Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2013-2025 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file 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/transportables/MSTransportableControl.h>
33 : #include <microsim/transportables/MSPModel.h>
34 : #include "MSLCHelper.h"
35 : #include "MSLCM_SL2015.h"
36 :
37 : // ===========================================================================
38 : // variable definitions
39 : // ===========================================================================
40 : #define MAGIC_OFFSET 1.
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 807565 : MSLCM_SL2015::MSLCM_SL2015(MSVehicle& v) :
116 : MSAbstractLaneChangeModel(v, LaneChangeModel::SL2015),
117 807565 : mySpeedGainProbabilityRight(0),
118 807565 : mySpeedGainProbabilityLeft(0),
119 807565 : myKeepRightProbability(0),
120 807565 : myLeadingBlockerLength(0),
121 807565 : myLeftSpace(0),
122 807565 : myLookAheadSpeed(LOOK_AHEAD_MIN_SPEED),
123 807565 : myLastEdge(nullptr),
124 807565 : myCanChangeFully(true),
125 807565 : mySafeLatDistRight(0),
126 807565 : mySafeLatDistLeft(0),
127 807565 : myStrategicParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_STRATEGIC_PARAM, 1)),
128 807565 : myCooperativeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_PARAM, 1)),
129 807565 : mySpeedGainParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_PARAM, 1)),
130 807565 : myKeepRightParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_PARAM, 1)),
131 807565 : myOppositeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OPPOSITE_PARAM, 1)),
132 807565 : 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 807565 : myMinGapLat(v.getVehicleType().getMinGapLat()),
135 807565 : myPushy(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHY,
136 1615033 : 1 - (v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHYGAP,
137 807565 : MAX2(NUMERICAL_EPS, myMinGapLat)) /
138 807565 : MAX2(NUMERICAL_EPS, myMinGapLat)))),
139 807565 : myImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_IMPATIENCE, 0)),
140 807565 : myMinImpatience(myImpatience),
141 807565 : myTimeToImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, std::numeric_limits<double>::max())),
142 807565 : myAccelLat(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_ACCEL_LAT, 1.0)),
143 807565 : myTurnAlignmentDist(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE, 0.0)),
144 807565 : myLookaheadLeft(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LOOKAHEADLEFT, 2.0)),
145 807565 : mySpeedGainRight(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAINRIGHT, 0.1)),
146 807565 : myLaneDiscipline(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LANE_DISCIPLINE, 0.0)),
147 807565 : mySpeedGainLookahead(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD, 5)),
148 807565 : mySpeedGainRemainTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME, 20)),
149 807565 : myRoundaboutBonus(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT, myCooperativeParam)),
150 807565 : myCooperativeSpeed(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_SPEED, myCooperativeParam)),
151 807565 : myKeepRightAcceptanceTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME, -1)),
152 807565 : myOvertakeDeltaSpeedFactor(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR, 0)),
153 807565 : mySigmaState(0) {
154 807565 : initDerivedParameters();
155 807565 : }
156 :
157 1615114 : MSLCM_SL2015::~MSLCM_SL2015() {
158 807557 : changed();
159 1615114 : }
160 :
161 :
162 : void
163 1085857 : MSLCM_SL2015::initDerivedParameters() {
164 1085857 : if (mySpeedGainParam <= 0) {
165 2235 : myChangeProbThresholdRight = std::numeric_limits<double>::max();
166 2235 : myChangeProbThresholdLeft = std::numeric_limits<double>::max();
167 : } else {
168 1083622 : myChangeProbThresholdRight = (0.2 / mySpeedGainRight) / mySpeedGainParam;
169 1083622 : myChangeProbThresholdLeft = 0.2 / mySpeedGainParam;
170 : }
171 1085857 : mySpeedLossProbThreshold = (-0.1 + (1 - mySublaneParam));
172 1085857 : }
173 :
174 :
175 : bool
176 15254 : MSLCM_SL2015::debugVehicle() const {
177 15254 : return DEBUG_COND;
178 : }
179 :
180 :
181 : int
182 115562710 : 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 115562710 : gDebugFlag2 = DEBUG_COND;
198 195580008 : 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 115562710 : 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 115562710 : result = keepLatGap(result, leaders, followers, blockers,
224 : neighLeaders, neighFollowers, neighBlockers,
225 : neighLane, laneOffset, latDist, maneuverDist, blocked);
226 :
227 115562710 : 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 115562710 : 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 115562710 : gDebugFlag2 = false;
259 115562710 : return result;
260 : }
261 :
262 : void
263 80077588 : MSLCM_SL2015::setOwnState(const int state) {
264 80077588 : MSAbstractLaneChangeModel::setOwnState(state);
265 80077588 : if (myVehicle.isActive()) {
266 80077568 : if ((state & (LCA_STRATEGIC | LCA_SPEEDGAIN)) != 0 && (state & LCA_BLOCKED) != 0) {
267 7915915 : myImpatience = MIN2(1.0, myImpatience + myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
268 : } else {
269 : // impatience decays only to the driver-specific level
270 79084709 : 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 80077568 : if ((state & LCA_STAY) != 0) {
282 70054755 : myCanChangeFully = true;
283 : // if (DEBUG_COND) {
284 : // std::cout << " myCanChangeFully=true\n";
285 : // }
286 : }
