Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2013-2026 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_SL2015.cpp
15 : /// @author Jakob Erdmann
16 : /// @date Tue, 06.10.2015
17 : ///
18 : // A lane change model for heterogeneous traffic (based on sub-lanes)
19 : /****************************************************************************/
20 : #include <config.h>
21 :
22 : #include <iostream>
23 : #include <utils/common/RandHelper.h>
24 : #include <utils/common/StringUtils.h>
25 : #include <microsim/MSEdge.h>
26 : #include <microsim/MSLane.h>
27 : #include <microsim/MSLink.h>
28 : #include <microsim/MSNet.h>
29 : #include <microsim/MSDriverState.h>
30 : #include <microsim/MSGlobals.h>
31 : #include <microsim/MSStop.h>
32 : #include <microsim/MSStoppingPlace.h>
33 : #include <microsim/transportables/MSTransportableControl.h>
34 : #include <microsim/transportables/MSPModel.h>
35 : #include "MSLCHelper.h"
36 : #include "MSLCM_SL2015.h"
37 :
38 : // ===========================================================================
39 : // variable definitions
40 : // ===========================================================================
41 : #define LOOK_FORWARD 10.
42 :
43 : #define JAM_FACTOR 1.
44 :
45 : #define LCA_RIGHT_IMPATIENCE -1.
46 : #define CUT_IN_LEFT_SPEED_THRESHOLD 27.
47 : #define MAX_ONRAMP_LENGTH 200.
48 :
49 : #define LOOK_AHEAD_MIN_SPEED 0.0
50 : #define LOOK_AHEAD_SPEED_MEMORY 0.9
51 :
52 : #define HELP_DECEL_FACTOR 1.0
53 :
54 : #define HELP_OVERTAKE (10.0 / 3.6)
55 : #define MIN_FALLBEHIND (7.0 / 3.6)
56 :
57 : #define URGENCY 2.0
58 :
59 : #define KEEP_RIGHT_TIME 5.0 // the number of seconds after which a vehicle should move to the right lane
60 :
61 : #define RELGAIN_NORMALIZATION_MIN_SPEED 10.0
62 :
63 : #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
64 : #define GAIN_PERCEPTION_THRESHOLD 0.05 // the minimum relative speed gain which affects the behavior
65 :
66 : #define ARRIVALPOS_LAT_THRESHOLD 100.0
67 :
68 : // the speed at which the desired lateral gap grows now further
69 : #define LATGAP_SPEED_THRESHOLD (50 / 3.6)
70 : // the speed at which the desired lateral gap shrinks now further.
71 : // @note: when setting LATGAP_SPEED_THRESHOLD = LATGAP_SPEED_THRESHOLD2, no speed-specif reduction of minGapLat is done
72 : #define LATGAP_SPEED_THRESHOLD2 (50 / 3.6)
73 :
74 : // intention to change decays over time
75 : #define SPEEDGAIN_DECAY_FACTOR 0.5
76 : // exponential averaging factor for expected sublane speeds
77 : #define SPEEDGAIN_MEMORY_FACTOR 0.5
78 :
79 : #define REACT_TO_STOPPED_DISTANCE 100
80 :
81 :
82 : // ===========================================================================
83 : // Debug flags
84 : // ===========================================================================
85 : //#define DEBUG_MANEUVER
86 : //#define DEBUG_WANTSCHANGE
87 : //#define DEBUG_DECISION
88 : //#define DEBUG_STRATEGIC_CHANGE
89 : //#define DEBUG_KEEP_LATGAP
90 : //#define DEBUG_STATE
91 : //#define DEBUG_ACTIONSTEPS
92 : //#define DEBUG_COMMITTED_SPEED
93 : //#define DEBUG_PATCHSPEED
94 : //#define DEBUG_INFORM
95 : //#define DEBUG_ROUNDABOUTS
96 : //#define DEBUG_COOPERATE
97 : //#define DEBUG_SLOWDOWN
98 : //#define DEBUG_SAVE_BLOCKER_LENGTH
99 : //#define DEBUG_BLOCKING
100 : //#define DEBUG_TRACI
101 : //#define DEBUG_EXPECTED_SLSPEED
102 : //#define DEBUG_SLIDING
103 : //#define DEBUG_COND (myVehicle.getID() == "moped.18" || myVehicle.getID() == "moped.16")
104 : //#define DEBUG_COND (myVehicle.getID() == "Togliatti_71_0")
105 : #define DEBUG_COND (myVehicle.isSelected())
106 : //#define DEBUG_COND (myVehicle.getID() == "pkw150478" || myVehicle.getID() == "pkw150494" || myVehicle.getID() == "pkw150289")
107 : //#define DEBUG_COND (myVehicle.getID() == "A" || myVehicle.getID() == "B") // fail change to left
108 : //#define DEBUG_COND (myVehicle.getID() == "disabled") // test stops_overtaking
109 : //#define DEBUG_COND true
110 :
111 :
112 : // ===========================================================================
113 : // member method definitions
114 : // ===========================================================================
115 825893 : MSLCM_SL2015::MSLCM_SL2015(MSVehicle& v) :
116 : MSAbstractLaneChangeModel(v, LaneChangeModel::SL2015),
117 825893 : mySpeedGainProbabilityRight(0),
118 825893 : mySpeedGainProbabilityLeft(0),
119 825893 : myKeepRightProbability(0),
120 825893 : myLeadingBlockerLength(0),
121 825893 : myLeftSpace(0),
122 825893 : myLookAheadSpeed(LOOK_AHEAD_MIN_SPEED),
123 825893 : myLastEdge(nullptr),
124 825893 : myCanChangeFully(true),
125 825893 : mySafeLatDistRight(0),
126 825893 : mySafeLatDistLeft(0),
127 825893 : myStrategicParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_STRATEGIC_PARAM, 1)),
128 825893 : myCooperativeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_PARAM, 1)),
129 825893 : mySpeedGainParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_PARAM, 1)),
130 825893 : myKeepRightParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_PARAM, 1)),
131 825893 : myOppositeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OPPOSITE_PARAM, 1)),
132 825893 : mySublaneParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SUBLANE_PARAM, 1)),
133 : // by default use SUMO_ATTR_LCA_PUSHY. If that is not set, try SUMO_ATTR_LCA_PUSHYGAP
134 825893 : myMinGapLat(v.getVehicleType().getMinGapLat()),
135 825893 : myPushy(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHY,
136 1651689 : 1 - (v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHYGAP,
137 825893 : MAX2(NUMERICAL_EPS, myMinGapLat)) /
138 825893 : MAX2(NUMERICAL_EPS, myMinGapLat)))),
139 825893 : myImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_IMPATIENCE, 0)),
140 825893 : myMinImpatience(myImpatience),
141 825893 : myTimeToImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, std::numeric_limits<double>::max())),
142 825893 : myAccelLat(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_ACCEL_LAT, 1.0)),
143 825893 : myTurnAlignmentDist(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE, 0.0)),
144 825893 : myLookaheadLeft(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LOOKAHEADLEFT, 2.0)),
145 825893 : mySpeedGainRight(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAINRIGHT, 0.1)),
146 825893 : myLaneDiscipline(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LANE_DISCIPLINE, 0.0)),
147 825893 : mySpeedGainLookahead(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD, 5)),
148 825893 : mySpeedGainRemainTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME, 20)),
149 825893 : myRoundaboutBonus(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT, myCooperativeParam)),
150 825893 : myCooperativeSpeed(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_SPEED, myCooperativeParam)),
151 825893 : myKeepRightAcceptanceTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME, -1)),
152 825893 : myOvertakeDeltaSpeedFactor(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR, 0)),
153 825893 : mySigmaState(0) {
154 825893 : initDerivedParameters();
155 825893 : }
156 :
157 1651770 : MSLCM_SL2015::~MSLCM_SL2015() {
158 825885 : changed();
159 1651770 : }
160 :
161 :
162 : void
163 1103583 : MSLCM_SL2015::initDerivedParameters() {
164 1103583 : if (mySpeedGainParam <= 0) {
165 2235 : myChangeProbThresholdRight = std::numeric_limits<double>::max();
166 2235 : myChangeProbThresholdLeft = std::numeric_limits<double>::max();
167 : } else {
168 1101348 : myChangeProbThresholdRight = (0.2 / mySpeedGainRight) / mySpeedGainParam;
169 1101348 : myChangeProbThresholdLeft = 0.2 / mySpeedGainParam;
170 : }
171 1103583 : mySpeedLossProbThreshold = (-0.1 + (1 - mySublaneParam));
172 1103583 : }
173 :
174 :
175 : bool
176 14927 : MSLCM_SL2015::debugVehicle() const {
177 14927 : return DEBUG_COND;
178 : }
179 :
180 :
181 : int
182 117006016 : MSLCM_SL2015::wantsChangeSublane(
183 : int laneOffset,
184 : LaneChangeAction alternatives,
185 : const MSLeaderDistanceInfo& leaders,
186 : const MSLeaderDistanceInfo& followers,
187 : const MSLeaderDistanceInfo& blockers,
188 : const MSLeaderDistanceInfo& neighLeaders,
189 : const MSLeaderDistanceInfo& neighFollowers,
190 : const MSLeaderDistanceInfo& neighBlockers,
191 : const MSLane& neighLane,
192 : const std::vector<MSVehicle::LaneQ>& preb,
193 : MSVehicle** lastBlocked,
194 : MSVehicle** firstBlocked,
195 : double& latDist, double& maneuverDist, int& blocked) {
196 :
197 117006016 : gDebugFlag2 = DEBUG_COND;
198 197867713 : const std::string changeType = laneOffset == -1 ? "right" : (laneOffset == 1 ? "left" : "current");
199 :
200 : #ifdef DEBUG_MANEUVER
201 : if (gDebugFlag2) {
202 : std::cout << "\n" << SIMTIME
203 : << std::setprecision(gPrecision)
204 : << " veh=" << myVehicle.getID()
205 : << " lane=" << myVehicle.getLane()->getID()
206 : << " neigh=" << neighLane.getID()
207 : << " pos=" << myVehicle.getPositionOnLane()
208 : << " posLat=" << myVehicle.getLateralPositionOnLane()
209 : << " posLatError=" << mySigmaState
210 : << " speed=" << myVehicle.getSpeed()
211 : << " considerChangeTo=" << changeType
212 : << "\n";
213 : }
214 : #endif
215 :
216 117006016 : int result = _wantsChangeSublane(laneOffset,
217 : alternatives,
218 : leaders, followers, blockers,
219 : neighLeaders, neighFollowers, neighBlockers,
220 : neighLane, preb,
221 : lastBlocked, firstBlocked, latDist, maneuverDist, blocked);
222 :
223 117006016 : result = keepLatGap(result, leaders, followers, blockers,
224 : neighLeaders, neighFollowers, neighBlockers,
225 : neighLane, laneOffset, latDist, maneuverDist, blocked);
226 :
227 117006016 : result |= getLCA(result, latDist);
228 : // take into account lateral acceleration
229 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
230 : double latDistTmp = latDist;
231 : #endif
232 117006016 : latDist = SPEED2DIST(computeSpeedLat(latDist, maneuverDist, (result & LCA_URGENT) != 0));
233 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
234 : if (gDebugFlag2 && latDist != latDistTmp) {
235 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " maneuverDist=" << maneuverDist << " latDist=" << latDistTmp << " mySpeedPrev=" << mySpeedLat << " speedLat=" << DIST2SPEED(latDist) << " latDist2=" << latDist << "\n";
236 : }
237 :
238 : if (gDebugFlag2) {
239 : if (result & LCA_WANTS_LANECHANGE) {
240 : std::cout << SIMTIME
241 : << " veh=" << myVehicle.getID()
242 : << " wantsChangeTo=" << changeType
243 : << " latDist=" << latDist
244 : << " maneuverDist=" << maneuverDist
245 : << " state=" << toString((LaneChangeAction)result)
246 : << ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
247 : << ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
248 : << "\n\n";
249 : } else {
250 : std::cout << SIMTIME
251 : << " veh=" << myVehicle.getID()
252 : << " wantsNoChangeTo=" << changeType
253 : << " state=" << toString((LaneChangeAction)result)
254 : << "\n\n";
255 : }
256 : }
257 : #endif
258 117006016 : gDebugFlag2 = false;
259 117006016 : return result;
260 : }
261 :
262 : void
263 80922311 : MSLCM_SL2015::setOwnState(const int state) {
264 80922311 : MSAbstractLaneChangeModel::setOwnState(state);
265 80922311 : if (myVehicle.isActive()) {
266 80922295 : if ((state & (LCA_STRATEGIC | LCA_SPEEDGAIN)) != 0 && (state & LCA_BLOCKED) != 0) {
267 8651609 : myImpatience = MIN2(1.0, myImpatience + myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
268 : } else {
269 : // impatience decays only to the driver-specific level
270 79675999 : myImpatience = MAX2(myMinImpatience, myImpatience - myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
271 : }
272 : #ifdef DEBUG_STATE
273 : if (DEBUG_COND) {
274 : std::cout << SIMTIME << " veh=" << myVehicle.getID()
275 : << " setOwnState=" << toString((LaneChangeAction)state)
276 : << " myMinImpatience=" << myMinImpatience
277 : << " myImpatience=" << myImpatience
278 : << "\n";
279 : }
280 : #endif
281 80922295 : if ((state & LCA_STAY) != 0) {
282 70377603 : myCanChangeFully = true;
283 : // if (DEBUG_COND) {
284 : // std::cout << " myCanChangeFully=true\n";
285 : // }
286 : }
287 : }
288 80922311 : }
289 :
290 :
291 : void
292 3970211 : MSLCM_SL2015::updateSafeLatDist(const double travelledLatDist) {
293 3970211 : mySafeLatDistLeft -= travelledLatDist;
294 3970211 : mySafeLatDistRight += travelledLatDist;
295 :
296 3970211 : if (fabs(mySafeLatDistLeft) < NUMERICAL_EPS) {
297 53943 : mySafeLatDistLeft = 0.;
298 : }
299 3970211 : if (fabs(mySafeLatDistRight) < NUMERICAL_EPS) {
300 91586 : mySafeLatDistRight = 0.;
301 : }
302 3970211 : }
303 :
304 :
305 : double
306 82350167 : MSLCM_SL2015::patchSpeed(const double min, const double wanted, const double max, const MSCFModel& cfModel) {
307 82350167 : gDebugFlag2 = DEBUG_COND;
308 : // negative min speed may be passed when using ballistic updated
309 82350167 : const double newSpeed = _patchSpeed(MAX2(min, 0.0), wanted, max, cfModel);
310 : #ifdef DEBUG_PATCHSPEED
311 : if (gDebugFlag2) {
312 : const std::string patched = (wanted != newSpeed ? " patched=" + toString(newSpeed) : "");
313 : std::cout << SIMTIME
314 : << " veh=" << myVehicle.getID()
315 : << " lane=" << myVehicle.getLane()->getID()
316 : << " pos=" << myVehicle.getPositionOnLane()
317 : << " v=" << myVehicle.getSpeed()
318 : << " min=" << min
319 : << " wanted=" << wanted
320 : << " max=" << max
321 : << patched
322 : << "\n\n";
323 : }
324 : #endif
325 82350167 : gDebugFlag2 = false;
326 82350167 : return newSpeed;
327 : }
328 :
329 :
330 : double
331 82350167 : MSLCM_SL2015::_patchSpeed(double min, const double wanted, double max, const MSCFModel& cfModel) {
332 82350167 : if (wanted <= 0) {
333 : return wanted;
334 : }
335 :
336 78137395 : int state = myOwnState;
337 :
338 : double nVSafe = wanted;
339 : bool gotOne = false;
340 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#2
341 : // if we want to change and have a blocking leader and there is enough room for him in front of us
342 78137395 : if (myLeadingBlockerLength != 0) {
343 347096 : double space = myLeftSpace - myLeadingBlockerLength - POSITION_EPS;
344 : #ifdef DEBUG_PATCHSPEED
345 : if (gDebugFlag2) {
346 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myLeadingBlockerLength=" << myLeadingBlockerLength << " space=" << space << "\n";
347 : }
348 : #endif
349 347096 : if (space >= 0) {
350 : // compute speed for decelerating towards a place which allows the blocking leader to merge in in front
351 342199 : double safe = cfModel.stopSpeed(&myVehicle, myVehicle.getSpeed(), space, MSCFModel::CalcReason::LANE_CHANGE);
352 : max = MIN2(max, safe);
353 : // if we are approaching this place
354 342199 : if (safe < wanted) {
355 46759 : if (safe < min) {
356 2433 : const double vMinEmergency = myVehicle.getCarFollowModel().minNextSpeedEmergency(myVehicle.getSpeed(), &myVehicle);
357 2433 : if (safe >= vMinEmergency) {
358 : // permit harder braking if needed and helpful
359 : min = MAX2(vMinEmergency, safe);
360 : }
361 : }
362 : #ifdef DEBUG_PATCHSPEED
363 : if (gDebugFlag2) {
364 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " slowing down for leading blocker, safe=" << safe << (safe + NUMERICAL_EPS < min ? " (not enough)" : "") << "\n";
365 : }
366 : #endif
367 : nVSafe = MAX2(min, safe);
368 : gotOne = true;
369 : }
370 : }
371 : }
372 78137395 : const double coopWeight = MAX2(0.0, MIN2(1.0, myCooperativeSpeed));
373 103786019 : for (auto i : myLCAccelerationAdvices) {
374 : double accel = i.first;
375 25648624 : double v = myVehicle.getSpeed() + ACCEL2SPEED(accel);
376 25648624 : if (v >= min && v <= max) {
377 8709435 : if (i.second) {
378 : // own advice, no scaling needed
379 : nVSafe = MIN2(v, nVSafe);
380 : } else {
381 3799524 : nVSafe = MIN2(v * coopWeight + (1 - coopWeight) * wanted, nVSafe);
382 : }
383 : gotOne = true;
384 : #ifdef DEBUG_PATCHSPEED
385 : if (gDebugFlag2) {
386 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got accel=" << accel << " nVSafe=" << nVSafe << "\n";
387 : }
388 : #endif
389 : } else {
390 : #ifdef DEBUG_PATCHSPEED
391 : if (v < min) {
392 : if (gDebugFlag2) {
393 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring low nVSafe=" << v << " (accel=" << accel << ") min=" << min << "\n";
394 : }
395 : } else {
396 : if (gDebugFlag2) {
397 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring high nVSafe=" << v << " (accel=" << accel << ") max=" << max << "\n";
398 : }
399 : }
400 : #endif
401 : }
402 : }
403 :
404 78137395 : if (gotOne && !myDontBrake) {
405 : #ifdef DEBUG_PATCHSPEED
406 : if (gDebugFlag2) {
407 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got vSafe\n";
408 : }
409 : #endif
410 : return nVSafe;
411 : }
412 :
413 : // check whether the vehicle is blocked
414 75711677 : if ((state & LCA_WANTS_LANECHANGE) != 0 && (state & LCA_BLOCKED) != 0) {
415 4976857 : if ((state & LCA_STRATEGIC) != 0) {
416 : // necessary decelerations are controlled via vSafe. If there are
417 : // none it means we should speed up
418 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
419 : if (gDebugFlag2) {
420 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_WANTS_LANECHANGE (strat, no vSafe)\n";
421 : }
422 : #endif
423 580539 : return (max + wanted) / 2.0;
424 4396318 : } else if ((state & LCA_COOPERATIVE) != 0) {
425 : // only minor adjustments in speed should be done
426 447691 : if ((state & LCA_BLOCKED_BY_LEADER) != 0) {
427 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
428 : if (gDebugFlag2) {
429 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_LEADER (coop)\n";
430 : }
431 : #endif
432 411196 : return (min + wanted) / 2.0;
433 : }
434 36495 : if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
435 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
436 : if (gDebugFlag2) {
437 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER (coop)\n";
438 : }
439 : #endif
440 36495 : return (max + wanted) / 2.0;
441 : }
442 : //} else { // VARIANT_16
443 : // // only accelerations should be performed
444 : // if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
445 : // if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER\n";
446 : // return (max + wanted) / 2.0;
447 : // }
448 : }
449 : }
450 :
451 : /*
452 : // decelerate if being a blocking follower
453 : // (and does not have to change lanes)
454 : if ((state & LCA_AMBLOCKINGFOLLOWER) != 0) {
455 : if (fabs(max - myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)) < 0.001 && min == 0) { // !!! was standing
456 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER (standing)\n";
457 : return 0;
458 : }
459 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER\n";
460 :
461 : //return min; // VARIANT_3 (brakeStrong)
462 : return (min + wanted) / 2.0;
463 : }
464 : if ((state & LCA_AMBACKBLOCKER) != 0) {
465 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
466 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER (standing)\n";
467 : //return min; VARIANT_9 (backBlockVSafe)
468 : return nVSafe;
469 : }
470 : }
471 : if ((state & LCA_AMBACKBLOCKER_STANDING) != 0) {
472 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER_STANDING\n";
473 : //return min;
474 : return nVSafe;
475 : }
476 : */
477 :
478 : // accelerate if being a blocking leader or blocking follower not able to brake
479 : // (and does not have to change lanes)
480 74683447 : if ((state & LCA_AMBLOCKINGLEADER) != 0) {
481 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
482 : if (gDebugFlag2) {
483 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGLEADER\n";
484 : }
485 : #endif
486 944451 : return (max + wanted) / 2.0;
487 : }
488 :
489 : if ((state & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
490 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
491 : if (gDebugFlag2) {
492 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER_DONTBRAKE\n";
493 : }
494 : #endif
495 : /*
496 : // VARIANT_4 (dontbrake)
497 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
498 : return wanted;
499 : }
500 : return (min + wanted) / 2.0;
501 : */
502 : }
503 : return wanted;
504 : }
505 :
506 :
507 : void*
508 11986297 : MSLCM_SL2015::inform(void* info, MSVehicle* sender) {
509 : Info* pinfo = (Info*) info;
510 11986297 : if (pinfo->first >= 0) {
511 7333291 : addLCSpeedAdvice(pinfo->first, false);
512 : }
513 : //myOwnState &= 0xffffffff; // reset all bits of MyLCAEnum but only those
514 11986297 : myOwnState |= pinfo->second;
515 : #ifdef DEBUG_INFORM
516 : if (gDebugFlag2 || DEBUG_COND || sender->getLaneChangeModel().debugVehicle()) {
517 : std::cout << SIMTIME
518 : << " veh=" << myVehicle.getID()
519 : << " informedBy=" << sender->getID()
520 : << " info=" << pinfo->second
521 : << " vSafe=" << pinfo->first
522 : << "\n";
523 : }
524 : #else
525 : UNUSED_PARAMETER(sender);
526 : #endif
527 11986297 : delete pinfo;
528 11986297 : return (void*) true;
529 : }
530 :
531 :
532 : void
533 11986297 : MSLCM_SL2015::msg(const CLeaderDist& cld, double speed, int state) {
534 : assert(cld.first != 0);
535 11986297 : ((MSVehicle*)cld.first)->getLaneChangeModel().inform(new Info(speed, state), &myVehicle);
536 11986297 : }
537 :
538 :
539 : double
540 7634856 : MSLCM_SL2015::informLeader(int blocked,
541 : int dir,
542 : const CLeaderDist& neighLead,
543 : double remainingSeconds) {
544 15269712 : double plannedSpeed = MIN2(myVehicle.getSpeed(),
545 7634856 : myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
546 20322323 : for (auto i : myLCAccelerationAdvices) {
547 12687467 : double v = myVehicle.getSpeed() + ACCEL2SPEED(i.first);
548 12687467 : if (v >= myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())) {
549 : plannedSpeed = MIN2(plannedSpeed, v);
550 : }
551 : }
552 : #ifdef DEBUG_INFORM
553 : if (gDebugFlag2) {
554 : std::cout << " informLeader speed=" << myVehicle.getSpeed() << " planned=" << plannedSpeed << "\n";
555 : }
556 : #endif
557 :
558 7634856 : if ((blocked & LCA_BLOCKED_BY_LEADER) != 0 && neighLead.first != 0) {
559 : const MSVehicle* nv = neighLead.first;
560 6306812 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
561 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingLeader=" << nv->getID() << "\n";
562 : return plannedSpeed;
563 : }
564 : #ifdef DEBUG_INFORM
565 : if (gDebugFlag2) std::cout << " blocked by leader nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
566 : << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel()) << "\n";
567 : #endif
568 : // decide whether we want to overtake the leader or follow it
569 6302787 : const double dv = plannedSpeed - nv->getSpeed();
570 6302787 : const double overtakeDist = (neighLead.second // drive to back of follower
571 6302787 : + nv->getVehicleType().getLengthWithGap() // drive to front of follower
572 6302787 : + myVehicle.getVehicleType().getLength() // ego back reaches follower front
573 18908361 : + nv->getCarFollowModel().getSecureGap( // save gap to follower
574 6302787 : nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()));
575 :
576 6302787 : if ((dv < myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit() + NUMERICAL_EPS
577 : // overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
578 2066097 : || (dir == LCA_MLEFT && !myVehicle.congested() && !myAllowOvertakingRight)
579 : // not enough space to overtake? (we will start to brake when approaching a dead end)
580 4103490 : || myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed()) < overtakeDist
581 : // not enough time to overtake?
582 1913309 : || dv * remainingSeconds < overtakeDist)
583 6722055 : && (!neighLead.first->isStopped() || (isOpposite() && neighLead.second >= 0))) {
584 : // cannot overtake
585 4650600 : msg(neighLead, -1, dir | LCA_AMBLOCKINGLEADER);
586 : // slow down smoothly to follow leader
587 4650600 : const double targetSpeed = getCarFollowModel().followSpeed(
588 4650600 : &myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
589 4650600 : if (targetSpeed < myVehicle.getSpeed()) {
590 : // slow down smoothly to follow leader
591 970054 : const double decel = ACCEL2SPEED(MIN2(myVehicle.getCarFollowModel().getMaxDecel(),
592 : MAX2(MIN_FALLBEHIND, (myVehicle.getSpeed() - targetSpeed) / remainingSeconds)));
593 : //const double nextSpeed = MAX2(0., MIN2(plannedSpeed, myVehicle.getSpeed() - decel));
594 728605 : const double nextSpeed = MIN2(plannedSpeed, MAX2(0.0, myVehicle.getSpeed() - decel));
595 : #ifdef DEBUG_INFORM
596 : if (gDebugFlag2) {
597 : std::cout << SIMTIME
598 : << " cannot overtake leader nv=" << nv->getID()
599 : << " dv=" << dv
600 : << " remainingSeconds=" << remainingSeconds
601 : << " targetSpeed=" << targetSpeed
602 : << " nextSpeed=" << nextSpeed
603 : << "\n";
604 : }
605 : #endif
606 728605 : addLCSpeedAdvice(nextSpeed);
607 728605 : return nextSpeed;
608 : } else {
609 : // leader is fast enough anyway
610 : #ifdef DEBUG_INFORM
611 : if (gDebugFlag2) {
612 : std::cout << SIMTIME
613 : << " cannot overtake fast leader nv=" << nv->getID()
614 : << " dv=" << dv
615 : << " remainingSeconds=" << remainingSeconds
616 : << " targetSpeed=" << targetSpeed
617 : << "\n";
618 : }
619 : #endif
620 3921995 : addLCSpeedAdvice(targetSpeed);
621 3921995 : return plannedSpeed;
622 : }
623 : } else {
624 : #ifdef DEBUG_INFORM
625 : if (gDebugFlag2) {
626 : std::cout << SIMTIME
627 : << " wants to overtake leader nv=" << nv->getID()
628 : << " dv=" << dv
629 : << " remainingSeconds=" << remainingSeconds
630 : << " currentGap=" << neighLead.second
631 : << " secureGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel())
632 : << " overtakeDist=" << overtakeDist
633 : << " leftSpace=" << myLeftSpace
634 : << " blockerLength=" << myLeadingBlockerLength
635 : << "\n";
636 : }
637 : #endif
638 : // overtaking, leader should not accelerate
639 1652187 : msg(neighLead, nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER);
640 1652187 : return -1;
641 : }
642 1328044 : } else if (neighLead.first != 0) { // (remainUnblocked)
643 : // we are not blocked now. make sure we stay far enough from the leader
644 : const MSVehicle* nv = neighLead.first;
645 : double dv, nextNVSpeed;
646 1328044 : if (MSGlobals::gSemiImplicitEulerUpdate) {
647 : // XXX: the decrement (HELP_OVERTAKE) should be scaled with timestep length, I think.
