Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2025 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 398094156 : MSLink::ConflictInfo::getFoeLengthBehindCrossing(const MSLink* foeExitLink) const {
84 398094156 : if (flag == CONFLICT_DUMMY_MERGE) {
85 : return 0;
86 390917440 : } else if (foeConflictIndex >= 0) {
87 373586284 : return foeExitLink->myConflicts[foeConflictIndex].lengthBehindCrossing;
88 : } else {
89 : return -NO_INTERSECTION;
90 : }
91 : }
92 :
93 : double
94 208954709 : MSLink::ConflictInfo::getFoeConflictSize(const MSLink* foeExitLink) const {
95 208954709 : if (foeConflictIndex >= 0) {
96 191692704 : return foeExitLink->myConflicts[foeConflictIndex].conflictSize;
97 : } else {
98 : return 0;
99 : }
100 : }
101 :
102 : double
103 398226854 : MSLink::ConflictInfo::getLengthBehindCrossing(const MSLink* exitLink) const {
104 398226854 : if (flag == CONFLICT_STOP_AT_INTERNAL_JUNCTION) {
105 16820842 : return exitLink->getInternalLaneBefore()->getLength();
106 : } else {
107 381406012 : return lengthBehindCrossing;
108 : }
109 : }
110 :
111 : // ===========================================================================
112 : // member method definitions
113 : // ===========================================================================
114 2505975 : 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 2505975 : bool indirect) :
118 2505975 : myLane(succLane),
119 2505975 : myLaneBefore(predLane),
120 2505975 : myApproachingPersons(nullptr),
121 2505975 : myIndex(-1),
122 2505975 : myTLIndex(tlIndex),
123 2505975 : myLogic(logic),
124 2505975 : myState(state),
125 2505975 : myLastGreenState(LINKSTATE_TL_GREEN_MINOR),
126 2505975 : myOffState(state),
127 2505975 : myLastStateChange(SUMOTime_MIN / 2), // a large negative value, but avoid overflows when subtracting
128 2505975 : myDirection(dir),
129 2505975 : myLength(length),
130 2505975 : myFoeVisibilityDistance(foeVisibilityDistance),
131 2505975 : myDistToFoePedCrossing(std::numeric_limits<double>::max()),
132 2505975 : myHasFoes(false),
133 2505975 : myAmCont(false),
134 2505975 : myAmContOff(false),
135 2505975 : myKeepClear(keepClear),
136 2505975 : myInternalLane(via),
137 2505975 : myInternalLaneBefore(nullptr),
138 2505975 : myMesoTLSPenalty(0),
139 2505975 : myGreenFraction(1),
140 2505975 : myLateralShift(0),
141 2505975 : myOffFoeLinks(nullptr),
142 2505975 : myWalkingAreaFoe(nullptr),
143 2505975 : myWalkingAreaFoeExit(nullptr),
144 2505975 : myHavePedestrianCrossingFoe(false),
145 2505975 : myParallelRight(nullptr),
146 2505975 : myParallelLeft(nullptr),
147 2505975 : myAmIndirect(indirect),
148 2505975 : myRadius(std::numeric_limits<double>::max()),
149 2505975 : myPermissions(myLaneBefore->getPermissions() & myLane->getPermissions() & (via == nullptr ? SVCAll : via->getPermissions())),
150 2505975 : myJunction(nullptr) {
151 :
152 2505975 : 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 197499 : if ((myInternalLane != nullptr || predLane->isInternal())
156 490819 : && 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 {
162 642 : from.move2side(dist);
163 0 : } catch (InvalidArgument&) {
164 0 : }
165 642 : myLateralShift = (from.back().distanceTo2D(to.front()) < dist) ? dist : -dist;
166 642 : if (MSGlobals::gLefthand) {
167 90 : myLateralShift *= -1;
168 : }
169 : //std::cout << " lateral shift link=" << myLaneBefore->getID() << "->" << getViaLaneOrLane()->getID() << " dist=" << dist << " shift=" << myLateralShift << "\n";
170 642 : }
171 : }
172 2505975 : }
173 :
174 :
175 2482123 : MSLink::~MSLink() {
176 2482123 : delete myOffFoeLinks;
177 2483822 : delete myApproachingPersons;
178 2482123 : }
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 3026576 : MSLink::getCustomConflict(const MSLane* foeLane) const {
188 3026576 : 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 2289323 : 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 2289323 : myIndex = index;
212 2289323 : myHasFoes = hasFoes;
213 2289323 : myAmCont = isCont && MSGlobals::gUsingInternalLanes;
214 2289323 : myFoeLinks = foeLinks;
215 7815102 : for (MSLane* foeLane : foeLanes) {
216 : // cannot assign vector due to const-ness
217 5525779 : myFoeLanes.push_back(foeLane);
218 : }
219 2289323 : myJunction = const_cast<MSJunction*>(myLane->getEdge().getFromJunction()); // junctionGraph is initialized after the whole network is loaded
220 2289323 : myAmContOff = isCont && myLogic != nullptr && internalLaneBefore == nullptr && checkContOff();
221 2289323 : 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->getEdge().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 2289323 : const MSLink* entryLink = getCorrespondingEntryLink();
232 2289323 : 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 5179 : myOffFoeLinks = new std::vector<MSLink*>();
236 5179 : if (isEntryLink()) {
237 13936 : for (MSLane* foeLane : foeLanes) {
238 : assert(foeLane->isInternal() || foeLane->isCrossing());
239 11660 : MSLink* viaLink = foeLane->getIncomingLanes().front().viaLink;
240 11660 : if (viaLink->getLaneBefore()->isNormal()) {
241 7050 : 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 2289323 : if (lane != nullptr) {
250 774876 : const bool beforeInternalJunction = lane->getLinkCont()[0]->getViaLaneOrLane()->getEdge().isInternal();
251 774876 : if (lane->getIncomingLanes().size() != 1) {
252 0 : throw ProcessError(TLF("Internal lane '%' has % predecessors", lane->getID(), toString(lane->getIncomingLanes().size())));
253 : }
254 774876 : const MSLink* junctionEntryLink = lane->getEntryLink();
255 774876 : const bool isSecondPart = isExitLinkAfterInternalJunction();
256 : // compute crossing points
257 3900737 : for (const MSLane* foeLane : myFoeLanes) {
258 3125861 : const CustomConflict* cc = junctionEntryLink != nullptr ? junctionEntryLink->getCustomConflict(foeLane) : nullptr;
259 3026568 : 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 3125853 : myHavePedestrianCrossingFoe = myHavePedestrianCrossingFoe || foeLane->getEdge().isCrossing();
306 3125853 : const bool sameTarget = myLane == foeLane->getLinkCont()[0]->getLane();
307 3125853 : 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 1030435 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + foeLane->getWidth()));
311 1030435 : if (lane->getShape().back().distanceTo2D(foeLane->getShape().back()) >= minDist) {
312 : // account for lateral shift by the entry links
313 93826 : 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 93797 : 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 936609 : const double distAfterDivergence = computeDistToDivergence(lane, foeLane, minDist, false);
326 : const double lbcLane = lane->interpolateGeometryPosToLanePos(distAfterDivergence);
327 936609 : 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 2095418 : 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 2095418 : if (intersections1.size() == 0) {
344 1082267 : intersections1.push_back(-NO_INTERSECTION); // disregard this foe (using maxdouble leads to nasty problems down the line)
345 : haveIntersection = false;
346 1013151 : } else if (intersections1.size() > 1) {
347 1293 : std::sort(intersections1.begin(), intersections1.end());
348 : }
349 2095418 : 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 2095418 : if (intersections2.size() == 0) {
354 1082267 : intersections2.push_back(0);
355 1013151 : } else if (intersections2.size() > 1) {
356 1293 : 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 2095418 : if (!haveIntersection && foeLane->getLinkCont()[0]->getViaLane() != nullptr) {
361 173324 : const Position waitPos = foeLane->getShape().back();
362 173324 : const double dist = lane->getShape().distance2D(waitPos, true);
363 173324 : if (dist != GeomHelper::INVALID_OFFSET && dist < lane->getWidth() / 2) {
364 : // risk of collision
365 : intersections1.clear();
366 : intersections2.clear();
367 22012 : intersections1.push_back(lane->getShape().nearest_offset_to_point2D(waitPos));
368 22012 : 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 2073406 : if (haveIntersection) {
379 : flag = CONFLICT_DEFAULT;
380 1035163 : const double angle1 = GeomHelper::naviDegree(lane->getShape().rotationAtOffset(intersections1.back()));
381 1035163 : const double angle2 = GeomHelper::naviDegree(foeLane->getShape().rotationAtOffset(intersections2.back()));
382 1035163 : const double angleDiff = GeomHelper::getMinAngleDiff(angle1, angle2);
383 : //const double angleDiff = MIN2(GeomHelper::getMinAngleDiff(angle1, angle2),
384 : // GeomHelper::getMinAngleDiff(angle1, angle2 + 180));
385 1035163 : 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 1035163 : conflictSize *= widthFactor;
388 : conflictSize = MIN2(conflictSize, lane->getLength());
389 : // lane width affects the crossing point
390 1035163 : intersections1.back() -= conflictSize / 2;
391 : // ensure non-negative offset for weird geometries
392 1035163 : 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 1035163 : intersections1.back() = lane->interpolateGeometryPosToLanePos(intersections1.back());
396 :
397 1035163 : if (internalLaneBefore->getLogicalPredecessorLane()->getEdge().isInternal() && !foeLane->getEdge().isCrossing()) {
398 : flag = CONFLICT_STOP_AT_INTERNAL_JUNCTION;
399 : }
400 :
401 1035163 : if (foeLane->getEdge().isCrossing()) {
402 93141 : const MSLink* before = myInternalLaneBefore->getCanonicalPredecessorLane()->getLinkTo(myInternalLaneBefore);
403 93141 : const_cast<MSLink*>(before)->updateDistToFoePedCrossing(intersections1.back());
404 : };
405 : }
406 :
407 2095418 : myConflicts.push_back(ConflictInfo(
408 2095418 : 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 2095418 : }
422 : }
423 : // check for overlap with internal lanes from the same source lane
424 774876 : 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 2506919 : for (const MSLink* const link : pred->getLinkCont()) {
428 1732043 : const MSLane* const sibling = link->getViaLane();
429 1732043 : if (sibling != lane && sibling != nullptr) {
430 934296 : const double minDist = MIN2(DIVERGENCE_MIN_WIDTH, 0.5 * (lane->getWidth() + sibling->getWidth()));
431 934296 : if (lane->getShape().front().distanceTo2D(sibling->getShape().front()) >= minDist) {
432 : // account for lateral shift by the entry links
433 620 : continue;
434 : }
435 933676 : const double distToDivergence = computeDistToDivergence(lane, sibling, minDist, true);
436 : double lbcLane;
437 933676 : 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 12168 : lbcLane = lane->getLength() - distToDivergence;
442 : } else {
443 921508 : lbcLane = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence));
444 : }
445 : ConflictInfo ci = ConflictInfo(lbcLane, sibling->getWidth());
446 933676 : auto it = std::find(myFoeLanes.begin(), myFoeLanes.end(), sibling);
447 933676 : 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 933610 : myConflicts.push_back(ci);
453 933610 : 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 933676 : const MSLane* const siblingCont = sibling->getLinkCont().front()->getViaLaneOrLane();
461 933676 : if (siblingCont->isInternal() && lane->getShape().distance2D(siblingCont->getShape().front()) < minDist) {
462 : // there may still be overlap with siblingCont (when considering vehicle widths)
463 210890 : const double distToDivergence2 = computeDistToDivergence(lane, siblingCont, minDist, true, sibling->getLength());
464 210890 : double lbcLane2 = MAX2(0.0, lane->getLength() - lane->interpolateGeometryPosToLanePos(distToDivergence2));
