Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2005-2024 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSLCM_DK2008.h
15 : /// @author Daniel Krajzewicz
16 : /// @author Friedemann Wesner
17 : /// @author Sascha Krieg
18 : /// @author Michael Behrisch
19 : /// @author Jakob Erdmann
20 : /// @date Fri, 29.04.2005
21 : ///
22 : // A lane change model developed by D. Krajzewicz between 2004 and 2010
23 : /****************************************************************************/
24 : #pragma once
25 : #include <config.h>
26 :
27 : #include "MSAbstractLaneChangeModel.h"
28 : #include <vector>
29 :
30 : // ===========================================================================
31 : // class definitions
32 : // ===========================================================================
33 : /**
34 : * @class MSLCM_DK2008
35 : * @brief A lane change model developed by D. Krajzewicz between 2004 and 2010
36 : */
37 : class MSLCM_DK2008 : public MSAbstractLaneChangeModel {
38 : public:
39 :
40 : MSLCM_DK2008(MSVehicle& v);
41 :
42 : virtual ~MSLCM_DK2008();
43 :
44 : /// @brief Returns the model's id
45 0 : LaneChangeModel getModelID() const {
46 0 : return LaneChangeModel::DK2008;
47 : }
48 :
49 : /** @brief Called to examine whether the vehicle wants to change
50 : * using the given laneOffset.
51 : * This method gets the information about the surrounding vehicles
52 : * and whether another lane may be more preferable */
53 : int wantsChange(
54 : int laneOffset,
55 : MSAbstractLaneChangeModel::MSLCMessager& msgPass, int blocked,
56 : const std::pair<MSVehicle*, double>& leader,
57 : const std::pair<MSVehicle*, double>& follower,
58 : const std::pair<MSVehicle*, double>& neighLead,
59 : const std::pair<MSVehicle*, double>& neighFollow,
60 : const MSLane& neighLane,
61 : const std::vector<MSVehicle::LaneQ>& preb,
62 : MSVehicle** lastBlocked,
63 : MSVehicle** firstBlocked);
64 :
65 : virtual void* inform(void* info, MSVehicle* sender);
66 :
67 : /** @brief Called to adapt the speed in order to allow a lane change.
68 : *
69 : * @param min The minimum resulting speed
70 : * @param wanted The aspired speed of the car following model
71 : * @param max The maximum resulting speed
72 : * @param cfModel The model used
73 : * @return the new speed of the vehicle as proposed by the lane changer
74 : */
75 : virtual double patchSpeed(const double min, const double wanted, const double max,
76 : const MSCFModel& cfModel);
77 :
78 : virtual void changed();
79 :
80 : virtual void prepareStep();
81 :
82 :
83 : protected:
84 : /** @brief Called to examine whether the vehicle wants to change to right
85 : This method gets the information about the surrounding vehicles
86 : and whether another lane may be more preferable */
87 : virtual int wantsChangeToRight(
88 : MSAbstractLaneChangeModel::MSLCMessager& msgPass, int blocked,
89 : const std::pair<MSVehicle*, double>& leader,
90 : const std::pair<MSVehicle*, double>& neighLead,
91 : const std::pair<MSVehicle*, double>& neighFollow,
92 : const MSLane& neighLane,
93 : const std::vector<MSVehicle::LaneQ>& preb,
94 : MSVehicle** lastBlocked,
95 : MSVehicle** firstBlocked);
96 :
97 : /** @brief Called to examine whether the vehicle wants to change to left
98 : This method gets the information about the surrounding vehicles
99 : and whether another lane may be more preferable */
100 : virtual int wantsChangeToLeft(
101 : MSAbstractLaneChangeModel::MSLCMessager& msgPass, int blocked,
102 : const std::pair<MSVehicle*, double>& leader,
103 : const std::pair<MSVehicle*, double>& neighLead,
104 : const std::pair<MSVehicle*, double>& neighFollow,
105 : const MSLane& neighLane,
106 : const std::vector<MSVehicle::LaneQ>& preb,
107 : MSVehicle** lastBlocked,
108 : MSVehicle** firstBlocked);
109 :
110 : void informBlocker(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
111 : int& blocked, int dir,
112 : const std::pair<MSVehicle*, double>& neighLead,
113 : const std::pair<MSVehicle*, double>& neighFollow);
114 :
115 : inline bool amBlockingLeader() {
116 : return (myOwnState & LCA_AMBLOCKINGLEADER) != 0;
117 : }
118 : inline bool amBlockingFollower() {
119 : return (myOwnState & LCA_AMBLOCKINGFOLLOWER) != 0;
120 : }
121 : inline bool amBlockingFollowerNB() {
122 : return (myOwnState & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0;
123 : }
124 : inline bool amBlockingFollowerPlusNB() {
125 109 : return (myOwnState & (LCA_AMBLOCKINGFOLLOWER | LCA_AMBLOCKINGFOLLOWER_DONTBRAKE)) != 0;
126 : }
127 : inline bool currentDistDisallows(double dist, int laneOffset, double lookForwardDist) {
128 167 : return dist / (abs(laneOffset)) < lookForwardDist;
129 : }
130 : inline bool currentDistAllows(double dist, int laneOffset, double lookForwardDist) {
131 0 : return dist / abs(laneOffset) > lookForwardDist;
132 : }
133 :
134 : typedef std::pair<double, int> Info;
135 :
136 :
137 :
138 : protected:
139 : double myChangeProbability;
140 :
141 : double myLeadingBlockerLength;
142 : double myLeftSpace;
143 :
144 : std::vector<double> myVSafes;
145 : bool myDontBrake;
146 :
147 : };
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