287 : }
288 80077588 : }
289 :
290 :
291 : void
292 3953211 : MSLCM_SL2015::updateSafeLatDist(const double travelledLatDist) {
293 3953211 : mySafeLatDistLeft -= travelledLatDist;
294 3953211 : mySafeLatDistRight += travelledLatDist;
295 :
296 3953211 : if (fabs(mySafeLatDistLeft) < NUMERICAL_EPS) {
297 54667 : mySafeLatDistLeft = 0.;
298 : }
299 3953211 : if (fabs(mySafeLatDistRight) < NUMERICAL_EPS) {
300 91690 : mySafeLatDistRight = 0.;
301 : }
302 3953211 : }
303 :
304 :
305 : double
306 81409918 : MSLCM_SL2015::patchSpeed(const double min, const double wanted, const double max, const MSCFModel& cfModel) {
307 81409918 : gDebugFlag2 = DEBUG_COND;
308 : // negative min speed may be passed when using ballistic updated
309 81409918 : 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 81409918 : gDebugFlag2 = false;
326 81409918 : return newSpeed;
327 : }
328 :
329 :
330 : double
331 81409918 : MSLCM_SL2015::_patchSpeed(double min, const double wanted, double max, const MSCFModel& cfModel) {
332 81409918 : if (wanted <= 0) {
333 : return wanted;
334 : }
335 :
336 77495576 : 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 77495576 : if (myLeadingBlockerLength != 0) {
343 343535 : double space = myLeftSpace - myLeadingBlockerLength - MAGIC_OFFSET - myVehicle.getVehicleType().getMinGap();
344 : #ifdef DEBUG_PATCHSPEED
345 : if (gDebugFlag2) {
346 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myLeadingBlockerLength=" << myLeadingBlockerLength << " space=" << space << "\n";
347 : }
348 : #endif
349 343535 : if (space >= 0) { // XXX space > -MAGIC_OFFSET
350 : // compute speed for decelerating towards a place which allows the blocking leader to merge in in front
351 339587 : 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 339587 : if (safe < wanted) {
355 52631 : if (safe < min) {
356 4024 : const double vMinEmergency = myVehicle.getCarFollowModel().minNextSpeedEmergency(myVehicle.getSpeed(), &myVehicle);
357 4024 : 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 77495576 : const double coopWeight = MAX2(0.0, MIN2(1.0, myCooperativeSpeed));
373 99396305 : for (auto i : myLCAccelerationAdvices) {
374 : double accel = i.first;
375 21900729 : double v = myVehicle.getSpeed() + ACCEL2SPEED(accel);
376 21900729 : if (v >= min && v <= max) {
377 7198407 : if (i.second) {
378 : // own advice, no scaling needed
379 : nVSafe = MIN2(v, nVSafe);
380 : } else {
381 3327228 : 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 77495576 : 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 75517822 : if ((state & LCA_WANTS_LANECHANGE) != 0 && (state & LCA_BLOCKED) != 0) {
415 4878661 : 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 505514 : return (max + wanted) / 2.0;
424 4373147 : } else if ((state & LCA_COOPERATIVE) != 0) {
425 : // only minor adjustments in speed should be done
426 412631 : 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 377314 : return (min + wanted) / 2.0;
433 : }
434 35317 : 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 35317 : 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 74599677 : 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 779096 : 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 9739453 : MSLCM_SL2015::inform(void* info, MSVehicle* sender) {
509 : Info* pinfo = (Info*) info;
510 9739453 : if (pinfo->first >= 0) {
511 6112219 : addLCSpeedAdvice(pinfo->first, false);
512 : }
513 : //myOwnState &= 0xffffffff; // reset all bits of MyLCAEnum but only those
514 9739453 : 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 9739453 : delete pinfo;
528 9739453 : return (void*) true;
529 : }
530 :
531 :
532 : void
533 9739453 : MSLCM_SL2015::msg(const CLeaderDist& cld, double speed, int state) {
534 : assert(cld.first != 0);
535 9739453 : ((MSVehicle*)cld.first)->getLaneChangeModel().inform(new Info(speed, state), &myVehicle);
536 9739453 : }
537 :
538 :
539 : double
540 6242858 : MSLCM_SL2015::informLeader(int blocked,
541 : int dir,
542 : const CLeaderDist& neighLead,
543 : double remainingSeconds) {
544 12485716 : double plannedSpeed = MIN2(myVehicle.getSpeed(),
545 6242858 : myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
546 16568029 : for (auto i : myLCAccelerationAdvices) {
547 10325171 : double v = myVehicle.getSpeed() + ACCEL2SPEED(i.first);
548 10325171 : 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 6242858 : if ((blocked & LCA_BLOCKED_BY_LEADER) != 0 && neighLead.first != 0) {
559 : const MSVehicle* nv = neighLead.first;
560 5143799 : 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 5139453 : const double dv = plannedSpeed - nv->getSpeed();
570 5139453 : const double overtakeDist = (neighLead.second // drive to back of follower
571 5139453 : + nv->getVehicleType().getLengthWithGap() // drive to front of follower
572 5139453 : + myVehicle.getVehicleType().getLength() // ego back reaches follower front
573 15418359 : + nv->getCarFollowModel().getSecureGap( // save gap to follower
574 5139453 : nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()));
575 :
576 5139453 : if ((dv < myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit() + NUMERICAL_EPS
577 : // overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
578 1893631 : || (dir == LCA_MLEFT && !myVehicle.congested() && !myAllowOvertakingRight)
579 : // not enough space to overtake? (we will start to brake when approaching a dead end)
580 3760432 : || myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed()) < overtakeDist
581 : // not enough time to overtake?
