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 840490 : MSLCM_SL2015::MSLCM_SL2015(MSVehicle& v) :
116 : MSAbstractLaneChangeModel(v, LaneChangeModel::SL2015),
117 840490 : mySpeedGainProbabilityRight(0),
118 840490 : mySpeedGainProbabilityLeft(0),
119 840490 : myKeepRightProbability(0),
120 840490 : myLeadingBlockerLength(0),
121 840490 : myLeftSpace(0),
122 840490 : myLookAheadSpeed(LOOK_AHEAD_MIN_SPEED),
123 840490 : myLastEdge(nullptr),
124 840490 : myCanChangeFully(true),
125 840490 : mySafeLatDistRight(0),
126 840490 : mySafeLatDistLeft(0),
127 840490 : myStrategicParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_STRATEGIC_PARAM, 1)),
128 840490 : myCooperativeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_PARAM, 1)),
129 840490 : mySpeedGainParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_PARAM, 1)),
130 840490 : myKeepRightParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_PARAM, 1)),
131 840490 : myOppositeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OPPOSITE_PARAM, 1)),
132 840490 : 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 840490 : myMinGapLat(v.getVehicleType().getMinGapLat()),
135 840490 : myPushy(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHY,
136 1680883 : 1 - (v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHYGAP,
137 840490 : MAX2(NUMERICAL_EPS, myMinGapLat)) /
138 840490 : MAX2(NUMERICAL_EPS, myMinGapLat)))),
139 840490 : myImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_IMPATIENCE, 0)),
140 840490 : myMinImpatience(myImpatience),
141 840490 : myTimeToImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, std::numeric_limits<double>::max())),
142 840490 : myAccelLat(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_ACCEL_LAT, 1.0)),
143 840490 : myTurnAlignmentDist(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE, 0.0)),
144 840490 : myLookaheadLeft(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LOOKAHEADLEFT, 2.0)),
145 840490 : mySpeedGainRight(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAINRIGHT, 0.1)),
146 840490 : myLaneDiscipline(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LANE_DISCIPLINE, 0.0)),
147 840490 : mySpeedGainLookahead(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD, 5)),
148 840490 : mySpeedGainRemainTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME, 20)),
149 840490 : myRoundaboutBonus(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT, myCooperativeParam)),
150 840490 : myCooperativeSpeed(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_SPEED, myCooperativeParam)),
151 840490 : myKeepRightAcceptanceTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME, -1)),
152 840490 : myOvertakeDeltaSpeedFactor(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR, 0)),
153 840490 : mySigmaState(0) {
154 840490 : initDerivedParameters();
155 840490 : }
156 :
157 1680964 : MSLCM_SL2015::~MSLCM_SL2015() {
158 840482 : changed();
159 1680964 : }
160 :
161 :
162 : void
163 1118814 : MSLCM_SL2015::initDerivedParameters() {
164 1118814 : if (mySpeedGainParam <= 0) {
165 2235 : myChangeProbThresholdRight = std::numeric_limits<double>::max();
166 2235 : myChangeProbThresholdLeft = std::numeric_limits<double>::max();
167 : } else {
168 1116579 : myChangeProbThresholdRight = (0.2 / mySpeedGainRight) / mySpeedGainParam;
169 1116579 : myChangeProbThresholdLeft = 0.2 / mySpeedGainParam;
170 : }
171 1118814 : mySpeedLossProbThreshold = (-0.1 + (1 - mySublaneParam));
172 1118814 : }
173 :
174 :
175 : bool
176 15333 : MSLCM_SL2015::debugVehicle() const {
177 15333 : return DEBUG_COND;
178 : }
179 :
180 :
181 : int
182 118770455 : 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 118770455 : gDebugFlag2 = DEBUG_COND;
198 201274485 : 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 118770455 : 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 118770455 : result = keepLatGap(result, leaders, followers, blockers,
224 : neighLeaders, neighFollowers, neighBlockers,
225 : neighLane, laneOffset, latDist, maneuverDist, blocked);
226 :
227 118770455 : 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 118770455 : 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 118770455 : gDebugFlag2 = false;
259 118770455 : return result;
260 : }
261 :
262 : void
263 82564634 : MSLCM_SL2015::setOwnState(const int state) {
264 82564634 : MSAbstractLaneChangeModel::setOwnState(state);
265 82564634 : if (myVehicle.isActive()) {
266 82564618 : if ((state & (LCA_STRATEGIC | LCA_SPEEDGAIN)) != 0 && (state & LCA_BLOCKED) != 0) {
267 8692689 : myImpatience = MIN2(1.0, myImpatience + myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
268 : } else {
269 : // impatience decays only to the driver-specific level
270 81337144 : 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 82564618 : if ((state & LCA_STAY) != 0) {
282 71953027 : myCanChangeFully = true;
283 : // if (DEBUG_COND) {
284 : // std::cout << " myCanChangeFully=true\n";
285 : // }
286 : }
287 : }
288 82564634 : }
289 :
290 :
291 : void
292 4032687 : MSLCM_SL2015::updateSafeLatDist(const double travelledLatDist) {
293 4032687 : mySafeLatDistLeft -= travelledLatDist;
294 4032687 : mySafeLatDistRight += travelledLatDist;
295 :
296 4032687 : if (fabs(mySafeLatDistLeft) < NUMERICAL_EPS) {
297 55788 : mySafeLatDistLeft = 0.;
298 : }
299 4032687 : if (fabs(mySafeLatDistRight) < NUMERICAL_EPS) {
300 92029 : mySafeLatDistRight = 0.;
301 : }
302 4032687 : }
303 :
304 :
305 : double
306 84004645 : MSLCM_SL2015::patchSpeed(const double min, const double wanted, const double max, const MSCFModel& cfModel) {
307 84004645 : gDebugFlag2 = DEBUG_COND;
308 : // negative min speed may be passed when using ballistic updated
309 84004645 : 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 84004645 : gDebugFlag2 = false;
326 84004645 : return newSpeed;
327 : }
328 :
329 :
330 : double
331 84004645 : MSLCM_SL2015::_patchSpeed(double min, const double wanted, double max, const MSCFModel& cfModel) {
332 84004645 : if (wanted <= 0) {
333 : return wanted;
334 : }
335 :
336 78948375 : 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 78948375 : if (myLeadingBlockerLength != 0) {
343 342932 : 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 342932 : if (space >= 0) {
350 : // compute speed for decelerating towards a place which allows the blocking leader to merge in in front
351 340749 : 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 340749 : if (safe < wanted) {
355 47356 : if (safe < min) {
356 2411 : const double vMinEmergency = myVehicle.getCarFollowModel().minNextSpeedEmergency(myVehicle.getSpeed(), &myVehicle);
357 2411 : 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 78948375 : const double coopWeight = MAX2(0.0, MIN2(1.0, myCooperativeSpeed));
373 104779278 : for (auto i : myLCAccelerationAdvices) {
374 : double accel = i.first;
375 25830903 : double v = myVehicle.getSpeed() + ACCEL2SPEED(accel);
376 25830903 : if (v >= min && v <= max) {
377 8880228 : if (i.second) {
378 : // own advice, no scaling needed
379 : nVSafe = MIN2(v, nVSafe);
380 : } else {
381 3910287 : 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 78948375 : 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 76474562 : if ((state & LCA_WANTS_LANECHANGE) != 0 && (state & LCA_BLOCKED) != 0) {
415 5000473 : 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 600025 : return (max + wanted) / 2.0;
424 4400448 : } else if ((state & LCA_COOPERATIVE) != 0) {
425 : // only minor adjustments in speed should be done
426 451448 : 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 414321 : return (min + wanted) / 2.0;
433 : }
434 37127 : 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 37127 : 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 75423089 : 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 962724 : 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 11832823 : MSLCM_SL2015::inform(void* info, MSVehicle* sender) {
509 : Info* pinfo = (Info*) info;
510 11832823 : if (pinfo->first >= 0) {
511 7300383 : addLCSpeedAdvice(pinfo->first, false);
512 : }
513 : //myOwnState &= 0xffffffff; // reset all bits of MyLCAEnum but only those
514 11832823 : 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 11832823 : delete pinfo;
528 11832823 : return (void*) true;
529 : }
530 :
531 :
532 : void
533 11832823 : MSLCM_SL2015::msg(const CLeaderDist& cld, double speed, int state) {
534 : assert(cld.first != 0);
535 11832823 : ((MSVehicle*)cld.first)->getLaneChangeModel().inform(new Info(speed, state), &myVehicle);
536 11832823 : }
537 :
538 :
539 : double
540 7626960 : MSLCM_SL2015::informLeader(int blocked,
541 : int dir,
542 : const CLeaderDist& neighLead,
543 : double remainingSeconds) {
544 15253920 : double plannedSpeed = MIN2(myVehicle.getSpeed(),
545 7626960 : myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
546 19975051 : for (auto i : myLCAccelerationAdvices) {
547 12348091 : double v = myVehicle.getSpeed() + ACCEL2SPEED(i.first);
548 12348091 : 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 7626960 : if ((blocked & LCA_BLOCKED_BY_LEADER) != 0 && neighLead.first != 0) {
559 : const MSVehicle* nv = neighLead.first;
560 6191829 : 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 6186811 : const double dv = plannedSpeed - nv->getSpeed();
570 6186811 : const double overtakeDist = (neighLead.second // drive to back of follower
571 6186811 : + nv->getVehicleType().getLengthWithGap() // drive to front of follower
572 6186811 : + myVehicle.getVehicleType().getLength() // ego back reaches follower front
573 18560433 : + nv->getCarFollowModel().getSecureGap( // save gap to follower
574 6186811 : nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()));
575 :
576 6186811 : if ((dv < myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit() + NUMERICAL_EPS
577 : // overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
578 2064069 : || (dir == LCA_MLEFT && !myVehicle.congested() && !myAllowOvertakingRight)
579 : // not enough space to overtake? (we will start to brake when approaching a dead end)
580 4099268 : || myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed()) < overtakeDist
581 : // not enough time to overtake?
582 1912741 : || dv * remainingSeconds < overtakeDist)
583 6599218 : && (!neighLead.first->isStopped() || (isOpposite() && neighLead.second >= 0))) {
584 : // cannot overtake
585 4530139 : msg(neighLead, -1, dir | LCA_AMBLOCKINGLEADER);
586 : // slow down smoothly to follow leader
587 4530139 : const double targetSpeed = getCarFollowModel().followSpeed(
588 4530139 : &myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
589 4530139 : if (targetSpeed < myVehicle.getSpeed()) {
590 : // slow down smoothly to follow leader
591 1017779 : 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 776517 : 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 776517 : addLCSpeedAdvice(nextSpeed);
607 776517 : 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 3753622 : addLCSpeedAdvice(targetSpeed);
621 3753622 : 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 1656672 : msg(neighLead, nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER);
640 1656672 : return -1;
641 : }
642 1435131 : } 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 1435131 : 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 1199035 : nextNVSpeed = nv->getSpeed() - HELP_OVERTAKE; // conservative
650 1199035 : 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 236096 : nextNVSpeed = nv->getSpeed() - nvMaxDecel * myVehicle.getActionStepLengthSecs(); // conservative
657 : // Estimated gap reduction until next action step if own speed stays constant
658 236096 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
659 : }
660 1435131 : const double targetSpeed = getCarFollowModel().followSpeed(
661 1435131 : &myVehicle, myVehicle.getSpeed(), neighLead.second - dv, nextNVSpeed, nv->getCarFollowModel().getMaxDecel());
662 1435131 : 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 5653431 : MSLCM_SL2015::informFollower(int blocked,
684 : int dir,
685 : const CLeaderDist& neighFollow,
686 : double remainingSeconds,
687 : double plannedSpeed) {
688 5653431 : if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0 && neighFollow.first != 0) {
689 : const MSVehicle* nv = neighFollow.first;
690 4198870 : 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 4198582 : if (plannedSpeed - nv->getSpeed() >= HELP_OVERTAKE) {
701 267871 : const double neededGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
702 267871 : 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 245618 : msg(neighFollow, plannedSpeed - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER);
710 245618 : return;
711 : }
712 : }
713 : // decide whether we will request help to cut in before the follower or allow to be overtaken
714 : // first check whether the neighbor is even willing to help
715 3952964 : const double curDV = nv->getSpeed() - plannedSpeed;
716 3964637 : if (nv->getLaneChangeModel().getCooperativeHelpThreshold() >= 0 && curDV > nv->getLaneChangeModel().getCooperativeHelpThreshold()
717 3960095 : && (nv->getLaneChangeModel().getCooperativeHelpTime() < 0 || myVehicle.getWaitingSeconds() < nv->getLaneChangeModel().getCooperativeHelpTime())) {
718 : // ego vehicle is too slow and has not been waiting long enough to be eligible for help
719 7131 : return;
720 : }
721 :
722 : // PARAMETERS
723 : // assume other vehicle will assume the equivalent of 1 second of
724 : // maximum deceleration to help us (will probably be spread over
725 : // multiple seconds)
726 : // -----------
727 : const double helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR ;
728 :
729 : // change in the gap between ego and blocker over 1 second (not STEP!)
730 3945833 : const double neighNewSpeed = MAX2(0., nv->getSpeed() - ACCEL2SPEED(helpDecel));
731 3945833 : const double neighNewSpeed1s = MAX2(0., nv->getSpeed() - helpDecel);
732 3945833 : const double dv = plannedSpeed - neighNewSpeed1s;
733 : // new gap between follower and self in case the follower does brake for 1s
734 3945833 : const double decelGap = neighFollow.second + dv;
735 3945833 : const double secureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, neighNewSpeed1s, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
736 : #ifdef DEBUG_INFORM
737 : if (gDebugFlag2) {
738 : std::cout << SIMTIME
739 : << " egoV=" << myVehicle.getSpeed()
740 : << " egoNV=" << plannedSpeed
741 : << " nvNewSpeed=" << neighNewSpeed
742 : << " nvNewSpeed1s=" << neighNewSpeed1s
743 : << " deltaGap=" << dv
744 : << " decelGap=" << decelGap
745 : << " secGap=" << secureGap
746 : << "\n";
747 : }
748 : #endif
749 3945833 : if (decelGap > 0 && decelGap >= secureGap) {
750 : // if the blocking neighbor brakes it could actually help
751 : // how hard does it actually need to be?
752 : // to be safe in the next step the following equation has to hold:
753 : // vsafe <= followSpeed(gap=currentGap - SPEED2DIST(vsafe), ...)
754 : // we compute an upper bound on vsafe by doing the computation twice
755 579574 : const double vsafe1 = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
756 579574 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
757 579574 : const double vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
758 579574 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed - vsafe1), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
759 : // the following assertion cannot be guaranteed because the CFModel handles small gaps differently, see MSCFModel::maximumSafeStopSpeed
760 : // assert(vsafe <= vsafe1);
761 579574 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
762 : #ifdef DEBUG_INFORM
763 : if (gDebugFlag2) {
764 : std::cout << " wants to cut in before nv=" << nv->getID()
765 : << " vsafe1=" << vsafe1
766 : << " vsafe=" << vsafe
767 : << " newSecGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel())
768 : << "\n";
769 : }
770 : #endif
771 3945833 : } else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS)) {
772 : // decelerating once is sufficient to open up a large enough gap in time
773 190342 : msg(neighFollow, neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER);
774 : #ifdef DEBUG_INFORM
775 : if (gDebugFlag2) {
776 : std::cout << " wants to cut in before nv=" << nv->getID() << " (eventually)\n";
777 : }
778 : #endif
779 3175917 : } else if (dir == LCA_MRIGHT && !myAllowOvertakingRight && !nv->congested()) {
780 : const double vhelp = MAX2(neighNewSpeed, HELP_OVERTAKE);
781 1442 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
782 : #ifdef DEBUG_INFORM
783 : if (gDebugFlag2) {
784 : std::cout << " wants to cut in before nv=" << nv->getID() << " (nv cannot overtake right)\n";
785 : }
786 : #endif
787 : } else {
788 3174475 : double vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
789 3174475 : if (nv->getSpeed() > myVehicle.getSpeed() &&
790 439195 : ((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE)
791 443177 : || (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
792 : // XXX this is a hack to determine whether the vehicles is on an on-ramp. This information should be retrieved from the network itself
793 438551 : || (dir == LCA_MLEFT && myLeftSpace > MAX_ONRAMP_LENGTH)
794 : )) {
795 : // let the follower slow down to increase the likelyhood that later vehicles will be slow enough to help
796 : // follower should still be fast enough to open a gap
797 447305 : vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
798 : #ifdef DEBUG_INFORM
799 : if (gDebugFlag2) {
800 : std::cout << " wants right follower to slow down a bit\n";
801 : }
802 : #endif
803 447305 : if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
804 : #ifdef DEBUG_INFORM
805 : if (gDebugFlag2) {
806 : std::cout << " wants to cut in before right follower nv=" << nv->getID() << " (eventually)\n";
807 : }
808 : #endif
809 433636 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
810 433636 : return;
811 : }
812 : }
813 2740839 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
814 : // this follower is supposed to overtake us. slow down smoothly to allow this
815 2740839 : const double overtakeDist = (neighFollow.second // follower reaches ego back
816 2740839 : + myVehicle.getVehicleType().getLengthWithGap() // follower reaches ego front
817 2740839 : + nv->getVehicleType().getLength() // follower back at ego front
818 2740839 : + myVehicle.getCarFollowModel().getSecureGap( // follower has safe dist to ego
819 2740839 : &myVehicle, nv, plannedSpeed, vhelp, nv->getCarFollowModel().getMaxDecel()));
820 : // speed difference to create a sufficiently large gap
821 2740839 : const double needDV = overtakeDist / remainingSeconds;
822 : // make sure the deceleration is not to strong
823 2980493 : addLCSpeedAdvice(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
824 :
825 : #ifdef DEBUG_INFORM
826 : if (gDebugFlag2) {
827 : std::cout << SIMTIME
828 : << " veh=" << myVehicle.getID()
829 : << " wants to be overtaken by=" << nv->getID()
830 : << " overtakeDist=" << overtakeDist
831 : << " vneigh=" << nv->getSpeed()
832 : << " vhelp=" << vhelp
833 : << " needDV=" << needDV
834 : << " vsafe=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
835 : << "\n";
836 : }
837 : #endif
838 : }
839 1454561 : } else if (neighFollow.first != 0) {
840 1454561 : const double vsafe = MSLCHelper::getSpeedPreservingSecureGap(myVehicle, *neighFollow.first, neighFollow.second, plannedSpeed);
841 1454561 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
842 : #ifdef DEBUG_INFORM
843 : if (gDebugFlag2) {
844 : std::cout << " wants to cut in before non-blocking follower nv=" << neighFollow.first->getID() << "\n";
845 : }
846 : #endif
847 : }
848 : }
849 :
850 : double
851 2630598 : MSLCM_SL2015::informLeaders(int blocked, int dir,
852 : const std::vector<CLeaderDist>& blockers,
853 : double remainingSeconds) {
854 2630598 : double plannedSpeed = myVehicle.getSpeed();
855 2630598 : double space = myLeftSpace;
856 2630598 : if (myLeadingBlockerLength != 0) {
857 : // see patchSpeed @todo: refactor
858 340883 : space -= myLeadingBlockerLength - POSITION_EPS - myVehicle.getVehicleType().getMinGap();
859 340883 : if (space <= 0) {
860 : // ignore leading blocker
861 380 : space = myLeftSpace;
862 : }
863 : }
864 2630598 : double safe = myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), space);
865 : plannedSpeed = MIN2(plannedSpeed, safe);
866 :
867 10257558 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
868 7626960 : plannedSpeed = MIN2(plannedSpeed, informLeader(blocked, dir, *it, remainingSeconds));
869 : }
870 2630598 : return plannedSpeed;
871 : }
872 :
873 :
874 : void
875 2206209 : MSLCM_SL2015::informFollowers(int blocked, int dir,
876 : const std::vector<CLeaderDist>& blockers,
877 : double remainingSeconds,
878 : double plannedSpeed) {
879 : // #3727
880 7859640 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
881 5653431 : informFollower(blocked, dir, *it, remainingSeconds, plannedSpeed);
882 : }
883 2206209 : }
884 :
885 :
886 : void
887 83530702 : MSLCM_SL2015::prepareStep() {
888 83530702 : MSAbstractLaneChangeModel::prepareStep();
889 : // keep information about strategic change direction
890 83530702 : myOwnState = (myOwnState & (LCA_STRATEGIC | LCA_COOPERATIVE)) ? (myOwnState & LCA_WANTS_LANECHANGE) : 0;
891 : #ifdef DEBUG_INFORM
892 : if (debugVehicle()) {
893 : std::cout << SIMTIME
894 : << " veh=" << myVehicle.getID()
895 : << " prepareStep"
896 : << " myCanChangeFully=" << myCanChangeFully
897 : << "\n";
898 : }
899 : #endif
900 83530702 : myLeadingBlockerLength = 0;
901 83530702 : myLeftSpace = 0;
902 : myLCAccelerationAdvices.clear();
903 83530702 : myDontBrake = false;
904 : myCFRelated.clear();
905 83530702 : myCFRelatedReady = false;
906 83530702 : const double halfWidth = getWidth() * 0.5;
907 : // only permit changing within lane bounds but open up the range depending on the checked duration in _wantsChangeSublane()
908 83530702 : mySafeLatDistRight = myVehicle.getLane()->getWidth() * 0.5 + myVehicle.getLateralPositionOnLane() - halfWidth;
909 83530702 : mySafeLatDistLeft = myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane() - halfWidth;
910 83530702 : if (isOpposite()) {
911 : std::swap(mySafeLatDistLeft, mySafeLatDistRight);
912 : }
913 : // truncate to work around numerical instability between different builds
914 83530702 : mySpeedGainProbabilityRight = ceil(mySpeedGainProbabilityRight * 100000.0) * 0.00001;
915 83530702 : mySpeedGainProbabilityLeft = ceil(mySpeedGainProbabilityLeft * 100000.0) * 0.00001;
916 83530702 : myKeepRightProbability = ceil(myKeepRightProbability * 100000.0) * 0.00001;
917 : // updated myExpectedSublaneSpeeds
918 : // XXX only do this when (sub)lane changing is possible
919 : std::vector<double> newExpectedSpeeds;
920 : #ifdef DEBUG_INFORM
921 : if (DEBUG_COND) {
922 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myExpectedSublaneSpeeds=" << toString(myExpectedSublaneSpeeds) << "\n";
923 : }
924 : #endif
925 167061404 : if (myExpectedSublaneSpeeds.size() != myVehicle.getLane()->getEdge().getSubLaneSides().size()) {
926 : // initialize
927 1162544 : const MSEdge* currEdge = &myVehicle.getLane()->getEdge();
928 : const std::vector<MSLane*>& lanes = currEdge->getLanes();
929 3177517 : for (std::vector<MSLane*>::const_iterator it_lane = lanes.begin(); it_lane != lanes.end(); ++it_lane) {
930 2014973 : const int subLanes = MAX2(1, int(ceil((*it_lane)->getWidth() / MSGlobals::gLateralResolution)));
931 10731758 : for (int i = 0; i < subLanes; ++i) {
932 8716785 : newExpectedSpeeds.push_back((*it_lane)->getVehicleMaxSpeed(&myVehicle));
933 : }
934 : }
935 1162544 : if (currEdge->canChangeToOpposite()) {
936 11288 : MSLane* opposite = lanes.back()->getOpposite();
937 11288 : const int subLanes = MAX2(1, int(ceil(opposite->getWidth() / MSGlobals::gLateralResolution)));
938 61967 : for (int i = 0; i < subLanes; ++i) {
939 50679 : newExpectedSpeeds.push_back(lanes.back()->getVehicleMaxSpeed(&myVehicle));
940 : }
941 : }
942 1162544 : if (myExpectedSublaneSpeeds.size() > 0) {
943 : // copy old values
944 : assert(myLastEdge != 0);
945 647870 : if (myLastEdge->getSubLaneSides().size() == myExpectedSublaneSpeeds.size()) {