465 : ConflictInfo ci2 = ConflictInfo(lbcLane2, siblingCont->getWidth(), CONFLICT_SIBLING_CONTINUATION);
466 210890 : myConflicts.push_back(ci2);
467 210890 : myFoeLanes.push_back(siblingCont);
468 210890 : 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 5045237 : for (int i = 0; i < (int)myFoeLanes.size(); i++) {
481 4270361 : const MSLane* foeLane = myFoeLanes[i];
482 4270361 : MSLink* foeExitLink = foeLane->getLinkCont()[0];
483 : int foundIndex = -1;
484 16255440 : for (int i2 = 0; i2 < (int)foeExitLink->myFoeLanes.size(); i2++) {
485 13805188 : if (foeExitLink->myFoeLanes[i2] == lane) {
486 1820109 : myConflicts[i].foeConflictIndex = i2;
487 1820109 : foeExitLink->myConflicts[i2].foeConflictIndex = i;
488 1820109 : myRecheck.erase({foeExitLink, this});
489 : foundIndex = i2;
490 1820109 : 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 4270361 : if (foundIndex < 0) {
497 2450252 : if (myConflicts[i].flag != CONFLICT_NO_INTERSECTION) {
498 1769383 : myRecheck.insert({this, foeExitLink});
499 : }
500 : }
501 : }
502 : }
503 2289323 : if (MSGlobals::gLateralResolution > 0) {
504 : // check for links with the same origin lane and the same destination edge
505 283988 : const MSEdge* myTarget = &myLane->getEdge();
506 : // save foes for entry links
507 900886 : for (MSLink* const it : myLaneBefore->getLinkCont()) {
508 : const MSEdge* target = &(it->getLane()->getEdge());
509 616898 : if (it == this) {
510 283988 : continue;
511 : }
512 332910 : if (target == myTarget) {
513 6672 : mySublaneFoeLinks.push_back(it);
514 : #ifdef MSLink_DEBUG_CROSSING_POINTS
515 : std::cout << " sublaneFoeLink (same target): " << it->getViaLaneOrLane()->getID() << "\n";
516 : #endif
517 326238 : } else if (myDirection != LinkDirection::STRAIGHT && it->getDirection() == LinkDirection::STRAIGHT) {
518 : // potential turn conflict
519 79533 : 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 283988 : if (fromInternalLane()) {
527 : //std::cout << " setRequestInformation link=" << getViaLaneOrLane()->getID() << " before=" << myLaneBefore->getID() << " before2=" << myLaneBefore->getIncomingLanes().front().lane->getID() << "\n";
528 352178 : for (const MSLink* const link : myLaneBefore->getIncomingLanes().front().lane->getLinkCont()) {
529 247690 : if (link->getViaLane() != myInternalLaneBefore && &link->getLane()->getEdge() == myTarget) {
530 : //std::cout << " add sublaneFoe=" << (*it)->getViaLane()->getID() << "\n";
531 4222 : mySublaneFoeLanes.push_back(link->getViaLane());
532 : }
533 : }
534 : }
535 : }
536 2289323 : if (myInternalLaneBefore != nullptr
537 774876 : && myDirection != LinkDirection::STRAIGHT
538 : // for right turns, the curvature helps rather than restricts the linkLeader check
539 449076 : && (
540 449076 : (!MSGlobals::gLefthand && myDirection != LinkDirection::RIGHT)
541 135046 : || (MSGlobals::gLefthand && myDirection != LinkDirection::LEFT))) {
542 628890 : const double angle = fabs(GeomHelper::angleDiff(
543 314445 : myLaneBefore->getNormalPredecessorLane()->getShape().angleAt2D(-2),
544 314445 : myLane->getShape().angleAt2D(0)));
545 314445 : if (angle > 0) {
546 314445 : double length = myInternalLaneBefore->getShape().length2D();
547 628890 : if (myInternalLaneBefore->getIncomingLanes().size() == 1 &&
548 314445 : myInternalLaneBefore->getIncomingLanes()[0].lane->isInternal()) {
549 86592 : length += myInternalLaneBefore->getIncomingLanes()[0].lane->getShape().length2D();
550 227853 : } else if (myInternalLane != nullptr) {
551 86592 : length += myInternalLane->getShape().length2D();
552 : }
553 314445 : myRadius = length / angle;
554 : //std::cout << getDescription() << " a=" << RAD2DEG(angle) << " l=" << length << " r=" << myRadius << "\n";
555 : }
556 : }
557 2289323 : }
558 :
559 :
560 : void
561 38582 : MSLink::recheckSetRequestInformation() {
562 279275 : 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 2108677 : for (int i = 0; i < (int)link->myFoeLanes.size(); i++) {
572 2108677 : if (link->myFoeLanes[i] == foeLane) {
573 : conflictIndex = i;
574 : break;
575 : }
576 : }
577 240693 : if (conflictIndex == -1) {
578 0 : WRITE_WARNING("Could not recheck ConflictInfo for " + link->getDescription() + " and " + foeExitLink->getDescription() + "\n");
579 211076 : continue;
580 : }
581 240693 : ConflictInfo& ci = link->myConflicts[conflictIndex];
582 240693 : if (ci.flag & CONFLICT_SIBLING_CONTINUATION) {
583 210886 : const MSLane* const intLane = link->getInternalLaneBefore();
584 : const MSLane* const siblingCont = foeExitLink->getInternalLaneBefore();
585 210886 : 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 210886 : const double distToDivergence = intLane->getLength() - ci.lengthBehindCrossing;
588 210886 : 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 210886 : ci2.foeConflictIndex = conflictIndex;
594 210886 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
595 210886 : foeExitLink->myFoeLanes.push_back(intLane);
596 210886 : foeExitLink->myConflicts.push_back(ci2);
597 : continue;
598 210886 : }
599 :
600 29807 : std::vector<double> intersections1 = foeLane->getShape().intersectsAtLengths2D(lane->getShape());
601 29807 : if (intersections1.size() == 0) {
602 : #ifdef MSLink_DEBUG_CROSSING_POINTS
603 : std::cout << " no intersection\n";
604 : #endif
605 : continue;
606 : }
607 29617 : const double widthFactor = ci.conflictSize / foeLane->getWidth();
608 29617 : const double conflictSize2 = lane->getWidth() * widthFactor;
609 29617 : std::sort(intersections1.begin(), intersections1.end());
610 29617 : intersections1.back() -= conflictSize2 / 2;
611 29617 : intersections1.back() = MAX2(0.0, intersections1.back());
612 29617 : ci.foeConflictIndex = (int)foeExitLink->myConflicts.size();
613 29617 : 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 29807 : }
618 : myRecheck.clear();
619 38582 : }
620 :
621 : double
622 2081175 : 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 2081175 : double length = l.length2D();
629 2081175 : double sibLength = s.length2D();
630 2081175 : if (!sameSource) {
631 1873218 : l = l.reverse();
632 1873218 : s = s.reverse();
633 1144566 : } 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 1144492 : } 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 2081175 : 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 2028139 : 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 2028139 : 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 2028184 : for (int j = (int)s.size() - 2; j >= 0; j--) {
665 2028184 : const int i = j + (int)l.size();
666 2028184 : const double segLength = s[j].distanceTo2D(s[j + 1]);
667 2028184 : if (distances[i] > minDist) {
668 767545 : lbcSibling += segLength;
669 : } else {
670 : // assume no sharp bends and just interpolate the last segment
671 1260639 : lbcSibling += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
672 1260639 : break;
673 : }
674 : }
675 2076548 : for (int i = (int)l.size() - 2; i >= 0; i--) {
676 2025685 : const double segLength = l[i].distanceTo2D(l[i + 1]);
677 2025685 : if (distances[i] > minDist) {
678 815909 : lbcLane += segLength;
679 : } else {
680 : // assume no sharp bends and just interpolate the last segment
681 1209776 : lbcLane += segLength - (minDist - distances[i]) * segLength / (distances[i + 1] - distances[i]);
682 1209776 : break;
683 : }
684 : }
685 : }
686 : assert(lbcSibling >= -NUMERICAL_EPS);
687 : assert(lbcLane >= -NUMERICAL_EPS);
688 2028139 : }
689 2081175 : const double distToDivergence1 = sibling->getLength() + siblingPredLength - lbcSibling;
690 2081175 : 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 2081175 : return distToDivergence;
703 2081175 : }
704 :
705 :
706 : bool
707 1030610 : MSLink::contIntersect(const MSLane* lane, const MSLane* foe) {
708 1030610 : if (foe->getLinkCont()[0]->getViaLane() != nullptr) {
709 94240 : std::vector<double> intersections = lane->getShape().intersectsAtLengths2D(foe->getShape());
710 94240 : return intersections.size() > 0;
711 94240 : }
712 : return false;
713 : }
714 :
715 :
716 : void
717 814029195 : 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 814029195 : 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 814029195 : myApproachingVehicles.emplace(approaching,
733 1628058390 : ApproachingVehicleInformation(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, setRequest,
734 814029195 : arrivalSpeedBraking, waitingTime, dist, approaching->getSpeed(), latOffset));
735 814029195 : }
736 :
737 :
738 : void
739 1107374 : 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 1107374 : myApproachingVehicles.emplace(approaching, ai);
753 1107374 : }
754 :
755 : void
756 575759 : MSLink::setApproachingPerson(const MSPerson* approaching, const SUMOTime arrivalTime, const SUMOTime leaveTime) {
757 575759 : if (myApproachingPersons == nullptr) {
758 1699 : myApproachingPersons = new PersonApproachInfos();
759 : }
760 575759 : myApproachingPersons->emplace(approaching, ApproachingPersonInformation(arrivalTime, leaveTime));
761 575759 : }
762 :
763 : void
764 810450095 : 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 810450095 : }
779 :
780 :
781 : void
782 36269 : MSLink::removeApproachingPerson(const MSPerson* person) {
783 36269 : if (myApproachingPersons == nullptr) {
784 16 : WRITE_WARNINGF("Person '%' entered crossing lane '%' without registering approach, time=%", person->getID(), myLane->getID(), time2string(SIMSTEP));
785 4 : 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 27876063 : MSLink::getApproaching(const SUMOVehicle* veh) const {
802 : auto i = myApproachingVehicles.find(veh);
803 27876063 : if (i != myApproachingVehicles.end()) {
804 25202575 : 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 2346893 : MSLink::getApproachingPtr(const SUMOVehicle* veh) const {
813 : auto i = myApproachingVehicles.find(veh);
814 2346893 : if (i != myApproachingVehicles.end()) {
815 2015950 : return &i->second;
816 : } else {
817 : return nullptr;
818 : }
819 : }
820 :
821 :
822 : void
823 13096 : MSLink::clearState() {
824 : myApproachingVehicles.clear();
825 13096 : }
826 :
827 :
828 : SUMOTime
829 1447667954 : MSLink::getLeaveTime(const SUMOTime arrivalTime, const double arrivalSpeed,
830 : const double leaveSpeed, const double vehicleLength) const {
831 1477819781 : return arrivalTime == SUMOTime_MAX ? SUMOTime_MAX : arrivalTime + TIME2STEPS((getLength() + vehicleLength) / MAX2(0.5 * (arrivalSpeed + leaveSpeed), NUMERICAL_EPS));
832 : }
833 :
834 :
835 : bool
836 640913465 : 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 640913465 : if (haveRed() && !ignoreRed) {
845 : return false;
846 : }
847 636755627 : if (isCont() && MSGlobals::gUsingInternalLanes) {
848 : return true;
849 : }
850 633238852 : const SUMOTime leaveTime = getLeaveTime(arrivalTime, arrivalSpeed, leaveSpeed, vehicleLength);
851 633238852 : if (MSGlobals::gLateralResolution > 0) {
852 : // check for foes on the same lane with the same target edge
853 135142990 : for (const MSLink* foeLink : mySublaneFoeLinks) {
854 : assert(myLane != foeLink->getLane());
855 9832461 : for (const auto& it : foeLink->myApproachingVehicles) {
856 6733617 : const SUMOVehicle* foe = it.first;
857 : if (
858 : // there only is a conflict if the paths cross
859 7316275 : ((posLat < foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() > foeLink->myLane->getIndex())
860 6510235 : || (posLat > foe->getLateralPositionOnLane() + it.second.latOffset && myLane->getIndex() < foeLink->myLane->getIndex()))
861 : // the vehicle that arrives later must yield
862 7264296 : && (arrivalTime > it.second.arrivalTime