648 : // It seems to function as an estimate nv's speed in the next simstep!? (so HELP_OVERTAKE should be an acceleration value.)
649 1102775 : nextNVSpeed = nv->getSpeed() - HELP_OVERTAKE; // conservative
650 1102775 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
651 : } else {
652 : // Estimate neigh's speed after actionstep length
653 : // @note The possible breaking can be underestimated by the formula, so this is a potential
654 : // source of collisions if actionsteplength>simsteplength.
655 : const double nvMaxDecel = HELP_OVERTAKE;
656 225269 : nextNVSpeed = nv->getSpeed() - nvMaxDecel * myVehicle.getActionStepLengthSecs(); // conservative
657 : // Estimated gap reduction until next action step if own speed stays constant
658 225269 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
659 : }
660 1328044 : const double targetSpeed = getCarFollowModel().followSpeed(
661 1328044 : &myVehicle, myVehicle.getSpeed(), neighLead.second - dv, nextNVSpeed, nv->getCarFollowModel().getMaxDecel());
662 1328044 : addLCSpeedAdvice(targetSpeed);
663 : #ifdef DEBUG_INFORM
664 : if (gDebugFlag2) {
665 : std::cout << " not blocked by leader nv=" << nv->getID()
666 : << " nvSpeed=" << nv->getSpeed()
667 : << " gap=" << neighLead.second
668 : << " nextGap=" << neighLead.second - dv
669 : << " needGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel())
670 : << " targetSpeed=" << targetSpeed
671 : << "\n";
672 : }
673 : #endif
674 : return MIN2(targetSpeed, plannedSpeed);
675 : } else {
676 : // not overtaking
677 : return plannedSpeed;
678 : }
679 : }
680 :
681 :
682 : void
683 5683804 : MSLCM_SL2015::informFollower(int blocked,
684 : int dir,
685 : const CLeaderDist& neighFollow,
686 : double remainingSeconds,
687 : double plannedSpeed) {
688 5683804 : if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0 && neighFollow.first != 0) {
689 : const MSVehicle* nv = neighFollow.first;
690 4180313 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
691 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingFollower=" << nv->getID() << "\n";
692 : return;
693 : }
694 : #ifdef DEBUG_INFORM
695 : if (gDebugFlag2) std::cout << " blocked by follower nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
696 : << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()) << "\n";
697 : #endif
698 :
699 : // are we fast enough to cut in without any help?
700 4180019 : if (plannedSpeed - nv->getSpeed() >= HELP_OVERTAKE) {
701 217676 : const double neededGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
702 217676 : if ((neededGap - neighFollow.second) / remainingSeconds < (plannedSpeed - nv->getSpeed())) {
703 : #ifdef DEBUG_INFORM
704 : if (gDebugFlag2) {
705 : std::cout << " wants to cut in before nv=" << nv->getID() << " without any help neededGap=" << neededGap << "\n";
706 : }
707 : #endif
708 : // follower might even accelerate but not to much
709 195352 : msg(neighFollow, plannedSpeed - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER);
710 195352 : return;
711 : }
712 : }
713 : // decide whether we will request help to cut in before the follower or allow to be overtaken
714 :
715 : // PARAMETERS
716 : // assume other vehicle will assume the equivalent of 1 second of
717 : // maximum deceleration to help us (will probably be spread over
718 : // multiple seconds)
719 : // -----------
720 : const double helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR ;
721 :
722 : // change in the gap between ego and blocker over 1 second (not STEP!)
723 3984667 : const double neighNewSpeed = MAX2(0., nv->getSpeed() - ACCEL2SPEED(helpDecel));
724 3984667 : const double neighNewSpeed1s = MAX2(0., nv->getSpeed() - helpDecel);
725 3984667 : const double dv = plannedSpeed - neighNewSpeed1s;
726 : // new gap between follower and self in case the follower does brake for 1s
727 3984667 : const double decelGap = neighFollow.second + dv;
728 3984667 : const double secureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, neighNewSpeed1s, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
729 : #ifdef DEBUG_INFORM
730 : if (gDebugFlag2) {
731 : std::cout << SIMTIME
732 : << " egoV=" << myVehicle.getSpeed()
733 : << " egoNV=" << plannedSpeed
734 : << " nvNewSpeed=" << neighNewSpeed
735 : << " nvNewSpeed1s=" << neighNewSpeed1s
736 : << " deltaGap=" << dv
737 : << " decelGap=" << decelGap
738 : << " secGap=" << secureGap
739 : << "\n";
740 : }
741 : #endif
742 3984667 : if (decelGap > 0 && decelGap >= secureGap) {
743 : // if the blocking neighbor brakes it could actually help
744 : // how hard does it actually need to be?
745 : // to be safe in the next step the following equation has to hold:
746 : // vsafe <= followSpeed(gap=currentGap - SPEED2DIST(vsafe), ...)
747 : // we compute an upper bound on vsafe by doing the computation twice
748 589782 : const double vsafe1 = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
749 589782 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
750 589782 : const double vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
751 589782 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed - vsafe1), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
752 : // the following assertion cannot be guaranteed because the CFModel handles small gaps differently, see MSCFModel::maximumSafeStopSpeed
753 : // assert(vsafe <= vsafe1);
754 589782 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
755 : #ifdef DEBUG_INFORM
756 : if (gDebugFlag2) {
757 : std::cout << " wants to cut in before nv=" << nv->getID()
758 : << " vsafe1=" << vsafe1
759 : << " vsafe=" << vsafe
760 : << " newSecGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel())
761 : << "\n";
762 : }
763 : #endif
764 3984667 : } else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS)) {
765 : // decelerating once is sufficient to open up a large enough gap in time
766 175806 : msg(neighFollow, neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER);
767 : #ifdef DEBUG_INFORM
768 : if (gDebugFlag2) {
769 : std::cout << " wants to cut in before nv=" << nv->getID() << " (eventually)\n";
770 : }
771 : #endif
772 3219079 : } else if (dir == LCA_MRIGHT && !myAllowOvertakingRight && !nv->congested()) {
773 : const double vhelp = MAX2(neighNewSpeed, HELP_OVERTAKE);
774 1246 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
775 : #ifdef DEBUG_INFORM
776 : if (gDebugFlag2) {
777 : std::cout << " wants to cut in before nv=" << nv->getID() << " (nv cannot overtake right)\n";
778 : }
779 : #endif
780 : } else {
781 3217833 : double vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
782 3217833 : if (nv->getSpeed() > myVehicle.getSpeed() &&
783 429466 : ((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE)
784 398190 : || (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
785 : // XXX this is a hack to determine whether the vehicles is on an on-ramp. This information should be retrieved from the network itself
786 393336 : || (dir == LCA_MLEFT && myLeftSpace > MAX_ONRAMP_LENGTH)
787 : )) {
788 : // let the follower slow down to increase the likelyhood that later vehicles will be slow enough to help
789 : // follower should still be fast enough to open a gap
790 439417 : vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
791 : #ifdef DEBUG_INFORM
792 : if (gDebugFlag2) {
793 : std::cout << " wants right follower to slow down a bit\n";
794 : }
795 : #endif
796 439417 : if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
797 : #ifdef DEBUG_INFORM
798 : if (gDebugFlag2) {
799 : std::cout << " wants to cut in before right follower nv=" << nv->getID() << " (eventually)\n";
800 : }
801 : #endif
802 425470 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
803 425470 : return;
804 : }
805 : }
806 2792363 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
807 : // this follower is supposed to overtake us. slow down smoothly to allow this
808 2792363 : const double overtakeDist = (neighFollow.second // follower reaches ego back
809 2792363 : + myVehicle.getVehicleType().getLengthWithGap() // follower reaches ego front
810 2792363 : + nv->getVehicleType().getLength() // follower back at ego front
811 2792363 : + myVehicle.getCarFollowModel().getSecureGap( // follower has safe dist to ego
812 2792363 : &myVehicle, nv, plannedSpeed, vhelp, nv->getCarFollowModel().getMaxDecel()));
813 : // speed difference to create a sufficiently large gap
814 2792363 : const double needDV = overtakeDist / remainingSeconds;
815 : // make sure the deceleration is not to strong
816 3046143 : addLCSpeedAdvice(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
817 :
818 : #ifdef DEBUG_INFORM
819 : if (gDebugFlag2) {
820 : std::cout << SIMTIME
821 : << " veh=" << myVehicle.getID()
822 : << " wants to be overtaken by=" << nv->getID()
823 : << " overtakeDist=" << overtakeDist
824 : << " vneigh=" << nv->getSpeed()
825 : << " vhelp=" << vhelp
826 : << " needDV=" << needDV
827 : << " vsafe=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
828 : << "\n";
829 : }
830 : #endif
831 : }
832 1503491 : } else if (neighFollow.first != 0) {
833 1503491 : const double vsafe = MSLCHelper::getSpeedPreservingSecureGap(myVehicle, *neighFollow.first, neighFollow.second, plannedSpeed);
834 1503491 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
835 : #ifdef DEBUG_INFORM
836 : if (gDebugFlag2) {
837 : std::cout << " wants to cut in before non-blocking follower nv=" << neighFollow.first->getID() << "\n";
838 : }
839 : #endif
840 : }
841 : }
842 :
843 : double
844 2602436 : MSLCM_SL2015::informLeaders(int blocked, int dir,
845 : const std::vector<CLeaderDist>& blockers,
846 : double remainingSeconds) {
847 2602436 : double plannedSpeed = myVehicle.getSpeed();
848 2602436 : double space = myLeftSpace;
849 2602436 : if (myLeadingBlockerLength != 0) {
850 : // see patchSpeed @todo: refactor
851 344631 : space -= myLeadingBlockerLength - POSITION_EPS - myVehicle.getVehicleType().getMinGap();
852 344631 : if (space <= 0) {
853 : // ignore leading blocker
854 1148 : space = myLeftSpace;
855 : }
856 : }
857 2602436 : double safe = myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), space);
858 : plannedSpeed = MIN2(plannedSpeed, safe);
859 :
860 10237292 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
861 7634856 : plannedSpeed = MIN2(plannedSpeed, informLeader(blocked, dir, *it, remainingSeconds));
862 : }
863 2602436 : return plannedSpeed;
864 : }
865 :
866 :
867 : void
868 2178678 : MSLCM_SL2015::informFollowers(int blocked, int dir,
869 : const std::vector<CLeaderDist>& blockers,
870 : double remainingSeconds,
871 : double plannedSpeed) {
872 : // #3727
873 7862482 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
874 5683804 : informFollower(blocked, dir, *it, remainingSeconds, plannedSpeed);
875 : }
876 2178678 : }
877 :
878 :
879 : void
880 81886506 : MSLCM_SL2015::prepareStep() {
881 81886506 : MSAbstractLaneChangeModel::prepareStep();
882 : // keep information about strategic change direction
883 81886506 : myOwnState = (myOwnState & (LCA_STRATEGIC | LCA_COOPERATIVE)) ? (myOwnState & LCA_WANTS_LANECHANGE) : 0;
884 : #ifdef DEBUG_INFORM
885 : if (debugVehicle()) {
886 : std::cout << SIMTIME
887 : << " veh=" << myVehicle.getID()
888 : << " prepareStep"
889 : << " myCanChangeFully=" << myCanChangeFully
890 : << "\n";
891 : }
892 : #endif
893 81886506 : myLeadingBlockerLength = 0;
894 81886506 : myLeftSpace = 0;
895 : myLCAccelerationAdvices.clear();
896 81886506 : myDontBrake = false;
897 : myCFRelated.clear();
898 81886506 : myCFRelatedReady = false;
899 81886506 : const double halfWidth = getWidth() * 0.5;
900 : // only permit changing within lane bounds but open up the range depending on the checked duration in _wantsChangeSublane()
901 81886506 : mySafeLatDistRight = myVehicle.getLane()->getWidth() * 0.5 + myVehicle.getLateralPositionOnLane() - halfWidth;
902 81886506 : mySafeLatDistLeft = myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane() - halfWidth;
903 81886506 : if (isOpposite()) {
904 : std::swap(mySafeLatDistLeft, mySafeLatDistRight);
905 : }
906 : // truncate to work around numerical instability between different builds
907 81886506 : mySpeedGainProbabilityRight = ceil(mySpeedGainProbabilityRight * 100000.0) * 0.00001;
908 81886506 : mySpeedGainProbabilityLeft = ceil(mySpeedGainProbabilityLeft * 100000.0) * 0.00001;
909 81886506 : myKeepRightProbability = ceil(myKeepRightProbability * 100000.0) * 0.00001;
910 : // updated myExpectedSublaneSpeeds
911 : // XXX only do this when (sub)lane changing is possible
912 : std::vector<double> newExpectedSpeeds;
913 : #ifdef DEBUG_INFORM
914 : if (DEBUG_COND) {
915 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myExpectedSublaneSpeeds=" << toString(myExpectedSublaneSpeeds) << "\n";
916 : }
917 : #endif
918 163773012 : if (myExpectedSublaneSpeeds.size() != myVehicle.getLane()->getEdge().getSubLaneSides().size()) {
919 : // initialize
920 1133643 : const MSEdge* currEdge = &myVehicle.getLane()->getEdge();
921 : const std::vector<MSLane*>& lanes = currEdge->getLanes();
922 3101480 : for (std::vector<MSLane*>::const_iterator it_lane = lanes.begin(); it_lane != lanes.end(); ++it_lane) {
923 1967837 : const int subLanes = MAX2(1, int(ceil((*it_lane)->getWidth() / MSGlobals::gLateralResolution)));
924 10471840 : for (int i = 0; i < subLanes; ++i) {
925 8504003 : newExpectedSpeeds.push_back((*it_lane)->getVehicleMaxSpeed(&myVehicle));
926 : }
927 : }
928 1133643 : if (currEdge->canChangeToOpposite()) {
929 11123 : MSLane* opposite = lanes.back()->getOpposite();
930 11123 : const int subLanes = MAX2(1, int(ceil(opposite->getWidth() / MSGlobals::gLateralResolution)));
931 60966 : for (int i = 0; i < subLanes; ++i) {
932 49843 : newExpectedSpeeds.push_back(lanes.back()->getVehicleMaxSpeed(&myVehicle));
933 : }
934 : }
935 1133643 : if (myExpectedSublaneSpeeds.size() > 0) {
936 : // copy old values
937 : assert(myLastEdge != 0);
938 629994 : if (myLastEdge->getSubLaneSides().size() == myExpectedSublaneSpeeds.size()) {
939 629994 : const int subLaneShift = computeSublaneShift(myLastEdge, currEdge);
940 629994 : if (subLaneShift < std::numeric_limits<int>::max()) {
941 2604642 : for (int i = 0; i < (int)myExpectedSublaneSpeeds.size(); ++i) {
942 2253189 : const int newI = i + subLaneShift;
943 2253189 : if (newI > 0 && newI < (int)newExpectedSpeeds.size()) {
944 1545746 : newExpectedSpeeds[newI] = myExpectedSublaneSpeeds[i];
945 : }
946 : }
947 : }
948 : }
949 : }
950 1133643 : myExpectedSublaneSpeeds = newExpectedSpeeds;
951 1133643 : myLastEdge = currEdge;
952 : }
953 : assert(myExpectedSublaneSpeeds.size() == myVehicle.getLane()->getEdge().getSubLaneSides().size());
954 81886506 : if (mySigma > 0) {
955 53761 : mySigmaState += getLateralDrift();
956 : }
957 81886506 : }
958 :
959 : double
960 53761 : MSLCM_SL2015::getLateralDrift() {
961 : //OUProcess::step(double state, double dt, double timeScale, double noiseIntensity)
962 53761 : const double deltaState = OUProcess::step(mySigmaState,
963 53761 : myVehicle.getActionStepLengthSecs(),
964 53761 : MAX2(NUMERICAL_EPS, (1 - mySigma) * 100), mySigma) - mySigmaState;
965 53761 : const double scaledDelta = deltaState * myVehicle.getSpeed() / myVehicle.getLane()->getSpeedLimit();
966 53761 : return scaledDelta;
967 : }
968 :
969 : double
970 94837064 : MSLCM_SL2015::getPosLat() {
971 94837064 : return myVehicle.getLateralPositionOnLane() + mySigmaState;
972 : }
973 :
974 : int
975 629994 : MSLCM_SL2015::computeSublaneShift(const MSEdge* prevEdge, const MSEdge* curEdge) {
976 : // find the first lane that targets the new edge
977 : int prevShift = 0;
978 1263036 : for (const MSLane* const lane : prevEdge->getLanes()) {
979 1839803 : for (const MSLink* const link : lane->getLinkCont()) {
980 1206761 : if (&link->getLane()->getEdge() == curEdge) {
981 : int curShift = 0;
982 : const MSLane* target = link->getLane();
983 : const std::vector<MSLane*>& lanes2 = curEdge->getLanes();
984 490474 : for (std::vector<MSLane*>::const_iterator it_lane2 = lanes2.begin(); it_lane2 != lanes2.end(); ++it_lane2) {
985 490474 : const MSLane* lane2 = *it_lane2;
986 490474 : if (lane2 == target) {
987 351453 : return prevShift + curShift;
988 : }
989 139021 : MSLeaderInfo ahead(lane2->getWidth());
990 139021 : curShift += ahead.numSublanes();
991 139021 : }
992 : assert(false);
993 : }
994 : }
995 633042 : MSLeaderInfo ahead(lane->getWidth());
996 633042 : prevShift -= ahead.numSublanes();
997 633042 : }
998 : return std::numeric_limits<int>::max();
999 : }
1000 :
1001 :
1002 : void
1003 1210986 : MSLCM_SL2015::changed() {
1004 1210986 : if (!myCanChangeFully) {
1005 : // do not reset state yet so we can continue our maneuver but acknowledge
1006 : // a change to the right (movement should continue due to lane alignment desire)
1007 368834 : if (getManeuverDist() < 0) {
1008 166245 : myKeepRightProbability = 0;
1009 : }
1010 : #ifdef DEBUG_STATE
1011 : if (DEBUG_COND) {
1012 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " state not reset. maneuverDist=" << getManeuverDist() << "\n";
1013 : }
1014 : #endif
1015 368834 : return;
1016 : }
1017 842152 : myOwnState = 0;
1018 : // XX do not reset values for unfinished maneuvers
1019 842152 : mySpeedGainProbabilityRight = 0;
1020 842152 : mySpeedGainProbabilityLeft = 0;
1021 842152 : myKeepRightProbability = 0;
1022 :
1023 842152 : if (myVehicle.getBestLaneOffset() == 0) {
1024 : // if we are not yet on our best lane there might still be unseen blockers
1025 : // (during patchSpeed)
1026 821995 : myLeadingBlockerLength = 0;
1027 821995 : myLeftSpace = 0;
1028 : }
1029 842152 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1030 : myLCAccelerationAdvices.clear();
1031 842152 : myDontBrake = false;
1032 842152 : myLeadingBlockerLength = 0;
1033 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
1034 : if (DEBUG_COND) {
1035 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " changed()\n";
1036 : }
1037 : #endif
1038 : }
1039 :
1040 :
1041 : void
1042 3716 : MSLCM_SL2015::resetState() {
1043 3716 : myOwnState = 0;
1044 3716 : mySpeedGainProbabilityRight = 0;
1045 3716 : mySpeedGainProbabilityLeft = 0;
1046 3716 : myKeepRightProbability = 0;
1047 3716 : myLeadingBlockerLength = 0;
1048 3716 : myLeftSpace = 0;
1049 3716 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1050 : myLCAccelerationAdvices.clear();
1051 3716 : myDontBrake = false;
1052 3716 : }
1053 :
1054 :
1055 : int
1056 117009275 : MSLCM_SL2015::_wantsChangeSublane(
1057 : int laneOffset,
1058 : LaneChangeAction alternatives,
1059 : const MSLeaderDistanceInfo& leaders,
1060 : const MSLeaderDistanceInfo& followers,
1061 : const MSLeaderDistanceInfo& blockers,
1062 : const MSLeaderDistanceInfo& neighLeaders,
1063 : const MSLeaderDistanceInfo& neighFollowers,
1064 : const MSLeaderDistanceInfo& neighBlockers,
1065 : const MSLane& neighLane,
1066 : const std::vector<MSVehicle::LaneQ>& preb,
1067 : MSVehicle** lastBlocked,
1068 : MSVehicle** firstBlocked,
1069 : double& latDist, double& maneuverDist, int& blocked) {
1070 :
1071 117009275 : if (laneOffset != 0) {
1072 : // update mySafeLatDist w.r.t. the direction being checkd
1073 36147578 : const double halfWidth = getWidth() * 0.5;
1074 36147578 : double center = getVehicleCenter();
1075 36147578 : if (laneOffset < 0) {
1076 16690885 : mySafeLatDistRight = center - halfWidth;
1077 : } else {
1078 19456693 : mySafeLatDistLeft = getLeftBorder() - center - halfWidth;
1079 : }
1080 : }
1081 :
1082 117009275 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
1083 : // compute bestLaneOffset
1084 : MSVehicle::LaneQ curr, neigh, best;
1085 : int bestLaneOffset = 0;
1086 117009275 : double currentDist = 0;
1087 : double neighDist = 0;
1088 117009275 : const MSLane* prebLane = myVehicle.getLane();
1089 117009275 : if (prebLane->getEdge().isInternal()) {
1090 : // internal edges are not kept inside the bestLanes structure
1091 2514327 : if (isOpposite()) {
1092 475 : prebLane = prebLane->getNormalPredecessorLane();
1093 : } else {
1094 2513852 : prebLane = prebLane->getLinkCont()[0]->getLane();
1095 : }
1096 : }
1097 : // special case: vehicle considers changing to the opposite direction edge
1098 117009275 : const bool checkOpposite = &neighLane.getEdge() != &myVehicle.getLane()->getEdge();
1099 117009275 : const int prebOffset = (checkOpposite ? 0 : laneOffset);
1100 161144352 : for (int p = 0; p < (int) preb.size(); ++p) {
1101 161144352 : if (preb[p].lane == prebLane && p + laneOffset >= 0) {
1102 : assert(p + prebOffset < (int)preb.size());
1103 : curr = preb[p];
1104 117009275 : neigh = preb[p + prebOffset];
1105 117009275 : currentDist = curr.length;
1106 117009275 : neighDist = neigh.length;
1107 117009275 : bestLaneOffset = curr.bestLaneOffset;
1108 : // VARIANT_13 (equalBest)
1109 117009275 : if (bestLaneOffset == 0 && preb[p + prebOffset].bestLaneOffset == 0 && !checkOpposite) {
1110 : #ifdef DEBUG_WANTSCHANGE
1111 : if (gDebugFlag2) {
1112 : std::cout << STEPS2TIME(currentTime)
1113 : << " veh=" << myVehicle.getID()
1114 : << " bestLaneOffsetOld=" << bestLaneOffset
1115 : << " bestLaneOffsetNew=" << laneOffset
1116 : << "\n";
1117 : }
1118 : #endif
1119 : bestLaneOffset = prebOffset;
1120 : }
1121 117009275 : best = preb[p + bestLaneOffset];
1122 : break;
1123 : }
1124 : }
1125 : assert(curr.lane != nullptr);
1126 : assert(neigh.lane != nullptr);
1127 : assert(best.lane != nullptr);
1128 : double driveToNextStop = -std::numeric_limits<double>::max();
1129 : UNUSED_PARAMETER(driveToNextStop); // XXX use when computing usableDist
1130 117009275 : if (myVehicle.nextStopDist() < std::numeric_limits<double>::max()
1131 117009275 : && &myVehicle.getNextStop().lane->getEdge() == &myVehicle.getLane()->getEdge()) {
1132 : // vehicle can always drive up to stop distance
1133 : // @note this information is dynamic and thus not available in updateBestLanes()
1134 : // @note: nextStopDist was compute before the vehicle moved
1135 : driveToNextStop = myVehicle.nextStopDist();
1136 1918762 : const double stopPos = getForwardPos() + myVehicle.nextStopDist() - myVehicle.getLastStepDist();
1137 : #ifdef DEBUG_WANTS_CHANGE
1138 : if (DEBUG_COND) {
1139 : std::cout << SIMTIME << std::setprecision(gPrecision) << " veh=" << myVehicle.getID()
1140 : << " stopDist=" << myVehicle.nextStopDist()
1141 : << " lastDist=" << myVehicle.getLastStepDist()
1142 : << " stopPos=" << stopPos
1143 : << " currentDist=" << currentDist
1144 : << " neighDist=" << neighDist
1145 : << "\n";
1146 : }
1147 : #endif
1148 2529384 : currentDist = MAX2(currentDist, stopPos);
1149 : neighDist = MAX2(neighDist, stopPos);
1150 : }
1151 : // direction specific constants
1152 117009275 : const bool right = (laneOffset == -1);
1153 117009275 : const bool left = (laneOffset == 1);
1154 117009275 : const int myLca = (right ? LCA_MRIGHT : (left ? LCA_MLEFT : 0));
1155 100318390 : const int lcaCounter = (right ? LCA_LEFT : (left ? LCA_RIGHT : LCA_NONE));
1156 117009275 : const bool changeToBest = (right && bestLaneOffset < 0) || (left && bestLaneOffset > 0) || (laneOffset == 0 && bestLaneOffset == 0);
1157 : // keep information about being a leader/follower but remove information
1158 : // about previous lane change request or urgency
1159 117009275 : int ret = (myOwnState & 0xffff0000);
1160 :
1161 : // compute the distance when changing to the neighboring lane
1162 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
1163 : // minimum distance to move the vehicle fully onto the new lane
