Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2026 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file MSLCM_LC2013.cpp
15 : /// @author Daniel Krajzewicz
16 : /// @author Jakob Erdmann
17 : /// @author Friedemann Wesner
18 : /// @author Sascha Krieg
19 : /// @author Michael Behrisch
20 : /// @author Laura Bieker
21 : /// @author Leonhard Luecken
22 : /// @date Fri, 08.10.2013
23 : ///
24 : // A lane change model developed by J. Erdmann
25 : // based on the model of D. Krajzewicz developed between 2004 and 2011 (MSLCM_DK2004)
26 : /****************************************************************************/
27 : #include <config.h>
28 :
29 : #include <iostream>
30 : #include <utils/xml/SUMOSAXAttributes.h>
31 : #include <utils/common/RandHelper.h>
32 : #include <utils/common/StringUtils.h>
33 : #include <microsim/transportables/MSPModel.h>
34 : #include <microsim/transportables/MSTransportableControl.h>
35 : #include <microsim/MSEdge.h>
36 : #include <microsim/MSLane.h>
37 : #include <microsim/MSLink.h>
38 : #include <microsim/MSDriverState.h>
39 : #include <microsim/MSNet.h>
40 : #include <microsim/MSStop.h>
41 : #include "MSLCHelper.h"
42 : #include "MSLCM_LC2013.h"
43 :
44 :
45 : // ===========================================================================
46 : // variable definitions
47 : // ===========================================================================
48 : #define LOOK_FORWARD 10.
49 :
50 : #define JAM_FACTOR 1.
51 :
52 : #define LCA_RIGHT_IMPATIENCE -1.
53 : #define CUT_IN_LEFT_SPEED_THRESHOLD 27.
54 :
55 : #define LOOK_AHEAD_MIN_SPEED 0.0
56 : #define LOOK_AHEAD_SPEED_MEMORY 0.9
57 :
58 : #define HELP_DECEL_FACTOR 1.0
59 :
60 : #define HELP_OVERTAKE (10.0 / 3.6)
61 : #define MIN_FALLBEHIND (7.0 / 3.6)
62 :
63 : #define RELGAIN_NORMALIZATION_MIN_SPEED 10.0
64 : #define URGENCY 2.0
65 : #define OPPOSITE_URGENCY 5.0
66 :
67 : #define KEEP_RIGHT_TIME 5.0 // the number of seconds after which a vehicle should move to the right lane
68 :
69 : #define KEEP_RIGHT_HEADWAY 2.0
70 : #define MAX_ONRAMP_LENGTH 200.
71 : #define TURN_LANE_DIST 200.0 // the distance at which a lane leading elsewhere is considered to be a turn-lane that must be avoided
72 :
73 : #define LC_RESOLUTION_SPEED_LAT 0.5 // the lateral speed (in m/s) for a standing vehicle which was unable to finish a continuous LC in time (in case mySpeedLatStanding==0), see #3771
74 :
75 : #define REACT_TO_STOPPED_DISTANCE 100
76 : #define BLOCKER_IS_BLOCKED_TIME_THRESHOLD 5 // the time after which a blocking neighbor is treated similar to a stopped vehicle
77 :
78 : #define HYST_PRECISION 10000000
79 :
80 : // ===========================================================================
81 : // debug defines
82 : // ===========================================================================
83 : //#define DEBUG_CONSTRUCTOR
84 : //#define DEBUG_PATCH_SPEED
85 : //#define DEBUG_INFORMED
86 : //#define DEBUG_INFORMER
87 : //#define DEBUG_WANTS_CHANGE
88 : //#define DEBUG_SLOW_DOWN
89 : //#define DEBUG_COOPERATE
90 : //#define DEBUG_SAVE_BLOCKER_LENGTH
91 :
92 : //#define DEBUG_COND (myVehicle.getID() == "ego")
93 : #define DEBUG_COND (myVehicle.isSelected())
94 : //#define DEBUG_COND (true)
95 :
96 : // ===========================================================================
97 : // member method definitions
98 : // ===========================================================================
99 3666478 : MSLCM_LC2013::MSLCM_LC2013(MSVehicle& v) :
100 : MSAbstractLaneChangeModel(v, LaneChangeModel::LC2013),
101 3666478 : mySpeedGainProbabilityLeft(0),
102 3666478 : mySpeedGainProbabilityRight(0),
103 3666478 : myKeepRightProbability(0),
104 3666478 : myLeadingBlockerLength(0),
105 3666478 : myLeftSpace(0),
106 3666478 : myLookAheadSpeed(LOOK_AHEAD_MIN_SPEED),
107 3666478 : myDontBrake(false),
108 3666478 : myStrategicParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_STRATEGIC_PARAM, 1)),
109 3666478 : myCooperativeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_PARAM, 1)),
110 3666478 : mySpeedGainParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_PARAM, 1)),
111 3666478 : myKeepRightParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_PARAM, 1)),
112 3666478 : myOppositeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OPPOSITE_PARAM, 1)),
113 3666478 : myLookaheadLeft(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LOOKAHEADLEFT, 2.0)),
114 3666478 : mySpeedGainRight(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAINRIGHT, 0.1)),
115 3666478 : mySpeedGainLookahead(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD, 0)),
116 3666478 : mySpeedGainRemainTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME, 20)),
117 3666478 : mySpeedGainUrgency(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_URGENCY, 50)),
118 3666478 : myRoundaboutBonus(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT, myCooperativeParam)),
119 3666478 : myCooperativeSpeed(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_SPEED, myCooperativeParam)),
120 3666478 : myKeepRightAcceptanceTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME, -1)),
121 3666478 : myOvertakeDeltaSpeedFactor(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR, 0)),
122 7332956 : myExperimentalParam1(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_EXPERIMENTAL1, 0)) {
123 3666478 : initDerivedParameters();
124 : #ifdef DEBUG_CONSTRUCTOR
125 : if (DEBUG_COND) {
126 : std::cout << SIMTIME
127 : << " create lcModel veh=" << myVehicle.getID()
128 : << " lcStrategic=" << myStrategicParam
129 : << " lcCooperative=" << myCooperativeParam
130 : << " lcSpeedGain=" << mySpeedGainParam
131 : << " lcKeepRight=" << myKeepRightParam
132 : << "\n";
133 : }
134 : #endif
135 3666478 : }
136 :
137 7332810 : MSLCM_LC2013::~MSLCM_LC2013() {
138 3666405 : changed();
139 7332810 : }
140 :
141 :
142 : void
143 3675546 : MSLCM_LC2013::initDerivedParameters() {
144 3675546 : if (mySpeedGainParam <= 0) {
145 7096 : myChangeProbThresholdRight = std::numeric_limits<long long int>::max();
146 7096 : myChangeProbThresholdLeft = std::numeric_limits<long long int>::max();
147 : } else {
148 3668450 : myChangeProbThresholdRight = (long long int)((0.2 / mySpeedGainRight) / mySpeedGainParam * HYST_PRECISION);
149 3668450 : myChangeProbThresholdLeft = (long long int)(0.2 / mySpeedGainParam * HYST_PRECISION);
150 : }
151 3675546 : }
152 :
153 :
154 : bool
155 3379 : MSLCM_LC2013::debugVehicle() const {
156 3379 : return DEBUG_COND;
157 : }
158 :
159 :
160 : int
161 243310303 : MSLCM_LC2013::wantsChange(
162 : int laneOffset,
163 : MSAbstractLaneChangeModel::MSLCMessager& msgPass,
164 : int blocked,
165 : const std::pair<MSVehicle*, double>& leader,
166 : const std::pair<MSVehicle*, double>& follower,
167 : const std::pair<MSVehicle*, double>& neighLead,
168 : const std::pair<MSVehicle*, double>& neighFollow,
169 : const MSLane& neighLane,
170 : const std::vector<MSVehicle::LaneQ>& preb,
171 : MSVehicle** lastBlocked,
172 : MSVehicle** firstBlocked) {
173 :
174 : #ifdef DEBUG_WANTS_CHANGE
175 : if (DEBUG_COND) {
176 : std::cout << "\nWANTS_CHANGE\n" << SIMTIME
177 : << std::setprecision(gPrecision)
178 : << " veh=" << myVehicle.getID()
179 : << " lane=" << myVehicle.getLane()->getID()
180 : << " pos=" << myVehicle.getPositionOnLane()
181 : << " posLat=" << myVehicle.getLateralPositionOnLane()
182 : << " speed=" << myVehicle.getSpeed()
183 : << " considerChangeTo=" << (laneOffset == -1 ? "right" : "left")
184 : << "\n";
185 : }
186 : #endif
187 :
188 243310303 : const int result = _wantsChange(laneOffset, msgPass, blocked, leader, follower, neighLead, neighFollow, neighLane, preb, *lastBlocked, *firstBlocked);
189 :
190 : #ifdef DEBUG_WANTS_CHANGE
191 : if (DEBUG_COND) {
192 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " result=" << toString((LaneChangeAction)result) << " blocked=" << toString((LaneChangeAction)blocked) << "\n\n\n";
193 : }
194 : #endif
195 :
196 243310303 : return result;
197 : }
198 :
199 :
200 : double
201 546156268 : MSLCM_LC2013::patchSpeed(const double min, const double wanted, const double max, const MSCFModel& cfModel) {
202 :
203 : #ifdef DEBUG_PATCH_SPEED
204 : if (DEBUG_COND) {
205 : std::cout << "\nPATCH_SPEED\n"
206 : << SIMTIME
207 : << " veh=" << myVehicle.getID()
208 : << " lane=" << myVehicle.getLane()->getID()
209 : << " pos=" << myVehicle.getPositionOnLane()
210 : << " v=" << myVehicle.getSpeed()
211 : << " min=" << min
212 : << " wanted=" << wanted
213 : << " max=" << max
214 : << "\n";
215 : }
216 : #endif
217 :
218 : // negative min speed may be passed when using ballistic updated
219 546156268 : const double newSpeed = _patchSpeed(MAX2(min, 0.0), wanted, max, cfModel);
220 :
221 : #ifdef DEBUG_PATCH_SPEED
222 : if (DEBUG_COND) {
223 : const std::string patched = (wanted != newSpeed ? " patched=" + toString(newSpeed) : "");
224 : std::cout << patched
225 : << "\n";
226 : }
227 : #endif
228 :
229 546156268 : return newSpeed;
230 : }
231 :
232 :
233 : double
234 546156268 : MSLCM_LC2013::_patchSpeed(double min, const double wanted, double max, const MSCFModel& cfModel) {
235 546156268 : int state = myOwnState;
236 : #ifdef DEBUG_PATCH_SPEED
237 : if (DEBUG_COND) {
238 : std::cout
239 : << "\n" << SIMTIME << std::setprecision(gPrecision)
240 : << " patchSpeed state=" << toString((LaneChangeAction)state) << " myLCAccelerationAdvices=" << toString(myLCAccelerationAdvices)
241 : << "\n speed=" << myVehicle.getSpeed() << " min=" << min << " wanted=" << wanted
242 : << "\n myLeadingBlockerLength=" << myLeadingBlockerLength
243 : << "\n";
244 : }
245 : #endif
246 :
247 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#2
248 : double nVSafe = wanted;
249 : bool gotOne = false;
250 : // if we want to change and have a blocking leader and there is enough room for him in front of us
251 546156268 : if (myLeadingBlockerLength != 0) {
252 548882 : double space = myLeftSpace - myLeadingBlockerLength - POSITION_EPS;
253 : #ifdef DEBUG_PATCH_SPEED
254 : if (DEBUG_COND) {
255 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myLeftSpace=" << myLeftSpace << " myLeadingBlockerLength=" << myLeadingBlockerLength << " space=" << space << "\n";
256 : }
257 : #endif
258 548882 : if (space > 0 && (myVehicle.getLane()->isNormal() || myVehicle.getCurrentEdge()->isRoundabout())) {
259 : // compute speed for decelerating towards a place which allows the blocking leader to merge in in front
260 420203 : const double vMinEmergency = myVehicle.getCarFollowModel().minNextSpeedEmergency(myVehicle.getSpeed(), &myVehicle);
261 420203 : double safe = cfModel.stopSpeed(&myVehicle, myVehicle.getSpeed(), space, MSCFModel::CalcReason::LANE_CHANGE);
262 : max = MIN2(max, MAX2(safe, vMinEmergency));
263 : // if we are approaching this place
264 420203 : if (safe < wanted) {
265 : // return this speed as the speed to use
266 45054 : if (safe < min) {
267 4701 : if (safe >= vMinEmergency) {
268 : // permit harder braking if needed and helpful
269 : min = MAX2(vMinEmergency, safe);
270 : }
271 : }
272 : #ifdef DEBUG_PATCH_SPEED
273 : if (DEBUG_COND) {
274 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " slowing down for leading blocker, safe=" << safe << (safe + NUMERICAL_EPS < min ? " (not enough)" : "") << "\n";
275 : }
276 : #endif
277 : nVSafe = MAX2(min, safe);
278 : gotOne = true;
279 : }
280 : }
281 : }
282 :
283 546156268 : const double coopWeight = MAX2(0.0, MIN2(1.0, myCooperativeSpeed));
284 569024022 : for (auto i : myLCAccelerationAdvices) {
285 : double a = i.first;
286 22867754 : double v = myVehicle.getSpeed() + ACCEL2SPEED(a);
287 :
288 22867754 : if (v >= min && v <= max && (MSGlobals::gSemiImplicitEulerUpdate
289 : // ballistic update: (negative speeds may appear, e.g. min<0, v<0), BUT:
290 : // XXX: LaneChanging returns -1 to indicate no restrictions, which leads to probs here (Leo), refs. #2577
291 : // As a quick fix, we just dismiss cases where v=-1
292 : // VERY rarely (whenever a requested help-acceleration is really indicated by v=-1)
293 : // this can lead to failing lane-change attempts, though)
294 256067 : || v != -1)) {
295 5452862 : if (i.second) {
296 : // own advice, no scaling needed
297 : nVSafe = MIN2(v, nVSafe);
298 : } else {
299 2198473 : nVSafe = MIN2(v * coopWeight + (1 - coopWeight) * wanted, nVSafe);
300 : }
301 : gotOne = true;
302 : #ifdef DEBUG_PATCH_SPEED
303 : if (DEBUG_COND) {
304 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got nVSafe=" << nVSafe << " isOwn: " << i.second << " rawV=" << v << "\n";
305 : }
306 : #endif
307 : } else {
308 : if (v < min) {
309 : #ifdef DEBUG_PATCH_SPEED
310 : if (DEBUG_COND) {
311 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring low nVSafe=" << v << " min=" << min << "\n";
312 : }
313 : #endif
314 : } else {
315 : #ifdef DEBUG_PATCH_SPEED
316 : if (DEBUG_COND) {
317 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring high nVSafe=" << v << " max=" << max << "\n";
318 : }
319 : #endif
320 : }
321 : }
322 : }
323 : // myDontBrake is used in counter-lane-change situations with relief connection
324 546156268 : if (gotOne && !myDontBrake) {
325 : #ifdef DEBUG_PATCH_SPEED
326 : if (DEBUG_COND) {
327 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got vSafe\n";
328 : }
329 : #endif
330 : return nVSafe;
331 : }
332 :
333 : // check whether the vehicle is blocked
334 541524915 : if ((state & LCA_WANTS_LANECHANGE) != 0 && (state & LCA_BLOCKED) != 0) {
335 13373494 : if ((state & LCA_STRATEGIC) != 0) {
336 : // necessary decelerations are controlled via vSafe. If there are
337 : // none it means we should speed up
338 : #ifdef DEBUG_PATCH_SPEED
339 : if (DEBUG_COND) {
340 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_WANTS_LANECHANGE (strat, no vSafe)\n";
341 : }
342 : #endif
343 2857601 : return (max + wanted) / 2.0;
344 10515893 : } else if ((state & LCA_COOPERATIVE) != 0) {
345 : // only minor adjustments in speed should be done
346 754827 : if ((state & LCA_BLOCKED_BY_LEADER) != 0) {
347 : #ifdef DEBUG_PATCH_SPEED
348 : if (DEBUG_COND) {
349 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_LEADER (coop)\n";
350 : }
351 : #endif
352 608749 : if (wanted >= 0.) {
353 608749 : return (MAX2(0., min) + wanted) / 2.0;
354 : } else {
355 : return wanted;
356 : }
357 : }
358 146078 : if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
359 : #ifdef DEBUG_PATCH_SPEED
360 : if (DEBUG_COND) {
361 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER (coop)\n";
362 : }
363 : #endif
364 146078 : return (max + wanted) / 2.0;
365 : }
366 : //} else { // VARIANT_16
