpeed()
1031 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1032 203930 : && !ignoreFoe(ego, it.first)
1033 408380 : && !((arrivalTime > it.second.leavingTime + lookAhead) || (leaveTime + lookAhead < it.second.arrivalTime))) {
1034 143193 : if (ego == nullptr) {
1035 : // during insertion
1036 165 : if (myJunction->getType() == SumoXMLNodeType::RAIL_CROSSING) {
1037 165 : continue;
1038 : } else {
1039 : return true;
1040 : }
1041 : }
1042 : // check whether braking is feasible (ego might have started to accelerate already)
1043 143028 : const auto& cfm = ego->getVehicleType().getCarFollowModel();
1044 : #ifdef MSLink_DEBUG_OPENED
1045 : if (gDebugFlag1) {
1046 : 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";
1047 : }
1048 : #endif
1049 143028 : if (dist > cfm.brakeGap(ego->getSpeed(), cfm.getMaxDecel(), 0)) {
1050 : #ifdef MSLink_DEBUG_OPENED
1051 : if (gDebugFlag1) {
1052 : std::cout << SIMTIME << ": " << ego->getID() << " blocked by person " << it.first->getID() << "\n";
1053 : }
1054 : #endif
1055 129797 : if (collectFoes == nullptr) {
1056 : return true;
1057 : } else {
1058 0 : collectFoes->push_back(it.first);
1059 : }
1060 : }
1061 : }
1062 : }
1063 : }
1064 : return false;
1065 : }
1066 :
1067 :
1068 : bool
1069 155148452 : MSLink::blockedByFoe(const SUMOVehicle* veh, const ApproachingVehicleInformation& avi,
1070 : SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
1071 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
1072 : const SUMOTrafficObject* ego) const {
1073 : #ifdef MSLink_DEBUG_OPENED
1074 : if (gDebugFlag1) {
1075 : std::stringstream stream; // to reduce output interleaving from different threads
1076 : stream << " link=" << getDescription()
1077 : << " foeVeh=" << veh->getID()
1078 : << " req=" << avi.willPass
1079 : << " aT=" << avi.arrivalTime
1080 : << " lT=" << avi.leavingTime
1081 : << "\n";
1082 : std::cout << stream.str();
1083 : }
1084 : #endif
1085 155148452 : if (!avi.willPass) {
1086 : return false;
1087 : }
1088 53013486 : if (myState == LINKSTATE_ALLWAY_STOP) {
1089 : assert(waitingTime > 0);
1090 : #ifdef MSLink_DEBUG_OPENED
1091 : if (gDebugFlag1) {
1092 : std::stringstream stream; // to reduce output interleaving from different threads
1093 : stream << " foeDist=" << avi.dist
1094 : << " foeBGap=" << veh->getBrakeGap(false)
1095 : << " foeWait=" << avi.waitingTime
1096 : << " wait=" << waitingTime
1097 : << "\n";
1098 : std::cout << stream.str();
1099 : }
1100 : #endif
1101 : // when using actionSteps, the foe waiting time may be outdated
1102 1565741 : const SUMOTime actionDelta = SIMSTEP - veh->getLastActionTime();
1103 1565741 : if (waitingTime > avi.waitingTime + actionDelta) {
1104 : return false;
1105 : }
1106 232841 : if (waitingTime == (avi.waitingTime + actionDelta) && arrivalTime < avi.arrivalTime + actionDelta) {
1107 : return false;
1108 : }
1109 : }
1110 51651020 : SUMOTime foeArrivalTime = avi.arrivalTime;
1111 51651020 : double foeArrivalSpeedBraking = avi.arrivalSpeedBraking;
1112 51651020 : if (impatience > 0 && arrivalTime < avi.arrivalTime) {
1113 : #ifdef MSLink_DEBUG_OPENED
1114 : gDebugFlag6 = ((ego == nullptr || ego->isSelected()) && (veh == nullptr || veh->isSelected()));
1115 : #endif
1116 2484797 : const SUMOTime fatb = computeFoeArrivalTimeBraking(arrivalTime, veh, avi.arrivalTime, impatience, avi.dist, foeArrivalSpeedBraking);
1117 2484797 : foeArrivalTime = (SUMOTime)((1. - impatience) * (double)avi.arrivalTime + impatience * (double)fatb);
1118 : #ifdef MSLink_DEBUG_OPENED
1119 : if (gDebugFlag6) {
1120 : std::cout << SIMTIME << " link=" << getDescription() << " ego=" << ego->getID() << " foe=" << veh->getID()
1121 : << " at=" << STEPS2TIME(arrivalTime)
1122 : << " fat=" << STEPS2TIME(avi.arrivalTime)
1123 : << " fatb=" << STEPS2TIME(fatb)
1124 : << " fat2=" << STEPS2TIME(foeArrivalTime)
1125 : << "\n";
1126 : }
1127 : #endif
1128 : }
1129 :
1130 :
1131 51651020 : const SUMOTime lookAhead = (myState == LINKSTATE_ZIPPER
1132 51651020 : ? myLookaheadTimeZipper
1133 : : (ego == nullptr
1134 39908773 : ? myLookaheadTime
1135 39905598 : : TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime)))));
1136 : //if (ego != 0) std::cout << SIMTIME << " ego=" << ego->getID() << " jmTimegapMinor=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, -1) << " lookAhead=" << lookAhead << "\n";
1137 : #ifdef MSLink_DEBUG_OPENED
1138 : if (gDebugFlag1 || gDebugFlag6) {
1139 : std::stringstream stream; // to reduce output interleaving from different threads
1140 : stream << " imp=" << impatience << " fAT2=" << foeArrivalTime << " fASb=" << foeArrivalSpeedBraking << " lA=" << lookAhead << " egoAT=" << arrivalTime << " egoLT=" << leaveTime << " egoLS=" << leaveSpeed << "\n";
1141 : std::cout << stream.str();
1142 : }
1143 : #endif
1144 51651020 : if (avi.leavingTime < arrivalTime) {
1145 : // ego wants to be follower
1146 37058729 : if (sameTargetLane && (arrivalTime - avi.leavingTime < lookAhead
1147 17207722 : || unsafeMergeSpeeds(avi.leaveSpeed, arrivalSpeed,
1148 17207722 : veh->getVehicleType().getCarFollowModel().getMaxDecel(), decel))) {
1149 : #ifdef MSLink_DEBUG_OPENED
1150 : if (gDebugFlag1 || gDebugFlag6) {
1151 : std::cout << " blocked (cannot follow)\n";
1152 : }
1153 : #endif
1154 4135357 : return true;
1155 : }
1156 14592291 : } else if (foeArrivalTime > leaveTime + lookAhead) {
1157 : // ego wants to be leader.