1164 117009275 : double latLaneDist = laneOffset == 0 ? 0. : myVehicle.lateralDistanceToLane(laneOffset);
1165 :
1166 : // VARIANT_5 (disableAMBACKBLOCKER1)
1167 : /*
1168 : if (leader.first != 0
1169 : && (myOwnState & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0
1170 : && (leader.first->getLaneChangeModel().getOwnState() & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
1171 :
1172 : myOwnState &= (0xffffffff - LCA_AMBLOCKINGFOLLOWER_DONTBRAKE);
1173 : if (myVehicle.getSpeed() > SUMO_const_haltingSpeed) {
1174 : myOwnState |= LCA_AMBACKBLOCKER;
1175 : } else {
1176 : ret |= LCA_AMBACKBLOCKER;
1177 : myDontBrake = true;
1178 : }
1179 : }
1180 : */
1181 :
1182 : #ifdef DEBUG_WANTSCHANGE
1183 : if (gDebugFlag2) {
1184 : std::cout << STEPS2TIME(currentTime)
1185 : << " veh=" << myVehicle.getID()
1186 : << " myState=" << toString((LaneChangeAction)myOwnState)
1187 : << " firstBlocked=" << Named::getIDSecure(*firstBlocked)
1188 : << " lastBlocked=" << Named::getIDSecure(*lastBlocked)
1189 : << "\n leaders=" << leaders.toString()
1190 : << "\n followers=" << followers.toString()
1191 : << "\n blockers=" << blockers.toString()
1192 : << "\n neighLeaders=" << neighLeaders.toString()
1193 : << "\n neighFollowers=" << neighFollowers.toString()
1194 : << "\n neighBlockers=" << neighBlockers.toString()
1195 : << "\n changeToBest=" << changeToBest
1196 : << " latLaneDist=" << latLaneDist
1197 : << " alts=" << toString((LaneChangeAction)alternatives)
1198 : << "\n expectedSpeeds=" << toString(myExpectedSublaneSpeeds)
1199 : << std::endl;
1200 : }
1201 : #endif
1202 :
1203 117009275 : ret = slowDownForBlocked(lastBlocked, ret);
1204 : // VARIANT_14 (furtherBlock)
1205 117009275 : if (lastBlocked != firstBlocked) {
1206 117009275 : ret = slowDownForBlocked(firstBlocked, ret);
1207 : }
1208 :
1209 :
1210 : // we try to estimate the distance which is necessary to get on a lane
1211 : // we have to get on in order to keep our route
1212 : // we assume we need something that depends on our velocity
1213 : // and compare this with the free space on our wished lane
1214 : //
1215 : // if the free space is somehow less than the space we need, we should
1216 : // definitely try to get to the desired lane
1217 : //
1218 : // this rule forces our vehicle to change the lane if a lane changing is necessary soon
1219 : // lookAheadDistance:
1220 : // we do not want the lookahead distance to change all the time so we discrectize the speed a bit
1221 :
1222 : // VARIANT_18 (laHyst)
1223 117009275 : if (myVehicle.getSpeed() > myLookAheadSpeed) {
1224 20299655 : myLookAheadSpeed = myVehicle.getSpeed();
1225 : } else {
1226 : // FIXME: This strongly dependent on the value of TS, see LC2013 for the fix (l.1153, currently)
1227 96709620 : myLookAheadSpeed = MAX2(LOOK_AHEAD_MIN_SPEED,
1228 96709620 : (LOOK_AHEAD_SPEED_MEMORY * myLookAheadSpeed + (1 - LOOK_AHEAD_SPEED_MEMORY) * myVehicle.getSpeed()));
1229 : }
1230 : //myLookAheadSpeed = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1231 :
1232 : //double laDist = laSpeed > LOOK_FORWARD_SPEED_DIVIDER
1233 : // ? laSpeed * LOOK_FORWARD_FAR
1234 : // : laSpeed * LOOK_FORWARD_NEAR;
1235 117009275 : double laDist = myLookAheadSpeed * LOOK_FORWARD * myStrategicParam * (right ? 1 : myLookaheadLeft);
1236 117009275 : laDist += myVehicle.getVehicleType().getLengthWithGap() * 2.;
1237 : // aggressive drivers may elect to use reduced strategic lookahead to optimize speed
1238 : /*
1239 : if (mySpeedGainProbabilityRight > myChangeProbThresholdRight
1240 : || mySpeedGainProbabilityLeft > myChangeProbThresholdLeft) {
1241 : laDist *= MAX2(0.0, (1 - myPushy));
1242 : laDist *= MAX2(0,0, (1 - myAssertive));
1243 : laDist *= MAX2(0,0, (2 - mySpeedGainParam));
1244 : }
1245 : */
1246 :
1247 : // react to a stopped leader on the current lane
1248 117009275 : if (bestLaneOffset == 0 && leaders.hasStoppedVehicle()) {
1249 : // value is doubled for the check since we change back and forth
1250 : // laDist = 0.5 * (myVehicle.getVehicleType().getLengthWithGap() + leader.first->getVehicleType().getLengthWithGap());
1251 : // XXX determine length of longest stopped vehicle
1252 229743 : laDist = myVehicle.getVehicleType().getLengthWithGap();
1253 116779532 : } else if (checkOpposite && isOpposite() && neighLeaders.hasStoppedVehicle()) {
1254 : // compute exact distance to overtake stopped vehicle
1255 : laDist = 0;
1256 45395 : for (int i = 0; i < neighLeaders.numSublanes(); ++i) {
1257 36316 : CLeaderDist vehDist = neighLeaders[i];
1258 36316 : if (vehDist.first != nullptr && vehDist.first->isStopped()) {
1259 29464 : laDist = MAX2(laDist, myVehicle.getVehicleType().getMinGap() + vehDist.second + vehDist.first->getVehicleType().getLengthWithGap());
1260 : }
1261 : }
1262 9079 : laDist += myVehicle.getVehicleType().getLength();
1263 : }
1264 117009275 : if (myStrategicParam < 0) {
1265 : laDist = -1e3; // never perform strategic change
1266 : }
1267 :
1268 : // free space that is available for changing
1269 : //const double neighSpeed = (neighLead.first != 0 ? neighLead.first->getSpeed() :
1270 : // neighFollow.first != 0 ? neighFollow.first->getSpeed() :
1271 : // best.lane->getSpeedLimit());
1272 : // @note: while this lets vehicles change earlier into the correct direction
1273 : // it also makes the vehicles more "selfish" and prevents changes which are necessary to help others
1274 :
1275 117009275 : const double roundaboutBonus = MSLCHelper::getRoundaboutDistBonus(myVehicle, myRoundaboutBonus, curr, neigh, best);
1276 117009275 : currentDist += roundaboutBonus;
1277 117009275 : neighDist += roundaboutBonus;
1278 :
1279 117009275 : ret = checkStrategicChange(ret,
1280 : neighLane,
1281 : laneOffset,
1282 : leaders,
1283 : neighLeaders,
1284 : curr, neigh, best,
1285 : bestLaneOffset,
1286 : changeToBest,
1287 : currentDist,
1288 : neighDist,
1289 : laDist,
1290 : roundaboutBonus,
1291 : latLaneDist,
1292 : checkOpposite,
1293 : latDist);
1294 :
1295 :
1296 117009275 : if ((ret & LCA_STAY) != 0 && latDist == 0) {
1297 : // ensure that mySafeLatDistLeft / mySafeLatDistRight are up to date for the
1298 : // subsquent check with laneOffset = 0
1299 11507455 : const double center = myVehicle.getCenterOnEdge();
1300 11507455 : const double neighRight = getNeighRight(neighLane);
1301 11507455 : updateGaps(neighLeaders, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1302 11507455 : updateGaps(neighFollowers, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1303 : // remove TraCI flags because it should not be included in "state-without-traci"
1304 11507455 : ret = getCanceledState(laneOffset);
1305 11507455 : return ret;
1306 : }
1307 105501820 : if ((ret & LCA_URGENT) != 0) {
1308 : // prepare urgent lane change maneuver
1309 2441227 : if (changeToBest && abs(bestLaneOffset) > 1
1310 2670662 : && curr.bestContinuations.back()->getLinkCont().size() != 0
1311 : ) {
1312 : // there might be a vehicle which needs to counter-lane-change one lane further and we cannot see it yet
1313 49324 : const double reserve = MIN2(myLeftSpace - POSITION_EPS, getExtraReservation(bestLaneOffset, neighDist - currentDist));
1314 50912 : myLeadingBlockerLength = MAX2(reserve, myLeadingBlockerLength);
1315 : #ifdef DEBUG_WANTSCHANGE
1316 : if (gDebugFlag2) {
1317 : std::cout << " reserving space for unseen blockers myLeadingBlockerLength=" << myLeadingBlockerLength << "\n";
1318 : }
1319 : #endif
1320 : }
1321 :
1322 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#1
1323 : // if there is a leader and he wants to change to the opposite direction
1324 2602436 : MSVehicle* neighLeadLongest = const_cast<MSVehicle*>(getLongest(neighLeaders).first);
1325 2602436 : const bool canContinue = curr.bestContinuations.size() > 1;
1326 : #ifdef DEBUG_WANTSCHANGE
1327 : if (DEBUG_COND) {
1328 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " neighLeaders=" << neighLeaders.toString() << " longest=" << Named::getIDSecure(neighLeadLongest) << " firstBlocked=" << Named::getIDSecure(*firstBlocked) << "\n";
1329 : }
1330 : #endif
1331 2602436 : bool canReserve = MSLCHelper::updateBlockerLength(myVehicle, neighLeadLongest, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1332 2602436 : if (*firstBlocked != neighLeadLongest && tieBrakeLeader(*firstBlocked)) {
1333 81300 : canReserve &= MSLCHelper::updateBlockerLength(myVehicle, *firstBlocked, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1334 : }
1335 2602436 : if (!canReserve && !isOpposite()) {
1336 : // we have a low-priority relief connection
1337 : // std::cout << SIMTIME << " veh=" << myVehicle.getID() << " cannotReserve for blockers\n";
1338 5727 : myDontBrake = canContinue;
1339 : }
1340 :
1341 : std::vector<CLeaderDist> collectLeadBlockers;
1342 : std::vector<CLeaderDist> collectFollowBlockers;
1343 2602436 : int blockedFully = 0; // wether execution of the full maneuver is blocked
1344 2602436 : maneuverDist = latDist;
1345 2602436 : const double gapFactor = computeGapFactor(LCA_STRATEGIC);
1346 2602436 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1347 : leaders, followers, blockers,
1348 : neighLeaders, neighFollowers, neighBlockers, &collectLeadBlockers, &collectFollowBlockers,
1349 : false, gapFactor, &blockedFully);
1350 :
1351 2602436 : const double absLaneOffset = fabs(bestLaneOffset != 0 ? bestLaneOffset : latDist / SUMO_const_laneWidth);
1352 2602436 : const double remainingSeconds = ((ret & LCA_TRACI) == 0 ?
1353 3202184 : MAX2(STEPS2TIME(TS), myLeftSpace / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / absLaneOffset / URGENCY) :
1354 184 : myVehicle.getInfluencer().changeRequestRemainingSeconds(currentTime));
1355 2602436 : const double plannedSpeed = informLeaders(blocked, myLca, collectLeadBlockers, remainingSeconds);
1356 : // coordinate with direct obstructions
1357 2602436 : if (plannedSpeed >= 0) {
1358 : // maybe we need to deal with a blocking follower
1359 2178678 : informFollowers(blocked, myLca, collectFollowBlockers, remainingSeconds, plannedSpeed);
1360 : }
1361 2178678 : if (plannedSpeed > 0) {
1362 963672 : commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane, maneuverDist);
1363 : }
1364 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
1365 : if (gDebugFlag2) {
1366 : std::cout << STEPS2TIME(currentTime)
1367 : << " veh=" << myVehicle.getID()
1368 : << " myLeftSpace=" << myLeftSpace
1369 : << " changeFully=" << myCanChangeFully
1370 : << " blockedFully=" << toString((LaneChangeAction)blockedFully)
1371 : << " remainingSeconds=" << remainingSeconds
1372 : << " plannedSpeed=" << plannedSpeed
1373 : << " mySafeLatDistRight=" << mySafeLatDistRight
1374 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
1375 : << "\n";
1376 : }
1377 : #endif
1378 : // remove TraCI flags because it should not be included in "state-without-traci"
1379 2602436 : ret = getCanceledState(laneOffset);
1380 : return ret;
1381 2602436 : }
1382 : // VARIANT_15
1383 102899384 : if (roundaboutBonus > 0) {
1384 :
1385 : #ifdef DEBUG_WANTS_CHANGE
1386 : if (DEBUG_COND) {
1387 : std::cout << STEPS2TIME(currentTime)
1388 : << " veh=" << myVehicle.getID()
1389 : << " roundaboutBonus=" << roundaboutBonus
1390 : << " myLeftSpace=" << myLeftSpace
1391 : << "\n";
1392 : }
1393 : #endif
1394 : // try to use the inner lanes of a roundabout to increase throughput
1395 : // unless we are approaching the exit
1396 5373637 : if (left) {
1397 537785 : ret |= LCA_COOPERATIVE;
1398 537785 : if (!cancelRequest(ret | LCA_LEFT, laneOffset)) {
1399 537785 : if ((ret & LCA_STAY) == 0) {
1400 537785 : latDist = latLaneDist;
1401 537785 : maneuverDist = latLaneDist;
1402 537785 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1403 : leaders, followers, blockers,
1404 : neighLeaders, neighFollowers, neighBlockers);
1405 : }
1406 537785 : return ret;
1407 : } else {
1408 : ret &= ~LCA_COOPERATIVE;
1409 : }
1410 : } else {
1411 4835852 : myKeepRightProbability = 0;
1412 : }
1413 : }
1414 :
1415 : // --------
1416 :
1417 : // -------- make place on current lane if blocking follower
1418 : //if (amBlockingFollowerPlusNB()) {
1419 : // std::cout << myVehicle.getID() << ", " << currentDistAllows(neighDist, bestLaneOffset, laDist)
1420 : // << " neighDist=" << neighDist
1421 : // << " currentDist=" << currentDist
1422 : // << "\n";
1423 : //}
1424 : const double inconvenience = (latLaneDist < 0
1425 102361599 : ? -mySpeedGainProbabilityRight / myChangeProbThresholdRight
1426 91624435 : : -mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
1427 : #ifdef DEBUG_COOPERATE
1428 : if (gDebugFlag2) {
1429 : std::cout << STEPS2TIME(currentTime)
1430 : << " veh=" << myVehicle.getID()
1431 : << " amBlocking=" << amBlockingFollowerPlusNB()
1432 : << " state=" << toString((LaneChangeAction)myOwnState)
1433 : << " myLca=" << toString((LaneChangeAction)myLca)
1434 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1435 : << " inconvenience=" << inconvenience
1436 : << " origLatDist=" << getManeuverDist()
1437 : << " wantsChangeToHelp=" << (right ? "right" : "left")
1438 : << " state=" << myOwnState
1439 : << "\n";
1440 : }
1441 : #endif
1442 :
1443 : if (laneOffset != 0
1444 21559377 : && ((amBlockingFollowerPlusNB()
1445 : // VARIANT_6 : counterNoHelp
1446 258521 : && ((myOwnState & myLca) != 0))
1447 21481154 : ||
1448 : // continue previous cooperative change
1449 21481154 : ((myPreviousState & LCA_COOPERATIVE) != 0
1450 84694 : && !myCanChangeFully
1451 : // change is in the right direction
1452 46620 : && (laneOffset * getManeuverDist() > 0)))
1453 80443 : && (inconvenience < myCooperativeParam)
1454 102439779 : && (changeToBest || currentDistAllows(neighDist, abs(bestLaneOffset) + 1, laDist))) {
1455 :
1456 : // VARIANT_2 (nbWhenChangingToHelp)
1457 : #ifdef DEBUG_COOPERATE
1458 : if (gDebugFlag2) {
1459 : std::cout << " wants cooperative change\n";
1460 : }
1461 : #endif
1462 :
1463 78180 : ret |= LCA_COOPERATIVE | LCA_URGENT ;//| LCA_CHANGE_TO_HELP;
1464 78180 : if (!cancelRequest(ret | getLCA(ret, latLaneDist), laneOffset)) {
1465 78180 : latDist = amBlockingFollowerPlusNB() ? latLaneDist : getManeuverDist();
1466 78180 : maneuverDist = latDist;
1467 78180 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1468 : leaders, followers, blockers,
1469 : neighLeaders, neighFollowers, neighBlockers);
1470 78180 : return ret;
1471 : } else {
1472 : ret &= ~(LCA_COOPERATIVE | LCA_URGENT);
1473 : }
1474 : }
1475 :
1476 : // --------
1477 :
1478 :
1479 : //// -------- security checks for krauss
1480 : //// (vsafe fails when gap<0)
1481 : //if ((blocked & LCA_BLOCKED) != 0) {
1482 : // return ret;
1483 : //}
1484 : //// --------
1485 :
1486 : // -------- higher speed
1487 : //if ((congested(neighLead.first) && neighLead.second < 20) || predInteraction(leader.first)) { //!!!
1488 : // return ret;
1489 : //}
1490 :
1491 : // iterate over all possible combinations of sublanes this vehicle might cover and check the potential speed
1492 102283419 : const MSEdge& edge = (isOpposite() ? myVehicle.getLane()->getParallelOpposite() : myVehicle.getLane())->getEdge();
1493 : const std::vector<double>& sublaneSides = edge.getSubLaneSides();
1494 : assert(sublaneSides.size() == myExpectedSublaneSpeeds.size());
1495 102283419 : const double vehWidth = getWidth();
1496 102283419 : const double rightVehSide = getVehicleCenter() - 0.5 * vehWidth;
1497 102283419 : const double leftVehSide = rightVehSide + vehWidth;
1498 : // figure out next speed when staying where we are
1499 : double defaultNextSpeed = std::numeric_limits<double>::max();
1500 : /// determine the leftmost and rightmost sublanes currently occupied
1501 102283419 : int leftmostOnEdge = (int)sublaneSides.size() - 1;
1502 295699522 : while (leftmostOnEdge > 0 && sublaneSides[leftmostOnEdge] > leftVehSide) {
1503 193416103 : leftmostOnEdge--;
1504 : }
1505 : int rightmostOnEdge = leftmostOnEdge;
1506 380098364 : while (rightmostOnEdge > 0 && sublaneSides[rightmostOnEdge] > rightVehSide + NUMERICAL_EPS) {
1507 277814945 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1508 : #ifdef DEBUG_WANTSCHANGE
1509 : if (gDebugFlag2) {
1510 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1511 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1512 : }
1513 : #endif
1514 277814945 : rightmostOnEdge--;
1515 : }
1516 102283419 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1517 : #ifdef DEBUG_WANTSCHANGE
1518 : if (gDebugFlag2) {
1519 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1520 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1521 : }
1522 : #endif
1523 : double maxGain = -std::numeric_limits<double>::max();
1524 : double maxGainRight = -std::numeric_limits<double>::max();
1525 : double maxGainLeft = -std::numeric_limits<double>::max();
1526 : double latDistNice = std::numeric_limits<double>::max();
1527 :
1528 102283419 : const int iMin = MIN2(myVehicle.getLane()->getRightmostSublane(), neighLane.getRightmostSublane());
1529 102283419 : double leftMax = MAX2(
1530 102283419 : myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth(),
1531 : neighLane.getRightSideOnEdge() + neighLane.getWidth());
1532 102283419 : double rightMin = MIN2(myVehicle.getLane()->getRightSideOnEdge(), neighLane.getRightSideOnEdge());
1533 102283419 : if (checkOpposite || isOpposite()) {
1534 137914 : leftMax = getLeftBorder();
1535 : } else {
1536 : assert(leftMax <= edge.getWidth());
1537 : }
1538 102283419 : int sublaneCompact = MAX2(iMin, rightmostOnEdge - 1); // try to compactify to the right by default
1539 :
1540 102283419 : const double laneBoundary = laneOffset < 0 ? myVehicle.getLane()->getRightSideOnEdge() : neighLane.getRightSideOnEdge();
1541 : // if there is a neighboring lane we could change to, check sublanes on all lanes of the edge
1542 : // but restrict maneuver to the currently visible lanes (current, neigh) to ensure safety
1543 : // This way we can discover a fast lane beyond the immediate neighbor lane
1544 102283419 : const double maxLatDist = leftMax - leftVehSide;
1545 102283419 : const double minLatDist = rightMin - rightVehSide;
1546 102283419 : const int iStart = laneOffset == 0 ? iMin : 0;
1547 21481197 : const double rightEnd = laneOffset == 0 ? leftMax : (checkOpposite ? getLeftBorder() : edge.getWidth());
1548 : #ifdef DEBUG_WANTSCHANGE
1549 : if (gDebugFlag2) std::cout
1550 : << " checking sublanes rightmostOnEdge=" << rightmostOnEdge
1551 : << " rightEnd=" << rightEnd
1552 : << " leftmostOnEdge=" << leftmostOnEdge
1553 : << " iStart=" << iStart
1554 : << " iMin=" << iMin
1555 : << " sublaneSides=" << sublaneSides.size()
1556 : << " leftMax=" << leftMax
1557 : << " minLatDist=" << minLatDist
1558 : << " maxLatDist=" << maxLatDist
1559 : << " sublaneCompact=" << sublaneCompact
1560 : << "\n";
1561 : #endif
1562 755919121 : for (int i = iStart; i < (int)sublaneSides.size(); ++i) {
1563 653635702 : if (sublaneSides[i] + vehWidth < rightEnd) {
1564 : // i is the rightmost sublane and the left side of vehicles still fits on the edge,
1565 : // compute min speed of all sublanes covered by the vehicle in this case
1566 348542518 : double vMin = myExpectedSublaneSpeeds[i];
1567 : //std::cout << " i=" << i << "\n";
1568 : int j = i;
1569 1357530586 : while (vMin > 0 && j < (int)sublaneSides.size() && sublaneSides[j] < sublaneSides[i] + vehWidth) {
1570 1008988068 : vMin = MIN2(vMin, myExpectedSublaneSpeeds[j]);
1571 : #ifdef DEBUG_WANTSCHANGE
1572 : if (gDebugFlag2) {
1573 : //std::cout << " j=" << j << " vMin=" << vMin << " sublaneSides[j]=" << sublaneSides[j] << " leftVehSide=" << leftVehSide << " rightVehSide=" << rightVehSide << "\n";
1574 : }
1575 : #endif
1576 1008988068 : ++j;
1577 : }
1578 : // check whether the vehicle is between lanes
1579 348542518 : if (laneOffset != 0 && overlap(sublaneSides[i], sublaneSides[i] + vehWidth, laneBoundary, laneBoundary)) {
1580 40523757 : vMin *= (1 - myLaneDiscipline);
1581 : }
1582 494737065 : double relativeGain = (vMin - defaultNextSpeed) / MAX2(vMin, RELGAIN_NORMALIZATION_MIN_SPEED);
1583 348542518 : double currentLatDist = sublaneSides[i] - rightVehSide;
1584 348542518 : if ((laneOffset == 0 && (currentLatDist > maxLatDist || currentLatDist < minLatDist))
1585 348542518 : || (laneOffset < 0 && currentLatDist > maxLatDist)
1586 341393323 : || (laneOffset > 0 && currentLatDist < minLatDist)) {
1587 : #ifdef DEBUG_WANTSCHANGE
1588 : if (gDebugFlag2) {
1589 : std::cout << " i=" << i << " currentLatDist=" << currentLatDist << " outOfBounds\n";
1590 : }
1591 : #endif
1592 15940991 : continue;
1593 : }
1594 : currentLatDist = MIN2(MAX2(currentLatDist, minLatDist), maxLatDist);
1595 332601527 : if (currentLatDist > 0 && myVehicle.getLane()->getBidiLane() != nullptr) {
1596 : // penalize overtaking on the left if the lane is used in both
1597 : // directions
1598 894286 : relativeGain *= 0.5;
1599 : }
1600 : // @note only consider change if it is compatible with the current direction (same sign or laneOffset == 0)
1601 332601527 : if (relativeGain > maxGain && currentLatDist * laneOffset >= 0) {
1602 : maxGain = relativeGain;
1603 126732271 : if (maxGain > GAIN_PERCEPTION_THRESHOLD) {
1604 : sublaneCompact = i;
1605 8028385 : latDist = currentLatDist;
1606 : #ifdef DEBUG_WANTSCHANGE
1607 : if (gDebugFlag2) {
1608 : std::cout << " i=" << i << " vMin=" << vMin << " newLatDist=" << latDist << " relGain=" << relativeGain << "\n";
1609 : }
1610 : #endif
1611 : }
1612 : } else {
1613 : // if anticipated gains to the left are higher then to the right and current gains are equal, prefer left
1614 205869256 : if (currentLatDist > 0
1615 : //&& latDist < 0 // #7184 compensates for #7185
1616 137579348 : && mySpeedGainProbabilityLeft > mySpeedGainProbabilityRight
1617 35957954 : && relativeGain > GAIN_PERCEPTION_THRESHOLD
1618 3481293 : && maxGain - relativeGain < NUMERICAL_EPS) {
1619 2768141 : latDist = currentLatDist;
1620 : }
1621 : }
1622 : #ifdef DEBUG_WANTSCHANGE
1623 : if (gDebugFlag2) {
1624 : std::cout << " i=" << i << " rightmostOnEdge=" << rightmostOnEdge << " vMin=" << vMin << " relGain=" << relativeGain << " sublaneCompact=" << sublaneCompact << " curLatDist=" << currentLatDist << "\n";
1625 : }
1626 : #endif
1627 332601527 : if (currentLatDist < -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1628 : maxGainRight = MAX2(maxGainRight, relativeGain);
1629 164831247 : } else if (currentLatDist > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1630 : maxGainLeft = MAX2(maxGainLeft, relativeGain);
1631 : }
1632 332601527 : const double subAlignDist = sublaneSides[i] - rightVehSide;
1633 332601527 : if (fabs(subAlignDist) < fabs(latDistNice)) {
1634 : latDistNice = subAlignDist;
1635 : #ifdef DEBUG_WANTSCHANGE
1636 : if (gDebugFlag2) std::cout
1637 : << " nicest sublane=" << i
1638 : << " side=" << sublaneSides[i]
1639 : << " rightSide=" << rightVehSide
1640 : << " latDistNice=" << latDistNice
1641 : << " maxGainR=" << (maxGainRight == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainRight))
1642 : << " maxGainL=" << (maxGainLeft == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainLeft))
1643 : << "\n";
1644 : #endif
1645 : }
1646 : }
1647 : }
1648 : // updated change probabilities
1649 102283419 : if (maxGainRight != -std::numeric_limits<double>::max()) {
1650 : #ifdef DEBUG_WANTSCHANGE
1651 : if (gDebugFlag2) {
1652 : std::cout << " speedGainR_old=" << mySpeedGainProbabilityRight;
1653 : }
1654 : #endif