367 : // // only accelerations should be performed
368 : // if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
369 : // if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER\n";
370 : // return (max + wanted) / 2.0;
371 : // }
372 : }
373 : }
374 :
375 : /*
376 : // decelerate if being a blocking follower
377 : // (and does not have to change lanes)
378 : if ((state & LCA_AMBLOCKINGFOLLOWER) != 0) {
379 : if (fabs(max - myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)) < 0.001 && min == 0) { // !!! was standing
380 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER (standing)\n";
381 : return 0;
382 : }
383 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER\n";
384 :
385 : //return min; // VARIANT_3 (brakeStrong)
386 : return (min + wanted) / 2.0;
387 : }
388 : if ((state & LCA_AMBACKBLOCKER) != 0) {
389 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
390 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER (standing)\n";
391 : //return min; VARIANT_9 (backBlockVSafe)
392 : return nVSafe;
393 : }
394 : }
395 : if ((state & LCA_AMBACKBLOCKER_STANDING) != 0) {
396 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER_STANDING\n";
397 : //return min;
398 : return nVSafe;
399 : }
400 : */
401 :
402 : // accelerate if being a blocking leader or blocking follower not able to brake
403 : // (and does not have to change lanes)
404 537912487 : if ((state & LCA_AMBLOCKINGLEADER) != 0 && myCooperativeSpeed >= 0) {
405 : #ifdef DEBUG_PATCH_SPEED
406 : if (DEBUG_COND) {
407 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGLEADER\n";
408 : }
409 : #endif
410 1504742 : return (max + wanted) / 2.0;
411 : }
412 :
413 : if ((state & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
414 : #ifdef DEBUG_PATCH_SPEED
415 : if (DEBUG_COND) {
416 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER_DONTBRAKE\n";
417 : }
418 : #endif
419 : /*
420 : // VARIANT_4 (dontbrake)
421 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
422 : return wanted;
423 : }
424 : return (min + wanted) / 2.0;
425 : */
426 : }
427 536407745 : if (!myVehicle.getLane()->getEdge().hasLaneChanger()) {
428 : // remove chaning information if on a road with a single lane
429 298019280 : changed();
430 : }
431 : return wanted;
432 : }
433 :
434 :
435 : void*
436 4519925 : MSLCM_LC2013::inform(void* info, MSVehicle* sender) {
437 : UNUSED_PARAMETER(sender);
438 : Info* pinfo = (Info*)info;
439 : assert(pinfo->first >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
440 4519925 : addLCSpeedAdvice(pinfo->first, false);
441 4519925 : myOwnState |= pinfo->second;
442 : #ifdef DEBUG_INFORMED
443 : if (DEBUG_COND) {
444 : std::cout << SIMTIME
445 : << " veh=" << myVehicle.getID()
446 : << " informedBy=" << sender->getID()
447 : << " info=" << pinfo->second
448 : << " vSafe=" << pinfo->first
449 : << "\n";
450 : }
451 : #endif
452 4519925 : delete pinfo;
453 4519925 : return (void*) true;
454 : }
455 :
456 : double
457 4500789 : MSLCM_LC2013::overtakeDistance(const MSVehicle* follower, const MSVehicle* leader, const double gap, double followerSpeed, double leaderSpeed) {
458 4500789 : followerSpeed = followerSpeed == INVALID_SPEED ? follower->getSpeed() : followerSpeed;
459 4500789 : leaderSpeed = leaderSpeed == INVALID_SPEED ? leader->getSpeed() : leaderSpeed;
460 : double overtakeDist = (gap // drive to back of leader
461 4500789 : + leader->getVehicleType().getLengthWithGap() // drive to front of leader
462 4500789 : + follower->getVehicleType().getLength() // follower back reaches leader front
463 4500789 : + leader->getCarFollowModel().getSecureGap( // save gap to leader
464 4500789 : leader, follower, leaderSpeed, followerSpeed, follower->getCarFollowModel().getMaxDecel()));
465 4500789 : return MAX2(overtakeDist, 0.);
466 : }
467 :
468 :
469 : double
470 4627615 : MSLCM_LC2013::informLeader(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
471 : int blocked,
472 : int dir,
473 : const std::pair<MSVehicle*, double>& neighLead,
474 : double remainingSeconds) {
475 4627615 : double plannedSpeed = myVehicle.getSpeed();
476 4627615 : if (!isOpposite()) {
477 4533012 : plannedSpeed = MIN2(plannedSpeed,
478 4533012 : myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
479 : }
480 5416397 : for (auto i : myLCAccelerationAdvices) {
481 : const double a = i.first;
482 788782 : if (a >= -myVehicle.getCarFollowModel().getMaxDecel()) {
483 788762 : plannedSpeed = MIN2(plannedSpeed, myVehicle.getSpeed() + ACCEL2SPEED(a));
484 : }
485 : }
486 : #ifdef DEBUG_INFORMER
487 : if (DEBUG_COND) {
488 : std::cout << "\nINFORM_LEADER"
489 : << "\nspeed=" << myVehicle.getSpeed() << " planned=" << plannedSpeed << "\n";
490 : }
491 : #endif
492 :
493 4627615 : const MSVehicle* const nv = neighLead.first;
494 4627615 : if (nv == nullptr) {
495 : // not overtaking
496 : return plannedSpeed;
497 : }
498 4399748 : const double neighNextSpeed = nv->getSpeed() - ACCEL2SPEED(MAX2(1.0, -nv->getAcceleration()));
499 : double neighNextGap;
500 4399748 : if (MSGlobals::gSemiImplicitEulerUpdate) {
501 4167944 : neighNextGap = neighLead.second + SPEED2DIST(neighNextSpeed - plannedSpeed);
502 : } else {
503 231804 : neighNextGap = neighLead.second + SPEED2DIST((nv->getSpeed() + neighNextSpeed) / 2) - SPEED2DIST((myVehicle.getSpeed() + plannedSpeed) / 2);
504 : }
505 4399748 : if ((blocked & LCA_BLOCKED_BY_LEADER) != 0) {
506 3557393 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
507 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingLeader=" << nv->getID() << "\n";
508 : return plannedSpeed;
509 : }
510 : #ifdef DEBUG_INFORMER
511 : if (DEBUG_COND) {
512 : std::cout << " blocked by leader nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
513 : << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel()) << "\n";
514 : }
515 : #endif
516 : // decide whether we want to overtake the leader or follow it
517 : double overtakeTime;
518 3554451 : const double overtakeDist = overtakeDistance(&myVehicle, nv, neighLead.second);
519 3554451 : const double dv = plannedSpeed - nv->getSpeed();
520 :
521 3554451 : if (dv > myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit()) {
522 1511093 : overtakeTime = overtakeDist / dv;
523 : } else if (nv->getWaitingSeconds() > BLOCKER_IS_BLOCKED_TIME_THRESHOLD
524 1169857 : && !isOpposite()
525 3186980 : && (myVehicle.getVehicleType().getLengthWithGap() + nv->getVehicleType().getLengthWithGap()) <= myLeftSpace) {
526 : // -> set overtakeTime to indicate possibility of overtaking (only if there is enough space)
527 1020283 : overtakeTime = remainingSeconds - 1;
528 : } else {
529 : // -> set overtakeTime to something indicating impossibility of overtaking
530 1023075 : overtakeTime = remainingSeconds + 1;
531 : }
532 :
533 : #ifdef DEBUG_INFORMER
534 : if (DEBUG_COND) {
535 : std::cout << SIMTIME << " informLeader() of " << myVehicle.getID()
536 : << "\nnv = " << nv->getID()
537 : << "\nplannedSpeed = " << plannedSpeed
538 : << "\nleaderSpeed = " << nv->getSpeed()
539 : << "\nmyLeftSpace = " << myLeftSpace
540 : << "\nremainingSeconds = " << remainingSeconds
541 : << "\novertakeDist = " << overtakeDist
542 : << "\novertakeTime = " << overtakeTime
543 : << std::endl;
544 : }
545 : #endif
546 :
547 3554451 : if ((dv < myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit()
548 : // overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
549 2695947 : || (dir == LCA_MLEFT && !myVehicle.congested() && !myAllowOvertakingRight)
550 : // not enough space to overtake?
551 5235877 : || (MSGlobals::gSemiImplicitEulerUpdate && myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed()) < overtakeDist)
552 : // using brakeGap() without headway seems adequate in a situation where the obstacle (the lane end) is not moving [XXX implemented in branch ticket860, can be used in general if desired, refs. #2575] (Leo).
553 2530952 : || (!MSGlobals::gSemiImplicitEulerUpdate && myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed(), getCarFollowModel().getMaxDecel(), 0.) < overtakeDist)
554 : // not enough time to overtake? (skipped for a stopped leader [currently only for ballistic update XXX: check if appropriate for euler, too, refs. #2575] to ensure that it can be overtaken if only enough space is exists) (Leo)
555 2513797 : || (remainingSeconds < overtakeTime && (MSGlobals::gSemiImplicitEulerUpdate || !nv->isStopped())))
556 : // opposite driving and must overtake
557 4268626 : && (!neighLead.first->isStopped() || (isOpposite() && neighLead.second >= 0))) {
558 : // cannot overtake
559 1569974 : msgPass.informNeighLeader(new Info(std::numeric_limits<double>::max(), dir | LCA_AMBLOCKINGLEADER), &myVehicle);
560 : // slow down smoothly to follow leader
561 : // account for minor decelerations by the leader (dawdling)
562 4709922 : double targetSpeed = MAX3(myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle),
563 1569974 : getCarFollowModel().followSpeed(&myVehicle, myVehicle.getSpeed(), neighNextGap, neighNextSpeed, nv->getCarFollowModel().getMaxDecel()),
564 : // avoid changing on intersection
565 1588979 : (myVehicle.getLane()->isNormal() || myVehicle.getCurrentEdge()->isRoundabout()) ? 0 : ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxAccel()));
566 1569974 : if (targetSpeed < myVehicle.getSpeed()) {
567 : // slow down smoothly to follow leader
568 524605 : const double decel = remainingSeconds == 0. ? myVehicle.getCarFollowModel().getMaxDecel() :
569 524605 : MIN2(myVehicle.getCarFollowModel().getMaxDecel(),
570 524605 : MAX2(MIN_FALLBEHIND, (myVehicle.getSpeed() - targetSpeed) / remainingSeconds));
571 524605 : const double nextSpeed = MIN2(plannedSpeed, MAX2(0.0, myVehicle.getSpeed() - ACCEL2SPEED(decel)));
572 : #ifdef DEBUG_INFORMER
573 : if (DEBUG_COND) {
574 : std::cout << SIMTIME
575 : << " cannot overtake leader nv=" << nv->getID()
576 : << " dv=" << dv
577 : << " myLookAheadSpeed=" << myLookAheadSpeed
578 : << " myLeftSpace=" << myLeftSpace
579 : << " overtakeDist=" << overtakeDist
580 : << " overtakeTime=" << overtakeTime
581 : << " remainingSeconds=" << remainingSeconds
582 : << " currentGap=" << neighLead.second
583 : << " brakeGap=" << myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed(), getCarFollowModel().getMaxDecel(), 0.)
584 : << " neighNextSpeed=" << neighNextSpeed
585 : << " neighNextGap=" << neighNextGap
586 : << " targetSpeed=" << targetSpeed
587 : << " nextSpeed=" << nextSpeed
588 : << "\n";
589 : }
590 : #endif
591 524605 : addLCSpeedAdvice(nextSpeed);
592 524605 : return nextSpeed;
593 : } else {
594 : // leader is fast enough anyway
595 : #ifdef DEBUG_INFORMER
596 : if (DEBUG_COND) {
597 : std::cout << SIMTIME
598 : << " cannot overtake fast leader nv=" << nv->getID()
599 : << " dv=" << dv
600 : << " myLookAheadSpeed=" << myLookAheadSpeed
601 : << " myLeftSpace=" << myLeftSpace
602 : << " overtakeDist=" << overtakeDist
603 : << " myLeadingBlockerLength=" << myLeadingBlockerLength
604 : << " overtakeTime=" << overtakeTime
605 : << " remainingSeconds=" << remainingSeconds
606 : << " currentGap=" << neighLead.second
607 : << " neighNextSpeed=" << neighNextSpeed
608 : << " neighNextGap=" << neighNextGap
609 : << " targetSpeed=" << targetSpeed
610 : << "\n";
611 : }
612 : #endif
613 1045369 : addLCSpeedAdvice(targetSpeed);
614 1045369 : return plannedSpeed;
615 : }
616 : } else {
617 : // overtaking, leader should not accelerate
618 : #ifdef DEBUG_INFORMER
619 : if (DEBUG_COND) {
620 : std::cout << SIMTIME
621 : << " wants to overtake leader nv=" << nv->getID()
622 : << " dv=" << dv
623 : << " overtakeDist=" << overtakeDist
624 : << " remainingSeconds=" << remainingSeconds
625 : << " overtakeTime=" << overtakeTime
626 : << " currentGap=" << neighLead.second
627 : << " secureGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel())
628 : << "\n";
629 : }
630 : #endif
631 : // no need to pass a message if the neighbor is waiting/stuck anyway (but sending it would risk deadlock)
632 1984477 : if (nv->getWaitingSeconds() <= BLOCKER_IS_BLOCKED_TIME_THRESHOLD) {
633 851032 : msgPass.informNeighLeader(new Info(nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER), &myVehicle);
634 : }
635 1984477 : return -1; // XXX: using -1 is ambiguous for the ballistic update! Currently this is being catched in patchSpeed() (Leo), consider returning INVALID_SPEED, refs. #2577
636 : }
637 : } else { // (remainUnblocked)
638 : // we are not blocked now. make sure we stay far enough from the leader
639 1684710 : const double targetSpeed = MAX2(
640 842355 : myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle),
641 842355 : getCarFollowModel().followSpeed(&myVehicle, myVehicle.getSpeed(), neighNextGap, neighNextSpeed, nv->getCarFollowModel().getMaxDecel()));
642 842355 : addLCSpeedAdvice(targetSpeed);
643 : #ifdef DEBUG_INFORMER
644 : if (DEBUG_COND) {
645 : std::cout << " not blocked by leader nv=" << nv->getID()
646 : << " nvSpeed=" << nv->getSpeed()
647 : << " gap=" << neighLead.second
648 : << " neighNextSpeed=" << neighNextSpeed
649 : << " neighNextGap=" << neighNextGap
650 : << " needGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel())
651 : << " targetSpeed=" << targetSpeed
652 : << "\n";
653 : }
654 : #endif
655 : return MIN2(targetSpeed, plannedSpeed);
656 : }
657 : }
658 :
659 : void
660 2640098 : MSLCM_LC2013::informFollower(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
661 : int blocked,
662 : int dir,
663 : const std::pair<MSVehicle*, double>& neighFollow,
664 : double remainingSeconds,
665 : double plannedSpeed) {
666 :
667 2640098 : MSVehicle* nv = neighFollow.first;
668 2640098 : const double plannedAccel = SPEED2ACCEL(MAX2(MIN2(getCarFollowModel().getMaxAccel(), plannedSpeed - myVehicle.getSpeed()), -getCarFollowModel().getMaxDecel()));
669 :
670 : #ifdef DEBUG_INFORMER
671 : if (DEBUG_COND) {
672 : std::cout << "\nINFORM_FOLLOWER"
673 : << "\nspeed=" << myVehicle.getSpeed() << " planned=" << plannedSpeed << "\n";
674 : }
675 :
676 : #endif
677 2640098 : if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0 && nv != nullptr) {
678 1532029 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
679 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingFollower=" << nv->getID() << "\n";
680 : return;
681 : }
682 : #ifdef DEBUG_INFORMER
683 : if (DEBUG_COND) {
684 : std::cout << " blocked by follower nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
685 : << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()) << " planned=" << plannedSpeed << "\n";
686 : }
687 : #endif
688 :
689 : // are we fast enough to cut in without any help?