1158 13083049 : if (sameTargetLane && unsafeMergeSpeeds(leaveSpeed, foeArrivalSpeedBraking,
1159 5299980 : decel, veh->getVehicleType().getCarFollowModel().getMaxDecel())) {
1160 : #ifdef MSLink_DEBUG_OPENED
1161 : if (gDebugFlag1 || gDebugFlag6) {
1162 : std::cout << " blocked (cannot lead)\n";
1163 : }
1164 : #endif
1165 : return true;
1166 : }
1167 : } else {
1168 : // even without considering safeHeadwayTime there is already a conflict
1169 : #ifdef MSLink_DEBUG_OPENED
1170 : if (gDebugFlag1 || gDebugFlag6) {
1171 : std::cout << " blocked (hard conflict)\n";
1172 : }
1173 : #endif
1174 : return true;
1175 : }
1176 : return false;
1177 : }
1178 :
1179 :
1180 : SUMOTime
1181 2484797 : MSLink::computeFoeArrivalTimeBraking(SUMOTime arrivalTime, const SUMOVehicle* foe, SUMOTime foeArrivalTime, double impatience, double dist, double& fasb) {
1182 : // a: distance saved when foe brakes from arrivalTime to foeArrivalTime
1183 : // b: distance driven past foeArrivalTime
1184 : // m: permitted decceleration
1185 : // d: total deceleration until foeArrivalTime
1186 : // dist2: distance of foe at arrivalTime
1187 : // actual arrivalTime must fall on a simulation step
1188 2484797 : if (arrivalTime - arrivalTime % DELTA_T == foeArrivalTime - foeArrivalTime % DELTA_T) {
1189 : // foe enters the junction in the same step
1190 : #ifdef MSLink_DEBUG_OPENED
1191 : if (gDebugFlag6) {
1192 : std::cout << " foeAT before egoAT\n";
1193 : }
1194 : #endif
1195 : return foeArrivalTime;
1196 : }
1197 2141699 : if (arrivalTime % DELTA_T > 0) {
1198 2114130 : arrivalTime = arrivalTime - (arrivalTime % DELTA_T) + DELTA_T;
1199 : }
1200 : //arrivalTime += DELTA_T - arrivalTime % DELTA_T;
1201 2141699 : const double m = foe->getVehicleType().getCarFollowModel().getMaxDecel() * impatience;
1202 2141699 : const double dt = STEPS2TIME(foeArrivalTime - arrivalTime);
1203 2141699 : const double d = dt * m;
1204 2141699 : const double a = dt * d / 2;
1205 2141699 : const double v = dist / STEPS2TIME(foeArrivalTime - SIMSTEP + DELTA_T);
1206 2141699 : const double dist2 = dist - v * STEPS2TIME(arrivalTime - SIMSTEP);
1207 : #ifdef MSLink_DEBUG_OPENED
1208 : if (gDebugFlag6) {
1209 : std::cout << " dist=" << dist << " dist2=" << dist2
1210 : << " at=" << STEPS2TIME(arrivalTime)
1211 : << " fat=" << STEPS2TIME(foeArrivalTime)
1212 : << " dt=" << dt << " v=" << v << " m=" << m << " d=" << d << " a=" << a << "\n";
1213 : }
1214 : #endif
1215 2141699 : if (0.5 * v * v / m <= dist2) {
1216 : #ifdef MSLink_DEBUG_OPENED
1217 : if (gDebugFlag6) {
1218 : std::cout << " canBrakeToStop\n";
1219 : }
1220 : #endif
1221 1041402 : fasb = 0;
1222 1041402 : return foeArrivalTime + TIME2STEPS(30);
1223 : }
1224 : // a = b (foe reaches the original distance to the stop line)
1225 : // x: time driven past foeArrivalTime
1226 : // v: foe speed without braking
1227 : // v2: average foe speed after foeArrivalTime (braking continues for time x)
1228 : // v2 = (v - d - x * m / 2)
1229 : // b = v2 * x
1230 : // solving for x gives:
1231 1100297 : const double x = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * -0.5 - d + v) / m;
1232 :
1233 : #ifdef MSLink_DEBUG_OPENED
1234 : const double x2 = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * 0.5 - d + v) / m;
1235 : if (gDebugFlag6 || std::isnan(x)) {
1236 : std::cout << SIMTIME << " dist=" << dist << " dist2=" << dist2 << " at=" << STEPS2TIME(arrivalTime) << " m=" << m << " d=" << d << " v=" << v << " a=" << a << " x=" << x << " x2=" << x2 << "\n";
1237 : }
1238 : #endif
1239 1100297 : fasb = v - (dt + x) * m;
1240 1100297 : return foeArrivalTime + TIME2STEPS(x);
1241 : }
1242 :
1243 :
1244 : bool
1245 439244 : MSLink::hasApproachingFoe(SUMOTime arrivalTime, SUMOTime leaveTime, double speed, double decel) const {
1246 452419 : for (const MSLink* const link : myFoeLinks) {
1247 38269 : if (link->blockedAtTime(arrivalTime, leaveTime, speed, speed, myLane == link->getLane(), 0, decel, 0)) {
1248 : return true;
1249 : }
1250 : }
1251 483380 : for (const MSLane* const lane : myFoeLanes) {
1252 73875 : if (lane->getVehicleNumberWithPartials() > 0) {
1253 : return true;
1254 : }
1255 : }
1256 : return false;
1257 : }
1258 :
1259 :
1260 : std::pair<const SUMOVehicle*, const MSLink*>
1261 5698 : MSLink::getFirstApproachingFoe(const MSLink* wrapAround) const {
1262 : double closetDist = std::numeric_limits<double>::max();
1263 : const SUMOVehicle* closest = nullptr;
1264 : const MSLink* foeLink = nullptr;
1265 18408 : for (MSLink* link : myFoeLinks) {
1266 19680 : for (const auto& it : link->myApproachingVehicles) {
1267 : //std::cout << " link=" << getDescription() << " foeLink_in=" << link->getLaneBefore()->getID() << " wrapAround=" << wrapAround->getDescription() << "\n";
1268 6970 : if (link->getLaneBefore() == wrapAround->getLaneBefore()) {
1269 488 : return std::make_pair(nullptr, wrapAround);
1270 6482 : } else if (it.second.dist < closetDist) {
1271 : closetDist = it.second.dist;
1272 3480 : if (it.second.willPass) {
1273 3214 : closest = it.first;
1274 : foeLink = link;
1275 : }
1276 : }
1277 : }
1278 : }
1279 : return std::make_pair(closest, foeLink);
1280 : }
1281 :
1282 :
1283 : void
1284 66353214 : MSLink::setTLState(LinkState state, SUMOTime t) {
1285 66353214 : if (myState != state) {
1286 14792734 : myLastStateChange = t;
1287 : }
1288 66353214 : myState = state;
1289 66353214 : if (haveGreen()) {
1290 10722260 : myLastGreenState = myState;
1291 : }
1292 66353214 : }
1293 :
1294 :
1295 : void
1296 162147 : MSLink::setTLLogic(const MSTrafficLightLogic* logic) {
1297 162147 : myLogic = logic;
1298 162147 : }
1299 :
1300 :
1301 : bool
1302 1261427293 : MSLink::isCont() const {
1303 : // when a traffic light is switched off minor roads have their cont status revoked
1304 1261427293 : return (myState == LINKSTATE_TL_OFF_BLINKING || myState == LINKSTATE_ALLWAY_STOP || myState == LINKSTATE_STOP) ? myAmContOff : myAmCont;
1305 : }
1306 :
1307 :
1308 : bool
1309 61160497 : MSLink::lastWasContMajor() const {
1310 61821219 : if (isExitLinkAfterInternalJunction()) {
1311 660722 : return myInternalLaneBefore->getIncomingLanes()[0].viaLink->lastWasContMajor();
1312 : }
1313 61160497 : if (myInternalLane == nullptr || myAmCont) {
1314 : return false;
1315 : } else {
1316 45805721 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1317 45805721 : if (!pred->getEdge().isInternal()) {
1318 : return false;
1319 : } else {
1320 9811105 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1321 : assert(pred2 != nullptr);
1322 9811105 : const MSLink* const predLink = pred2->getLinkTo(pred);
1323 : assert(predLink != nullptr);
1324 9811105 : if (predLink->havePriority()) {
1325 : return true;
1326 : }
1327 9138629 : if (myHavePedestrianCrossingFoe) {
1328 1260643 : return predLink->getLastGreenState() == LINKSTATE_TL_GREEN_MAJOR;
1329 : } else {
1330 7877986 : return predLink->haveYellow();
1331 : }
1332 : }
1333 : }
1334 : }
1335 :
1336 :
1337 : bool
1338 56651701 : MSLink::lastWasContState(LinkState linkState) const {
1339 56651701 : if (myInternalLane == nullptr || myAmCont || myHavePedestrianCrossingFoe) {
1340 : return false;
1341 : } else {
1342 48866897 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1343 48866897 : if (!pred->getEdge().isInternal()) {
1344 : return false;
1345 : } else {
1346 12580105 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1347 : assert(pred2 != nullptr);
1348 12580105 : const MSLink* const predLink = pred2->getLinkTo(pred);
1349 : assert(predLink != nullptr);
1350 12580105 : return predLink->getState() == linkState;
1351 : }
1352 : }
1353 : }
1354 :
1355 :
1356 : void
1357 81324 : MSLink::writeApproaching(OutputDevice& od, const std::string fromLaneID) const {
1358 81324 : if (myApproachingVehicles.size() > 0) {
1359 9040 : od.openTag("link");
1360 9040 : od.writeAttr(SUMO_ATTR_FROM, fromLaneID);
1361 9040 : const std::string via = getViaLane() == nullptr ? "" : getViaLane()->getID();
1362 9040 : od.writeAttr(SUMO_ATTR_VIA, via);
1363 27120 : od.writeAttr(SUMO_ATTR_TO, getLane() == nullptr ? "" : getLane()->getID());
1364 : std::vector<std::pair<SUMOTime, const SUMOVehicle*> > toSort; // stabilize output
1365 19578 : for (auto it : myApproachingVehicles) {
1366 10538 : toSort.push_back(std::make_pair(it.second.arrivalTime, it.first));
1367 : }
1368 9040 : std::sort(toSort.begin(), toSort.end());