1655 97560909 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * maxGainRight;
1656 : #ifdef DEBUG_WANTSCHANGE
1657 : if (gDebugFlag2) {
1658 : std::cout << " speedGainR_new=" << mySpeedGainProbabilityRight << "\n";
1659 : }
1660 : #endif
1661 : }
1662 102283419 : if (maxGainLeft != -std::numeric_limits<double>::max()) {
1663 : #ifdef DEBUG_WANTSCHANGE
1664 : if (gDebugFlag2) {
1665 : std::cout << " speedGainL_old=" << mySpeedGainProbabilityLeft;
1666 : }
1667 : #endif
1668 94817385 : mySpeedGainProbabilityLeft += myVehicle.getActionStepLengthSecs() * maxGainLeft;
1669 : #ifdef DEBUG_WANTSCHANGE
1670 : if (gDebugFlag2) {
1671 : std::cout << " speedGainL_new=" << mySpeedGainProbabilityLeft << "\n";
1672 : }
1673 : #endif
1674 : }
1675 : // decay if there is no reason for or against changing (only if we have enough information)
1676 102283419 : if ((fabs(maxGainRight) < NUMERICAL_EPS || maxGainRight == -std::numeric_limits<double>::max())
1677 96604432 : && (right || (alternatives & LCA_RIGHT) == 0)) {
1678 79259929 : mySpeedGainProbabilityRight *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1679 : }
1680 102283419 : if ((fabs(maxGainLeft) < NUMERICAL_EPS || maxGainLeft == -std::numeric_limits<double>::max())
1681 93358059 : && (left || (alternatives & LCA_LEFT) == 0)) {
1682 73617210 : mySpeedGainProbabilityLeft *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1683 : }
1684 :
1685 :
1686 : #ifdef DEBUG_WANTSCHANGE
1687 : if (gDebugFlag2) std::cout << SIMTIME
1688 : << " veh=" << myVehicle.getID()
1689 : << " defaultNextSpeed=" << defaultNextSpeed
1690 : << " maxGain=" << maxGain
1691 : << " maxGainRight=" << maxGainRight
1692 : << " maxGainLeft=" << maxGainLeft
1693 : << " probRight=" << mySpeedGainProbabilityRight
1694 : << " probLeft=" << mySpeedGainProbabilityLeft
1695 : << " latDist=" << latDist
1696 : << " latDistNice=" << latDistNice
1697 : << " sublaneCompact=" << sublaneCompact
1698 : << "\n";
1699 : #endif
1700 :
1701 102283419 : if (!left) {
1702 : // ONLY FOR CHANGING TO THE RIGHT
1703 : // start keepRight maneuver when no speed loss is expected and continue
1704 : // started maneuvers if the loss isn't too big
1705 91443120 : if (right && myVehicle.getSpeed() > 0 && (maxGainRight >= 0
1706 145804 : || ((myPreviousState & LCA_KEEPRIGHT) != 0 && maxGainRight >= -myKeepRightParam))) {
1707 : // honor the obligation to keep right (Rechtsfahrgebot)
1708 8609506 : const double vMax = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1709 8609506 : const double roadSpeedFactor = vMax / myVehicle.getLane()->getSpeedLimit(); // differse from speedFactor if vMax < speedLimit
1710 : double acceptanceTime;
1711 8609506 : if (myKeepRightAcceptanceTime == -1) {
1712 : // legacy behavior: scale acceptance time with current speed and
1713 : // use old hard-coded constant
1714 17218478 : acceptanceTime = 7 * roadSpeedFactor * MAX2(1.0, myVehicle.getSpeed());
1715 : } else {
1716 267 : acceptanceTime = myKeepRightAcceptanceTime * roadSpeedFactor;
1717 267 : if (followers.hasVehicles()) {
1718 : // reduce acceptanceTime if a follower vehicle is faster or wants to drive faster
1719 : double minFactor = 1.0;
1720 220 : for (int i = 0; i < followers.numSublanes(); ++i) {
1721 176 : CLeaderDist follower = followers[i];
1722 352 : if (follower.first != nullptr && follower.second < 2 * follower.first->getCarFollowModel().brakeGap(follower.first->getSpeed())) {
1723 176 : if (follower.first->getSpeed() >= myVehicle.getSpeed()) {
1724 352 : double factor = MAX2(1.0, myVehicle.getSpeed()) / MAX2(1.0, follower.first->getSpeed());
1725 176 : const double fRSF = follower.first->getLane()->getVehicleMaxSpeed(follower.first) / follower.first->getLane()->getSpeedLimit();
1726 176 : if (fRSF > roadSpeedFactor) {
1727 100 : factor /= fRSF;
1728 : }
1729 176 : if (factor < minFactor) {
1730 : minFactor = factor;
1731 : }
1732 : }
1733 : }
1734 : }
1735 44 : acceptanceTime *= minFactor;
1736 : }
1737 : }
1738 8609506 : double fullSpeedGap = MAX2(0., neighDist - myVehicle.getCarFollowModel().brakeGap(vMax));
1739 8609506 : double fullSpeedDrivingSeconds = MIN2(acceptanceTime, fullSpeedGap / vMax);
1740 8609506 : CLeaderDist neighLead = getSlowest(neighLeaders);
1741 8609506 : if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1742 7153748 : fullSpeedGap = MAX2(0., MIN2(fullSpeedGap,
1743 7153748 : neighLead.second - myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1744 7153748 : vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1745 7153748 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1746 : }
1747 8609506 : const double deltaProb = (myChangeProbThresholdRight * (fullSpeedDrivingSeconds / acceptanceTime) / KEEP_RIGHT_TIME) * myVehicle.getActionStepLengthSecs();
1748 8609506 : const bool isSlide = preventSliding(latLaneDist);
1749 : // stay below threshold
1750 9707946 : if (!isSlide || !wantsKeepRight(myKeepRightProbability + deltaProb)) {
1751 8571895 : myKeepRightProbability += deltaProb;
1752 : }
1753 :
1754 : #ifdef DEBUG_WANTSCHANGE
1755 : if (gDebugFlag2) {
1756 : std::cout << STEPS2TIME(currentTime)
1757 : << " considering keepRight:"
1758 : << " vMax=" << vMax
1759 : << " neighDist=" << neighDist
1760 : << " brakeGap=" << myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed())
1761 : << " leaderSpeed=" << (neighLead.first == 0 ? -1 : neighLead.first->getSpeed())
1762 : << " secGap=" << (neighLead.first == 0 ? -1 : myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1763 : myVehicle.getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()))
1764 : << " acceptanceTime=" << acceptanceTime
1765 : << " fullSpeedGap=" << fullSpeedGap
1766 : << " fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1767 : << " dProb=" << deltaProb
1768 : << " isSlide=" << isSlide
1769 : << " keepRight=" << myKeepRightProbability
1770 : << " speedGainL=" << mySpeedGainProbabilityLeft
1771 : << "\n";
1772 : }
1773 : #endif
1774 8609506 : if (wantsKeepRight(myKeepRightProbability)
1775 : /*&& latLaneDist <= -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()*/) {
1776 499760 : ret |= LCA_KEEPRIGHT;
1777 : assert(myVehicle.getLane()->getIndex() > neighLane.getIndex() || isOpposite());
1778 499760 : if (!cancelRequest(ret | LCA_RIGHT, laneOffset)) {
1779 498908 : latDist = latLaneDist;
1780 498908 : maneuverDist = latLaneDist;
1781 498908 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1782 : leaders, followers, blockers,
1783 : neighLeaders, neighFollowers, neighBlockers);
1784 498908 : return ret;
1785 : } else {
1786 : ret &= ~LCA_KEEPRIGHT;
1787 : }
1788 : }
1789 : }
1790 :
1791 90944212 : const double bidiRightFactor = myVehicle.getLane()->getBidiLane() == nullptr && !isOpposite() ? 1 : 0.05;
1792 : #ifdef DEBUG_WANTSCHANGE
1793 : if (gDebugFlag2) {
1794 : std::cout << STEPS2TIME(currentTime)
1795 : << " speedGainR=" << mySpeedGainProbabilityRight
1796 : << " speedGainL=" << mySpeedGainProbabilityLeft
1797 : << " neighDist=" << neighDist
1798 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1799 : << " rThresh=" << myChangeProbThresholdRight
1800 : << " rThresh2=" << myChangeProbThresholdRight* bidiRightFactor
1801 : << " latDist=" << latDist
1802 : << "\n";
1803 : }
1804 : #endif
1805 :
1806 : // make changing on the right more attractive on bidi edges
1807 2808773 : if (latDist < 0 && mySpeedGainProbabilityRight >= myChangeProbThresholdRight * bidiRightFactor
1808 93041348 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) {
1809 1013881 : ret |= LCA_SPEEDGAIN;
1810 1013881 : if (!cancelRequest(ret | getLCA(ret, latDist), laneOffset)) {
1811 1001290 : int blockedFully = 0;
1812 1001290 : maneuverDist = latDist;
1813 1001290 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1814 : leaders, followers, blockers,
1815 : neighLeaders, neighFollowers, neighBlockers,
1816 : nullptr, nullptr, false, 0, &blockedFully);
1817 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1818 : return ret;
1819 : } else {
1820 : // @note: restore ret so subsequent calls to cancelRequest work correctly
1821 12591 : latDist = 0;
1822 : ret &= ~LCA_SPEEDGAIN;
1823 : }
1824 : }
1825 : }
1826 100783221 : if (!right || isOpposite()) {
1827 :
1828 91440784 : const bool stayInLane = myVehicle.getLateralPositionOnLane() + latDist < 0.5 * myVehicle.getLane()->getWidth();
1829 : #ifdef DEBUG_WANTSCHANGE
1830 : if (gDebugFlag2) {
1831 : std::cout << STEPS2TIME(currentTime)
1832 : << " speedGainL=" << mySpeedGainProbabilityLeft
1833 : << " speedGainR=" << mySpeedGainProbabilityRight
1834 : << " latDist=" << latDist
1835 : << " neighDist=" << neighDist
1836 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1837 : << " lThresh=" << myChangeProbThresholdLeft
1838 : << " stayInLane=" << stayInLane
1839 : << "\n";
1840 : }
1841 : #endif
1842 :
1843 91440784 : if (latDist > 0 && mySpeedGainProbabilityLeft > myChangeProbThresholdLeft &&
1844 : // if we leave our lane, we should be able to stay in the new
1845 : // lane for some time
1846 3983844 : (stayInLane || neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime)) {
1847 2757762 : ret |= LCA_SPEEDGAIN;
1848 2757762 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
1849 2738726 : int blockedFully = 0;
1850 2738726 : maneuverDist = latDist;
1851 2738726 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1852 : leaders, followers, blockers,
1853 : neighLeaders, neighFollowers, neighBlockers,
1854 : nullptr, nullptr, false, 0, &blockedFully);
1855 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1856 : return ret;
1857 : } else {
1858 19036 : latDist = 0;
1859 : ret &= ~LCA_SPEEDGAIN;
1860 : }
1861 : }
1862 : }
1863 :
1864 : double latDistSublane = 0.;
1865 98044495 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
1866 98044495 : const double halfVehWidth = getWidth() * 0.5;
1867 98044495 : if (myVehicle.getParameter().arrivalPosLatProcedure != ArrivalPosLatDefinition::DEFAULT
1868 6099 : && myVehicle.getRoute().getLastEdge() == &myVehicle.getLane()->getEdge()
1869 4454 : && bestLaneOffset == 0
1870 98048949 : && (myVehicle.getArrivalPos() - getForwardPos()) < ARRIVALPOS_LAT_THRESHOLD) {
1871 : // vehicle is on its final edge, on the correct lane and close to
1872 : // its arrival position. Change to the desired lateral position
1873 868 : switch (myVehicle.getParameter().arrivalPosLatProcedure) {
1874 54 : case ArrivalPosLatDefinition::GIVEN:
1875 54 : latDistSublane = myVehicle.getParameter().arrivalPosLat - myVehicle.getLateralPositionOnLane();
1876 54 : break;
1877 814 : case ArrivalPosLatDefinition::RIGHT:
1878 814 : latDistSublane = -halfLaneWidth + halfVehWidth - myVehicle.getLateralPositionOnLane();
1879 814 : break;
1880 0 : case ArrivalPosLatDefinition::CENTER:
1881 0 : latDistSublane = -myVehicle.getLateralPositionOnLane();
1882 0 : break;
1883 0 : case ArrivalPosLatDefinition::LEFT:
1884 0 : latDistSublane = halfLaneWidth - halfVehWidth - myVehicle.getLateralPositionOnLane();
1885 0 : break;
1886 : default:
1887 : assert(false);
1888 : }
1889 : #ifdef DEBUG_WANTSCHANGE
1890 : if (gDebugFlag2) std::cout << SIMTIME
1891 : << " arrivalPosLatProcedure=" << (int)myVehicle.getParameter().arrivalPosLatProcedure
1892 : << " arrivalPosLat=" << myVehicle.getParameter().arrivalPosLat << "\n";
1893 : #endif
1894 :
1895 : } else {
1896 :
1897 98043627 : LatAlignmentDefinition align = getDesiredAlignment();
1898 98043627 : switch (align) {
1899 4071856 : case LatAlignmentDefinition::RIGHT:
1900 4071856 : latDistSublane = -halfLaneWidth + halfVehWidth - getPosLat();
1901 4071856 : break;
1902 152369 : case LatAlignmentDefinition::LEFT:
1903 152369 : latDistSublane = halfLaneWidth - halfVehWidth - getPosLat();
1904 152369 : break;
1905 90584678 : case LatAlignmentDefinition::CENTER:
1906 : case LatAlignmentDefinition::DEFAULT:
1907 90584678 : latDistSublane = -getPosLat();
1908 90584678 : break;
1909 : case LatAlignmentDefinition::NICE:
1910 : latDistSublane = latDistNice;
1911 : break;
1912 2934399 : case LatAlignmentDefinition::COMPACT:
1913 2934399 : latDistSublane = sublaneSides[sublaneCompact] - rightVehSide;
1914 2934399 : break;
1915 27720 : case LatAlignmentDefinition::ARBITRARY: {
1916 27720 : latDistSublane = myVehicle.getLateralPositionOnLane() - getPosLat();
1917 27720 : const double hLW = myVehicle.getLane()->getWidth() * 0.5;
1918 27720 : const double posLat = myVehicle.getLateralPositionOnLane();
1919 27720 : if (fabs(posLat) > hLW) {
1920 : // vehicle is not within it's current lane
1921 37 : if (posLat > 0) {
1922 32 : latDistSublane -= (posLat - hLW);
1923 : } else {
1924 5 : latDistSublane += (-posLat - hLW);
1925 : }
1926 : } else {
1927 27683 : const double edgeWidth = myVehicle.getCurrentEdge()->getWidth();
1928 27683 : if (getWidth() < edgeWidth) {
1929 27683 : if (rightVehSide < 0) {
1930 2957 : latDistSublane -= rightVehSide;
1931 24726 : } else if (leftVehSide > edgeWidth) {
1932 1416 : latDistSublane -= leftVehSide - edgeWidth;
1933 : }
1934 : }
1935 : }
1936 : break;
1937 : }
1938 441 : case LatAlignmentDefinition::GIVEN: {
1939 : // sublane alignment should not cause the vehicle to leave the lane
1940 441 : const double hw = myVehicle.getLane()->getWidth() / 2 - NUMERICAL_EPS;
1941 882 : const double offset = MAX2(-hw, MIN2(hw, myVehicle.getVehicleType().getPreferredLateralAlignmentOffset()));
1942 441 : latDistSublane = -getPosLat() + offset;
1943 : }
1944 441 : break;
1945 : default:
1946 : break;
1947 : }
1948 : }
1949 : // only factor in preferred lateral alignment if there is no speedGain motivation or it runs in the same direction
1950 98044495 : if (fabs(latDist) <= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() ||
1951 2925524 : latDistSublane * latDist > 0) {
1952 :
1953 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE) || defined(DEBUG_MANEUVER)
1954 : if (gDebugFlag2) std::cout << SIMTIME
1955 : << " alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
1956 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
1957 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
1958 : << " latDist=" << latDist
1959 : << " latDistSublane=" << latDistSublane
1960 : << " relGainSublane=" << computeSpeedGain(latDistSublane, defaultNextSpeed)
1961 : << " maneuverDist=" << maneuverDist
1962 : << " myCanChangeFully=" << myCanChangeFully
1963 : << " myTurnAlignmentDist=" << myTurnAlignmentDist
1964 : << " nextTurn=" << myVehicle.getNextTurn().first << ":" << toString(myVehicle.getNextTurn().second)
1965 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1966 : << "\n";
1967 : #endif
1968 :
1969 10400719 : if ((latDistSublane < 0 && mySpeedGainProbabilityRight < mySpeedLossProbThreshold)
1970 95257323 : || (latDistSublane > 0 && mySpeedGainProbabilityLeft < mySpeedLossProbThreshold)
1971 189279467 : || computeSpeedGain(latDistSublane, defaultNextSpeed) < -mySublaneParam) {
1972 : // do not risk losing speed
1973 : #if defined(DEBUG_WANTSCHANGE)
1974 : if (gDebugFlag2) std::cout << " aborting sublane change to avoid speed loss (mySpeedLossProbThreshold=" << mySpeedLossProbThreshold
1975 : << " speedGain=" << computeSpeedGain(latDistSublane, defaultNextSpeed) << ")\n";
1976 : #endif
1977 : latDistSublane = 0;
1978 : }
1979 : // Ignore preferred lateral alignment if we are in the middle of an unfinished non-alignment maneuver into the opposite direction
1980 96345167 : if (!myCanChangeFully
1981 7750715 : && (myPreviousState & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_KEEPRIGHT | LCA_SPEEDGAIN)) != 0
1982 101980187 : && ((getManeuverDist() < 0 && latDistSublane > 0) || (getManeuverDist() > 0 && latDistSublane < 0))) {
1983 : #if defined(DEBUG_WANTSCHANGE)
1984 : if (gDebugFlag2) {
1985 : std::cout << " aborting sublane change due to prior maneuver\n";
1986 : }
1987 : #endif
1988 : latDistSublane = 0;
1989 : }
1990 96345167 : latDist = latDistSublane * (isOpposite() ? -1 : 1);
1991 : // XXX first compute preferred adaptation and then override with speed
1992 : // (this way adaptation is still done if changing for speedgain is
1993 : // blocked)
1994 96345167 : if (fabs(latDist) >= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1995 : #ifdef DEBUG_WANTSCHANGE
1996 : if (gDebugFlag2) std::cout << SIMTIME
1997 : << " adapting to preferred alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
1998 : << " latDist=" << latDist
1999 : << "\n";
2000 : #endif
2001 8220413 : ret |= LCA_SUBLANE;
2002 : // include prior motivation when sublane-change is part of finishing an ongoing maneuver in the same direction
2003 8220413 : if (getPreviousManeuverDist() * latDist > 0) {
2004 932637 : int priorReason = (myPreviousState & LCA_CHANGE_REASONS & ~LCA_SUBLANE);
2005 932637 : ret |= priorReason;
2006 : #ifdef DEBUG_WANTSCHANGE
2007 : if (gDebugFlag2 && priorReason != 0) std::cout << " including prior reason " << toString((LaneChangeAction)priorReason)
2008 : << " prevManeuverDist=" << getPreviousManeuverDist() << "\n";
2009 : #endif
2010 : }
2011 8220413 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
2012 8217293 : maneuverDist = latDist;
2013 8217293 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
2014 : leaders, followers, blockers,
2015 : neighLeaders, neighFollowers, neighBlockers);
2016 8217293 : return ret;
2017 : } else {
2018 3120 : ret &= ~LCA_SUBLANE;
2019 : }
2020 : } else {
2021 88124754 : return ret | LCA_SUBLANE | LCA_STAY;
2022 : }
2023 : }
2024 1702448 : latDist = 0;
2025 :
2026 :
2027 : // --------
2028 : /*
2029 : if (changeToBest && bestLaneOffset == curr.bestLaneOffset && laneOffset != 0
2030 : && (right
2031 : ? mySpeedGainProbabilityRight > MAX2(0., mySpeedGainProbabilityLeft)
2032 : : mySpeedGainProbabilityLeft > MAX2(0., mySpeedGainProbabilityRight))) {
2033 : // change towards the correct lane, speedwise it does not hurt
2034 : ret |= LCA_STRATEGIC;
2035 : if (!cancelRequest(ret, laneOffset)) {
2036 : latDist = latLaneDist;
2037 : blocked = checkBlocking(neighLane, latDist, laneOffset,
2038 : leaders, followers, blockers,
2039 : neighLeaders, neighFollowers, neighBlockers);
2040 : return ret;
2041 : }
2042 : }
2043 : */
2044 : #ifdef DEBUG_WANTSCHANGE
2045 : if (gDebugFlag2) {
2046 : std::cout << STEPS2TIME(currentTime)
2047 : << " veh=" << myVehicle.getID()
2048 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
2049 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
2050 : << " myKeepRight=" << myKeepRightProbability
2051 : << "\n";
2052 : }
2053 : #endif
2054 1702448 : return ret;
2055 102283419 : }
2056 :
2057 :
2058 : int
2059 234018550 : MSLCM_SL2015::slowDownForBlocked(MSVehicle** blocked, int state) {
2060 : // if this vehicle is blocking someone in front, we maybe decelerate to let him in
2061 234018550 : if ((*blocked) != nullptr) {
2062 16794672 : double gap = (*blocked)->getPositionOnLane() - (*blocked)->getVehicleType().getLength() - myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getMinGap();
2063 : #ifdef DEBUG_SLOWDOWN
2064 : if (gDebugFlag2) {
2065 : std::cout << SIMTIME
2066 : << " veh=" << myVehicle.getID()
2067 : << " blocked=" << Named::getIDSecure(*blocked)
2068 : << " gap=" << gap
2069 : << "\n";
2070 : }
2071 : #endif
2072 16794672 : if (gap > POSITION_EPS) {
2073 : //const bool blockedWantsUrgentRight = (((*blocked)->getLaneChangeModel().getOwnState() & LCA_RIGHT != 0)
2074 : // && ((*blocked)->getLaneChangeModel().getOwnState() & LCA_URGENT != 0));
2075 :
2076 13344084 : if (myVehicle.getSpeed() < myVehicle.getCarFollowModel().getMaxDecel()
2077 : //|| blockedWantsUrgentRight // VARIANT_10 (helpblockedRight)
2078 : ) {
2079 11412501 : if ((*blocked)->getSpeed() < SUMO_const_haltingSpeed) {
2080 6942464 : state |= LCA_AMBACKBLOCKER_STANDING;
2081 : } else {
2082 4470037 : state |= LCA_AMBACKBLOCKER;
2083 : }
2084 34237503 : const double targetSpeed = getCarFollowModel().followSpeed(
2085 11412501 : &myVehicle, myVehicle.getSpeed(), (gap - POSITION_EPS),
2086 11412501 : (*blocked)->getSpeed(), (*blocked)->getCarFollowModel().getMaxDecel());
2087 : #ifdef DEBUG_INFORM
2088 : if (gDebugFlag2) {
2089 : std::cout << " slowing down for blocked " << Named::getIDSecure(*blocked) << " targetSpeed=" << targetSpeed << "\n";
2090 : }
2091 : #endif
2092 11412501 : addLCSpeedAdvice(targetSpeed, false);
2093 : //(*blocked) = 0; // VARIANT_14 (furtherBlock)
2094 : }
2095 : }
2096 : }
2097 234018550 : return state;
2098 : }
2099 :
2100 :
2101 : bool
2102 2860954 : MSLCM_SL2015::isBidi(const MSLane* lane) const {
2103 2860954 : if (!MSNet::getInstance()->hasBidiEdges()) {
2104 : return false;
2105 : }
2106 2860954 : if (lane == myVehicle.getLane()->getBidiLane()) {
2107 : return true;
2108 : }
2109 9710533 : for (const MSLane* cand : myVehicle.getBestLanesContinuation()) {
2110 7087694 : if (cand != nullptr && cand->getBidiLane() == lane) {
2111 : return true;
2112 : }
2113 : }
2114 : return false;
2115 : }
2116 :
2117 : void
2118 126025553 : MSLCM_SL2015::updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo& ahead, int sublaneOffset, int laneIndex) {
2119 126025553 : const std::vector<MSLane*>& lanes = myVehicle.getLane()->getEdge().getLanes();
2120 126025553 : const std::vector<MSVehicle::LaneQ>& preb = myVehicle.getBestLanes();
2121 126025553 : const MSLane* lane = isOpposite() ? myVehicle.getLane()->getParallelOpposite() : lanes[laneIndex];
2122 126025553 : const MSLane* next = myVehicle.getBestLanesContinuation().size() > 1 ? myVehicle.getBestLanesContinuation()[1] : nullptr;
2123 104247997 : const MSLink* link = next != nullptr ? lane->getLinkTo(next) : nullptr;
2124 126025553 : const double shift = link != nullptr ? link->getLateralShift() + 0.5 * (lane->getWidth() - next->getWidth()) : 0;
2125 126025553 : const MSLane* bidi = myVehicle.getLane()->getBidiLane();
2126 126025553 : const double vMax = lane->getVehicleMaxSpeed(&myVehicle);
2127 : assert(preb.size() == lanes.size() || isOpposite());
2128 : #ifdef DEBUG_EXPECTED_SLSPEED
2129 : if (DEBUG_COND) {
2130 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " updateExpectedSublaneSpeeds opposite=" << isOpposite()
2131 : << " sublaneOffset=" << sublaneOffset << " laneIndex=" << laneIndex << " lane=" << lane->getID() << " ahead=" << ahead.toString() << "\n";
2132 : }
2133 : #endif
2134 :
2135 654252691 : for (int sublane = 0; sublane < (int)ahead.numSublanes(); ++sublane) {
2136 528227138 : const int edgeSublane = sublane + sublaneOffset;
2137 528227138 : if (edgeSublane >= (int)myExpectedSublaneSpeeds.size()) {
2138 : // this may happen if a sibling lane is wider than the changer lane
2139 170 : continue;
2140 : }
2141 528226968 : if (link != nullptr && lane->getWidth() > next->getWidth() + NUMERICAL_EPS && MSGlobals::gLateralResolution > 0 && sublaneEnds(sublane, next, shift)) {
2142 : // sublane does not continue, discourage from use
2143 2815299 : myExpectedSublaneSpeeds[edgeSublane] = 0;
2144 : #ifdef DEBUG_EXPECTED_SLSPEED
2145 : if (DEBUG_COND) {
2146 : std::cout << " updateExpectedSublaneSpeeds sublane=" << sublane << " doesNotContinue\n";
2147 : }
2148 : #endif
2149 2815299 : continue;
2150 525411669 : } else if (lane->allowsVehicleClass(myVehicle.getVehicleType().getVehicleClass())) {
2151 : // lane allowed, find potential leaders and compute safe speeds
2152 : // XXX anticipate future braking if leader has a lower speed than myVehicle
2153 519334032 : const MSVehicle* leader = ahead[sublane].first;
2154 519334032 : const double gap = ahead[sublane].second;
2155 : double vSafe;
2156 519334032 : if (leader == nullptr) {
2157 97618741 : if (hasBlueLight()) {