690 1531870 : if (MAX2(plannedSpeed, 0.) - nv->getSpeed() >= HELP_OVERTAKE) {
691 85643 : const double neededGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
692 85643 : if ((neededGap - neighFollow.second) / remainingSeconds < (MAX2(plannedSpeed, 0.) - nv->getSpeed())) {
693 : #ifdef DEBUG_INFORMER
694 : if (DEBUG_COND) {
695 : std::cout << " wants to cut in before nv=" << nv->getID() << " without any help." << "\nneededGap = " << neededGap << "\n";
696 : }
697 : #endif
698 : // follower might even accelerate but not to much
699 : // XXX: I don't understand this. The needed gap was determined for nv->getSpeed(), not for (plannedSpeed - HELP_OVERTAKE)?! (Leo), refs. #2578
700 74136 : msgPass.informNeighFollower(new Info(MAX2(plannedSpeed, 0.) - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
701 74136 : return;
702 : }
703 : }
704 :
705 : // decide whether we will request help to cut in before the follower or allow to be overtaken
706 :
707 : // PARAMETERS
708 : // assume other vehicle will assume the equivalent of 1 second of
709 : // maximum deceleration to help us (will probably be spread over
710 : // multiple seconds)
711 : // -----------
712 : const double helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR;
713 :
714 : // follower's new speed in next step
715 : double neighNewSpeed;
716 : // follower's new speed after 1s.
717 : double neighNewSpeed1s;
718 : // velocity difference, gap after follower-deceleration
719 : double dv, decelGap;
720 :
721 1457734 : if (MSGlobals::gSemiImplicitEulerUpdate) {
722 : // euler
723 1323292 : neighNewSpeed = MAX2(0., nv->getSpeed() - ACCEL2SPEED(helpDecel));
724 1323292 : neighNewSpeed1s = MAX2(0., nv->getSpeed() - helpDecel); // TODO: consider introduction of a configurable anticipationTime here (see far below in the !blocked part). Refs. #2578
725 : // change in the gap between ego and blocker over 1 second (not STEP!)
726 : // XXX: though here it is calculated as if it were one step!? (Leo) Refs. #2578
727 1323292 : dv = plannedSpeed - neighNewSpeed1s; // XXX: what is this quantity (if TS!=1)?
728 : // new gap between follower and self in case the follower does brake for 1s
729 : // XXX: if the step-length is not 1s., this is not the gap after 1s. deceleration!
730 : // And this formula overestimates the real gap. Isn't that problematic? (Leo)
731 : // Below, it seems that decelGap > secureGap is taken to indicate the possibility
732 : // to cut in within the next time-step. However, this is not the case, if TS<1s.,
733 : // since decelGap is (not exactly, though!) the gap after 1s. Refs. #2578
734 1323292 : decelGap = neighFollow.second + dv;
735 : } else {
736 : // ballistic
737 : // negative newSpeed-extrapolation possible, if stop lies within the next time-step
738 : // XXX: this code should work for the euler case as well, since gapExtrapolation() takes
739 : // care of this, but for TS!=1 we will have different behavior (see previous remark) Refs. #2578
740 134442 : neighNewSpeed = nv->getSpeed() - ACCEL2SPEED(helpDecel);
741 134442 : neighNewSpeed1s = nv->getSpeed() - helpDecel;
742 :
743 134442 : dv = myVehicle.getSpeed() - nv->getSpeed(); // current velocity difference
744 268884 : decelGap = getCarFollowModel().gapExtrapolation(1., neighFollow.second, myVehicle.getSpeed(),
745 134442 : nv->getSpeed(), plannedAccel, -helpDecel, myVehicle.getMaxSpeedOnLane(), nv->getMaxSpeedOnLane());
746 : }
747 :
748 1457734 : const double secureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, MAX2(neighNewSpeed1s, 0.),
749 1457734 : MAX2(plannedSpeed, 0.), myVehicle.getCarFollowModel().getMaxDecel());
750 :
751 1457734 : const double onRampThreshold = myVehicle.getLane()->getSpeedLimit() * 0.8 * myExperimentalParam1 * (1 - myVehicle.getImpatience());
752 :
753 : #ifdef DEBUG_INFORMER
754 : if (DEBUG_COND) {
755 : std::cout << SIMTIME
756 : << " speed=" << myVehicle.getSpeed()
757 : << " plannedSpeed=" << plannedSpeed
758 : << " threshold=" << onRampThreshold
759 : << " neighNewSpeed=" << neighNewSpeed
760 : << " neighNewSpeed1s=" << neighNewSpeed1s
761 : << " dv=" << dv
762 : << " gap=" << neighFollow.second
763 : << " decelGap=" << decelGap
764 : << " secureGap=" << secureGap
765 : << "\n";
766 : }
767 : #endif
768 : // prevent vehicles on an on ramp stopping the main flow
769 : if (dir == LCA_MLEFT
770 605382 : && myVehicle.getLane()->isAccelLane()
771 1522139 : && neighNewSpeed1s < onRampThreshold) {
772 : return;
773 : }
774 :
775 1438718 : if (decelGap > 0 && decelGap >= secureGap) {
776 : // XXX: This does not assure that the leader can cut in in the next step if TS < 1 (see above)
777 : // this seems to be supposed in the following (euler code)...?! (Leo) Refs. #2578
778 :
779 : // if the blocking follower brakes it could help
780 : // how hard does it actually need to be?
781 : // to be safe in the next step the following equation has to hold for the follower's vsafe:
782 : // vsafe <= followSpeed(gap=currentGap - SPEED2DIST(vsafe), ...)
783 : double vsafe, vsafe1;
784 :
785 97504 : if (MSGlobals::gSemiImplicitEulerUpdate) {
786 : // euler
787 : // we compute an upper bound on vsafe by doing the computation twice
788 87503 : vsafe1 = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
789 87503 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed), plannedSpeed, getCarFollowModel().getMaxDecel()));
790 87503 : vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
791 87503 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed - vsafe1), plannedSpeed, getCarFollowModel().getMaxDecel()));
792 : //assert(vsafe <= vsafe1); assertion does not hold for models with randomness in followSpeed (W99)
793 : } else {
794 : // ballistic
795 :
796 : // XXX: This block should actually do as well for euler update (TODO: test!), refs #2575
797 : // we compute an upper bound on vsafe
798 : // next step's gap without help deceleration (nv's speed assumed constant)
799 10001 : double nextGap = getCarFollowModel().gapExtrapolation(TS,
800 10001 : neighFollow.second, myVehicle.getSpeed(),
801 10001 : nv->getSpeed(), plannedAccel, 0,
802 10001 : myVehicle.getMaxSpeedOnLane(), nv->getMaxSpeedOnLane());
803 : #ifdef DEBUG_INFORMER
804 : if (DEBUG_COND) {
805 : std::cout << "nextGap=" << nextGap << " (without help decel) \n";
806 : }
807 : #endif
808 :
809 : // NOTE: the second argument of MIN2() can get larger than nv->getSpeed()
810 20002 : vsafe1 = MIN2(nv->getSpeed(), MAX2(neighNewSpeed,
811 10001 : nv->getCarFollowModel().followSpeed(nv,
812 10001 : nv->getSpeed(), nextGap,
813 : MAX2(0., plannedSpeed),
814 : getCarFollowModel().getMaxDecel())));
815 :
816 :
817 : // next step's gap with possibly less than maximal help deceleration (in case vsafe1 > neighNewSpeed)
818 10001 : double decel2 = SPEED2ACCEL(nv->getSpeed() - vsafe1);
819 10001 : nextGap = getCarFollowModel().gapExtrapolation(TS,
820 10001 : neighFollow.second, myVehicle.getSpeed(),
821 10001 : nv->getSpeed(), plannedAccel, -decel2,
822 10001 : myVehicle.getMaxSpeedOnLane(), nv->getMaxSpeedOnLane());
823 :
824 : // vsafe = MAX(neighNewSpeed, safe speed assuming next_gap)
825 : // Thus, the gap resulting from vsafe is larger or equal to next_gap
826 : // in contrast to the euler case, where nv's follow speed doesn't depend on the actual speed,
827 : // we need to assure, that nv doesn't accelerate
828 20002 : vsafe = MIN2(nv->getSpeed(), MAX2(neighNewSpeed,
829 10001 : nv->getCarFollowModel().followSpeed(nv,
830 10001 : nv->getSpeed(), nextGap,
831 : MAX2(0., plannedSpeed),
832 : getCarFollowModel().getMaxDecel())));
833 :
834 : assert(vsafe >= vsafe1 - NUMERICAL_EPS);
835 :
836 : #ifdef DEBUG_INFORMER
837 : if (DEBUG_COND) {
838 : std::cout << "nextGap=" << nextGap
839 : << " (with vsafe1 and help decel) \nvsafe1=" << vsafe1
840 : << " vsafe=" << vsafe
841 : << "\n";
842 : }
843 : #endif
844 :
845 : // For subsecond simulation, this might not lead to secure gaps for a long time,
846 : // we seek to establish a secure gap as soon as possible
847 10001 : double nextSecureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe, plannedSpeed, getCarFollowModel().getMaxDecel());
848 :
849 10001 : if (nextGap < nextSecureGap) {
850 : // establish a secureGap as soon as possible
851 : vsafe = neighNewSpeed;
852 : }
853 :
854 : #ifdef DEBUG_INFORMER
855 : if (DEBUG_COND) {
856 : std::cout << "nextGap=" << nextGap
857 : << " minNextSecureGap=" << nextSecureGap
858 : << " vsafe=" << vsafe << "\n";
859 : }
860 : #endif
861 :
862 : }
863 97504 : msgPass.informNeighFollower(
864 97504 : new Info(vsafe, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
865 :
866 : #ifdef DEBUG_INFORMER
867 : if (DEBUG_COND) {
868 : std::cout << " wants to cut in before nv=" << nv->getID()
869 : << " vsafe1=" << vsafe1 << " vsafe=" << vsafe
870 : << " newSecGap="
871 : << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe,
872 : plannedSpeed,
873 : myVehicle.getCarFollowModel().getMaxDecel())
874 : << "\n";
875 : }
876 : #endif
877 1341214 : } else if ((MSGlobals::gSemiImplicitEulerUpdate && dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS))
878 1264667 : || (!MSGlobals::gSemiImplicitEulerUpdate && dv > 0 && dv * (remainingSeconds - 1) > secureGap - decelGap + POSITION_EPS)
879 : ) {
880 :
881 : // XXX: Alternative formulation (encapsulating differences of euler and ballistic) TODO: test, refs. #2575
882 : // double eventualGap = getCarFollowModel().gapExtrapolation(remainingSeconds - 1., decelGap, plannedSpeed, neighNewSpeed1s);
883 : // } else if (eventualGap > secureGap + POSITION_EPS) {
884 :
885 :
886 : // NOTE: This case corresponds to the situation, where some time is left to perform the lc
887 : // For the ballistic case this is interpreted as follows:
888 : // If the follower breaks with helpDecel for one second, this vehicle maintains the plannedSpeed,
889 : // and both continue with their speeds for remainingSeconds seconds the gap will suffice for a laneChange
890 : // For the euler case we had the following comment:
891 : // 'decelerating once is sufficient to open up a large enough gap in time', but:
892 : // XXX: 1) Decelerating *once* does not necessarily lead to the gap decelGap! (if TS<1s.) (Leo)
893 : // 2) Probably, the if() for euler should test for dv * (remainingSeconds-1) > ..., too ?!, refs. #2578
894 79481 : msgPass.informNeighFollower(new Info(neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
895 : #ifdef DEBUG_INFORMER
896 : if (DEBUG_COND) {
897 : std::cout << " wants to cut in before nv=" << nv->getID() << " (eventually)\n";
898 : }
899 : #endif
900 1261733 : } else if (dir == LCA_MRIGHT && !myAllowOvertakingRight && !nv->congested()) {
901 : // XXX: check if this requires a special treatment for the ballistic update, refs. #2575
902 : const double vhelp = MAX2(neighNewSpeed, HELP_OVERTAKE);
903 1295 : msgPass.informNeighFollower(new Info(vhelp, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
904 : #ifdef DEBUG_INFORMER
905 : if (DEBUG_COND) {
906 : std::cout << " wants to cut in before nv=" << nv->getID() << " (nv cannot overtake right)\n";
907 : }
908 : #endif
909 : } else {
910 1260438 : double vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
911 : //if (dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE &&
912 : // nv->getSpeed() > myVehicle.getSpeed()) {
913 1260438 : if (nv->getSpeed() > myVehicle.getSpeed() &&
914 317378 : ((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE) // NOTE: it might be considered to use myVehicle.getAccumulatedWaitingSeconds() > LCA_RIGHT_IMPATIENCE instead (Leo). Refs. #2578
915 234780 : || (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
916 : // XXX this is a hack to determine whether the vehicles is on an on-ramp. This information should be retrieved from the network itself
917 234751 : || (dir == LCA_MLEFT && myVehicle.getLane()->getLength() > MAX_ONRAMP_LENGTH)
918 : )) {
919 : // let the follower slow down to increase the likelihood that later vehicles will be slow enough to help
920 : // follower should still be fast enough to open a gap
921 : // XXX: The probability for that success would be larger if the slow down of the appropriate following vehicle
922 : // would take place without the immediate follower slowing down. We might consider to model reactions of
923 : // vehicles that are not immediate followers. (Leo) -> see ticket #2532
924 373384 : vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
925 : #ifdef DEBUG_INFORMER
926 : if (DEBUG_COND) {
927 : // NOTE: the condition labeled "VARIANT_22" seems to imply that this could as well concern the *left* follower?! (Leo)
928 : // Further, vhelp might be larger than nv->getSpeed(), so the request issued below is not to slow down!? (see below) Refs. #2578
929 : std::cout << " wants right follower to slow down a bit\n";
930 : }
931 : #endif
932 373384 : if (MSGlobals::gSemiImplicitEulerUpdate) {
933 : // euler
934 320433 : if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
935 :
936 : #ifdef DEBUG_INFORMER
937 : if (DEBUG_COND) {
938 : // NOTE: the condition labeled "VARIANT_22" seems to imply that this could as well concern the *left* follower?! Refs. #2578
939 : std::cout << " wants to cut in before right follower nv=" << nv->getID() << " (eventually)\n";
940 : }
941 : #endif
942 : // XXX: I don't understand. This vhelp might be larger than nv->getSpeed() but the above condition seems to rely
943 : // on the reasoning that if nv breaks with helpDecel for remaining Seconds, nv will be so slow, that this
944 : // vehicle will be able to cut in. But nv might have overtaken this vehicle already (or am I missing sth?). (Leo)
945 : // Ad: To my impression, the intention behind allowing larger speeds for the blocking follower is to prevent a
946 : // situation, where an overlapping follower keeps blocking the ego vehicle. Refs. #2578
947 304844 : msgPass.informNeighFollower(new Info(vhelp, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
948 304844 : return;
949 : }
950 : } else {
951 :
952 : // ballistic (this block is a bit different to the logic in the euler part, but in general suited to work on euler as well.. must be tested <- TODO, refs. #2575)
953 : // estimate gap after remainingSeconds.