1369 19578 : for (std::vector<std::pair<SUMOTime, const SUMOVehicle*> >::const_iterator it = toSort.begin(); it != toSort.end(); ++it) {
1370 10538 : od.openTag("approaching");
1371 10538 : const ApproachingVehicleInformation& avi = myApproachingVehicles.find(it->second)->second;
1372 10538 : od.writeAttr(SUMO_ATTR_ID, it->second->getID());
1373 10538 : od.writeAttr(SUMO_ATTR_IMPATIENCE, it->second->getImpatience());
1374 21076 : od.writeAttr("arrivalTime", time2string(avi.arrivalTime));
1375 21076 : od.writeAttr("leaveTime", time2string(avi.leavingTime));
1376 21076 : od.writeAttr("arrivalSpeed", toString(avi.arrivalSpeed));
1377 21076 : od.writeAttr("arrivalSpeedBraking", toString(avi.arrivalSpeedBraking));
1378 21076 : od.writeAttr("leaveSpeed", toString(avi.leaveSpeed));
1379 21076 : od.writeAttr("willPass", toString(avi.willPass));
1380 21076 : od.closeTag();
1381 : }
1382 9040 : od.closeTag();
1383 9040 : }
1384 81324 : }
1385 :
1386 :
1387 : double
1388 921437 : MSLink::getInternalLengthsAfter() const {
1389 : double len = 0.;
1390 921437 : MSLane* lane = myInternalLane;
1391 :
1392 1759017 : while (lane != nullptr && lane->isInternal()) {
1393 837580 : len += lane->getLength();
1394 837580 : lane = lane->getLinkCont()[0]->getViaLane();
1395 : }
1396 921437 : return len;
1397 : }
1398 :
1399 : double
1400 0 : MSLink::getInternalLengthsBefore() const {
1401 : double len = 0.;
1402 0 : const MSLane* lane = myInternalLane;
1403 :
1404 0 : while (lane != nullptr && lane->isInternal()) {
1405 0 : len += lane->getLength();
1406 0 : if (lane->getIncomingLanes().size() == 1) {
1407 0 : lane = lane->getIncomingLanes()[0].lane;
1408 : } else {
1409 : break;
1410 : }
1411 : }
1412 0 : return len;
1413 : }
1414 :
1415 :
1416 : double
1417 131222 : MSLink::getLengthsBeforeCrossing(const MSLane* foeLane) const {
1418 131222 : MSLane* via = myInternalLane;
1419 : double totalDist = 0.;
1420 : bool foundCrossing = false;
1421 134118 : while (via != nullptr) {
1422 132738 : MSLink* link = via->getLinkCont()[0];
1423 132738 : double dist = link->getLengthBeforeCrossing(foeLane);
1424 132738 : if (dist != INVALID_DOUBLE) {
1425 : // found conflicting lane
1426 129842 : totalDist += dist;
1427 : foundCrossing = true;
1428 : break;
1429 : } else {
1430 2896 : totalDist += via->getLength();
1431 : via = link->getViaLane();
1432 : }
1433 : }
1434 : if (foundCrossing) {
1435 129842 : return totalDist;
1436 : } else {
1437 : return INVALID_DOUBLE;
1438 : }
1439 : }
1440 :
1441 :
1442 : double
1443 132738 : MSLink::getLengthBeforeCrossing(const MSLane* foeLane) const {
1444 : int foe_ix;
1445 795791 : for (foe_ix = 0; foe_ix != (int)myFoeLanes.size(); ++foe_ix) {
1446 794275 : if (myFoeLanes[foe_ix] == foeLane) {
1447 : break;
1448 : }
1449 : }
1450 132738 : if (foe_ix == (int)myFoeLanes.size()) {
1451 : // no conflict with the given lane, indicate by returning -1
1452 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1453 : std::cout << "No crossing of lanes '" << foeLane->getID() << "' and '" << myInternalLaneBefore->getID() << "'" << std::endl;
1454 : #endif
1455 : return INVALID_DOUBLE;
1456 : } else {
1457 : // found conflicting lane index
1458 131222 : double dist = myInternalLaneBefore->getLength() - myConflicts[foe_ix].getLengthBehindCrossing(this);
1459 131222 : if (dist == -10000.) {
1460 : // this is the value in myConflicts, if the relation allows intersection but none is present for the actual geometry.
1461 : return INVALID_DOUBLE;
1462 : }
1463 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1464 : std::cout << "Crossing of lanes '" << myInternalLaneBefore->getID() << "' and '" << foeLane->getID()
1465 : << "' at distance " << dist << " (approach along '"
1466 : << myInternalLaneBefore->getEntryLink()->getLaneBefore()->getID() << "')" << std::endl;
1467 : #endif
1468 : return dist;
1469 : }
1470 : }
1471 :
1472 :
1473 : bool
1474 41799369 : MSLink::isEntryLink() const {
1475 41799369 : if (MSGlobals::gUsingInternalLanes) {
1476 66278578 : return myInternalLane != nullptr && myInternalLaneBefore == nullptr;
1477 : } else {
1478 : return false;
1479 : }
1480 : }
1481 :
1482 : bool
1483 20327900 : MSLink::isConflictEntryLink() const {
1484 : // either a non-cont entry link or the link after a cont-link
1485 20327900 : return !myAmCont && (isEntryLink() || (myInternalLaneBefore != nullptr && myInternalLane != nullptr));
1486 : }
1487 :
1488 : bool
1489 92671867 : MSLink::isExitLink() const {
1490 92671867 : if (MSGlobals::gUsingInternalLanes) {
1491 159103289 : return myInternalLaneBefore != nullptr && myInternalLane == nullptr;
1492 : } else {
1493 : return false;
1494 : }
1495 : }
1496 :
1497 : bool
1498 147081159 : MSLink::isExitLinkAfterInternalJunction() const {
1499 147081159 : if (MSGlobals::gUsingInternalLanes) {
1500 : return (getInternalLaneBefore() != nullptr
1501 75245820 : && myInternalLaneBefore->getIncomingLanes().size() == 1
1502 221689183 : && myInternalLaneBefore->getIncomingLanes().front().viaLink->isInternalJunctionLink());
1503 : } else {
1504 : return false;
1505 : }
1506 : }
1507 :
1508 :
1509 : const MSLink*
1510 140586 : MSLink::getCorrespondingExitLink() const {
1511 140586 : MSLane* lane = myInternalLane;
1512 : const MSLink* link = this;
1513 282312 : while (lane != nullptr) {
1514 141726 : link = lane->getLinkCont()[0];
1515 : lane = link->getViaLane();
1516 : }
1517 140586 : return link;
1518 : }
1519 :
1520 :
1521 : const MSLink*
1522 795393698 : MSLink::getCorrespondingEntryLink() const {
1523 : const MSLink* link = this;
1524 1064779732 : while (link->myLaneBefore->isInternal()) {
1525 : assert(myLaneBefore->getIncomingLanes().size() == 1);
1526 269386034 : link = link->myLaneBefore->getIncomingLanes().front().viaLink;
1527 : }
1528 795393698 : return link;
1529 : }
1530 :
1531 :
1532 : bool
1533 392538307 : MSLink::isInternalJunctionLink() const {
1534 392538307 : return getInternalLaneBefore() != nullptr && myInternalLane != nullptr;
1535 : }
1536 :
1537 :
1538 : const MSLink::LinkLeaders
1539 866253764 : MSLink::getLeaderInfo(const MSVehicle* ego, double dist, std::vector<const MSPerson*>* collectBlockers, bool isShadowLink) const {
1540 : LinkLeaders result;
1541 : // this link needs to start at an internal lane (either an exit link or between two internal lanes)
1542 : // or it must be queried by the pedestrian model (ego == 0)
1543 866253764 : if (ego != nullptr && (!fromInternalLane() || ego->getLaneChangeModel().isOpposite())) {
1544 : // ignore link leaders
1545 : return result;
1546 : }
1547 : //gDebugFlag1 = true;
1548 289020429 : if (gDebugFlag1) {
1549 0 : std::cout << SIMTIME << " getLeaderInfo link=" << getDescription() << " dist=" << dist << " isShadowLink=" << isShadowLink << "\n";
1550 : }
1551 289020429 : if (MSGlobals::gComputeLC && ego != nullptr && ego->getLane()->isNormal()) {
1552 25862453 : const MSLink* junctionEntry = getLaneBefore()->getEntryLink();
1553 6217174 : if (junctionEntry->haveRed() && !ego->ignoreRed(junctionEntry, true)
1554 : // check oncoming on bidiLane during laneChanging
1555 32074921 : && (!MSGlobals::gComputeLC || junctionEntry->getLaneBefore()->getBidiLane() == nullptr)) {
1556 6177071 : if (gDebugFlag1) {
1557 0 : std::cout << " ignore linkLeaders beyond red light\n";
1558 : }
1559 : return result;
1560 : }
1561 : }
1562 : // this is an exit link
1563 282843358 : const double extraGap = ego != nullptr ? ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_EXTRA_GAP, 0) : 0;
1564 722228480 : for (int i = 0; i < (int)myFoeLanes.size(); ++i) {
1565 439385127 : const MSLane* foeLane = myFoeLanes[i];
1566 439385127 : const MSLink* foeExitLink = foeLane->getLinkCont()[0];
1567 : // distance from the querying vehicle to the crossing point with foeLane
1568 439385127 : double distToCrossing = dist - myConflicts[i].getLengthBehindCrossing(this);
1569 439385127 : const double foeDistToCrossing = foeLane->getLength() - myConflicts[i].getFoeLengthBehindCrossing(foeExitLink);
1570 439385127 : const bool sameTarget = (myLane == foeExitLink->getLane()) && !isInternalJunctionLink() && !foeExitLink->isInternalJunctionLink();
1571 439385127 : const bool sameSource = (myInternalLaneBefore != nullptr && myInternalLaneBefore->getNormalPredecessorLane() == foeLane->getNormalPredecessorLane());