946 647870 : const int subLaneShift = computeSublaneShift(myLastEdge, currEdge);
947 647870 : if (subLaneShift < std::numeric_limits<int>::max()) {
948 2673870 : for (int i = 0; i < (int)myExpectedSublaneSpeeds.size(); ++i) {
949 2313004 : const int newI = i + subLaneShift;
950 2313004 : if (newI > 0 && newI < (int)newExpectedSpeeds.size()) {
951 1583853 : newExpectedSpeeds[newI] = myExpectedSublaneSpeeds[i];
952 : }
953 : }
954 : }
955 : }
956 : }
957 1162544 : myExpectedSublaneSpeeds = newExpectedSpeeds;
958 1162544 : myLastEdge = currEdge;
959 : }
960 : assert(myExpectedSublaneSpeeds.size() == myVehicle.getLane()->getEdge().getSubLaneSides().size());
961 83530702 : if (mySigma > 0) {
962 53719 : mySigmaState += getLateralDrift();
963 : }
964 83530702 : }
965 :
966 : double
967 53719 : MSLCM_SL2015::getLateralDrift() {
968 : //OUProcess::step(double state, double dt, double timeScale, double noiseIntensity)
969 53719 : const double deltaState = OUProcess::step(mySigmaState,
970 53719 : myVehicle.getActionStepLengthSecs(),
971 53719 : MAX2(NUMERICAL_EPS, (1 - mySigma) * 100), mySigma) - mySigmaState;
972 53719 : const double scaledDelta = deltaState * myVehicle.getSpeed() / myVehicle.getLane()->getSpeedLimit();
973 53719 : return scaledDelta;
974 : }
975 :
976 : double
977 96472149 : MSLCM_SL2015::getPosLat() {
978 96472149 : return myVehicle.getLateralPositionOnLane() + mySigmaState;
979 : }
980 :
981 : int
982 647870 : MSLCM_SL2015::computeSublaneShift(const MSEdge* prevEdge, const MSEdge* curEdge) {
983 : // find the first lane that targets the new edge
984 : int prevShift = 0;
985 1301321 : for (const MSLane* const lane : prevEdge->getLanes()) {
986 1896564 : for (const MSLink* const link : lane->getLinkCont()) {
987 1243113 : if (&link->getLane()->getEdge() == curEdge) {
988 : int curShift = 0;
989 : const MSLane* target = link->getLane();
990 : const std::vector<MSLane*>& lanes2 = curEdge->getLanes();
991 504264 : for (std::vector<MSLane*>::const_iterator it_lane2 = lanes2.begin(); it_lane2 != lanes2.end(); ++it_lane2) {
992 504264 : const MSLane* lane2 = *it_lane2;
993 504264 : if (lane2 == target) {
994 360866 : return prevShift + curShift;
995 : }
996 143398 : MSLeaderInfo ahead(lane2->getWidth());
997 143398 : curShift += ahead.numSublanes();
998 143398 : }
999 : assert(false);
1000 : }
1001 : }
1002 653451 : MSLeaderInfo ahead(lane->getWidth());
1003 653451 : prevShift -= ahead.numSublanes();
1004 653451 : }
1005 : return std::numeric_limits<int>::max();
1006 : }
1007 :
1008 :
1009 : void
1010 1230085 : MSLCM_SL2015::changed() {
1011 1230085 : if (!myCanChangeFully) {
1012 : // do not reset state yet so we can continue our maneuver but acknowledge
1013 : // a change to the right (movement should continue due to lane alignment desire)
1014 373283 : if (getManeuverDist() < 0) {
1015 167259 : myKeepRightProbability = 0;
1016 : }
1017 : #ifdef DEBUG_STATE
1018 : if (DEBUG_COND) {
1019 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " state not reset. maneuverDist=" << getManeuverDist() << "\n";
1020 : }
1021 : #endif
1022 373283 : return;
1023 : }
1024 856802 : myOwnState = 0;
1025 : // XX do not reset values for unfinished maneuvers
1026 856802 : mySpeedGainProbabilityRight = 0;
1027 856802 : mySpeedGainProbabilityLeft = 0;
1028 856802 : myKeepRightProbability = 0;
1029 :
1030 856802 : if (myVehicle.getBestLaneOffset() == 0) {
1031 : // if we are not yet on our best lane there might still be unseen blockers
1032 : // (during patchSpeed)
1033 836014 : myLeadingBlockerLength = 0;
1034 836014 : myLeftSpace = 0;
1035 : }
1036 856802 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1037 : myLCAccelerationAdvices.clear();
1038 856802 : myDontBrake = false;
1039 856802 : myLeadingBlockerLength = 0;
1040 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
1041 : if (DEBUG_COND) {
1042 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " changed()\n";
1043 : }
1044 : #endif
1045 : }
1046 :
1047 :
1048 : void
1049 3559 : MSLCM_SL2015::resetState() {
1050 3559 : myOwnState = 0;
1051 3559 : mySpeedGainProbabilityRight = 0;
1052 3559 : mySpeedGainProbabilityLeft = 0;
1053 3559 : myKeepRightProbability = 0;
1054 3559 : myLeadingBlockerLength = 0;
1055 3559 : myLeftSpace = 0;
1056 3559 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1057 : myLCAccelerationAdvices.clear();
1058 3559 : myDontBrake = false;
1059 3559 : }
1060 :
1061 :
1062 : int
1063 118773714 : MSLCM_SL2015::_wantsChangeSublane(
1064 : int laneOffset,
1065 : LaneChangeAction alternatives,
1066 : const MSLeaderDistanceInfo& leaders,
1067 : const MSLeaderDistanceInfo& followers,
1068 : const MSLeaderDistanceInfo& blockers,
1069 : const MSLeaderDistanceInfo& neighLeaders,
1070 : const MSLeaderDistanceInfo& neighFollowers,
1071 : const MSLeaderDistanceInfo& neighBlockers,
1072 : const MSLane& neighLane,
1073 : const std::vector<MSVehicle::LaneQ>& preb,
1074 : MSVehicle** lastBlocked,
1075 : MSVehicle** firstBlocked,
1076 : double& latDist, double& maneuverDist, int& blocked) {
1077 :
1078 118773714 : if (laneOffset != 0) {
1079 : // update mySafeLatDist w.r.t. the direction being checkd
1080 36269684 : const double halfWidth = getWidth() * 0.5;
1081 36269684 : double center = getVehicleCenter();
1082 36269684 : if (laneOffset < 0) {
1083 16759957 : mySafeLatDistRight = center - halfWidth;
1084 : } else {
1085 19509727 : mySafeLatDistLeft = getLeftBorder() - center - halfWidth;
1086 : }
1087 : }
1088 :
1089 118773714 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
1090 : // compute bestLaneOffset
1091 : MSVehicle::LaneQ curr, neigh, best;
1092 : int bestLaneOffset = 0;
1093 118773714 : double currentDist = 0;
1094 : double neighDist = 0;
1095 118773714 : const MSLane* prebLane = myVehicle.getLane();
1096 118773714 : if (prebLane->getEdge().isInternal()) {
1097 : // internal edges are not kept inside the bestLanes structure
1098 2541684 : if (isOpposite()) {
1099 477 : prebLane = prebLane->getNormalPredecessorLane();
1100 : } else {
1101 2541207 : prebLane = prebLane->getLinkCont()[0]->getLane();
1102 : }
1103 : }
1104 : // special case: vehicle considers changing to the opposite direction edge
1105 118773714 : const bool checkOpposite = &neighLane.getEdge() != &myVehicle.getLane()->getEdge();
1106 118773714 : const int prebOffset = (checkOpposite ? 0 : laneOffset);
1107 162933885 : for (int p = 0; p < (int) preb.size(); ++p) {
1108 162933885 : if (preb[p].lane == prebLane && p + laneOffset >= 0) {
1109 : assert(p + prebOffset < (int)preb.size());
1110 : curr = preb[p];
1111 118773714 : neigh = preb[p + prebOffset];
1112 118773714 : currentDist = curr.length;
1113 118773714 : neighDist = neigh.length;
1114 118773714 : bestLaneOffset = curr.bestLaneOffset;
1115 : // VARIANT_13 (equalBest)
1116 118773714 : if (bestLaneOffset == 0 && preb[p + prebOffset].bestLaneOffset == 0 && !checkOpposite) {
1117 : #ifdef DEBUG_WANTSCHANGE
1118 : if (gDebugFlag2) {
1119 : std::cout << STEPS2TIME(currentTime)
1120 : << " veh=" << myVehicle.getID()
1121 : << " bestLaneOffsetOld=" << bestLaneOffset
1122 : << " bestLaneOffsetNew=" << laneOffset
1123 : << "\n";
1124 : }
1125 : #endif
1126 : bestLaneOffset = prebOffset;
1127 : }
1128 118773714 : best = preb[p + bestLaneOffset];
1129 : break;
1130 : }
1131 : }
1132 : assert(curr.lane != nullptr);
1133 : assert(neigh.lane != nullptr);
1134 : assert(best.lane != nullptr);
1135 : double driveToNextStop = -std::numeric_limits<double>::max();
1136 : UNUSED_PARAMETER(driveToNextStop); // XXX use when computing usableDist
1137 118773714 : if (myVehicle.nextStopDist() < std::numeric_limits<double>::max()
1138 118773714 : && &myVehicle.getNextStop().lane->getEdge() == &myVehicle.getLane()->getEdge()) {
1139 : // vehicle can always drive up to stop distance
1140 : // @note this information is dynamic and thus not available in updateBestLanes()
1141 : // @note: nextStopDist was compute before the vehicle moved
1142 : driveToNextStop = myVehicle.nextStopDist();
1143 1720508 : const double stopPos = getForwardPos() + myVehicle.nextStopDist() - myVehicle.getLastStepDist();
1144 : #ifdef DEBUG_WANTS_CHANGE
1145 : if (DEBUG_COND) {
1146 : std::cout << SIMTIME << std::setprecision(gPrecision) << " veh=" << myVehicle.getID()
1147 : << " stopDist=" << myVehicle.nextStopDist()
1148 : << " lastDist=" << myVehicle.getLastStepDist()
1149 : << " stopPos=" << stopPos
1150 : << " currentDist=" << currentDist
1151 : << " neighDist=" << neighDist
1152 : << "\n";
1153 : }
1154 : #endif
1155 2327795 : currentDist = MAX2(currentDist, stopPos);
1156 : neighDist = MAX2(neighDist, stopPos);
1157 : }
1158 : // direction specific constants
1159 118773714 : const bool right = (laneOffset == -1);
1160 118773714 : const bool left = (laneOffset == 1);
1161 118773714 : const int myLca = (right ? LCA_MRIGHT : (left ? LCA_MLEFT : 0));
1162 102013757 : const int lcaCounter = (right ? LCA_LEFT : (left ? LCA_RIGHT : LCA_NONE));
1163 118773714 : const bool changeToBest = (right && bestLaneOffset < 0) || (left && bestLaneOffset > 0) || (laneOffset == 0 && bestLaneOffset == 0);
1164 : // keep information about being a leader/follower but remove information
1165 : // about previous lane change request or urgency
1166 118773714 : int ret = (myOwnState & 0xffff0000);
1167 :
1168 : // compute the distance when changing to the neighboring lane
1169 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
1170 : // minimum distance to move the vehicle fully onto the new lane
1171 118773714 : double latLaneDist = laneOffset == 0 ? 0. : myVehicle.lateralDistanceToLane(laneOffset);
1172 :
1173 : // VARIANT_5 (disableAMBACKBLOCKER1)
1174 : /*
1175 : if (leader.first != 0
1176 : && (myOwnState & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0
1177 : && (leader.first->getLaneChangeModel().getOwnState() & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
1178 :
1179 : myOwnState &= (0xffffffff - LCA_AMBLOCKINGFOLLOWER_DONTBRAKE);
1180 : if (myVehicle.getSpeed() > SUMO_const_haltingSpeed) {
1181 : myOwnState |= LCA_AMBACKBLOCKER;
1182 : } else {
1183 : ret |= LCA_AMBACKBLOCKER;
1184 : myDontBrake = true;
1185 : }
1186 : }
1187 : */
1188 :
1189 : #ifdef DEBUG_WANTSCHANGE
1190 : if (gDebugFlag2) {
1191 : std::cout << STEPS2TIME(currentTime)
1192 : << " veh=" << myVehicle.getID()
1193 : << " myState=" << toString((LaneChangeAction)myOwnState)
1194 : << " firstBlocked=" << Named::getIDSecure(*firstBlocked)
1195 : << " lastBlocked=" << Named::getIDSecure(*lastBlocked)
1196 : << "\n leaders=" << leaders.toString()
1197 : << "\n followers=" << followers.toString()
1198 : << "\n blockers=" << blockers.toString()
1199 : << "\n neighLeaders=" << neighLeaders.toString()
1200 : << "\n neighFollowers=" << neighFollowers.toString()
1201 : << "\n neighBlockers=" << neighBlockers.toString()
1202 : << "\n changeToBest=" << changeToBest
1203 : << " latLaneDist=" << latLaneDist
1204 : << " alts=" << toString((LaneChangeAction)alternatives)
1205 : << "\n expectedSpeeds=" << toString(myExpectedSublaneSpeeds)
1206 : << std::endl;
1207 : }
1208 : #endif
1209 :
1210 118773714 : ret = slowDownForBlocked(lastBlocked, ret);
1211 : // VARIANT_14 (furtherBlock)
1212 118773714 : if (lastBlocked != firstBlocked) {
1213 118773714 : ret = slowDownForBlocked(firstBlocked, ret);
1214 : }
1215 :
1216 :
1217 : // we try to estimate the distance which is necessary to get on a lane
1218 : // we have to get on in order to keep our route
1219 : // we assume we need something that depends on our velocity
1220 : // and compare this with the free space on our wished lane
1221 : //
1222 : // if the free space is somehow less than the space we need, we should
1223 : // definitely try to get to the desired lane
1224 : //
1225 : // this rule forces our vehicle to change the lane if a lane changing is necessary soon
1226 : // lookAheadDistance:
1227 : // we do not want the lookahead distance to change all the time so we discrectize the speed a bit
1228 :
1229 : // VARIANT_18 (laHyst)
1230 118773714 : if (myVehicle.getSpeed() > myLookAheadSpeed) {
1231 20596761 : myLookAheadSpeed = myVehicle.getSpeed();
1232 : } else {
1233 : // FIXME: This strongly dependent on the value of TS, see LC2013 for the fix (l.1153, currently)
1234 98176953 : myLookAheadSpeed = MAX2(LOOK_AHEAD_MIN_SPEED,
1235 98176953 : (LOOK_AHEAD_SPEED_MEMORY * myLookAheadSpeed + (1 - LOOK_AHEAD_SPEED_MEMORY) * myVehicle.getSpeed()));
1236 : }
1237 : //myLookAheadSpeed = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1238 :
1239 : //double laDist = laSpeed > LOOK_FORWARD_SPEED_DIVIDER
1240 : // ? laSpeed * LOOK_FORWARD_FAR
1241 : // : laSpeed * LOOK_FORWARD_NEAR;
1242 118773714 : double laDist = myLookAheadSpeed * LOOK_FORWARD * myStrategicParam * (right ? 1 : myLookaheadLeft);
1243 118773714 : laDist += myVehicle.getVehicleType().getLengthWithGap() * 2.;
1244 : // aggressive drivers may elect to use reduced strategic lookahead to optimize speed
1245 : /*
1246 : if (mySpeedGainProbabilityRight > myChangeProbThresholdRight
1247 : || mySpeedGainProbabilityLeft > myChangeProbThresholdLeft) {
1248 : laDist *= MAX2(0.0, (1 - myPushy));
1249 : laDist *= MAX2(0,0, (1 - myAssertive));
1250 : laDist *= MAX2(0,0, (2 - mySpeedGainParam));
1251 : }
1252 : */
1253 :
1254 : // react to a stopped leader on the current lane
1255 118773714 : if (bestLaneOffset == 0 && leaders.hasStoppedVehicle()) {
1256 : // value is doubled for the check since we change back and forth
1257 : // laDist = 0.5 * (myVehicle.getVehicleType().getLengthWithGap() + leader.first->getVehicleType().getLengthWithGap());
1258 : // XXX determine length of longest stopped vehicle
1259 230973 : laDist = myVehicle.getVehicleType().getLengthWithGap();
1260 118542741 : } else if (checkOpposite && isOpposite() && neighLeaders.hasStoppedVehicle()) {
1261 : // compute exact distance to overtake stopped vehicle
1262 : laDist = 0;
1263 45560 : for (int i = 0; i < neighLeaders.numSublanes(); ++i) {
1264 36448 : CLeaderDist vehDist = neighLeaders[i];
1265 36448 : if (vehDist.first != nullptr && vehDist.first->isStopped()) {
1266 29476 : laDist = MAX2(laDist, myVehicle.getVehicleType().getMinGap() + vehDist.second + vehDist.first->getVehicleType().getLengthWithGap());
1267 : }
1268 : }
1269 9112 : laDist += myVehicle.getVehicleType().getLength();
1270 : }
1271 118773714 : if (myStrategicParam < 0) {
1272 : laDist = -1e3; // never perform strategic change
1273 : }
1274 :
1275 : // free space that is available for changing
1276 : //const double neighSpeed = (neighLead.first != 0 ? neighLead.first->getSpeed() :
1277 : // neighFollow.first != 0 ? neighFollow.first->getSpeed() :
1278 : // best.lane->getSpeedLimit());
1279 : // @note: while this lets vehicles change earlier into the correct direction
1280 : // it also makes the vehicles more "selfish" and prevents changes which are necessary to help others
1281 :
1282 118773714 : const double roundaboutBonus = MSLCHelper::getRoundaboutDistBonus(myVehicle, myRoundaboutBonus, curr, neigh, best);
1283 118773714 : currentDist += roundaboutBonus;
1284 118773714 : neighDist += roundaboutBonus;
1285 :
1286 118773714 : ret = checkStrategicChange(ret,
1287 : neighLane,
1288 : laneOffset,
1289 : leaders,
1290 : neighLeaders,
1291 : curr, neigh, best,
1292 : bestLaneOffset,
1293 : changeToBest,
1294 : currentDist,
1295 : neighDist,
1296 : laDist,
1297 : roundaboutBonus,
1298 : latLaneDist,
1299 : checkOpposite,
1300 : latDist);
1301 :
1302 :
1303 118773714 : if ((ret & LCA_STAY) != 0 && latDist == 0) {
1304 : // ensure that mySafeLatDistLeft / mySafeLatDistRight are up to date for the
1305 : // subsquent check with laneOffset = 0
1306 11592460 : const double center = myVehicle.getCenterOnEdge();
1307 11592460 : const double neighRight = getNeighRight(neighLane);
1308 11592460 : updateGaps(neighLeaders, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1309 11592460 : updateGaps(neighFollowers, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1310 : // remove TraCI flags because it should not be included in "state-without-traci"
1311 11592460 : ret = getCanceledState(laneOffset);
1312 11592460 : return ret;
1313 : }
1314 107181254 : if ((ret & LCA_URGENT) != 0) {
1315 : // prepare urgent lane change maneuver
1316 2477248 : if (changeToBest && abs(bestLaneOffset) > 1
1317 2699765 : && curr.bestContinuations.back()->getLinkCont().size() != 0
1318 : ) {
1319 : // there might be a vehicle which needs to counter-lane-change one lane further and we cannot see it yet
1320 50106 : const double reserve = MIN2(myLeftSpace - POSITION_EPS, getExtraReservation(bestLaneOffset, neighDist - currentDist));
1321 51411 : myLeadingBlockerLength = MAX2(reserve, myLeadingBlockerLength);
1322 : #ifdef DEBUG_WANTSCHANGE
1323 : if (gDebugFlag2) {
1324 : std::cout << " reserving space for unseen blockers myLeadingBlockerLength=" << myLeadingBlockerLength << "\n";
1325 : }
1326 : #endif
1327 : }
1328 :
1329 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#1
1330 : // if there is a leader and he wants to change to the opposite direction
1331 2630598 : MSVehicle* neighLeadLongest = const_cast<MSVehicle*>(getLongest(neighLeaders).first);
1332 2630598 : const bool canContinue = curr.bestContinuations.size() > 1;
1333 : #ifdef DEBUG_WANTSCHANGE
1334 : if (DEBUG_COND) {
1335 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " neighLeaders=" << neighLeaders.toString() << " longest=" << Named::getIDSecure(neighLeadLongest) << " firstBlocked=" << Named::getIDSecure(*firstBlocked) << "\n";
1336 : }
1337 : #endif
1338 2630598 : bool canReserve = MSLCHelper::updateBlockerLength(myVehicle, neighLeadLongest, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1339 2630598 : if (*firstBlocked != neighLeadLongest && tieBrakeLeader(*firstBlocked)) {
1340 76028 : canReserve &= MSLCHelper::updateBlockerLength(myVehicle, *firstBlocked, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1341 : }
1342 2630598 : if (!canReserve && !isOpposite()) {
1343 : // we have a low-priority relief connection
1344 : // std::cout << SIMTIME << " veh=" << myVehicle.getID() << " cannotReserve for blockers\n";
1345 3665 : myDontBrake = canContinue;
1346 : }
1347 :
1348 : std::vector<CLeaderDist> collectLeadBlockers;
1349 : std::vector<CLeaderDist> collectFollowBlockers;
1350 2630598 : int blockedFully = 0; // wether execution of the full maneuver is blocked
1351 2630598 : maneuverDist = latDist;
1352 2630598 : const double gapFactor = computeGapFactor(LCA_STRATEGIC);
1353 2630598 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1354 : leaders, followers, blockers,
1355 : neighLeaders, neighFollowers, neighBlockers, &collectLeadBlockers, &collectFollowBlockers,
1356 : false, gapFactor, &blockedFully);
1357 :
1358 2630598 : const double absLaneOffset = fabs(bestLaneOffset != 0 ? bestLaneOffset : latDist / SUMO_const_laneWidth);
1359 2630598 : const double remainingSeconds = ((ret & LCA_TRACI) == 0 ?
1360 3199832 : MAX2(STEPS2TIME(TS), myLeftSpace / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / absLaneOffset / URGENCY) :
1361 184 : myVehicle.getInfluencer().changeRequestRemainingSeconds(currentTime));
1362 2630598 : const double plannedSpeed = informLeaders(blocked, myLca, collectLeadBlockers, remainingSeconds);
1363 : // coordinate with direct obstructions
1364 2630598 : if (plannedSpeed >= 0) {
1365 : // maybe we need to deal with a blocking follower
1366 2206209 : informFollowers(blocked, myLca, collectFollowBlockers, remainingSeconds, plannedSpeed);
1367 : }
1368 2206209 : if (plannedSpeed > 0) {
1369 1019487 : commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane, maneuverDist);
1370 : }
1371 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
1372 : if (gDebugFlag2) {
1373 : std::cout << STEPS2TIME(currentTime)
1374 : << " veh=" << myVehicle.getID()
1375 : << " myLeftSpace=" << myLeftSpace
1376 : << " changeFully=" << myCanChangeFully
1377 : << " blockedFully=" << toString((LaneChangeAction)blockedFully)
1378 : << " remainingSeconds=" << remainingSeconds
1379 : << " plannedSpeed=" << plannedSpeed
1380 : << " mySafeLatDistRight=" << mySafeLatDistRight
1381 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
1382 : << "\n";
1383 : }
1384 : #endif
1385 : // remove TraCI flags because it should not be included in "state-without-traci"
1386 2630598 : ret = getCanceledState(laneOffset);
1387 : return ret;
1388 2630598 : }
1389 : // VARIANT_15
1390 104550656 : if (roundaboutBonus > 0) {
1391 :
1392 : #ifdef DEBUG_WANTS_CHANGE
1393 : if (DEBUG_COND) {
1394 : std::cout << STEPS2TIME(currentTime)
1395 : << " veh=" << myVehicle.getID()
1396 : << " roundaboutBonus=" << roundaboutBonus
1397 : << " myLeftSpace=" << myLeftSpace
1398 : << "\n";
1399 : }
1400 : #endif
1401 : // try to use the inner lanes of a roundabout to increase throughput
1402 : // unless we are approaching the exit
1403 5424359 : if (left) {
1404 549436 : ret |= LCA_COOPERATIVE;
1405 549436 : if (!cancelRequest(ret | LCA_LEFT, laneOffset)) {
1406 549436 : if ((ret & LCA_STAY) == 0) {
1407 549436 : latDist = latLaneDist;
1408 549436 : maneuverDist = latLaneDist;
1409 549436 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1410 : leaders, followers, blockers,
1411 : neighLeaders, neighFollowers, neighBlockers);
1412 : }
1413 549436 : return ret;
1414 : } else {
1415 : ret &= ~LCA_COOPERATIVE;
1416 : }
1417 : } else {
1418 4874923 : myKeepRightProbability = 0;
1419 : }
1420 : }
1421 :
1422 : // --------
1423 :
1424 : // -------- make place on current lane if blocking follower
1425 : //if (amBlockingFollowerPlusNB()) {
1426 : // std::cout << myVehicle.getID() << ", " << currentDistAllows(neighDist, bestLaneOffset, laDist)
1427 : // << " neighDist=" << neighDist
1428 : // << " currentDist=" << currentDist
1429 : // << "\n";
1430 : //}
1431 : const double inconvenience = (latLaneDist < 0
1432 104001220 : ? -mySpeedGainProbabilityRight / myChangeProbThresholdRight
1433 93284519 : : -mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
1434 : #ifdef DEBUG_COOPERATE
1435 : if (gDebugFlag2) {
1436 : std::cout << STEPS2TIME(currentTime)
1437 : << " veh=" << myVehicle.getID()
1438 : << " amBlocking=" << amBlockingFollowerPlusNB()
1439 : << " state=" << toString((LaneChangeAction)myOwnState)
1440 : << " myLca=" << toString((LaneChangeAction)myLca)
1441 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1442 : << " inconvenience=" << inconvenience
1443 : << " origLatDist=" << getManeuverDist()
1444 : << " wantsChangeToHelp=" << (right ? "right" : "left")
1445 : << " state=" << myOwnState
1446 : << "\n";
1447 : }
1448 : #endif
1449 :
1450 : if (laneOffset != 0
1451 21557123 : && ((amBlockingFollowerPlusNB()
1452 : // VARIANT_6 : counterNoHelp
1453 251329 : && ((myOwnState & myLca) != 0))
1454 21485051 : ||
1455 : // continue previous cooperative change
1456 21485051 : ((myPreviousState & LCA_COOPERATIVE) != 0
1457 83017 : && !myCanChangeFully
1458 : // change is in the right direction
1459 44143 : && (laneOffset * getManeuverDist() > 0)))
1460 74126 : && (inconvenience < myCooperativeParam)
1461 104073556 : && (changeToBest || currentDistAllows(neighDist, abs(bestLaneOffset) + 1, laDist))) {
1462 :
1463 : // VARIANT_2 (nbWhenChangingToHelp)
1464 : #ifdef DEBUG_COOPERATE
1465 : if (gDebugFlag2) {
1466 : std::cout << " wants cooperative change\n";
1467 : }
1468 : #endif
1469 :
1470 72334 : ret |= LCA_COOPERATIVE | LCA_URGENT ;//| LCA_CHANGE_TO_HELP;
1471 72334 : if (!cancelRequest(ret | getLCA(ret, latLaneDist), laneOffset)) {
1472 72334 : latDist = amBlockingFollowerPlusNB() ? latLaneDist : getManeuverDist();
1473 72334 : maneuverDist = latDist;
1474 72334 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1475 : leaders, followers, blockers,
1476 : neighLeaders, neighFollowers, neighBlockers);
1477 72334 : return ret;
1478 : } else {
1479 : ret &= ~(LCA_COOPERATIVE | LCA_URGENT);
1480 : }
1481 : }
1482 :
1483 : // --------
1484 :
1485 :
1486 : //// -------- security checks for krauss
1487 : //// (vsafe fails when gap<0)
1488 : //if ((blocked & LCA_BLOCKED) != 0) {
1489 : // return ret;
1490 : //}
1491 : //// --------
1492 :
1493 : // -------- higher speed
1494 : //if ((congested(neighLead.first) && neighLead.second < 20) || predInteraction(leader.first)) { //!!!