954 : // Assumptions:
955 : // (A1) leader continues with currentSpeed. (XXX: That might be wrong: Think of accelerating on an on-ramp or of a congested region ahead!)
956 : // (A2) follower breaks with helpDecel.
957 52951 : const double gapAfterRemainingSecs = getCarFollowModel().gapExtrapolation(
958 52951 : remainingSeconds, neighFollow.second, myVehicle.getSpeed(), nv->getSpeed(), 0, -helpDecel, myVehicle.getMaxSpeedOnLane(), nv->getMaxSpeedOnLane());
959 52951 : const double secureGapAfterRemainingSecs = nv->getCarFollowModel().getSecureGap(nv, &myVehicle,
960 52951 : MAX2(nv->getSpeed() - remainingSeconds * helpDecel, 0.), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel());
961 52951 : if (gapAfterRemainingSecs >= secureGapAfterRemainingSecs) { // XXX: here it would be wise to check whether there is enough space for eventual braking if the maneuver doesn't succeed
962 : #ifdef DEBUG_INFORMER
963 : if (DEBUG_COND) {
964 : std::cout << " wants to cut in before follower nv=" << nv->getID() << " (eventually)\n";
965 : }
966 : #endif
967 : // NOTE: ballistic uses neighNewSpeed instead of vhelp, see my note above. (Leo)
968 : // TODO: recheck if this might cause suboptimal behaviour in some LC-situations. Refs. #2578
969 9256 : msgPass.informNeighFollower(new Info(neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
970 9256 : return;
971 : }
972 : }
973 :
974 :
975 : }
976 :
977 : #ifdef DEBUG_INFORMER
978 : if (DEBUG_COND) {
979 : std::cout << SIMTIME
980 : << " veh=" << myVehicle.getID()
981 : << " informs follower " << nv->getID()
982 : << " vhelp=" << vhelp
983 : << "\n";
984 : }
985 : #endif
986 :
987 946338 : msgPass.informNeighFollower(new Info(vhelp, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
988 : // This follower is supposed to overtake us. Slow down smoothly to allow this.
989 946338 : const double overtakeDist = overtakeDistance(nv, &myVehicle, neighFollow.second, vhelp, plannedSpeed);
990 : // speed difference to create a sufficiently large gap
991 946338 : const double needDV = overtakeDist / remainingSeconds;
992 : // make sure the deceleration is not to strong (XXX: should be assured in finalizeSpeed -> TODO: remove the MAX2 if agreed) -> prob with possibly non-existing maximal deceleration for som CF Models(?) Refs. #2578
993 1052409 : addLCSpeedAdvice(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
994 :
995 : #ifdef DEBUG_INFORMER
996 : if (DEBUG_COND) {
997 : std::cout << SIMTIME
998 : << " veh=" << myVehicle.getID()
999 : << " wants to be overtaken by=" << nv->getID()
1000 : << " overtakeDist=" << overtakeDist
1001 : << " vneigh=" << nv->getSpeed()
1002 : << " vhelp=" << vhelp
1003 : << " needDV=" << needDV
1004 : << " vsafe=" << myLCAccelerationAdvices.back().first
1005 : << "\n";
1006 : }
1007 : #endif
1008 : }
1009 1108069 : } else if (neighFollow.first != nullptr && (blocked & LCA_BLOCKED_BY_LEADER)) {
1010 : // we are not blocked by the follower now, make sure it remains that way
1011 583604 : const double vsafe = MSLCHelper::getSpeedPreservingSecureGap(myVehicle, *neighFollow.first, neighFollow.second, plannedSpeed);
1012 583604 : msgPass.informNeighFollower(new Info(vsafe, dir), &myVehicle);
1013 :
1014 : #ifdef DEBUG_INFORMER
1015 : if (DEBUG_COND) {
1016 : std::cout << " wants to cut in before non-blocking follower nv=" << nv->getID() << "\n";
1017 : }
1018 : #endif
1019 : }
1020 : }
1021 :
1022 :
1023 : void
1024 543336813 : MSLCM_LC2013::prepareStep() {
1025 543336813 : MSAbstractLaneChangeModel::prepareStep();
1026 : // keep information about strategic change direction
1027 543336813 : if (!isChangingLanes()) {
1028 542800907 : myOwnState = (myOwnState & LCA_STRATEGIC) ? (myOwnState & LCA_WANTS_LANECHANGE) : 0;
1029 : }
1030 543336813 : myLeadingBlockerLength = 0;
1031 543336813 : myLeftSpace = 0;
1032 : myLCAccelerationAdvices.clear();
1033 543336813 : myDontBrake = false;
1034 : // truncate to work around numerical instability between different builds
1035 543336813 : if (mySigma > 0 && !isChangingLanes()) {
1036 : // disturb lateral position directly
1037 1154 : const double maxDist = SPEED2DIST(myVehicle.getVehicleType().getMaxSpeedLat());
1038 1154 : const double oldPosLat = myVehicle.getLateralPositionOnLane();
1039 1154 : const double overlap = myVehicle.getLateralOverlap();
1040 : double scaledDelta;
1041 1154 : if (overlap > 0) {
1042 : // return to within lane boundary
1043 : scaledDelta = MIN2(overlap, maxDist);
1044 23 : if (myVehicle.getLateralPositionOnLane() > 0) {
1045 7 : scaledDelta *= -1;
1046 : }
1047 : } else {
1048 : // random drift
1049 1131 : double deltaPosLat = OUProcess::step(oldPosLat,
1050 1131 : myVehicle.getActionStepLengthSecs(),
1051 1131 : MAX2(NUMERICAL_EPS, (1 - mySigma) * 100), mySigma) - oldPosLat;
1052 1131 : deltaPosLat = MAX2(MIN2(deltaPosLat, maxDist), -maxDist);
1053 1131 : scaledDelta = deltaPosLat * myVehicle.getSpeed() / myVehicle.getLane()->getSpeedLimit();
1054 : }
1055 1154 : myVehicle.setLateralPositionOnLane(oldPosLat + scaledDelta);
1056 1154 : setSpeedLat(DIST2SPEED(scaledDelta));
1057 : } else {
1058 543335659 : resetSpeedLat();
1059 : }
1060 543336813 : }
1061 :
1062 :
1063 : void
1064 302425908 : MSLCM_LC2013::changed() {
1065 302425908 : myOwnState = 0;
1066 302425908 : mySpeedGainProbabilityLeft = 0;
1067 302425908 : mySpeedGainProbabilityRight = 0;
1068 302425908 : myKeepRightProbability = 0;
1069 302425908 : if (myVehicle.getBestLaneOffset() == 0) {
1070 : // if we are not yet on our best lane there might still be unseen blockers
1071 : // (during patchSpeed)
1072 302300934 : myLeadingBlockerLength = 0;
1073 302300934 : myLeftSpace = 0;
1074 : }
1075 302425908 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1076 : myLCAccelerationAdvices.clear();
1077 302425908 : myDontBrake = false;
1078 302425908 : myLeadingBlockerLength = 0;
1079 302425908 : }
1080 :
1081 :
1082 : void
1083 8299 : MSLCM_LC2013::resetState() {
1084 8299 : myOwnState = 0;
1085 8299 : mySpeedGainProbabilityLeft = 0;
1086 8299 : mySpeedGainProbabilityRight = 0;
1087 8299 : myKeepRightProbability = 0;
1088 8299 : myLeadingBlockerLength = 0;
1089 8299 : myLeftSpace = 0;
1090 8299 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1091 : myLCAccelerationAdvices.clear();
1092 8299 : myDontBrake = false;
1093 8299 : }
1094 :
1095 :
1096 : int
1097 243310303 : MSLCM_LC2013::_wantsChange(
1098 : int laneOffset,
1099 : MSAbstractLaneChangeModel::MSLCMessager& msgPass,
1100 : int blocked,
1101 : const std::pair<MSVehicle*, double>& leader,
1102 : const std::pair<MSVehicle*, double>& follower,
1103 : const std::pair<MSVehicle*, double>& neighLead,
1104 : const std::pair<MSVehicle*, double>& neighFollow,
1105 : const MSLane& neighLane,
1106 : const std::vector<MSVehicle::LaneQ>& preb,
1107 : MSVehicle* lastBlocked,
1108 : MSVehicle* firstBlocked) {
1109 : assert(laneOffset == 1 || laneOffset == -1);
1110 243310303 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
1111 : // compute bestLaneOffset
1112 : MSVehicle::LaneQ curr, neigh, best;
1113 : int bestLaneOffset = 0;
1114 : // What do these "dists" mean? Please comment. (Leo) Ad: I now think the following:
1115 : // currentDist is the distance that the vehicle can go on its route without having to
1116 : // change lanes from the current lane. neighDist as currentDist for the considered target lane (i.e., neigh)
1117 : // If this is true I suggest to put this into the docu of wantsChange()
1118 : double currentDist = 0;
1119 : double neighDist = 0;
1120 : int currIdx = 0;
1121 243310303 : const bool checkOpposite = &neighLane.getEdge() != &myVehicle.getLane()->getEdge();
1122 243310303 : const MSLane* prebLane = myVehicle.getLane();
1123 243310303 : if (prebLane->getEdge().isInternal()) {
1124 : // internal edges are not kept inside the bestLanes structure
1125 1174609 : if (isOpposite()) {
1126 541 : prebLane = prebLane->getNormalPredecessorLane();
1127 : } else {
1128 1174068 : prebLane = prebLane->getLinkCont()[0]->getLane();
1129 : }
1130 : }
1131 : // special case: vehicle considers changing to the opposite direction edge
1132 : const int prebOffset = laneOffset;
1133 426434003 : for (int p = 0; p < (int) preb.size(); ++p) {
1134 : //if (DEBUG_COND) {
1135 : // std::cout << " p=" << p << " prebLane=" << prebLane->getID() << " preb.p=" << preb[p].lane->getID() << "\n";
1136 : //}
1137 426434003 : if (preb[p].lane == prebLane && p + laneOffset >= 0) {
1138 : assert(p + prebOffset < (int)preb.size());
1139 : curr = preb[p];
1140 243310303 : neigh = preb[p + prebOffset];
1141 243310303 : currentDist = curr.length;
1142 243310303 : neighDist = neigh.length;
1143 243310303 : bestLaneOffset = curr.bestLaneOffset;
1144 243310303 : if (bestLaneOffset == 0 && preb[p + prebOffset].bestLaneOffset == 0 && !checkOpposite) {
1145 : #ifdef DEBUG_WANTS_CHANGE
1146 : if (DEBUG_COND) {
1147 : std::cout << STEPS2TIME(currentTime)
1148 : << " veh=" << myVehicle.getID()
1149 : << " bestLaneOffsetOld=" << bestLaneOffset
1150 : << " bestLaneOffsetNew=" << laneOffset
1151 : << "\n";
1152 : }
1153 : #endif
1154 : bestLaneOffset = prebOffset;
1155 : }
1156 243310303 : best = preb[p + bestLaneOffset];
1157 : currIdx = p;
1158 : break;
1159 : }
1160 : }
1161 : assert(curr.lane != nullptr);
1162 : assert(neigh.lane != nullptr);
1163 : assert(best.lane != nullptr);
1164 : // direction specific constants
1165 243310303 : const bool right = (laneOffset == -1);
1166 243310303 : const double posOnLane = getForwardPos();
1167 : double driveToNextStop = -std::numeric_limits<double>::max();
1168 243310303 : if (myVehicle.nextStopDist() < std::numeric_limits<double>::max()
1169 243310303 : && &myVehicle.getNextStop().lane->getEdge() == &myVehicle.getLane()->getEdge()) {
1170 : // vehicle can always drive up to stop distance
1171 : // @note this information is dynamic and thus not available in updateBestLanes()
1172 : // @note: nextStopDist was compute before the vehicle moved
1173 1694292 : driveToNextStop = myVehicle.nextStopDist();
1174 1694292 : const double stopPos = posOnLane + myVehicle.nextStopDist() - myVehicle.getLastStepDist();
1175 : #ifdef DEBUG_WANTS_CHANGE
1176 : if (DEBUG_COND) {
1177 : std::cout << SIMTIME << std::setprecision(gPrecision) << " veh=" << myVehicle.getID()
1178 : << " stopDist=" << myVehicle.nextStopDist()
1179 : << " lastDist=" << myVehicle.getLastStepDist()
1180 : << " stopPos=" << stopPos
1181 : << " currentDist=" << currentDist
1182 : << " neighDist=" << neighDist
1183 : << "\n";
1184 : }
1185 : #endif
1186 : currentDist = MAX2(currentDist, stopPos);
1187 : neighDist = MAX2(neighDist, stopPos);
1188 : }
1189 243310303 : const int lca = (right ? LCA_RIGHT : LCA_LEFT);
1190 : const int myLca = (right ? LCA_MRIGHT : LCA_MLEFT);
1191 : const int lcaCounter = (right ? LCA_LEFT : LCA_RIGHT);
1192 243310303 : bool changeToBest = (right && bestLaneOffset < 0) || (!right && bestLaneOffset > 0);
1193 : // keep information about being a leader/follower
1194 243310303 : int ret = (myOwnState & 0xffff0000);
1195 : int req = 0; // the request to change or stay
1196 :
1197 243310303 : ret = slowDownForBlocked(lastBlocked, ret);
1198 243310303 : if (lastBlocked != firstBlocked) {
1199 7639774 : ret = slowDownForBlocked(firstBlocked, ret);
1200 : }
1201 :
1202 : #ifdef DEBUG_WANTS_CHANGE
1203 : if (DEBUG_COND) {
1204 : std::cout << SIMTIME
1205 : << " veh=" << myVehicle.getID()
1206 : << " _wantsChange state=" << myOwnState
1207 : << " myLCAccelerationAdvices=" << toString(myLCAccelerationAdvices)
1208 : << " firstBlocked=" << Named::getIDSecure(firstBlocked)
1209 : << " lastBlocked=" << Named::getIDSecure(lastBlocked)
1210 : << " leader=" << Named::getIDSecure(leader.first)
1211 : << " leaderGap=" << leader.second
1212 : << " follower=" << Named::getIDSecure(follower.first)
1213 : << " followerGap=" << follower.second
1214 : << " neighLead=" << Named::getIDSecure(neighLead.first)
1215 : << " neighLeadGap=" << neighLead.second
1216 : << " neighFollow=" << Named::getIDSecure(neighFollow.first)
1217 : << " neighFollowGap=" << neighFollow.second
1218 : << "\n";
1219 : }
1220 : #endif
1221 :
1222 : // we try to estimate the distance which is necessary to get on a lane
1223 : // we have to get on in order to keep our route
1224 : // we assume we need something that depends on our velocity
1225 : // and compare this with the free space on our wished lane
1226 : //
1227 : // if the free space is somehow(<-?) less than the space we need, we should
1228 : // definitely try to get to the desired lane
1229 : //
1230 : // this rule forces our vehicle to change the lane if a lane changing is necessary soon
1231 :
1232 :
1233 : // we do not want the lookahead distance to change all the time so we let it decay slowly
1234 : // (in contrast, growth is applied instantaneously)
1235 243310303 : if (myVehicle.getSpeed() > myLookAheadSpeed) {
1236 41108891 : myLookAheadSpeed = myVehicle.getSpeed();
1237 : } else {
1238 : // memory decay factor for this action step
1239 202201412 : const double memoryFactor = 1. - (1. - LOOK_AHEAD_SPEED_MEMORY) * myVehicle.getActionStepLengthSecs();
1240 : assert(memoryFactor > 0.);
1241 202201412 : myLookAheadSpeed = MAX2(LOOK_AHEAD_MIN_SPEED,
1242 202201412 : (memoryFactor * myLookAheadSpeed + (1 - memoryFactor) * myVehicle.getSpeed()));
1243 : }
1244 243310303 : double laDist = myLookAheadSpeed * LOOK_FORWARD * myStrategicParam * (right ? 1 : myLookaheadLeft);
1245 243310303 : laDist += myVehicle.getVehicleType().getLengthWithGap() * 2.;
1246 243310303 : const bool hasStoppedLeader = leader.first != 0 && leader.first->isStopped() && leader.second < (currentDist - posOnLane);
1247 243310303 : const bool hasBidiLeader = myVehicle.getLane()->getBidiLane() != nullptr && MSLCHelper::isBidiLeader(leader.first, curr.bestContinuations);
1248 243310303 : const bool hasBidiNeighLeader = neighLane.getBidiLane() != nullptr && MSLCHelper::isBidiLeader(neighLead.first, neigh.bestContinuations);
1249 :
1250 243310303 : if (bestLaneOffset == 0 && hasBidiLeader) {
1251 : // getting out of the way is enough to clear the blockage
1252 : laDist = 0;
1253 243308968 : } else if (bestLaneOffset == 0 && hasStoppedLeader) {
1254 : // react to a stopped leader on the current lane
1255 : // The value of laDist is doubled below for the check whether the lc-maneuver can be taken out
1256 : // on the remaining distance (because the vehicle has to change back and forth). Therefore multiply with 0.5.