1572 439385127 : const double crossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].conflictSize;
1573 439385127 : const double foeCrossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].getFoeConflictSize(foeExitLink);
1574 : // special treatment of contLane foe only applies if this lane is not a contLane or contLane follower itself
1575 560156089 : const bool contLane = (foeExitLink->getViaLaneOrLane()->getEdge().isInternal() && !(
1576 120770962 : isInternalJunctionLink() || isExitLinkAfterInternalJunction()));
1577 439385127 : if (gDebugFlag1) {
1578 : std::cout << " distToCrossing=" << distToCrossing << " foeLane=" << foeLane->getID() << " cWidth=" << crossingWidth
1579 0 : << " flag=" << myConflicts[i].flag
1580 0 : << " ijl=" << isInternalJunctionLink() << " sT=" << sameTarget << " sS=" << sameSource
1581 0 : << " lbc=" << myConflicts[i].getLengthBehindCrossing(this)
1582 0 : << " flbc=" << myConflicts[i].getFoeLengthBehindCrossing(foeExitLink)
1583 : << " cw=" << crossingWidth
1584 : << " fcw=" << foeCrossingWidth
1585 : << " contLane=" << contLane
1586 0 : << " state=" << toString(myState)
1587 0 : << " foeState=" << toString(foeExitLink->getState())
1588 0 : << "\n";
1589 : }
1590 94804570 : if (distToCrossing + crossingWidth < 0 && !sameTarget
1591 528729230 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing + crossingWidth + ego->getVehicleType().getLength() < 0)) {
1592 85570529 : if (gDebugFlag1) {
1593 0 : std::cout << " ignore:egoBeyondCrossingPoint\n";
1594 : }
1595 85570529 : continue; // vehicle is behind the crossing point, continue with next foe lane
1596 : }
1597 : bool ignoreGreenCont = false;
1598 : bool foeIndirect = false;
1599 353814598 : if (contLane) {
1600 40529654 : const MSLink* entry = getLaneBefore()->getEntryLink();
1601 40529654 : const MSLink* foeEntry = foeLane->getEntryLink();
1602 40529654 : foeIndirect = foeEntry->myAmIndirect;
1603 40247582 : if (entry != nullptr && entry->haveGreen()
1604 26144253 : && foeEntry != nullptr && foeEntry->haveGreen()
1605 52889494 : && entry->myLaneBefore != foeEntry->myLaneBefore) {
1606 : // ignore vehicles before an internaljunction as long as they are still in green minor mode
1607 : ignoreGreenCont = true;
1608 : }
1609 : }
1610 40529654 : if (foeIndirect && distToCrossing >= NO_INTERSECTION) {
1611 28087 : if (gDebugFlag1) {
1612 0 : std::cout << " ignore:noIntersection\n";
1613 : }
1614 28087 : continue;
1615 : }
1616 : // it is not sufficient to return the last vehicle on the foeLane because ego might be its leader
1617 : // therefore we return all vehicles on the lane
1618 : //
1619 : // special care must be taken for continuation lanes. (next lane is also internal)
1620 : // vehicles on cont. lanes or on internal lanes with the same target as this link can not be ignored
1621 : // and should block (gap = -1) unless they are part of an indirect turn
1622 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1623 27807214 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1624 27807219 : MSVehicle* leader = (MSVehicle*)*it_veh;
1625 27807219 : const double leaderBack = leader->getBackPositionOnLane(foeLane) - extraGap;
1626 27807219 : const double leaderBackDist = foeDistToCrossing - leaderBack;
1627 27807219 : const double l2 = ego != nullptr ? ego->getLength() + 2 : 0; // add some slack to account for further meeting-angle effects
1628 27694782 : const double sagitta = ego != nullptr && myRadius != std::numeric_limits<double>::max() ? myRadius - sqrt(myRadius * myRadius - 0.25 * l2 * l2) : 0;
1629 27807219 : const bool pastTheCrossingPoint = leaderBackDist + foeCrossingWidth + sagitta < 0;
1630 27807219 : const bool enteredTheCrossingPoint = leaderBackDist < leader->getVehicleType().getLength();
1631 27807219 : const bool foeIsBicycleTurn = (leader->getVehicleType().getVehicleClass() == SVC_BICYCLE
1632 27807219 : && foeLane->getIncomingLanes().front().viaLink->getDirection() == LinkDirection::LEFT);
1633 27807219 : const bool ignoreIndirectBicycleTurn = pastTheCrossingPoint && foeIsBicycleTurn;
1634 27807219 : const bool cannotIgnore = ((contLane && !ignoreIndirectBicycleTurn) || sameTarget || (sameSource && !MSGlobals::gComputeLC)) && ego != nullptr;
1635 27807219 : const bool inTheWay = ((((!pastTheCrossingPoint && distToCrossing > 0) || (sameTarget && distToCrossing > leaderBackDist - leader->getLength()))
1636 22129752 : && (enteredTheCrossingPoint || (sameSource && !enteredTheCrossingPoint && foeDistToCrossing < distToCrossing))
1637 14593506 : && (!(myConflicts[i].flag == CONFLICT_DUMMY_MERGE) || foeIsBicycleTurn || sameSource))
1638 41065869 : || foeExitLink->getLaneBefore()->getNormalPredecessorLane() == myLane->getBidiLane());
1639 27807219 : const bool isOpposite = leader->getLaneChangeModel().isOpposite();
1640 27807219 : const auto avi = foeExitLink->getApproaching(leader);
1641 : // if leader is not found, assume that it performed a lane change in the last step
1642 27807219 : const bool willPass = avi.willPass || (avi.arrivalTime == INVALID_TIME && sameTarget);
1643 27807219 : if (gDebugFlag1) {
1644 : std::cout << " candidate leader=" << leader->getID()
1645 : << " cannotIgnore=" << cannotIgnore
1646 : << " fdtc=" << foeDistToCrossing
1647 : << " lb=" << leaderBack
1648 : << " lbd=" << leaderBackDist
1649 : << " fcwidth=" << foeCrossingWidth
1650 0 : << " r=" << myRadius
1651 : << " sagitta=" << sagitta
1652 : << " foePastCP=" << pastTheCrossingPoint
1653 : << " foeEnteredCP=" << enteredTheCrossingPoint
1654 : << " inTheWay=" << inTheWay
1655 : << " willPass=" << willPass
1656 0 : << " isFrontOnLane=" << leader->isFrontOnLane(foeLane)
1657 : << " ignoreGreenCont=" << ignoreGreenCont
1658 : << " foeIndirect=" << foeIndirect
1659 : << " foeBikeTurn=" << foeIsBicycleTurn
1660 0 : << " isOpposite=" << isOpposite << "\n";
1661 : }
1662 27807219 : if (leader == ego) {
1663 7429777 : continue;
1664 : }
1665 : // ignore greenCont foe vehicles that are not in the way
1666 27167914 : if (!inTheWay && ignoreGreenCont) {
1667 6890 : if (gDebugFlag1) {
1668 0 : std::cout << " ignoreGreenCont\n";
1669 : }
1670 6890 : continue;
1671 : }
1672 : // after entering the conflict area, ignore foe vehicles that are not in the way
1673 3300179 : if ((!MSGlobals::gComputeLC || (ego != nullptr && ego->getLane() == foeLane) || MSGlobals::gSublane)
1674 25824408 : && distToCrossing < -POSITION_EPS && !inTheWay
1675 27471485 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing < -ego->getVehicleType().getLength())) {
1676 122177 : if (gDebugFlag1) {
1677 0 : std::cout << " ego entered conflict area\n";
1678 : }
1679 122177 : continue;
1680 : }
1681 27125380 : if (!MSGlobals::gComputeLC
1682 23778927 : && sameSource
1683 7676376 : && &ego->getLane()->getEdge() == &myInternalLaneBefore->getEdge()
1684 27482605 : && leaderBack + leader->getLength() < ego->getPositionOnLane() - ego->getLength()) {
1685 : // ego is already on the junction and clearly ahead of foe
1686 86533 : if (gDebugFlag1) {
1687 0 : std::cout << " ego ahead of same-source foe\n";
1688 : }
1689 86533 : continue;
1690 : }
1691 :
1692 : // ignore foe vehicles that will not pass
1693 18254931 : if ((!cannotIgnore || leader->isStopped() || sameTarget)
1694 17707001 : && !willPass
1695 1213448 : && (avi.arrivalTime == INVALID_TIME || leader->getSpeed() < SUMO_const_haltingSpeed)
1696 1213171 : && leader->isFrontOnLane(foeLane)
1697 : && !isOpposite
1698 602077 : && !inTheWay
1699 : // willPass is false if the vehicle is already on the stopping edge
1700 27360440 : && !leader->willStop()) {
1701 407336 : if (gDebugFlag1) {
1702 0 : std::cout << " foe will not pass\n";
1703 : }
1704 407336 : continue;
1705 : }
1706 26544978 : if (leader->isBidiOn(foeLane)) {
1707 : // conflict resolved via forward lane of the foe
1708 45150 : continue;
1709 : }
1710 : // check whether foe is blocked and might need to change before leaving the junction
1711 26499828 : const bool foeStrategicBlocked = (leader->getLaneChangeModel().isStrategicBlocked() &&
1712 1245996 : leader->getCarFollowModel().brakeGap(leader->getSpeed()) <= foeLane->getLength() - leaderBack);
1713 26499828 : const bool sameInternalEdge = &myInternalLaneBefore->getEdge() == &foeExitLink->getInternalLaneBefore()->getEdge();
1714 :
1715 26499828 : const bool foeLaneIsBidi = myInternalLaneBefore->getBidiLane() == foeLane;