863 : // if both vehicles arrive at the same time, the one
864 : // to the left must yield
865 342360 : || (arrivalTime == it.second.arrivalTime && posLat > foe->getLateralPositionOnLane()))) {
866 188792 : 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 40770 : 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 132003376 : const int lhSign = MSGlobals::gLefthand ? -1 : 1;
890 133268316 : for (const MSLink* foeLink : mySublaneFoeLinks2) {
891 : assert(myDirection != LinkDirection::STRAIGHT);
892 5584921 : for (const auto& it : foeLink->myApproachingVehicles) {
893 4319981 : 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 4319981 : const double egoWidth = ego == nullptr ? 1.8 : ego->getVehicleType().getWidth();
897 4319981 : if (!lateralOverlap(posLat, egoWidth, foe->getLateralPositionOnLane() + it.second.latOffset, foe->getVehicleType().getWidth())
898 4319981 : && (((myDirection == LinkDirection::RIGHT || myDirection == LinkDirection::PARTRIGHT)
899 473352 : && (posLat * lhSign > (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign))
900 431987 : || ((myDirection == LinkDirection::LEFT || myDirection == LinkDirection::PARTLEFT)
901 32795 : && (posLat * lhSign < (foe->getLateralPositionOnLane() + it.second.latOffset) * lhSign)))) {
902 75182 : 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 8576 : 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 26862376 : || lastWasContState(LINKSTATE_TL_GREEN_MAJOR)
936 26561994 : || (isExitLinkAfterInternalJunction() && getCorrespondingEntryLink()->getState() == LINKSTATE_TL_GREEN_MAJOR))
937 633601055 : && 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 605203151 : return collectFoes == nullptr || collectFoes->size() == 0;
942 : }
943 27986355 : if (myState == LINKSTATE_ALLWAY_STOP && waitingTime < TIME2STEPS(ego == nullptr ? TS : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ALLWAYSTOP_WAIT, TS))) {
944 : return false;
945 27043895 : } 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 27009129 : const std::vector<MSLink*>& foeLinks = (myOffFoeLinks == nullptr || getCorrespondingEntryLink()->getState() != LINKSTATE_ALLWAY_STOP) ? myFoeLinks : *myOffFoeLinks;
950 : #ifdef MSLink_DEBUG_OPENED
951 : if (gDebugFlag1) {
952 : std::cout << SIMTIME << " opened link=" << getViaLaneOrLane()->getID() << " foeLinks=" << foeLinks.size() << "\n";
953 : }
954 : #endif
955 :
956 27009129 : if (MSGlobals::gUseMesoSim && impatience == 1 && !myLane->getEdge().isRoundabout()) {
957 : return true;
958 : }
959 27008941 : const bool lastWasContRed = lastWasContState(LINKSTATE_TL_RED);
960 75312964 : for (const MSLink* const link : foeLinks) {
961 52713713 : if (MSGlobals::gUseMesoSim) {
962 1787117 : if (link->haveRed()) {
963 45724 : continue;
964 : }
965 : }
966 : #ifdef MSLink_DEBUG_OPENED
967 : if (gDebugFlag1) {
968 : std::cout << SIMTIME << " foeLink=" << link->getViaLaneOrLane()->getID() << " numApproaching=" << link->getApproaching().size() << "\n";
969 : if (link->getLane()->isCrossing()) {
970 : std::cout << SIMTIME << " approachingPersons=" << (link->myApproachingPersons == nullptr ? "NULL" : toString(link->myApproachingPersons->size())) << "\n";
971 : }
972 : }
973 : #endif
974 52667989 : if (link->blockedAtTime(arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, myLane == link->getLane(),
975 : impatience, decel, waitingTime, collectFoes, ego, lastWasContRed, dist)) {
976 : return false;
977 : }
978 : }
979 22599251 : if (collectFoes != nullptr && collectFoes->size() > 0) {
980 : return false;
981 : }
982 : return true;
983 : }
984 :
985 :
986 : bool
987 52704771 : MSLink::blockedAtTime(SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
988 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
989 : BlockingFoes* collectFoes, const SUMOTrafficObject* ego, bool lastWasContRed, double dist) const {
990 199582768 : for (const auto& it : myApproachingVehicles) {
991 : #ifdef MSLink_DEBUG_OPENED
992 : if (gDebugFlag1) {
993 : if (ego != nullptr
994 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) >= it.second.speed
995 : && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) > 0) {
996 : std::stringstream stream; // to reduce output interleaving from different threads
997 : stream << SIMTIME << " " << myApproachingVehicles.size() << " foe link=" << getViaLaneOrLane()->getID()
998 : << " foeVeh=" << it.first->getID() << " (below ignore speed)"
999 : << " ignoreFoeProb=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0)
1000 : << "\n";
1001 : std::cout << stream.str();
1002 : }
1003 : }
1004 : #endif
1005 151195804 : if (it.first != ego
1006 151189036 : && (ego == nullptr
1007 151152705 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1008 22549 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.second.speed
1009 1701 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1010 151187491 : && !ignoreFoe(ego, it.first)
1011 151187249 : && (!lastWasContRed || it.first->getSpeed() > SUMO_const_haltingSpeed)
1012 302367041 : && blockedByFoe(it.first, it.second, arrivalTime, leaveTime, arrivalSpeed, leaveSpeed, sameTargetLane,
1013 : impatience, decel, waitingTime, ego)) {
1014 10526059 : if (collectFoes == nullptr) {
1015 : return true;
1016 : } else {
1017 6208252 : collectFoes->push_back(it.first);
1018 : }
1019 : }
1020 : }
1021 48386964 : if (myApproachingPersons != nullptr && !haveRed()) {
1022 887723 : for (const auto& it : *myApproachingPersons) {
1023 : //#ifdef MSLink_DEBUG_OPENED
1024 : // if (gDebugFlag1) {
1025 : // std::cout << SIMTIME << ": " << ego->getID() << " check person " << it.first->getID() << " aTime=" << arrivalTime << " foeATime=" << it.second.arrivalTime
1026 : // << " lTime=" << leaveTime << " foeLTime=" << it.second.leavingTime
1027 : // << " dist=" << dist << "\n";
1028 : // }
1029 : //#endif
1030 : if ((ego == nullptr
1031 195752 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) == 0
1032 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_SPEED, 0) < it.first->getSpeed()
1033 600 : || ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_IGNORE_FOE_PROB, 0) < RandHelper::rand(ego->getRNG()))
1034 195373 : && !ignoreFoe(ego, it.first)
1035 391266 : && !((arrivalTime > it.second.leavingTime) || (leaveTime < it.second.arrivalTime))) {
1036 127149 : if (ego == nullptr) {
1037 : // during insertion
1038 146 : if (myJunction->getType() == SumoXMLNodeType::RAIL_CROSSING) {
1039 146 : continue;
1040 : } else {
1041 : return true;
1042 : }
1043 : }
1044 : // check whether braking is feasible (ego might have started to accelerate already)
1045 127003 : const auto& cfm = ego->getVehicleType().getCarFollowModel();
1046 : #ifdef MSLink_DEBUG_OPENED
1047 : if (gDebugFlag1) {
1048 : 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";
1049 : }
1050 : #endif
1051 127003 : if (dist > cfm.brakeGap(ego->getSpeed(), cfm.getMaxDecel(), 0)) {
1052 : #ifdef MSLink_DEBUG_OPENED
1053 : if (gDebugFlag1) {
1054 : std::cout << SIMTIME << ": " << ego->getID() << " blocked by person " << it.first->getID() << "\n";
1055 : }
1056 : #endif
1057 116462 : if (collectFoes == nullptr) {
1058 : return true;
1059 : } else {
1060 0 : collectFoes->push_back(it.first);
1061 : }
1062 : }
1063 : }
1064 : }
1065 : }
1066 : return false;
1067 : }
1068 :
1069 :
1070 : bool
1071 151435211 : MSLink::blockedByFoe(const SUMOVehicle* veh, const ApproachingVehicleInformation& avi,
1072 : SUMOTime arrivalTime, SUMOTime leaveTime, double arrivalSpeed, double leaveSpeed,
1073 : bool sameTargetLane, double impatience, double decel, SUMOTime waitingTime,
1074 : const SUMOTrafficObject* ego) const {
1075 : #ifdef MSLink_DEBUG_OPENED
1076 : if (gDebugFlag1) {
1077 : std::stringstream stream; // to reduce output interleaving from different threads
1078 : stream << " link=" << getDescription()
1079 : << " foeVeh=" << veh->getID()
1080 : << " req=" << avi.willPass
1081 : << " aT=" << avi.arrivalTime
1082 : << " lT=" << avi.leavingTime
1083 : << "\n";
1084 : std::cout << stream.str();
1085 : }
1086 : #endif
1087 151435211 : if (!avi.willPass) {
1088 : return false;
1089 : }
1090 51437426 : if (myState == LINKSTATE_ALLWAY_STOP) {
1091 : assert(waitingTime > 0);
1092 : #ifdef MSLink_DEBUG_OPENED
1093 : if (gDebugFlag1) {
1094 : std::stringstream stream; // to reduce output interleaving from different threads
1095 : stream << " foeDist=" << avi.dist
1096 : << " foeBGap=" << veh->getBrakeGap(false)
1097 : << " foeWait=" << avi.waitingTime
1098 : << " wait=" << waitingTime
1099 : << "\n";
1100 : std::cout << stream.str();
1101 : }
1102 : #endif
1103 : // when using actionSteps, the foe waiting time may be outdated
1104 1323858 : const SUMOTime actionDelta = SIMSTEP - veh->getLastActionTime();
1105 1323858 : if (waitingTime > avi.waitingTime + actionDelta) {
1106 : return false;
1107 : }
1108 193867 : if (waitingTime == (avi.waitingTime + actionDelta) && arrivalTime < avi.arrivalTime + actionDelta) {
1109 : return false;
1110 : }
1111 : }
1112 50280053 : SUMOTime foeArrivalTime = avi.arrivalTime;
1113 50280053 : double foeArrivalSpeedBraking = avi.arrivalSpeedBraking;
1114 50280053 : if (impatience > 0 && arrivalTime < avi.arrivalTime) {
1115 : #ifdef MSLink_DEBUG_OPENED
1116 : gDebugFlag6 = ((ego == nullptr || ego->isSelected()) && (veh == nullptr || veh->isSelected()));
1117 : #endif
1118 2399252 : const SUMOTime fatb = computeFoeArrivalTimeBraking(arrivalTime, veh, avi.arrivalTime, impatience, avi.dist, foeArrivalSpeedBraking);
1119 2399252 : foeArrivalTime = (SUMOTime)((1. - impatience) * (double)avi.arrivalTime + impatience * (double)fatb);
1120 : #ifdef MSLink_DEBUG_OPENED
1121 : if (gDebugFlag6) {
1122 : std::cout << SIMTIME << " link=" << getDescription() << " ego=" << ego->getID() << " foe=" << veh->getID()
1123 : << " at=" << STEPS2TIME(arrivalTime)
1124 : << " fat=" << STEPS2TIME(avi.arrivalTime)
1125 : << " fatb=" << STEPS2TIME(fatb)
1126 : << " fat2=" << STEPS2TIME(foeArrivalTime)
1127 : << "\n";
1128 : }
1129 : #endif
1130 : }
1131 :
1132 :
1133 50280053 : const SUMOTime lookAhead = (myState == LINKSTATE_ZIPPER
1134 50280053 : ? myLookaheadTimeZipper
1135 : : (ego == nullptr
1136 38967962 : ? myLookaheadTime
1137 38965211 : : TIME2STEPS(ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, STEPS2TIME(myLookaheadTime)))));
1138 : //if (ego != 0) std::cout << SIMTIME << " ego=" << ego->getID() << " jmTimegapMinor=" << ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_TIMEGAP_MINOR, -1) << " lookAhead=" << lookAhead << "\n";
1139 : #ifdef MSLink_DEBUG_OPENED
1140 : if (gDebugFlag1 || gDebugFlag6) {
1141 : std::stringstream stream; // to reduce output interleaving from different threads
1142 : stream << " imp=" << impatience << " fAT2=" << foeArrivalTime << " fASb=" << foeArrivalSpeedBraking << " lA=" << lookAhead << " egoAT=" << arrivalTime << " egoLT=" << leaveTime << " egoLS=" << leaveSpeed << "\n";
1143 : std::cout << stream.str();
1144 : }
1145 : #endif
1146 50280053 : if (avi.leavingTime < arrivalTime) {
1147 : // ego wants to be follower
1148 36093641 : if (sameTargetLane && (arrivalTime - avi.leavingTime < lookAhead
1149 16693921 : || unsafeMergeSpeeds(avi.leaveSpeed, arrivalSpeed,
1150 16693921 : veh->getVehicleType().getCarFollowModel().getMaxDecel(), decel))) {
1151 : #ifdef MSLink_DEBUG_OPENED
1152 : if (gDebugFlag1 || gDebugFlag6) {
1153 : std::cout << " blocked (cannot follow)\n";
1154 : }
1155 : #endif
1156 3915108 : return true;
1157 : }
1158 14186412 : } else if (foeArrivalTime > leaveTime + lookAhead) {
1159 : // ego wants to be leader.