1495 : // return ret;
1496 : //}
1497 :
1498 : // iterate over all possible combinations of sublanes this vehicle might cover and check the potential speed
1499 103928886 : const MSEdge& edge = (isOpposite() ? myVehicle.getLane()->getParallelOpposite() : myVehicle.getLane())->getEdge();
1500 : const std::vector<double>& sublaneSides = edge.getSubLaneSides();
1501 : assert(sublaneSides.size() == myExpectedSublaneSpeeds.size());
1502 103928886 : const double vehWidth = getWidth();
1503 103928886 : const double rightVehSide = getVehicleCenter() - 0.5 * vehWidth;
1504 103928886 : const double leftVehSide = rightVehSide + vehWidth;
1505 : // figure out next speed when staying where we are
1506 : double defaultNextSpeed = std::numeric_limits<double>::max();
1507 : /// determine the leftmost and rightmost sublanes currently occupied
1508 103928886 : int leftmostOnEdge = (int)sublaneSides.size() - 1;
1509 298003294 : while (leftmostOnEdge > 0 && sublaneSides[leftmostOnEdge] > leftVehSide) {
1510 194074408 : leftmostOnEdge--;
1511 : }
1512 : int rightmostOnEdge = leftmostOnEdge;
1513 386698360 : while (rightmostOnEdge > 0 && sublaneSides[rightmostOnEdge] > rightVehSide + NUMERICAL_EPS) {
1514 282769474 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1515 : #ifdef DEBUG_WANTSCHANGE
1516 : if (gDebugFlag2) {
1517 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1518 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1519 : }
1520 : #endif
1521 282769474 : rightmostOnEdge--;
1522 : }
1523 103928886 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1524 : #ifdef DEBUG_WANTSCHANGE
1525 : if (gDebugFlag2) {
1526 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1527 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1528 : }
1529 : #endif
1530 : double maxGain = -std::numeric_limits<double>::max();
1531 : double maxGainRight = -std::numeric_limits<double>::max();
1532 : double maxGainLeft = -std::numeric_limits<double>::max();
1533 : double latDistNice = std::numeric_limits<double>::max();
1534 :
1535 103928886 : const int iMin = MIN2(myVehicle.getLane()->getRightmostSublane(), neighLane.getRightmostSublane());
1536 103928886 : double leftMax = MAX2(
1537 103928886 : myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth(),
1538 : neighLane.getRightSideOnEdge() + neighLane.getWidth());
1539 103928886 : double rightMin = MIN2(myVehicle.getLane()->getRightSideOnEdge(), neighLane.getRightSideOnEdge());
1540 103928886 : if (checkOpposite || isOpposite()) {
1541 138006 : leftMax = getLeftBorder();
1542 : } else {
1543 : assert(leftMax <= edge.getWidth());
1544 : }
1545 103928886 : int sublaneCompact = MAX2(iMin, rightmostOnEdge - 1); // try to compactify to the right by default
1546 :
1547 103928886 : const double laneBoundary = laneOffset < 0 ? myVehicle.getLane()->getRightSideOnEdge() : neighLane.getRightSideOnEdge();
1548 : // if there is a neighboring lane we could change to, check sublanes on all lanes of the edge
1549 : // but restrict maneuver to the currently visible lanes (current, neigh) to ensure safety
1550 : // This way we can discover a fast lane beyond the immediate neighbor lane
1551 103928886 : const double maxLatDist = leftMax - leftVehSide;
1552 103928886 : const double minLatDist = rightMin - rightVehSide;
1553 103928886 : const int iStart = laneOffset == 0 ? iMin : 0;
1554 21484789 : const double rightEnd = laneOffset == 0 ? leftMax : (checkOpposite ? getLeftBorder() : edge.getWidth());
1555 : #ifdef DEBUG_WANTSCHANGE
1556 : if (gDebugFlag2) std::cout
1557 : << " checking sublanes rightmostOnEdge=" << rightmostOnEdge
1558 : << " rightEnd=" << rightEnd
1559 : << " leftmostOnEdge=" << leftmostOnEdge
1560 : << " iStart=" << iStart
1561 : << " iMin=" << iMin
1562 : << " sublaneSides=" << sublaneSides.size()
1563 : << " leftMax=" << leftMax
1564 : << " minLatDist=" << minLatDist
1565 : << " maxLatDist=" << maxLatDist
1566 : << " sublaneCompact=" << sublaneCompact
1567 : << "\n";
1568 : #endif
1569 764815755 : for (int i = iStart; i < (int)sublaneSides.size(); ++i) {
1570 660886869 : if (sublaneSides[i] + vehWidth < rightEnd) {
1571 : // i is the rightmost sublane and the left side of vehicles still fits on the edge,
1572 : // compute min speed of all sublanes covered by the vehicle in this case
1573 352079849 : double vMin = myExpectedSublaneSpeeds[i];
1574 : //std::cout << " i=" << i << "\n";
1575 : int j = i;
1576 1371821680 : while (vMin > 0 && j < (int)sublaneSides.size() && sublaneSides[j] < sublaneSides[i] + vehWidth) {
1577 1019741831 : vMin = MIN2(vMin, myExpectedSublaneSpeeds[j]);
1578 : #ifdef DEBUG_WANTSCHANGE
1579 : if (gDebugFlag2) {
1580 : //std::cout << " j=" << j << " vMin=" << vMin << " sublaneSides[j]=" << sublaneSides[j] << " leftVehSide=" << leftVehSide << " rightVehSide=" << rightVehSide << "\n";
1581 : }
1582 : #endif
1583 1019741831 : ++j;
1584 : }
1585 : // check whether the vehicle is between lanes
1586 352079849 : if (laneOffset != 0 && overlap(sublaneSides[i], sublaneSides[i] + vehWidth, laneBoundary, laneBoundary)) {
1587 40550862 : vMin *= (1 - myLaneDiscipline);
1588 : }
1589 500244426 : double relativeGain = (vMin - defaultNextSpeed) / MAX2(vMin, RELGAIN_NORMALIZATION_MIN_SPEED);
1590 352079849 : double currentLatDist = sublaneSides[i] - rightVehSide;
1591 352079849 : if ((laneOffset == 0 && (currentLatDist > maxLatDist || currentLatDist < minLatDist))
1592 352079849 : || (laneOffset < 0 && currentLatDist > maxLatDist)
1593 345038348 : || (laneOffset > 0 && currentLatDist < minLatDist)) {
1594 : #ifdef DEBUG_WANTSCHANGE
1595 : if (gDebugFlag2) {
1596 : std::cout << " i=" << i << " currentLatDist=" << currentLatDist << " outOfBounds\n";
1597 : }
1598 : #endif
1599 15725090 : continue;
1600 : }
1601 : currentLatDist = MIN2(MAX2(currentLatDist, minLatDist), maxLatDist);
1602 336354759 : if (currentLatDist > 0 && myVehicle.getLane()->getBidiLane() != nullptr) {
1603 : // penalize overtaking on the left if the lane is used in both
1604 : // directions
1605 852734 : relativeGain *= 0.5;
1606 : }
1607 : // @note only consider change if it is compatible with the current direction (same sign or laneOffset == 0)
1608 336354759 : if (relativeGain > maxGain && currentLatDist * laneOffset >= 0) {
1609 : maxGain = relativeGain;
1610 128532151 : if (maxGain > GAIN_PERCEPTION_THRESHOLD) {
1611 : sublaneCompact = i;
1612 8055500 : latDist = currentLatDist;
1613 : #ifdef DEBUG_WANTSCHANGE
1614 : if (gDebugFlag2) {
1615 : std::cout << " i=" << i << " vMin=" << vMin << " newLatDist=" << latDist << " relGain=" << relativeGain << "\n";
1616 : }
1617 : #endif
1618 : }
1619 : } else {
1620 : // if anticipated gains to the left are higher then to the right and current gains are equal, prefer left
1621 207822608 : if (currentLatDist > 0
1622 : //&& latDist < 0 // #7184 compensates for #7185
1623 139482535 : && mySpeedGainProbabilityLeft > mySpeedGainProbabilityRight
1624 36370373 : && relativeGain > GAIN_PERCEPTION_THRESHOLD
1625 3524175 : && maxGain - relativeGain < NUMERICAL_EPS) {
1626 2803701 : latDist = currentLatDist;
1627 : }
1628 : }
1629 : #ifdef DEBUG_WANTSCHANGE
1630 : if (gDebugFlag2) {
1631 : std::cout << " i=" << i << " rightmostOnEdge=" << rightmostOnEdge << " vMin=" << vMin << " relGain=" << relativeGain << " sublaneCompact=" << sublaneCompact << " curLatDist=" << currentLatDist << "\n";
1632 : }
1633 : #endif
1634 336354759 : if (currentLatDist < -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1635 : maxGainRight = MAX2(maxGainRight, relativeGain);
1636 166839462 : } else if (currentLatDist > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1637 : maxGainLeft = MAX2(maxGainLeft, relativeGain);
1638 : }
1639 336354759 : const double subAlignDist = sublaneSides[i] - rightVehSide;
1640 336354759 : if (fabs(subAlignDist) < fabs(latDistNice)) {
1641 : latDistNice = subAlignDist;
1642 : #ifdef DEBUG_WANTSCHANGE
1643 : if (gDebugFlag2) std::cout
1644 : << " nicest sublane=" << i
1645 : << " side=" << sublaneSides[i]
1646 : << " rightSide=" << rightVehSide
1647 : << " latDistNice=" << latDistNice
1648 : << " maxGainR=" << (maxGainRight == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainRight))
1649 : << " maxGainL=" << (maxGainLeft == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainLeft))
1650 : << "\n";
1651 : #endif
1652 : }
1653 : }
1654 : }
1655 : // updated change probabilities
1656 103928886 : if (maxGainRight != -std::numeric_limits<double>::max()) {
1657 : #ifdef DEBUG_WANTSCHANGE
1658 : if (gDebugFlag2) {
1659 : std::cout << " speedGainR_old=" << mySpeedGainProbabilityRight;
1660 : }
1661 : #endif
1662 99214698 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * maxGainRight;
1663 : #ifdef DEBUG_WANTSCHANGE
1664 : if (gDebugFlag2) {
1665 : std::cout << " speedGainR_new=" << mySpeedGainProbabilityRight << "\n";
1666 : }
1667 : #endif
1668 : }
1669 103928886 : if (maxGainLeft != -std::numeric_limits<double>::max()) {
1670 : #ifdef DEBUG_WANTSCHANGE
1671 : if (gDebugFlag2) {
1672 : std::cout << " speedGainL_old=" << mySpeedGainProbabilityLeft;
1673 : }
1674 : #endif
1675 96471693 : mySpeedGainProbabilityLeft += myVehicle.getActionStepLengthSecs() * maxGainLeft;
1676 : #ifdef DEBUG_WANTSCHANGE
1677 : if (gDebugFlag2) {
1678 : std::cout << " speedGainL_new=" << mySpeedGainProbabilityLeft << "\n";
1679 : }
1680 : #endif
1681 : }
1682 : // decay if there is no reason for or against changing (only if we have enough information)
1683 103928886 : if ((fabs(maxGainRight) < NUMERICAL_EPS || maxGainRight == -std::numeric_limits<double>::max())
1684 98258210 : && (right || (alternatives & LCA_RIGHT) == 0)) {
1685 80840944 : mySpeedGainProbabilityRight *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1686 : }
1687 103928886 : if ((fabs(maxGainLeft) < NUMERICAL_EPS || maxGainLeft == -std::numeric_limits<double>::max())
1688 94974636 : && (left || (alternatives & LCA_LEFT) == 0)) {
1689 75193221 : mySpeedGainProbabilityLeft *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1690 : }
1691 :
1692 :
1693 : #ifdef DEBUG_WANTSCHANGE
1694 : if (gDebugFlag2) std::cout << SIMTIME
1695 : << " veh=" << myVehicle.getID()
1696 : << " defaultNextSpeed=" << defaultNextSpeed
1697 : << " maxGain=" << maxGain
1698 : << " maxGainRight=" << maxGainRight
1699 : << " maxGainLeft=" << maxGainLeft
1700 : << " probRight=" << mySpeedGainProbabilityRight
1701 : << " probLeft=" << mySpeedGainProbabilityLeft
1702 : << " latDist=" << latDist
1703 : << " latDistNice=" << latDistNice
1704 : << " sublaneCompact=" << sublaneCompact
1705 : << "\n";
1706 : #endif
1707 :
1708 103928886 : if (!left) {
1709 : // ONLY FOR CHANGING TO THE RIGHT
1710 : // start keepRight maneuver when no speed loss is expected and continue
1711 : // started maneuvers if the loss isn't too big
1712 93094302 : if (right && myVehicle.getSpeed() > 0 && (maxGainRight >= 0
1713 145362 : || ((myPreviousState & LCA_KEEPRIGHT) != 0 && maxGainRight >= -myKeepRightParam))) {
1714 : // honor the obligation to keep right (Rechtsfahrgebot)
1715 8646571 : const double vMax = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1716 8646571 : const double roadSpeedFactor = vMax / myVehicle.getLane()->getSpeedLimit(); // differse from speedFactor if vMax < speedLimit
1717 : double acceptanceTime;
1718 8646571 : if (myKeepRightAcceptanceTime == -1) {
1719 : // legacy behavior: scale acceptance time with current speed and
1720 : // use old hard-coded constant
1721 17292608 : acceptanceTime = 7 * roadSpeedFactor * MAX2(1.0, myVehicle.getSpeed());
1722 : } else {
1723 267 : acceptanceTime = myKeepRightAcceptanceTime * roadSpeedFactor;
1724 267 : if (followers.hasVehicles()) {
1725 : // reduce acceptanceTime if a follower vehicle is faster or wants to drive faster
1726 : double minFactor = 1.0;
1727 220 : for (int i = 0; i < followers.numSublanes(); ++i) {
1728 176 : CLeaderDist follower = followers[i];
1729 352 : if (follower.first != nullptr && follower.second < 2 * follower.first->getCarFollowModel().brakeGap(follower.first->getSpeed())) {
1730 176 : if (follower.first->getSpeed() >= myVehicle.getSpeed()) {
1731 352 : double factor = MAX2(1.0, myVehicle.getSpeed()) / MAX2(1.0, follower.first->getSpeed());
1732 176 : const double fRSF = follower.first->getLane()->getVehicleMaxSpeed(follower.first) / follower.first->getLane()->getSpeedLimit();
1733 176 : if (fRSF > roadSpeedFactor) {
1734 100 : factor /= fRSF;
1735 : }
1736 176 : if (factor < minFactor) {
1737 : minFactor = factor;
1738 : }
1739 : }
1740 : }
1741 : }
1742 44 : acceptanceTime *= minFactor;
1743 : }
1744 : }
1745 8646571 : double fullSpeedGap = MAX2(0., neighDist - myVehicle.getCarFollowModel().brakeGap(vMax));
1746 8646571 : double fullSpeedDrivingSeconds = MIN2(acceptanceTime, fullSpeedGap / vMax);
1747 8646571 : CLeaderDist neighLead = getSlowest(neighLeaders);
1748 8646571 : if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1749 7187586 : fullSpeedGap = MAX2(0., MIN2(fullSpeedGap,
1750 7187586 : neighLead.second - myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1751 7187586 : vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1752 7187586 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1753 : }
1754 8646571 : const double deltaProb = (myChangeProbThresholdRight * (fullSpeedDrivingSeconds / acceptanceTime) / KEEP_RIGHT_TIME) * myVehicle.getActionStepLengthSecs();
1755 8646571 : const bool isSlide = preventSliding(latLaneDist);
1756 : // stay below threshold
1757 9763558 : if (!isSlide || !wantsKeepRight(myKeepRightProbability + deltaProb)) {
1758 8608185 : myKeepRightProbability += deltaProb;
1759 : }
1760 :
1761 : #ifdef DEBUG_WANTSCHANGE
1762 : if (gDebugFlag2) {
1763 : std::cout << STEPS2TIME(currentTime)
1764 : << " considering keepRight:"
1765 : << " vMax=" << vMax
1766 : << " neighDist=" << neighDist
1767 : << " brakeGap=" << myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed())
1768 : << " leaderSpeed=" << (neighLead.first == 0 ? -1 : neighLead.first->getSpeed())
1769 : << " secGap=" << (neighLead.first == 0 ? -1 : myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1770 : myVehicle.getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()))
1771 : << " acceptanceTime=" << acceptanceTime
1772 : << " fullSpeedGap=" << fullSpeedGap
1773 : << " fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1774 : << " dProb=" << deltaProb
1775 : << " isSlide=" << isSlide
1776 : << " keepRight=" << myKeepRightProbability
1777 : << " speedGainL=" << mySpeedGainProbabilityLeft
1778 : << "\n";
1779 : }
1780 : #endif
1781 8646571 : if (wantsKeepRight(myKeepRightProbability)
1782 : /*&& latLaneDist <= -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()*/) {
1783 500444 : ret |= LCA_KEEPRIGHT;
1784 : assert(myVehicle.getLane()->getIndex() > neighLane.getIndex() || isOpposite());
1785 500444 : if (!cancelRequest(ret | LCA_RIGHT, laneOffset)) {
1786 499592 : latDist = latLaneDist;
1787 499592 : maneuverDist = latLaneDist;
1788 499592 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1789 : leaders, followers, blockers,
1790 : neighLeaders, neighFollowers, neighBlockers);
1791 499592 : return ret;
1792 : } else {
1793 : ret &= ~LCA_KEEPRIGHT;
1794 : }
1795 : }
1796 : }
1797 :
1798 92594710 : const double bidiRightFactor = myVehicle.getLane()->getBidiLane() == nullptr && !isOpposite() ? 1 : 0.05;
1799 : #ifdef DEBUG_WANTSCHANGE
1800 : if (gDebugFlag2) {
1801 : std::cout << STEPS2TIME(currentTime)
1802 : << " speedGainR=" << mySpeedGainProbabilityRight
1803 : << " speedGainL=" << mySpeedGainProbabilityLeft
1804 : << " neighDist=" << neighDist
1805 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1806 : << " rThresh=" << myChangeProbThresholdRight
1807 : << " rThresh2=" << myChangeProbThresholdRight* bidiRightFactor
1808 : << " latDist=" << latDist
1809 : << "\n";
1810 : }
1811 : #endif
1812 :
1813 : // make changing on the right more attractive on bidi edges
1814 2787779 : if (latDist < 0 && mySpeedGainProbabilityRight >= myChangeProbThresholdRight * bidiRightFactor
1815 94636128 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) {
1816 984931 : ret |= LCA_SPEEDGAIN;
1817 984931 : if (!cancelRequest(ret | getLCA(ret, latDist), laneOffset)) {
1818 971986 : int blockedFully = 0;
1819 971986 : maneuverDist = latDist;
1820 971986 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1821 : leaders, followers, blockers,
1822 : neighLeaders, neighFollowers, neighBlockers,
1823 : nullptr, nullptr, false, 0, &blockedFully);
1824 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1825 : return ret;
1826 : } else {
1827 : // @note: restore ret so subsequent calls to cancelRequest work correctly
1828 12945 : latDist = 0;
1829 : ret &= ~LCA_SPEEDGAIN;
1830 : }
1831 : }
1832 : }
1833 102457308 : if (!right || isOpposite()) {
1834 :
1835 93099490 : const bool stayInLane = myVehicle.getLateralPositionOnLane() + latDist < 0.5 * myVehicle.getLane()->getWidth();
1836 : #ifdef DEBUG_WANTSCHANGE
1837 : if (gDebugFlag2) {
1838 : std::cout << STEPS2TIME(currentTime)
1839 : << " speedGainL=" << mySpeedGainProbabilityLeft
1840 : << " speedGainR=" << mySpeedGainProbabilityRight
1841 : << " latDist=" << latDist
1842 : << " neighDist=" << neighDist
1843 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1844 : << " lThresh=" << myChangeProbThresholdLeft
1845 : << " stayInLane=" << stayInLane
1846 : << "\n";
1847 : }
1848 : #endif
1849 :
1850 93099490 : if (latDist > 0 && mySpeedGainProbabilityLeft > myChangeProbThresholdLeft &&
1851 : // if we leave our lane, we should be able to stay in the new
1852 : // lane for some time
1853 4009918 : (stayInLane || neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime)) {
1854 2787594 : ret |= LCA_SPEEDGAIN;
1855 2787594 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
1856 2769214 : int blockedFully = 0;
1857 2769214 : maneuverDist = latDist;
1858 2769214 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1859 : leaders, followers, blockers,
1860 : neighLeaders, neighFollowers, neighBlockers,
1861 : nullptr, nullptr, false, 0, &blockedFully);
1862 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1863 : return ret;
1864 : } else {
1865 18380 : latDist = 0;
1866 : ret &= ~LCA_SPEEDGAIN;
1867 : }
1868 : }
1869 : }
1870 :
1871 : double latDistSublane = 0.;
1872 99688094 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
1873 99688094 : const double halfVehWidth = getWidth() * 0.5;
1874 99688094 : if (myVehicle.getParameter().arrivalPosLatProcedure != ArrivalPosLatDefinition::DEFAULT
1875 6099 : && myVehicle.getRoute().getLastEdge() == &myVehicle.getLane()->getEdge()
1876 4454 : && bestLaneOffset == 0
1877 99692548 : && (myVehicle.getArrivalPos() - getForwardPos()) < ARRIVALPOS_LAT_THRESHOLD) {
1878 : // vehicle is on its final edge, on the correct lane and close to
1879 : // its arrival position. Change to the desired lateral position
1880 868 : switch (myVehicle.getParameter().arrivalPosLatProcedure) {
1881 54 : case ArrivalPosLatDefinition::GIVEN:
1882 54 : latDistSublane = myVehicle.getParameter().arrivalPosLat - myVehicle.getLateralPositionOnLane();
1883 54 : break;
1884 814 : case ArrivalPosLatDefinition::RIGHT:
1885 814 : latDistSublane = -halfLaneWidth + halfVehWidth - myVehicle.getLateralPositionOnLane();
1886 814 : break;
1887 0 : case ArrivalPosLatDefinition::CENTER:
1888 0 : latDistSublane = -myVehicle.getLateralPositionOnLane();
1889 0 : break;
1890 0 : case ArrivalPosLatDefinition::LEFT:
1891 0 : latDistSublane = halfLaneWidth - halfVehWidth - myVehicle.getLateralPositionOnLane();
1892 0 : break;
1893 : default:
1894 : assert(false);
1895 : }
1896 : #ifdef DEBUG_WANTSCHANGE
1897 : if (gDebugFlag2) std::cout << SIMTIME
1898 : << " arrivalPosLatProcedure=" << (int)myVehicle.getParameter().arrivalPosLatProcedure
1899 : << " arrivalPosLat=" << myVehicle.getParameter().arrivalPosLat << "\n";
1900 : #endif
1901 :
1902 : } else {
1903 :
1904 99687226 : LatAlignmentDefinition align = getDesiredAlignment();
1905 99687226 : switch (align) {
1906 4064670 : case LatAlignmentDefinition::RIGHT:
1907 4064670 : latDistSublane = -halfLaneWidth + halfVehWidth - getPosLat();
1908 4064670 : break;
1909 152558 : case LatAlignmentDefinition::LEFT:
1910 152558 : latDistSublane = halfLaneWidth - halfVehWidth - getPosLat();
1911 152558 : break;
1912 92226760 : case LatAlignmentDefinition::CENTER:
1913 : case LatAlignmentDefinition::DEFAULT:
1914 92226760 : latDistSublane = -getPosLat();
1915 92226760 : break;
1916 : case LatAlignmentDefinition::NICE:
1917 : latDistSublane = latDistNice;
1918 : break;
1919 2942913 : case LatAlignmentDefinition::COMPACT:
1920 2942913 : latDistSublane = sublaneSides[sublaneCompact] - rightVehSide;
1921 2942913 : break;
1922 27720 : case LatAlignmentDefinition::ARBITRARY: {
1923 27720 : latDistSublane = myVehicle.getLateralPositionOnLane() - getPosLat();
1924 27720 : const double hLW = myVehicle.getLane()->getWidth() * 0.5;
1925 27720 : const double posLat = myVehicle.getLateralPositionOnLane();
1926 27720 : if (fabs(posLat) > hLW) {
1927 : // vehicle is not within it's current lane
1928 37 : if (posLat > 0) {
1929 32 : latDistSublane -= (posLat - hLW);
1930 : } else {
1931 5 : latDistSublane += (-posLat - hLW);
1932 : }
1933 : } else {
1934 27683 : const double edgeWidth = myVehicle.getCurrentEdge()->getWidth();
1935 27683 : if (getWidth() < edgeWidth) {
1936 27683 : if (rightVehSide < 0) {
1937 2957 : latDistSublane -= rightVehSide;
1938 24726 : } else if (leftVehSide > edgeWidth) {
1939 1416 : latDistSublane -= leftVehSide - edgeWidth;
1940 : }
1941 : }
1942 : }
1943 : break;
1944 : }
1945 441 : case LatAlignmentDefinition::GIVEN: {
1946 : // sublane alignment should not cause the vehicle to leave the lane
1947 441 : const double hw = myVehicle.getLane()->getWidth() / 2 - NUMERICAL_EPS;
1948 882 : const double offset = MAX2(-hw, MIN2(hw, myVehicle.getVehicleType().getPreferredLateralAlignmentOffset()));
1949 441 : latDistSublane = -getPosLat() + offset;
1950 : }
1951 441 : break;
1952 : default:
1953 : break;
1954 : }
1955 : }
1956 : // only factor in preferred lateral alignment if there is no speedGain motivation or it runs in the same direction
1957 99688094 : if (fabs(latDist) <= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() ||
1958 2938937 : latDistSublane * latDist > 0) {
1959 :
1960 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE) || defined(DEBUG_MANEUVER)
1961 : if (gDebugFlag2) std::cout << SIMTIME
1962 : << " alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
1963 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
1964 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
1965 : << " latDist=" << latDist
1966 : << " latDistSublane=" << latDistSublane
1967 : << " relGainSublane=" << computeSpeedGain(latDistSublane, defaultNextSpeed)
1968 : << " maneuverDist=" << maneuverDist
1969 : << " myCanChangeFully=" << myCanChangeFully
1970 : << " myTurnAlignmentDist=" << myTurnAlignmentDist
1971 : << " nextTurn=" << myVehicle.getNextTurn().first << ":" << toString(myVehicle.getNextTurn().second)
1972 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1973 : << "\n";
1974 : #endif
1975 :
1976 10417748 : if ((latDistSublane < 0 && mySpeedGainProbabilityRight < mySpeedLossProbThreshold)
1977 96868060 : || (latDistSublane > 0 && mySpeedGainProbabilityLeft < mySpeedLossProbThreshold)
1978 192521322 : || computeSpeedGain(latDistSublane, defaultNextSpeed) < -mySublaneParam) {
1979 : // do not risk losing speed
1980 : #if defined(DEBUG_WANTSCHANGE)
1981 : if (gDebugFlag2) std::cout << " aborting sublane change to avoid speed loss (mySpeedLossProbThreshold=" << mySpeedLossProbThreshold