1716 26499828 : if (MSGlobals::gSublane && ego != nullptr && (sameSource || sameTarget || foeLaneIsBidi)
1717 7413409 : && (!foeStrategicBlocked || sameInternalEdge)) {
1718 7278838 : if (ego->getLane() == leader->getLane()) {
1719 152628 : continue;
1720 : }
1721 : // ignore vehicles if not in conflict sublane-wise
1722 7126210 : const double egoLatOffset = isShadowLink ? ego->getLatOffset(ego->getLaneChangeModel().getShadowLane()) : 0;
1723 7126210 : const double posLat = ego->getLateralPositionOnLane() + egoLatOffset;
1724 7126210 : double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1725 7126210 : if (foeLaneIsBidi) {
1726 : // leader is oncoming
1727 0 : posLatLeader = foeLane->getWidth() - posLatLeader;
1728 : }
1729 7126210 : const double latGap = (fabs(posLat - posLatLeader)
1730 7126210 : - 0.5 * (ego->getVehicleType().getWidth() + leader->getVehicleType().getWidth()));
1731 7126210 : const double maneuverDist = leader->getLaneChangeModel().getManeuverDist() * (posLat < posLatLeader ? -1 : 1);
1732 7126210 : if (gDebugFlag1) {
1733 0 : std::cout << " checkIgnore sublaneFoe lane=" << myInternalLaneBefore->getID()
1734 : << " sameSource=" << sameSource
1735 : << " sameTarget=" << sameTarget
1736 : << " foeLaneIsBidi=" << foeLaneIsBidi
1737 : << " foeLane=" << foeLane->getID()
1738 : << " leader=" << leader->getID()
1739 0 : << " egoLane=" << ego->getLane()->getID()
1740 0 : << " leaderLane=" << leader->getLane()->getID()
1741 : << " egoLat=" << posLat
1742 : << " egoLatOffset=" << egoLatOffset
1743 : << " leaderLat=" << posLatLeader
1744 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1745 : << " latGap=" << latGap
1746 : << " maneuverDist=" << maneuverDist
1747 0 : << " computeLC=" << MSGlobals::gComputeLC
1748 0 : << " egoMaxSpeedLat=" << ego->getVehicleType().getMaxSpeedLat()
1749 0 : << "\n";
1750 : }
1751 1737720 : if (latGap > 0 && (latGap > maneuverDist || !sameTarget || !MSGlobals::gComputeLC)
1752 : // do not perform sublane changes that interfere with the leader vehicle
1753 8857637 : && (!MSGlobals::gComputeLC || latGap > ego->getVehicleType().getMaxSpeedLat())) {
1754 1588446 : const MSLink* foeEntryLink = foeLane->getIncomingLanes().front().viaLink;
1755 1588446 : if (sameSource) {
1756 : // for lanes from the same edge, higer index implies a
1757 : // connection further to the left
1758 1300104 : const bool leaderFromRight = (myIndex > foeEntryLink->getIndex());
1759 1300104 : if ((posLat > posLatLeader) == leaderFromRight) {
1760 : // ignore speed since lanes diverge
1761 719960 : if (gDebugFlag1) {
1762 0 : std::cout << " ignored (same source) leaderFromRight=" << leaderFromRight << "\n";
1763 : }
1764 719960 : continue;
1765 : }
1766 288342 : } else if (sameTarget) {
1767 : // for lanes from different edges we cannot rely on the
1768 : // index due to wrap-around issues
1769 288342 : if (myDirection != foeEntryLink->getDirection()) {
1770 278013 : bool leaderFromRight = foeEntryLink->getDirection() < myDirection;
1771 : // leader vehicle should not move towards ego
1772 278013 : if (MSGlobals::gLefthand) {
1773 0 : leaderFromRight = !leaderFromRight;
1774 : }
1775 388380 : if ((posLat > posLatLeader) == leaderFromRight
1776 : // leader should keep lateral position or move away from ego
1777 156533 : && (leader->getLaneChangeModel().getSpeedLat() == 0
1778 46002 : || leaderFromRight == (leader->getLaneChangeModel().getSpeedLat() < latGap))
1779 397715 : && (ego->getLaneChangeModel().getSpeedLat() == 0
1780 16681 : || leaderFromRight == (ego->getLaneChangeModel().getSpeedLat() > -latGap))) {
1781 110367 : if (gDebugFlag1) {
1782 0 : std::cout << " ignored (different source) leaderFromRight=" << leaderFromRight << "\n";
1783 : }
1784 110367 : continue;
1785 : }
1786 : } else {
1787 : // XXX figure out relative direction somehow
1788 : }
1789 : } else {
1790 0 : if (gDebugFlag1) {
1791 0 : std::cout << " ignored oncoming bidi leader\n";
1792 : }
1793 0 : continue;
1794 : }
1795 : }
1796 : }
1797 25516873 : if (leader->getWaitingTime() < MSGlobals::gIgnoreJunctionBlocker) {
1798 : // compute distance between vehicles on the superimposition of both lanes
1799 : // where the crossing point is the common point
1800 : double gap;
1801 : bool fromLeft = true;
1802 25025641 : if (ego == nullptr) {
1803 : // request from pedestrian model. return distance between leaderBack and crossing point
1804 : //std::cout << " foeLane=" << foeLane->getID() << " leaderBack=" << leaderBack << " foeDistToCrossing=" << foeDistToCrossing << " foeLength=" << foeLane->getLength() << " foebehind=" << myConflicts[i].second << " dist=" << dist << " behind=" << myConflicts[i].first << "\n";
1805 112027 : gap = leaderBackDist;
1806 : // distToCrossing should not take into account the with of the foe lane
1807 : // (which was subtracted in setRequestInformation)
1808 : // Instead, the width of the foe vehicle is used directly by the caller.
1809 112027 : distToCrossing += myConflicts[i].conflictSize / 2;
1810 112027 : if (gap + foeCrossingWidth < 0) {
1811 : // leader is completely past the crossing point
1812 : // or there is no crossing point
1813 4500126 : continue; // next vehicle
1814 : }
1815 : // we need to determine whether the vehicle passes the
1816 : // crossing from the left or the right (heuristic)
1817 109771 : fromLeft = foeDistToCrossing > 0.5 * foeLane->getLength();
1818 24913614 : } else if ((contLane && !sameSource && !ignoreIndirectBicycleTurn) || isOpposite) {
1819 1580405 : gap = -std::numeric_limits<double>::max(); // always break for vehicles which are on a continuation lane or for opposite-direction vehicles
1820 : } else {
1821 23333209 : if (pastTheCrossingPoint && !sameTarget) {
1822 : // leader is completely past the crossing point
1823 : // or there is no crossing point
1824 4497791 : if (gDebugFlag1) {
1825 0 : std::cout << " foePastCP ignored\n";
1826 : }
1827 4497791 : continue;
1828 : }
1829 : double leaderBackDist2 = leaderBackDist;
1830 18835418 : if (sameTarget && leaderBackDist2 < 0) {
1831 3017686 : const double mismatch = myConflicts[i].getFoeLengthBehindCrossing(foeExitLink) - myConflicts[i].getLengthBehindCrossing(this);
1832 3017686 : if (mismatch > 0) {
1833 1524633 : leaderBackDist2 += mismatch;
1834 : }
1835 : }
1836 18835418 : if (gDebugFlag1) {
1837 : std::cout << " distToCrossing=" << distToCrossing << " leaderBack=" << leaderBack
1838 : << " backDist=" << leaderBackDist
1839 : << " backDist2=" << leaderBackDist2
1840 0 : << " blockedStrategic=" << leader->getLaneChangeModel().isStrategicBlocked()
1841 0 : << "\n";
1842 : }
1843 18835418 : gap = distToCrossing - ego->getVehicleType().getMinGap() - leaderBackDist2 - foeCrossingWidth;
1844 : }
1845 : // if the foe is already moving off the intersection, we may
1846 : // advance up to the crossing point unless we have the same target or same source
1847 : // (for sameSource, the crossing point indicates the point of divergence)
1848 23920037 : const bool stopAsap = ((leader->isFrontOnLane(foeLane) ? cannotIgnore : (sameTarget || sameSource))
1849 20872253 : || (ego != nullptr && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ADVANCE, 1.0) == 0.0));
1850 20525594 : if (gDebugFlag1) {
1851 0 : std::cout << " leader=" << leader->getID() << " contLane=" << contLane << " cannotIgnore=" << cannotIgnore << " stopAsap=" << stopAsap << " gap=" << gap << "\n";
1852 : }
1853 20525594 : if (ignoreFoe(ego, leader)) {
1854 79 : continue;
1855 : }
1856 20525515 : const int llFlags = ((fromLeft ? LL_FROM_LEFT : 0) |
1857 20525515 : (inTheWay ? LL_IN_THE_WAY : 0) |
1858 20525515 : (sameSource ? LL_SAME_SOURCE : 0) |
1859 20525515 : (sameTarget ? LL_SAME_TARGET : 0));
1860 26658013 : result.emplace_back(leader, gap, stopAsap ? -1 : distToCrossing, llFlags, leader->getLatOffset(foeLane));
1861 : }
1862 :
1863 : }
1864 353786506 : if (ego != nullptr && MSNet::getInstance()->hasPersons()) {
1865 : // check for crossing pedestrians (keep driving if already on top of the crossing
1866 6597070 : const double distToPeds = distToCrossing - ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP);
1867 6597070 : const double vehWidth = ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP; // + configurable safety gap
1868 : /// @todo consider lateral position (depending on whether the crossing is encountered on the way in or out)
1869 : // @check lefthand?!