1160 12809897 : if (sameTargetLane && unsafeMergeSpeeds(leaveSpeed, foeArrivalSpeedBraking,
1161 5178451 : decel, veh->getVehicleType().getCarFollowModel().getMaxDecel())) {
1162 : #ifdef MSLink_DEBUG_OPENED
1163 : if (gDebugFlag1 || gDebugFlag6) {
1164 : std::cout << " blocked (cannot lead)\n";
1165 : }
1166 : #endif
1167 : return true;
1168 : }
1169 : } else {
1170 : // even without considering safeHeadwayTime there is already a conflict
1171 : #ifdef MSLink_DEBUG_OPENED
1172 : if (gDebugFlag1 || gDebugFlag6) {
1173 : std::cout << " blocked (hard conflict)\n";
1174 : }
1175 : #endif
1176 : return true;
1177 : }
1178 : return false;
1179 : }
1180 :
1181 :
1182 : SUMOTime
1183 2399252 : MSLink::computeFoeArrivalTimeBraking(SUMOTime arrivalTime, const SUMOVehicle* foe, SUMOTime foeArrivalTime, double impatience, double dist, double& fasb) {
1184 : // a: distance saved when foe brakes from arrivalTime to foeArrivalTime
1185 : // b: distance driven past foeArrivalTime
1186 : // m: permitted decceleration
1187 : // d: total deceleration until foeArrivalTime
1188 : // dist2: distance of foe at arrivalTime
1189 : // actual arrivalTime must fall on a simulation step
1190 2399252 : if (arrivalTime - arrivalTime % DELTA_T == foeArrivalTime - foeArrivalTime % DELTA_T) {
1191 : // foe enters the junction in the same step
1192 : #ifdef MSLink_DEBUG_OPENED
1193 : if (gDebugFlag6) {
1194 : std::cout << " foeAT before egoAT\n";
1195 : }
1196 : #endif
1197 : return foeArrivalTime;
1198 : }
1199 2064201 : if (arrivalTime % DELTA_T > 0) {
1200 2036360 : arrivalTime = arrivalTime - (arrivalTime % DELTA_T) + DELTA_T;
1201 : }
1202 : //arrivalTime += DELTA_T - arrivalTime % DELTA_T;
1203 2064201 : const double m = foe->getVehicleType().getCarFollowModel().getMaxDecel() * impatience;
1204 2064201 : const double dt = STEPS2TIME(foeArrivalTime - arrivalTime);
1205 2064201 : const double d = dt * m;
1206 2064201 : const double a = dt * d / 2;
1207 2064201 : const double v = dist / STEPS2TIME(foeArrivalTime - SIMSTEP + DELTA_T);
1208 2064201 : const double dist2 = dist - v * STEPS2TIME(arrivalTime - SIMSTEP);
1209 : #ifdef MSLink_DEBUG_OPENED
1210 : if (gDebugFlag6) {
1211 : std::cout << " dist=" << dist << " dist2=" << dist2
1212 : << " at=" << STEPS2TIME(arrivalTime)
1213 : << " fat=" << STEPS2TIME(foeArrivalTime)
1214 : << " dt=" << dt << " v=" << v << " m=" << m << " d=" << d << " a=" << a << "\n";
1215 : }
1216 : #endif
1217 2064201 : if (0.5 * v * v / m <= dist2) {
1218 : #ifdef MSLink_DEBUG_OPENED
1219 : if (gDebugFlag6) {
1220 : std::cout << " canBrakeToStop\n";
1221 : }
1222 : #endif
1223 997563 : fasb = 0;
1224 997563 : return foeArrivalTime + TIME2STEPS(30);
1225 : }
1226 : // a = b (foe reaches the original distance to the stop line)
1227 : // x: time driven past foeArrivalTime
1228 : // v: foe speed without braking
1229 : // v2: average foe speed after foeArrivalTime (braking continues for time x)
1230 : // v2 = (v - d - x * m / 2)
1231 : // b = v2 * x
1232 : // solving for x gives:
1233 1066638 : const double x = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * -0.5 - d + v) / m;
1234 :
1235 : #ifdef MSLink_DEBUG_OPENED
1236 : const double x2 = (sqrt(4 * (v - d) * (v - d) - 8 * m * a) * 0.5 - d + v) / m;
1237 : if (gDebugFlag6 || std::isnan(x)) {
1238 : std::cout << SIMTIME << " dist=" << dist << " dist2=" << dist2 << " at=" << STEPS2TIME(arrivalTime) << " m=" << m << " d=" << d << " v=" << v << " a=" << a << " x=" << x << " x2=" << x2 << "\n";
1239 : }
1240 : #endif
1241 1066638 : fasb = v - (dt + x) * m;
1242 1066638 : return foeArrivalTime + TIME2STEPS(x);
1243 : }
1244 :
1245 :
1246 : bool
1247 400055 : MSLink::hasApproachingFoe(SUMOTime arrivalTime, SUMOTime leaveTime, double speed, double decel) const {
1248 412258 : for (const MSLink* const link : myFoeLinks) {
1249 36782 : if (link->blockedAtTime(arrivalTime, leaveTime, speed, speed, myLane == link->getLane(), 0, decel, 0)) {
1250 : return true;
1251 : }
1252 : }
1253 440654 : for (const MSLane* const lane : myFoeLanes) {
1254 70516 : if (lane->getVehicleNumberWithPartials() > 0) {
1255 : return true;
1256 : }
1257 : }
1258 : return false;
1259 : }
1260 :
1261 :
1262 : std::pair<const SUMOVehicle*, const MSLink*>
1263 5744 : MSLink::getFirstApproachingFoe(const MSLink* wrapAround) const {
1264 : double closetDist = std::numeric_limits<double>::max();
1265 : const SUMOVehicle* closest = nullptr;
1266 : const MSLink* foeLink = nullptr;
1267 18715 : for (MSLink* link : myFoeLinks) {
1268 20108 : for (const auto& it : link->myApproachingVehicles) {
1269 : //std::cout << " link=" << getDescription() << " foeLink_in=" << link->getLaneBefore()->getID() << " wrapAround=" << wrapAround->getDescription() << "\n";
1270 7137 : if (link->getLaneBefore() == wrapAround->getLaneBefore()) {
1271 488 : return std::make_pair(nullptr, wrapAround);
1272 6649 : } else if (it.second.dist < closetDist) {
1273 : closetDist = it.second.dist;
1274 3497 : if (it.second.willPass) {
1275 3221 : closest = it.first;
1276 : foeLink = link;
1277 : }
1278 : }
1279 : }
1280 : }
1281 : return std::make_pair(closest, foeLink);
1282 : }
1283 :
1284 :
1285 : void
1286 49164029 : MSLink::setTLState(LinkState state, SUMOTime t) {
1287 49164029 : if (myState != state) {
1288 16594353 : myLastStateChange = t;
1289 : }
1290 49164029 : myState = state;
1291 49164029 : if (haveGreen()) {
1292 11750669 : myLastGreenState = myState;
1293 : }
1294 49164029 : }
1295 :
1296 :
1297 : void
1298 150331 : MSLink::setTLLogic(const MSTrafficLightLogic* logic) {
1299 150331 : myLogic = logic;
1300 150331 : }
1301 :
1302 :
1303 : bool
1304 1196577333 : MSLink::isCont() const {
1305 : // when a traffic light is switched off minor roads have their cont status revoked
1306 1196577333 : return (myState == LINKSTATE_TL_OFF_BLINKING || myState == LINKSTATE_ALLWAY_STOP || myState == LINKSTATE_STOP) ? myAmContOff : myAmCont;
1307 : }
1308 :
1309 :
1310 : bool
1311 58612084 : MSLink::lastWasContMajor() const {
1312 59113655 : if (isExitLinkAfterInternalJunction()) {
1313 501571 : return myInternalLaneBefore->getIncomingLanes()[0].viaLink->lastWasContMajor();
1314 : }
1315 58612084 : if (myInternalLane == nullptr || myAmCont) {
1316 : return false;
1317 : } else {
1318 44127160 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1319 44127160 : if (!pred->getEdge().isInternal()) {
1320 : return false;
1321 : } else {
1322 9244807 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1323 : assert(pred2 != nullptr);
1324 9244807 : const MSLink* const predLink = pred2->getLinkTo(pred);
1325 : assert(predLink != nullptr);
1326 9244807 : if (predLink->havePriority()) {
1327 : return true;
1328 : }
1329 8654335 : if (myHavePedestrianCrossingFoe) {
1330 942131 : return predLink->getLastGreenState() == LINKSTATE_TL_GREEN_MAJOR;
1331 : } else {
1332 7712204 : return predLink->haveYellow();
1333 : }
1334 : }
1335 : }
1336 : }
1337 :
1338 :
1339 : bool
1340 53871317 : MSLink::lastWasContState(LinkState linkState) const {
1341 53871317 : if (myInternalLane == nullptr || myAmCont || myHavePedestrianCrossingFoe) {
1342 : return false;
1343 : } else {
1344 46793391 : MSLane* pred = myInternalLane->getLogicalPredecessorLane();
1345 46793391 : if (!pred->getEdge().isInternal()) {
1346 : return false;
1347 : } else {
1348 12306356 : const MSLane* const pred2 = pred->getLogicalPredecessorLane();
1349 : assert(pred2 != nullptr);
1350 12306356 : const MSLink* const predLink = pred2->getLinkTo(pred);
1351 : assert(predLink != nullptr);
1352 12306356 : return predLink->getState() == linkState;
1353 : }
1354 : }
1355 : }
1356 :
1357 :
1358 : void
1359 81324 : MSLink::writeApproaching(OutputDevice& od, const std::string fromLaneID) const {
1360 81324 : if (myApproachingVehicles.size() > 0) {
1361 9040 : od.openTag("link");
1362 9040 : od.writeAttr(SUMO_ATTR_FROM, fromLaneID);
1363 9040 : const std::string via = getViaLane() == nullptr ? "" : getViaLane()->getID();
1364 9040 : od.writeAttr(SUMO_ATTR_VIA, via);
1365 27120 : od.writeAttr(SUMO_ATTR_TO, getLane() == nullptr ? "" : getLane()->getID());
1366 : std::vector<std::pair<SUMOTime, const SUMOVehicle*> > toSort; // stabilize output
1367 19578 : for (auto it : myApproachingVehicles) {
1368 10538 : toSort.push_back(std::make_pair(it.second.arrivalTime, it.first));
1369 : }
1370 9040 : std::sort(toSort.begin(), toSort.end());
1371 19578 : for (std::vector<std::pair<SUMOTime, const SUMOVehicle*> >::const_iterator it = toSort.begin(); it != toSort.end(); ++it) {
1372 10538 : od.openTag("approaching");
1373 10538 : const ApproachingVehicleInformation& avi = myApproachingVehicles.find(it->second)->second;
1374 10538 : od.writeAttr(SUMO_ATTR_ID, it->second->getID());
1375 10538 : od.writeAttr(SUMO_ATTR_IMPATIENCE, it->second->getImpatience());
1376 21076 : od.writeAttr("arrivalTime", time2string(avi.arrivalTime));
1377 21076 : od.writeAttr("leaveTime", time2string(avi.leavingTime));
1378 21076 : od.writeAttr("arrivalSpeed", toString(avi.arrivalSpeed));
1379 21076 : od.writeAttr("arrivalSpeedBraking", toString(avi.arrivalSpeedBraking));
1380 21076 : od.writeAttr("leaveSpeed", toString(avi.leaveSpeed));
1381 21076 : od.writeAttr("willPass", toString(avi.willPass));
1382 21076 : od.closeTag();
1383 : }
1384 9040 : od.closeTag();
1385 9040 : }
1386 81324 : }
1387 :
1388 :
1389 : double
1390 921479 : MSLink::getInternalLengthsAfter() const {
1391 : double len = 0.;
1392 921479 : MSLane* lane = myInternalLane;
1393 :
1394 1759070 : while (lane != nullptr && lane->isInternal()) {
1395 837591 : len += lane->getLength();
1396 837591 : lane = lane->getLinkCont()[0]->getViaLane();
1397 : }
1398 921479 : return len;
1399 : }
1400 :
1401 : double
1402 0 : MSLink::getInternalLengthsBefore() const {
1403 : double len = 0.;
1404 0 : const MSLane* lane = myInternalLane;
1405 :
1406 0 : while (lane != nullptr && lane->isInternal()) {
1407 0 : len += lane->getLength();
1408 0 : if (lane->getIncomingLanes().size() == 1) {
1409 0 : lane = lane->getIncomingLanes()[0].lane;
1410 : } else {
1411 : break;
1412 : }
1413 : }
1414 0 : return len;
1415 : }
1416 :
1417 :
1418 : double
1419 132818 : MSLink::getLengthsBeforeCrossing(const MSLane* foeLane) const {
1420 132818 : MSLane* via = myInternalLane;
1421 : double totalDist = 0.;
1422 : bool foundCrossing = false;
1423 135694 : while (via != nullptr) {
1424 134324 : MSLink* link = via->getLinkCont()[0];
1425 134324 : double dist = link->getLengthBeforeCrossing(foeLane);
1426 134324 : if (dist != INVALID_DOUBLE) {
1427 : // found conflicting lane
1428 131448 : totalDist += dist;
1429 : foundCrossing = true;
1430 : break;
1431 : } else {
1432 2876 : totalDist += via->getLength();
1433 : via = link->getViaLane();
1434 : }
1435 : }
1436 : if (foundCrossing) {
1437 131448 : return totalDist;
1438 : } else {
1439 : return INVALID_DOUBLE;
1440 : }
1441 : }
1442 :
1443 :
1444 : double
1445 134324 : MSLink::getLengthBeforeCrossing(const MSLane* foeLane) const {
1446 : int foe_ix;
1447 805307 : for (foe_ix = 0; foe_ix != (int)myFoeLanes.size(); ++foe_ix) {
1448 803801 : if (myFoeLanes[foe_ix] == foeLane) {
1449 : break;
1450 : }
1451 : }
1452 134324 : if (foe_ix == (int)myFoeLanes.size()) {
1453 : // no conflict with the given lane, indicate by returning -1
1454 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1455 : std::cout << "No crossing of lanes '" << foeLane->getID() << "' and '" << myInternalLaneBefore->getID() << "'" << std::endl;
1456 : #endif
1457 : return INVALID_DOUBLE;
1458 : } else {
1459 : // found conflicting lane index
1460 132818 : double dist = myInternalLaneBefore->getLength() - myConflicts[foe_ix].getLengthBehindCrossing(this);
1461 132818 : if (dist == -10000.) {
1462 : // this is the value in myConflicts, if the relation allows intersection but none is present for the actual geometry.