1257 76812 : laDist = 0.5 * (myVehicle.getVehicleType().getLengthWithGap()
1258 76812 : + leader.first->getVehicleType().getLengthWithGap()
1259 76812 : + leader.second);
1260 243232156 : } else if (bestLaneOffset == laneOffset && neighLead.first != 0 && (neighLead.first->isStopped() || hasBidiNeighLeader) && neighLead.second < (currentDist - posOnLane)) {
1261 : // react to a stopped leader on the target lane (if it is the bestLane)
1262 274609 : if (isOpposite()) {
1263 : // always allow changing back
1264 51413 : laDist = (myVehicle.getVehicleType().getLengthWithGap()
1265 51413 : + neighLead.first->getVehicleType().getLengthWithGap()
1266 51413 : + neighLead.second);
1267 223196 : } else if (!hasStoppedLeader &&
1268 203641 : ((neighLead.second + myVehicle.getVehicleType().getLengthWithGap() + neighLead.first->getVehicleType().getLengthWithGap()) < (currentDist - posOnLane)
1269 5300 : || hasBidiNeighLeader)) {
1270 : // do not change to the target lane until passing the stopped vehicle
1271 : // (unless the vehicle blocks our intended stopping position, then we have to wait anyway)
1272 : changeToBest = false;
1273 : }
1274 : }
1275 243310303 : if (myStrategicParam < 0) {
1276 : laDist = -1e3; // never perform strategic change
1277 : }
1278 :
1279 : // free space that is available for changing
1280 : //const double neighSpeed = (neighLead.first != 0 ? neighLead.first->getSpeed() :
1281 : // neighFollow.first != 0 ? neighFollow.first->getSpeed() :
1282 : // best.lane->getSpeedLimit());
1283 : // @note: while this lets vehicles change earlier into the correct direction
1284 : // it also makes the vehicles more "selfish" and prevents changes which are necessary to help others
1285 :
1286 :
1287 :
1288 : // Next we assign to roundabout edges a larger distance than to normal edges
1289 : // in order to decrease sense of lc urgency and induce higher usage of inner roundabout lanes.
1290 243310303 : const double roundaboutBonus = MSLCHelper::getRoundaboutDistBonus(myVehicle, myRoundaboutBonus, curr, neigh, best);
1291 243310303 : currentDist += roundaboutBonus;
1292 243310303 : neighDist += roundaboutBonus;
1293 :
1294 243310303 : const double usableDist = MAX2(currentDist - posOnLane - best.occupation * JAM_FACTOR, driveToNextStop);
1295 : //- (best.lane->getVehicleNumber() * neighSpeed)); // VARIANT 9 jfSpeed
1296 243310303 : const double maxJam = MAX2(preb[currIdx + prebOffset].occupation, preb[currIdx].occupation);
1297 243310303 : const double vMax = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1298 243310303 : const double neighVMax = neighLane.getVehicleMaxSpeed(&myVehicle);
1299 : // upper bound which will be restricted successively
1300 243310303 : double thisLaneVSafe = vMax;
1301 243310303 : const bool checkOverTakeRight = avoidOvertakeRight();
1302 :
1303 243310303 : double neighLeftPlace = MAX2(0.0, neighDist - posOnLane - maxJam);
1304 243310303 : if (neighLead.first != 0 && neighLead.first->isStopped()) {
1305 242101 : neighLeftPlace = MIN2(neighLeftPlace, neighLead.second);
1306 : }
1307 :
1308 : #ifdef DEBUG_WANTS_CHANGE
1309 : if (DEBUG_COND) {
1310 : std::cout << STEPS2TIME(currentTime)
1311 : << " veh=" << myVehicle.getID()
1312 : << " laSpeed=" << myLookAheadSpeed
1313 : << " laDist=" << laDist
1314 : << " currentDist=" << currentDist
1315 : << " usableDist=" << usableDist
1316 : << " bestLaneOffset=" << bestLaneOffset
1317 : << " best.occupation=" << best.occupation
1318 : << " best.length=" << best.length
1319 : << "\n roundaboutBonus=" << roundaboutBonus
1320 : << " maxJam=" << maxJam
1321 : << " neighDist=" << neighDist
1322 : << " neighLeftPlace=" << neighLeftPlace
1323 : << (hasBidiLeader ? " bidiLeader" : "")
1324 : << (hasBidiNeighLeader ? " bidiNeighLeader" : "")
1325 : << "\n";
1326 : }
1327 : #endif
1328 :
1329 : bool changeLeftToAvoidOvertakeRight = false;
1330 198018652 : if (changeToBest && bestLaneOffset == curr.bestLaneOffset
1331 254396416 : && currentDistDisallows(usableDist, bestLaneOffset, laDist)) {
1332 : /// @brief we urgently need to change lanes to follow our route
1333 4569510 : ret = ret | lca | LCA_STRATEGIC | LCA_URGENT;
1334 : } else {
1335 : // VARIANT_20 (noOvertakeRight)
1336 238740793 : if (neighLead.first != 0 && checkOverTakeRight && !right) {
1337 : // check for slower leader on the left. we should not overtake but
1338 : // rather move left ourselves (unless congested)
1339 : MSVehicle* nv = neighLead.first;
1340 12009451 : const double deltaV = MAX2(vMax - neighLane.getVehicleMaxSpeed(nv),
1341 12009451 : myVehicle.getSpeed() - nv->getSpeed());
1342 12009451 : if (deltaV > 0) {
1343 2309764 : const double vMaxDecel = getCarFollowModel().getSpeedAfterMaxDecel(myVehicle.getSpeed());
1344 2309764 : const double vSafeFollow = getCarFollowModel().followSpeed(
1345 2309764 : &myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
1346 2309764 : const double vStayBehind = nv->getSpeed() - HELP_OVERTAKE;
1347 : double vSafe;
1348 2309764 : if (vSafeFollow >= vMaxDecel) {
1349 : vSafe = vSafeFollow;
1350 : } else {
1351 : vSafe = MAX2(vMaxDecel, vStayBehind);
1352 : }
1353 2309764 : if (mySpeedGainProbabilityLeft < myChangeProbThresholdLeft) {
1354 1538304 : vSafe = MAX2(vSafe, nv->getSpeed());
1355 : }
1356 2309764 : thisLaneVSafe = MIN2(thisLaneVSafe, vSafe);
1357 2309764 : addLCSpeedAdvice(vSafe);
1358 : // only generate impulse for overtaking left shortly before braking would be necessary
1359 2309764 : const double deltaGapFuture = deltaV * 8;
1360 2309764 : const double vSafeFuture = getCarFollowModel().followSpeed(
1361 2309764 : &myVehicle, myVehicle.getSpeed(), neighLead.second - deltaGapFuture, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
1362 2309764 : if (vSafeFuture < vSafe) {
1363 : const double relativeGain = deltaV / MAX2(vMax,
1364 1900133 : RELGAIN_NORMALIZATION_MIN_SPEED);
1365 1900133 : mySpeedGainProbabilityLeft += (long long int)(myVehicle.getActionStepLengthSecs() * relativeGain * HYST_PRECISION);
1366 : changeLeftToAvoidOvertakeRight = true;
1367 : }
1368 : #ifdef DEBUG_WANTS_CHANGE
1369 : if (DEBUG_COND) {
1370 : std::cout << STEPS2TIME(currentTime)
1371 : << " avoid overtaking on the right nv=" << nv->getID()
1372 : << " deltaV=" << deltaV
1373 : << " nvSpeed=" << nv->getSpeed()
1374 : << " speedGainL=" << mySpeedGainProbabilityLeft / HYST_PRECISION
1375 : << " speedGainR=" << mySpeedGainProbabilityRight / HYST_PRECISION
1376 : << " planned acceleration =" << myLCAccelerationAdvices.back().first
1377 : << "\n";
1378 : }
1379 : #endif
1380 : }
1381 : }
1382 238740793 : const bool currFreeUntilNeighEnd = leader.first == nullptr || neighDist - posOnLane <= leader.second;
1383 461592246 : const double overtakeDist = (leader.first == 0 || hasBidiLeader ? -1 :
1384 222851453 : leader.second + myVehicle.getVehicleType().getLength() + leader.first->getVehicleType().getLengthWithGap());
1385 238978767 : const double overtakeDist2 = (neighLead.first == 0 || !neighLead.first->isStopped() ? -1 :
1386 237974 : neighLead.second + myVehicle.getVehicleType().getLength() + neighLead.first->getVehicleType().getLengthWithGap());
1387 222856808 : if (leader.first != 0 && (leader.first->isStopped() || hasBidiLeader) && leader.second < REACT_TO_STOPPED_DISTANCE
1388 : // current destination leaves enough space to overtake the leader
1389 119684 : && MIN2(neighDist, currentDist) - posOnLane > overtakeDist
1390 : // maybe do not overtake on the right at high speed
1391 78809 : && (!checkOverTakeRight || !right)
1392 77119 : && myStrategicParam >= 0
1393 238817324 : && (neighLead.first == 0 || !neighLead.first->isStopped()
1394 : // neighboring stopped vehicle leaves enough space to overtake leader
1395 21430 : || neighLead.second > overtakeDist
1396 : // if we cannot pass neighLead before reaching leader we must find another free lane
1397 18592 : || (overtakeDist2 > leader.second && hasFreeLane(laneOffset, neighLead)))) {
1398 : // avoid becoming stuck behind a stopped leader
1399 58443 : currentDist = myVehicle.getPositionOnLane() + leader.second;
1400 : #ifdef DEBUG_WANTS_CHANGE
1401 : if (DEBUG_COND) {
1402 : std::cout << " veh=" << myVehicle.getID() << " overtake stopped leader=" << leader.first->getID()
1403 : << " overtakeDist=" << overtakeDist
1404 : << " overtakeDist2=" << overtakeDist
1405 : << " hasFreeLane=" << hasFreeLane(laneOffset, neighLead)
1406 : << " remaining=" << MIN2(neighDist, currentDist) - posOnLane
1407 : << "\n";
1408 : }
1409 : #endif
1410 58443 : ret = ret | lca | LCA_STRATEGIC | LCA_URGENT;
1411 238682350 : } else if (!changeToBest && currentDistDisallows(neighLeftPlace, abs(bestLaneOffset) + 2, laDist) && !hasBidiLeader) {
1412 : // the opposite lane-changing direction should be done than the one examined herein
1413 : // we'll check whether we assume we could change anyhow and get back in time...
1414 : //
1415 : // this rule prevents the vehicle from moving in opposite direction of the best lane
1416 : // unless the way till the end where the vehicle has to be on the best lane
1417 : // is long enough
1418 : #ifdef DEBUG_WANTS_CHANGE
1419 : if (DEBUG_COND) {
1420 : std::cout << " veh=" << myVehicle.getID() << " could not change back and forth in time (1) neighLeftPlace=" << neighLeftPlace << "\n";
1421 : }
1422 : #endif
1423 40745669 : ret = ret | LCA_STAY | LCA_STRATEGIC;
1424 197936681 : } else if (bestLaneOffset == 0 && (neighLeftPlace * 2. < laDist)) {
1425 : // the current lane is the best and a lane-changing would cause a situation
1426 : // of which we assume we will not be able to return to the lane we have to be on.