1982 : << " speedGain=" << computeSpeedGain(latDistSublane, defaultNextSpeed) << ")\n";
1983 : #endif
1984 : latDistSublane = 0;
1985 : }
1986 : // Ignore preferred lateral alignment if we are in the middle of an unfinished non-alignment maneuver into the opposite direction
1987 97978591 : if (!myCanChangeFully
1988 7797574 : && (myPreviousState & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_KEEPRIGHT | LCA_SPEEDGAIN)) != 0
1989 103660683 : && ((getManeuverDist() < 0 && latDistSublane > 0) || (getManeuverDist() > 0 && latDistSublane < 0))) {
1990 : #if defined(DEBUG_WANTSCHANGE)
1991 : if (gDebugFlag2) {
1992 : std::cout << " aborting sublane change due to prior maneuver\n";
1993 : }
1994 : #endif
1995 : latDistSublane = 0;
1996 : }
1997 97978591 : latDist = latDistSublane * (isOpposite() ? -1 : 1);
1998 : // XXX first compute preferred adaptation and then override with speed
1999 : // (this way adaptation is still done if changing for speedgain is
2000 : // blocked)
2001 97978591 : if (fabs(latDist) >= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
2002 : #ifdef DEBUG_WANTSCHANGE
2003 : if (gDebugFlag2) std::cout << SIMTIME
2004 : << " adapting to preferred alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
2005 : << " latDist=" << latDist
2006 : << "\n";
2007 : #endif
2008 8206744 : ret |= LCA_SUBLANE;
2009 : // include prior motivation when sublane-change is part of finishing an ongoing maneuver in the same direction
2010 8206744 : if (getPreviousManeuverDist() * latDist > 0) {
2011 951711 : int priorReason = (myPreviousState & LCA_CHANGE_REASONS & ~LCA_SUBLANE);
2012 951711 : ret |= priorReason;
2013 : #ifdef DEBUG_WANTSCHANGE
2014 : if (gDebugFlag2 && priorReason != 0) std::cout << " including prior reason " << toString((LaneChangeAction)priorReason)
2015 : << " prevManeuverDist=" << getPreviousManeuverDist() << "\n";
2016 : #endif
2017 : }
2018 8206744 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
2019 8203626 : maneuverDist = latDist;
2020 8203626 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
2021 : leaders, followers, blockers,
2022 : neighLeaders, neighFollowers, neighBlockers);
2023 8203626 : return ret;
2024 : } else {
2025 3118 : ret &= ~LCA_SUBLANE;
2026 : }
2027 : } else {
2028 89771847 : return ret | LCA_SUBLANE | LCA_STAY;
2029 : }
2030 : }
2031 1712621 : latDist = 0;
2032 :
2033 :
2034 : // --------
2035 : /*
2036 : if (changeToBest && bestLaneOffset == curr.bestLaneOffset && laneOffset != 0
2037 : && (right
2038 : ? mySpeedGainProbabilityRight > MAX2(0., mySpeedGainProbabilityLeft)
2039 : : mySpeedGainProbabilityLeft > MAX2(0., mySpeedGainProbabilityRight))) {
2040 : // change towards the correct lane, speedwise it does not hurt
2041 : ret |= LCA_STRATEGIC;
2042 : if (!cancelRequest(ret, laneOffset)) {
2043 : latDist = latLaneDist;
2044 : blocked = checkBlocking(neighLane, latDist, laneOffset,
2045 : leaders, followers, blockers,
2046 : neighLeaders, neighFollowers, neighBlockers);
2047 : return ret;
2048 : }
2049 : }
2050 : */
2051 : #ifdef DEBUG_WANTSCHANGE
2052 : if (gDebugFlag2) {
2053 : std::cout << STEPS2TIME(currentTime)
2054 : << " veh=" << myVehicle.getID()
2055 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
2056 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
2057 : << " myKeepRight=" << myKeepRightProbability
2058 : << "\n";
2059 : }
2060 : #endif
2061 1712621 : return ret;
2062 103928886 : }
2063 :
2064 :
2065 : int
2066 237547428 : MSLCM_SL2015::slowDownForBlocked(MSVehicle** blocked, int state) {
2067 : // if this vehicle is blocking someone in front, we maybe decelerate to let him in
2068 237547428 : if ((*blocked) != nullptr) {
2069 16688704 : double gap = (*blocked)->getPositionOnLane() - (*blocked)->getVehicleType().getLength() - myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getMinGap();
2070 : #ifdef DEBUG_SLOWDOWN
2071 : if (gDebugFlag2) {
2072 : std::cout << SIMTIME
2073 : << " veh=" << myVehicle.getID()
2074 : << " blocked=" << Named::getIDSecure(*blocked)
2075 : << " gap=" << gap
2076 : << "\n";
2077 : }
2078 : #endif
2079 16688704 : if (gap > POSITION_EPS) {
2080 : //const bool blockedWantsUrgentRight = (((*blocked)->getLaneChangeModel().getOwnState() & LCA_RIGHT != 0)
2081 : // && ((*blocked)->getLaneChangeModel().getOwnState() & LCA_URGENT != 0));
2082 :
2083 13311232 : if (myVehicle.getSpeed() < myVehicle.getCarFollowModel().getMaxDecel()
2084 : //|| blockedWantsUrgentRight // VARIANT_10 (helpblockedRight)
2085 : ) {
2086 11304142 : if ((*blocked)->getSpeed() < SUMO_const_haltingSpeed) {
2087 6769142 : state |= LCA_AMBACKBLOCKER_STANDING;
2088 : } else {
2089 4535000 : state |= LCA_AMBACKBLOCKER;
2090 : }
2091 33912426 : const double targetSpeed = getCarFollowModel().followSpeed(
2092 11304142 : &myVehicle, myVehicle.getSpeed(), (gap - POSITION_EPS),
2093 11304142 : (*blocked)->getSpeed(), (*blocked)->getCarFollowModel().getMaxDecel());
2094 : #ifdef DEBUG_INFORM
2095 : if (gDebugFlag2) {
2096 : std::cout << " slowing down for blocked " << Named::getIDSecure(*blocked) << " targetSpeed=" << targetSpeed << "\n";
2097 : }
2098 : #endif
2099 11304142 : addLCSpeedAdvice(targetSpeed, false);
2100 : //(*blocked) = 0; // VARIANT_14 (furtherBlock)
2101 : }
2102 : }
2103 : }
2104 237547428 : return state;
2105 : }
2106 :
2107 :
2108 : bool
2109 2738710 : MSLCM_SL2015::isBidi(const MSLane* lane) const {
2110 2738710 : if (!MSNet::getInstance()->hasBidiEdges()) {
2111 : return false;
2112 : }
2113 2738710 : if (lane == myVehicle.getLane()->getBidiLane()) {
2114 : return true;
2115 : }
2116 9407662 : for (const MSLane* cand : myVehicle.getBestLanesContinuation()) {
2117 6874306 : if (cand != nullptr && cand->getBidiLane() == lane) {
2118 : return true;
2119 : }
2120 : }
2121 : return false;
2122 : }
2123 :
2124 : void
2125 127766894 : MSLCM_SL2015::updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo& ahead, int sublaneOffset, int laneIndex) {
2126 127766894 : const std::vector<MSLane*>& lanes = myVehicle.getLane()->getEdge().getLanes();
2127 127766894 : const std::vector<MSVehicle::LaneQ>& preb = myVehicle.getBestLanes();
2128 127766894 : const MSLane* lane = isOpposite() ? myVehicle.getLane()->getParallelOpposite() : lanes[laneIndex];
2129 127766894 : const MSLane* next = myVehicle.getBestLanesContinuation().size() > 1 ? myVehicle.getBestLanesContinuation()[1] : nullptr;
2130 105941617 : const MSLink* link = next != nullptr ? lane->getLinkTo(next) : nullptr;
2131 127766894 : const double shift = link != nullptr ? link->getLateralShift() + 0.5 * (lane->getWidth() - next->getWidth()) : 0;
2132 127766894 : const MSLane* bidi = myVehicle.getLane()->getBidiLane();
2133 127766894 : const double vMax = lane->getVehicleMaxSpeed(&myVehicle);
2134 : assert(preb.size() == lanes.size() || isOpposite());
2135 : #ifdef DEBUG_EXPECTED_SLSPEED
2136 : if (DEBUG_COND) {
2137 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " updateExpectedSublaneSpeeds opposite=" << isOpposite()
2138 : << " sublaneOffset=" << sublaneOffset << " laneIndex=" << laneIndex << " lane=" << lane->getID() << " ahead=" << ahead.toString() << "\n";
2139 : }
2140 : #endif
2141 :
2142 663522938 : for (int sublane = 0; sublane < (int)ahead.numSublanes(); ++sublane) {
2143 535756044 : const int edgeSublane = sublane + sublaneOffset;
2144 535756044 : if (edgeSublane >= (int)myExpectedSublaneSpeeds.size()) {
2145 : // this may happen if a sibling lane is wider than the changer lane
2146 170 : continue;
2147 : }
2148 535755874 : if (link != nullptr && lane->getWidth() > next->getWidth() + NUMERICAL_EPS && MSGlobals::gLateralResolution > 0 && sublaneEnds(sublane, next, shift)) {
2149 : // sublane does not continue, discourage from use
2150 2862363 : myExpectedSublaneSpeeds[edgeSublane] = 0;
2151 : #ifdef DEBUG_EXPECTED_SLSPEED
2152 : if (DEBUG_COND) {
2153 : std::cout << " updateExpectedSublaneSpeeds sublane=" << sublane << " doesNotContinue\n";
2154 : }
2155 : #endif
2156 2862363 : continue;
2157 532893511 : } else if (lane->allowsVehicleClass(myVehicle.getVehicleType().getVehicleClass())) {
2158 : // lane allowed, find potential leaders and compute safe speeds
2159 : // XXX anticipate future braking if leader has a lower speed than myVehicle
2160 526745321 : const MSVehicle* leader = ahead[sublane].first;
2161 526745321 : const double gap = ahead[sublane].second;
2162 : double vSafe;
2163 526745321 : if (leader == nullptr) {
2164 98347116 : if (hasBlueLight()) {
2165 : // can continue from any lane if necessary
2166 : vSafe = vMax;
2167 : } else {
2168 98116350 : const int prebIndex = isOpposite() ? (int)preb.size() - 1 : laneIndex;
2169 98116350 : const double dist = preb[prebIndex].length - myVehicle.getPositionOnLane();
2170 98116350 : vSafe = getCarFollowModel().followSpeed(&myVehicle, vMax, dist, 0, 0);
2171 : }
2172 428398205 : } else if (bidi != nullptr && leader->getLane()->getBidiLane() != nullptr && isBidi(leader->getLane())) {
2173 : // oncoming
2174 205354 : if (gap < (1 + mySpeedGainLookahead * 2) * (vMax + leader->getSpeed())) {
2175 : vSafe = 0;
2176 : } else {
2177 : vSafe = vMax;
2178 : }
2179 : #ifdef DEBUG_EXPECTED_SLSPEED
2180 : if (DEBUG_COND) {
2181 : std::cout << SIMTIME << " updateExpectedSublaneSpeeds sublane=" << sublane << " leader=" << leader->getID() << " bidi=" << bidi->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2182 : }
2183 : #endif
2184 : } else {
2185 428192851 : if (leader->getAcceleration() > 0.5 * leader->getCarFollowModel().getMaxAccel()) {
2186 : // assume that the leader will continue accelerating to its maximum speed
2187 49379473 : vSafe = leader->getLane()->getVehicleMaxSpeed(leader);
2188 : } else {
2189 378813378 : vSafe = getCarFollowModel().followSpeed(
2190 378813378 : &myVehicle, vMax, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
2191 : #ifdef DEBUG_EXPECTED_SLSPEED
2192 : if (DEBUG_COND) {
2193 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " leader=" << leader->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2194 : }
2195 : #endif
2196 378813378 : vSafe = forecastAverageSpeed(vSafe, vMax, gap, leader->getSpeed());
2197 : }
2198 : }
2199 : // take pedestrians into account
2200 526745321 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2201 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2202 : double foeRight, foeLeft;
2203 279827 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2204 : // get all leaders ahead or overlapping
2205 279827 : const PersonDist pedLeader = lane->nextBlocking(myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getLength(), foeRight, foeLeft);
2206 279827 : if (pedLeader.first != 0) {
2207 77801 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2208 : // we do not know the walking direction here so we take the pedestrian speed as 0
2209 77801 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2210 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2211 : #ifdef DEBUG_EXPECTED_SLSPEED
2212 : if (DEBUG_COND) {
2213 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " gap=" << pedGap << " vSafe=" << vSafe << "\n";
2214 : }
2215 : #endif
2216 : }
2217 : }
2218 : // take bidi pedestrians into account
2219 526745321 : if (bidi != nullptr && bidi->getEdge().getPersons().size() > 0 && bidi->hasPedestrians()) {
2220 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2221 : double foeRight, foeLeft;
2222 4277 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2223 4277 : const double foeRightBidi = bidi->getWidth() - foeLeft;
2224 4277 : const double foeLeftBidi = bidi->getWidth() - foeRight;
2225 : // get all leaders ahead or overlapping
2226 4277 : const double relativeBackPos = myVehicle.getLane()->getLength() - myVehicle.getPositionOnLane() + myVehicle.getLength();
2227 4277 : const double stopTime = ceil(myVehicle.getSpeed() / myVehicle.getCarFollowModel().getMaxDecel());
2228 4277 : PersonDist pedLeader = bidi->nextBlocking(relativeBackPos, foeRightBidi, foeLeftBidi, stopTime, true);
2229 4277 : if (pedLeader.first != 0) {
2230 719 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2231 : // we do not know the walking direction here so we take the pedestrian speed as 0
2232 719 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2233 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2234 : #ifdef DEBUG_EXPECTED_SLSPEED
2235 : if (DEBUG_COND) {
2236 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " (bidi) gap=" << pedGap << " vSafe=" << vSafe << "\n";
2237 : }
2238 : #endif
2239 : }
2240 : }
2241 : vSafe = MIN2(vMax, vSafe);
2242 : // forget old data when on the opposite side
2243 526745321 : const double memoryFactor = isOpposite() ? 0 : pow(SPEEDGAIN_MEMORY_FACTOR, myVehicle.getActionStepLengthSecs());
2244 526745321 : myExpectedSublaneSpeeds[edgeSublane] = memoryFactor * myExpectedSublaneSpeeds[edgeSublane] + (1 - memoryFactor) * vSafe;
2245 : } else {
2246 : // lane forbidden
2247 6148190 : myExpectedSublaneSpeeds[edgeSublane] = -1;
2248 : #ifdef DEBUG_EXPECTED_SLSPEED
2249 : if (DEBUG_COND) {
2250 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " lane " << lane->getID() << " forbidden\n";
2251 : }
2252 : #endif
2253 : }
2254 : }
2255 : // XXX deal with leaders on subsequent lanes based on preb
2256 127766894 : }
2257 :
2258 :
2259 : bool
2260 7269342 : MSLCM_SL2015::sublaneEnds(int i, const MSLane* next, double shift) {
2261 7269342 : const double side = i * MSGlobals::gLateralResolution + shift;
2262 : return ((side < -NUMERICAL_EPS
2263 13 : && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass())))
2264 7269355 : || (side + MSGlobals::gLateralResolution > next->getWidth()
2265 6449684 : && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))));
2266 : }
2267 :
2268 :
2269 : double
2270 378891898 : MSLCM_SL2015::forecastAverageSpeed(double vSafe, double vMax, double gap, double vLeader) const {
2271 378891898 : const double deltaV = vMax - vLeader;
2272 378891898 : if (deltaV > 0 && gap / deltaV < mySpeedGainLookahead && mySpeedGainLookahead > 0) {
2273 : // anticipate future braking by computing the average
2274 : // speed over the next few seconds
2275 224012794 : const double foreCastTime = mySpeedGainLookahead * 2;
2276 : const double gapClosingTime = MAX2(0.0, gap / deltaV);
2277 224012794 : const double vSafe2 = (gapClosingTime * vSafe + (foreCastTime - gapClosingTime) * vLeader) / foreCastTime;
2278 : #ifdef DEBUG_EXPECTED_SLSPEED
2279 : if (DEBUG_COND && vSafe2 != vSafe) {
2280 : std::cout << " foreCastTime=" << foreCastTime << " gapClosingTime=" << gapClosingTime << " extrapolated vSafe=" << vSafe2 << "\n";
2281 : }
2282 : #endif
2283 : vSafe = vSafe2;
2284 : }
2285 378891898 : return vSafe;
2286 : }
2287 :
2288 :
2289 : double
2290 94542731 : MSLCM_SL2015::computeSpeedGain(double latDistSublane, double defaultNextSpeed) const {
2291 : double result = std::numeric_limits<double>::max();
2292 94542731 : const std::vector<double>& sublaneSides = myVehicle.getLane()->getEdge().getSubLaneSides();
2293 94542731 : const double vehWidth = getWidth();
2294 94542731 : const double rightVehSide = myVehicle.getCenterOnEdge() - vehWidth * 0.5 + latDistSublane;
2295 94542731 : const double leftVehSide = rightVehSide + vehWidth;
2296 751964220 : for (int i = 0; i < (int)sublaneSides.size(); ++i) {
2297 657421489 : const double leftSide = i + 1 < (int)sublaneSides.size() ? sublaneSides[i + 1] : MAX2(myVehicle.getLane()->getEdge().getWidth(), sublaneSides[i] + POSITION_EPS);
2298 657421489 : if (overlap(rightVehSide, leftVehSide, sublaneSides[i], leftSide)) {
2299 353127215 : result = MIN2(result, myExpectedSublaneSpeeds[i]);
2300 : }
2301 : //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";
2302 : }
2303 94542731 : return result - defaultNextSpeed;
2304 94542731 : }
2305 :
2306 :
2307 : CLeaderDist
2308 2630598 : MSLCM_SL2015::getLongest(const MSLeaderDistanceInfo& ldi) const {
2309 : int iMax = -1;
2310 : double maxLength = -1;
2311 14413202 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2312 11782604 : const MSVehicle* veh = ldi[i].first;
2313 11782604 : if (veh) {
2314 9163213 : const double length = veh->getVehicleType().getLength();
2315 9163213 : if (length > maxLength && tieBrakeLeader(veh)) {
2316 : maxLength = length;
2317 : iMax = i;
2318 : }
2319 : }
2320 : }
2321 2630598 : return iMax >= 0 ? ldi[iMax] : std::make_pair(nullptr, -1);
2322 : }
2323 :
2324 :
2325 : bool
2326 4408324 : MSLCM_SL2015::tieBrakeLeader(const MSVehicle* veh) const {
2327 : // tie braker if the leader is at the same lane position
2328 4408324 : return veh != nullptr && (veh->getPositionOnLane() != myVehicle.getPositionOnLane()
2329 9259 : || veh->getSpeed() < myVehicle.getSpeed()
2330 9133 : || &veh->getLane()->getEdge() != &myVehicle.getLane()->getEdge()
2331 9133 : || veh->getLane()->getIndex() > myVehicle.getLane()->getIndex());
2332 : }
2333 :
2334 :
2335 : CLeaderDist
2336 11507838 : MSLCM_SL2015::getSlowest(const MSLeaderDistanceInfo& ldi) {
2337 : int iMax = 0;
2338 : double minSpeed = std::numeric_limits<double>::max();
2339 58095945 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2340 46588107 : if (ldi[i].first != 0) {
2341 41423055 : const double speed = ldi[i].first->getSpeed();
2342 41423055 : if (speed < minSpeed) {
2343 : minSpeed = speed;
2344 : iMax = i;
2345 : }
2346 : }
2347 : }
2348 11507838 : return ldi[iMax];
2349 : }
2350 :
2351 :
2352 : const MSVehicle*
2353 69883162 : MSLCM_SL2015::getStopped(const MSLeaderDistanceInfo& ldi) {
2354 69883162 : if (ldi.hasVehicles()) {
2355 301617291 : for (const MSVehicle* const v : ldi.getVehicles()) {
2356 243958208 : if (v != nullptr && v->isStopped()) {
2357 : return v;
2358 : }
2359 : }
2360 : }
2361 : return nullptr;
2362 : }
2363 :
2364 :
2365 : int
2366 19940387 : MSLCM_SL2015::checkBlocking(const MSLane& neighLane, double& latDist, double maneuverDist, int laneOffset,
2367 : const MSLeaderDistanceInfo& leaders,
2368 : const MSLeaderDistanceInfo& followers,
2369 : const MSLeaderDistanceInfo& /*blockers */,
2370 : const MSLeaderDistanceInfo& neighLeaders,
2371 : const MSLeaderDistanceInfo& neighFollowers,
2372 : const MSLeaderDistanceInfo& /* neighBlockers */,
2373 : std::vector<CLeaderDist>* collectLeadBlockers,
2374 : std::vector<CLeaderDist>* collectFollowBlockers,
2375 : bool keepLatGapManeuver,
2376 : double gapFactor,
2377 : int* retBlockedFully) {
2378 : // truncate latDist according to maxSpeedLat
2379 19940387 : const double maxDist = SPEED2DIST(getMaxSpeedLat2());
2380 19940387 : latDist = MAX2(MIN2(latDist, maxDist), -maxDist);
2381 19940387 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0 && myVehicle.getInfluencer().ignoreOverlap()) {
2382 : return 0;
2383 : }
2384 :
2385 19938011 : const double neighRight = getNeighRight(neighLane);
2386 19938011 : if (!myCFRelatedReady) {
2387 11924490 : updateCFRelated(followers, myVehicle.getLane()->getRightSideOnEdge(), false);
2388 11924490 : updateCFRelated(leaders, myVehicle.getLane()->getRightSideOnEdge(), true);
2389 11924490 : if (laneOffset != 0) {
2390 8288898 : updateCFRelated(neighFollowers, neighRight, false);
2391 8288898 : updateCFRelated(neighLeaders, neighRight, true);
2392 : }
2393 11924490 : myCFRelatedReady = true;
2394 : }
2395 :
2396 : // reduce latDist to avoid blockage with overlapping vehicles (no minGapLat constraints)
2397 19938011 : const double center = myVehicle.getCenterOnEdge();
2398 19938011 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2399 19938011 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2400 19938011 : if (laneOffset != 0) {
2401 9958689 : updateGaps(neighLeaders, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2402 9958689 : updateGaps(neighFollowers, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2403 : }
2404 : #ifdef DEBUG_BLOCKING
2405 : if (gDebugFlag2) {
2406 : std::cout << " checkBlocking latDist=" << latDist << " mySafeLatDistRight=" << mySafeLatDistRight << " mySafeLatDistLeft=" << mySafeLatDistLeft << "\n";
2407 : }
2408 : #endif
2409 : // if we can move at least a little bit in the desired direction, do so (rather than block)
2410 19938011 : const bool forcedTraCIChange = (myVehicle.hasInfluencer()
2411 58530 : && myVehicle.getInfluencer().getLatDist() != 0
2412 19938303 : && myVehicle.getInfluencer().ignoreOverlap());
2413 19938011 : if (latDist < 0) {
2414 10122106 : if (mySafeLatDistRight <= NUMERICAL_EPS) {
2415 : return LCA_BLOCKED_RIGHT | LCA_OVERLAPPING;
2416 9213671 : } else if (!forcedTraCIChange) {
2417 12655868 : latDist = MAX2(latDist, -mySafeLatDistRight);
2418 : }
2419 : } else {
2420 9815905 : if (mySafeLatDistLeft <= NUMERICAL_EPS) {
2421 : return LCA_BLOCKED_LEFT | LCA_OVERLAPPING;
2422 7650982 : } else if (!forcedTraCIChange) {
2423 7650982 : latDist = MIN2(latDist, mySafeLatDistLeft);
2424 : }
2425 : }
2426 :
2427 16864653 : myCanChangeFully = (maneuverDist == 0 || latDist == maneuverDist);
2428 : #ifdef DEBUG_BLOCKING
2429 : if (gDebugFlag2) {
2430 : std::cout << " checkBlocking latDist=" << latDist << " maneuverDist=" << maneuverDist << "\n";
2431 : }
2432 : #endif
2433 : // destination sublanes must be safe
2434 : // intermediate sublanes must not be blocked by overlapping vehicles
2435 :
2436 : // XXX avoid checking the same leader multiple times
2437 : // XXX ensure that only changes within the same lane are undertaken if laneOffset = 0
2438 :
2439 : int blocked = 0;
2440 16864653 : blocked |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2441 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2442 16864653 : blocked |= checkBlockingVehicles(&myVehicle, followers, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2443 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2444 16864653 : if (laneOffset != 0) {
2445 8613701 : blocked |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, latDist, neighRight, true,
2446 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2447 8613701 : blocked |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, latDist, neighRight, false,
2448 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2449 : }
2450 :
2451 : int blockedFully = 0;
2452 16864653 : blockedFully |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2453 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2454 16864653 : blockedFully |= checkBlockingVehicles(&myVehicle, followers, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2455 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2456 16864653 : if (laneOffset != 0) {
2457 8613701 : blockedFully |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, maneuverDist, neighRight, true,
2458 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2459 8613701 : blockedFully |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, maneuverDist, neighRight, false,
2460 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2461 : }
2462 16864653 : if (retBlockedFully != nullptr) {
2463 5689064 : *retBlockedFully = blockedFully;
2464 : }
2465 : #ifdef DEBUG_BLOCKING
2466 : if (gDebugFlag2) {
2467 : std::cout << " blocked=" << blocked << " (" << toString((LaneChangeAction)blocked) << ") blockedFully=" << toString((LaneChangeAction)blockedFully)
2468 : << " canChangeFully=" << myCanChangeFully << " keepLatGapManeuver=" << keepLatGapManeuver << "\n";
2469 : }
2470 : #endif
2471 16864653 : if (blocked == 0 && !myCanChangeFully && myPushy == 0 && !keepLatGapManeuver) {
2472 : // aggressive drivers immediately start moving towards potential
2473 : // blockers and only check that the start of their maneuver (latDist) is safe. In
2474 : // contrast, cautious drivers need to check latDist and origLatDist to
2475 : // ensure that the maneuver can be finished without encroaching on other vehicles.