2158 : // can continue from any lane if necessary
2159 : vSafe = vMax;
2160 : } else {
2161 97388135 : const int prebIndex = isOpposite() ? (int)preb.size() - 1 : laneIndex;
2162 97388135 : const double dist = preb[prebIndex].length - myVehicle.getPositionOnLane();
2163 97388135 : vSafe = getCarFollowModel().followSpeed(&myVehicle, vMax, dist, 0, 0);
2164 : }
2165 421715291 : } else if (bidi != nullptr && leader->getLane()->getBidiLane() != nullptr && isBidi(leader->getLane())) {
2166 : // oncoming
2167 238115 : if (gap < (1 + mySpeedGainLookahead * 2) * (vMax + leader->getSpeed())) {
2168 : vSafe = 0;
2169 : } else {
2170 : vSafe = vMax;
2171 : }
2172 : #ifdef DEBUG_EXPECTED_SLSPEED
2173 : if (DEBUG_COND) {
2174 : std::cout << SIMTIME << " updateExpectedSublaneSpeeds sublane=" << sublane << " leader=" << leader->getID() << " bidi=" << bidi->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2175 : }
2176 : #endif
2177 : } else {
2178 421477176 : if (leader->getAcceleration() > 0.5 * leader->getCarFollowModel().getMaxAccel()) {
2179 : // assume that the leader will continue accelerating to its maximum speed
2180 48124777 : vSafe = leader->getLane()->getVehicleMaxSpeed(leader);
2181 : } else {
2182 373352399 : vSafe = getCarFollowModel().followSpeed(
2183 373352399 : &myVehicle, vMax, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
2184 : #ifdef DEBUG_EXPECTED_SLSPEED
2185 : if (DEBUG_COND) {
2186 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " leader=" << leader->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2187 : }
2188 : #endif
2189 373352399 : vSafe = forecastAverageSpeed(vSafe, vMax, gap, leader->getSpeed());
2190 : }
2191 : }
2192 : // take pedestrians into account
2193 519334032 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2194 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2195 : double foeRight, foeLeft;
2196 279827 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2197 : // get all leaders ahead or overlapping
2198 279827 : const PersonDist pedLeader = lane->nextBlocking(myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getLength(), foeRight, foeLeft);
2199 279827 : if (pedLeader.first != 0) {
2200 77801 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2201 : // we do not know the walking direction here so we take the pedestrian speed as 0
2202 77801 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2203 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2204 : #ifdef DEBUG_EXPECTED_SLSPEED
2205 : if (DEBUG_COND) {
2206 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " gap=" << pedGap << " vSafe=" << vSafe << "\n";
2207 : }
2208 : #endif
2209 : }
2210 : }
2211 : // take bidi pedestrians into account
2212 519334032 : if (bidi != nullptr && bidi->getEdge().getPersons().size() > 0 && bidi->hasPedestrians()) {
2213 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2214 : double foeRight, foeLeft;
2215 4277 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2216 4277 : const double foeRightBidi = bidi->getWidth() - foeLeft;
2217 4277 : const double foeLeftBidi = bidi->getWidth() - foeRight;
2218 : // get all leaders ahead or overlapping
2219 4277 : const double relativeBackPos = myVehicle.getLane()->getLength() - myVehicle.getPositionOnLane() + myVehicle.getLength();
2220 4277 : const double stopTime = ceil(myVehicle.getSpeed() / myVehicle.getCarFollowModel().getMaxDecel());
2221 4277 : PersonDist pedLeader = bidi->nextBlocking(relativeBackPos, foeRightBidi, foeLeftBidi, stopTime, true);
2222 4277 : if (pedLeader.first != 0) {
2223 719 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2224 : // we do not know the walking direction here so we take the pedestrian speed as 0
2225 719 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2226 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2227 : #ifdef DEBUG_EXPECTED_SLSPEED
2228 : if (DEBUG_COND) {
2229 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " (bidi) gap=" << pedGap << " vSafe=" << vSafe << "\n";
2230 : }
2231 : #endif
2232 : }
2233 : }
2234 : vSafe = MIN2(vMax, vSafe);
2235 : // forget old data when on the opposite side
2236 519334032 : const double memoryFactor = isOpposite() ? 0 : pow(SPEEDGAIN_MEMORY_FACTOR, myVehicle.getActionStepLengthSecs());
2237 519334032 : myExpectedSublaneSpeeds[edgeSublane] = memoryFactor * myExpectedSublaneSpeeds[edgeSublane] + (1 - memoryFactor) * vSafe;
2238 : } else {
2239 : // lane forbidden
2240 6077637 : myExpectedSublaneSpeeds[edgeSublane] = -1;
2241 : #ifdef DEBUG_EXPECTED_SLSPEED
2242 : if (DEBUG_COND) {
2243 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " lane " << lane->getID() << " forbidden\n";
2244 : }
2245 : #endif
2246 : }
2247 : }
2248 : // XXX deal with leaders on subsequent lanes based on preb
2249 126025553 : }
2250 :
2251 :
2252 : bool
2253 7041117 : MSLCM_SL2015::sublaneEnds(int i, const MSLane* next, double shift) {
2254 7041117 : const double side = i * MSGlobals::gLateralResolution + shift;
2255 : return ((side < -NUMERICAL_EPS
2256 13 : && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass())))
2257 7041130 : || (side + MSGlobals::gLateralResolution > next->getWidth()
2258 6245636 : && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))));
2259 : }
2260 :
2261 :
2262 : double
2263 373430919 : MSLCM_SL2015::forecastAverageSpeed(double vSafe, double vMax, double gap, double vLeader) const {
2264 373430919 : const double deltaV = vMax - vLeader;
2265 373430919 : if (deltaV > 0 && gap / deltaV < mySpeedGainLookahead && mySpeedGainLookahead > 0) {
2266 : // anticipate future braking by computing the average
2267 : // speed over the next few seconds
2268 219679810 : const double foreCastTime = mySpeedGainLookahead * 2;
2269 : const double gapClosingTime = MAX2(0.0, gap / deltaV);
2270 219679810 : const double vSafe2 = (gapClosingTime * vSafe + (foreCastTime - gapClosingTime) * vLeader) / foreCastTime;
2271 : #ifdef DEBUG_EXPECTED_SLSPEED
2272 : if (DEBUG_COND && vSafe2 != vSafe) {
2273 : std::cout << " foreCastTime=" << foreCastTime << " gapClosingTime=" << gapClosingTime << " extrapolated vSafe=" << vSafe2 << "\n";
2274 : }
2275 : #endif
2276 : vSafe = vSafe2;
2277 : }
2278 373430919 : return vSafe;
2279 : }
2280 :
2281 :
2282 : double
2283 92934300 : MSLCM_SL2015::computeSpeedGain(double latDistSublane, double defaultNextSpeed) const {
2284 : double result = std::numeric_limits<double>::max();
2285 92934300 : const std::vector<double>& sublaneSides = myVehicle.getLane()->getEdge().getSubLaneSides();
2286 92934300 : const double vehWidth = getWidth();
2287 92934300 : const double rightVehSide = myVehicle.getCenterOnEdge() - vehWidth * 0.5 + latDistSublane;
2288 92934300 : const double leftVehSide = rightVehSide + vehWidth;
2289 743147376 : for (int i = 0; i < (int)sublaneSides.size(); ++i) {
2290 650213076 : const double leftSide = i + 1 < (int)sublaneSides.size() ? sublaneSides[i + 1] : MAX2(myVehicle.getLane()->getEdge().getWidth(), sublaneSides[i] + POSITION_EPS);
2291 650213076 : if (overlap(rightVehSide, leftVehSide, sublaneSides[i], leftSide)) {
2292 346617615 : result = MIN2(result, myExpectedSublaneSpeeds[i]);
2293 : }
2294 : //std::cout << " i=" << i << " rightVehSide=" << rightVehSide << " leftVehSide=" << leftVehSide << " sublaneR=" << sublaneSides[i] << " sublaneL=" << leftSide << " overlap=" << overlap(rightVehSide, leftVehSide, sublaneSides[i], leftSide) << " speed=" << myExpectedSublaneSpeeds[i] << " result=" << result << "\n";
2295 : }
2296 92934300 : return result - defaultNextSpeed;
2297 92934300 : }
2298 :
2299 :
2300 : CLeaderDist
2301 2602436 : MSLCM_SL2015::getLongest(const MSLeaderDistanceInfo& ldi) const {
2302 : int iMax = -1;
2303 : double maxLength = -1;
2304 14269664 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2305 11667228 : const MSVehicle* veh = ldi[i].first;
2306 11667228 : if (veh) {
2307 9041750 : const double length = veh->getVehicleType().getLength();
2308 9041750 : if (length > maxLength && tieBrakeLeader(veh)) {
2309 : maxLength = length;
2310 : iMax = i;
2311 : }
2312 : }
2313 : }
2314 2602436 : return iMax >= 0 ? ldi[iMax] : std::make_pair(nullptr, -1);
2315 : }
2316 :
2317 :
2318 : bool
2319 4341946 : MSLCM_SL2015::tieBrakeLeader(const MSVehicle* veh) const {
2320 : // tie braker if the leader is at the same lane position
2321 4341946 : return veh != nullptr && (veh->getPositionOnLane() != myVehicle.getPositionOnLane()
2322 10390 : || veh->getSpeed() < myVehicle.getSpeed()
2323 10282 : || &veh->getLane()->getEdge() != &myVehicle.getLane()->getEdge()
2324 10282 : || veh->getLane()->getIndex() > myVehicle.getLane()->getIndex());
2325 : }
2326 :
2327 :
2328 : CLeaderDist
2329 11470893 : MSLCM_SL2015::getSlowest(const MSLeaderDistanceInfo& ldi) {
2330 : int iMax = 0;
2331 : double minSpeed = std::numeric_limits<double>::max();
2332 57893138 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2333 46422245 : if (ldi[i].first != 0) {
2334 41290107 : const double speed = ldi[i].first->getSpeed();
2335 41290107 : if (speed < minSpeed) {
2336 : minSpeed = speed;
2337 : iMax = i;
2338 : }
2339 : }
2340 : }
2341 11470893 : return ldi[iMax];
2342 : }
2343 :
2344 :
2345 : const MSVehicle*
2346 69676190 : MSLCM_SL2015::getStopped(const MSLeaderDistanceInfo& ldi) {
2347 69676190 : if (ldi.hasVehicles()) {
2348 300892104 : for (const MSVehicle* const v : ldi.getVehicles()) {
2349 243343862 : if (v != nullptr && v->isStopped()) {
2350 : return v;
2351 : }
2352 : }
2353 : }
2354 : return nullptr;
2355 : }
2356 :
2357 :
2358 : int
2359 20025556 : MSLCM_SL2015::checkBlocking(const MSLane& neighLane, double& latDist, double maneuverDist, int laneOffset,
2360 : const MSLeaderDistanceInfo& leaders,
2361 : const MSLeaderDistanceInfo& followers,
2362 : const MSLeaderDistanceInfo& /*blockers */,
2363 : const MSLeaderDistanceInfo& neighLeaders,
2364 : const MSLeaderDistanceInfo& neighFollowers,
2365 : const MSLeaderDistanceInfo& /* neighBlockers */,
2366 : std::vector<CLeaderDist>* collectLeadBlockers,
2367 : std::vector<CLeaderDist>* collectFollowBlockers,
2368 : bool keepLatGapManeuver,
2369 : double gapFactor,
2370 : int* retBlockedFully) {
2371 : // truncate latDist according to maxSpeedLat
2372 20025556 : const double maxDist = SPEED2DIST(getMaxSpeedLat2());
2373 20025556 : latDist = MAX2(MIN2(latDist, maxDist), -maxDist);
2374 20025556 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0 && myVehicle.getInfluencer().ignoreOverlap()) {
2375 : return 0;
2376 : }
2377 :
2378 20023180 : const double neighRight = getNeighRight(neighLane);
2379 20023180 : if (!myCFRelatedReady) {
2380 11864617 : updateCFRelated(followers, myVehicle.getLane()->getRightSideOnEdge(), false);
2381 11864617 : updateCFRelated(leaders, myVehicle.getLane()->getRightSideOnEdge(), true);
2382 11864617 : if (laneOffset != 0) {
2383 8280254 : updateCFRelated(neighFollowers, neighRight, false);
2384 8280254 : updateCFRelated(neighLeaders, neighRight, true);
2385 : }
2386 11864617 : myCFRelatedReady = true;
2387 : }
2388 :
2389 : // reduce latDist to avoid blockage with overlapping vehicles (no minGapLat constraints)
2390 20023180 : const double center = myVehicle.getCenterOnEdge();
2391 20023180 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2392 20023180 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2393 20023180 : if (laneOffset != 0) {
2394 10030517 : updateGaps(neighLeaders, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2395 10030517 : updateGaps(neighFollowers, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2396 : }
2397 : #ifdef DEBUG_BLOCKING
2398 : if (gDebugFlag2) {
2399 : std::cout << " checkBlocking latDist=" << latDist << " mySafeLatDistRight=" << mySafeLatDistRight << " mySafeLatDistLeft=" << mySafeLatDistLeft << "\n";
2400 : }
2401 : #endif
2402 : // if we can move at least a little bit in the desired direction, do so (rather than block)
2403 20023180 : const bool forcedTraCIChange = (myVehicle.hasInfluencer()
2404 57959 : && myVehicle.getInfluencer().getLatDist() != 0
2405 20023472 : && myVehicle.getInfluencer().ignoreOverlap());
2406 20023180 : if (latDist < 0) {
2407 10226547 : if (mySafeLatDistRight <= NUMERICAL_EPS) {
2408 : return LCA_BLOCKED_RIGHT | LCA_OVERLAPPING;
2409 9219617 : } else if (!forcedTraCIChange) {
2410 12698838 : latDist = MAX2(latDist, -mySafeLatDistRight);
2411 : }
2412 : } else {
2413 9796633 : if (mySafeLatDistLeft <= NUMERICAL_EPS) {
2414 : return LCA_BLOCKED_LEFT | LCA_OVERLAPPING;
2415 7531417 : } else if (!forcedTraCIChange) {
2416 7531417 : latDist = MIN2(latDist, mySafeLatDistLeft);
2417 : }
2418 : }
2419 :
2420 16751034 : myCanChangeFully = (maneuverDist == 0 || latDist == maneuverDist);
2421 : #ifdef DEBUG_BLOCKING
2422 : if (gDebugFlag2) {
2423 : std::cout << " checkBlocking latDist=" << latDist << " maneuverDist=" << maneuverDist << "\n";
2424 : }
2425 : #endif
2426 : // destination sublanes must be safe
2427 : // intermediate sublanes must not be blocked by overlapping vehicles
2428 :
2429 : // XXX avoid checking the same leader multiple times
2430 : // XXX ensure that only changes within the same lane are undertaken if laneOffset = 0
2431 :
2432 : int blocked = 0;
2433 16751034 : blocked |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2434 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2435 16751034 : blocked |= checkBlockingVehicles(&myVehicle, followers, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2436 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2437 16751034 : if (laneOffset != 0) {
2438 8595466 : blocked |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, latDist, neighRight, true,
2439 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2440 8595466 : blocked |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, latDist, neighRight, false,
2441 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2442 : }
2443 :
2444 : int blockedFully = 0;
2445 16751034 : blockedFully |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2446 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2447 16751034 : blockedFully |= checkBlockingVehicles(&myVehicle, followers, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2448 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2449 16751034 : if (laneOffset != 0) {
2450 8595466 : blockedFully |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, maneuverDist, neighRight, true,
2451 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2452 8595466 : blockedFully |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, maneuverDist, neighRight, false,
2453 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2454 : }
2455 16751034 : if (retBlockedFully != nullptr) {
2456 5640795 : *retBlockedFully = blockedFully;
2457 : }
2458 : #ifdef DEBUG_BLOCKING
2459 : if (gDebugFlag2) {
2460 : std::cout << " blocked=" << blocked << " (" << toString((LaneChangeAction)blocked) << ") blockedFully=" << toString((LaneChangeAction)blockedFully)
2461 : << " canChangeFully=" << myCanChangeFully << " keepLatGapManeuver=" << keepLatGapManeuver << "\n";
2462 : }
2463 : #endif
2464 16751034 : if (blocked == 0 && !myCanChangeFully && myPushy == 0 && !keepLatGapManeuver) {
2465 : // aggressive drivers immediately start moving towards potential
2466 : // blockers and only check that the start of their maneuver (latDist) is safe. In
2467 : // contrast, cautious drivers need to check latDist and origLatDist to
2468 : // ensure that the maneuver can be finished without encroaching on other vehicles.
2469 8511217 : blocked |= blockedFully;
2470 : } else {
2471 : // XXX: in case of action step length > simulation step length, pushing may lead to collisions,
2472 : // because maneuver is continued until maneuverDist is reached (perhaps set maneuverDist=latDist)
2473 : }
2474 : #ifdef DEBUG_BLOCKING
2475 : if (gDebugFlag2) {
2476 : std::cout << " blocked2=" << blocked << " (" << toString((LaneChangeAction)blocked) << ")\n";
2477 : }
2478 : #endif
2479 16751034 : if (collectFollowBlockers != nullptr && collectLeadBlockers != nullptr) {
2480 : // prevent vehicles from being classified as leader and follower simultaneously
2481 8871782 : for (std::vector<CLeaderDist>::const_iterator it2 = collectLeadBlockers->begin(); it2 != collectLeadBlockers->end(); ++it2) {
2482 32723901 : for (std::vector<CLeaderDist>::iterator it = collectFollowBlockers->begin(); it != collectFollowBlockers->end();) {
2483 25953697 : if ((*it2).first == (*it).first) {
2484 : #ifdef DEBUG_BLOCKING
2485 : if (gDebugFlag2) {
2486 : std::cout << " removed follower " << (*it).first->getID() << " because it is already a leader\n";
2487 : }
2488 : #endif
2489 : it = collectFollowBlockers->erase(it);
2490 : } else {
2491 : ++it;
2492 : }
2493 : }
2494 : }
2495 : }
2496 : return blocked;
2497 : }
2498 :
2499 :
2500 : int
2501 101386000 : MSLCM_SL2015::checkBlockingVehicles(
2502 : const MSVehicle* ego, const MSLeaderDistanceInfo& vehicles,
2503 : int laneOffset, double latDist, double foeOffset, bool leaders,
2504 : double& safeLatGapRight, double& safeLatGapLeft,
2505 : std::vector<CLeaderDist>* collectBlockers) const {
2506 : // determine borders where safety/no-overlap conditions must hold
2507 : const LaneChangeAction blockType = (laneOffset == 0
2508 101386000 : ? (leaders ? LCA_BLOCKED_BY_LEADER : LCA_BLOCKED_BY_FOLLOWER)
2509 : : (laneOffset > 0
2510 68763728 : ? (leaders ? LCA_BLOCKED_BY_LEFT_LEADER : LCA_BLOCKED_BY_LEFT_FOLLOWER)
2511 30332528 : : (leaders ? LCA_BLOCKED_BY_RIGHT_LEADER : LCA_BLOCKED_BY_RIGHT_FOLLOWER)));
2512 101386000 : const double vehWidth = getWidth();
2513 101386000 : const double rightVehSide = ego->getRightSideOnEdge();
2514 101386000 : const double leftVehSide = rightVehSide + vehWidth;
2515 101386000 : const double rightVehSideDest = rightVehSide + latDist;
2516 101386000 : const double leftVehSideDest = leftVehSide + latDist;
2517 : const double rightNoOverlap = MIN2(rightVehSideDest, rightVehSide);
2518 : const double leftNoOverlap = MAX2(leftVehSideDest, leftVehSide);
2519 : #ifdef DEBUG_BLOCKING
2520 : if (gDebugFlag2) {
2521 : std::cout << " checkBlockingVehicles"
2522 : << " laneOffset=" << laneOffset
2523 : << " latDist=" << latDist
2524 : << " foeOffset=" << foeOffset
2525 : << " vehRight=" << rightVehSide
2526 : << " vehLeft=" << leftVehSide
2527 : << " rightNoOverlap=" << rightNoOverlap
2528 : << " leftNoOverlap=" << leftNoOverlap
2529 : << " destRight=" << rightVehSideDest
2530 : << " destLeft=" << leftVehSideDest
2531 : << " leaders=" << leaders
2532 : << " blockType=" << toString((LaneChangeAction) blockType)
2533 : << "\n";
2534 : }
2535 : #endif
2536 : int result = 0;
2537 519152373 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2538 429142364 : CLeaderDist vehDist = vehicles[i];
2539 429142364 : if (vehDist.first != 0 && myCFRelated.count(vehDist.first) == 0) {
2540 : const MSVehicle* leader = vehDist.first;
2541 : const MSVehicle* follower = ego;
2542 163275288 : if (!leaders) {
2543 : std::swap(leader, follower);
2544 : }
2545 : // only check the current stripe occupied by foe (transform into edge-coordinates)
2546 : double foeRight, foeLeft;
2547 163275288 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2548 163275288 : const bool overlapBefore = overlap(rightVehSide, leftVehSide, foeRight, foeLeft);
2549 163275288 : const bool overlapDest = overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft);
2550 163275288 : const bool overlapAny = overlap(rightNoOverlap, leftNoOverlap, foeRight, foeLeft);
2551 : #ifdef DEBUG_BLOCKING
2552 : if (gDebugFlag2) {
2553 : std::cout << " foe=" << vehDist.first->getID()
2554 : << " gap=" << vehDist.second
2555 : << " secGap=" << follower->getCarFollowModel().getSecureGap(follower, leader, follower->getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
2556 : << " foeRight=" << foeRight
2557 : << " foeLeft=" << foeLeft
2558 : << " overlapBefore=" << overlapBefore
2559 : << " overlap=" << overlapAny
2560 : << " overlapDest=" << overlapDest
2561 : << "\n";
2562 : }
2563 : #endif
2564 163275288 : if (overlapAny) {
2565 36764010 : if (vehDist.second < 0) {
2566 11813588 : if (overlapBefore && !overlapDest && !outsideEdge()) {
2567 : #ifdef DEBUG_BLOCKING
2568 : if (gDebugFlag2) {
2569 : std::cout << " ignoring current overlap to come clear\n";
2570 : }
2571 : #endif
2572 : } else {
2573 : #ifdef DEBUG_BLOCKING
2574 : if (gDebugFlag2) {
2575 : std::cout << " overlap (" << toString((LaneChangeAction)blockType) << ")\n";
2576 : }
2577 : #endif
2578 11740391 : result |= (blockType | LCA_OVERLAPPING);
2579 11740391 : if (collectBlockers == nullptr) {
2580 11375991 : return result;
2581 : } else {
2582 5109919 : collectBlockers->push_back(vehDist);
2583 : }
2584 : }
2585 24950422 : } else if (overlapDest || !myCanChangeFully) {
2586 : // Estimate state after actionstep (follower may be accelerating!)
2587 : // A comparison between secure gap depending on the expected speeds and the extrapolated gap
2588 : // determines whether the s is blocking the lane change.
2589 : // (Note that the longitudinal state update has already taken effect before LC dynamics (thus "-TS" below), would be affected by #3665)
2590 :
2591 : // Use conservative estimate for time until next action step
2592 : // (XXX: how can the ego know the foe's action step length?)
2593 24926338 : const double timeTillAction = MAX2(follower->getActionStepLengthSecs(), leader->getActionStepLengthSecs()) - TS;
2594 : // Ignore decel for follower
2595 24926338 : const double followerAccel = MAX2(0., follower->getAcceleration());
2596 24926338 : const double leaderAccel = leader->getAcceleration();
2597 : // Expected gap after next actionsteps
2598 24926338 : const double expectedGap = MSCFModel::gapExtrapolation(timeTillAction, vehDist.second, leader->getSpeed(), follower->getSpeed(), leaderAccel, followerAccel, std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
2599 :
2600 : // Determine expected speeds and corresponding secure gap at the extrapolated timepoint
2601 24926338 : const double followerExpectedSpeed = follower->getSpeed() + timeTillAction * followerAccel;
2602 24926338 : const double leaderExpectedSpeed = MAX2(0., leader->getSpeed() + timeTillAction * leaderAccel);
2603 24926338 : const double expectedSecureGap = follower->getCarFollowModel().getSecureGap(follower, leader, followerExpectedSpeed, leaderExpectedSpeed, leader->getCarFollowModel().getMaxDecel());
2604 :
2605 : #if defined(DEBUG_ACTIONSTEPS) && defined(DEBUG_BLOCKING)
2606 : if (gDebugFlag2) {
2607 : std::cout << " timeTillAction=" << timeTillAction
2608 : << " followerAccel=" << followerAccel
2609 : << " followerExpectedSpeed=" << followerExpectedSpeed
2610 : << " leaderAccel=" << leaderAccel
2611 : << " leaderExpectedSpeed=" << leaderExpectedSpeed
2612 : << "\n gap=" << vehDist.second
2613 : << " gapChange=" << (expectedGap - vehDist.second)
2614 : << " expectedGap=" << expectedGap
2615 : << " expectedSecureGap=" << expectedSecureGap
2616 : << " safeLatGapLeft=" << safeLatGapLeft
2617 : << " safeLatGapRight=" << safeLatGapRight
2618 : << std::endl;
2619 : }
2620 : #endif
2621 :
2622 : // @note for euler-update, a different value for secureGap2 may be obtained when applying safetyFactor to followerDecel rather than secureGap
2623 24926338 : const double secureGap2 = expectedSecureGap * getSafetyFactor();
2624 24926338 : if (expectedGap < secureGap2) {
2625 : // Foe is a blocker. Update lateral safe gaps accordingly.