1427 : // this rule prevents the vehicle from leaving the current, best lane when it is
1428 : // close to this lane's end
1429 : #ifdef DEBUG_WANTS_CHANGE
1430 : if (DEBUG_COND) {
1431 : std::cout << " veh=" << myVehicle.getID() << " could not change back and forth in time (2) neighLeftPlace=" << neighLeftPlace << "\n";
1432 : }
1433 : #endif
1434 0 : ret = ret | LCA_STAY | LCA_STRATEGIC;
1435 : } else if (bestLaneOffset == 0
1436 4070752 : && (leader.first == 0 || !leader.first->isStopped())
1437 4061278 : && !hasBidiLeader
1438 4061275 : && neigh.bestContinuations.back()->getLinkCont().size() != 0
1439 2405185 : && roundaboutBonus == 0
1440 901836 : && !checkOpposite
1441 797732 : && ((myStrategicParam >= 0 && neighDist < TURN_LANE_DIST)
1442 : // lane changing cannot possibly help
1443 748527 : || (myStrategicParam < 0 && currFreeUntilNeighEnd))
1444 : ) {
1445 : // VARIANT_21 (stayOnBest)
1446 : // we do not want to leave the best lane for a lane which leads elsewhere
1447 : // unless our leader is stopped or we are approaching a roundabout
1448 : #ifdef DEBUG_WANTS_CHANGE
1449 : if (DEBUG_COND) {
1450 : std::cout << " veh=" << myVehicle.getID() << " does not want to leave the bestLane (neighDist=" << neighDist << ")\n";
1451 : }
1452 : #endif
1453 49288 : ret = ret | LCA_STAY | LCA_STRATEGIC;
1454 : }
1455 : }
1456 : // check for overriding TraCI requests
1457 : #ifdef DEBUG_WANTS_CHANGE
1458 : if (DEBUG_COND) {
1459 : std::cout << STEPS2TIME(currentTime) << " veh=" << myVehicle.getID() << " ret=" << toString((LaneChangeAction)ret);
1460 : }
1461 : #endif
1462 : // store state before canceling
1463 243310303 : getCanceledState(laneOffset) |= ret | blocked;
1464 243310303 : ret = myVehicle.influenceChangeDecision(ret);
1465 243310303 : if ((ret & lcaCounter) != 0) {
1466 : // we are not interested in traci requests for the opposite direction here
1467 27 : ret &= ~(LCA_TRACI | lcaCounter | LCA_URGENT);
1468 : }
1469 : #ifdef DEBUG_WANTS_CHANGE
1470 : if (DEBUG_COND) {
1471 : std::cout << " retAfterInfluence=" << toString((LaneChangeAction)ret) << "\n";
1472 : }
1473 : #endif
1474 :
1475 243310303 : if ((ret & LCA_STAY) != 0) {
1476 : // remove TraCI flags because it should not be included in "state-without-traci"
1477 40873522 : ret = getCanceledState(laneOffset);
1478 40873522 : return ret;
1479 : }
1480 202436781 : if ((ret & LCA_URGENT) != 0) {
1481 : // prepare urgent lane change maneuver
1482 : // save the left space
1483 4627669 : myLeftSpace = currentDist - posOnLane;
1484 4627669 : if (changeToBest && abs(bestLaneOffset) > 1 && myVehicle.getNumRemainingEdges() > 1) {
1485 : // there might be a vehicle which needs to counter-lane-change one lane further and we cannot see it yet
1486 746554 : myLeadingBlockerLength = MAX2(getExtraReservation(bestLaneOffset, neighDist - currentDist), myLeadingBlockerLength);
1487 : #ifdef DEBUG_SAVE_BLOCKER_LENGTH
1488 : if (DEBUG_COND) {
1489 : std::cout << " reserving space for unseen blockers myLeadingBlockerLength=" << myLeadingBlockerLength << "\n";
1490 : }
1491 : #endif
1492 : }
1493 :
1494 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#1
1495 : // if there is a leader and he wants to change to the opposite direction
1496 4627669 : const bool canContinue = curr.bestContinuations.size() > 1;
1497 4627669 : bool canReserve = MSLCHelper::updateBlockerLength(myVehicle, neighLead.first, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1498 4627669 : if (firstBlocked != neighLead.first) {
1499 4371347 : canReserve &= MSLCHelper::updateBlockerLength(myVehicle, firstBlocked, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1500 : }
1501 : #ifdef DEBUG_SAVE_BLOCKER_LENGTH
1502 : if (DEBUG_COND) {
1503 : std::cout << SIMTIME << " canReserve=" << canReserve << " canContinue=" << canContinue << "\n";
1504 : }
1505 : #endif
1506 4627669 : if (!canReserve && !isOpposite()) {
1507 : // we have a low-priority relief connection
1508 : // std::cout << SIMTIME << " veh=" << myVehicle.getID() << " cannotReserve for blockers\n";
1509 12179 : myDontBrake = canContinue;
1510 : }
1511 :
1512 4627669 : const int remainingLanes = MAX2(1, abs(bestLaneOffset));
1513 4627669 : const double urgency = isOpposite() ? OPPOSITE_URGENCY : URGENCY;
1514 4627669 : const double remainingSeconds = ((ret & LCA_TRACI) == 0 ?
1515 : //MAX2(STEPS2TIME(TS), (myLeftSpace-myLeadingBlockerLength) / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / remainingLanes / urgency) :
1516 4853857 : MAX2(STEPS2TIME(TS), myLeftSpace / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / remainingLanes / urgency) :
1517 180 : myVehicle.getInfluencer().changeRequestRemainingSeconds(currentTime));
1518 4627669 : if (!hasBidiNeighLeader) {
1519 4627615 : const double plannedSpeed = informLeader(msgPass, blocked, myLca, neighLead, remainingSeconds);
1520 : // NOTE: for the ballistic update case negative speeds may indicate a stop request,
1521 : // while informLeader returns -1 in that case. Refs. #2577
1522 4627615 : if (plannedSpeed >= 0 || (!MSGlobals::gSemiImplicitEulerUpdate && plannedSpeed != -1)) {
1523 : // maybe we need to deal with a blocking follower
1524 2643107 : const bool hasBidiNeighFollower = neighLane.getBidiLane() != nullptr && MSLCHelper::isBidiFollower(&myVehicle, neighFollow.first);
1525 : if (!hasBidiNeighFollower) {
1526 2640098 : informFollower(msgPass, blocked, myLca, neighFollow, remainingSeconds, plannedSpeed);
1527 : }
1528 : }
1529 : #ifdef DEBUG_WANTS_CHANGE
1530 : if (DEBUG_COND) {
1531 : std::cout << STEPS2TIME(currentTime)
1532 : << " veh=" << myVehicle.getID()
1533 : << " myLeftSpace=" << myLeftSpace
1534 : << " remainingSeconds=" << remainingSeconds
1535 : << " plannedSpeed=" << plannedSpeed
1536 : << "\n";
1537 : }
1538 : #endif
1539 : } else {
1540 : #ifdef DEBUG_WANTS_CHANGE
1541 : if (DEBUG_COND) {
1542 : std::cout << STEPS2TIME(currentTime)
1543 : << " veh=" << myVehicle.getID()
1544 : << " myLeftSpace=" << myLeftSpace
1545 : << " remainingSeconds=" << remainingSeconds
1546 : << " hasBidiNeighLeader\n";
1547 : }
1548 : #endif
1549 : }
1550 :
1551 :
1552 : // remove TraCI flags because it should not be included in "state-without-traci"
1553 4627669 : ret = getCanceledState(laneOffset);
1554 4627669 : return ret;
1555 : }
1556 :
1557 : // we wish to anticipate future speeds. This is difficult when the leading
1558 : // vehicles are still accelerating so we resort to comparing speeds for the near future (1s) in this case
1559 185951143 : const bool acceleratingLeader = (neighLead.first != 0 && neighLead.first->getAcceleration() > 0)
1560 289388021 : || (leader.first != 0 && leader.first->getAcceleration() > 0);
1561 197809112 : double neighLaneVSafe = MIN2(neighVMax, anticipateFollowSpeed(neighLead, neighDist, neighVMax, acceleratingLeader));
1562 197809112 : thisLaneVSafe = MIN2(thisLaneVSafe, anticipateFollowSpeed(leader, currentDist, vMax, acceleratingLeader));
1563 : //std::cout << SIMTIME << " veh=" << myVehicle.getID() << " thisLaneVSafe=" << thisLaneVSafe << " neighLaneVSafe=" << neighLaneVSafe << "\n";
1564 :
1565 :
1566 : // a high inconvenience prevents cooperative changes and the following things are inconvenient:
1567 : // - a desire to change in the opposite direction for speedGain
1568 : // - low anticipated speed on the neighboring lane
1569 : // - high occupancy on the neighboring lane while in a roundabout
1570 :
1571 : double inconvenience = laneOffset < 0
1572 197809112 : ? (double)mySpeedGainProbabilityLeft / (double)myChangeProbThresholdRight
1573 102257644 : : (double)mySpeedGainProbabilityRight / (double)myChangeProbThresholdLeft;
1574 :
1575 254213423 : const double relSpeedDiff = thisLaneVSafe == 0 ? 0 : (thisLaneVSafe - neighLaneVSafe) / MAX2(thisLaneVSafe, neighLaneVSafe);
1576 : inconvenience = MAX2(relSpeedDiff, inconvenience);
1577 : inconvenience = MIN2(1.0, inconvenience);
1578 :
1579 197809112 : const bool speedGainInconvenient = inconvenience > myCooperativeParam;
1580 197809112 : const bool neighOccupancyInconvenient = neigh.lane->getBruttoOccupancy() > curr.lane->getBruttoOccupancy();
1581 : #ifdef DEBUG_WANTS_CHANGE
1582 : if (DEBUG_COND) {
1583 : std::cout << STEPS2TIME(currentTime)
1584 : << " veh=" << myVehicle.getID()
1585 : << " speedGainL=" << mySpeedGainProbabilityLeft / HYST_PRECISION
1586 : << " speedGainR=" << mySpeedGainProbabilityRight / HYST_PRECISION
1587 : << " neighSpeedFactor=" << (thisLaneVSafe / neighLaneVSafe - 1)
1588 : << " inconvenience=" << inconvenience
1589 : << " speedInconv=" << speedGainInconvenient
1590 : << " occInconv=" << neighOccupancyInconvenient
1591 : << "\n";
1592 : }
1593 : #endif
1594 :
1595 : // VARIANT_15
1596 197809112 : if (roundaboutBonus > 0) {
1597 :
1598 : #ifdef DEBUG_WANTS_CHANGE
1599 : if (DEBUG_COND) {
1600 : std::cout << STEPS2TIME(currentTime)
1601 : << " veh=" << myVehicle.getID()
1602 : << " roundaboutBonus=" << roundaboutBonus
1603 : << " myLeftSpace=" << myLeftSpace
1604 : << "\n";
1605 : }
1606 : #endif
1607 : // try to use the inner lanes of a roundabout to increase throughput
1608 : // unless we are approaching the exit
1609 4692741 : if (lca == LCA_LEFT) {
1610 : // if inconvenience is not too high, request collaborative change (currently only for ballistic update)
1611 : // TODO: test this for euler update! Refs. #2575
1612 806308 : if (MSGlobals::gSemiImplicitEulerUpdate || !neighOccupancyInconvenient) {
1613 : // if(MSGlobals::gSemiImplicitEulerUpdate || !speedGainInconvenient){
1614 806308 : req = ret | lca | LCA_COOPERATIVE;
1615 : }
1616 : } else {
1617 : // if inconvenience is not too high, request collaborative change (currently only for ballistic update)
1618 3886433 : if (MSGlobals::gSemiImplicitEulerUpdate || neighOccupancyInconvenient) {
1619 : // if(MSGlobals::gSemiImplicitEulerUpdate || speedGainInconvenient){
1620 3886433 : req = ret | LCA_STAY | LCA_COOPERATIVE;
1621 : }
1622 : }
1623 4692741 : if (!cancelRequest(req, laneOffset)) {
1624 4692741 : return ret | req;
1625 : }
1626 : }
1627 :
1628 : // let's also regard the case where the vehicle is driving on a highway...
1629 : // in this case, we do not want to get to the dead-end of an on-ramp
1630 193116371 : if (right) {
1631 91665035 : if (bestLaneOffset == 0 && myVehicle.getLane()->getSpeedLimit() > 80. / 3.6 && myLookAheadSpeed > SUMO_const_haltingSpeed) {
1632 : #ifdef DEBUG_WANTS_CHANGE
1633 : if (DEBUG_COND) {
1634 : std::cout << " veh=" << myVehicle.getID() << " does not want to get stranded on the on-ramp of a highway\n";
1635 : }
1636 : #endif
1637 87738 : req = ret | LCA_STAY | LCA_STRATEGIC;
1638 87738 : if (!cancelRequest(req, laneOffset)) {
1639 : return ret | req;
1640 : }
1641 : }
1642 : }
1643 : // --------
1644 :
1645 : // -------- make place on current lane if blocking follower
1646 : //if (amBlockingFollowerPlusNB()) {
1647 : // std::cout << myVehicle.getID() << ", " << currentDistAllows(neighDist, bestLaneOffset, laDist)
1648 : // << " neighDist=" << neighDist
1649 : // << " currentDist=" << currentDist
1650 : // << "\n";
1651 : //}
1652 :
1653 : if (amBlockingFollowerPlusNB()
1654 148938 : && (!speedGainInconvenient)
1655 148425 : && ((myOwnState & myLca) != 0) // VARIANT_6 : counterNoHelp
1656 193075834 : && (changeToBest || currentDistAllows(neighDist, abs(bestLaneOffset) + 1, laDist))) {
1657 :
1658 : // VARIANT_2 (nbWhenChangingToHelp)
1659 : #ifdef DEBUG_COOPERATE
1660 : if (DEBUG_COND) {
1661 : std::cout << STEPS2TIME(currentTime)
1662 : << " veh=" << myVehicle.getID()
1663 : << " wantsChangeToHelp=" << (right ? "right" : "left")
1664 : << " state=" << myOwnState
1665 : << (((myOwnState & myLca) == 0) ? " (counter)" : "")
1666 : << "\n";
1667 : }
1668 : #endif
1669 47181 : req = ret | lca | LCA_COOPERATIVE | LCA_URGENT ;//| LCA_CHANGE_TO_HELP;
1670 47181 : if (!cancelRequest(req, laneOffset)) {
1671 47175 : if ((blocked & LCA_BLOCKED_BY_LEFT_FOLLOWER) && !right && mySpeedGainProbabilityLeft > (long long int)(mySpeedGainUrgency * HYST_PRECISION)) {
1672 287 : MSVehicle* nv = neighFollow.first;
1673 287 : const bool hasBidiNeighFollower = neighLane.getBidiLane() != nullptr && MSLCHelper::isBidiFollower(&myVehicle, nv);
1674 287 : if (nv != nullptr && !hasBidiNeighFollower) {
1675 287 : const double helpSpeed = MAX2(nv->getCarFollowModel().minNextSpeed(nv->getSpeed(), nv), myVehicle.getSpeed() - 1);
1676 287 : msgPass.informNeighFollower(new Info(helpSpeed, myLca | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
1677 : }
1678 : }
1679 47175 : return ret | req;
1680 : }
1681 : }
1682 :
1683 : // --------
1684 :
1685 :
1686 : //// -------- security checks for krauss
1687 : //// (vsafe fails when gap<0)
1688 : //if ((blocked & LCA_BLOCKED) != 0) {
1689 : // return ret;
1690 : //}
1691 : //// --------
1692 :
1693 : // -------- higher speed
1694 : //if ((congested(neighLead.first) && neighLead.second < 20) || predInteraction(leader.first)) { //!!!
1695 : // return ret;
1696 : //}
1697 :
1698 192981478 : if (neighLane.getEdge().getPersons().size() > 0) {
1699 : // react to pedestrians
1700 47441 : adaptSpeedToPedestrians(myVehicle.getLane(), thisLaneVSafe);
1701 47441 : adaptSpeedToPedestrians(&neighLane, neighLaneVSafe);
1702 : }
1703 :
1704 192981478 : const double relativeGain = (neighLaneVSafe - thisLaneVSafe) / MAX2(neighLaneVSafe,
1705 192981478 : RELGAIN_NORMALIZATION_MIN_SPEED);
1706 :
1707 : #ifdef DEBUG_WANTS_CHANGE
1708 : if (DEBUG_COND) {
1709 : std::cout << STEPS2TIME(currentTime)
1710 : << " veh=" << myVehicle.getID()
1711 : << " currentDist=" << currentDist
1712 : << " neighDist=" << neighDist
1713 : << " thisVSafe=" << thisLaneVSafe
1714 : << " neighVSafe=" << neighLaneVSafe
1715 : << " relGain=" << toString(relativeGain, 8)
1716 : << "\n";
1717 : }
1718 : #endif
1719 :
1720 192981478 : if (right) {
1721 : // ONLY FOR CHANGING TO THE RIGHT
1722 91573224 : if (thisLaneVSafe - 5 / 3.6 > neighLaneVSafe) {
1723 : // ok, the current lane is faster than the right one...