2476 8561820 : blocked |= blockedFully;
2477 : } else {
2478 : // XXX: in case of action step length > simulation step length, pushing may lead to collisions,
2479 : // because maneuver is continued until maneuverDist is reached (perhaps set maneuverDist=latDist)
2480 : }
2481 : #ifdef DEBUG_BLOCKING
2482 : if (gDebugFlag2) {
2483 : std::cout << " blocked2=" << blocked << " (" << toString((LaneChangeAction)blocked) << ")\n";
2484 : }
2485 : #endif
2486 16864653 : if (collectFollowBlockers != nullptr && collectLeadBlockers != nullptr) {
2487 : // prevent vehicles from being classified as leader and follower simultaneously
2488 8925143 : for (std::vector<CLeaderDist>::const_iterator it2 = collectLeadBlockers->begin(); it2 != collectLeadBlockers->end(); ++it2) {
2489 32344656 : for (std::vector<CLeaderDist>::iterator it = collectFollowBlockers->begin(); it != collectFollowBlockers->end();) {
2490 25558779 : if ((*it2).first == (*it).first) {
2491 : #ifdef DEBUG_BLOCKING
2492 : if (gDebugFlag2) {
2493 : std::cout << " removed follower " << (*it).first->getID() << " because it is already a leader\n";
2494 : }
2495 : #endif
2496 : it = collectFollowBlockers->erase(it);
2497 : } else {
2498 : ++it;
2499 : }
2500 : }
2501 : }
2502 : }
2503 : return blocked;
2504 : }
2505 :
2506 :
2507 : int
2508 101913416 : MSLCM_SL2015::checkBlockingVehicles(
2509 : const MSVehicle* ego, const MSLeaderDistanceInfo& vehicles,
2510 : int laneOffset, double latDist, double foeOffset, bool leaders,
2511 : double& safeLatGapRight, double& safeLatGapLeft,
2512 : std::vector<CLeaderDist>* collectBlockers) const {
2513 : // determine borders where safety/no-overlap conditions must hold
2514 : const LaneChangeAction blockType = (laneOffset == 0
2515 101913416 : ? (leaders ? LCA_BLOCKED_BY_LEADER : LCA_BLOCKED_BY_FOLLOWER)
2516 : : (laneOffset > 0
2517 68909608 : ? (leaders ? LCA_BLOCKED_BY_LEFT_LEADER : LCA_BLOCKED_BY_LEFT_FOLLOWER)
2518 30035960 : : (leaders ? LCA_BLOCKED_BY_RIGHT_LEADER : LCA_BLOCKED_BY_RIGHT_FOLLOWER)));
2519 101913416 : const double vehWidth = getWidth();
2520 101913416 : const double rightVehSide = ego->getRightSideOnEdge();
2521 101913416 : const double leftVehSide = rightVehSide + vehWidth;
2522 101913416 : const double rightVehSideDest = rightVehSide + latDist;
2523 101913416 : const double leftVehSideDest = leftVehSide + latDist;
2524 : const double rightNoOverlap = MIN2(rightVehSideDest, rightVehSide);
2525 : const double leftNoOverlap = MAX2(leftVehSideDest, leftVehSide);
2526 : #ifdef DEBUG_BLOCKING
2527 : if (gDebugFlag2) {
2528 : std::cout << " checkBlockingVehicles"
2529 : << " laneOffset=" << laneOffset
2530 : << " latDist=" << latDist
2531 : << " foeOffset=" << foeOffset
2532 : << " vehRight=" << rightVehSide
2533 : << " vehLeft=" << leftVehSide
2534 : << " rightNoOverlap=" << rightNoOverlap
2535 : << " leftNoOverlap=" << leftNoOverlap
2536 : << " destRight=" << rightVehSideDest
2537 : << " destLeft=" << leftVehSideDest
2538 : << " leaders=" << leaders
2539 : << " blockType=" << toString((LaneChangeAction) blockType)
2540 : << "\n";
2541 : }
2542 : #endif
2543 : int result = 0;
2544 523629595 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2545 433082941 : CLeaderDist vehDist = vehicles[i];
2546 433082941 : if (vehDist.first != 0 && myCFRelated.count(vehDist.first) == 0) {
2547 : const MSVehicle* leader = vehDist.first;
2548 : const MSVehicle* follower = ego;
2549 164154733 : if (!leaders) {
2550 : std::swap(leader, follower);
2551 : }
2552 : // only check the current stripe occupied by foe (transform into edge-coordinates)
2553 : double foeRight, foeLeft;
2554 164154733 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2555 164154733 : const bool overlapBefore = overlap(rightVehSide, leftVehSide, foeRight, foeLeft);
2556 164154733 : const bool overlapDest = overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft);
2557 164154733 : const bool overlapAny = overlap(rightNoOverlap, leftNoOverlap, foeRight, foeLeft);
2558 : #ifdef DEBUG_BLOCKING
2559 : if (gDebugFlag2) {
2560 : std::cout << " foe=" << vehDist.first->getID()
2561 : << " gap=" << vehDist.second
2562 : << " secGap=" << follower->getCarFollowModel().getSecureGap(follower, leader, follower->getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
2563 : << " foeRight=" << foeRight
2564 : << " foeLeft=" << foeLeft
2565 : << " overlapBefore=" << overlapBefore
2566 : << " overlap=" << overlapAny
2567 : << " overlapDest=" << overlapDest
2568 : << "\n";
2569 : }
2570 : #endif
2571 164154733 : if (overlapAny) {
2572 36877120 : if (vehDist.second < 0) {
2573 11772086 : if (overlapBefore && !overlapDest && !outsideEdge()) {
2574 : #ifdef DEBUG_BLOCKING
2575 : if (gDebugFlag2) {
2576 : std::cout << " ignoring current overlap to come clear\n";
2577 : }
2578 : #endif
2579 : } else {
2580 : #ifdef DEBUG_BLOCKING
2581 : if (gDebugFlag2) {
2582 : std::cout << " overlap (" << toString((LaneChangeAction)blockType) << ")\n";
2583 : }
2584 : #endif
2585 11701617 : result |= (blockType | LCA_OVERLAPPING);
2586 11701617 : if (collectBlockers == nullptr) {
2587 11366762 : return result;
2588 : } else {
2589 5091782 : collectBlockers->push_back(vehDist);
2590 : }
2591 : }
2592 25105034 : } else if (overlapDest || !myCanChangeFully) {
2593 : // Estimate state after actionstep (follower may be accelerating!)
2594 : // A comparison between secure gap depending on the expected speeds and the extrapolated gap
2595 : // determines whether the s is blocking the lane change.
2596 : // (Note that the longitudinal state update has already taken effect before LC dynamics (thus "-TS" below), would be affected by #3665)
2597 :
2598 : // Use conservative estimate for time until next action step
2599 : // (XXX: how can the ego know the foe's action step length?)
2600 25081390 : const double timeTillAction = MAX2(follower->getActionStepLengthSecs(), leader->getActionStepLengthSecs()) - TS;
2601 : // Ignore decel for follower
2602 25081390 : const double followerAccel = MAX2(0., follower->getAcceleration());
2603 25081390 : const double leaderAccel = leader->getAcceleration();
2604 : // Expected gap after next actionsteps
2605 25081390 : const double expectedGap = MSCFModel::gapExtrapolation(timeTillAction, vehDist.second, leader->getSpeed(), follower->getSpeed(), leaderAccel, followerAccel, std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
2606 :
2607 : // Determine expected speeds and corresponding secure gap at the extrapolated timepoint
2608 25081390 : const double followerExpectedSpeed = follower->getSpeed() + timeTillAction * followerAccel;
2609 25081390 : const double leaderExpectedSpeed = MAX2(0., leader->getSpeed() + timeTillAction * leaderAccel);
2610 25081390 : const double expectedSecureGap = follower->getCarFollowModel().getSecureGap(follower, leader, followerExpectedSpeed, leaderExpectedSpeed, leader->getCarFollowModel().getMaxDecel());
2611 :
2612 : #if defined(DEBUG_ACTIONSTEPS) && defined(DEBUG_BLOCKING)
2613 : if (gDebugFlag2) {
2614 : std::cout << " timeTillAction=" << timeTillAction
2615 : << " followerAccel=" << followerAccel
2616 : << " followerExpectedSpeed=" << followerExpectedSpeed
2617 : << " leaderAccel=" << leaderAccel
2618 : << " leaderExpectedSpeed=" << leaderExpectedSpeed
2619 : << "\n gap=" << vehDist.second
2620 : << " gapChange=" << (expectedGap - vehDist.second)
2621 : << " expectedGap=" << expectedGap
2622 : << " expectedSecureGap=" << expectedSecureGap
2623 : << " safeLatGapLeft=" << safeLatGapLeft
2624 : << " safeLatGapRight=" << safeLatGapRight
2625 : << std::endl;
2626 : }
2627 : #endif
2628 :
2629 : // @note for euler-update, a different value for secureGap2 may be obtained when applying safetyFactor to followerDecel rather than secureGap
2630 25081390 : const double secureGap2 = expectedSecureGap * getSafetyFactor();
2631 25081390 : if (expectedGap < secureGap2) {
2632 : // Foe is a blocker. Update lateral safe gaps accordingly.
2633 5601194 : if (foeRight > leftVehSide) {
2634 4077430 : safeLatGapLeft = MIN2(safeLatGapLeft, foeRight - leftVehSide);
2635 3167540 : } else if (foeLeft < rightVehSide) {
2636 4854957 : safeLatGapRight = MIN2(safeLatGapRight, rightVehSide - foeLeft);
2637 : }
2638 :
2639 : #ifdef DEBUG_BLOCKING
2640 : if (gDebugFlag2) {
2641 : std::cout << " blocked by " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2642 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor()
2643 : << " safeLatGapLeft=" << safeLatGapLeft << " safeLatGapRight=" << safeLatGapRight
2644 : << "\n";
2645 : }
2646 : #endif
2647 5601194 : result |= blockType;
2648 5601194 : if (collectBlockers == nullptr) {
2649 4756927 : return result;
2650 : }
2651 : #ifdef DEBUG_BLOCKING
2652 : } else if (gDebugFlag2 && expectedGap < expectedSecureGap) {
2653 : std::cout << " ignore blocker " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2654 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor() << "\n";
2655 : #endif
2656 : }
2657 19480196 : if (collectBlockers != nullptr) {
2658 : // collect non-blocking followers as well to make sure
2659 : // they remain non-blocking
2660 5204948 : collectBlockers->push_back(vehDist);
2661 : }
2662 : }
2663 : }
2664 : }
2665 : }
2666 : return result;
2667 :
2668 : }
2669 :
2670 :
2671 : void
2672 40426776 : MSLCM_SL2015::updateCFRelated(const MSLeaderDistanceInfo& vehicles, double foeOffset, bool leaders) {
2673 : // to ensure that we do not ignore the wrong vehicles due to numerical
2674 : // instability we slightly reduce the width
2675 40426776 : const double vehWidth = myVehicle.getVehicleType().getWidth() - NUMERICAL_EPS;
2676 40426776 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
2677 40426776 : const double leftVehSide = rightVehSide + vehWidth;
2678 : #ifdef DEBUG_BLOCKING
2679 : if (gDebugFlag2) {
2680 : std::cout << " updateCFRelated foeOffset=" << foeOffset << " vehicles=" << vehicles.toString() << "\n";
2681 : }
2682 : #endif
2683 222824586 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2684 182397810 : CLeaderDist vehDist = vehicles[i];
2685 223551463 : if (vehDist.first != 0 && (myCFRelated.count(vehDist.first) == 0 || vehDist.second < 0)) {
2686 : double foeRight, foeLeft;
2687 109986657 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2688 : #ifdef DEBUG_BLOCKING
2689 : if (gDebugFlag2) {
2690 : std::cout << " foe=" << vehDist.first->getID() << " gap=" << vehDist.second
2691 : << " sublane=" << i
2692 : << " foeOffset=" << foeOffset
2693 : << " egoR=" << rightVehSide << " egoL=" << leftVehSide
2694 : << " iR=" << foeRight << " iL=" << foeLeft
2695 : << " egoV=" << myVehicle.getSpeed() << " foeV=" << vehDist.first->getSpeed()
2696 : << " egoE=" << myVehicle.getLane()->getEdge().getID() << " foeE=" << vehDist.first->getLane()->getEdge().getID()
2697 : << "\n";
2698 : }
2699 : #endif
2700 109986657 : if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft) && !outsideEdge() && (vehDist.second >= 0
2701 : // avoid deadlock due to #3729
2702 4889503 : || (!leaders
2703 1918412 : && myVehicle.getPositionOnLane() >= myVehicle.getVehicleType().getLength()
2704 1797661 : && myVehicle.getSpeed() < SUMO_const_haltingSpeed
2705 1791299 : && vehDist.first->getSpeed() < SUMO_const_haltingSpeed
2706 1780413 : && -vehDist.second < vehDist.first->getVehicleType().getMinGap()
2707 1766257 : && &(myVehicle.getLane()->getEdge()) != &(vehDist.first->getLane()->getEdge()))
2708 : )) {
2709 : #ifdef DEBUG_BLOCKING
2710 : if (gDebugFlag2) {
2711 : std::cout << " ignoring cfrelated foe=" << vehDist.first->getID() << "\n";
2712 : }
2713 : #endif
2714 : myCFRelated.insert(vehDist.first);
2715 : } else {
2716 : const int erased = (int)myCFRelated.erase(vehDist.first);
2717 : #ifdef DEBUG_BLOCKING
2718 : if (gDebugFlag2 && erased > 0) {
2719 : std::cout << " restoring cfrelated foe=" << vehDist.first->getID() << "\n";
2720 : }
2721 : #else
2722 : UNUSED_PARAMETER(erased);
2723 : #endif
2724 : }
2725 : }
2726 : }
2727 40426776 : }
2728 :
2729 :
2730 : bool
2731 1429094659 : MSLCM_SL2015::overlap(double right, double left, double right2, double left2) {
2732 : assert(right <= left);
2733 : assert(right2 <= left2);
2734 1429094659 : return left2 >= right + NUMERICAL_EPS && left >= right2 + NUMERICAL_EPS;
2735 : }
2736 :
2737 :
2738 : int
2739 69372534 : MSLCM_SL2015::lowest_bit(int changeReason) {
2740 69372534 : if ((changeReason & LCA_STRATEGIC) != 0) {
2741 : return LCA_STRATEGIC;
2742 : }
2743 54477750 : if ((changeReason & LCA_COOPERATIVE) != 0) {
2744 : return LCA_COOPERATIVE;
2745 : }
2746 53772383 : if ((changeReason & LCA_SPEEDGAIN) != 0) {
2747 : return LCA_SPEEDGAIN;
2748 : }
2749 50032848 : if ((changeReason & LCA_KEEPRIGHT) != 0) {
2750 : return LCA_KEEPRIGHT;
2751 : }
2752 49358206 : if ((changeReason & LCA_TRACI) != 0) {
2753 4760 : return LCA_TRACI;
2754 : }
2755 : return changeReason;
2756 : }
2757 :
2758 :
2759 : MSLCM_SL2015::StateAndDist
2760 165008060 : MSLCM_SL2015::decideDirection(StateAndDist sd1, StateAndDist sd2) const {
2761 : // ignore dummy decisions (returned if mayChange() failes)
2762 165008060 : if (sd1.state == 0) {
2763 66853016 : return sd2;
2764 98155044 : } else if (sd2.state == 0) {
2765 63468777 : return sd1;
2766 : }
2767 : // LCA_SUBLANE is special because LCA_STAY|LCA_SUBLANE may override another LCA_SUBLANE command
2768 34686267 : const bool want1 = ((sd1.state & LCA_WANTS_LANECHANGE) != 0) || ((sd1.state & LCA_SUBLANE) != 0 && (sd1.state & LCA_STAY) != 0);
2769 34686267 : const bool want2 = ((sd2.state & LCA_WANTS_LANECHANGE) != 0) || ((sd2.state & LCA_SUBLANE) != 0 && (sd2.state & LCA_STAY) != 0);
2770 34686267 : const bool can1 = ((sd1.state & LCA_BLOCKED) == 0);
2771 34686267 : const bool can2 = ((sd2.state & LCA_BLOCKED) == 0);
2772 34686267 : int reason1 = lowest_bit(sd1.state & LCA_CHANGE_REASONS);
2773 34686267 : int reason2 = lowest_bit(sd2.state & LCA_CHANGE_REASONS);
2774 : #ifdef DEBUG_DECISION
2775 : if (DEBUG_COND) std::cout << SIMTIME
2776 : << " veh=" << myVehicle.getID()
2777 : << " state1=" << toString((LaneChangeAction)sd1.state)
2778 : << " want1=" << (sd1.state & LCA_WANTS_LANECHANGE)
2779 : << " dist1=" << sd1.latDist
2780 : << " dir1=" << sd1.dir
2781 : << " state2=" << toString((LaneChangeAction)sd2.state)
2782 : << " want2=" << (sd2.state & LCA_WANTS_LANECHANGE)
2783 : << " dist2=" << sd2.latDist
2784 : << " dir2=" << sd2.dir
2785 : << " reason1=" << toString((LaneChangeAction)reason1)
2786 : << " reason2=" << toString((LaneChangeAction)reason2)
2787 : << "\n";
2788 : #endif
2789 34686267 : if (want1) {
2790 33823043 : if (want2) {
2791 23277322 : if ((sd1.state & LCA_TRACI) != 0 && (sd2.state & LCA_TRACI) != 0) {
2792 : // influencer may assign LCA_WANTS_LANECHANGE despite latDist = 0
2793 1316 : if (sd1.latDist == 0 && sd2.latDist != 0) {
2794 96 : return sd2;
2795 1220 : } else if (sd2.latDist == 0 && sd1.latDist != 0) {
2796 16 : return sd1;
2797 : }
2798 : }
2799 : // decide whether right or left has higher priority (lower value in enum LaneChangeAction)
2800 23277210 : if (reason1 < reason2) {
2801 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " < " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2802 464885 : return (!can1 && can2 && sd1.sameDirection(sd2)) ? sd2 : sd1;
2803 : //return sd1;
2804 23042199 : } else if (reason1 > reason2) {
2805 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " > " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2806 11997808 : return (!can2 && can1 && sd1.sameDirection(sd2)) ? sd1 : sd2;
2807 : //return sd2;
2808 : } else {
2809 : // same priority.