2626 5531665 : if (foeRight > leftVehSide) {
2627 4019134 : safeLatGapLeft = MIN2(safeLatGapLeft, foeRight - leftVehSide);
2628 3144020 : } else if (foeLeft < rightVehSide) {
2629 4821075 : safeLatGapRight = MIN2(safeLatGapRight, rightVehSide - foeLeft);
2630 : }
2631 :
2632 : #ifdef DEBUG_BLOCKING
2633 : if (gDebugFlag2) {
2634 : std::cout << " blocked by " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2635 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor()
2636 : << " safeLatGapLeft=" << safeLatGapLeft << " safeLatGapRight=" << safeLatGapRight
2637 : << "\n";
2638 : }
2639 : #endif
2640 5531665 : result |= blockType;
2641 5531665 : if (collectBlockers == nullptr) {
2642 4745519 : return result;
2643 : }
2644 : #ifdef DEBUG_BLOCKING
2645 : } else if (gDebugFlag2 && expectedGap < expectedSecureGap) {
2646 : std::cout << " ignore blocker " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2647 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor() << "\n";
2648 : #endif
2649 : }
2650 19394673 : if (collectBlockers != nullptr) {
2651 : // collect non-blocking followers as well to make sure
2652 : // they remain non-blocking
2653 5162868 : collectBlockers->push_back(vehDist);
2654 : }
2655 : }
2656 : }
2657 : }
2658 : }
2659 : return result;
2660 :
2661 : }
2662 :
2663 :
2664 : void
2665 40289742 : MSLCM_SL2015::updateCFRelated(const MSLeaderDistanceInfo& vehicles, double foeOffset, bool leaders) {
2666 : // to ensure that we do not ignore the wrong vehicles due to numerical
2667 : // instability we slightly reduce the width
2668 40289742 : const double vehWidth = myVehicle.getVehicleType().getWidth() - NUMERICAL_EPS;
2669 40289742 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
2670 40289742 : const double leftVehSide = rightVehSide + vehWidth;
2671 : #ifdef DEBUG_BLOCKING
2672 : if (gDebugFlag2) {
2673 : std::cout << " updateCFRelated foeOffset=" << foeOffset << " vehicles=" << vehicles.toString() << "\n";
2674 : }
2675 : #endif
2676 221525128 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2677 181235386 : CLeaderDist vehDist = vehicles[i];
2678 222098829 : if (vehDist.first != 0 && (myCFRelated.count(vehDist.first) == 0 || vehDist.second < 0)) {
2679 : double foeRight, foeLeft;
2680 109875285 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2681 : #ifdef DEBUG_BLOCKING
2682 : if (gDebugFlag2) {
2683 : std::cout << " foe=" << vehDist.first->getID() << " gap=" << vehDist.second
2684 : << " sublane=" << i
2685 : << " foeOffset=" << foeOffset
2686 : << " egoR=" << rightVehSide << " egoL=" << leftVehSide
2687 : << " iR=" << foeRight << " iL=" << foeLeft
2688 : << " egoV=" << myVehicle.getSpeed() << " foeV=" << vehDist.first->getSpeed()
2689 : << " egoE=" << myVehicle.getLane()->getEdge().getID() << " foeE=" << vehDist.first->getLane()->getEdge().getID()
2690 : << "\n";
2691 : }
2692 : #endif
2693 109875285 : if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft) && !outsideEdge() && (vehDist.second >= 0
2694 : // avoid deadlock due to #3729
2695 4980519 : || (!leaders
2696 1969993 : && myVehicle.getPositionOnLane() >= myVehicle.getVehicleType().getLength()
2697 1840767 : && myVehicle.getSpeed() < SUMO_const_haltingSpeed
2698 1834432 : && vehDist.first->getSpeed() < SUMO_const_haltingSpeed
2699 1824211 : && -vehDist.second < vehDist.first->getVehicleType().getMinGap()
2700 1806994 : && &(myVehicle.getLane()->getEdge()) != &(vehDist.first->getLane()->getEdge()))
2701 : )) {
2702 : #ifdef DEBUG_BLOCKING
2703 : if (gDebugFlag2) {
2704 : std::cout << " ignoring cfrelated foe=" << vehDist.first->getID() << "\n";
2705 : }
2706 : #endif
2707 : myCFRelated.insert(vehDist.first);
2708 : } else {
2709 : const int erased = (int)myCFRelated.erase(vehDist.first);
2710 : #ifdef DEBUG_BLOCKING
2711 : if (gDebugFlag2 && erased > 0) {
2712 : std::cout << " restoring cfrelated foe=" << vehDist.first->getID() << "\n";
2713 : }
2714 : #else
2715 : UNUSED_PARAMETER(erased);
2716 : #endif
2717 : }
2718 : }
2719 : }
2720 40289742 : }
2721 :
2722 :
2723 : bool
2724 1419185107 : MSLCM_SL2015::overlap(double right, double left, double right2, double left2) {
2725 : assert(right <= left);
2726 : assert(right2 <= left2);
2727 1419185107 : return left2 >= right + NUMERICAL_EPS && left >= right2 + NUMERICAL_EPS;
2728 : }
2729 :
2730 :
2731 : int
2732 69146174 : MSLCM_SL2015::lowest_bit(int changeReason) {
2733 69146174 : if ((changeReason & LCA_STRATEGIC) != 0) {
2734 : return LCA_STRATEGIC;
2735 : }
2736 54413463 : if ((changeReason & LCA_COOPERATIVE) != 0) {
2737 : return LCA_COOPERATIVE;
2738 : }
2739 53711618 : if ((changeReason & LCA_SPEEDGAIN) != 0) {
2740 : return LCA_SPEEDGAIN;
2741 : }
2742 49951427 : if ((changeReason & LCA_KEEPRIGHT) != 0) {
2743 : return LCA_KEEPRIGHT;
2744 : }
2745 49277815 : if ((changeReason & LCA_TRACI) != 0) {
2746 4760 : return LCA_TRACI;
2747 : }
2748 : return changeReason;
2749 : }
2750 :
2751 :
2752 : MSLCM_SL2015::StateAndDist
2753 161723394 : MSLCM_SL2015::decideDirection(StateAndDist sd1, StateAndDist sd2) const {
2754 : // ignore dummy decisions (returned if mayChange() failes)
2755 161723394 : if (sd1.state == 0) {
2756 65271670 : return sd2;
2757 96451724 : } else if (sd2.state == 0) {
2758 61878637 : return sd1;
2759 : }
2760 : // LCA_SUBLANE is special because LCA_STAY|LCA_SUBLANE may override another LCA_SUBLANE command
2761 34573087 : const bool want1 = ((sd1.state & LCA_WANTS_LANECHANGE) != 0) || ((sd1.state & LCA_SUBLANE) != 0 && (sd1.state & LCA_STAY) != 0);
2762 34573087 : const bool want2 = ((sd2.state & LCA_WANTS_LANECHANGE) != 0) || ((sd2.state & LCA_SUBLANE) != 0 && (sd2.state & LCA_STAY) != 0);
2763 34573087 : const bool can1 = ((sd1.state & LCA_BLOCKED) == 0);
2764 34573087 : const bool can2 = ((sd2.state & LCA_BLOCKED) == 0);
2765 34573087 : int reason1 = lowest_bit(sd1.state & LCA_CHANGE_REASONS);
2766 34573087 : int reason2 = lowest_bit(sd2.state & LCA_CHANGE_REASONS);
2767 : #ifdef DEBUG_DECISION
2768 : if (DEBUG_COND) std::cout << SIMTIME
2769 : << " veh=" << myVehicle.getID()
2770 : << " state1=" << toString((LaneChangeAction)sd1.state)
2771 : << " want1=" << (sd1.state & LCA_WANTS_LANECHANGE)
2772 : << " dist1=" << sd1.latDist
2773 : << " dir1=" << sd1.dir
2774 : << " state2=" << toString((LaneChangeAction)sd2.state)
2775 : << " want2=" << (sd2.state & LCA_WANTS_LANECHANGE)
2776 : << " dist2=" << sd2.latDist
2777 : << " dir2=" << sd2.dir
2778 : << " reason1=" << toString((LaneChangeAction)reason1)
2779 : << " reason2=" << toString((LaneChangeAction)reason2)
2780 : << "\n";
2781 : #endif
2782 34573087 : if (want1) {
2783 33735480 : if (want2) {
2784 23263957 : if ((sd1.state & LCA_TRACI) != 0 && (sd2.state & LCA_TRACI) != 0) {
2785 : // influencer may assign LCA_WANTS_LANECHANGE despite latDist = 0
2786 1316 : if (sd1.latDist == 0 && sd2.latDist != 0) {
2787 96 : return sd2;
2788 1220 : } else if (sd2.latDist == 0 && sd1.latDist != 0) {
2789 16 : return sd1;
2790 : }
2791 : }
2792 : // decide whether right or left has higher priority (lower value in enum LaneChangeAction)
2793 23263845 : if (reason1 < reason2) {
2794 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " < " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2795 495346 : return (!can1 && can2 && sd1.sameDirection(sd2)) ? sd2 : sd1;
2796 : //return sd1;
2797 23013668 : } else if (reason1 > reason2) {
2798 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " > " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2799 11892979 : return (!can2 && can1 && sd1.sameDirection(sd2)) ? sd1 : sd2;
2800 : //return sd2;
2801 : } else {
2802 : // same priority.
2803 17045414 : if ((sd1.state & LCA_SUBLANE) != 0) {
2804 : // special treatment: prefer action with dir != 0
2805 16758649 : if (sd1.dir == 0) {
2806 15966602 : return sd2;
2807 792047 : } else if (sd2.dir == 0) {
2808 0 : return sd1;
2809 : } else {
2810 : // prefer action that knows more about the desired direction
2811 : // @note when deciding between right and left, right is always given as sd1
2812 : assert(sd1.dir == -1);
2813 : assert(sd2.dir == 1);
2814 792047 : if (sd1.latDist <= 0) {
2815 744152 : return sd1;
2816 47895 : } else if (sd2.latDist >= 0) {
2817 47147 : return sd2;
2818 : }
2819 : // when in doubt, prefer moving to the right
2820 748 : return sd1.latDist <= sd2.latDist ? sd1 : sd2;
2821 : }
2822 : } else {
2823 286765 : if (can1) {
2824 162924 : if (can2) {
2825 : // break strategic ties with tactial concerns
2826 108102 : if (reason1 == LCA_STRATEGIC) {
2827 2727 : if (sd1.latDist <= sd2.latDist) {
2828 4510 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd1 : sd2;
2829 : } else {
2830 3 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd2 : sd1;
2831 : }
2832 : } else {
2833 : // finish the shorter maneuver (i.e. continue the current maneuver)
2834 185238 : return fabs(sd1.maneuverDist) < fabs(sd2.maneuverDist) ? sd1 : sd2;
2835 : }
2836 : } else {
2837 54822 : return sd1;
2838 : }
2839 : } else {
2840 123841 : return sd2;
2841 : }
2842 : }
2843 : }
2844 : } else {
2845 10471523 : return sd1;
2846 : }
2847 : } else {
2848 837607 : return sd2;
2849 : }
2850 :
2851 : }
2852 :
2853 :
2854 : LaneChangeAction
2855 129079511 : MSLCM_SL2015::getLCA(int state, double latDist) {
2856 27050716 : return ((latDist == 0 || (state & LCA_CHANGE_REASONS) == 0)
2857 156129825 : ? LCA_NONE : (latDist < 0 ? LCA_RIGHT : LCA_LEFT));
2858 : }
2859 :
2860 :
2861 : int
2862 117009275 : MSLCM_SL2015::checkStrategicChange(int ret,
2863 : const MSLane& neighLane,
2864 : int laneOffset,
2865 : const MSLeaderDistanceInfo& leaders,
2866 : const MSLeaderDistanceInfo& neighLeaders,
2867 : const MSVehicle::LaneQ& curr,
2868 : const MSVehicle::LaneQ& neigh,
2869 : const MSVehicle::LaneQ& best,
2870 : int bestLaneOffset,
2871 : bool changeToBest,
2872 : double& currentDist,
2873 : double neighDist,
2874 : double laDist,
2875 : double roundaboutBonus,
2876 : double latLaneDist,
2877 : bool checkOpposite,
2878 : double& latDist
2879 : ) {
2880 117009275 : const bool right = (laneOffset == -1);
2881 : const bool left = (laneOffset == 1);
2882 :
2883 117009275 : const double forwardPos = getForwardPos();
2884 117009275 : if (laneOffset != 0) {
2885 36147578 : myLeftSpace = currentDist - forwardPos;
2886 : }
2887 117009275 : const double usableDist = (currentDist - forwardPos - best.occupation * JAM_FACTOR);
2888 : //- (best.lane->getVehicleNumber() * neighSpeed)); // VARIANT 9 jfSpeed
2889 117009275 : const double maxJam = MAX2(neigh.occupation, curr.occupation);
2890 117009275 : const double neighLeftPlace = MAX2(0., neighDist - forwardPos - maxJam);
2891 117009275 : const double overlap = myVehicle.getLateralOverlap();
2892 : // save the left space
2893 :
2894 : #ifdef DEBUG_STRATEGIC_CHANGE
2895 : if (gDebugFlag2) {
2896 : std::cout << SIMTIME
2897 : << " veh=" << myVehicle.getID()
2898 : << " forwardPos=" << forwardPos
2899 : << " laSpeed=" << myLookAheadSpeed
2900 : << " laDist=" << laDist
2901 : << " currentDist=" << currentDist
2902 : << " usableDist=" << usableDist
2903 : << " bestLaneOffset=" << bestLaneOffset
2904 : << " best.length=" << best.length
2905 : << " maxJam=" << maxJam
2906 : << " neighLeftPlace=" << neighLeftPlace
2907 : << " myLeftSpace=" << myLeftSpace
2908 : << " overlap=" << overlap
2909 : << "\n";
2910 : }
2911 : #endif
2912 :
2913 117009275 : if (laneOffset == 0) {
2914 80861697 : if (overlap > MAX2(POSITION_EPS, MSGlobals::gLateralResolution)
2915 429182 : && (getShadowLane() == nullptr || !getShadowLane()->allowsVehicleClass(myVehicle.getVClass()))
2916 80865082 : && getWidth() < myVehicle.getLane()->getWidth()) {
2917 : // @brief we urgently need to return to within lane bounds
2918 3298 : latDist = myVehicle.getLateralPositionOnLane() > 0 ? -overlap : overlap;
2919 3298 : ret |= LCA_STRATEGIC | LCA_URGENT;
2920 : #ifdef DEBUG_STRATEGIC_CHANGE
2921 : if (gDebugFlag2) {
2922 : std::cout << SIMTIME << " returnToLaneBounds\n";
2923 : }
2924 : #endif
2925 : //std::cout << SIMTIME << " veh=" << myVehicle.getID() << " overlap=" << overlap << " returnToLaneBounds\n";
2926 80858399 : } else if (myVehicle.getBestLanesContinuation().size() > 1 && myVehicle.getLane()->getWidth() > myVehicle.getBestLanesContinuation()[1]->getWidth()) {
2927 831226 : const MSLane* cur = myVehicle.getLane();
2928 831226 : const MSLane* next = myVehicle.getBestLanesContinuation()[1];
2929 831226 : const MSLink* link = cur->getLinkTo(next);
2930 831226 : const double distOnLane = cur->getLength() - myVehicle.getPositionOnLane();
2931 831226 : if (link != nullptr && getWidth() < next->getWidth() && distOnLane < 100) {
2932 826750 : double hwDiff = 0.5 * (cur->getWidth() - next->getWidth());
2933 826750 : double rightVehSide = myVehicle.getRightSideOnLane() + link->getLateralShift() - hwDiff;
2934 826750 : double leftVehSide = myVehicle.getLeftSideOnLane() + link->getLateralShift() - hwDiff;
2935 826750 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : next->getWidth();
2936 826750 : if (rightVehSide < -res && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass()))) {
2937 24136 : latDist = -rightVehSide;
2938 24136 : myLeftSpace = distOnLane;
2939 24136 : ret |= LCA_STRATEGIC | LCA_URGENT;
2940 : #ifdef DEBUG_STRATEGIC_CHANGE
2941 : if (gDebugFlag2) {
2942 : std::cout << SIMTIME << " rightSublaneEnds rVSide=" << myVehicle.getRightSideOnLane()
2943 : << " shift=" << link->getLateralShift() << " rVSide2=" << rightVehSide << " myLeftSpace=" << myLeftSpace << " \n";
2944 : }
2945 : #endif
2946 802614 : } else if (leftVehSide > next->getWidth() + res && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))) {
2947 30413 : latDist = -(leftVehSide - next->getWidth());
2948 30413 : myLeftSpace = distOnLane;
2949 30413 : ret |= LCA_STRATEGIC | LCA_URGENT;
2950 : #ifdef DEBUG_STRATEGIC_CHANGE
2951 : if (gDebugFlag2) {
2952 : std::cout << SIMTIME << " leftSublaneEnds lVSide=" << myVehicle.getLeftSideOnLane()
2953 : << " shift=" << link->getLateralShift() << " lVSide2=" << leftVehSide << " myLeftSpace=" << myLeftSpace << "\n";
2954 : }
2955 : #endif
2956 : }
2957 : }
2958 : }
2959 22540544 : } else if (laneOffset != 0 && changeToBest && bestLaneOffset == curr.bestLaneOffset
2960 41747764 : && currentDistDisallows(usableDist, bestLaneOffset, laDist)) {
2961 : /// @brief we urgently need to change lanes to follow our route
2962 2372904 : if (!mustOvertakeStopped(false, neighLane, neighLeaders, leaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
2963 2358705 : latDist = latLaneDist;
2964 2358705 : ret |= LCA_STRATEGIC | LCA_URGENT;
2965 : #ifdef DEBUG_STRATEGIC_CHANGE
2966 : if (gDebugFlag2) {
2967 : std::cout << SIMTIME << " mustChangeToBest\n";
2968 : }
2969 : #endif
2970 : } else {
2971 : #ifdef DEBUG_STRATEGIC_CHANGE
2972 : if (gDebugFlag2) {
2973 : std::cout << " veh=" << myVehicle.getID() << " avoidStoppedNeigh\n";
2974 : }
2975 : #endif
2976 : }
2977 : } else {
2978 : // VARIANT_20 (noOvertakeRight)
2979 33774674 : const MSVehicle* const stoppedLeader = getStopped(neighLeaders);
2980 33774674 : if (left && avoidOvertakeRight(stoppedLeader, true) && neighLeaders.hasVehicles()) {
2981 : // check for slower leader on the left. we should not overtake but
2982 : // rather move left ourselves (unless congested)
2983 : // XXX only adapt as much as possible to get a lateral gap
2984 2861387 : CLeaderDist cld = getSlowest(neighLeaders);
2985 2861387 : const MSVehicle* nv = cld.first;
2986 2861387 : double deltaV = 0.;
2987 2861387 : double vSafe = 0.;
2988 2861387 : if (canOvertakeRight(nv, cld.second, myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle) - neighLane.getVehicleMaxSpeed(nv), HELP_OVERTAKE, vSafe, deltaV)) {
2989 560017 : addLCSpeedAdvice(vSafe);
2990 560017 : if (vSafe < myVehicle.getSpeed()) {
2991 179273 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * myChangeProbThresholdLeft / 3;
2992 : }
2993 : #ifdef DEBUG_STRATEGIC_CHANGE
2994 : if (gDebugFlag2) {
2995 : std::cout << SIMTIME
2996 : << " avoid overtaking on the right nv=" << nv->getID()
2997 : << " nvSpeed=" << nv->getSpeed()
2998 : << " mySpeedGainProbabilityR=" << mySpeedGainProbabilityRight
2999 : << " plannedSpeed=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
3000 : << "\n";
3001 : }
3002 : #endif
3003 : }
3004 : }
3005 :
3006 : // handling reaction to stopped for opposite direction driving NYI
3007 33774674 : const bool noOpposites = &myVehicle.getLane()->getEdge() == &neighLane.getEdge();
3008 33774674 : if (laneOffset != 0 && myStrategicParam >= 0 && noOpposites && mustOvertakeStopped(true, neighLane, leaders, neighLeaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
3009 : #ifdef DEBUG_STRATEGIC_CHANGE
3010 : if (gDebugFlag2) {
3011 : std::cout << " veh=" << myVehicle.getID() << " mustOvertakeStopped\n";
3012 : }
3013 : #endif
3014 24895 : if (latDist == 0) {
3015 0 : ret |= LCA_STAY | LCA_STRATEGIC;
3016 : } else {
3017 24895 : ret |= LCA_STRATEGIC | LCA_URGENT;
3018 : }
3019 :
3020 33749779 : } else if (!changeToBest && (currentDistDisallows(neighLeftPlace, abs(bestLaneOffset) + 2, laDist))) {
3021 : // the opposite lane-changing direction should be done than the one examined herein
3022 : // we'll check whether we assume we could change anyhow and get back in time...
3023 : //
3024 : // this rule prevents the vehicle from moving in opposite direction of the best lane
3025 : // unless the way till the end where the vehicle has to be on the best lane
3026 : // is long enough
3027 : #ifdef DEBUG_STRATEGIC_CHANGE
3028 : if (gDebugFlag2) {
3029 : std::cout << " veh=" << myVehicle.getID() << " could not change back and forth in time (1) neighLeftPlace=" << neighLeftPlace << "\n";
3030 : }
3031 : #endif
3032 11449345 : ret |= LCA_STAY | LCA_STRATEGIC;
3033 : } else if (
3034 : laneOffset != 0
3035 22300434 : && bestLaneOffset == 0
3036 2133632 : && !leaders.hasStoppedVehicle()
3037 2111669 : && neigh.bestContinuations.back()->getLinkCont().size() != 0
3038 1358159 : && roundaboutBonus == 0
3039 1358159 : && !checkOpposite
3040 632390 : && neighDist < TURN_LANE_DIST
3041 22492675 : && myStrategicParam >= 0) {
3042 : // VARIANT_21 (stayOnBest)
3043 : // we do not want to leave the best lane for a lane which leads elsewhere
3044 : // unless our leader is stopped or we are approaching a roundabout
3045 : #ifdef DEBUG_STRATEGIC_CHANGE
3046 : if (gDebugFlag2) {
3047 : std::cout << " veh=" << myVehicle.getID() << " does not want to leave the bestLane (neighDist=" << neighDist << ")\n";
3048 : }
3049 : #endif
3050 188290 : ret |= LCA_STAY | LCA_STRATEGIC;
3051 : } else if (right
3052 22112144 : && bestLaneOffset == 0
3053 575509 : && myVehicle.getLane()->getSpeedLimit() > 80. / 3.6
3054 22134954 : && myLookAheadSpeed > SUMO_const_haltingSpeed
3055 : ) {
3056 : // let's also regard the case where the vehicle is driving on a highway...