1724 61836855 : mySpeedGainProbabilityRight = (long long int)((double)mySpeedGainProbabilityRight * pow(0.5, myVehicle.getActionStepLengthSecs()));
1725 : //myKeepRightProbability /= 2.0;
1726 : } else {
1727 : // ok, the current lane is not (much) faster than the right one
1728 29736369 : mySpeedGainProbabilityRight += (long long int)(myVehicle.getActionStepLengthSecs() * relativeGain * HYST_PRECISION);
1729 :
1730 : // honor the obligation to keep right (Rechtsfahrgebot)
1731 29736369 : const double roadSpeedFactor = vMax / myVehicle.getLane()->getSpeedLimit(); // differse from speedFactor if vMax < speedLimit
1732 : double acceptanceTime;
1733 29736369 : if (myKeepRightAcceptanceTime == -1) {
1734 : // legacy behavior: scale acceptance time with current speed and
1735 : // use old hard-coded constant
1736 59470130 : acceptanceTime = 7 * roadSpeedFactor * MAX2(1.0, myVehicle.getSpeed());
1737 : } else {
1738 1304 : acceptanceTime = myKeepRightAcceptanceTime * roadSpeedFactor;
1739 1511 : if (follower.first != nullptr && follower.second < 2 * follower.first->getCarFollowModel().brakeGap(follower.first->getSpeed())) {
1740 : // reduce acceptanceTime if the follower vehicle is faster or wants to drive faster
1741 207 : if (follower.first->getSpeed() >= myVehicle.getSpeed()) {
1742 380 : acceptanceTime *= MAX2(1.0, myVehicle.getSpeed()) / MAX2(1.0, follower.first->getSpeed());
1743 190 : const double fRSF = follower.first->getLane()->getVehicleMaxSpeed(follower.first) / follower.first->getLane()->getSpeedLimit();
1744 190 : if (fRSF > roadSpeedFactor) {
1745 120 : acceptanceTime /= fRSF;
1746 : }
1747 : }
1748 : }
1749 : }
1750 29736369 : double fullSpeedGap = MAX2(0., neighDist - myVehicle.getCarFollowModel().brakeGap(vMax));
1751 29736369 : double fullSpeedDrivingSeconds = MIN2(acceptanceTime, fullSpeedGap / vMax);
1752 29736369 : if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1753 23461943 : fullSpeedGap = MAX2(0., MIN2(fullSpeedGap,
1754 23461943 : neighLead.second - myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1755 23461943 : vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1756 23461943 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1757 : }
1758 : // stay on the current lane if we cannot overtake a slow leader on the right
1759 4629961 : if (checkOverTakeRight && leader.first != 0
1760 33843396 : && leader.first->getLane()->getVehicleMaxSpeed(leader.first) < vMax) {
1761 1297282 : fullSpeedGap = MIN2(fullSpeedGap, leader.second);
1762 1297282 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - leader.first->getSpeed()));
1763 : }
1764 :
1765 29736369 : const double deltaProb = (myChangeProbThresholdRight == std::numeric_limits<long long int>::max()) ? 0 :
1766 29723467 : ((double)myChangeProbThresholdRight * (fullSpeedDrivingSeconds / acceptanceTime) / KEEP_RIGHT_TIME);
1767 29736369 : myKeepRightProbability -= (long long int)(myVehicle.getActionStepLengthSecs() * deltaProb);
1768 :
1769 : //std::cout << STEPS2TIME(currentTime)
1770 : // << " veh=" << myVehicle.getID()
1771 : // << " acceptanceTime=" << acceptanceTime
1772 : // << " fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1773 : // << " dProb=" << deltaProb
1774 : // << " myKeepRightProbability=" << myKeepRightProbability
1775 : // << "\n";
1776 :
1777 : #ifdef DEBUG_WANTS_CHANGE
1778 : if (DEBUG_COND) {
1779 : std::cout << STEPS2TIME(currentTime)
1780 : << " veh=" << myVehicle.getID()
1781 : << " vMax=" << vMax
1782 : << " neighDist=" << neighDist
1783 : << " brakeGap=" << myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed())
1784 : << " leaderSpeed=" << (neighLead.first == 0 ? -1 : neighLead.first->getSpeed())
1785 : << " secGap=" << (neighLead.first == 0 ? -1 : myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1786 : myVehicle.getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()))
1787 : << " acceptanceTime=" << acceptanceTime
1788 : << " fullSpeedGap=" << fullSpeedGap
1789 : << " fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1790 : << " dProb=" << deltaProb / HYST_PRECISION
1791 : << " myKeepRightProbability=" << myKeepRightProbability / HYST_PRECISION
1792 : << "\n";
1793 : }
1794 : #endif
1795 29736369 : if ((long long int)((double)myKeepRightProbability * myKeepRightParam) < -myChangeProbThresholdRight) {
1796 3174292 : req = ret | lca | LCA_KEEPRIGHT;
1797 3174292 : if (!cancelRequest(req, laneOffset)) {
1798 3173892 : return ret | req;
1799 : }
1800 : }
1801 : }
1802 :
1803 : #ifdef DEBUG_WANTS_CHANGE
1804 : if (DEBUG_COND) {
1805 : std::cout << STEPS2TIME(currentTime)
1806 : << " veh=" << myVehicle.getID()
1807 : << " speed=" << myVehicle.getSpeed()
1808 : << " speedGainL=" << mySpeedGainProbabilityLeft / HYST_PRECISION
1809 : << " speedGainR=" << mySpeedGainProbabilityRight / HYST_PRECISION
1810 : << " thisLaneVSafe=" << thisLaneVSafe
1811 : << " neighLaneVSafe=" << neighLaneVSafe
1812 : << " relativeGain=" << relativeGain
1813 : << " blocked=" << blocked
1814 : << "\n";
1815 : }
1816 : #endif
1817 :
1818 88399332 : if (mySpeedGainProbabilityRight > myChangeProbThresholdRight
1819 88911812 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) { //./MAX2( .1, myVehicle.getSpeed())) { // -.1
1820 492045 : req = ret | lca | LCA_SPEEDGAIN;
1821 492045 : if (mySpeedGainProbabilityRight > (long long int)(mySpeedGainUrgency * HYST_PRECISION)) {
1822 663 : req |= LCA_URGENT;
1823 : }
1824 492045 : if (!cancelRequest(req, laneOffset)) {
1825 492045 : return ret | req;
1826 : }
1827 : }
1828 : } else {
1829 : // ONLY FOR CHANGING TO THE LEFT
1830 101408254 : if (thisLaneVSafe > neighLaneVSafe) {
1831 : // this lane is better
1832 61239918 : mySpeedGainProbabilityLeft = (long long int)((double)mySpeedGainProbabilityLeft * pow(0.5, myVehicle.getActionStepLengthSecs()));
1833 40168336 : } else if (thisLaneVSafe == neighLaneVSafe) {
1834 20094322 : mySpeedGainProbabilityLeft = (long long int)((double)mySpeedGainProbabilityLeft * pow(0.8, myVehicle.getActionStepLengthSecs()));
1835 : } else {
1836 20074014 : mySpeedGainProbabilityLeft += (long long int)(myVehicle.getActionStepLengthSecs() * relativeGain * HYST_PRECISION);
1837 : }
1838 : // VARIANT_19 (stayRight)
1839 : //if (neighFollow.first != 0) {
1840 : // MSVehicle* nv = neighFollow.first;
1841 : // const double secGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel());
1842 : // if (neighFollow.second < secGap * KEEP_RIGHT_HEADWAY) {
1843 : // // do not change left if it would inconvenience faster followers
1844 : // return ret | LCA_STAY | LCA_SPEEDGAIN;
1845 : // }
1846 : //}
1847 :
1848 : #ifdef DEBUG_WANTS_CHANGE
1849 : if (DEBUG_COND) {
1850 : std::cout << STEPS2TIME(currentTime)
1851 : << " veh=" << myVehicle.getID()
1852 : << " speed=" << myVehicle.getSpeed()
1853 : << " speedGainL=" << mySpeedGainProbabilityLeft / HYST_PRECISION
1854 : << " speedGainR=" << mySpeedGainProbabilityRight / HYST_PRECISION
1855 : << " thisLaneVSafe=" << thisLaneVSafe
1856 : << " neighLaneVSafe=" << neighLaneVSafe
1857 : << " relativeGain=" << relativeGain
1858 : << " blocked=" << blocked
1859 : << "\n";
1860 : }
1861 : #endif
1862 :
1863 101408254 : if (mySpeedGainProbabilityLeft > myChangeProbThresholdLeft
1864 9984511 : && (relativeGain > NUMERICAL_EPS || changeLeftToAvoidOvertakeRight)
1865 116569908 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) { // .1
1866 7277407 : req = ret | lca | LCA_SPEEDGAIN;
1867 7277407 : if (mySpeedGainProbabilityLeft > (long long int)(mySpeedGainUrgency * HYST_PRECISION)) {
1868 2275 : req |= LCA_URGENT;
1869 : }
1870 7277407 : if (!cancelRequest(req, laneOffset)) {
1871 7277291 : if ((req & LCA_URGENT) && (blocked & LCA_BLOCKED_BY_LEFT_FOLLOWER)) {
1872 2174 : MSVehicle* nv = neighFollow.first;
1873 2174 : const bool hasBidiNeighFollower = neighLane.getBidiLane() != nullptr && MSLCHelper::isBidiFollower(&myVehicle, nv);
1874 2174 : if (nv != nullptr && !hasBidiNeighFollower) {
1875 2174 : const double helpSpeed = MAX2(nv->getCarFollowModel().minNextSpeed(nv->getSpeed(), nv), myVehicle.getSpeed() - 1);
1876 2174 : msgPass.informNeighFollower(new Info(helpSpeed, myLca | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
1877 : }
1878 : }
1879 7277291 : return ret | req;
1880 : }
1881 : }
1882 : }
1883 : // --------
1884 182038250 : if (changeToBest && bestLaneOffset == curr.bestLaneOffset
1885 2572430 : && myStrategicParam >= 0
1886 2565738 : && relativeGain >= 0
1887 912796 : && (right ? mySpeedGainProbabilityRight : mySpeedGainProbabilityLeft) > 0) {
1888 : // change towards the correct lane, speedwise it does not hurt
1889 130702 : req = ret | lca | LCA_STRATEGIC;
1890 130702 : if (!cancelRequest(req, laneOffset)) {
1891 130702 : return ret | req;
1892 : }
1893 : }
1894 : #ifdef DEBUG_WANTS_CHANGE
1895 : if (DEBUG_COND) {
1896 : std::cout << STEPS2TIME(currentTime)
1897 : << " veh=" << myVehicle.getID()
1898 : << " speedGainL=" << mySpeedGainProbabilityLeft / HYST_PRECISION
1899 : << " speedGainR=" << mySpeedGainProbabilityRight / HYST_PRECISION
1900 : << " myKeepRightProbability=" << myKeepRightProbability / HYST_PRECISION
1901 : << " thisLaneVSafe=" << thisLaneVSafe
1902 : << " neighLaneVSafe=" << neighLaneVSafe
1903 : << "\n";
1904 : }
1905 : #endif
1906 :
1907 : return ret;
1908 : }
1909 :
1910 :
1911 : double
1912 395618224 : MSLCM_LC2013::anticipateFollowSpeed(const std::pair<MSVehicle*, double>& leaderDist, double dist, double vMax, bool acceleratingLeader) {
1913 395618224 : const MSVehicle* leader = leaderDist.first;
1914 395618224 : const double gap = leaderDist.second;
1915 : double futureSpeed;
1916 395618224 : if (acceleratingLeader) {
1917 : // XXX see #6562
1918 275464374 : const double maxSpeed1s = (myVehicle.getSpeed() + myVehicle.getCarFollowModel().getMaxAccel()
1919 275464374 : - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxAccel()));
1920 275464374 : if (leader == nullptr) {
1921 5000210 : if (hasBlueLight()) {
1922 : // can continue from any lane if necessary
1923 : futureSpeed = vMax;
1924 : } else {
1925 5000168 : futureSpeed = getCarFollowModel().followSpeed(&myVehicle, maxSpeed1s, dist, 0, 0);
1926 : }
1927 : } else {
1928 270464164 : futureSpeed = getCarFollowModel().followSpeed(&myVehicle, maxSpeed1s, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
1929 : }
1930 : } else {
1931 : // onInsertion = true because the vehicle has already moved
1932 120153850 : if (leader == nullptr) {
1933 17256067 : if (hasBlueLight()) {
1934 : // can continue from any lane if necessary
1935 : futureSpeed = vMax;
1936 : } else {
1937 17254492 : futureSpeed = getCarFollowModel().maximumSafeStopSpeed(dist, getCarFollowModel().getMaxDecel(), myVehicle.getSpeed(), true);
1938 : }
1939 : } else {
1940 102897783 : futureSpeed = getCarFollowModel().maximumSafeFollowSpeed(gap, myVehicle.getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel(), true);
1941 : }
1942 : }
1943 : futureSpeed = MIN2(vMax, futureSpeed);
1944 395618224 : if (leader != nullptr && gap > 0 && mySpeedGainLookahead > 0) {
1945 1004 : const double futureLeaderSpeed = acceleratingLeader ? leader->getLane()->getVehicleMaxSpeed(leader) : leader->getSpeed();
1946 1004 : const double deltaV = vMax - futureLeaderSpeed;
1947 1004 : if (deltaV > 0 && gap > 0) {
1948 986 : const double secGap = getCarFollowModel().getSecureGap(&myVehicle, leader, futureSpeed, leader->getSpeed(), getCarFollowModel().getMaxDecel());
1949 986 : const double fullSpeedGap = gap - secGap;
1950 986 : if (fullSpeedGap / deltaV < mySpeedGainLookahead) {
1951 : // anticipate future braking by computing the average
1952 : // speed over the next few seconds
1953 : const double gapClosingTime = MAX2(0.0, fullSpeedGap / deltaV);
1954 190 : const double foreCastTime = mySpeedGainLookahead * 2;
1955 : //if (DEBUG_COND) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " leader=" << leader->getID() << " gap=" << gap << " deltaV=" << deltaV << " futureSpeed=" << futureSpeed << " futureLeaderSpeed=" << futureLeaderSpeed;
1956 190 : futureSpeed = MIN2(futureSpeed, (gapClosingTime * futureSpeed + (foreCastTime - gapClosingTime) * futureLeaderSpeed) / foreCastTime);
1957 : //if (DEBUG_COND) std::cout << " newFutureSpeed=" << futureSpeed << "\n";
1958 : }
1959 : }
1960 : }
1961 395618224 : return futureSpeed;
1962 : }
1963 :
1964 :
1965 : int
1966 250950077 : MSLCM_LC2013::slowDownForBlocked(MSVehicle* blocked, int state) {
1967 : // if this vehicle is blocking someone in front, we maybe decelerate to let him in
1968 250950077 : if (blocked != nullptr) {
1969 18490093 : double gap = blocked->getPositionOnLane() - blocked->getVehicleType().getLength() - myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getMinGap();
1970 : #ifdef DEBUG_SLOW_DOWN
1971 : if (DEBUG_COND) {
1972 : std::cout << SIMTIME
1973 : << " veh=" << myVehicle.getID()
1974 : << " blocked=" << Named::getIDSecure(blocked)
1975 : << " gap=" << gap
1976 : << "\n";
1977 : }
1978 : #endif
1979 18490093 : if (gap > POSITION_EPS) {
1980 : //const bool blockedWantsUrgentRight = (((*blocked)->getLaneChangeModel().getOwnState() & LCA_RIGHT != 0)
1981 : // && ((*blocked)->getLaneChangeModel().getOwnState() & LCA_URGENT != 0));
1982 :
1983 14738605 : if (myVehicle.getSpeed() < myVehicle.getCarFollowModel().getMaxDecel()
1984 : //|| blockedWantsUrgentRight // VARIANT_10 (helpblockedRight)
1985 : ) {
1986 12983209 : if (blocked->getSpeed() < SUMO_const_haltingSpeed) {
1987 7270555 : state |= LCA_AMBACKBLOCKER_STANDING;
1988 : } else {
1989 5712654 : state |= LCA_AMBACKBLOCKER;
1990 : }
1991 25966418 : addLCSpeedAdvice(getCarFollowModel().followSpeed(
1992 12983209 : &myVehicle, myVehicle.getSpeed(),
1993 12983209 : gap - POSITION_EPS, blocked->getSpeed(),
1994 : blocked->getCarFollowModel().getMaxDecel()), false);
1995 :
1996 : //(*blocked) = 0; // VARIANT_14 (furtherBlock)
1997 : #ifdef DEBUG_SLOW_DOWN
1998 : if (DEBUG_COND) {
1999 : std::cout << SIMTIME
2000 : << " veh=" << myVehicle.getID()
2001 : << " slowing down for"
2002 : << " blocked=" << Named::getIDSecure(blocked)
2003 : << " helpSpeed=" << myLCAccelerationAdvices.back().first
2004 : << "\n";
2005 : }
2006 : #endif
2007 : } /*else if ((*blocked)->getWaitingSeconds() > 30 && gap > myVehicle.getBrakeGap()) {
2008 : // experimental else-branch...