1870 6597070 : const bool wayIn = myConflicts[i].lengthBehindCrossing < myLaneBefore->getLength() * 0.5;
1871 6597070 : const double vehCenter = (foeDistToCrossing + myLaneBefore->getWidth() * 0.5
1872 6597070 : + ego->getLateralPositionOnLane() * (wayIn ? -1 : 1));
1873 : // can access the movement model here since we already checked for existing persons above
1874 12722220 : if (distToPeds >= -MSPModel::SAFETY_GAP && MSNet::getInstance()->getPersonControl().getMovementModel()->blockedAtDist(ego, foeLane, vehCenter, vehWidth,
1875 6125150 : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_CROSSING_GAP, JM_CROSSING_GAP_DEFAULT),
1876 : collectBlockers)) {
1877 519424 : result.emplace_back(nullptr, -1, distToPeds);
1878 6077646 : } else if (foeLane->isCrossing() && ego->getLane()->isInternal() && ego->getLane()->getEdge().getToJunction() == myJunction) {
1879 147863 : const MSLink* crossingLink = foeLane->getIncomingLanes()[0].viaLink;
1880 147863 : if (distToCrossing > 0 && crossingLink->havePriority() && crossingLink->myApproachingPersons != nullptr) {
1881 : // a person might step on the crossing at any moment, since ego
1882 : // is already on the junction, the opened() check is not done anymore
1883 26557 : const double timeToEnterCrossing = distToCrossing / MAX2(ego->getSpeed(), 1.0);
1884 31872 : for (const auto& item : (*crossingLink->myApproachingPersons)) {
1885 6866 : if (!ignoreFoe(ego, item.first) && timeToEnterCrossing > STEPS2TIME(item.second.arrivalTime - SIMSTEP)) {
1886 1551 : if (gDebugFlag1) {
1887 0 : std::cout << SIMTIME << ": " << ego->getID() << " breaking for approaching person " << item.first->getID()
1888 : //<< " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1889 0 : << "\n";
1890 : }
1891 1551 : result.emplace_back(nullptr, -1, distToPeds);
1892 1551 : break;
1893 : //} else {
1894 : // if (gDebugFlag1) {
1895 : // std::cout << SIMTIME << ": " << ego->getID() << " notBreaking for approaching person " << item.first->getID()
1896 : // << " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1897 : // << "\n";
1898 : // }
1899 : }
1900 : }
1901 : }
1902 : }
1903 : }
1904 : }
1905 :
1906 : //std::cout << SIMTIME << " ego=" << Named::getIDSecure(ego) << " link=" << getViaLaneOrLane()->getID() << " myWalkingAreaFoe=" << Named::getIDSecure(myWalkingAreaFoe) << "\n";
1907 282843353 : if (ego != nullptr) {
1908 281901617 : checkWalkingAreaFoe(ego, myWalkingAreaFoe, collectBlockers, result);
1909 281901617 : checkWalkingAreaFoe(ego, myWalkingAreaFoeExit, collectBlockers, result);
1910 : }
1911 :
1912 282843353 : if (MSGlobals::gLateralResolution > 0 && ego != nullptr && !isShadowLink) {
1913 : // check for foes on the same edge
1914 69735520 : for (std::vector<MSLane*>::const_iterator it = mySublaneFoeLanes.begin(); it != mySublaneFoeLanes.end(); ++it) {
1915 6419912 : const MSLane* foeLane = *it;
1916 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1917 4301606 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1918 4301606 : MSVehicle* leader = (MSVehicle*)*it_veh;
1919 4301606 : if (leader == ego) {
1920 2551343 : continue;
1921 : }
1922 3642429 : if (leader->getLane()->isNormal()) {
1923 : // leader is past the conflict point
1924 1444218 : continue;
1925 : }
1926 2198211 : const double maxLength = MAX2(myInternalLaneBefore->getLength(), foeLane->getLength());
1927 2198211 : const double gap = dist - maxLength - ego->getVehicleType().getMinGap() + leader->getBackPositionOnLane(foeLane) - extraGap;
1928 2198211 : if (gap < -(ego->getVehicleType().getMinGap() + leader->getLength())) {
1929 : // ego is ahead of leader
1930 447948 : continue;
1931 : }
1932 1750263 : const double posLat = ego->getLateralPositionOnLane();
1933 1750263 : const double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1934 1750263 : if (gDebugFlag1) {
1935 0 : std::cout << " sublaneFoe lane=" << myInternalLaneBefore->getID()
1936 : << " foeLane=" << foeLane->getID()
1937 : << " leader=" << leader->getID()
1938 0 : << " egoLane=" << ego->getLane()->getID()
1939 0 : << " leaderLane=" << leader->getLane()->getID()
1940 : << " gap=" << gap
1941 : << " egoLat=" << posLat
1942 : << " leaderLat=" << posLatLeader
1943 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1944 0 : << " egoIndex=" << myInternalLaneBefore->getIndex()
1945 0 : << " foeIndex=" << foeLane->getIndex()
1946 0 : << " dist=" << dist
1947 0 : << " leaderBack=" << leader->getBackPositionOnLane(foeLane)
1948 0 : << "\n";
1949 : }
1950 : // there only is a conflict if the paths cross
1951 645396 : if ((posLat < posLatLeader && myInternalLaneBefore->getIndex() > foeLane->getIndex())
1952 2062211 : || (posLat > posLatLeader && myInternalLaneBefore->getIndex() < foeLane->getIndex())) {
1953 777799 : if (gDebugFlag1) {
1954 0 : std::cout << SIMTIME << " blocked by " << leader->getID() << " (sublane split) foeLane=" << foeLane->getID() << "\n";
1955 : }
1956 777799 : if (ignoreFoe(ego, leader)) {
1957 0 : continue;
1958 : }
1959 777799 : result.emplace_back(leader, gap, -1);
1960 : }
1961 : }
1962 : }
1963 : }
1964 : return result;
1965 5 : }
1966 :
1967 :
1968 : void
1969 563803234 : MSLink::checkWalkingAreaFoe(const MSVehicle* ego, const MSLane* foeLane, std::vector<const MSPerson*>* collectBlockers, LinkLeaders& result) const {
1970 563803234 : if (foeLane != nullptr && foeLane->getEdge().getPersons().size() > 0) {
1971 : // pedestrians may be on an arbitrary path across this
1972 : // walkingarea. make sure to keep enough distance.