2810 17021421 : if ((sd1.state & LCA_SUBLANE) != 0) {
2811 : // special treatment: prefer action with dir != 0
2812 16747829 : if (sd1.dir == 0) {
2813 15972683 : return sd2;
2814 775146 : } else if (sd2.dir == 0) {
2815 0 : return sd1;
2816 : } else {
2817 : // prefer action that knows more about the desired direction
2818 : // @note when deciding between right and left, right is always given as sd1
2819 : assert(sd1.dir == -1);
2820 : assert(sd2.dir == 1);
2821 775146 : if (sd1.latDist <= 0) {
2822 729725 : return sd1;
2823 45421 : } else if (sd2.latDist >= 0) {
2824 44716 : return sd2;
2825 : }
2826 : // when in doubt, prefer moving to the right
2827 705 : return sd1.latDist <= sd2.latDist ? sd1 : sd2;
2828 : }
2829 : } else {
2830 273592 : if (can1) {
2831 162802 : if (can2) {
2832 : // break strategic ties with tactial concerns
2833 108159 : if (reason1 == LCA_STRATEGIC) {
2834 2659 : if (sd1.latDist <= sd2.latDist) {
2835 4403 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd1 : sd2;
2836 : } else {
2837 11 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd2 : sd1;
2838 : }
2839 : } else {
2840 : // finish the shorter maneuver (i.e. continue the current maneuver)
2841 185559 : return fabs(sd1.maneuverDist) < fabs(sd2.maneuverDist) ? sd1 : sd2;
2842 : }
2843 : } else {
2844 54643 : return sd1;
2845 : }
2846 : } else {
2847 110790 : return sd2;
2848 : }
2849 : }
2850 : }
2851 : } else {
2852 10545721 : return sd1;
2853 : }
2854 : } else {
2855 863224 : return sd2;
2856 : }
2857 :
2858 : }
2859 :
2860 :
2861 : LaneChangeAction
2862 130825317 : MSLCM_SL2015::getLCA(int state, double latDist) {
2863 27055306 : return ((latDist == 0 || (state & LCA_CHANGE_REASONS) == 0)
2864 157880221 : ? LCA_NONE : (latDist < 0 ? LCA_RIGHT : LCA_LEFT));
2865 : }
2866 :
2867 :
2868 : int
2869 118773714 : MSLCM_SL2015::checkStrategicChange(int ret,
2870 : const MSLane& neighLane,
2871 : int laneOffset,
2872 : const MSLeaderDistanceInfo& leaders,
2873 : const MSLeaderDistanceInfo& neighLeaders,
2874 : const MSVehicle::LaneQ& curr,
2875 : const MSVehicle::LaneQ& neigh,
2876 : const MSVehicle::LaneQ& best,
2877 : int bestLaneOffset,
2878 : bool changeToBest,
2879 : double& currentDist,
2880 : double neighDist,
2881 : double laDist,
2882 : double roundaboutBonus,
2883 : double latLaneDist,
2884 : bool checkOpposite,
2885 : double& latDist
2886 : ) {
2887 118773714 : const bool right = (laneOffset == -1);
2888 : const bool left = (laneOffset == 1);
2889 :
2890 118773714 : const double forwardPos = getForwardPos();
2891 118773714 : if (laneOffset != 0) {
2892 36269684 : myLeftSpace = currentDist - forwardPos;
2893 : }
2894 118773714 : const double usableDist = (currentDist - forwardPos - best.occupation * JAM_FACTOR);
2895 : //- (best.lane->getVehicleNumber() * neighSpeed)); // VARIANT 9 jfSpeed
2896 118773714 : const double maxJam = MAX2(neigh.occupation, curr.occupation);
2897 118773714 : const double neighLeftPlace = MAX2(0., neighDist - forwardPos - maxJam);
2898 118773714 : const double overlap = myVehicle.getLateralOverlap();
2899 : // save the left space
2900 :
2901 : #ifdef DEBUG_STRATEGIC_CHANGE
2902 : if (gDebugFlag2) {
2903 : std::cout << SIMTIME
2904 : << " veh=" << myVehicle.getID()
2905 : << " forwardPos=" << forwardPos
2906 : << " laSpeed=" << myLookAheadSpeed
2907 : << " laDist=" << laDist
2908 : << " currentDist=" << currentDist
2909 : << " usableDist=" << usableDist
2910 : << " bestLaneOffset=" << bestLaneOffset
2911 : << " best.length=" << best.length
2912 : << " maxJam=" << maxJam
2913 : << " neighLeftPlace=" << neighLeftPlace
2914 : << " myLeftSpace=" << myLeftSpace
2915 : << " overlap=" << overlap
2916 : << "\n";
2917 : }
2918 : #endif
2919 :
2920 118773714 : if (laneOffset == 0) {
2921 82504030 : if (overlap > MAX2(POSITION_EPS, MSGlobals::gLateralResolution)
2922 391716 : && (getShadowLane() == nullptr || !getShadowLane()->allowsVehicleClass(myVehicle.getVClass()))
2923 82507521 : && getWidth() < myVehicle.getLane()->getWidth()) {
2924 : // @brief we urgently need to return to within lane bounds
2925 3404 : latDist = myVehicle.getLateralPositionOnLane() > 0 ? -overlap : overlap;
2926 3404 : ret |= LCA_STRATEGIC | LCA_URGENT;
2927 : #ifdef DEBUG_STRATEGIC_CHANGE
2928 : if (gDebugFlag2) {
2929 : std::cout << SIMTIME << " returnToLaneBounds\n";
2930 : }
2931 : #endif
2932 : //std::cout << SIMTIME << " veh=" << myVehicle.getID() << " overlap=" << overlap << " returnToLaneBounds\n";
2933 82500626 : } else if (myVehicle.getBestLanesContinuation().size() > 1 && myVehicle.getLane()->getWidth() > myVehicle.getBestLanesContinuation()[1]->getWidth()) {
2934 850191 : const MSLane* cur = myVehicle.getLane();
2935 850191 : const MSLane* next = myVehicle.getBestLanesContinuation()[1];
2936 850191 : const MSLink* link = cur->getLinkTo(next);
2937 850191 : const double distOnLane = cur->getLength() - myVehicle.getPositionOnLane();
2938 850191 : if (link != nullptr && getWidth() < next->getWidth() && distOnLane < 100) {
2939 845715 : double hwDiff = 0.5 * (cur->getWidth() - next->getWidth());
2940 845715 : double rightVehSide = myVehicle.getRightSideOnLane() + link->getLateralShift() - hwDiff;
2941 845715 : double leftVehSide = myVehicle.getLeftSideOnLane() + link->getLateralShift() - hwDiff;
2942 845715 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : next->getWidth();
2943 845715 : if (rightVehSide < -res && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass()))) {
2944 24236 : latDist = -rightVehSide;
2945 24236 : myLeftSpace = distOnLane;
2946 24236 : ret |= LCA_STRATEGIC | LCA_URGENT;
2947 : #ifdef DEBUG_STRATEGIC_CHANGE
2948 : if (gDebugFlag2) {
2949 : std::cout << SIMTIME << " rightSublaneEnds rVSide=" << myVehicle.getRightSideOnLane()
2950 : << " shift=" << link->getLateralShift() << " rVSide2=" << rightVehSide << " myLeftSpace=" << myLeftSpace << " \n";
2951 : }
2952 : #endif
2953 821479 : } else if (leftVehSide > next->getWidth() + res && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))) {
2954 30665 : latDist = -(leftVehSide - next->getWidth());
2955 30665 : myLeftSpace = distOnLane;
2956 30665 : ret |= LCA_STRATEGIC | LCA_URGENT;
2957 : #ifdef DEBUG_STRATEGIC_CHANGE
2958 : if (gDebugFlag2) {
2959 : std::cout << SIMTIME << " leftSublaneEnds lVSide=" << myVehicle.getLeftSideOnLane()
2960 : << " shift=" << link->getLateralShift() << " lVSide2=" << leftVehSide << " myLeftSpace=" << myLeftSpace << "\n";
2961 : }
2962 : #endif
2963 : }
2964 : }
2965 : }
2966 22563445 : } else if (laneOffset != 0 && changeToBest && bestLaneOffset == curr.bestLaneOffset
2967 41943693 : && currentDistDisallows(usableDist, bestLaneOffset, laDist)) {
2968 : /// @brief we urgently need to change lanes to follow our route
2969 2409674 : if (!mustOvertakeStopped(false, neighLane, neighLeaders, leaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
2970 2395415 : latDist = latLaneDist;
2971 2395415 : ret |= LCA_STRATEGIC | LCA_URGENT;
2972 : #ifdef DEBUG_STRATEGIC_CHANGE
2973 : if (gDebugFlag2) {
2974 : std::cout << SIMTIME << " mustChangeToBest\n";
2975 : }
2976 : #endif
2977 : } else {
2978 : #ifdef DEBUG_STRATEGIC_CHANGE
2979 : if (gDebugFlag2) {
2980 : std::cout << " veh=" << myVehicle.getID() << " avoidStoppedNeigh\n";
2981 : }
2982 : #endif
2983 : }
2984 : } else {
2985 : // VARIANT_20 (noOvertakeRight)
2986 33860010 : const MSVehicle* const stoppedLeader = getStopped(neighLeaders);
2987 33860010 : if (left && avoidOvertakeRight(stoppedLeader, true) && neighLeaders.hasVehicles()) {
2988 : // check for slower leader on the left. we should not overtake but
2989 : // rather move left ourselves (unless congested)
2990 : // XXX only adapt as much as possible to get a lateral gap
2991 2861267 : CLeaderDist cld = getSlowest(neighLeaders);
2992 2861267 : const MSVehicle* nv = cld.first;
2993 2861267 : double deltaV = 0.;
2994 2861267 : double vSafe = 0.;
2995 2861267 : if (canOvertakeRight(nv, cld.second, myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle) - neighLane.getVehicleMaxSpeed(nv), HELP_OVERTAKE, vSafe, deltaV)) {
2996 559929 : addLCSpeedAdvice(vSafe);
2997 559929 : if (vSafe < myVehicle.getSpeed()) {
2998 179310 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * myChangeProbThresholdLeft / 3;
2999 : }
3000 : #ifdef DEBUG_STRATEGIC_CHANGE
3001 : if (gDebugFlag2) {
3002 : std::cout << SIMTIME
3003 : << " avoid overtaking on the right nv=" << nv->getID()
3004 : << " nvSpeed=" << nv->getSpeed()
3005 : << " mySpeedGainProbabilityR=" << mySpeedGainProbabilityRight
3006 : << " plannedSpeed=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
3007 : << "\n";
3008 : }
3009 : #endif
3010 : }
3011 : }
3012 :
3013 : // handling reaction to stopped for opposite direction driving NYI
3014 33860010 : const bool noOpposites = &myVehicle.getLane()->getEdge() == &neighLane.getEdge();
3015 33860010 : if (laneOffset != 0 && myStrategicParam >= 0 && noOpposites && mustOvertakeStopped(true, neighLane, leaders, neighLeaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
3016 : #ifdef DEBUG_STRATEGIC_CHANGE
3017 : if (gDebugFlag2) {
3018 : std::cout << " veh=" << myVehicle.getID() << " mustOvertakeStopped\n";
3019 : }
3020 : #endif
3021 24462 : if (latDist == 0) {
3022 0 : ret |= LCA_STAY | LCA_STRATEGIC;
3023 : } else {
3024 24462 : ret |= LCA_STRATEGIC | LCA_URGENT;
3025 : }
3026 :
3027 33835548 : } else if (!changeToBest && (currentDistDisallows(neighLeftPlace, abs(bestLaneOffset) + 2, laDist))) {
3028 : // the opposite lane-changing direction should be done than the one examined herein
3029 : // we'll check whether we assume we could change anyhow and get back in time...
3030 : //
3031 : // this rule prevents the vehicle from moving in opposite direction of the best lane
3032 : // unless the way till the end where the vehicle has to be on the best lane
3033 : // is long enough
3034 : #ifdef DEBUG_STRATEGIC_CHANGE
3035 : if (gDebugFlag2) {
3036 : std::cout << " veh=" << myVehicle.getID() << " could not change back and forth in time (1) neighLeftPlace=" << neighLeftPlace << "\n";
3037 : }
3038 : #endif
3039 11595980 : ret |= LCA_STAY | LCA_STRATEGIC;
3040 : } else if (
3041 : laneOffset != 0
3042 22239568 : && bestLaneOffset == 0
3043 2084183 : && !leaders.hasStoppedVehicle()
3044 2062330 : && neigh.bestContinuations.back()->getLinkCont().size() != 0
3045 1311519 : && roundaboutBonus == 0
3046 1311519 : && !checkOpposite
3047 568156 : && neighDist < TURN_LANE_DIST
3048 22362001 : && myStrategicParam >= 0) {
3049 : // VARIANT_21 (stayOnBest)
3050 : // we do not want to leave the best lane for a lane which leads elsewhere
3051 : // unless our leader is stopped or we are approaching a roundabout
3052 : #ifdef DEBUG_STRATEGIC_CHANGE
3053 : if (gDebugFlag2) {
3054 : std::cout << " veh=" << myVehicle.getID() << " does not want to leave the bestLane (neighDist=" << neighDist << ")\n";
3055 : }
3056 : #endif
3057 118482 : ret |= LCA_STAY | LCA_STRATEGIC;
3058 : } else if (right
3059 22121086 : && bestLaneOffset == 0
3060 576350 : && myVehicle.getLane()->getSpeedLimit() > 80. / 3.6
3061 22143944 : && myLookAheadSpeed > SUMO_const_haltingSpeed
3062 : ) {
3063 : // let's also regard the case where the vehicle is driving on a highway...
3064 : // in this case, we do not want to get to the dead-end of an on-ramp
3065 : #ifdef DEBUG_STRATEGIC_CHANGE
3066 : if (gDebugFlag2) {
3067 : std::cout << " veh=" << myVehicle.getID() << " does not want to get stranded on the on-ramp of a highway\n";
3068 : }
3069 : #endif
3070 22275 : ret |= LCA_STAY | LCA_STRATEGIC;
3071 : }
3072 : }
3073 118773714 : if (laneOffset != 0 && (ret & LCA_URGENT) == 0 && getShadowLane() != nullptr &&
3074 : // ignore overlap if it goes in the correct direction
3075 1837704 : bestLaneOffset * myVehicle.getLateralPositionOnLane() <= 0) {
3076 : // no decision or decision to stay
3077 : // make sure to stay within lane bounds in case the shadow lane ends
3078 : //const double requiredDist = MAX2(2 * myVehicle.getLateralOverlap(), getSublaneWidth()) / SUMO_const_laneWidth * laDist;
3079 943658 : const double requiredDist = 2 * overlap / SUMO_const_laneWidth * laDist;
3080 943658 : double currentShadowDist = -myVehicle.getPositionOnLane();
3081 : MSLane* shadowPrev = nullptr;
3082 1998216 : for (std::vector<MSLane*>::const_iterator it = curr.bestContinuations.begin(); it != curr.bestContinuations.end(); ++it) {
3083 1764169 : if (*it == nullptr) {
3084 31905 : continue;
3085 : }
3086 1732264 : MSLane* shadow = getShadowLane(*it);
3087 1732264 : if (shadow == nullptr || currentShadowDist >= requiredDist) {
3088 : break;
3089 : }
3090 1022653 : if (shadowPrev != nullptr) {
3091 112440 : currentShadowDist += shadowPrev->getEdge().getInternalFollowingLengthTo(&shadow->getEdge(), myVehicle.getVClass());
3092 : }
3093 1022653 : currentShadowDist += shadow->getLength();
3094 : shadowPrev = shadow;
3095 : #ifdef DEBUG_STRATEGIC_CHANGE
3096 : if (gDebugFlag2) {
3097 : std::cout << " shadow=" << shadow->getID() << " currentShadowDist=" << currentShadowDist << "\n";
3098 : }
3099 : #endif
3100 : }
3101 : #ifdef DEBUG_STRATEGIC_CHANGE
3102 : if (gDebugFlag2) {
3103 : std::cout << " veh=" << myVehicle.getID() << " currentShadowDist=" << currentShadowDist << " requiredDist=" << requiredDist << " overlap=" << overlap << "\n";
3104 : }
3105 : #endif
3106 943658 : if (currentShadowDist < requiredDist && currentShadowDist < usableDist) {
3107 152288 : myLeftSpace = currentShadowDist;
3108 152288 : latDist = myVehicle.getLateralPositionOnLane() < 0 ? overlap : -overlap;
3109 : #ifdef DEBUG_STRATEGIC_CHANGE
3110 : if (gDebugFlag2) {
3111 : std::cout << " must change for shadowLane end latDist=" << latDist << " myLeftSpace=" << myLeftSpace << "\n";
3112 : }
3113 : #endif
3114 152288 : ret |= LCA_STRATEGIC | LCA_URGENT | LCA_STAY ;
3115 : }
3116 : }
3117 :
3118 : // check for overriding TraCI requests
3119 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3120 : if (gDebugFlag2) {
3121 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ret=" << ret;
3122 : }
3123 : #endif
3124 : // store state before canceling
3125 118773714 : getCanceledState(laneOffset) |= ret;
3126 118773714 : int retTraCI = myVehicle.influenceChangeDecision(ret);
3127 118773714 : if ((retTraCI & LCA_TRACI) != 0) {
3128 3952 : if ((retTraCI & LCA_STAY) != 0) {
3129 : ret = retTraCI;
3130 3484 : latDist = 0;
3131 468 : } else if (((retTraCI & LCA_RIGHT) != 0 && laneOffset < 0)
3132 408 : || ((retTraCI & LCA_LEFT) != 0 && laneOffset > 0)) {
3133 : ret = retTraCI;
3134 184 : latDist = latLaneDist;
3135 : }
3136 : }
3137 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3138 : if (gDebugFlag2) {
3139 : std::cout << " reqAfterInfluence=" << toString((LaneChangeAction)retTraCI) << " ret=" << toString((LaneChangeAction)ret) << "\n";
3140 : }
3141 : #endif
3142 118773714 : return ret;
3143 : }
3144 :
3145 :
3146 : bool
3147 36023152 : MSLCM_SL2015::mustOvertakeStopped(bool checkCurrent, const MSLane& neighLane, const MSLeaderDistanceInfo& leaders, const MSLeaderDistanceInfo& neighLead,
3148 : double posOnLane, double neighDist, bool right, double latLaneDist, double& currentDist, double& latDist) {
3149 : bool mustOvertake = false;
3150 36023152 : const MSVehicle* const stoppedLeader = getStopped(leaders);
3151 36023152 : const bool checkOverTakeRight = avoidOvertakeRight(stoppedLeader, true);
3152 : int rightmost;
3153 : int leftmost;
3154 : const bool curHasStopped = stoppedLeader != nullptr;
3155 36023152 : const int dir = latLaneDist < 0 ? -1 : 1;
3156 36023152 : const MSLane* neighBeyond = neighLane.getParallelLane(dir);
3157 36023152 : const bool hasLaneBeyond = checkCurrent && neighBeyond != nullptr && neighBeyond->allowsVehicleClass(myVehicle.getVClass());
3158 : UNUSED_PARAMETER(hasLaneBeyond);
3159 36023152 : if (curHasStopped) {
3160 95355 : leaders.getSubLanes(&myVehicle, 0, rightmost, leftmost);
3161 405569 : for (int i = rightmost; i <= leftmost; i++) {
3162 310214 : const CLeaderDist& leader = leaders[i];
3163 310214 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3164 199328 : const double overtakeDist = leader.second + myVehicle.getVehicleType().getLength() + leader.first->getVehicleType().getLengthWithGap();
3165 199328 : const double remaining = MIN2(neighDist, currentDist) - posOnLane;
3166 : #ifdef DEBUG_STRATEGIC_CHANGE
3167 : if (DEBUG_COND) {
3168 : std::cout << " overtakeDist=" << overtakeDist << " remaining=" << remaining
3169 : << " minDistToStopped=" << neighLead.getMinDistToStopped()
3170 : << " hasLaneBeyond=" << hasLaneBeyond
3171 : << "\n";
3172 : }
3173 : #endif
3174 : if (// current destination leaves enough space to overtake the leader
3175 : remaining > overtakeDist
3176 : // maybe do not overtake on the right at high speed
3177 68110 : && (!checkCurrent || !checkOverTakeRight || !right)
3178 266693 : && (!neighLead.hasStoppedVehicle() || neighLead.getMinDistToStopped() > overtakeDist /*|| (hasLaneBeyond && hasFreeLaneBeyond(neighBeyond, dir))*/)
3179 : //&& (neighLead.first == 0 || !neighLead.first->isStopped()
3180 : // // neighboring stopped vehicle leaves enough space to overtake leader
3181 : // || neighLead.second > overtakeDist))
3182 : ) {
3183 : // avoid becoming stuck behind a stopped leader
3184 38738 : currentDist = myVehicle.getPositionOnLane() + leader.second;
3185 38738 : myLeftSpace = currentDist - posOnLane;
3186 38738 : latDist = latLaneDist;
3187 : mustOvertake = true;
3188 : #ifdef DEBUG_STRATEGIC_CHANGE
3189 : if (DEBUG_COND) {
3190 : std::cout << " veh=" << myVehicle.getID() << " overtake stopped leader=" << leader.first->getID()
3191 : << " newCurrentDist=" << currentDist
3192 : << " overtakeDist=" << overtakeDist
3193 : << " remaining=" << remaining
3194 : << "\n";
3195 : }
3196 : #endif
3197 : }
3198 : }
3199 :
3200 : }
3201 : }
3202 36023152 : if (!mustOvertake && !curHasStopped && neighLead.hasStoppedVehicle()) {
3203 : // #todo fix this if the neigh lane has a different width
3204 146361 : const double offset = (latLaneDist < 0 ? -1 : 1) * myVehicle.getLane()->getWidth();
3205 125526 : neighLead.getSubLanes(&myVehicle, offset, rightmost, leftmost);
3206 623653 : for (int i = 0; i < leaders.numSublanes(); i++) {
3207 498127 : const CLeaderDist& leader = leaders[i];
3208 498127 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3209 : mustOvertake = true;
3210 0 : if (i >= rightmost && i <= leftmost) {
3211 0 : latDist = myVehicle.getLateralOverlap() * (latLaneDist > 0 ? -1 : 1);
3212 0 : break;
3213 : }
3214 : }
3215 : }
3216 : }
3217 36023152 : return mustOvertake;
3218 : }
3219 :
3220 :
3221 : double
3222 121401053 : MSLCM_SL2015::computeGapFactor(int state) const {
3223 121401053 : return (state & LCA_STRATEGIC) != 0 ? MAX2(0.0, (1.0 - myPushy * (1 + 0.5 * myImpatience))) : 1.0;
3224 : }
3225 :
3226 :
3227 : int
3228 118770455 : MSLCM_SL2015::keepLatGap(int state,
3229 : const MSLeaderDistanceInfo& leaders,
3230 : const MSLeaderDistanceInfo& followers,
3231 : const MSLeaderDistanceInfo& blockers,
3232 : const MSLeaderDistanceInfo& neighLeaders,
3233 : const MSLeaderDistanceInfo& neighFollowers,
3234 : const MSLeaderDistanceInfo& neighBlockers,
3235 : const MSLane& neighLane,
3236 : int laneOffset,
3237 : double& latDist,
3238 : double& maneuverDist,
3239 : int& blocked) {
3240 :
3241 : /* @notes
3242 : * vehicles may need to compromise between fulfilling lane change objectives
3243 : * (LCA_STRATEGIC, LCA_SPEED etc) and maintaining lateral gap. The minimum
3244 : * acceptable lateral gap depends on
3245 : * - the cultural context (China vs Europe)
3246 : * - the driver agressiveness (willingness to encroach on other vehicles to force them to move laterally as well)
3247 : * - see @note in checkBlocking
3248 : * - the vehicle type (car vs motorcycle)
3249 : * - the current speed
3250 : * - the speed difference
3251 : * - the importance / urgency of the desired maneuver
3252 : *
3253 : * the object of this method is to evaluate the above circumstances and
3254 : * either:
3255 : * - allow the current maneuver (state, latDist)
3256 : * - to override the current maneuver with a distance-keeping maneuver
3257 : *
3258 : *
3259 : * laneChangeModel/driver parameters
3260 : * - bool pushy (willingness to encroach)
3261 : * - float minGap at 100km/h (to be interpolated for lower speeds (assume 0 at speed 0)
3262 : * - gapFactors (a factor for each of the change reasons
3263 : *
3264 : * further assumptions
3265 : * - the maximum of egoSpeed and deltaSpeed can be used when interpolating minGap
3266 : * - distance keeping to the edges of the road can be ignored (for now)
3267 : *
3268 : * currentMinGap = minGap * min(1.0, max(v, abs(v - vOther)) / 100) * gapFactor[lc_reason]
3269 : *
3270 : * */
3271 :
3272 : /// XXX to be made configurable
3273 118770455 : double gapFactor = computeGapFactor(state);
3274 118770455 : const double oldLatDist = latDist;
3275 118770455 : const double oldManeuverDist = maneuverDist;
3276 : /// passed state is without traci-influence but we need it here
3277 118770455 : const int traciState = myVehicle.influenceChangeDecision(state);
3278 :
3279 : // compute gaps after maneuver
3280 118770455 : const double halfWidth = getWidth() * 0.5;
3281 : // if the current maneuver is blocked we will stay where we are
3282 118770455 : const double oldCenter = myVehicle.getCenterOnEdge();
3283 : // surplus gaps. these are used to collect various constraints
3284 : // if they do not permit the desired maneuvre, should override it to better maintain distance
3285 : // stay within the current edge
3286 118770455 : double surplusGapRight = oldCenter - halfWidth;
3287 118770455 : double surplusGapLeft = getLeftBorder(laneOffset != 0) - oldCenter - halfWidth;
3288 : const bool stayInLane = (laneOffset == 0
3289 118770455 : || ((traciState & LCA_STRATEGIC) != 0
3290 : && (traciState & LCA_STAY) != 0
3291 : // permit wide vehicles to stay on the road
3292 11741807 : && (surplusGapLeft >= 0 && surplusGapRight >= 0)));
3293 :
3294 118770455 : if (isOpposite()) {
3295 : std::swap(surplusGapLeft, surplusGapRight);
3296 : }
3297 : #ifdef DEBUG_KEEP_LATGAP
3298 : if (gDebugFlag2) {
3299 : std::cout << "\n " << SIMTIME << " keepLatGap() laneOffset=" << laneOffset
3300 : << " latDist=" << latDist
3301 : << " maneuverDist=" << maneuverDist
3302 : << " state=" << toString((LaneChangeAction)state)
3303 : << " traciState=" << toString((LaneChangeAction)traciState)
3304 : << " blocked=" << toString((LaneChangeAction)blocked)
3305 : << " gapFactor=" << gapFactor