2009 :
2010 : state |= LCA_AMBACKBLOCKER;
2011 : addLCSpeedAdvice(getCarFollowModel().followSpeed(
2012 : &myVehicle, myVehicle.getSpeed(),
2013 : (gap - POSITION_EPS), (*blocked)->getSpeed(),
2014 : (*blocked)->getCarFollowModel().getMaxDecel()));
2015 : } */
2016 : }
2017 : }
2018 250950077 : return state;
2019 : }
2020 :
2021 :
2022 : void
2023 94882 : MSLCM_LC2013::adaptSpeedToPedestrians(const MSLane* lane, double& v) {
2024 94882 : if (lane->hasPedestrians()) {
2025 : #ifdef DEBUG_WANTS_CHANGE
2026 : if (DEBUG_COND) {
2027 : std::cout << SIMTIME << " adapt to pedestrians on lane=" << lane->getID() << "\n";
2028 : }
2029 : #endif
2030 20719 : PersonDist leader = lane->nextBlocking(myVehicle.getPositionOnLane(),
2031 20719 : myVehicle.getRightSideOnLane(), myVehicle.getRightSideOnLane() + myVehicle.getVehicleType().getWidth(),
2032 20719 : ceil(myVehicle.getSpeed() / myVehicle.getCarFollowModel().getMaxDecel()));
2033 20719 : if (leader.first != 0) {
2034 7687 : const double stopSpeed = myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), leader.second - myVehicle.getVehicleType().getMinGap());
2035 12608 : v = MIN2(v, stopSpeed);
2036 : #ifdef DEBUG_WANTS_CHANGE
2037 : if (DEBUG_COND) {
2038 : std::cout << SIMTIME << " pedLeader=" << leader.first->getID() << " dist=" << leader.second << " v=" << v << "\n";
2039 : }
2040 : #endif
2041 : }
2042 : }
2043 94882 : }
2044 :
2045 :
2046 : double
2047 606874 : MSLCM_LC2013::computeSpeedLat(double latDist, double& maneuverDist, bool urgent) const {
2048 606874 : double result = MSAbstractLaneChangeModel::computeSpeedLat(latDist, maneuverDist, urgent);
2049 : #ifdef DEBUG_WANTS_CHANGE
2050 : if (DEBUG_COND) {
2051 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myLeftSpace=" << myLeftSpace << " latDist=" << latDist << " maneuverDist=" << maneuverDist << " result=" << result << "\n";
2052 : }
2053 : #endif
2054 606874 : if (myLeftSpace > POSITION_EPS || !urgent) {
2055 493010 : double speedBound = myMaxSpeedLatStanding + myMaxSpeedLatFactor * myVehicle.getSpeed();
2056 493010 : if (isChangingLanes()) {
2057 : speedBound = MAX2(LC_RESOLUTION_SPEED_LAT, speedBound);
2058 : }
2059 493010 : result = MAX2(-speedBound, MIN2(speedBound, result));
2060 : }
2061 606874 : return result;
2062 : }
2063 :
2064 :
2065 : double
2066 511315936 : MSLCM_LC2013::getSafetyFactor() const {
2067 511315936 : return 1 / myAssertive;
2068 : }
2069 :
2070 : double
2071 8494517 : MSLCM_LC2013::getOppositeSafetyFactor() const {
2072 8494517 : return myOppositeParam <= 0 ? std::numeric_limits<double>::max() : 1 / myOppositeParam;
2073 : }
2074 :
2075 : bool
2076 142758 : MSLCM_LC2013::saveBlockerLength(double length, double foeLeftSpace) {
2077 142758 : const bool canReserve = MSLCHelper::canSaveBlockerLength(myVehicle, length, myLeftSpace);
2078 142758 : if (!isOpposite() && (canReserve || myLeftSpace > foeLeftSpace)) {
2079 130502 : myLeadingBlockerLength = MAX2(length, myLeadingBlockerLength);
2080 : #ifdef DEBUG_SAVE_BLOCKER_LENGTH
2081 : if (DEBUG_COND) {
2082 : std::cout << SIMTIME << " saveBlockerLength veh=" << myVehicle.getID() << " canReserve=" << canReserve << " myLeftSpace=" << myLeftSpace << " foeLeftSpace=" << foeLeftSpace << "\n";
2083 : }
2084 : #endif
2085 130502 : if (myLeftSpace == 0 && foeLeftSpace < 0) {
2086 : // called from opposite overtaking, myLeftSpace must be initialized
2087 127718 : myLeftSpace = myVehicle.getBestLanes()[myVehicle.getLane()->getIndex()].length - myVehicle.getPositionOnLane();
2088 : }
2089 130502 : return true;
2090 : } else {
2091 : return false;
2092 : }
2093 : }
2094 :
2095 :
2096 : bool
2097 25467 : MSLCM_LC2013::hasFreeLane(int laneOffset, const std::pair<MSVehicle*, double>& neighLeadStopped) const {
2098 25467 : if (neighLeadStopped.first == nullptr) {
2099 : return true;
2100 : }
2101 25467 : int dir = (laneOffset > 0 ? 1 : -1);
2102 25467 : const MSLane* neigh = myVehicle.getLane()->getParallelLane(laneOffset);
2103 25467 : if (dir > 0 && !neigh->allowsChangingLeft(myVehicle.getVClass())) {
2104 : return false;
2105 25467 : } else if (dir < 0 && !neigh->allowsChangingRight(myVehicle.getVClass())) {
2106 : return false;
2107 : }
2108 25467 : int nextOffset = laneOffset + dir;
2109 25467 : const MSLane* next = myVehicle.getLane()->getParallelLane(nextOffset);
2110 25467 : if (next == nullptr || !next->allowsVehicleClass(myVehicle.getVClass())) {
2111 17964 : return false;
2112 : }
2113 7503 : const double overtakeDist = neighLeadStopped.second + neighLeadStopped.first->getVehicleType().getLengthWithGap() + myVehicle.getLength() + POSITION_EPS;
2114 7503 : std::pair<MSVehicle* const, double> nextLead = next->getLeader(&myVehicle, myVehicle.getPositionOnLane(), myVehicle.getBestLanesContinuation(next), overtakeDist);
2115 8007 : return nextLead.first == nullptr || nextLead.second >= overtakeDist || hasFreeLane(nextOffset, nextLead);
2116 : }
2117 :
2118 :
2119 : std::string
2120 150 : MSLCM_LC2013::getParameter(const std::string& key) const {
2121 150 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
2122 36 : return toString(myStrategicParam);
2123 114 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
2124 36 : return toString(myCooperativeParam);
2125 78 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
2126 36 : return toString(mySpeedGainParam);
2127 42 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
2128 0 : return toString(myKeepRightParam);
2129 42 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
2130 0 : return toString(myOppositeParam);
2131 42 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
2132 0 : return toString(myLookaheadLeft);
2133 42 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
2134 0 : return toString(mySpeedGainRight);
2135 42 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
2136 0 : return toString(myAssertive);
2137 42 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_RIGHT)) {
2138 0 : return toString(myOvertakeRightParam);
2139 42 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
2140 0 : return toString(mySigma);
2141 42 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
2142 0 : return toString(myKeepRightAcceptanceTime);
2143 42 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
2144 0 : return toString(myOvertakeDeltaSpeedFactor);
2145 42 : } else if (key == toString(SUMO_ATTR_LCA_STRATEGIC_LOOKAHEAD)) {
2146 0 : return toString(myStrategicLookahead);
2147 42 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
2148 0 : return toString(mySpeedGainLookahead);
2149 42 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
2150 0 : return toString(mySpeedGainRemainTime);
2151 42 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
2152 0 : return toString(myRoundaboutBonus);
2153 42 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
2154 0 : return toString(myCooperativeSpeed);
2155 42 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
2156 0 : return toString(myMaxSpeedLatStanding);
2157 42 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
2158 0 : return toString(myMaxSpeedLatFactor);
2159 42 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
2160 0 : return toString(myMaxDistLatStanding);
2161 : // access to internal state for debugging in sumo-gui (not documented since it may change at any time)
2162 42 : } else if (key == "speedGainProbabilityRight") {
2163 0 : return toString(mySpeedGainProbabilityRight / HYST_PRECISION);
2164 42 : } else if (key == "speedGainProbabilityLeft") {
2165 0 : return toString(mySpeedGainProbabilityLeft / HYST_PRECISION);
2166 42 : } else if (key == "keepRightProbability") {
2167 0 : return toString(-myKeepRightProbability / HYST_PRECISION);
2168 42 : } else if (key == "lookAheadSpeed") {
2169 0 : return toString(myLookAheadSpeed);
2170 : // motivation relative to threshold
2171 42 : } else if (key == "speedGainRP") {
2172 0 : return toString(mySpeedGainProbabilityRight / myChangeProbThresholdRight);
2173 42 : } else if (key == "speedGainLP") {
2174 0 : return toString(mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
2175 42 : } else if (key == "keepRightP") {
2176 0 : return toString((double)myKeepRightProbability * myKeepRightParam / -(double)myChangeProbThresholdRight);
2177 : }
2178 168 : throw InvalidArgument("Parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
2179 : }
2180 :
2181 :
2182 : void
2183 12018 : MSLCM_LC2013::setParameter(const std::string& key, const std::string& value) {
2184 : double doubleValue;
2185 : try {
2186 12018 : doubleValue = StringUtils::toDouble(value);
2187 0 : } catch (NumberFormatException&) {
2188 0 : throw InvalidArgument("Setting parameter '" + key + "' requires a number for laneChangeModel of type '" + toString(myModel) + "'");
2189 0 : }
2190 12018 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
2191 3176 : myStrategicParam = doubleValue;
2192 8842 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
2193 0 : myCooperativeParam = doubleValue;
2194 8842 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
2195 0 : mySpeedGainParam = doubleValue;
2196 8842 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
2197 0 : myKeepRightParam = doubleValue;
2198 8842 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
2199 0 : myOppositeParam = doubleValue;
2200 8842 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
2201 0 : myLookaheadLeft = doubleValue;
2202 8842 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
2203 0 : mySpeedGainRight = doubleValue;
2204 8842 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
2205 0 : myAssertive = doubleValue;
2206 8842 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_RIGHT)) {
2207 0 : myOvertakeRightParam = doubleValue;
2208 8842 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
2209 0 : mySigma = doubleValue;
2210 8842 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
2211 0 : myKeepRightAcceptanceTime = doubleValue;
2212 8842 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
2213 0 : myOvertakeDeltaSpeedFactor = doubleValue;
2214 8842 : } else if (key == toString(SUMO_ATTR_LCA_STRATEGIC_LOOKAHEAD)) {
2215 0 : myStrategicLookahead = doubleValue;
2216 8842 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
2217 2946 : mySpeedGainLookahead = doubleValue;
2218 5896 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
2219 2946 : mySpeedGainRemainTime = doubleValue;
2220 2950 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
2221 0 : myRoundaboutBonus = doubleValue;
2222 2950 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
2223 0 : myCooperativeSpeed = doubleValue;
2224 2950 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
2225 0 : myMaxSpeedLatStanding = doubleValue;
2226 2950 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
2227 0 : myMaxSpeedLatFactor = doubleValue;
2228 2950 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
2229 0 : myMaxDistLatStanding = doubleValue;
2230 : // access to internal state
2231 2950 : } else if (key == "speedGainProbabilityRight") {
2232 0 : mySpeedGainProbabilityRight = (long long int)(doubleValue * HYST_PRECISION);
2233 2950 : } else if (key == "speedGainProbabilityLeft") {
2234 0 : mySpeedGainProbabilityLeft = (long long int)(doubleValue * HYST_PRECISION);
2235 2950 : } else if (key == "keepRightProbability") {
2236 0 : myKeepRightProbability = (long long int)(-doubleValue * HYST_PRECISION);
2237 2950 : } else if (key == "lookAheadSpeed") {
2238 0 : myLookAheadSpeed = doubleValue;
2239 : } else {
2240 11800 : throw InvalidArgument("Setting parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
2241 : }
2242 9068 : initDerivedParameters();
2243 9068 : }
2244 :
2245 :
2246 : void
2247 2420 : MSLCM_LC2013::saveState(OutputDevice& out) const {
2248 2420 : MSAbstractLaneChangeModel::saveState(out);
2249 : std::vector<long long int> lcState;
2250 2420 : lcState.push_back(mySpeedGainProbabilityLeft);
2251 2420 : lcState.push_back(mySpeedGainProbabilityRight);
2252 2420 : lcState.push_back(myKeepRightProbability);
2253 2420 : lcState.push_back(myLookAheadSpeed * HYST_PRECISION);
2254 2420 : lcState.push_back(myDontBrake);
2255 2420 : out.writeAttr(SUMO_ATTR_LCSTATE2, lcState);
2256 2420 : }
2257 :
2258 : void
2259 3553 : MSLCM_LC2013::loadState(const SUMOSAXAttributes& attrs) {
2260 3553 : MSAbstractLaneChangeModel::loadState(attrs);
2261 3553 : if (attrs.hasAttribute(SUMO_ATTR_LCSTATE2)) {
2262 3553 : std::istringstream bis(attrs.getString(SUMO_ATTR_LCSTATE2));
2263 3553 : bis >> mySpeedGainProbabilityLeft;
2264 3553 : bis >> mySpeedGainProbabilityRight;
2265 3553 : bis >> myKeepRightProbability;
2266 : long long laSpeed;
2267 : bis >> laSpeed;
2268 3553 : myLookAheadSpeed = (double)laSpeed / HYST_PRECISION;
2269 3553 : bis >> myDontBrake;
2270 3553 : }
2271 3553 : }
2272 :
2273 :
2274 :
2275 : /****************************************************************************/
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