1463 : return INVALID_DOUBLE;
1464 : }
1465 : #ifdef MSLink_DEBUG_CROSSING_POINTS
1466 : std::cout << "Crossing of lanes '" << myInternalLaneBefore->getID() << "' and '" << foeLane->getID()
1467 : << "' at distance " << dist << " (approach along '"
1468 : << myInternalLaneBefore->getEntryLink()->getLaneBefore()->getID() << "')" << std::endl;
1469 : #endif
1470 : return dist;
1471 : }
1472 : }
1473 :
1474 :
1475 : bool
1476 35445602 : MSLink::isEntryLink() const {
1477 35445602 : if (MSGlobals::gUsingInternalLanes) {
1478 57259720 : return myInternalLane != nullptr && myInternalLaneBefore == nullptr;
1479 : } else {
1480 : return false;
1481 : }
1482 : }
1483 :
1484 : bool
1485 17688465 : MSLink::isConflictEntryLink() const {
1486 : // either a non-cont entry link or the link after a cont-link
1487 17688465 : return !myAmCont && (isEntryLink() || (myInternalLaneBefore != nullptr && myInternalLane != nullptr));
1488 : }
1489 :
1490 : bool
1491 87151191 : MSLink::isExitLink() const {
1492 87151191 : if (MSGlobals::gUsingInternalLanes) {
1493 150387840 : return myInternalLaneBefore != nullptr && myInternalLane == nullptr;
1494 : } else {
1495 : return false;
1496 : }
1497 : }
1498 :
1499 : bool
1500 131839450 : MSLink::isExitLinkAfterInternalJunction() const {
1501 131839450 : if (MSGlobals::gUsingInternalLanes) {
1502 : return (getInternalLaneBefore() != nullptr
1503 62935205 : && myInternalLaneBefore->getIncomingLanes().size() == 1
1504 194144343 : && myInternalLaneBefore->getIncomingLanes().front().viaLink->isInternalJunctionLink());
1505 : } else {
1506 : return false;
1507 : }
1508 : }
1509 :
1510 :
1511 : const MSLink*
1512 140284 : MSLink::getCorrespondingExitLink() const {
1513 140284 : MSLane* lane = myInternalLane;
1514 : const MSLink* link = this;
1515 282298 : while (lane != nullptr) {
1516 142014 : link = lane->getLinkCont()[0];
1517 : lane = link->getViaLane();
1518 : }
1519 140284 : return link;
1520 : }
1521 :
1522 :
1523 : const MSLink*
1524 756171129 : MSLink::getCorrespondingEntryLink() const {
1525 : const MSLink* link = this;
1526 1008599706 : while (link->myLaneBefore->isInternal()) {
1527 : assert(myLaneBefore->getIncomingLanes().size() == 1);
1528 252428577 : link = link->myLaneBefore->getIncomingLanes().front().viaLink;
1529 : }
1530 756171129 : return link;
1531 : }
1532 :
1533 :
1534 : bool
1535 357090834 : MSLink::isInternalJunctionLink() const {
1536 357090834 : return getInternalLaneBefore() != nullptr && myInternalLane != nullptr;
1537 : }
1538 :
1539 :
1540 : const MSLink::LinkLeaders
1541 824815635 : MSLink::getLeaderInfo(const MSVehicle* ego, double dist, std::vector<const MSPerson*>* collectBlockers, bool isShadowLink) const {
1542 : LinkLeaders result;
1543 : // this link needs to start at an internal lane (either an exit link or between two internal lanes)
1544 : // or it must be queried by the pedestrian model (ego == 0)
1545 824815635 : if (ego != nullptr && (!fromInternalLane() || ego->getLaneChangeModel().isOpposite())) {
1546 : // ignore link leaders
1547 : return result;
1548 : }
1549 : //gDebugFlag1 = true;
1550 273503937 : if (gDebugFlag1) {
1551 0 : std::cout << SIMTIME << " getLeaderInfo link=" << getDescription() << " dist=" << dist << " isShadowLink=" << isShadowLink << "\n";
1552 : }
1553 273503937 : if (MSGlobals::gComputeLC && ego != nullptr && ego->getLane()->isNormal()) {
1554 27122440 : const MSLink* junctionEntry = getLaneBefore()->getEntryLink();
1555 5958461 : if (junctionEntry->haveRed() && !ego->ignoreRed(junctionEntry, true)
1556 : // check oncoming on bidiLane during laneChanging
1557 33076083 : && (!MSGlobals::gComputeLC || junctionEntry->getLaneBefore()->getBidiLane() == nullptr)) {
1558 5916128 : if (gDebugFlag1) {
1559 0 : std::cout << " ignore linkLeaders beyond red light\n";
1560 : }
1561 : return result;
1562 : }
1563 : }
1564 : // this is an exit link
1565 267587809 : const double extraGap = ego != nullptr ? ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_EXTRA_GAP, 0) : 0;
1566 662682388 : for (int i = 0; i < (int)myFoeLanes.size(); ++i) {
1567 395094582 : const MSLane* foeLane = myFoeLanes[i];
1568 395094582 : const MSLink* foeExitLink = foeLane->getLinkCont()[0];
1569 : // distance from the querying vehicle to the crossing point with foeLane
1570 395094582 : double distToCrossing = dist - myConflicts[i].getLengthBehindCrossing(this);
1571 395094582 : const double foeDistToCrossing = foeLane->getLength() - myConflicts[i].getFoeLengthBehindCrossing(foeExitLink);
1572 395094582 : const bool sameTarget = (myLane == foeExitLink->getLane()) && !isInternalJunctionLink() && !foeExitLink->isInternalJunctionLink();
1573 395094582 : const bool sameSource = (myInternalLaneBefore != nullptr && myInternalLaneBefore->getNormalPredecessorLane() == foeLane->getNormalPredecessorLane());
1574 395094582 : const double crossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].conflictSize;
1575 395094582 : const double foeCrossingWidth = (sameTarget || sameSource) ? 0 : myConflicts[i].getFoeConflictSize(foeExitLink);
1576 : // special treatment of contLane foe only applies if this lane is not a contLane or contLane follower itself
1577 493467400 : const bool contLane = (foeExitLink->getViaLaneOrLane()->getEdge().isInternal() && !(
1578 98372818 : isInternalJunctionLink() || isExitLinkAfterInternalJunction()));
1579 395094582 : if (gDebugFlag1) {
1580 : std::cout << " distToCrossing=" << distToCrossing << " foeLane=" << foeLane->getID() << " cWidth=" << crossingWidth
1581 0 : << " ijl=" << isInternalJunctionLink() << " sT=" << sameTarget << " sS=" << sameSource
1582 0 : << " lbc=" << myConflicts[i].getLengthBehindCrossing(this)
1583 0 : << " flbc=" << myConflicts[i].getFoeLengthBehindCrossing(foeExitLink)
1584 : << " cw=" << crossingWidth
1585 : << " fcw=" << foeCrossingWidth
1586 : << " contLane=" << contLane
1587 0 : << " state=" << toString(myState)
1588 0 : << " foeState=" << toString(foeExitLink->getState())
1589 0 : << "\n";
1590 : }
1591 90718792 : if (distToCrossing + crossingWidth < 0 && !sameTarget
1592 480660185 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing + crossingWidth + ego->getVehicleType().getLength() < 0)) {
1593 81947574 : if (gDebugFlag1) {
1594 0 : std::cout << " ignore:egoBeyondCrossingPoint\n";
1595 : }
1596 81947574 : continue; // vehicle is behind the crossing point, continue with next foe lane
1597 : }
1598 : bool ignoreGreenCont = false;
1599 : bool foeIndirect = false;
1600 313147008 : if (contLane) {
1601 30343534 : const MSLink* entry = getLaneBefore()->getEntryLink();
1602 30343534 : const MSLink* foeEntry = foeLane->getEntryLink();
1603 30343534 : foeIndirect = foeEntry->myAmIndirect;
1604 30327141 : if (entry != nullptr && entry->haveGreen()
1605 16880137 : && foeEntry != nullptr && foeEntry->haveGreen()
1606 38237862 : && entry->myLaneBefore != foeEntry->myLaneBefore) {
1607 : // ignore vehicles before an internaljunction as long as they are still in green minor mode
1608 : ignoreGreenCont = true;
1609 : }
1610 : }
1611 30343534 : if (foeIndirect && distToCrossing >= NO_INTERSECTION) {
1612 28050 : if (gDebugFlag1) {
1613 0 : std::cout << " ignore:noIntersection\n";
1614 : }
1615 28050 : continue;
1616 : }
1617 : // it is not sufficient to return the last vehicle on the foeLane because ego might be its leader
1618 : // therefore we return all vehicles on the lane
1619 : //
1620 : // special care must be taken for continuation lanes. (next lane is also internal)
1621 : // vehicles on cont. lanes or on internal lanes with the same target as this link can not be ignored
1622 : // and should block (gap = -1) unless they are part of an indirect turn
1623 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1624 26739233 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1625 26739236 : MSVehicle* leader = (MSVehicle*)*it_veh;
1626 26739236 : const double leaderBack = leader->getBackPositionOnLane(foeLane) - extraGap;
1627 26739236 : const double leaderBackDist = foeDistToCrossing - leaderBack;
1628 26739236 : const double l2 = ego != nullptr ? ego->getLength() + 2 : 0; // add some slack to account for further meeting-angle effects
1629 26629930 : const double sagitta = ego != nullptr && myRadius != std::numeric_limits<double>::max() ? myRadius - sqrt(myRadius * myRadius - 0.25 * l2 * l2) : 0;
1630 26739236 : const bool pastTheCrossingPoint = leaderBackDist + foeCrossingWidth + sagitta < 0;
1631 26739236 : const bool enteredTheCrossingPoint = leaderBackDist < leader->getVehicleType().getLength();
1632 26739236 : const bool foeIsBicycleTurn = (leader->getVehicleType().getVehicleClass() == SVC_BICYCLE
1633 26739236 : && foeLane->getIncomingLanes().front().viaLink->getDirection() == LinkDirection::LEFT);
1634 26739236 : const bool ignoreIndirectBicycleTurn = pastTheCrossingPoint && foeIsBicycleTurn;
1635 26739236 : const bool cannotIgnore = ((contLane && !ignoreIndirectBicycleTurn) || sameTarget || (sameSource && !MSGlobals::gComputeLC)) && ego != nullptr;
1636 26739236 : const bool inTheWay = ((((!pastTheCrossingPoint && distToCrossing > 0) || (sameTarget && distToCrossing > leaderBackDist - leader->getLength()))
1637 21525139 : && (enteredTheCrossingPoint || (sameSource && !enteredTheCrossingPoint && foeDistToCrossing < distToCrossing))
1638 14005770 : && (!foeExitLink->isInternalJunctionLink() || foeIsBicycleTurn || sameSource))
1639 39700935 : || foeExitLink->getLaneBefore()->getNormalPredecessorLane() == myLane->getBidiLane());
1640 26739236 : const bool isOpposite = leader->getLaneChangeModel().isOpposite();
1641 26739236 : const auto avi = foeExitLink->getApproaching(leader);
1642 : // if leader is not found, assume that it performed a lane change in the last step
1643 26739236 : const bool willPass = avi.willPass || (avi.arrivalTime == INVALID_TIME && sameTarget);
1644 26739236 : if (gDebugFlag1) {
1645 : std::cout << " candidate leader=" << leader->getID()
1646 : << " cannotIgnore=" << cannotIgnore
1647 : << " fdtc=" << foeDistToCrossing
1648 : << " lb=" << leaderBack
1649 : << " lbd=" << leaderBackDist
1650 : << " fcwidth=" << foeCrossingWidth
1651 0 : << " r=" << myRadius
1652 : << " sagitta=" << sagitta
1653 : << " foePastCP=" << pastTheCrossingPoint
1654 : << " foeEnteredCP=" << enteredTheCrossingPoint
1655 : << " inTheWay=" << inTheWay
1656 : << " willPass=" << willPass
1657 0 : << " isFrontOnLane=" << leader->isFrontOnLane(foeLane)
1658 : << " ignoreGreenCont=" << ignoreGreenCont
1659 : << " foeIndirect=" << foeIndirect
1660 : << " foeBikeTurn=" << foeIsBicycleTurn
1661 0 : << " isOpposite=" << isOpposite << "\n";
1662 : }
1663 26739236 : if (leader == ego) {
1664 6891696 : continue;
1665 : }
1666 : // ignore greenCont foe vehicles that are not in the way
1667 26141822 : if (!inTheWay && ignoreGreenCont) {