3306 : << " stayInLane=" << stayInLane << "\n"
3307 : << " stayInEdge: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3308 : }
3309 : #endif
3310 : // staying within the edge overrides all minGap considerations
3311 118770455 : if (surplusGapLeft < 0 || surplusGapRight < 0) {
3312 : gapFactor = 0;
3313 : }
3314 :
3315 : // maintain gaps to vehicles on the current lane
3316 : // ignore vehicles that are too far behind
3317 118770455 : const double netOverlap = -myVehicle.getVehicleType().getLength() * 0.5;
3318 118770455 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3319 118770455 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3320 :
3321 118770455 : if (laneOffset != 0) {
3322 : // maintain gaps to vehicles on the target lane
3323 36266425 : const double neighRight = getNeighRight(neighLane);
3324 36266425 : updateGaps(neighLeaders, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3325 36266425 : updateGaps(neighFollowers, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3326 : }
3327 : #ifdef DEBUG_KEEP_LATGAP
3328 : if (gDebugFlag2) {
3329 : std::cout << " minGapLat: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n"
3330 : << " lastGaps: right=" << myLastLateralGapRight << " left=" << myLastLateralGapLeft << "\n";
3331 : }
3332 : #endif
3333 : // we also need to track the physical gap, in addition to the psychological gap
3334 118770455 : double physicalGapLeft = myLastLateralGapLeft == NO_NEIGHBOR ? surplusGapLeft : myLastLateralGapLeft;
3335 118770455 : double physicalGapRight = myLastLateralGapRight == NO_NEIGHBOR ? surplusGapRight : myLastLateralGapRight;
3336 :
3337 118770455 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
3338 118770455 : const double posLat = myVehicle.getLateralPositionOnLane() * (isOpposite() ? -1 : 1);
3339 118770455 : if (stayInLane || laneOffset == 1) {
3340 : // do not move past the right boundary of the current lane (traffic wasn't checked there)
3341 : // but assume it's ok to be where we are in case we are already beyond
3342 309266579 : surplusGapRight = MIN2(surplusGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3343 : physicalGapRight = MIN2(physicalGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3344 : }
3345 118770455 : if (stayInLane || laneOffset == -1) {
3346 : // do not move past the left boundary of the current lane (traffic wasn't checked there)
3347 : // but assume it's ok to be where we are in case we are already beyond
3348 288960587 : surplusGapLeft = MIN2(surplusGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3349 : physicalGapLeft = MIN2(physicalGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3350 : }
3351 : #ifdef DEBUG_KEEP_LATGAP
3352 : if (gDebugFlag2) {
3353 : std::cout << " stayInLane: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3354 : }
3355 : #endif
3356 :
3357 118770455 : if (surplusGapRight + surplusGapLeft < 0) {
3358 : // insufficient lateral space to fulfill all requirements. apportion space proportionally
3359 3574945 : if ((state & LCA_CHANGE_REASONS) == 0) {
3360 29353 : state |= LCA_SUBLANE;
3361 : }
3362 3574945 : const double equalDeficit = 0.5 * (surplusGapLeft + surplusGapRight);
3363 3574945 : if (surplusGapRight < surplusGapLeft) {
3364 : // shift further to the left but no further than there is physical space
3365 1120749 : const double delta = MIN2(equalDeficit - surplusGapRight, physicalGapLeft);
3366 1120749 : latDist = delta;
3367 1120749 : maneuverDist = delta;
3368 : #ifdef DEBUG_KEEP_LATGAP
3369 : if (gDebugFlag2) {
3370 : std::cout << " insufficient latSpace, move left: delta=" << delta << "\n";
3371 : }
3372 : #endif
3373 : } else {
3374 : // shift further to the right but no further than there is physical space
3375 2454196 : const double delta = MIN2(equalDeficit - surplusGapLeft, physicalGapRight);
3376 2454196 : latDist = -delta;
3377 2454196 : maneuverDist = -delta;
3378 : #ifdef DEBUG_KEEP_LATGAP
3379 : if (gDebugFlag2) {
3380 : std::cout << " insufficient latSpace, move right: delta=" << delta << "\n";
3381 : }
3382 : #endif
3383 : }
3384 : } else {
3385 : // sufficient space. move as far as the gaps permit
3386 115195510 : latDist = MAX2(MIN2(latDist, surplusGapLeft), -surplusGapRight);
3387 115195510 : maneuverDist = MAX2(MIN2(maneuverDist, surplusGapLeft), -surplusGapRight);
3388 115195510 : if ((state & LCA_KEEPRIGHT) != 0 && maneuverDist != oldManeuverDist) {
3389 : // don't start keepRight unless it can be completed
3390 127454 : latDist = oldLatDist;
3391 127454 : maneuverDist = oldManeuverDist;
3392 : }
3393 : #ifdef DEBUG_KEEP_LATGAP
3394 : if (gDebugFlag2) {
3395 : std::cout << " adapted latDist=" << latDist << " maneuverDist=" << maneuverDist << " (old=" << oldLatDist << ")\n";
3396 : }
3397 : #endif
3398 : }
3399 : // take into account overriding traci sublane-request
3400 118770455 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0) {
3401 : // @note: the influence is reset in MSAbstractLaneChangeModel::setOwnState at the end of the lane-changing code for this vehicle
3402 1888 : latDist = myVehicle.getInfluencer().getLatDist();
3403 1888 : maneuverDist = myVehicle.getInfluencer().getLatDist();
3404 1888 : if (latDist < 0) {
3405 1972 : mySafeLatDistRight = MAX2(-latDist, mySafeLatDistRight);
3406 : } else {
3407 1432 : mySafeLatDistLeft = MAX2(latDist, mySafeLatDistLeft);
3408 : }
3409 1888 : state |= LCA_TRACI;
3410 : #ifdef DEBUG_KEEP_LATGAP
3411 : if (gDebugFlag2) {
3412 : std::cout << " traci influenced latDist=" << latDist << "\n";
3413 : }
3414 : #endif
3415 : }
3416 : // if we cannot move in the desired direction, consider the maneuver blocked anyway
3417 118770455 : const bool nonSublaneChange = (state & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT)) != 0;
3418 118770455 : const bool traciChange = ((state | traciState) & LCA_TRACI) != 0;
3419 118770455 : if (nonSublaneChange && !traciChange) {
3420 19787394 : if ((latDist < NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist > 0)) {
3421 : #ifdef DEBUG_KEEP_LATGAP
3422 : if (gDebugFlag2) {
3423 : std::cout << " wanted changeToLeft oldLatDist=" << oldLatDist << ", blocked latGap changeToRight\n";
3424 : }
3425 : #endif
3426 1185744 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3427 1185744 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_LEFT;
3428 18601650 : } else if ((latDist > -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist < 0)) {
3429 : #ifdef DEBUG_KEEP_LATGAP
3430 : if (gDebugFlag2) {
3431 : std::cout << " wanted changeToRight oldLatDist=" << oldLatDist << ", blocked latGap changeToLeft\n";
3432 : }
3433 : #endif
3434 719152 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3435 719152 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_RIGHT;
3436 : }
3437 : }
3438 : // if we move, even though we wish to stay, update the change reason (except for TraCI)
3439 118770455 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() && oldLatDist == 0) {
3440 1119241 : state &= (~(LCA_CHANGE_REASONS | LCA_STAY) | LCA_TRACI);
3441 : }
3442 : // update blocked status
3443 118770455 : if (fabs(latDist - oldLatDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3444 : #ifdef DEBUG_KEEP_LATGAP
3445 : if (gDebugFlag2) {
3446 : std::cout << " latDistUpdated=" << latDist << " oldLatDist=" << oldLatDist << "\n";
3447 : }
3448 : #endif
3449 4243601 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset, leaders, followers, blockers, neighLeaders, neighFollowers, neighBlockers, nullptr, nullptr, nonSublaneChange);
3450 : }
3451 118770455 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3452 15003295 : state = (state & ~LCA_STAY);
3453 15003295 : if ((state & LCA_CHANGE_REASONS) == 0) {
3454 1118249 : state |= LCA_SUBLANE;
3455 : }
3456 : } else {
3457 103767160 : if ((state & LCA_SUBLANE) != 0) {
3458 90743450 : state |= LCA_STAY;
3459 : }
3460 : // avoid setting blinker due to numerical issues
3461 103767160 : latDist = 0;
3462 : }
3463 : #if defined(DEBUG_KEEP_LATGAP) || defined(DEBUG_STATE)
3464 : if (gDebugFlag2) {
3465 : std::cout << " latDist2=" << latDist
3466 : << " state2=" << toString((LaneChangeAction)state)
3467 : << " lastGapLeft=" << myLastLateralGapLeft
3468 : << " lastGapRight=" << myLastLateralGapRight
3469 : << " blockedAfter=" << toString((LaneChangeAction)blocked)
3470 : << "\n";
3471 : }
3472 : #endif
3473 118770455 : return state;
3474 : }
3475 :
3476 :
3477 : void
3478 393052080 : MSLCM_SL2015::updateGaps(const MSLeaderDistanceInfo& others, double foeOffset, double oldCenter, double gapFactor,
3479 : double& surplusGapRight, double& surplusGapLeft,
3480 : bool saveMinGap, double netOverlap,
3481 : double latDist,
3482 : std::vector<CLeaderDist>* collectBlockers) {
3483 393052080 : if (others.hasVehicles()) {
3484 337100804 : const double halfWidth = getWidth() * 0.5 + NUMERICAL_EPS;
3485 337100804 : const double baseMinGap = myMinGapLat;
3486 1774215444 : for (int i = 0; i < others.numSublanes(); ++i) {
3487 2795343595 : if (others[i].first != 0 && others[i].second <= 0
3488 1469814944 : && myCFRelated.count(others[i].first) == 0
3489 1647055344 : && (netOverlap == 0 || others[i].second + others[i].first->getVehicleType().getMinGap() < netOverlap)) {
3490 : /// foe vehicle occupies full sublanes
3491 177557083 : const MSVehicle* foe = others[i].first;
3492 177557083 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : others[i].first->getLane()->getWidth();
3493 : double foeRight, foeLeft;
3494 177557083 : others.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3495 177557083 : const double foeCenter = foeRight + 0.5 * res;
3496 177557083 : const double gap = MIN2(fabs(foeRight - oldCenter), fabs(foeLeft - oldCenter)) - halfWidth;
3497 177557083 : const double deltaV = MIN2(LATGAP_SPEED_THRESHOLD, MAX3(LATGAP_SPEED_THRESHOLD2, myVehicle.getSpeed(), fabs(myVehicle.getSpeed() - foe->getSpeed())));
3498 177557083 : const double desiredMinGap = baseMinGap * deltaV / LATGAP_SPEED_THRESHOLD;
3499 177557083 : const double currentMinGap = desiredMinGap * gapFactor; // pushy vehicles may accept a lower lateral gap temporarily
3500 : /*
3501 : if (netOverlap != 0) {
3502 : // foe vehicle is follower with its front ahead of the ego midpoint
3503 : // scale gap requirements so it gets lower for foe which are further behind ego
3504 : //
3505 : // relOverlap approaches 0 as the foe gets closer to the midpoint and it equals 1 if the foe is driving head-to-head
3506 : const double relOverlap = 1 - (others[i].second + others[i].first->getVehicleType().getMinGap()) / netOverlap;
3507 : currentMinGap *= currOverlap * relOverlap;
3508 : }
3509 : */
3510 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3511 : if (debugVehicle()) {
3512 : std::cout << " updateGaps"
3513 : << " i=" << i
3514 : << " foe=" << foe->getID()
3515 : << " foeRight=" << foeRight
3516 : << " foeLeft=" << foeLeft
3517 : << " oldCenter=" << oldCenter
3518 : << " gap=" << others[i].second
3519 : << " latgap=" << gap
3520 : << " currentMinGap=" << currentMinGap
3521 : << " surplusGapRight=" << surplusGapRight
3522 : << " surplusGapLeft=" << surplusGapLeft
3523 : << "\n";
3524 : }
3525 : #endif
3526 :
3527 : // If foe is maneuvering towards ego, reserve some additional distance.
3528 : // But don't expect the foe to come closer than currentMinGap if it isn't already there.
3529 : // (XXX: How can the ego know the foe's maneuver dist?)
3530 177557083 : if (foeCenter < oldCenter) { // && foe->getLaneChangeModel().getSpeedLat() > 0) {
3531 88359706 : const double foeManeuverDist = MAX2(0., foe->getLaneChangeModel().getManeuverDist());
3532 254148782 : surplusGapRight = MIN3(surplusGapRight, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3533 : } else { //if (foeCenter > oldCenter && foe->getLaneChangeModel().getSpeedLat() < 0) {
3534 89197377 : const double foeManeuverDist = -MIN2(0., foe->getLaneChangeModel().getManeuverDist());
3535 257803390 : surplusGapLeft = MIN3(surplusGapLeft, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3536 : }
3537 177557083 : if (saveMinGap) {
3538 85723199 : if (foeCenter < oldCenter) {
3539 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3540 : if (gDebugFlag2 && gap < myLastLateralGapRight) {
3541 : std::cout << " new minimum rightGap=" << gap << "\n";
3542 : }
3543 : #endif
3544 78933132 : myLastLateralGapRight = MIN2(myLastLateralGapRight, gap);
3545 : } else {
3546 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3547 : if (gDebugFlag2 && gap < myLastLateralGapLeft) {
3548 : std::cout << " new minimum leftGap=" << gap << "\n";
3549 : }
3550 : #endif
3551 54555663 : myLastLateralGapLeft = MIN2(myLastLateralGapLeft, gap);
3552 : }
3553 : }
3554 177557083 : if (collectBlockers != nullptr) {
3555 : // check if the vehicle is blocking a desire lane change
3556 10639737 : if ((foeCenter < oldCenter && latDist < 0 && gap < (desiredMinGap - latDist))
3557 8182222 : || (foeCenter > oldCenter && latDist > 0 && gap < (desiredMinGap + latDist))) {
3558 9211170 : collectBlockers->push_back(others[i]);
3559 : }
3560 : }
3561 : }
3562 : }
3563 : }
3564 393052080 : }
3565 :
3566 :
3567 : double
3568 1096714532 : MSLCM_SL2015::getWidth() const {
3569 1096714532 : return myVehicle.getVehicleType().getWidth() + NUMERICAL_EPS;
3570 : }
3571 :
3572 :
3573 : double
3574 119578050 : MSLCM_SL2015::computeSpeedLat(double latDist, double& maneuverDist, bool urgent) const {
3575 119578050 : int currentDirection = mySpeedLat >= 0 ? 1 : -1;
3576 119578050 : int directionWish = latDist >= 0 ? 1 : -1;
3577 119578050 : double maxSpeedLat = myVehicle.getVehicleType().getMaxSpeedLat();
3578 119578050 : double accelLat = myAccelLat;
3579 119578050 : if (!urgent && (myLeftSpace > POSITION_EPS || myMaxSpeedLatFactor < 0)) {
3580 68108773 : const double speedBound = myMaxSpeedLatStanding + myMaxSpeedLatFactor * myVehicle.getSpeed();
3581 68108773 : if (myMaxSpeedLatFactor >= 0) {
3582 : // speedbound increases with speed and needs an upper bound
3583 : maxSpeedLat = MIN2(maxSpeedLat, speedBound);
3584 : } else {
3585 : // speedbound decreases with speed and needs a lower bound
3586 : // (only useful if myMaxSpeedLatStanding > maxSpeedLat)
3587 : maxSpeedLat = MAX2(maxSpeedLat, speedBound);
3588 : // increase (never decrease) lateral acceleration in proportion
3589 498 : accelLat *= MAX2(1.0, speedBound / myVehicle.getVehicleType().getMaxSpeedLat());
3590 : }
3591 : }
3592 119578050 : if (getWidth() < myVehicle.getCurrentEdge()->getWidth() && !isOpposite()) {
3593 119486937 : const double rightVehSide = myVehicle.getRightSideOnEdge();
3594 119486937 : const double edgeOverlap = MAX2(-rightVehSide, rightVehSide + myVehicle.getVehicleType().getWidth() - myVehicle.getCurrentEdge()->getWidth());
3595 : // if vehicle is outside edge bounds. Permit stronger lateral maneuvering
3596 119486937 : accelLat = MAX2(accelLat, 2 * edgeOverlap);
3597 : maxSpeedLat = MAX2(maxSpeedLat, edgeOverlap);
3598 : }
3599 :
3600 : #ifdef DEBUG_MANEUVER
3601 : if (debugVehicle()) {
3602 : std::cout << SIMTIME
3603 : << " veh=" << myVehicle.getID()
3604 : << " computeSpeedLat()"
3605 : << " latDist=" << latDist
3606 : << " maneuverDist=" << maneuverDist
3607 : << " urgent=" << urgent
3608 : << " speedLat=" << mySpeedLat
3609 : << " currentDirection=" << currentDirection
3610 : << " directionWish=" << directionWish
3611 : << " myLeftSpace=" << myLeftSpace
3612 : << " maxSpeedLat=" << maxSpeedLat
3613 : << std::endl;
3614 : }
3615 : #endif
3616 : // reduced lateral speed (in the desired direction). Don't change direction against desired.
3617 : double speedDecel;
3618 119578050 : if (directionWish == 1) {
3619 111958627 : speedDecel = MAX2(mySpeedLat - ACCEL2SPEED(accelLat), 0.);
3620 : } else {
3621 7619423 : speedDecel = MIN2(mySpeedLat + ACCEL2SPEED(accelLat), 0.);
3622 : }
3623 : // increased lateral speed (in the desired direction)
3624 119578050 : double speedAccel = MAX2(MIN2(mySpeedLat + directionWish * ACCEL2SPEED(accelLat), maxSpeedLat), -maxSpeedLat);
3625 :
3626 : // can we reach the target distance in a single step? (XXX: assumes "Euler" update)
3627 119578050 : double speedBound = DIST2SPEED(latDist);
3628 : // for lat-gap keeping maneuvres myOrigLatDist may be 0
3629 232260429 : const double fullLatDist = latDist > 0 ? MIN2(mySafeLatDistLeft, MAX2(maneuverDist, latDist)) : MAX2(-mySafeLatDistRight, MIN2(maneuverDist, latDist));
3630 :
3631 : // update maneuverDist, if safety constraints apply in its direction
3632 119578050 : if (maneuverDist * latDist > 0) {
3633 14907495 : maneuverDist = fullLatDist;
3634 : }
3635 :
3636 : #ifdef DEBUG_MANEUVER
3637 : if (debugVehicle()) {
3638 : std::cout << " mySafeLatDistRight=" << mySafeLatDistRight
3639 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
3640 : << " fullLatDist=" << fullLatDist
3641 : << " speedAccel=" << speedAccel
3642 : << " speedDecel=" << speedDecel
3643 : << " speedBound=" << speedBound
3644 : << std::endl;
3645 : }
3646 : #endif
3647 119578050 : if (speedDecel * speedAccel <= 0 && (
3648 : // speedAccel and speedDecel bracket speed 0. This means we can end the maneuver
3649 111143545 : (latDist >= 0 && speedAccel >= speedBound && speedBound >= speedDecel)
3650 9023794 : || (latDist <= 0 && speedAccel <= speedBound && speedBound <= speedDecel))) {
3651 : // we can reach the desired value in this step
3652 : #ifdef DEBUG_MANEUVER
3653 : if (debugVehicle()) {
3654 : std::cout << " computeSpeedLat a)\n";
3655 : }
3656 : #endif
3657 : return speedBound;
3658 : }
3659 : // are we currently moving in the wrong direction?
3660 4096507 : if (latDist * mySpeedLat < 0) {
3661 : #ifdef DEBUG_MANEUVER
3662 : if (debugVehicle()) {
3663 : std::cout << " computeSpeedLat b)\n";
3664 : }
3665 : #endif
3666 449048 : return emergencySpeedLat(speedAccel);
3667 : }
3668 : // check if the remaining distance allows to accelerate laterally
3669 3647459 : double minDistAccel = SPEED2DIST(speedAccel) + currentDirection * MSCFModel::brakeGapEuler(fabs(speedAccel), accelLat, 0); // most we can move in the target direction
3670 3647459 : if ((fabs(minDistAccel) < fabs(fullLatDist)) || (fabs(minDistAccel - fullLatDist) < NUMERICAL_EPS)) {
3671 : #ifdef DEBUG_MANEUVER
3672 : if (debugVehicle()) {
3673 : std::cout << " computeSpeedLat c)\n";
3674 : }
3675 : #endif
3676 : return speedAccel;
3677 : } else {
3678 : #ifdef DEBUG_MANEUVER
3679 : if (debugVehicle()) {
3680 : std::cout << " minDistAccel=" << minDistAccel << "\n";
3681 : }
3682 : #endif
3683 : // check if the remaining distance allows to maintain current lateral speed
3684 652212 : double minDistCurrent = SPEED2DIST(mySpeedLat) + currentDirection * MSCFModel::brakeGapEuler(fabs(mySpeedLat), accelLat, 0);
3685 652212 : if ((fabs(minDistCurrent) < fabs(fullLatDist)) || (fabs(minDistCurrent - fullLatDist) < NUMERICAL_EPS)) {
3686 : #ifdef DEBUG_MANEUVER
3687 : if (debugVehicle()) {
3688 : std::cout << " computeSpeedLat d)\n";
3689 : }
3690 : #endif
3691 154606 : return mySpeedLat;
3692 : }
3693 : }
3694 : // reduce lateral speed
3695 : #ifdef DEBUG_MANEUVER
3696 : if (debugVehicle()) {
3697 : std::cout << " computeSpeedLat e)\n";
3698 : }
3699 : #endif
3700 497606 : return emergencySpeedLat(speedDecel);
3701 : }
3702 :
3703 :
3704 : double
3705 946654 : MSLCM_SL2015::emergencySpeedLat(double speedLat) const {
3706 : // reduce lateral speed for safety purposes
3707 946654 : if (speedLat < 0 && SPEED2DIST(-speedLat) > mySafeLatDistRight) {
3708 14726 : speedLat = -DIST2SPEED(mySafeLatDistRight);
3709 : #ifdef DEBUG_MANEUVER
3710 : if (debugVehicle()) {
3711 : std::cout << " rightDanger speedLat=" << speedLat << "\n";
3712 : }
3713 : #endif
3714 931928 : } else if (speedLat > 0 && SPEED2DIST(speedLat) > mySafeLatDistLeft) {
3715 23224 : speedLat = DIST2SPEED(mySafeLatDistLeft);
3716 : #ifdef DEBUG_MANEUVER
3717 : if (debugVehicle()) {
3718 : std::cout << " leftDanger speedLat=" << speedLat << "\n";
3719 : }
3720 : #endif
3721 : }
3722 946654 : return speedLat;
3723 : }
3724 :
3725 :
3726 : LatAlignmentDefinition
3727 99687226 : MSLCM_SL2015::getDesiredAlignment() const {
3728 : LatAlignmentDefinition align = MSAbstractLaneChangeModel::getDesiredAlignment();
3729 : // Check whether the vehicle should adapt its alignment to an upcoming turn
3730 99687226 : if (myTurnAlignmentDist > 0) {
3731 373512 : const std::pair<double, const MSLink*>& turnInfo = myVehicle.getNextTurn();
3732 373512 : const LinkDirection turnDir = turnInfo.second == nullptr ? LinkDirection::NODIR : turnInfo.second->getDirection();
3733 373512 : const bool indirect = turnInfo.second == nullptr ? false : turnInfo.second->isIndirect();
3734 373512 : if (turnInfo.first < myTurnAlignmentDist) {
3735 : // Vehicle is close enough to the link to change its default alignment
3736 158931 : switch (turnDir) {
3737 13748 : case LinkDirection::TURN:
3738 : case LinkDirection::LEFT:
3739 : case LinkDirection::PARTLEFT:
3740 13748 : if (myVehicle.getLane()->getBidiLane() == nullptr) {
3741 : // no left alignment on bidi lane to avoid blocking oncoming traffic
3742 13680 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::RIGHT : LatAlignmentDefinition::LEFT;
3743 : }
3744 : break;
3745 12791 : case LinkDirection::TURN_LEFTHAND:
3746 : case LinkDirection::RIGHT:
3747 : case LinkDirection::PARTRIGHT:
3748 12791 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::LEFT : LatAlignmentDefinition::RIGHT;
3749 : break;
3750 : case LinkDirection::STRAIGHT:
3751 : case LinkDirection::NODIR:
3752 : default:
3753 : break;
3754 : }
3755 : }
3756 : }
3757 99687226 : return align;
3758 : }
3759 :
3760 :
3761 : void
3762 1019487 : MSLCM_SL2015::commitManoeuvre(int blocked, int blockedFully,
3763 : const MSLeaderDistanceInfo& leaders,
3764 : const MSLeaderDistanceInfo& neighLeaders,
3765 : const MSLane& neighLane,
3766 : double maneuverDist) {
3767 1019487 : if (!blocked && !blockedFully && !myCanChangeFully) {
3768 : // round to full action steps
3769 : double secondsToLeaveLane;
3770 520731 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3771 444897 : secondsToLeaveLane = ceil(fabs(maneuverDist) / myVehicle.getVehicleType().getMaxSpeedLat() / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3772 : // XXX myAccelLat must be taken into account (refs #3601, see ballistic case for solution)
3773 :
3774 : // XXX This also causes probs: if the difference between the current speed and the committed is higher than the maximal decel,
3775 : // the vehicle may pass myLeftSpace before completing the maneuver.