1973 : // This is a simple but conservative solution that could be improved
1974 : // by ignoring pedestrians that are "obviously" not on a collision course
1975 125726 : double distToPeds = std::numeric_limits<double>::max();
1976 : assert(myInternalLaneBefore != nullptr);
1977 125726 : PositionVector egoPath = myInternalLaneBefore->getShape();
1978 125726 : if (ego->getLateralPositionOnLane() != 0) {
1979 107434 : egoPath.move2side((MSGlobals::gLefthand ? 1 : -1) * ego->getLateralPositionOnLane());
1980 : }
1981 959875 : for (MSTransportable* t : foeLane->getEdge().getPersons()) {
1982 834149 : MSPerson* p = static_cast<MSPerson*>(t);
1983 834149 : double dist = ego->getPosition().distanceTo2D(p->getPosition()) - p->getVehicleType().getLength();
1984 834149 : const bool inFront = isInFront(ego, egoPath, p->getPosition()) || isInFront(ego, egoPath, getFuturePosition(p));
1985 : if (inFront) {
1986 305970 : dist -= MAX2(ego->getVehicleType().getMinGap(), MSPModel::SAFETY_GAP);
1987 : }
1988 : #ifdef DEBUG_WALKINGAREA
1989 : if (ego->isSelected()) {
1990 : std::cout << SIMTIME << " veh=" << ego->getID() << " ped=" << p->getID()
1991 : << " pos=" << ego->getPosition() << " pedPos=" << p->getPosition()
1992 : << " futurePedPos=" << getFuturePosition(p)
1993 : << " rawDist=" << ego->getPosition().distanceTo2D(p->getPosition())
1994 : << " inFront=" << inFront
1995 : << " dist=" << dist << "\n";
1996 : }
1997 : #endif
1998 834149 : if (dist < ego->getVehicleType().getWidth() / 2 || inFront) {
1999 153276 : if (inFront) {
2000 152985 : const double oncomingFactor = isOnComingPed(ego, p);
2001 152985 : if (oncomingFactor > 0) {
2002 : // account for pedestrian movement while closing in
2003 53940 : const double timeToStop = sqrt(dist) / 2;
2004 53940 : const double pedDist = p->getMaxSpeed() * MAX2(timeToStop, TS) * oncomingFactor;
2005 53940 : dist = MAX2(0.0, dist - pedDist);
2006 : #ifdef DEBUG_WALKINGAREA
2007 : if (ego->isSelected()) {
2008 : std::cout << " timeToStop=" << timeToStop << " pedDist=" << pedDist << " factor=" << oncomingFactor << " dist2=" << dist << "\n";
2009 : }
2010 : #endif
2011 : }
2012 : }
2013 153276 : if (ignoreFoe(ego, p)) {
2014 25237 : continue;
2015 : }
2016 128039 : distToPeds = MIN2(distToPeds, dist);
2017 128039 : if (collectBlockers != nullptr) {
2018 0 : collectBlockers->push_back(p);
2019 : }
2020 : }
2021 : }
2022 125726 : if (distToPeds != std::numeric_limits<double>::max()) {
2023 : // leave extra space in front
2024 87119 : result.emplace_back(nullptr, -1, distToPeds);
2025 : }
2026 125726 : }
2027 563803234 : }
2028 :
2029 : bool
2030 1531692 : MSLink::isInFront(const MSVehicle* ego, const PositionVector& egoPath, const Position& pPos) const {
2031 1531692 : const double pedAngle = ego->getPosition().angleTo2D(pPos);
2032 1531692 : const double angleDiff = fabs(GeomHelper::angleDiff(ego->getAngle(), pedAngle));
2033 : #ifdef DEBUG_WALKINGAREA
2034 : if (ego->isSelected()) {
2035 : std::cout << " angleDiff=" << RAD2DEG(angleDiff) << "\n";
2036 : }
2037 : #endif
2038 1531692 : if (angleDiff < DEG2RAD(75)) {
2039 1082857 : return egoPath.distance2D(pPos) < ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP;
2040 : }
2041 : return false;
2042 : }
2043 :
2044 :
2045 : double
2046 152985 : MSLink::isOnComingPed(const MSVehicle* ego, const MSPerson* p) const {
2047 152985 : const double pedToEgoAngle = p->getPosition().angleTo2D(ego->getPosition());
2048 152985 : const double angleDiff = fabs(GeomHelper::angleDiff(p->getAngle(), pedToEgoAngle));
2049 : #ifdef DEBUG_WALKINGAREA
2050 : if (ego->isSelected()) {
2051 : std::cout << " ped-angleDiff=" << RAD2DEG(angleDiff) << " res=" << cos(angleDiff) << "\n";
2052 : }
2053 : #endif
2054 152985 : if (angleDiff <= DEG2RAD(90)) {
2055 : ;
2056 53940 : return cos(angleDiff);
2057 : } else {
2058 : return 0;
2059 : }
2060 : }
2061 :
2062 :
2063 : Position
2064 697543 : MSLink::getFuturePosition(const MSPerson* p, double timeHorizon) const {
2065 697543 : const double a = p->getAngle();
2066 697543 : const double dist = timeHorizon * p->getMaxSpeed();
2067 :
2068 697543 : const Position offset(cos(a) * dist, sin(a) * dist);
2069 697543 : return p->getPosition() + offset;
2070 : }
2071 :
2072 :
2073 : MSLink*
2074 10348685 : MSLink::getParallelLink(int direction) const {
2075 10348685 : if (direction == -1) {
2076 3927121 : return myParallelRight;
2077 6421564 : } else if (direction == 1) {
2078 5746533 : return myParallelLeft;
2079 : } else {
2080 : assert(false || myLane->getOpposite() != nullptr || MSGlobals::gComputeLC);
2081 : return nullptr;
2082 : }
2083 : }
2084 :
2085 : MSLink*
2086 169386 : MSLink::getOppositeDirectionLink() const {
2087 169386 : if (myLane->getOpposite() != nullptr && myLaneBefore->getOpposite() != nullptr) {
2088 42591 : for (MSLink* cand : myLane->getOpposite()->getLinkCont()) {
2089 39419 : if (cand->getLane() == myLaneBefore->getOpposite()) {
2090 : return cand;
2091 : }
2092 : }
2093 : }
2094 : return nullptr;
2095 : }
2096 :
2097 :
2098 : MSLink*
2099 5273850 : MSLink::computeParallelLink(int direction) {
2100 5273850 : const MSLane* const before = getLaneBefore()->getParallelLane(direction, false);
2101 5273850 : const MSLane* const after = getLane()->getParallelLane(direction, false);
2102 5273850 : if (before != nullptr && after != nullptr) {
2103 917458 : for (MSLink* const link : before->getLinkCont()) {
2104 589683 : if (link->getLane() == after) {
2105 : return link;
2106 : }
2107 : }
2108 : }
2109 : return nullptr;
2110 : }
2111 :
2112 :
2113 : double
2114 1328435 : MSLink::getZipperSpeed(const MSVehicle* ego, const double dist, double vSafe,
2115 : SUMOTime arrivalTime,
2116 : const BlockingFoes* foes) const {
2117 1328435 : if (myFoeLinks.size() == 0) {
2118 : // link should have LINKSTATE_MAJOR in this case
2119 : assert(false);
2120 : return vSafe;
2121 : }
2122 1328435 : const double brakeGap = ego->getCarFollowModel().brakeGap(vSafe, ego->getCarFollowModel().getMaxDecel(), TS);
2123 1444410 : if (dist > MAX2(myFoeVisibilityDistance, brakeGap)) {
2124 : #ifdef DEBUG_ZIPPER
2125 : const SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2126 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2127 : << " dist=" << dist << " bGap=" << brakeGap << " ignoring foes (arrival in " << STEPS2TIME(arrivalTime - now) << ")\n")
2128 : #endif
2129 : return vSafe;
2130 : }
2131 : #ifdef DEBUG_ZIPPER
2132 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2133 : << " egoAT=" << arrivalTime
2134 : << " dist=" << dist
2135 : << " brakeGap=" << brakeGap
2136 : << " vSafe=" << vSafe
2137 : << " numFoes=" << foes->size()
2138 : << "\n")
2139 : #endif
2140 : const bool uniqueFoeLink = myFoeLinks.size() == 1;
2141 497702 : MSLink* foeLink = myFoeLinks[0];
2142 2605780 : for (const auto& item : *foes) {
2143 2108078 : if (!item->isVehicle()) {
2144 0 : continue;
2145 : }
2146 2108078 : const MSVehicle* foe = dynamic_cast<const MSVehicle*>(item);
2147 : assert(foe != 0);
2148 : const ApproachingVehicleInformation* aviPtr = nullptr;
2149 2108078 : if (uniqueFoeLink) {
2150 1400441 : aviPtr = foeLink->getApproachingPtr(foe);
2151 : } else {
2152 : // figure out which link is approached by the current foe
2153 1072960 : for (MSLink* fl : myFoeLinks) {
2154 1072960 : aviPtr = fl->getApproachingPtr(foe);
2155 1072960 : if (aviPtr != nullptr) {
2156 : break;
2157 : }
2158 : }
2159 : }
2160 2108078 : if (aviPtr == nullptr) {
2161 0 : continue;
2162 : }
2163 : const ApproachingVehicleInformation& avi = *aviPtr;
2164 2108078 : const double foeDist = (foe->isActive() ? avi.dist : MAX2(0.0, avi.dist -
2165 36 : STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - foe->getLastActionTime()) * avi.speed));
2166 :
2167 1431400 : if ( // ignore vehicles that arrive after us (unless they are ahead and we could easily brake for them)
2168 2208681 : ((avi.arrivalTime > arrivalTime) && !couldBrakeForLeader(dist, foeDist, ego, foe)) ||
2169 : // also ignore vehicles that are behind us and are able to brake for us
2170 2208681 : couldBrakeForLeader(foeDist, dist, foe, ego) ||
2171 : // resolve ties by lane index
2172 676682 : (avi.arrivalTime == arrivalTime && foeDist == dist && ego->getLane()->getIndex() < foe->getLane()->getIndex())) {
2173 : #ifdef DEBUG_ZIPPER
2174 : if (DEBUG_COND_ZIPPER) std::cout
2175 : << " ignoring foe=" << foe->getID()