1668 7594 : if (gDebugFlag1) {
1669 0 : std::cout << " ignoreGreenCont\n";
1670 : }
1671 7594 : continue;
1672 : }
1673 : // after entering the conflict area, ignore foe vehicles that are not in the way
1674 3114484 : if ((!MSGlobals::gComputeLC || (ego != nullptr && ego->getLane() == foeLane) || MSGlobals::gSublane)
1675 24893850 : && distToCrossing < -POSITION_EPS && !inTheWay
1676 26424252 : && (ego == nullptr || !MSGlobals::gComputeLC || distToCrossing < -ego->getVehicleType().getLength())) {
1677 140114 : if (gDebugFlag1) {
1678 0 : std::cout << " ego entered conflict area\n";
1679 : }
1680 140114 : continue;
1681 : }
1682 26070358 : if (!MSGlobals::gComputeLC
1683 22929350 : && sameSource
1684 6866552 : && &ego->getLane()->getEdge() == &myInternalLaneBefore->getEdge()
1685 26387859 : && leaderBack + leader->getLength() < ego->getPositionOnLane() - ego->getLength()) {
1686 : // ego is already on the junction and clearly ahead of foe
1687 76244 : if (gDebugFlag1) {
1688 0 : std::cout << " ego ahead of same-source foe\n";
1689 : }
1690 76244 : continue;
1691 : }
1692 :
1693 : // ignore foe vehicles that will not pass
1694 17386830 : if ((!cannotIgnore || leader->isStopped() || sameTarget)
1695 17499951 : && !willPass
1696 1171294 : && (avi.arrivalTime == INVALID_TIME || leader->getSpeed() < SUMO_const_haltingSpeed)
1697 1171023 : && leader->isFrontOnLane(foeLane)
1698 : && !isOpposite
1699 602786 : && !inTheWay
1700 : // willPass is false if the vehicle is already on the stopping edge
1701 26362525 : && !leader->willStop()) {
1702 443875 : if (gDebugFlag1) {
1703 0 : std::cout << " foe will not pass\n";
1704 : }
1705 443875 : continue;
1706 : }
1707 25473995 : if (leader->isBidiOn(foeLane)) {
1708 : // conflict resolved via forward lane of the foe
1709 46520 : continue;
1710 : }
1711 : // check whether foe is blocked and might need to change before leaving the junction
1712 25427475 : const bool foeStrategicBlocked = (leader->getLaneChangeModel().isStrategicBlocked() &&
1713 1232254 : leader->getCarFollowModel().brakeGap(leader->getSpeed()) <= foeLane->getLength() - leaderBack);
1714 25427475 : const bool sameInternalEdge = &myInternalLaneBefore->getEdge() == &foeExitLink->getInternalLaneBefore()->getEdge();
1715 :
1716 25427475 : const bool foeLaneIsBidi = myInternalLaneBefore->getBidiLane() == foeLane;
1717 25427475 : if (MSGlobals::gSublane && ego != nullptr && (sameSource || sameTarget || foeLaneIsBidi)
1718 6738345 : && (!foeStrategicBlocked || sameInternalEdge)) {
1719 6611676 : if (ego->getLane() == leader->getLane()) {
1720 147008 : continue;
1721 : }
1722 : // ignore vehicles if not in conflict sublane-wise
1723 6464668 : const double egoLatOffset = isShadowLink ? ego->getLatOffset(ego->getLaneChangeModel().getShadowLane()) : 0;
1724 6464668 : const double posLat = ego->getLateralPositionOnLane() + egoLatOffset;
1725 6464668 : double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1726 6464668 : if (foeLaneIsBidi) {
1727 : // leader is oncoming
1728 0 : posLatLeader = foeLane->getWidth() - posLatLeader;
1729 : }
1730 6464668 : const double latGap = (fabs(posLat - posLatLeader)
1731 6464668 : - 0.5 * (ego->getVehicleType().getWidth() + leader->getVehicleType().getWidth()));
1732 6464668 : const double maneuverDist = leader->getLaneChangeModel().getManeuverDist() * (posLat < posLatLeader ? -1 : 1);
1733 6464668 : if (gDebugFlag1) {
1734 0 : std::cout << " checkIgnore sublaneFoe lane=" << myInternalLaneBefore->getID()
1735 : << " sameSource=" << sameSource
1736 : << " sameTarget=" << sameTarget
1737 : << " foeLaneIsBidi=" << foeLaneIsBidi
1738 : << " foeLane=" << foeLane->getID()
1739 : << " leader=" << leader->getID()
1740 0 : << " egoLane=" << ego->getLane()->getID()
1741 0 : << " leaderLane=" << leader->getLane()->getID()
1742 : << " egoLat=" << posLat
1743 : << " egoLatOffset=" << egoLatOffset
1744 : << " leaderLat=" << posLatLeader
1745 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1746 : << " latGap=" << latGap
1747 : << " maneuverDist=" << maneuverDist
1748 0 : << " computeLC=" << MSGlobals::gComputeLC
1749 0 : << " egoMaxSpeedLat=" << ego->getVehicleType().getMaxSpeedLat()
1750 0 : << "\n";
1751 : }
1752 1397869 : if (latGap > 0 && (latGap > maneuverDist || !sameTarget || !MSGlobals::gComputeLC)
1753 : // do not perform sublane changes that interfere with the leader vehicle
1754 7854487 : && (!MSGlobals::gComputeLC || latGap > ego->getVehicleType().getMaxSpeedLat())) {
1755 1259990 : const MSLink* foeEntryLink = foeLane->getIncomingLanes().front().viaLink;
1756 1259990 : if (sameSource) {
1757 : // for lanes from the same edge, higer index implies a
1758 : // connection further to the left
1759 954602 : const bool leaderFromRight = (myIndex > foeEntryLink->getIndex());
1760 954602 : if ((posLat > posLatLeader) == leaderFromRight) {
1761 : // ignore speed since lanes diverge
1762 509136 : if (gDebugFlag1) {
1763 0 : std::cout << " ignored (same source) leaderFromRight=" << leaderFromRight << "\n";
1764 : }
1765 509136 : continue;
1766 : }
1767 305388 : } else if (sameTarget) {
1768 : // for lanes from different edges we cannot rely on the
1769 : // index due to wrap-around issues
1770 305388 : if (myDirection != foeEntryLink->getDirection()) {
1771 295206 : bool leaderFromRight = foeEntryLink->getDirection() < myDirection;
1772 : // leader vehicle should not move towards ego
1773 295206 : if (MSGlobals::gLefthand) {
1774 0 : leaderFromRight = !leaderFromRight;
1775 : }
1776 412897 : if ((posLat > posLatLeader) == leaderFromRight
1777 : // leader should keep lateral position or move away from ego
1778 169974 : && (leader->getLaneChangeModel().getSpeedLat() == 0
1779 50843 : || leaderFromRight == (leader->getLaneChangeModel().getSpeedLat() < latGap))
1780 421536 : && (ego->getLaneChangeModel().getSpeedLat() == 0
1781 18058 : || leaderFromRight == (ego->getLaneChangeModel().getSpeedLat() > latGap))) {
1782 117691 : if (gDebugFlag1) {
1783 0 : std::cout << " ignored (different source) leaderFromRight=" << leaderFromRight << "\n";
1784 : }
1785 117691 : continue;
1786 : }
1787 : } else {
1788 : // XXX figure out relative direction somehow
1789 : }
1790 : } else {
1791 0 : if (gDebugFlag1) {
1792 0 : std::cout << " ignored oncoming bidi leader\n";
1793 : }
1794 0 : continue;
1795 : }
1796 : }
1797 : }
1798 24653640 : if (leader->getWaitingTime() < MSGlobals::gIgnoreJunctionBlocker) {
1799 : // compute distance between vehicles on the superimposition of both lanes
1800 : // where the crossing point is the common point
1801 : double gap;
1802 : bool fromLeft = true;
1803 24219792 : if (ego == nullptr) {
1804 : // request from pedestrian model. return distance between leaderBack and crossing point
1805 : //std::cout << " foeLane=" << foeLane->getID() << " leaderBack=" << leaderBack << " foeDistToCrossing=" << foeDistToCrossing << " foeLength=" << foeLane->getLength() << " foebehind=" << myConflicts[i].second << " dist=" << dist << " behind=" << myConflicts[i].first << "\n";
1806 108914 : gap = leaderBackDist;
1807 : // distToCrossing should not take into account the with of the foe lane
1808 : // (which was subtracted in setRequestInformation)
1809 : // Instead, the width of the foe vehicle is used directly by the caller.
1810 108914 : distToCrossing += myConflicts[i].conflictSize / 2;
1811 108914 : if (gap + foeCrossingWidth < 0) {
1812 : // leader is completely past the crossing point
1813 : // or there is no crossing point
1814 4208686 : continue; // next vehicle
1815 : }
1816 : // we need to determine whether the vehicle passes the
1817 : // crossing from the left or the right (heuristic)
1818 107400 : fromLeft = foeDistToCrossing > 0.5 * foeLane->getLength();
1819 24110878 : } else if ((contLane && !sameSource && !ignoreIndirectBicycleTurn) || isOpposite) {
1820 1559849 : gap = -std::numeric_limits<double>::max(); // always break for vehicles which are on a continuation lane or for opposite-direction vehicles
1821 : } else {
1822 22551029 : if (pastTheCrossingPoint && !sameTarget) {
1823 : // leader is completely past the crossing point
1824 : // or there is no crossing point
1825 4207093 : if (gDebugFlag1) {
1826 0 : std::cout << " foePastCP ignored\n";
1827 : }
1828 4207093 : continue;
1829 : }
1830 : double leaderBackDist2 = leaderBackDist;
1831 18343936 : if (sameTarget && leaderBackDist2 < 0) {
1832 2999454 : const double mismatch = myConflicts[i].getFoeLengthBehindCrossing(foeExitLink) - myConflicts[i].getLengthBehindCrossing(this);
1833 2999454 : if (mismatch > 0) {
1834 1492061 : leaderBackDist2 += mismatch;
1835 : }
1836 : }
1837 18343936 : if (gDebugFlag1) {
1838 : std::cout << " distToCrossing=" << distToCrossing << " leaderBack=" << leaderBack
1839 : << " backDist=" << leaderBackDist
1840 : << " backDist2=" << leaderBackDist2
1841 0 : << " blockedStrategic=" << leader->getLaneChangeModel().isStrategicBlocked()
1842 0 : << "\n";
1843 : }
1844 18343936 : gap = distToCrossing - ego->getVehicleType().getMinGap() - leaderBackDist2 - foeCrossingWidth;
1845 : }
1846 : // if the foe is already moving off the intersection, we may
1847 : // advance up to the crossing point unless we have the same target or same source
1848 : // (for sameSource, the crossing point indicates the point of divergence)
1849 23239317 : const bool stopAsap = ((leader->isFrontOnLane(foeLane) ? cannotIgnore : (sameTarget || sameSource))
1850 20339828 : || (ego != nullptr && ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_ADVANCE, 1.0) == 0.0));
1851 20011185 : if (gDebugFlag1) {
1852 0 : std::cout << " leader=" << leader->getID() << " contLane=" << contLane << " cannotIgnore=" << cannotIgnore << " stopAsap=" << stopAsap << " gap=" << gap << "\n";
1853 : }
1854 20011185 : if (ignoreFoe(ego, leader)) {
1855 79 : continue;
1856 : }
1857 20011106 : const int llFlags = ((fromLeft ? LL_FROM_LEFT : 0) |
1858 20011106 : (inTheWay ? LL_IN_THE_WAY : 0) |
1859 20011106 : (sameSource ? LL_SAME_SOURCE : 0) |
1860 20011106 : (sameTarget ? LL_SAME_TARGET : 0));
1861 26045472 : result.emplace_back(leader, gap, stopAsap ? -1 : distToCrossing, llFlags, leader->getLatOffset(foeLane));
1862 : }
1863 :
1864 : }
1865 313118955 : if (ego != nullptr && MSNet::getInstance()->hasPersons()) {
1866 : // check for crossing pedestrians (keep driving if already on top of the crossing
1867 6214467 : const double distToPeds = distToCrossing - ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_STOPLINE_CROSSING_GAP, MSPModel::SAFETY_GAP);
1868 6214467 : const double vehWidth = ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP; // + configurable safety gap
1869 : /// @todo consider lateral position (depending on whether the crossing is encountered on the way in or out)
1870 : // @check lefthand?!