3776 889794 : myCommittedSpeed = MIN3(myLeftSpace / secondsToLeaveLane,
3777 444897 : myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle),
3778 444897 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3779 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3780 : if (debugVehicle()) {
3781 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myCommittedSpeed=" << myCommittedSpeed << " leftSpace=" << myLeftSpace << " secondsToLeave=" << secondsToLeaveLane << "\n";
3782 : }
3783 : #endif
3784 : } else {
3785 :
3786 : // Calculate seconds needed for leaving lane assuming start from lateral speed zero, and lat.accel == -lat.decel
3787 75834 : secondsToLeaveLane = MSCFModel::estimateArrivalTime(fabs(maneuverDist), 0., 0., myVehicle.getVehicleType().getMaxSpeedLat(), myAccelLat, myAccelLat);
3788 : // round to full action steps
3789 75834 : secondsToLeaveLane = ceil(secondsToLeaveLane / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3790 :
3791 : // committed speed will eventually be pushed into a drive item during the next planMove() step. This item
3792 : // will not be read before the next action step at current time + actionStepLength-TS, so we need to schedule the corresponding speed.
3793 75834 : const double timeTillActionStep = myVehicle.getActionStepLengthSecs() - TS;
3794 75834 : const double nextActionStepSpeed = MAX2(0., myVehicle.getSpeed() + timeTillActionStep * myVehicle.getAcceleration());
3795 : double nextLeftSpace;
3796 75438 : if (nextActionStepSpeed > 0.) {
3797 75435 : nextLeftSpace = myLeftSpace - timeTillActionStep * (myVehicle.getSpeed() + nextActionStepSpeed) * 0.5;
3798 399 : } else if (myVehicle.getAcceleration() == 0) {
3799 0 : nextLeftSpace = myLeftSpace;
3800 : } else {
3801 : assert(myVehicle.getAcceleration() < 0.);
3802 399 : nextLeftSpace = myLeftSpace + (myVehicle.getSpeed() * myVehicle.getSpeed() / myVehicle.getAcceleration()) * 0.5;
3803 : }
3804 75834 : const double avoidArrivalSpeed = nextActionStepSpeed + ACCEL2SPEED(MSCFModel::avoidArrivalAccel(
3805 : nextLeftSpace, secondsToLeaveLane - timeTillActionStep, nextActionStepSpeed, myVehicle.getCarFollowModel().getEmergencyDecel()));
3806 :
3807 151668 : myCommittedSpeed = MIN3(avoidArrivalSpeed,
3808 75834 : myVehicle.getSpeed() + myVehicle.getCarFollowModel().getMaxAccel() * myVehicle.getActionStepLengthSecs(),
3809 75834 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3810 :
3811 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3812 : if (gDebugFlag2) {
3813 : std::cout << SIMTIME
3814 : << " veh=" << myVehicle.getID()
3815 : << " avoidArrivalSpeed=" << avoidArrivalSpeed
3816 : << " currentSpeed=" << myVehicle.getSpeed()
3817 : << " myLeftSpace=" << myLeftSpace
3818 : << "\n nextLeftSpace=" << nextLeftSpace
3819 : << " nextActionStepSpeed=" << nextActionStepSpeed
3820 : << " nextActionStepRemainingSeconds=" << secondsToLeaveLane - timeTillActionStep
3821 : << "\n";
3822 : }
3823 : #endif
3824 : }
3825 520731 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, leaders, myVehicle.getLane()->getRightSideOnEdge());
3826 520731 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, neighLeaders, neighLane.getRightSideOnEdge());
3827 520731 : if (myCommittedSpeed < myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle)) {
3828 72250 : myCommittedSpeed = 0;
3829 : }
3830 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3831 : if (gDebugFlag2) {
3832 : std::cout << SIMTIME
3833 : << " veh=" << myVehicle.getID()
3834 : << " secondsToLeave=" << secondsToLeaveLane
3835 : << " maxNext=" << myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)
3836 : << " committed=" << myCommittedSpeed
3837 : << "\n";
3838 : }
3839 : #endif
3840 : }
3841 1019487 : }
3842 :
3843 : double
3844 1041462 : MSLCM_SL2015::commitFollowSpeed(double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo& leaders, double foeOffset) const {
3845 1041462 : if (leaders.hasVehicles()) {
3846 : // we distinguish 3 cases
3847 : // - vehicles with lateral overlap at the end of the maneuver: try to follow safely
3848 : // - vehicles with overlap at the start of the maneuver: avoid collision within secondsToLeaveLane
3849 : // - vehicles without overlap: ignore
3850 :
3851 510345 : const double maxDecel = myVehicle.getCarFollowModel().getMaxDecel();
3852 : // temporarily use another decel value
3853 : MSCFModel& cfmodel = const_cast<MSCFModel&>(myVehicle.getCarFollowModel());
3854 510345 : cfmodel.setMaxDecel(maxDecel / getSafetyFactor());
3855 :
3856 510345 : const double vehWidth = getWidth();
3857 510345 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
3858 510345 : const double leftVehSide = rightVehSide + vehWidth;
3859 510345 : const double rightVehSideDest = rightVehSide + latDist;
3860 510345 : const double leftVehSideDest = leftVehSide + latDist;
3861 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3862 : if (gDebugFlag2) {
3863 : std::cout << " commitFollowSpeed"
3864 : << " latDist=" << latDist
3865 : << " foeOffset=" << foeOffset
3866 : << " vehRight=" << rightVehSide
3867 : << " vehLeft=" << leftVehSide
3868 : << " destRight=" << rightVehSideDest
3869 : << " destLeft=" << leftVehSideDest
3870 : << "\n";
3871 : }
3872 : #endif
3873 2847137 : for (int i = 0; i < leaders.numSublanes(); ++i) {
3874 2336792 : CLeaderDist vehDist = leaders[i];
3875 2336792 : if (vehDist.first != 0) {
3876 : const MSVehicle* leader = vehDist.first;
3877 : // only check the current stripe occuped by foe (transform into edge-coordinates)
3878 : double foeRight, foeLeft;
3879 1865344 : leaders.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3880 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3881 : if (gDebugFlag2) {
3882 : std::cout << " foe=" << vehDist.first->getID()
3883 : << " gap=" << vehDist.second
3884 : << " secGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, leader, myVehicle.getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
3885 : << " foeRight=" << foeRight
3886 : << " foeLeft=" << foeLeft
3887 : << " overlapBefore=" << overlap(rightVehSide, leftVehSide, foeRight, foeLeft)
3888 : << " overlapDest=" << overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)
3889 : << "\n";
3890 : }
3891 : #endif
3892 1865344 : if (overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)) {
3893 : // case 1
3894 859203 : const double vSafe = myVehicle.getCarFollowModel().followSpeed(
3895 859203 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3896 : speed = MIN2(speed, vSafe);
3897 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3898 : if (gDebugFlag2) {
3899 : std::cout << " case1 vsafe=" << vSafe << " speed=" << speed << "\n";
3900 : }
3901 : #endif
3902 1006141 : } else if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft)) {
3903 : // case 2
3904 501620 : const double vSafe = myVehicle.getCarFollowModel().followSpeedTransient(
3905 : secondsToLeaveLane,
3906 501620 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3907 : speed = MIN2(speed, vSafe);
3908 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3909 : if (gDebugFlag2) {
3910 : std::cout << " case2 vsafe=" << vSafe << " speed=" << speed << "\n";
3911 : }
3912 : #endif
3913 : }
3914 : }
3915 : }
3916 : // restore original deceleration
3917 510345 : cfmodel.setMaxDecel(maxDecel);
3918 :
3919 : }
3920 1041462 : return speed;
3921 : }
3922 :
3923 : double
3924 760714555 : MSLCM_SL2015::getSafetyFactor() const {
3925 760714555 : return 1 / ((1 + 0.5 * myImpatience) * myAssertive);
3926 : }
3927 :
3928 : double
3929 1832246 : MSLCM_SL2015::getOppositeSafetyFactor() const {
3930 1832246 : return myOppositeParam <= 0 ? std::numeric_limits<double>::max() : 1 / myOppositeParam;
3931 : }
3932 :
3933 :
3934 : std::string
3935 152 : MSLCM_SL2015::getParameter(const std::string& key) const {
3936 152 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
3937 36 : return toString(myStrategicParam);
3938 116 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
3939 36 : return toString(myCooperativeParam);
3940 80 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
3941 36 : return toString(mySpeedGainParam);
3942 44 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
3943 0 : return toString(myKeepRightParam);
3944 44 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
3945 0 : return toString(myOppositeParam);
3946 44 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
3947 0 : return toString(mySublaneParam);
3948 44 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
3949 44 : return toString(myMinGapLat);
3950 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
3951 0 : return toString(myPushy);
3952 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
3953 0 : return toString((myPushy - 1) * myMinGapLat);
3954 0 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
3955 0 : return toString(myAssertive);
3956 0 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
3957 0 : return toString(myImpatience);
3958 0 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
3959 0 : return toString(myTimeToImpatience);
3960 0 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
3961 0 : return toString(myAccelLat);
3962 0 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
3963 0 : return toString(myLookaheadLeft);
3964 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
3965 0 : return toString(mySpeedGainRight);
3966 0 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
3967 0 : return toString(myLaneDiscipline);
3968 0 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
3969 0 : return toString(mySigma);
3970 0 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
3971 0 : return toString(myKeepRightAcceptanceTime);
3972 0 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
3973 0 : return toString(myOvertakeDeltaSpeedFactor);
3974 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
3975 0 : return toString(mySpeedGainLookahead);
3976 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
3977 0 : return toString(mySpeedGainRemainTime);
3978 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
3979 0 : return toString(myRoundaboutBonus);
3980 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
3981 0 : return toString(myCooperativeSpeed);
3982 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
3983 0 : return toString(myMaxSpeedLatStanding);
3984 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
3985 0 : return toString(myMaxSpeedLatFactor);
3986 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
3987 0 : return toString(myMaxDistLatStanding);
3988 : // access to internal state for debugging in sumo-gui (not documented since it may change at any time)
3989 0 : } else if (key == "speedGainProbabilityRight") {
3990 0 : return toString(mySpeedGainProbabilityRight);
3991 0 : } else if (key == "speedGainProbabilityLeft") {
3992 0 : return toString(mySpeedGainProbabilityLeft);
3993 0 : } else if (key == "keepRightProbability") {
3994 0 : return toString(myKeepRightProbability);
3995 0 : } else if (key == "lookAheadSpeed") {
3996 0 : return toString(myLookAheadSpeed);
3997 0 : } else if (key == "sigmaState") {
3998 0 : return toString(mySigmaState);
3999 : // motivation relative to threshold
4000 0 : } else if (key == "speedGainRP") {
4001 0 : return toString(mySpeedGainProbabilityRight / myChangeProbThresholdRight);
4002 0 : } else if (key == "speedGainLP") {
4003 0 : return toString(mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
4004 0 : } else if (key == "keepRightP") {
4005 0 : return toString(myKeepRightProbability * myKeepRightParam / myChangeProbThresholdRight);
4006 : }
4007 0 : throw InvalidArgument("Parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
4008 : }
4009 :
4010 : void
4011 278324 : MSLCM_SL2015::setParameter(const std::string& key, const std::string& value) {
4012 : double doubleValue;
4013 : try {
4014 278324 : doubleValue = StringUtils::toDouble(value);
4015 0 : } catch (NumberFormatException&) {
4016 0 : throw InvalidArgument("Setting parameter '" + key + "' requires a number for laneChangeModel of type '" + toString(myModel) + "'");
4017 0 : }
4018 278324 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
4019 71262 : myStrategicParam = doubleValue;
4020 207062 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
4021 36 : myCooperativeParam = doubleValue;
4022 207026 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
4023 0 : mySpeedGainParam = doubleValue;
4024 207026 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
4025 0 : myKeepRightParam = doubleValue;
4026 207026 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
4027 0 : myOppositeParam = doubleValue;
4028 207026 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
4029 0 : mySublaneParam = doubleValue;
4030 207026 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
4031 69014 : myMinGapLat = doubleValue;
4032 138012 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
4033 0 : myPushy = doubleValue;
4034 138012 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
4035 0 : myPushy = 1 - doubleValue / myMinGapLat;
4036 138012 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
4037 0 : myAssertive = doubleValue;
4038 138012 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
4039 0 : myImpatience = doubleValue;
4040 0 : myMinImpatience = doubleValue;
4041 138012 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
4042 0 : myTimeToImpatience = doubleValue;
4043 138012 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
4044 0 : myAccelLat = doubleValue;
4045 138012 : } else if (key == toString(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE)) {
4046 0 : myTurnAlignmentDist = doubleValue;
4047 138012 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
4048 0 : myLookaheadLeft = doubleValue;
4049 138012 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
4050 0 : mySpeedGainRight = doubleValue;
4051 138012 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
4052 0 : myLaneDiscipline = doubleValue;
4053 138012 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
4054 0 : mySigma = doubleValue;
4055 138012 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
4056 0 : myKeepRightAcceptanceTime = doubleValue;
4057 138012 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
4058 0 : myOvertakeDeltaSpeedFactor = doubleValue;
4059 138012 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
4060 69006 : mySpeedGainLookahead = doubleValue;
4061 69006 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
4062 69006 : mySpeedGainRemainTime = doubleValue;
4063 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
4064 0 : myRoundaboutBonus = doubleValue;
4065 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
4066 0 : myCooperativeSpeed = doubleValue;
4067 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
4068 0 : myMaxSpeedLatStanding = doubleValue;
4069 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
4070 0 : myMaxSpeedLatFactor = doubleValue;
4071 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
4072 0 : myMaxDistLatStanding = doubleValue;
4073 : // access to internal state
4074 0 : } else if (key == "speedGainProbabilityRight") {
4075 0 : mySpeedGainProbabilityRight = doubleValue;
4076 0 : } else if (key == "speedGainProbabilityLeft") {
4077 0 : mySpeedGainProbabilityLeft = doubleValue;
4078 0 : } else if (key == "keepRightProbability") {
4079 0 : myKeepRightProbability = doubleValue;
4080 0 : } else if (key == "lookAheadSpeed") {
4081 0 : myLookAheadSpeed = doubleValue;
4082 0 : } else if (key == "sigmaState") {
4083 0 : mySigmaState = doubleValue;
4084 : } else {
4085 0 : throw InvalidArgument("Setting parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
4086 : }
4087 278324 : initDerivedParameters();
4088 278324 : }
4089 :
4090 :
4091 : int
4092 3259 : MSLCM_SL2015::wantsChange(
4093 : int laneOffset,
4094 : MSAbstractLaneChangeModel::MSLCMessager& /* msgPass */,
4095 : int blocked,
4096 : const std::pair<MSVehicle*, double>& leader,
4097 : const std::pair<MSVehicle*, double>& follower,
4098 : const std::pair<MSVehicle*, double>& neighLead,
4099 : const std::pair<MSVehicle*, double>& neighFollow,
4100 : const MSLane& neighLane,
4101 : const std::vector<MSVehicle::LaneQ>& preb,
4102 : MSVehicle** lastBlocked,
4103 : MSVehicle** firstBlocked) {
4104 :
4105 : const LaneChangeAction alternatives = LCA_NONE; // @todo pas this data
4106 :
4107 : #ifdef DEBUG_WANTSCHANGE
4108 : if (DEBUG_COND) {
4109 : std::cout << "\nWANTS_CHANGE\n" << SIMTIME
4110 : //<< std::setprecision(10)
4111 : << " veh=" << myVehicle.getID()
4112 : << " lane=" << myVehicle.getLane()->getID()
4113 : << " neigh=" << neighLane.getID()
4114 : << " pos=" << myVehicle.getPositionOnLane()
4115 : << " posLat=" << myVehicle.getLateralPositionOnLane()
4116 : << " speed=" << myVehicle.getSpeed()
4117 : << " considerChangeTo=" << (laneOffset == -1 ? "right" : "left")
4118 : << "\n";
4119 : }
4120 : #endif
4121 :
4122 3259 : double latDist = 0;
4123 3259 : const double laneWidth = myVehicle.getLane()->getWidth();
4124 3259 : MSLeaderDistanceInfo leaders(leader, laneWidth);
4125 3259 : MSLeaderDistanceInfo followers(follower, laneWidth);
4126 3259 : MSLeaderDistanceInfo blockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4127 3259 : MSLeaderDistanceInfo neighLeaders(neighLead, laneWidth);
4128 3259 : MSLeaderDistanceInfo neighFollowers(neighFollow, laneWidth);
4129 3259 : MSLeaderDistanceInfo neighBlockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4130 :
4131 : double maneuverDist;
4132 3259 : int result = _wantsChangeSublane(laneOffset,
4133 : alternatives,
4134 : leaders, followers, blockers,
4135 : neighLeaders, neighFollowers, neighBlockers,
4136 : neighLane, preb,
4137 : lastBlocked, firstBlocked, latDist, maneuverDist, blocked);
4138 :
4139 3259 : myCanChangeFully = true;
4140 : // ignore sublane motivation
4141 3259 : result &= ~LCA_SUBLANE;
4142 3259 : result |= getLCA(result, latDist);
4143 :
4144 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
4145 : if (DEBUG_COND) {
4146 : if (result & LCA_WANTS_LANECHANGE) {
4147 : std::cout << SIMTIME
4148 : << " veh=" << myVehicle.getID()
4149 : << " wantsChangeTo=" << (laneOffset == -1 ? "right" : "left")
4150 : << ((result & LCA_URGENT) ? " (urgent)" : "")
4151 : << ((result & LCA_CHANGE_TO_HELP) ? " (toHelp)" : "")
4152 : << ((result & LCA_STRATEGIC) ? " (strat)" : "")
4153 : << ((result & LCA_COOPERATIVE) ? " (coop)" : "")
4154 : << ((result & LCA_SPEEDGAIN) ? " (speed)" : "")
4155 : << ((result & LCA_KEEPRIGHT) ? " (keepright)" : "")
4156 : << ((result & LCA_TRACI) ? " (traci)" : "")
4157 : << ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
4158 : << ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
4159 : << "\n\n\n";
4160 : }
4161 : }
4162 : #endif
4163 :
4164 3259 : return result;
4165 3259 : }
4166 :
4167 :
4168 : double
4169 138556033 : MSLCM_SL2015::getLeftBorder(bool checkOpposite) const {
4170 138556033 : return (myVehicle.getLane()->getEdge().getWidth()
4171 138556033 : + ((myVehicle.getLane()->getParallelOpposite() != nullptr && checkOpposite) ? myVehicle.getLane()->getParallelOpposite()->getEdge().getWidth() : 0));
4172 : }
4173 :
4174 : double
4175 140198570 : MSLCM_SL2015::getVehicleCenter() const {
4176 140198570 : if (isOpposite()) {
4177 155840 : return myVehicle.getEdge()->getWidth() + myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane();
4178 : } else {
4179 140042730 : return myVehicle.getCenterOnEdge();
4180 : }
4181 : }
4182 :
4183 : double
4184 67796896 : MSLCM_SL2015::getNeighRight(const MSLane& neighLane) const {
4185 67796896 : if (isOpposite()) {
4186 132831 : return myVehicle.getLane()->getRightSideOnEdge() - neighLane.getWidth() + 2 * myVehicle.getLateralPositionOnLane();
4187 67664065 : } else if ((&myVehicle.getLane()->getEdge() != &neighLane.getEdge())) {
4188 118024 : return myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth();
4189 : } else {
4190 : // the normal case
4191 67546041 : return neighLane.getRightSideOnEdge();
4192 : }
4193 : }
4194 :
4195 :
4196 : bool
4197 8646571 : MSLCM_SL2015::preventSliding(double maneuverDist) const {
4198 : // prevent wide maneuvers with unsufficient forward space
4199 8646571 : if (fabs(maneuverDist) > myMaxDistLatStanding) {
4200 : // emergency vehicles should not be restricted (TODO solve this with LCA_URGENT)
4201 8284927 : if (myVehicle.getVehicleType().getVehicleClass() == SVC_EMERGENCY) {
4202 : return false;
4203 : }
4204 8256968 : const double brakeGap = myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed());
4205 8256968 : const bool isSlide = fabs(maneuverDist) > myMaxDistLatStanding + brakeGap * fabs(myMaxSpeedLatFactor);
4206 : #ifdef DEBUG_SLIDING
4207 : if (gDebugFlag2) {
4208 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " bgap=" << brakeGap << " maneuverDist=" << maneuverDist
4209 : << " mds=" << myMaxDistLatStanding << " isSlide=" << isSlide << "\n";
4210 : }
4211 : #endif
4212 8256968 : return isSlide;
4213 : }
4214 : return false;
4215 : }
4216 :
4217 : bool
4218 : MSLCM_SL2015::wantsKeepRight(double keepRightProb) const {
4219 9763558 : return keepRightProb * myKeepRightParam > MAX2(myChangeProbThresholdRight, mySpeedGainProbabilityLeft);
4220 : }
4221 :
4222 :
4223 : bool
4224 19830 : MSLCM_SL2015::saveBlockerLength(double length, double foeLeftSpace) {
4225 19830 : const bool canReserve = MSLCHelper::canSaveBlockerLength(myVehicle, length, myLeftSpace);
4226 19830 : if (!isOpposite() && (canReserve || myLeftSpace > foeLeftSpace)) {
4227 16092 : myLeadingBlockerLength = MAX2(length, myLeadingBlockerLength);
4228 16092 : if (myLeftSpace == 0 && foeLeftSpace < 0) {
4229 : // called from opposite overtaking, myLeftSpace must be initialized
4230 1338 : myLeftSpace = myVehicle.getBestLanes()[myVehicle.getLane()->getIndex()].length - myVehicle.getPositionOnLane();
4231 : }
4232 16092 : return true;
4233 : } else {
4234 : return false;
4235 : }
4236 : }
4237 :
4238 :
4239 : bool
4240 27708046 : MSLCM_SL2015::outsideEdge() const {
4241 27708046 : return myVehicle.getLeftSideOnEdge() < 0 || myVehicle.getRightSideOnEdge() > myVehicle.getLane()->getEdge().getWidth();
4242 : }
4243 : /****************************************************************************/
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