3057 : // in this case, we do not want to get to the dead-end of an on-ramp
3058 : #ifdef DEBUG_STRATEGIC_CHANGE
3059 : if (gDebugFlag2) {
3060 : std::cout << " veh=" << myVehicle.getID() << " does not want to get stranded on the on-ramp of a highway\n";
3061 : }
3062 : #endif
3063 21831 : ret |= LCA_STAY | LCA_STRATEGIC;
3064 : }
3065 : }
3066 117009275 : if (laneOffset != 0 && (ret & LCA_URGENT) == 0 && getShadowLane() != nullptr &&
3067 : // ignore overlap if it goes in the correct direction
3068 1882060 : bestLaneOffset * myVehicle.getLateralPositionOnLane() <= 0) {
3069 : // no decision or decision to stay
3070 : // make sure to stay within lane bounds in case the shadow lane ends
3071 : //const double requiredDist = MAX2(2 * myVehicle.getLateralOverlap(), getSublaneWidth()) / SUMO_const_laneWidth * laDist;
3072 964025 : const double requiredDist = 2 * overlap / SUMO_const_laneWidth * laDist;
3073 964025 : double currentShadowDist = -myVehicle.getPositionOnLane();
3074 : MSLane* shadowPrev = nullptr;
3075 2049914 : for (std::vector<MSLane*>::const_iterator it = curr.bestContinuations.begin(); it != curr.bestContinuations.end(); ++it) {
3076 1790443 : if (*it == nullptr) {
3077 31960 : continue;
3078 : }
3079 1758483 : MSLane* shadow = getShadowLane(*it);
3080 1758483 : if (shadow == nullptr || currentShadowDist >= requiredDist) {
3081 : break;
3082 : }
3083 1053929 : if (shadowPrev != nullptr) {
3084 114733 : currentShadowDist += shadowPrev->getEdge().getInternalFollowingLengthTo(&shadow->getEdge(), myVehicle.getVClass());
3085 : }
3086 1053929 : currentShadowDist += shadow->getLength();
3087 : shadowPrev = shadow;
3088 : #ifdef DEBUG_STRATEGIC_CHANGE
3089 : if (gDebugFlag2) {
3090 : std::cout << " shadow=" << shadow->getID() << " currentShadowDist=" << currentShadowDist << "\n";
3091 : }
3092 : #endif
3093 : }
3094 : #ifdef DEBUG_STRATEGIC_CHANGE
3095 : if (gDebugFlag2) {
3096 : std::cout << " veh=" << myVehicle.getID() << " currentShadowDist=" << currentShadowDist << " requiredDist=" << requiredDist << " overlap=" << overlap << "\n";
3097 : }
3098 : #endif
3099 964025 : if (currentShadowDist < requiredDist && currentShadowDist < usableDist) {
3100 160861 : myLeftSpace = currentShadowDist;
3101 160861 : latDist = myVehicle.getLateralPositionOnLane() < 0 ? overlap : -overlap;
3102 : #ifdef DEBUG_STRATEGIC_CHANGE
3103 : if (gDebugFlag2) {
3104 : std::cout << " must change for shadowLane end latDist=" << latDist << " myLeftSpace=" << myLeftSpace << "\n";
3105 : }
3106 : #endif
3107 160861 : ret |= LCA_STRATEGIC | LCA_URGENT | LCA_STAY ;
3108 : }
3109 : }
3110 :
3111 : // check for overriding TraCI requests
3112 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3113 : if (gDebugFlag2) {
3114 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ret=" << ret;
3115 : }
3116 : #endif
3117 : // store state before canceling
3118 117009275 : getCanceledState(laneOffset) |= ret;
3119 117009275 : int retTraCI = myVehicle.influenceChangeDecision(ret);
3120 117009275 : if ((retTraCI & LCA_TRACI) != 0) {
3121 3952 : if ((retTraCI & LCA_STAY) != 0) {
3122 : ret = retTraCI;
3123 3484 : latDist = 0;
3124 468 : } else if (((retTraCI & LCA_RIGHT) != 0 && laneOffset < 0)
3125 408 : || ((retTraCI & LCA_LEFT) != 0 && laneOffset > 0)) {
3126 : ret = retTraCI;
3127 184 : latDist = latLaneDist;
3128 : }
3129 : }
3130 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3131 : if (gDebugFlag2) {
3132 : std::cout << " reqAfterInfluence=" << toString((LaneChangeAction)retTraCI) << " ret=" << toString((LaneChangeAction)ret) << "\n";
3133 : }
3134 : #endif
3135 117009275 : return ret;
3136 : }
3137 :
3138 :
3139 : bool
3140 35901516 : MSLCM_SL2015::mustOvertakeStopped(bool checkCurrent, const MSLane& neighLane, const MSLeaderDistanceInfo& leaders, const MSLeaderDistanceInfo& neighLead,
3141 : double posOnLane, double neighDist, bool right, double latLaneDist, double& currentDist, double& latDist) {
3142 : bool mustOvertake = false;
3143 35901516 : const MSVehicle* const stoppedLeader = getStopped(leaders);
3144 35901516 : const bool checkOverTakeRight = avoidOvertakeRight(stoppedLeader, true);
3145 : int rightmost;
3146 : int leftmost;
3147 : const bool curHasStopped = stoppedLeader != nullptr;
3148 35901516 : const int dir = latLaneDist < 0 ? -1 : 1;
3149 35901516 : const MSLane* neighBeyond = neighLane.getParallelLane(dir);
3150 35901516 : const bool hasLaneBeyond = checkCurrent && neighBeyond != nullptr && neighBeyond->allowsVehicleClass(myVehicle.getVClass());
3151 : UNUSED_PARAMETER(hasLaneBeyond);
3152 35901516 : if (curHasStopped) {
3153 96238 : leaders.getSubLanes(&myVehicle, 0, rightmost, leftmost);
3154 407448 : for (int i = rightmost; i <= leftmost; i++) {
3155 311210 : const CLeaderDist& leader = leaders[i];
3156 311210 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3157 200020 : const double overtakeDist = leader.second + myVehicle.getVehicleType().getLength() + leader.first->getVehicleType().getLengthWithGap();
3158 200020 : const double remaining = MIN2(neighDist, currentDist) - posOnLane;
3159 : #ifdef DEBUG_STRATEGIC_CHANGE
3160 : if (DEBUG_COND) {
3161 : std::cout << " overtakeDist=" << overtakeDist << " remaining=" << remaining
3162 : << " minDistToStopped=" << neighLead.getMinDistToStopped()
3163 : << " hasLaneBeyond=" << hasLaneBeyond
3164 : << "\n";
3165 : }
3166 : #endif
3167 : if (// current destination leaves enough space to overtake the leader
3168 : remaining > overtakeDist
3169 : // maybe do not overtake on the right at high speed
3170 68450 : && (!checkCurrent || !checkOverTakeRight || !right)
3171 267725 : && (!neighLead.hasStoppedVehicle() || neighLead.getMinDistToStopped() > overtakeDist /*|| (hasLaneBeyond && hasFreeLaneBeyond(neighBeyond, dir))*/)
3172 : //&& (neighLead.first == 0 || !neighLead.first->isStopped()
3173 : // // neighboring stopped vehicle leaves enough space to overtake leader
3174 : // || neighLead.second > overtakeDist))
3175 : ) {
3176 : // avoid becoming stuck behind a stopped leader
3177 39110 : currentDist = myVehicle.getPositionOnLane() + leader.second;
3178 39110 : myLeftSpace = currentDist - posOnLane;
3179 39110 : latDist = latLaneDist;
3180 : mustOvertake = true;
3181 : #ifdef DEBUG_STRATEGIC_CHANGE
3182 : if (DEBUG_COND) {
3183 : std::cout << " veh=" << myVehicle.getID() << " overtake stopped leader=" << leader.first->getID()
3184 : << " newCurrentDist=" << currentDist
3185 : << " overtakeDist=" << overtakeDist
3186 : << " remaining=" << remaining
3187 : << "\n";
3188 : }
3189 : #endif
3190 : }
3191 : }
3192 :
3193 : }
3194 : }
3195 35901516 : if (!mustOvertake && !curHasStopped && neighLead.hasStoppedVehicle()) {
3196 : // #todo fix this if the neigh lane has a different width
3197 145199 : const double offset = (latLaneDist < 0 ? -1 : 1) * myVehicle.getLane()->getWidth();
3198 124757 : neighLead.getSubLanes(&myVehicle, offset, rightmost, leftmost);
3199 619808 : for (int i = 0; i < leaders.numSublanes(); i++) {
3200 495051 : const CLeaderDist& leader = leaders[i];
3201 495051 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3202 : mustOvertake = true;
3203 0 : if (i >= rightmost && i <= leftmost) {
3204 0 : latDist = myVehicle.getLateralOverlap() * (latLaneDist > 0 ? -1 : 1);
3205 0 : break;
3206 : }
3207 : }
3208 : }
3209 : }
3210 35901516 : return mustOvertake;
3211 : }
3212 :
3213 :
3214 : double
3215 119608452 : MSLCM_SL2015::computeGapFactor(int state) const {
3216 119608452 : return (state & LCA_STRATEGIC) != 0 ? MAX2(0.0, (1.0 - myPushy * (1 + 0.5 * myImpatience))) : 1.0;
3217 : }
3218 :
3219 :
3220 : int
3221 117006016 : MSLCM_SL2015::keepLatGap(int state,
3222 : const MSLeaderDistanceInfo& leaders,
3223 : const MSLeaderDistanceInfo& followers,
3224 : const MSLeaderDistanceInfo& blockers,
3225 : const MSLeaderDistanceInfo& neighLeaders,
3226 : const MSLeaderDistanceInfo& neighFollowers,
3227 : const MSLeaderDistanceInfo& neighBlockers,
3228 : const MSLane& neighLane,
3229 : int laneOffset,
3230 : double& latDist,
3231 : double& maneuverDist,
3232 : int& blocked) {
3233 :
3234 : /* @notes
3235 : * vehicles may need to compromise between fulfilling lane change objectives
3236 : * (LCA_STRATEGIC, LCA_SPEED etc) and maintaining lateral gap. The minimum
3237 : * acceptable lateral gap depends on
3238 : * - the cultural context (China vs Europe)
3239 : * - the driver agressiveness (willingness to encroach on other vehicles to force them to move laterally as well)
3240 : * - see @note in checkBlocking
3241 : * - the vehicle type (car vs motorcycle)
3242 : * - the current speed
3243 : * - the speed difference
3244 : * - the importance / urgency of the desired maneuver
3245 : *
3246 : * the object of this method is to evaluate the above circumstances and
3247 : * either:
3248 : * - allow the current maneuver (state, latDist)
3249 : * - to override the current maneuver with a distance-keeping maneuver
3250 : *
3251 : *
3252 : * laneChangeModel/driver parameters
3253 : * - bool pushy (willingness to encroach)
3254 : * - float minGap at 100km/h (to be interpolated for lower speeds (assume 0 at speed 0)
3255 : * - gapFactors (a factor for each of the change reasons
3256 : *
3257 : * further assumptions
3258 : * - the maximum of egoSpeed and deltaSpeed can be used when interpolating minGap
3259 : * - distance keeping to the edges of the road can be ignored (for now)
3260 : *
3261 : * currentMinGap = minGap * min(1.0, max(v, abs(v - vOther)) / 100) * gapFactor[lc_reason]
3262 : *
3263 : * */
3264 :
3265 : /// XXX to be made configurable
3266 117006016 : double gapFactor = computeGapFactor(state);
3267 117006016 : const double oldLatDist = latDist;
3268 117006016 : const double oldManeuverDist = maneuverDist;
3269 : /// passed state is without traci-influence but we need it here
3270 117006016 : const int traciState = myVehicle.influenceChangeDecision(state);
3271 :
3272 : // compute gaps after maneuver
3273 117006016 : const double halfWidth = getWidth() * 0.5;
3274 : // if the current maneuver is blocked we will stay where we are
3275 117006016 : const double oldCenter = myVehicle.getCenterOnEdge();
3276 : // surplus gaps. these are used to collect various constraints
3277 : // if they do not permit the desired maneuvre, should override it to better maintain distance
3278 : // stay within the current edge
3279 117006016 : double surplusGapRight = oldCenter - halfWidth;
3280 117006016 : double surplusGapLeft = getLeftBorder(laneOffset != 0) - oldCenter - halfWidth;
3281 : const bool stayInLane = (laneOffset == 0
3282 117006016 : || ((traciState & LCA_STRATEGIC) != 0
3283 : && (traciState & LCA_STAY) != 0
3284 : // permit wide vehicles to stay on the road
3285 11665375 : && (surplusGapLeft >= 0 && surplusGapRight >= 0)));
3286 :
3287 117006016 : if (isOpposite()) {
3288 : std::swap(surplusGapLeft, surplusGapRight);
3289 : }
3290 : #ifdef DEBUG_KEEP_LATGAP
3291 : if (gDebugFlag2) {
3292 : std::cout << "\n " << SIMTIME << " keepLatGap() laneOffset=" << laneOffset
3293 : << " latDist=" << latDist
3294 : << " maneuverDist=" << maneuverDist
3295 : << " state=" << toString((LaneChangeAction)state)
3296 : << " traciState=" << toString((LaneChangeAction)traciState)
3297 : << " blocked=" << toString((LaneChangeAction)blocked)
3298 : << " gapFactor=" << gapFactor
3299 : << " stayInLane=" << stayInLane << "\n"
3300 : << " stayInEdge: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3301 : }
3302 : #endif
3303 : // staying within the edge overrides all minGap considerations
3304 117006016 : if (surplusGapLeft < 0 || surplusGapRight < 0) {
3305 : gapFactor = 0;
3306 : }
3307 :
3308 : // maintain gaps to vehicles on the current lane
3309 : // ignore vehicles that are too far behind
3310 117006016 : const double netOverlap = -myVehicle.getVehicleType().getLength() * 0.5;
3311 117006016 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3312 117006016 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3313 :
3314 117006016 : if (laneOffset != 0) {
3315 : // maintain gaps to vehicles on the target lane
3316 36144319 : const double neighRight = getNeighRight(neighLane);
3317 36144319 : updateGaps(neighLeaders, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3318 36144319 : updateGaps(neighFollowers, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3319 : }
3320 : #ifdef DEBUG_KEEP_LATGAP
3321 : if (gDebugFlag2) {
3322 : std::cout << " minGapLat: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n"
3323 : << " lastGaps: right=" << myLastLateralGapRight << " left=" << myLastLateralGapLeft << "\n";
3324 : }
3325 : #endif
3326 : // we also need to track the physical gap, in addition to the psychological gap
3327 117006016 : double physicalGapLeft = myLastLateralGapLeft == NO_NEIGHBOR ? surplusGapLeft : myLastLateralGapLeft;
3328 117006016 : double physicalGapRight = myLastLateralGapRight == NO_NEIGHBOR ? surplusGapRight : myLastLateralGapRight;
3329 :
3330 117006016 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
3331 117006016 : const double posLat = myVehicle.getLateralPositionOnLane() * (isOpposite() ? -1 : 1);
3332 117006016 : if (stayInLane || laneOffset == 1) {
3333 : // do not move past the right boundary of the current lane (traffic wasn't checked there)
3334 : // but assume it's ok to be where we are in case we are already beyond
3335 303869005 : surplusGapRight = MIN2(surplusGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3336 : physicalGapRight = MIN2(physicalGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3337 : }
3338 117006016 : if (stayInLane || laneOffset == -1) {
3339 : // do not move past the left boundary of the current lane (traffic wasn't checked there)
3340 : // but assume it's ok to be where we are in case we are already beyond
3341 283994535 : surplusGapLeft = MIN2(surplusGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3342 : physicalGapLeft = MIN2(physicalGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3343 : }
3344 : #ifdef DEBUG_KEEP_LATGAP
3345 : if (gDebugFlag2) {
3346 : std::cout << " stayInLane: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3347 : }
3348 : #endif
3349 :
3350 117006016 : if (surplusGapRight + surplusGapLeft < 0) {
3351 : // insufficient lateral space to fulfill all requirements. apportion space proportionally
3352 3698887 : if ((state & LCA_CHANGE_REASONS) == 0) {
3353 29650 : state |= LCA_SUBLANE;
3354 : }
3355 3698887 : const double equalDeficit = 0.5 * (surplusGapLeft + surplusGapRight);
3356 3698887 : if (surplusGapRight < surplusGapLeft) {
3357 : // shift further to the left but no further than there is physical space
3358 1133261 : const double delta = MIN2(equalDeficit - surplusGapRight, physicalGapLeft);
3359 1133261 : latDist = delta;
3360 1133261 : maneuverDist = delta;
3361 : #ifdef DEBUG_KEEP_LATGAP
3362 : if (gDebugFlag2) {
3363 : std::cout << " insufficient latSpace, move left: delta=" << delta << "\n";
3364 : }
3365 : #endif
3366 : } else {
3367 : // shift further to the right but no further than there is physical space
3368 2565626 : const double delta = MIN2(equalDeficit - surplusGapLeft, physicalGapRight);
3369 2565626 : latDist = -delta;
3370 2565626 : maneuverDist = -delta;
3371 : #ifdef DEBUG_KEEP_LATGAP
3372 : if (gDebugFlag2) {
3373 : std::cout << " insufficient latSpace, move right: delta=" << delta << "\n";
3374 : }
3375 : #endif
3376 : }
3377 : } else {
3378 : // sufficient space. move as far as the gaps permit
3379 113307129 : latDist = MAX2(MIN2(latDist, surplusGapLeft), -surplusGapRight);
3380 113307129 : maneuverDist = MAX2(MIN2(maneuverDist, surplusGapLeft), -surplusGapRight);
3381 113307129 : if ((state & LCA_KEEPRIGHT) != 0 && maneuverDist != oldManeuverDist) {
3382 : // don't start keepRight unless it can be completed
3383 127413 : latDist = oldLatDist;
3384 127413 : maneuverDist = oldManeuverDist;
3385 : }
3386 : #ifdef DEBUG_KEEP_LATGAP
3387 : if (gDebugFlag2) {
3388 : std::cout << " adapted latDist=" << latDist << " maneuverDist=" << maneuverDist << " (old=" << oldLatDist << ")\n";
3389 : }
3390 : #endif
3391 : }
3392 : // take into account overriding traci sublane-request
3393 117006016 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0) {
3394 : // @note: the influence is reset in MSAbstractLaneChangeModel::setOwnState at the end of the lane-changing code for this vehicle
3395 1888 : latDist = myVehicle.getInfluencer().getLatDist();
3396 1888 : maneuverDist = myVehicle.getInfluencer().getLatDist();
3397 1888 : if (latDist < 0) {
3398 1972 : mySafeLatDistRight = MAX2(-latDist, mySafeLatDistRight);
3399 : } else {
3400 1432 : mySafeLatDistLeft = MAX2(latDist, mySafeLatDistLeft);
3401 : }
3402 1888 : state |= LCA_TRACI;
3403 : #ifdef DEBUG_KEEP_LATGAP
3404 : if (gDebugFlag2) {
3405 : std::cout << " traci influenced latDist=" << latDist << "\n";
3406 : }
3407 : #endif
3408 : }
3409 : // if we cannot move in the desired direction, consider the maneuver blocked anyway
3410 117006016 : const bool nonSublaneChange = (state & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT)) != 0;
3411 117006016 : const bool traciChange = ((state | traciState) & LCA_TRACI) != 0;
3412 117006016 : if (nonSublaneChange && !traciChange) {
3413 19651604 : if ((latDist < NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist > 0)) {
3414 : #ifdef DEBUG_KEEP_LATGAP
3415 : if (gDebugFlag2) {
3416 : std::cout << " wanted changeToLeft oldLatDist=" << oldLatDist << ", blocked latGap changeToRight\n";
3417 : }
3418 : #endif
3419 1179642 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3420 1179642 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_LEFT;
3421 18471962 : } else if ((latDist > -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist < 0)) {
3422 : #ifdef DEBUG_KEEP_LATGAP
3423 : if (gDebugFlag2) {
3424 : std::cout << " wanted changeToRight oldLatDist=" << oldLatDist << ", blocked latGap changeToLeft\n";
3425 : }
3426 : #endif
3427 726310 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3428 726310 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_RIGHT;
3429 : }
3430 : }
3431 : // if we move, even though we wish to stay, update the change reason (except for TraCI)
3432 117006016 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() && oldLatDist == 0) {
3433 1148618 : state &= (~(LCA_CHANGE_REASONS | LCA_STAY) | LCA_TRACI);
3434 : }
3435 : // update blocked status
3436 117006016 : if (fabs(latDist - oldLatDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3437 : #ifdef DEBUG_KEEP_LATGAP
3438 : if (gDebugFlag2) {
3439 : std::cout << " latDistUpdated=" << latDist << " oldLatDist=" << oldLatDist << "\n";
3440 : }
3441 : #endif
3442 4350938 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset, leaders, followers, blockers, neighLeaders, neighFollowers, neighBlockers, nullptr, nullptr, nonSublaneChange);
3443 : }
3444 117006016 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3445 14979845 : state = (state & ~LCA_STAY);
3446 14979845 : if ((state & LCA_CHANGE_REASONS) == 0) {
3447 1147626 : state |= LCA_SUBLANE;
3448 : }
3449 : } else {
3450 102026171 : if ((state & LCA_SUBLANE) != 0) {
3451 89113982 : state |= LCA_STAY;
3452 : }
3453 : // avoid setting blinker due to numerical issues
3454 102026171 : latDist = 0;
3455 : }
3456 : #if defined(DEBUG_KEEP_LATGAP) || defined(DEBUG_STATE)
3457 : if (gDebugFlag2) {
3458 : std::cout << " latDist2=" << latDist
3459 : << " state2=" << toString((LaneChangeAction)state)
3460 : << " lastGapLeft=" << myLastLateralGapLeft
3461 : << " lastGapRight=" << myLastLateralGapRight
3462 : << " blockedAfter=" << toString((LaneChangeAction)blocked)
3463 : << "\n";
3464 : }
3465 : #endif
3466 117006016 : return state;
3467 : }
3468 :
3469 :
3470 : void
3471 389422974 : MSLCM_SL2015::updateGaps(const MSLeaderDistanceInfo& others, double foeOffset, double oldCenter, double gapFactor,
3472 : double& surplusGapRight, double& surplusGapLeft,
3473 : bool saveMinGap, double netOverlap,
3474 : double latDist,
3475 : std::vector<CLeaderDist>* collectBlockers) {
3476 389422974 : if (others.hasVehicles()) {
3477 335003215 : const double halfWidth = getWidth() * 0.5 + NUMERICAL_EPS;
3478 335003215 : const double baseMinGap = myMinGapLat;
3479 1761808328 : for (int i = 0; i < others.numSublanes(); ++i) {
3480 2775194079 : if (others[i].first != 0 && others[i].second <= 0
3481 1459776682 : && myCFRelated.count(others[i].first) == 0
3482 1639959315 : && (netOverlap == 0 || others[i].second + others[i].first->getVehicleType().getMinGap() < netOverlap)) {
3483 : /// foe vehicle occupies full sublanes
3484 180439400 : const MSVehicle* foe = others[i].first;
3485 180439400 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : others[i].first->getLane()->getWidth();
3486 : double foeRight, foeLeft;
3487 180439400 : others.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3488 180439400 : const double foeCenter = foeRight + 0.5 * res;
3489 180439400 : const double gap = MIN2(fabs(foeRight - oldCenter), fabs(foeLeft - oldCenter)) - halfWidth;
3490 180439400 : const double deltaV = MIN2(LATGAP_SPEED_THRESHOLD, MAX3(LATGAP_SPEED_THRESHOLD2, myVehicle.getSpeed(), fabs(myVehicle.getSpeed() - foe->getSpeed())));
3491 180439400 : const double desiredMinGap = baseMinGap * deltaV / LATGAP_SPEED_THRESHOLD;
3492 180439400 : const double currentMinGap = desiredMinGap * gapFactor; // pushy vehicles may accept a lower lateral gap temporarily
3493 : /*
3494 : if (netOverlap != 0) {
3495 : // foe vehicle is follower with its front ahead of the ego midpoint
3496 : // scale gap requirements so it gets lower for foe which are further behind ego
3497 : //
3498 : // relOverlap approaches 0 as the foe gets closer to the midpoint and it equals 1 if the foe is driving head-to-head
3499 : const double relOverlap = 1 - (others[i].second + others[i].first->getVehicleType().getMinGap()) / netOverlap;
3500 : currentMinGap *= currOverlap * relOverlap;
3501 : }
3502 : */
3503 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3504 : if (debugVehicle()) {
3505 : std::cout << " updateGaps"
3506 : << " i=" << i
3507 : << " foe=" << foe->getID()
3508 : << " foeRight=" << foeRight
3509 : << " foeLeft=" << foeLeft
3510 : << " oldCenter=" << oldCenter
3511 : << " gap=" << others[i].second
3512 : << " latgap=" << gap
3513 : << " currentMinGap=" << currentMinGap
3514 : << " surplusGapRight=" << surplusGapRight
3515 : << " surplusGapLeft=" << surplusGapLeft
3516 : << "\n";
3517 : }
3518 : #endif
3519 :
3520 : // If foe is maneuvering towards ego, reserve some additional distance.
3521 : // But don't expect the foe to come closer than currentMinGap if it isn't already there.
3522 : // (XXX: How can the ego know the foe's maneuver dist?)
3523 180439400 : if (foeCenter < oldCenter) { // && foe->getLaneChangeModel().getSpeedLat() > 0) {
3524 90345961 : const double foeManeuverDist = MAX2(0., foe->getLaneChangeModel().getManeuverDist());
3525 259629323 : surplusGapRight = MIN3(surplusGapRight, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3526 : } else { //if (foeCenter > oldCenter && foe->getLaneChangeModel().getSpeedLat() < 0) {
3527 90093439 : const double foeManeuverDist = -MIN2(0., foe->getLaneChangeModel().getManeuverDist());
3528 259817647 : surplusGapLeft = MIN3(surplusGapLeft, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3529 : }
3530 180439400 : if (saveMinGap) {
3531 86634285 : if (foeCenter < oldCenter) {
3532 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3533 : if (gDebugFlag2 && gap < myLastLateralGapRight) {
3534 : std::cout << " new minimum rightGap=" << gap << "\n";
3535 : }
3536 : #endif
3537 79560597 : myLastLateralGapRight = MIN2(myLastLateralGapRight, gap);
3538 : } else {
3539 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3540 : if (gDebugFlag2 && gap < myLastLateralGapLeft) {
3541 : std::cout << " new minimum leftGap=" << gap << "\n";
3542 : }
3543 : #endif
3544 55090934 : myLastLateralGapLeft = MIN2(myLastLateralGapLeft, gap);
3545 : }
3546 : }
3547 180439400 : if (collectBlockers != nullptr) {
3548 : // check if the vehicle is blocking a desire lane change
3549 10768854 : if ((foeCenter < oldCenter && latDist < 0 && gap < (desiredMinGap - latDist))
3550 8296679 : || (foeCenter > oldCenter && latDist > 0 && gap < (desiredMinGap + latDist))) {
3551 9365644 : collectBlockers->push_back(others[i]);
3552 : }
3553 : }
3554 : }
3555 : }
3556 : }
3557 389422974 : }
3558 :
3559 :
3560 : double
3561 1083855415 : MSLCM_SL2015::getWidth() const {
3562 1083855415 : return myVehicle.getVehicleType().getWidth() + NUMERICAL_EPS;
3563 : }
3564 :
3565 :
3566 : double
3567 117813611 : MSLCM_SL2015::computeSpeedLat(double latDist, double& maneuverDist, bool urgent) const {
3568 117813611 : int currentDirection = mySpeedLat >= 0 ? 1 : -1;
3569 117813611 : int directionWish = latDist >= 0 ? 1 : -1;
3570 117813611 : double maxSpeedLat = myVehicle.getVehicleType().getMaxSpeedLat();
3571 117813611 : double accelLat = myAccelLat;
3572 117813611 : if (!urgent && (myLeftSpace > POSITION_EPS || myMaxSpeedLatFactor < 0)) {
3573 67868850 : const double speedBound = myMaxSpeedLatStanding + myMaxSpeedLatFactor * myVehicle.getSpeed();
3574 67868850 : if (myMaxSpeedLatFactor >= 0) {
3575 : // speedbound increases with speed and needs an upper bound
3576 : maxSpeedLat = MIN2(maxSpeedLat, speedBound);
3577 : } else {
3578 : // speedbound decreases with speed and needs a lower bound
3579 : // (only useful if myMaxSpeedLatStanding > maxSpeedLat)
3580 : maxSpeedLat = MAX2(maxSpeedLat, speedBound);
3581 : // increase (never decrease) lateral acceleration in proportion
3582 498 : accelLat *= MAX2(1.0, speedBound / myVehicle.getVehicleType().getMaxSpeedLat());
3583 : }
3584 : }
3585 117813611 : if (getWidth() < myVehicle.getCurrentEdge()->getWidth() && !isOpposite()) {
3586 117722492 : const double rightVehSide = myVehicle.getRightSideOnEdge();
3587 117722492 : const double edgeOverlap = MAX2(-rightVehSide, rightVehSide + myVehicle.getVehicleType().getWidth() - myVehicle.getCurrentEdge()->getWidth());
3588 : // if vehicle is outside edge bounds. Permit stronger lateral maneuvering
3589 117722492 : accelLat = MAX2(accelLat, 2 * edgeOverlap);
3590 : maxSpeedLat = MAX2(maxSpeedLat, edgeOverlap);
3591 : }
3592 :
3593 : #ifdef DEBUG_MANEUVER
3594 : if (debugVehicle()) {
3595 : std::cout << SIMTIME
3596 : << " veh=" << myVehicle.getID()
3597 : << " computeSpeedLat()"
3598 : << " latDist=" << latDist
3599 : << " maneuverDist=" << maneuverDist
3600 : << " urgent=" << urgent
3601 : << " speedLat=" << mySpeedLat
3602 : << " currentDirection=" << currentDirection
3603 : << " directionWish=" << directionWish
3604 : << " myLeftSpace=" << myLeftSpace
3605 : << " maxSpeedLat=" << maxSpeedLat
3606 : << std::endl;
3607 : }
3608 : #endif
3609 : // reduced lateral speed (in the desired direction). Don't change direction against desired.
3610 : double speedDecel;
3611 117813611 : if (directionWish == 1) {
3612 110195705 : speedDecel = MAX2(mySpeedLat - ACCEL2SPEED(accelLat), 0.);
3613 : } else {
3614 7617906 : speedDecel = MIN2(mySpeedLat + ACCEL2SPEED(accelLat), 0.);
3615 : }
3616 : // increased lateral speed (in the desired direction)
3617 117813611 : double speedAccel = MAX2(MIN2(mySpeedLat + directionWish * ACCEL2SPEED(accelLat), maxSpeedLat), -maxSpeedLat);
3618 :
3619 : // can we reach the target distance in a single step? (XXX: assumes "Euler" update)
3620 117813611 : double speedBound = DIST2SPEED(latDist);
3621 : // for lat-gap keeping maneuvres myOrigLatDist may be 0
3622 228713284 : const double fullLatDist = latDist > 0 ? MIN2(mySafeLatDistLeft, MAX2(maneuverDist, latDist)) : MAX2(-mySafeLatDistRight, MIN2(maneuverDist, latDist));
3623 :
3624 : // update maneuverDist, if safety constraints apply in its direction
3625 117813611 : if (maneuverDist * latDist > 0) {
3626 14877405 : maneuverDist = fullLatDist;
3627 : }
3628 :
3629 : #ifdef DEBUG_MANEUVER
3630 : if (debugVehicle()) {
3631 : std::cout << " mySafeLatDistRight=" << mySafeLatDistRight
3632 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
3633 : << " fullLatDist=" << fullLatDist
3634 : << " speedAccel=" << speedAccel
3635 : << " speedDecel=" << speedDecel
3636 : << " speedBound=" << speedBound
3637 : << std::endl;
3638 : }
3639 : #endif
3640 117813611 : if (speedDecel * speedAccel <= 0 && (
3641 : // speedAccel and speedDecel bracket speed 0. This means we can end the maneuver
3642 109417134 : (latDist >= 0 && speedAccel >= speedBound && speedBound >= speedDecel)
3643 9043115 : || (latDist <= 0 && speedAccel <= speedBound && speedBound <= speedDecel))) {
3644 : // we can reach the desired value in this step
3645 : #ifdef DEBUG_MANEUVER
3646 : if (debugVehicle()) {
3647 : std::cout << " computeSpeedLat a)\n";
3648 : }
3649 : #endif
3650 : return speedBound;
3651 : }
3652 : // are we currently moving in the wrong direction?