1871 6214467 : const bool wayIn = myConflicts[i].lengthBehindCrossing < myLaneBefore->getLength() * 0.5;
1872 6214467 : const double vehCenter = (foeDistToCrossing + myLaneBefore->getWidth() * 0.5
1873 6214467 : + ego->getLateralPositionOnLane() * (wayIn ? -1 : 1));
1874 : // can access the movement model here since we already checked for existing persons above
1875 11958332 : if (distToPeds >= -MSPModel::SAFETY_GAP && MSNet::getInstance()->getPersonControl().getMovementModel()->blockedAtDist(ego, foeLane, vehCenter, vehWidth,
1876 5743865 : ego->getVehicleType().getParameter().getJMParam(SUMO_ATTR_JM_CROSSING_GAP, JM_CROSSING_GAP_DEFAULT),
1877 : collectBlockers)) {
1878 495204 : result.emplace_back(nullptr, -1, distToPeds);
1879 5719263 : } else if (foeLane->isCrossing() && ego->getLane()->isInternal() && ego->getLane()->getEdge().getToJunction() == myJunction) {
1880 138159 : const MSLink* crossingLink = foeLane->getIncomingLanes()[0].viaLink;
1881 138159 : if (distToCrossing > 0 && crossingLink->havePriority() && crossingLink->myApproachingPersons != nullptr) {
1882 : // a person might step on the crossing at any moment, since ego
1883 : // is already on the junction, the opened() check is not done anymore
1884 24367 : const double timeToEnterCrossing = distToCrossing / MAX2(ego->getSpeed(), 1.0);
1885 29146 : for (const auto& item : (*crossingLink->myApproachingPersons)) {
1886 5824 : if (!ignoreFoe(ego, item.first) && timeToEnterCrossing > STEPS2TIME(item.second.arrivalTime - SIMSTEP)) {
1887 1045 : if (gDebugFlag1) {
1888 0 : std::cout << SIMTIME << ": " << ego->getID() << " breaking for approaching person " << item.first->getID()
1889 : //<< " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1890 0 : << "\n";
1891 : }
1892 1045 : result.emplace_back(nullptr, -1, distToPeds);
1893 1045 : break;
1894 : //} else {
1895 : // if (gDebugFlag1) {
1896 : // std::cout << SIMTIME << ": " << ego->getID() << " notBreaking for approaching person " << item.first->getID()
1897 : // << " dtc=" << distToCrossing << " ttc=" << distToCrossing / MAX2(ego->getSpeed(), 1.0) << " foeAT=" << item.second.arrivalTime << " foeTTC=" << STEPS2TIME(item.second.arrivalTime - SIMSTEP)
1898 : // << "\n";
1899 : // }
1900 : }
1901 : }
1902 : }
1903 : }
1904 : }
1905 : }
1906 :
1907 : //std::cout << SIMTIME << " ego=" << Named::getIDSecure(ego) << " link=" << getViaLaneOrLane()->getID() << " myWalkingAreaFoe=" << Named::getIDSecure(myWalkingAreaFoe) << "\n";
1908 267587806 : if (ego != nullptr) {
1909 266577782 : checkWalkingAreaFoe(ego, myWalkingAreaFoe, collectBlockers, result);
1910 266577782 : checkWalkingAreaFoe(ego, myWalkingAreaFoeExit, collectBlockers, result);
1911 : }
1912 :
1913 267587806 : if (MSGlobals::gLateralResolution > 0 && ego != nullptr && !isShadowLink) {
1914 : // check for foes on the same edge
1915 76584946 : for (std::vector<MSLane*>::const_iterator it = mySublaneFoeLanes.begin(); it != mySublaneFoeLanes.end(); ++it) {
1916 11965896 : const MSLane* foeLane = *it;
1917 : MSLane::AnyVehicleIterator end = foeLane->anyVehiclesEnd();
1918 3756431 : for (MSLane::AnyVehicleIterator it_veh = foeLane->anyVehiclesBegin(); it_veh != end; ++it_veh) {
1919 3756431 : MSVehicle* leader = (MSVehicle*)*it_veh;
1920 3756431 : if (leader == ego) {
1921 2212284 : continue;
1922 : }
1923 3225571 : if (leader->getLane()->isNormal()) {
1924 : // leader is past the conflict point
1925 1284185 : continue;
1926 : }
1927 1941386 : const double maxLength = MAX2(myInternalLaneBefore->getLength(), foeLane->getLength());
1928 1941386 : const double gap = dist - maxLength - ego->getVehicleType().getMinGap() + leader->getBackPositionOnLane(foeLane) - extraGap;
1929 1941386 : if (gap < -(ego->getVehicleType().getMinGap() + leader->getLength())) {
1930 : // ego is ahead of leader
1931 397239 : continue;
1932 : }
1933 1544147 : const double posLat = ego->getLateralPositionOnLane();
1934 1544147 : const double posLatLeader = leader->getLateralPositionOnLane() + leader->getLatOffset(foeLane);
1935 1544147 : if (gDebugFlag1) {
1936 0 : std::cout << " sublaneFoe lane=" << myInternalLaneBefore->getID()
1937 : << " foeLane=" << foeLane->getID()
1938 : << " leader=" << leader->getID()
1939 0 : << " egoLane=" << ego->getLane()->getID()
1940 0 : << " leaderLane=" << leader->getLane()->getID()
1941 : << " gap=" << gap
1942 : << " egoLat=" << posLat
1943 : << " leaderLat=" << posLatLeader
1944 0 : << " leaderLatOffset=" << leader->getLatOffset(foeLane)
1945 0 : << " egoIndex=" << myInternalLaneBefore->getIndex()
1946 0 : << " foeIndex=" << foeLane->getIndex()
1947 0 : << " dist=" << dist
1948 0 : << " leaderBack=" << leader->getBackPositionOnLane(foeLane)
1949 0 : << "\n";
1950 : }
1951 : // there only is a conflict if the paths cross
1952 603675 : if ((posLat < posLatLeader && myInternalLaneBefore->getIndex() > foeLane->getIndex())
1953 1891325 : || (posLat > posLatLeader && myInternalLaneBefore->getIndex() < foeLane->getIndex())) {
1954 633505 : if (gDebugFlag1) {
1955 0 : std::cout << SIMTIME << " blocked by " << leader->getID() << " (sublane split) foeLane=" << foeLane->getID() << "\n";
1956 : }
1957 633505 : if (ignoreFoe(ego, leader)) {
1958 0 : continue;
1959 : }
1960 633505 : result.emplace_back(leader, gap, -1);
1961 : }
1962 : }
1963 : }
1964 : }
1965 : return result;
1966 3 : }
1967 :
1968 :
1969 : void
1970 533155564 : MSLink::checkWalkingAreaFoe(const MSVehicle* ego, const MSLane* foeLane, std::vector<const MSPerson*>* collectBlockers, LinkLeaders& result) const {
1971 533155564 : if (foeLane != nullptr && foeLane->getEdge().getPersons().size() > 0) {
1972 : // pedestrians may be on an arbitrary path across this
1973 : // walkingarea. make sure to keep enough distance.
1974 : // This is a simple but conservative solution that could be improved
1975 : // by ignoring pedestrians that are "obviously" not on a collision course
1976 125256 : double distToPeds = std::numeric_limits<double>::max();
1977 : assert(myInternalLaneBefore != nullptr);
1978 125256 : PositionVector egoPath = myInternalLaneBefore->getShape();
1979 125256 : if (ego->getLateralPositionOnLane() != 0) {
1980 107046 : egoPath.move2side((MSGlobals::gLefthand ? 1 : -1) * ego->getLateralPositionOnLane());
1981 : }
1982 947785 : for (MSTransportable* t : foeLane->getEdge().getPersons()) {
1983 822529 : MSPerson* p = static_cast<MSPerson*>(t);
1984 822529 : double dist = ego->getPosition().distanceTo2D(p->getPosition()) - p->getVehicleType().getLength();
1985 822529 : const bool inFront = isInFront(ego, egoPath, p->getPosition()) || isInFront(ego, egoPath, getFuturePosition(p));
1986 : if (inFront) {
1987 302152 : dist -= MAX2(ego->getVehicleType().getMinGap(), MSPModel::SAFETY_GAP);
1988 : }
1989 : #ifdef DEBUG_WALKINGAREA
1990 : if (ego->isSelected()) {
1991 : std::cout << SIMTIME << " veh=" << ego->getID() << " ped=" << p->getID()
1992 : << " pos=" << ego->getPosition() << " pedPos=" << p->getPosition()
1993 : << " futurePedPos=" << getFuturePosition(p)
1994 : << " rawDist=" << ego->getPosition().distanceTo2D(p->getPosition())
1995 : << " inFront=" << inFront
1996 : << " dist=" << dist << "\n";
1997 : }
1998 : #endif
1999 822529 : if (dist < ego->getVehicleType().getWidth() / 2 || inFront) {
2000 151367 : if (inFront) {
2001 151076 : const double oncomingFactor = isOnComingPed(ego, p);
2002 151076 : if (oncomingFactor > 0) {
2003 : // account for pedestrian movement while closing in
2004 53115 : const double timeToStop = sqrt(dist) / 2;
2005 53115 : const double pedDist = p->getMaxSpeed() * MAX2(timeToStop, TS) * oncomingFactor;
2006 53115 : dist = MAX2(0.0, dist - pedDist);
2007 : #ifdef DEBUG_WALKINGAREA
2008 : if (ego->isSelected()) {
2009 : std::cout << " timeToStop=" << timeToStop << " pedDist=" << pedDist << " factor=" << oncomingFactor << " dist2=" << dist << "\n";
2010 : }
2011 : #endif
2012 : }
2013 : }
2014 151367 : if (ignoreFoe(ego, p)) {
2015 25237 : continue;
2016 : }
2017 126130 : distToPeds = MIN2(distToPeds, dist);
2018 126130 : if (collectBlockers != nullptr) {
2019 0 : collectBlockers->push_back(p);
2020 : }
2021 : }
2022 : }
2023 125256 : if (distToPeds != std::numeric_limits<double>::max()) {
2024 : // leave extra space in front
2025 86654 : result.emplace_back(nullptr, -1, distToPeds);
2026 : }
2027 125256 : }
2028 533155564 : }
2029 :
2030 : bool
2031 1510112 : MSLink::isInFront(const MSVehicle* ego, const PositionVector& egoPath, const Position& pPos) const {
2032 1510112 : const double pedAngle = ego->getPosition().angleTo2D(pPos);
2033 1510112 : const double angleDiff = fabs(GeomHelper::angleDiff(ego->getAngle(), pedAngle));
2034 : #ifdef DEBUG_WALKINGAREA
2035 : if (ego->isSelected()) {
2036 : std::cout << " angleDiff=" << RAD2DEG(angleDiff) << "\n";
2037 : }
2038 : #endif
2039 1510112 : if (angleDiff < DEG2RAD(75)) {
2040 1069647 : return egoPath.distance2D(pPos) < ego->getVehicleType().getWidth() + MSPModel::SAFETY_GAP;
2041 : }
2042 : return false;
2043 : }
2044 :
2045 :
2046 : double
2047 151076 : MSLink::isOnComingPed(const MSVehicle* ego, const MSPerson* p) const {
2048 151076 : const double pedToEgoAngle = p->getPosition().angleTo2D(ego->getPosition());
2049 151076 : const double angleDiff = fabs(GeomHelper::angleDiff(p->getAngle(), pedToEgoAngle));
2050 : #ifdef DEBUG_WALKINGAREA
2051 : if (ego->isSelected()) {
2052 : std::cout << " ped-angleDiff=" << RAD2DEG(angleDiff) << " res=" << cos(angleDiff) << "\n";
2053 : }
2054 : #endif
2055 151076 : if (angleDiff <= DEG2RAD(90)) {
2056 : ;
2057 53115 : return cos(angleDiff);
2058 : } else {
2059 : return 0;
2060 : }
2061 : }
2062 :
2063 :
2064 : Position
2065 687583 : MSLink::getFuturePosition(const MSPerson* p, double timeHorizon) const {
2066 687583 : const double a = p->getAngle();
2067 687583 : const double dist = timeHorizon * p->getMaxSpeed();
2068 :
2069 687583 : const Position offset(cos(a) * dist, sin(a) * dist);
2070 687583 : return p->getPosition() + offset;
2071 : }
2072 :
2073 :
2074 : MSLink*
2075 8908242 : MSLink::getParallelLink(int direction) const {
2076 8908242 : if (direction == -1) {
2077 3550800 : return myParallelRight;
2078 5357442 : } else if (direction == 1) {
2079 5357442 : return myParallelLeft;
2080 : } else {
2081 : assert(false || myLane->getOpposite() != nullptr);
2082 : return nullptr;
2083 : }
2084 : }
2085 :
2086 : MSLink*
2087 169901 : MSLink::getOppositeDirectionLink() const {
2088 169901 : if (myLane->getOpposite() != nullptr && myLaneBefore->getOpposite() != nullptr) {
2089 42607 : for (MSLink* cand : myLane->getOpposite()->getLinkCont()) {
2090 39435 : if (cand->getLane() == myLaneBefore->getOpposite()) {
2091 : return cand;
2092 : }
2093 : }
2094 : }
2095 : return nullptr;
2096 : }
2097 :
2098 :
2099 : MSLink*
2100 4999558 : MSLink::computeParallelLink(int direction) {
2101 4999558 : const MSLane* const before = getLaneBefore()->getParallelLane(direction, false);
2102 4999558 : const MSLane* const after = getLane()->getParallelLane(direction, false);
2103 4999558 : if (before != nullptr && after != nullptr) {
2104 848655 : for (MSLink* const link : before->getLinkCont()) {
2105 551294 : if (link->getLane() == after) {
2106 : return link;
2107 : }
2108 : }
2109 : }
2110 : return nullptr;
2111 : }
2112 :
2113 :