2176 : << " foeAT=" << avi.arrivalTime
2177 : << " foeDist=" << avi.dist
2178 : << " foeDist2=" << foeDist
2179 : << " foeSpeed=" << avi.speed
2180 : << " egoSpeed=" << ego->getSpeed()
2181 : << " deltaDist=" << foeDist - dist
2182 : << " delteSpeed=" << avi.speed - foe->getCarFollowModel().getMaxDecel() - ego->getSpeed()
2183 : << " egoCouldBrake=" << couldBrakeForLeader(dist, foeDist, ego, foe)
2184 : << " foeCouldBrake=" << couldBrakeForLeader(foeDist, dist, foe, ego)
2185 : << "\n";
2186 : #endif
2187 1431400 : continue;
2188 : }
2189 : // the idea behind speed adaption is three-fold:
2190 : // 1) ego needs to be in a car-following relationship with foe eventually
2191 : // thus, the ego speed should be equal to the follow speed once the foe enters
2192 : // the zipper junction
2193 : // 2) ego vehicle needs to put a certain distance beteen himself and foe (safeGap)
2194 : // achieving this distance can be spread over time but computing
2195 : // safeGap is subject to estimation errors of future speeds
2196 : // 3) deceleration can be spread out over the time until true
2197 : // car-following happens, at the start of speed adaptions, smaller
2198 : // decelerations should be sufficient
2199 :
2200 : // we cannot trust avi.arrivalSpeed if the foe has leader vehicles that are accelerating
2201 : // lets try to extrapolate
2202 676678 : const double uMax = foe->getLane()->getVehicleMaxSpeed(foe);
2203 676678 : const double uAccel = foe->getCarFollowModel().estimateSpeedAfterDistance(foeDist, avi.speed, foe->getCarFollowModel().getMaxAccel());
2204 : const double uEnd = MIN2(uMax, uAccel);
2205 676678 : const double uAvg = (avi.speed + uEnd) / 2;
2206 676678 : const double tf0 = foeDist / MAX2(NUMERICAL_EPS, uAvg);
2207 676678 : const double tf = MAX2(1.0, ceil((tf0) / TS) * TS);
2208 :
2209 676678 : const double vMax = ego->getLane()->getVehicleMaxSpeed(ego);
2210 676678 : const double vAccel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), ego->getCarFollowModel().getMaxAccel());
2211 676678 : const double vDecel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), -ego->getCarFollowModel().getMaxDecel());
2212 : const double vEnd = MIN3(vMax, vAccel, MAX2(uEnd, vDecel));
2213 676678 : const double vAvg = (ego->getSpeed() + vEnd) / 2;
2214 676678 : const double te0 = dist / MAX2(NUMERICAL_EPS, vAvg);
2215 676678 : const double te = MAX2(1.0, ceil((te0) / TS) * TS);
2216 :
2217 676678 : const double tTarget = tf + ego->getCarFollowModel().getHeadwayTime();
2218 676678 : const double a = ego->getCarFollowModel().avoidArrivalAccel(dist, tTarget, vSafe, ego->getCarFollowModel().getMaxDecel());
2219 :
2220 676678 : const double gap = dist - foe->getVehicleType().getLength() - ego->getVehicleType().getMinGap() - foeDist;
2221 676678 : const double vFollow = ego->getCarFollowModel().followSpeed(
2222 676678 : ego, ego->getSpeed(), gap, avi.speed, foe->getCarFollowModel().getMaxDecel(), foe);
2223 676678 : const double vSafeGap = MAX2(vFollow, ego->getSpeed() + ACCEL2SPEED(a));
2224 :
2225 : // scale behavior based on ego time to link (te)
2226 676678 : const double w = MIN2(1.0, te / 10);
2227 676678 : const double maxDecel = w * ego->getCarFollowModel().getMaxDecel() + (1 - w) * ego->getCarFollowModel().getEmergencyDecel();
2228 676678 : const double vZipper = MAX3(vFollow, ego->getSpeed() - ACCEL2SPEED(maxDecel), vSafeGap);
2229 :
2230 : vSafe = MIN2(vSafe, vZipper);
2231 : #ifdef DEBUG_ZIPPER
2232 : if (DEBUG_COND_ZIPPER) std::cout << " adapting to foe=" << foe->getID()
2233 : << " foeDist=" << foeDist
2234 : << " foeSpeed=" << avi.speed
2235 : << " foeAS=" << avi.arrivalSpeed
2236 : << " egoSpeed=" << ego->getSpeed()
2237 : << " uMax=" << uMax
2238 : << " uAccel=" << uAccel
2239 : << " uEnd=" << uEnd
2240 : << " uAvg=" << uAvg
2241 : << " gap=" << gap
2242 : << "\n "
2243 : << " tf=" << tf
2244 : << " te=" << te
2245 : << " aSafeGap=" << a
2246 : << " vMax=" << vMax
2247 : << " vAccel=" << vAccel
2248 : << " vDecel=" << vDecel
2249 : << " vEnd=" << vEnd
2250 : << " vSafeGap=" << vSafeGap
2251 : << " vFollow=" << vFollow
2252 : << " w=" << w
2253 : << " maxDecel=" << maxDecel
2254 : << " vZipper=" << vZipper
2255 : << " vSafe=" << vSafe
2256 : << "\n";
2257 : #endif
2258 : }
2259 : return vSafe;
2260 : }
2261 :
2262 :
2263 : bool
2264 2208681 : MSLink::couldBrakeForLeader(double followDist, double leaderDist, const MSVehicle* follow, const MSVehicle* leader) {
2265 : return (// leader is ahead of follower
2266 2208681 : followDist > leaderDist &&
2267 : // and follower could brake for 1 s to stay behind leader
2268 395102 : followDist - leaderDist > follow->getSpeed() - follow->getCarFollowModel().getMaxDecel() - leader->getSpeed());
2269 : }
2270 :
2271 :
2272 : void
2273 2636925 : MSLink::initParallelLinks() {
2274 2636925 : myParallelRight = computeParallelLink(-1);
2275 2636925 : myParallelLeft = computeParallelLink(1);
2276 2636925 : }
2277 :
2278 : bool
2279 72528 : MSLink::checkContOff() const {
2280 : // check whether this link gets to keep its cont status switching the tls off
2281 : // @note: this could also be pre-computed in netconvert
2282 : // we check whether there is any major link from this edge
2283 215354 : for (const MSLane* cand : myLaneBefore->getEdge().getLanes()) {
2284 424659 : for (const MSLink* link : cand->getLinkCont()) {
2285 281833 : if (link->getOffState() == LINKSTATE_TL_OFF_NOSIGNAL) {
2286 : return true;
2287 : }
2288 : }
2289 : }
2290 : return false;
2291 : }
2292 :
2293 : bool
2294 4356814 : MSLink::lateralOverlap(double posLat, double width, double posLat2, double width2) {
2295 4356814 : return fabs(posLat2 - posLat) < (width + width2) / 2;
2296 : }
2297 :
2298 : std::string
2299 0 : MSLink::getDescription() const {
2300 0 : return myLaneBefore->getID() + "->" + getViaLaneOrLane()->getID();
2301 : }
2302 :
2303 :
2304 : bool
2305 177066157 : MSLink::ignoreFoe(const SUMOTrafficObject* ego, const SUMOTrafficObject* foe) {
2306 177066157 : if (ego == nullptr || !ego->getParameter().wasSet(VEHPARS_JUNCTIONMODEL_PARAMS_SET)) {
2307 177033718 : return false;
2308 : }
2309 32439 : const SUMOVehicleParameter& param = ego->getParameter();
2310 71050 : for (const std::string& typeID : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_TYPES), "")).getVector()) {
2311 31537 : if (typeID == foe->getVehicleType().getID()) {
2312 : return true;
2313 : }
2314 32439 : }
2315 16136 : for (const std::string& id : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_IDS), "")).getVector()) {
2316 2291 : if (id == foe->getID()) {
2317 : return true;
2318 : }
2319 7074 : }
2320 6771 : return false;
2321 : }
2322 :
2323 :
2324 : void
2325 98739 : MSLink::updateDistToFoePedCrossing(double dist) {
2326 98739 : myDistToFoePedCrossing = MIN2(myDistToFoePedCrossing, dist);
2327 98739 : }
2328 :
2329 :
2330 : std::pair<const SUMOVehicle* const, const MSLink::ApproachingVehicleInformation>
2331 9090832 : MSLink::getClosest() const {
2332 : assert(getApproaching().size() > 0);
2333 : double minDist = std::numeric_limits<double>::max();
2334 : auto closestIt = getApproaching().begin();
2335 18182289 : for (auto apprIt = getApproaching().begin(); apprIt != getApproaching().end(); apprIt++) {
2336 9091457 : if (apprIt->second.dist < minDist) {
2337 : minDist = apprIt->second.dist;
2338 : closestIt = apprIt;
2339 : }
2340 : }
2341 : // maybe a parallel link has a closer vehicle
2342 : /*
2343 : for (MSLink* link2 : link->getLaneBefore()->getLinkCont()) {
2344 : if (link2 != link) {
2345 : for (auto apprIt2 = link2->getApproaching().begin(); apprIt2 != link2->getApproaching().end(); apprIt2++) {
2346 : if (apprIt2->second.dist < minDist) {
2347 : minDist = apprIt2->second.dist;
2348 : closestIt = apprIt2;
2349 : }
2350 : }
2351 : }
2352 : }
2353 : */
2354 9090832 : return *closestIt;
2355 : }
2356 :
2357 :
2358 : bool
2359 459217 : MSLink::railSignalWasPassed() const {
2360 459217 : if (myJunction != nullptr && myJunction->getType() == SumoXMLNodeType::RAIL_SIGNAL) {
2361 1884 : for (const auto& item : myApproachingVehicles) {
2362 9 : if (item.second.dist < SPEED2DIST(item.first->getSpeed())) {
2363 : return true;
2364 : }
2365 : }
2366 : }
2367 : return false;
2368 : }
2369 :
2370 : /****************************************************************************/
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