3653 4082610 : if (latDist * mySpeedLat < 0) {
3654 : #ifdef DEBUG_MANEUVER
3655 : if (debugVehicle()) {
3656 : std::cout << " computeSpeedLat b)\n";
3657 : }
3658 : #endif
3659 444597 : return emergencySpeedLat(speedAccel);
3660 : }
3661 : // check if the remaining distance allows to accelerate laterally
3662 3638013 : double minDistAccel = SPEED2DIST(speedAccel) + currentDirection * MSCFModel::brakeGapEuler(fabs(speedAccel), accelLat, 0); // most we can move in the target direction
3663 3638013 : if ((fabs(minDistAccel) < fabs(fullLatDist)) || (fabs(minDistAccel - fullLatDist) < NUMERICAL_EPS)) {
3664 : #ifdef DEBUG_MANEUVER
3665 : if (debugVehicle()) {
3666 : std::cout << " computeSpeedLat c)\n";
3667 : }
3668 : #endif
3669 : return speedAccel;
3670 : } else {
3671 : #ifdef DEBUG_MANEUVER
3672 : if (debugVehicle()) {
3673 : std::cout << " minDistAccel=" << minDistAccel << "\n";
3674 : }
3675 : #endif
3676 : // check if the remaining distance allows to maintain current lateral speed
3677 626522 : double minDistCurrent = SPEED2DIST(mySpeedLat) + currentDirection * MSCFModel::brakeGapEuler(fabs(mySpeedLat), accelLat, 0);
3678 626522 : if ((fabs(minDistCurrent) < fabs(fullLatDist)) || (fabs(minDistCurrent - fullLatDist) < NUMERICAL_EPS)) {
3679 : #ifdef DEBUG_MANEUVER
3680 : if (debugVehicle()) {
3681 : std::cout << " computeSpeedLat d)\n";
3682 : }
3683 : #endif
3684 151144 : return mySpeedLat;
3685 : }
3686 : }
3687 : // reduce lateral speed
3688 : #ifdef DEBUG_MANEUVER
3689 : if (debugVehicle()) {
3690 : std::cout << " computeSpeedLat e)\n";
3691 : }
3692 : #endif
3693 475378 : return emergencySpeedLat(speedDecel);
3694 : }
3695 :
3696 :
3697 : double
3698 919975 : MSLCM_SL2015::emergencySpeedLat(double speedLat) const {
3699 : // reduce lateral speed for safety purposes
3700 919975 : if (speedLat < 0 && SPEED2DIST(-speedLat) > mySafeLatDistRight) {
3701 14861 : speedLat = -DIST2SPEED(mySafeLatDistRight);
3702 : #ifdef DEBUG_MANEUVER
3703 : if (debugVehicle()) {
3704 : std::cout << " rightDanger speedLat=" << speedLat << "\n";
3705 : }
3706 : #endif
3707 905114 : } else if (speedLat > 0 && SPEED2DIST(speedLat) > mySafeLatDistLeft) {
3708 23283 : speedLat = DIST2SPEED(mySafeLatDistLeft);
3709 : #ifdef DEBUG_MANEUVER
3710 : if (debugVehicle()) {
3711 : std::cout << " leftDanger speedLat=" << speedLat << "\n";
3712 : }
3713 : #endif
3714 : }
3715 919975 : return speedLat;
3716 : }
3717 :
3718 :
3719 : LatAlignmentDefinition
3720 98043627 : MSLCM_SL2015::getDesiredAlignment() const {
3721 : LatAlignmentDefinition align = MSAbstractLaneChangeModel::getDesiredAlignment();
3722 : // Check whether the vehicle should adapt its alignment to an upcoming turn
3723 98043627 : if (myTurnAlignmentDist > 0) {
3724 374040 : const std::pair<double, const MSLink*>& turnInfo = myVehicle.getNextTurn();
3725 374040 : const LinkDirection turnDir = turnInfo.second == nullptr ? LinkDirection::NODIR : turnInfo.second->getDirection();
3726 374040 : const bool indirect = turnInfo.second == nullptr ? false : turnInfo.second->isIndirect();
3727 374040 : if (turnInfo.first < myTurnAlignmentDist) {
3728 : // Vehicle is close enough to the link to change its default alignment
3729 158949 : switch (turnDir) {
3730 13757 : case LinkDirection::TURN:
3731 : case LinkDirection::LEFT:
3732 : case LinkDirection::PARTLEFT:
3733 13757 : if (myVehicle.getLane()->getBidiLane() == nullptr) {
3734 : // no left alignment on bidi lane to avoid blocking oncoming traffic
3735 13689 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::RIGHT : LatAlignmentDefinition::LEFT;
3736 : }
3737 : break;
3738 12791 : case LinkDirection::TURN_LEFTHAND:
3739 : case LinkDirection::RIGHT:
3740 : case LinkDirection::PARTRIGHT:
3741 12791 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::LEFT : LatAlignmentDefinition::RIGHT;
3742 : break;
3743 : case LinkDirection::STRAIGHT:
3744 : case LinkDirection::NODIR:
3745 : default:
3746 : break;
3747 : }
3748 : }
3749 : }
3750 98043627 : return align;
3751 : }
3752 :
3753 :
3754 : void
3755 963672 : MSLCM_SL2015::commitManoeuvre(int blocked, int blockedFully,
3756 : const MSLeaderDistanceInfo& leaders,
3757 : const MSLeaderDistanceInfo& neighLeaders,
3758 : const MSLane& neighLane,
3759 : double maneuverDist) {
3760 963672 : if (!blocked && !blockedFully && !myCanChangeFully) {
3761 : // round to full action steps
3762 : double secondsToLeaveLane;
3763 502417 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3764 430723 : secondsToLeaveLane = ceil(fabs(maneuverDist) / myVehicle.getVehicleType().getMaxSpeedLat() / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3765 : // XXX myAccelLat must be taken into account (refs #3601, see ballistic case for solution)
3766 :
3767 : // XXX This also causes probs: if the difference between the current speed and the committed is higher than the maximal decel,
3768 : // the vehicle may pass myLeftSpace before completing the maneuver.
3769 861446 : myCommittedSpeed = MIN3(myLeftSpace / secondsToLeaveLane,
3770 430723 : myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle),
3771 430723 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3772 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3773 : if (debugVehicle()) {
3774 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myCommittedSpeed=" << myCommittedSpeed << " leftSpace=" << myLeftSpace << " secondsToLeave=" << secondsToLeaveLane << "\n";
3775 : }
3776 : #endif
3777 : } else {
3778 :
3779 : // Calculate seconds needed for leaving lane assuming start from lateral speed zero, and lat.accel == -lat.decel
3780 71694 : secondsToLeaveLane = MSCFModel::estimateArrivalTime(fabs(maneuverDist), 0., 0., myVehicle.getVehicleType().getMaxSpeedLat(), myAccelLat, myAccelLat);
3781 : // round to full action steps
3782 71694 : secondsToLeaveLane = ceil(secondsToLeaveLane / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3783 :
3784 : // committed speed will eventually be pushed into a drive item during the next planMove() step. This item
3785 : // will not be read before the next action step at current time + actionStepLength-TS, so we need to schedule the corresponding speed.
3786 71694 : const double timeTillActionStep = myVehicle.getActionStepLengthSecs() - TS;
3787 71694 : const double nextActionStepSpeed = MAX2(0., myVehicle.getSpeed() + timeTillActionStep * myVehicle.getAcceleration());
3788 : double nextLeftSpace;
3789 71298 : if (nextActionStepSpeed > 0.) {
3790 71295 : nextLeftSpace = myLeftSpace - timeTillActionStep * (myVehicle.getSpeed() + nextActionStepSpeed) * 0.5;
3791 399 : } else if (myVehicle.getAcceleration() == 0) {
3792 0 : nextLeftSpace = myLeftSpace;
3793 : } else {
3794 : assert(myVehicle.getAcceleration() < 0.);
3795 399 : nextLeftSpace = myLeftSpace + (myVehicle.getSpeed() * myVehicle.getSpeed() / myVehicle.getAcceleration()) * 0.5;
3796 : }
3797 71694 : const double avoidArrivalSpeed = nextActionStepSpeed + ACCEL2SPEED(MSCFModel::avoidArrivalAccel(
3798 : nextLeftSpace, secondsToLeaveLane - timeTillActionStep, nextActionStepSpeed, myVehicle.getCarFollowModel().getEmergencyDecel()));
3799 :
3800 143388 : myCommittedSpeed = MIN3(avoidArrivalSpeed,
3801 71694 : myVehicle.getSpeed() + myVehicle.getCarFollowModel().getMaxAccel() * myVehicle.getActionStepLengthSecs(),
3802 71694 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3803 :
3804 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3805 : if (gDebugFlag2) {
3806 : std::cout << SIMTIME
3807 : << " veh=" << myVehicle.getID()
3808 : << " avoidArrivalSpeed=" << avoidArrivalSpeed
3809 : << " currentSpeed=" << myVehicle.getSpeed()
3810 : << " myLeftSpace=" << myLeftSpace
3811 : << "\n nextLeftSpace=" << nextLeftSpace
3812 : << " nextActionStepSpeed=" << nextActionStepSpeed
3813 : << " nextActionStepRemainingSeconds=" << secondsToLeaveLane - timeTillActionStep
3814 : << "\n";
3815 : }
3816 : #endif
3817 : }
3818 502417 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, leaders, myVehicle.getLane()->getRightSideOnEdge());
3819 502417 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, neighLeaders, neighLane.getRightSideOnEdge());
3820 502417 : if (myCommittedSpeed < myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle)) {
3821 71462 : myCommittedSpeed = 0;
3822 : }
3823 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3824 : if (gDebugFlag2) {
3825 : std::cout << SIMTIME
3826 : << " veh=" << myVehicle.getID()
3827 : << " secondsToLeave=" << secondsToLeaveLane
3828 : << " maxNext=" << myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)
3829 : << " committed=" << myCommittedSpeed
3830 : << "\n";
3831 : }
3832 : #endif
3833 : }
3834 963672 : }
3835 :
3836 : double
3837 1004834 : MSLCM_SL2015::commitFollowSpeed(double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo& leaders, double foeOffset) const {
3838 1004834 : if (leaders.hasVehicles()) {
3839 : // we distinguish 3 cases
3840 : // - vehicles with lateral overlap at the end of the maneuver: try to follow safely
3841 : // - vehicles with overlap at the start of the maneuver: avoid collision within secondsToLeaveLane
3842 : // - vehicles without overlap: ignore
3843 :
3844 487981 : const double maxDecel = myVehicle.getCarFollowModel().getMaxDecel();
3845 : // temporarily use another decel value
3846 : MSCFModel& cfmodel = const_cast<MSCFModel&>(myVehicle.getCarFollowModel());
3847 487981 : cfmodel.setMaxDecel(maxDecel / getSafetyFactor());
3848 :
3849 487981 : const double vehWidth = getWidth();
3850 487981 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
3851 487981 : const double leftVehSide = rightVehSide + vehWidth;
3852 487981 : const double rightVehSideDest = rightVehSide + latDist;
3853 487981 : const double leftVehSideDest = leftVehSide + latDist;
3854 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3855 : if (gDebugFlag2) {
3856 : std::cout << " commitFollowSpeed"
3857 : << " latDist=" << latDist
3858 : << " foeOffset=" << foeOffset
3859 : << " vehRight=" << rightVehSide
3860 : << " vehLeft=" << leftVehSide
3861 : << " destRight=" << rightVehSideDest
3862 : << " destLeft=" << leftVehSideDest
3863 : << "\n";
3864 : }
3865 : #endif
3866 2734063 : for (int i = 0; i < leaders.numSublanes(); ++i) {
3867 2246082 : CLeaderDist vehDist = leaders[i];
3868 2246082 : if (vehDist.first != 0) {
3869 : const MSVehicle* leader = vehDist.first;
3870 : // only check the current stripe occuped by foe (transform into edge-coordinates)
3871 : double foeRight, foeLeft;
3872 1779353 : leaders.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3873 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3874 : if (gDebugFlag2) {
3875 : std::cout << " foe=" << vehDist.first->getID()
3876 : << " gap=" << vehDist.second
3877 : << " secGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, leader, myVehicle.getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
3878 : << " foeRight=" << foeRight
3879 : << " foeLeft=" << foeLeft
3880 : << " overlapBefore=" << overlap(rightVehSide, leftVehSide, foeRight, foeLeft)
3881 : << " overlapDest=" << overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)
3882 : << "\n";
3883 : }
3884 : #endif
3885 1779353 : if (overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)) {
3886 : // case 1
3887 811853 : const double vSafe = myVehicle.getCarFollowModel().followSpeed(
3888 811853 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3889 : speed = MIN2(speed, vSafe);
3890 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3891 : if (gDebugFlag2) {
3892 : std::cout << " case1 vsafe=" << vSafe << " speed=" << speed << "\n";
3893 : }
3894 : #endif
3895 967500 : } else if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft)) {
3896 : // case 2
3897 484070 : const double vSafe = myVehicle.getCarFollowModel().followSpeedTransient(
3898 : secondsToLeaveLane,
3899 484070 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3900 : speed = MIN2(speed, vSafe);
3901 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3902 : if (gDebugFlag2) {
3903 : std::cout << " case2 vsafe=" << vSafe << " speed=" << speed << "\n";
3904 : }
3905 : #endif
3906 : }
3907 : }
3908 : }
3909 : // restore original deceleration
3910 487981 : cfmodel.setMaxDecel(maxDecel);
3911 :
3912 : }
3913 1004834 : return speed;
3914 : }
3915 :
3916 : double
3917 756704408 : MSLCM_SL2015::getSafetyFactor() const {
3918 756704408 : return 1 / ((1 + 0.5 * myImpatience) * myAssertive);
3919 : }
3920 :
3921 : double
3922 1830751 : MSLCM_SL2015::getOppositeSafetyFactor() const {
3923 1830751 : return myOppositeParam <= 0 ? std::numeric_limits<double>::max() : 1 / myOppositeParam;
3924 : }
3925 :
3926 :
3927 : std::string
3928 152 : MSLCM_SL2015::getParameter(const std::string& key) const {
3929 152 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
3930 36 : return toString(myStrategicParam);
3931 116 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
3932 36 : return toString(myCooperativeParam);
3933 80 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
3934 36 : return toString(mySpeedGainParam);
3935 44 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
3936 0 : return toString(myKeepRightParam);
3937 44 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
3938 0 : return toString(myOppositeParam);
3939 44 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
3940 0 : return toString(mySublaneParam);
3941 44 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
3942 44 : return toString(myMinGapLat);
3943 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
3944 0 : return toString(myPushy);
3945 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
3946 0 : return toString((myPushy - 1) * myMinGapLat);
3947 0 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
3948 0 : return toString(myAssertive);
3949 0 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
3950 0 : return toString(myImpatience);
3951 0 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
3952 0 : return toString(myTimeToImpatience);
3953 0 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
3954 0 : return toString(myAccelLat);
3955 0 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
3956 0 : return toString(myLookaheadLeft);
3957 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
3958 0 : return toString(mySpeedGainRight);
3959 0 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
3960 0 : return toString(myLaneDiscipline);
3961 0 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
3962 0 : return toString(mySigma);
3963 0 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
3964 0 : return toString(myKeepRightAcceptanceTime);
3965 0 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
3966 0 : return toString(myOvertakeDeltaSpeedFactor);
3967 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
3968 0 : return toString(mySpeedGainLookahead);
3969 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
3970 0 : return toString(mySpeedGainRemainTime);
3971 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
3972 0 : return toString(myRoundaboutBonus);
3973 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
3974 0 : return toString(myCooperativeSpeed);
3975 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
3976 0 : return toString(myMaxSpeedLatStanding);
3977 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
3978 0 : return toString(myMaxSpeedLatFactor);
3979 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
3980 0 : return toString(myMaxDistLatStanding);
3981 : // access to internal state for debugging in sumo-gui (not documented since it may change at any time)
3982 0 : } else if (key == "speedGainProbabilityRight") {
3983 0 : return toString(mySpeedGainProbabilityRight);
3984 0 : } else if (key == "speedGainProbabilityLeft") {
3985 0 : return toString(mySpeedGainProbabilityLeft);
3986 0 : } else if (key == "keepRightProbability") {
3987 0 : return toString(myKeepRightProbability);
3988 0 : } else if (key == "lookAheadSpeed") {
3989 0 : return toString(myLookAheadSpeed);
3990 0 : } else if (key == "sigmaState") {
3991 0 : return toString(mySigmaState);
3992 : // motivation relative to threshold
3993 0 : } else if (key == "speedGainRP") {
3994 0 : return toString(mySpeedGainProbabilityRight / myChangeProbThresholdRight);
3995 0 : } else if (key == "speedGainLP") {
3996 0 : return toString(mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
3997 0 : } else if (key == "keepRightP") {
3998 0 : return toString(myKeepRightProbability * myKeepRightParam / myChangeProbThresholdRight);
3999 : }
4000 0 : throw InvalidArgument("Parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
4001 : }
4002 :
4003 : void
4004 277690 : MSLCM_SL2015::setParameter(const std::string& key, const std::string& value) {
4005 : double doubleValue;
4006 : try {
4007 277690 : doubleValue = StringUtils::toDouble(value);
4008 0 : } catch (NumberFormatException&) {
4009 0 : throw InvalidArgument("Setting parameter '" + key + "' requires a number for laneChangeModel of type '" + toString(myModel) + "'");
4010 0 : }
4011 277690 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
4012 71075 : myStrategicParam = doubleValue;
4013 206615 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
4014 0 : myCooperativeParam = doubleValue;
4015 206615 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
4016 0 : mySpeedGainParam = doubleValue;
4017 206615 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
4018 0 : myKeepRightParam = doubleValue;
4019 206615 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
4020 0 : myOppositeParam = doubleValue;
4021 206615 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
4022 0 : mySublaneParam = doubleValue;
4023 206615 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
4024 68877 : myMinGapLat = doubleValue;
4025 137738 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
4026 0 : myPushy = doubleValue;
4027 137738 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
4028 0 : myPushy = 1 - doubleValue / myMinGapLat;
4029 137738 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
4030 0 : myAssertive = doubleValue;
4031 137738 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
4032 0 : myImpatience = doubleValue;
4033 0 : myMinImpatience = doubleValue;
4034 137738 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
4035 0 : myTimeToImpatience = doubleValue;
4036 137738 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
4037 0 : myAccelLat = doubleValue;
4038 137738 : } else if (key == toString(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE)) {
4039 0 : myTurnAlignmentDist = doubleValue;
4040 137738 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
4041 0 : myLookaheadLeft = doubleValue;
4042 137738 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
4043 0 : mySpeedGainRight = doubleValue;
4044 137738 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
4045 0 : myLaneDiscipline = doubleValue;
4046 137738 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
4047 0 : mySigma = doubleValue;
4048 137738 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
4049 0 : myKeepRightAcceptanceTime = doubleValue;
4050 137738 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
4051 0 : myOvertakeDeltaSpeedFactor = doubleValue;
4052 137738 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
4053 68869 : mySpeedGainLookahead = doubleValue;
4054 68869 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
4055 68869 : mySpeedGainRemainTime = doubleValue;
4056 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
4057 0 : myRoundaboutBonus = doubleValue;
4058 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
4059 0 : myCooperativeSpeed = doubleValue;
4060 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
4061 0 : myMaxSpeedLatStanding = doubleValue;
4062 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
4063 0 : myMaxSpeedLatFactor = doubleValue;
4064 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
4065 0 : myMaxDistLatStanding = doubleValue;
4066 : // access to internal state
4067 0 : } else if (key == "speedGainProbabilityRight") {
4068 0 : mySpeedGainProbabilityRight = doubleValue;
4069 0 : } else if (key == "speedGainProbabilityLeft") {
4070 0 : mySpeedGainProbabilityLeft = doubleValue;
4071 0 : } else if (key == "keepRightProbability") {
4072 0 : myKeepRightProbability = doubleValue;
4073 0 : } else if (key == "lookAheadSpeed") {
4074 0 : myLookAheadSpeed = doubleValue;
4075 0 : } else if (key == "sigmaState") {
4076 0 : mySigmaState = doubleValue;
4077 : } else {
4078 0 : throw InvalidArgument("Setting parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
4079 : }
4080 277690 : initDerivedParameters();
4081 277690 : }
4082 :
4083 :
4084 : int
4085 3259 : MSLCM_SL2015::wantsChange(
4086 : int laneOffset,
4087 : MSAbstractLaneChangeModel::MSLCMessager& /* msgPass */,
4088 : int blocked,
4089 : const std::pair<MSVehicle*, double>& leader,
4090 : const std::pair<MSVehicle*, double>& follower,
4091 : const std::pair<MSVehicle*, double>& neighLead,
4092 : const std::pair<MSVehicle*, double>& neighFollow,
4093 : const MSLane& neighLane,
4094 : const std::vector<MSVehicle::LaneQ>& preb,
4095 : MSVehicle** lastBlocked,
4096 : MSVehicle** firstBlocked) {
4097 :
4098 : const LaneChangeAction alternatives = LCA_NONE; // @todo pas this data
4099 :
4100 : #ifdef DEBUG_WANTSCHANGE
4101 : if (DEBUG_COND) {
4102 : std::cout << "\nWANTS_CHANGE\n" << SIMTIME
4103 : //<< std::setprecision(10)
4104 : << " veh=" << myVehicle.getID()
4105 : << " lane=" << myVehicle.getLane()->getID()
4106 : << " neigh=" << neighLane.getID()
4107 : << " pos=" << myVehicle.getPositionOnLane()
4108 : << " posLat=" << myVehicle.getLateralPositionOnLane()
4109 : << " speed=" << myVehicle.getSpeed()
4110 : << " considerChangeTo=" << (laneOffset == -1 ? "right" : "left")
4111 : << "\n";
4112 : }
4113 : #endif
4114 :
4115 3259 : double latDist = 0;
4116 3259 : const double laneWidth = myVehicle.getLane()->getWidth();
4117 3259 : MSLeaderDistanceInfo leaders(leader, laneWidth);
4118 3259 : MSLeaderDistanceInfo followers(follower, laneWidth);
4119 3259 : MSLeaderDistanceInfo blockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4120 3259 : MSLeaderDistanceInfo neighLeaders(neighLead, laneWidth);
4121 3259 : MSLeaderDistanceInfo neighFollowers(neighFollow, laneWidth);
4122 3259 : MSLeaderDistanceInfo neighBlockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4123 :
4124 : double maneuverDist;
4125 3259 : int result = _wantsChangeSublane(laneOffset,
4126 : alternatives,
4127 : leaders, followers, blockers,
4128 : neighLeaders, neighFollowers, neighBlockers,
4129 : neighLane, preb,
4130 : lastBlocked, firstBlocked, latDist, maneuverDist, blocked);
4131 :
4132 3259 : myCanChangeFully = true;
4133 : // ignore sublane motivation
4134 3259 : result &= ~LCA_SUBLANE;
4135 3259 : result |= getLCA(result, latDist);
4136 :
4137 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
4138 : if (DEBUG_COND) {
4139 : if (result & LCA_WANTS_LANECHANGE) {
4140 : std::cout << SIMTIME
4141 : << " veh=" << myVehicle.getID()
4142 : << " wantsChangeTo=" << (laneOffset == -1 ? "right" : "left")
4143 : << ((result & LCA_URGENT) ? " (urgent)" : "")
4144 : << ((result & LCA_CHANGE_TO_HELP) ? " (toHelp)" : "")
4145 : << ((result & LCA_STRATEGIC) ? " (strat)" : "")
4146 : << ((result & LCA_COOPERATIVE) ? " (coop)" : "")
4147 : << ((result & LCA_SPEEDGAIN) ? " (speed)" : "")
4148 : << ((result & LCA_KEEPRIGHT) ? " (keepright)" : "")
4149 : << ((result & LCA_TRACI) ? " (traci)" : "")
4150 : << ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
4151 : << ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
4152 : << "\n\n\n";
4153 : }
4154 : }
4155 : #endif
4156 :
4157 3259 : return result;
4158 3259 : }
4159 :
4160 :
4161 : double
4162 136738376 : MSLCM_SL2015::getLeftBorder(bool checkOpposite) const {
4163 136738376 : return (myVehicle.getLane()->getEdge().getWidth()
4164 136738376 : + ((myVehicle.getLane()->getParallelOpposite() != nullptr && checkOpposite) ? myVehicle.getLane()->getParallelOpposite()->getEdge().getWidth() : 0));
4165 : }
4166 :
4167 : double
4168 138430997 : MSLCM_SL2015::getVehicleCenter() const {
4169 138430997 : if (isOpposite()) {
4170 155906 : return myVehicle.getEdge()->getWidth() + myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane();
4171 : } else {
4172 138275091 : return myVehicle.getCenterOnEdge();
4173 : }
4174 : }
4175 :
4176 : double
4177 67674954 : MSLCM_SL2015::getNeighRight(const MSLane& neighLane) const {
4178 67674954 : if (isOpposite()) {
4179 132784 : return myVehicle.getLane()->getRightSideOnEdge() - neighLane.getWidth() + 2 * myVehicle.getLateralPositionOnLane();
4180 67542170 : } else if ((&myVehicle.getLane()->getEdge() != &neighLane.getEdge())) {
4181 117745 : return myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth();
4182 : } else {
4183 : // the normal case
4184 67424425 : return neighLane.getRightSideOnEdge();
4185 : }
4186 : }
4187 :
4188 :
4189 : bool
4190 8609506 : MSLCM_SL2015::preventSliding(double maneuverDist) const {
4191 : // prevent wide maneuvers with unsufficient forward space
4192 8609506 : if (fabs(maneuverDist) > myMaxDistLatStanding) {
4193 : // emergency vehicles should not be restricted (TODO solve this with LCA_URGENT)
4194 8251123 : if (myVehicle.getVehicleType().getVehicleClass() == SVC_EMERGENCY) {
4195 : return false;
4196 : }
4197 8223227 : const double brakeGap = myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed());
4198 8223227 : const bool isSlide = fabs(maneuverDist) > myMaxDistLatStanding + brakeGap * fabs(myMaxSpeedLatFactor);
4199 : #ifdef DEBUG_SLIDING
4200 : if (gDebugFlag2) {
4201 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " bgap=" << brakeGap << " maneuverDist=" << maneuverDist
4202 : << " mds=" << myMaxDistLatStanding << " isSlide=" << isSlide << "\n";
4203 : }
4204 : #endif
4205 8223227 : return isSlide;
4206 : }
4207 : return false;
4208 : }
4209 :
4210 : bool
4211 : MSLCM_SL2015::wantsKeepRight(double keepRightProb) const {
4212 9707946 : return keepRightProb * myKeepRightParam > MAX2(myChangeProbThresholdRight, mySpeedGainProbabilityLeft);
4213 : }
4214 :
4215 :
4216 : bool
4217 23319 : MSLCM_SL2015::saveBlockerLength(double length, double foeLeftSpace) {
4218 23319 : const bool canReserve = MSLCHelper::canSaveBlockerLength(myVehicle, length, myLeftSpace);
4219 23319 : if (!isOpposite() && (canReserve || myLeftSpace > foeLeftSpace)) {
4220 17426 : myLeadingBlockerLength = MAX2(length, myLeadingBlockerLength);
4221 17426 : if (myLeftSpace == 0 && foeLeftSpace < 0) {
4222 : // called from opposite overtaking, myLeftSpace must be initialized
4223 1268 : myLeftSpace = myVehicle.getBestLanes()[myVehicle.getLane()->getIndex()].length - myVehicle.getPositionOnLane();
4224 : }
4225 17426 : return true;
4226 : } else {
4227 : return false;
4228 : }
4229 : }
4230 :
4231 :
4232 : bool
4233 27722642 : MSLCM_SL2015::outsideEdge() const {
4234 27722642 : return myVehicle.getLeftSideOnEdge() < 0 || myVehicle.getRightSideOnEdge() > myVehicle.getLane()->getEdge().getWidth();
4235 : }
4236 : /****************************************************************************/
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