2114 : double
2115 1194797 : MSLink::getZipperSpeed(const MSVehicle* ego, const double dist, double vSafe,
2116 : SUMOTime arrivalTime,
2117 : const BlockingFoes* foes) const {
2118 1194797 : if (myFoeLinks.size() == 0) {
2119 : // link should have LINKSTATE_MAJOR in this case
2120 : assert(false);
2121 : return vSafe;
2122 : }
2123 1194797 : const double brakeGap = ego->getCarFollowModel().brakeGap(vSafe, ego->getCarFollowModel().getMaxDecel(), TS);
2124 1310617 : if (dist > MAX2(myFoeVisibilityDistance, brakeGap)) {
2125 : #ifdef DEBUG_ZIPPER
2126 : const SUMOTime now = MSNet::getInstance()->getCurrentTimeStep();
2127 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2128 : << " dist=" << dist << " bGap=" << brakeGap << " ignoring foes (arrival in " << STEPS2TIME(arrivalTime - now) << ")\n")
2129 : #endif
2130 : return vSafe;
2131 : }
2132 : #ifdef DEBUG_ZIPPER
2133 : DEBUGOUT(DEBUG_COND_ZIPPER, SIMTIME << " getZipperSpeed ego=" << ego->getID()
2134 : << " egoAT=" << arrivalTime
2135 : << " dist=" << dist
2136 : << " brakeGap=" << brakeGap
2137 : << " vSafe=" << vSafe
2138 : << " numFoes=" << foes->size()
2139 : << "\n")
2140 : #endif
2141 : const bool uniqueFoeLink = myFoeLinks.size() == 1;
2142 433506 : MSLink* foeLink = myFoeLinks[0];
2143 2449456 : for (const auto& item : *foes) {
2144 2015950 : if (!item->isVehicle()) {
2145 0 : continue;
2146 : }
2147 2015950 : const MSVehicle* foe = dynamic_cast<const MSVehicle*>(item);
2148 : assert(foe != 0);
2149 : const ApproachingVehicleInformation* aviPtr = nullptr;
2150 2015950 : if (uniqueFoeLink) {
2151 1357032 : aviPtr = foeLink->getApproachingPtr(foe);
2152 : } else {
2153 : // figure out which link is approached by the current foe
2154 989861 : for (MSLink* fl : myFoeLinks) {
2155 989861 : aviPtr = fl->getApproachingPtr(foe);
2156 989861 : if (aviPtr != nullptr) {
2157 : break;
2158 : }
2159 : }
2160 : }
2161 2015950 : if (aviPtr == nullptr) {
2162 0 : continue;
2163 : }
2164 : const ApproachingVehicleInformation& avi = *aviPtr;
2165 2015950 : const double foeDist = (foe->isActive() ? avi.dist : MAX2(0.0, avi.dist -
2166 36 : STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep() - foe->getLastActionTime()) * avi.speed));
2167 :
2168 1365894 : if ( // ignore vehicles that arrive after us (unless they are ahead and we could easily brake for them)
2169 2117355 : ((avi.arrivalTime > arrivalTime) && !couldBrakeForLeader(dist, foeDist, ego, foe)) ||
2170 : // also ignore vehicles that are behind us and are able to brake for us
2171 2117355 : couldBrakeForLeader(foeDist, dist, foe, ego) ||
2172 : // resolve ties by lane index
2173 650060 : (avi.arrivalTime == arrivalTime && foeDist == dist && ego->getLane()->getIndex() < foe->getLane()->getIndex())) {
2174 : #ifdef DEBUG_ZIPPER
2175 : if (DEBUG_COND_ZIPPER) std::cout
2176 : << " ignoring foe=" << foe->getID()
2177 : << " foeAT=" << avi.arrivalTime
2178 : << " foeDist=" << avi.dist
2179 : << " foeDist2=" << foeDist
2180 : << " foeSpeed=" << avi.speed
2181 : << " egoSpeed=" << ego->getSpeed()
2182 : << " deltaDist=" << foeDist - dist
2183 : << " delteSpeed=" << avi.speed - foe->getCarFollowModel().getMaxDecel() - ego->getSpeed()
2184 : << " egoCouldBrake=" << couldBrakeForLeader(dist, foeDist, ego, foe)
2185 : << " foeCouldBrake=" << couldBrakeForLeader(foeDist, dist, foe, ego)
2186 : << "\n";
2187 : #endif
2188 1365894 : continue;
2189 : }
2190 : // the idea behind speed adaption is three-fold:
2191 : // 1) ego needs to be in a car-following relationship with foe eventually
2192 : // thus, the ego speed should be equal to the follow speed once the foe enters
2193 : // the zipper junction
2194 : // 2) ego vehicle needs to put a certain distance beteen himself and foe (safeGap)
2195 : // achieving this distance can be spread over time but computing
2196 : // safeGap is subject to estimation errors of future speeds
2197 : // 3) deceleration can be spread out over the time until true
2198 : // car-following happens, at the start of speed adaptions, smaller
2199 : // decelerations should be sufficient
2200 :
2201 : // we cannot trust avi.arrivalSpeed if the foe has leader vehicles that are accelerating
2202 : // lets try to extrapolate
2203 650056 : const double uMax = foe->getLane()->getVehicleMaxSpeed(foe);
2204 650056 : const double uAccel = foe->getCarFollowModel().estimateSpeedAfterDistance(foeDist, avi.speed, foe->getCarFollowModel().getMaxAccel());
2205 : const double uEnd = MIN2(uMax, uAccel);
2206 650056 : const double uAvg = (avi.speed + uEnd) / 2;
2207 650056 : const double tf0 = foeDist / MAX2(NUMERICAL_EPS, uAvg);
2208 650056 : const double tf = MAX2(1.0, ceil((tf0) / TS) * TS);
2209 :
2210 650056 : const double vMax = ego->getLane()->getVehicleMaxSpeed(ego);
2211 650056 : const double vAccel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), ego->getCarFollowModel().getMaxAccel());
2212 650056 : const double vDecel = ego->getCarFollowModel().estimateSpeedAfterDistance(dist, ego->getSpeed(), -ego->getCarFollowModel().getMaxDecel());
2213 : const double vEnd = MIN3(vMax, vAccel, MAX2(uEnd, vDecel));
2214 650056 : const double vAvg = (ego->getSpeed() + vEnd) / 2;
2215 650056 : const double te0 = dist / MAX2(NUMERICAL_EPS, vAvg);
2216 650056 : const double te = MAX2(1.0, ceil((te0) / TS) * TS);
2217 :
2218 650056 : const double tTarget = tf + ego->getCarFollowModel().getHeadwayTime();
2219 650056 : const double a = ego->getCarFollowModel().avoidArrivalAccel(dist, tTarget, vSafe, ego->getCarFollowModel().getMaxDecel());
2220 :
2221 650056 : const double gap = dist - foe->getVehicleType().getLength() - ego->getVehicleType().getMinGap() - foeDist;
2222 650056 : const double vFollow = ego->getCarFollowModel().followSpeed(
2223 650056 : ego, ego->getSpeed(), gap, avi.speed, foe->getCarFollowModel().getMaxDecel(), foe);
2224 650056 : const double vSafeGap = MAX2(vFollow, ego->getSpeed() + ACCEL2SPEED(a));
2225 :
2226 : // scale behavior based on ego time to link (te)
2227 650056 : const double w = MIN2(1.0, te / 10);
2228 650056 : const double maxDecel = w * ego->getCarFollowModel().getMaxDecel() + (1 - w) * ego->getCarFollowModel().getEmergencyDecel();
2229 650056 : const double vZipper = MAX3(vFollow, ego->getSpeed() - ACCEL2SPEED(maxDecel), vSafeGap);
2230 :
2231 : vSafe = MIN2(vSafe, vZipper);
2232 : #ifdef DEBUG_ZIPPER
2233 : if (DEBUG_COND_ZIPPER) std::cout << " adapting to foe=" << foe->getID()
2234 : << " foeDist=" << foeDist
2235 : << " foeSpeed=" << avi.speed
2236 : << " foeAS=" << avi.arrivalSpeed
2237 : << " egoSpeed=" << ego->getSpeed()
2238 : << " uMax=" << uMax
2239 : << " uAccel=" << uAccel
2240 : << " uEnd=" << uEnd
2241 : << " uAvg=" << uAvg
2242 : << " gap=" << gap
2243 : << "\n "
2244 : << " tf=" << tf
2245 : << " te=" << te
2246 : << " aSafeGap=" << a
2247 : << " vMax=" << vMax
2248 : << " vAccel=" << vAccel
2249 : << " vDecel=" << vDecel
2250 : << " vEnd=" << vEnd
2251 : << " vSafeGap=" << vSafeGap
2252 : << " vFollow=" << vFollow
2253 : << " w=" << w
2254 : << " maxDecel=" << maxDecel
2255 : << " vZipper=" << vZipper
2256 : << " vSafe=" << vSafe
2257 : << "\n";
2258 : #endif
2259 : }
2260 : return vSafe;
2261 : }
2262 :
2263 :
2264 : bool
2265 2117355 : MSLink::couldBrakeForLeader(double followDist, double leaderDist, const MSVehicle* follow, const MSVehicle* leader) {
2266 : return (// leader is ahead of follower
2267 2117355 : followDist > leaderDist &&
2268 : // and follower could brake for 1 s to stay behind leader
2269 395601 : followDist - leaderDist > follow->getSpeed() - follow->getCarFollowModel().getMaxDecel() - leader->getSpeed());
2270 : }
2271 :
2272 :
2273 : void
2274 2499779 : MSLink::initParallelLinks() {
2275 2499779 : myParallelRight = computeParallelLink(-1);
2276 2499779 : myParallelLeft = computeParallelLink(1);
2277 2499779 : }
2278 :
2279 : bool
2280 66595 : MSLink::checkContOff() const {
2281 : // check whether this link gets to keep its cont status switching the tls off
2282 : // @note: this could also be pre-computed in netconvert
2283 : // we check whether there is any major link from this edge
2284 201530 : for (const MSLane* cand : myLaneBefore->getEdge().getLanes()) {
2285 399415 : for (const MSLink* link : cand->getLinkCont()) {
2286 264480 : if (link->getOffState() == LINKSTATE_TL_OFF_NOSIGNAL) {
2287 : return true;
2288 : }
2289 : }
2290 : }
2291 : return false;
2292 : }
2293 :
2294 : bool
2295 4319981 : MSLink::lateralOverlap(double posLat, double width, double posLat2, double width2) {
2296 4319981 : return fabs(posLat2 - posLat) < (width + width2) / 2;
2297 : }
2298 :
2299 : std::string
2300 0 : MSLink::getDescription() const {
2301 0 : return myLaneBefore->getID() + "->" + getViaLaneOrLane()->getID();
2302 : }
2303 :
2304 :
2305 : bool
2306 172679979 : MSLink::ignoreFoe(const SUMOTrafficObject* ego, const SUMOTrafficObject* foe) {
2307 172679979 : if (ego == nullptr || !ego->getParameter().wasSet(VEHPARS_JUNCTIONMODEL_PARAMS_SET)) {
2308 172647540 : return false;
2309 : }
2310 32439 : const SUMOVehicleParameter& param = ego->getParameter();
2311 71050 : for (const std::string& typeID : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_TYPES), "")).getVector()) {
2312 31537 : if (typeID == foe->getVehicleType().getID()) {
2313 : return true;
2314 : }
2315 32439 : }
2316 16136 : for (const std::string& id : StringTokenizer(param.getParameter(toString(SUMO_ATTR_JM_IGNORE_IDS), "")).getVector()) {
2317 2291 : if (id == foe->getID()) {
2318 : return true;
2319 : }
2320 7074 : }
2321 6771 : return false;
2322 : }
2323 :
2324 :
2325 : void
2326 93141 : MSLink::updateDistToFoePedCrossing(double dist) {
2327 93141 : myDistToFoePedCrossing = MIN2(myDistToFoePedCrossing, dist);
2328 93141 : }
2329 :
2330 :
2331 : std::pair<const SUMOVehicle* const, const MSLink::ApproachingVehicleInformation>
2332 3861740 : MSLink::getClosest() const {
2333 : assert(getApproaching().size() > 0);
2334 : double minDist = std::numeric_limits<double>::max();
2335 : auto closestIt = getApproaching().begin();
2336 7724134 : for (auto apprIt = getApproaching().begin(); apprIt != getApproaching().end(); apprIt++) {
2337 3862394 : if (apprIt->second.dist < minDist) {
2338 : minDist = apprIt->second.dist;
2339 : closestIt = apprIt;
2340 : }
2341 : }
2342 : // maybe a parallel link has a closer vehicle
2343 : /*
2344 : for (MSLink* link2 : link->getLaneBefore()->getLinkCont()) {
2345 : if (link2 != link) {
2346 : for (auto apprIt2 = link2->getApproaching().begin(); apprIt2 != link2->getApproaching().end(); apprIt2++) {
2347 : if (apprIt2->second.dist < minDist) {
2348 : minDist = apprIt2->second.dist;
2349 : closestIt = apprIt2;
2350 : }
2351 : }
2352 : }
2353 : }
2354 : */
2355 3861740 : return *closestIt;
2356 : }
2357 :
2358 :
2359 : bool
2360 392287 : MSLink::railSignalWasPassed() const {
2361 392287 : if (myJunction != nullptr && myJunction->getType() == SumoXMLNodeType::RAIL_SIGNAL) {
2362 1832 : for (const auto& item : myApproachingVehicles) {
2363 9 : if (item.second.dist < SPEED2DIST(item.first->getSpeed())) {
2364 : return true;
2365 : }
2366 : }
2367 : }
2368 : return false;
2369 : }
2370 :
2371 : /****************************************************************************/
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