582 1748265 : || dv * remainingSeconds < overtakeDist)
583 5523218 : && (!neighLead.first->isStopped() || (isOpposite() && neighLead.second >= 0))) {
584 : // cannot overtake
585 3625043 : msg(neighLead, -1, dir | LCA_AMBLOCKINGLEADER);
586 : // slow down smoothly to follow leader
587 3625043 : const double targetSpeed = getCarFollowModel().followSpeed(
588 3625043 : &myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
589 3625043 : if (targetSpeed < myVehicle.getSpeed()) {
590 : // slow down smoothly to follow leader
591 905011 : 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 677765 : 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 677765 : addLCSpeedAdvice(nextSpeed);
607 677765 : 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 2947278 : addLCSpeedAdvice(targetSpeed);
621 2947278 : 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 1514410 : msg(neighLead, nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER);
640 1514410 : return -1;
641 : }
642 1099059 : } 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 1099059 : 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 915020 : nextNVSpeed = nv->getSpeed() - HELP_OVERTAKE; // conservative
650 915020 : 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 184039 : nextNVSpeed = nv->getSpeed() - nvMaxDecel * myVehicle.getActionStepLengthSecs(); // conservative
657 : // Estimated gap reduction until next action step if own speed stays constant
658 184039 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
659 : }
660 1099059 : const double targetSpeed = getCarFollowModel().followSpeed(
661 1099059 : &myVehicle, myVehicle.getSpeed(), neighLead.second - dv, nextNVSpeed, nv->getCarFollowModel().getMaxDecel());
662 1099059 : 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 4600272 : MSLCM_SL2015::informFollower(int blocked,
684 : int dir,
685 : const CLeaderDist& neighFollow,
686 : double remainingSeconds,
687 : double plannedSpeed) {
688 4600272 : if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0 && neighFollow.first != 0) {
689 : const MSVehicle* nv = neighFollow.first;
690 3315333 : 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 3315061 : if (plannedSpeed - nv->getSpeed() >= HELP_OVERTAKE) {
701 188618 : const double neededGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
702 188618 : 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 168561 : msg(neighFollow, plannedSpeed - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER);
710 168561 : return;
711 : }
712 : }
713 : // decide whether we will request help to cut in before the follower or allow to be overtaken
714 :
715 : // PARAMETERS
716 : // assume other vehicle will assume the equivalent of 1 second of
717 : // maximum deceleration to help us (will probably be spread over
718 : // multiple seconds)
719 : // -----------
720 : const double helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR ;
721 :
722 : // change in the gap between ego and blocker over 1 second (not STEP!)
723 3146500 : const double neighNewSpeed = MAX2(0., nv->getSpeed() - ACCEL2SPEED(helpDecel));
724 3146500 : const double neighNewSpeed1s = MAX2(0., nv->getSpeed() - helpDecel);
725 3146500 : const double dv = plannedSpeed - neighNewSpeed1s;
726 : // new gap between follower and self in case the follower does brake for 1s
727 3146500 : const double decelGap = neighFollow.second + dv;
728 3146500 : const double secureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, neighNewSpeed1s, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
729 : #ifdef DEBUG_INFORM
730 : if (gDebugFlag2) {
731 : std::cout << SIMTIME
732 : << " egoV=" << myVehicle.getSpeed()
733 : << " egoNV=" << plannedSpeed
734 : << " nvNewSpeed=" << neighNewSpeed
735 : << " nvNewSpeed1s=" << neighNewSpeed1s
736 : << " deltaGap=" << dv
737 : << " decelGap=" << decelGap
738 : << " secGap=" << secureGap
739 : << "\n";
740 : }
741 : #endif
742 3146500 : if (decelGap > 0 && decelGap >= secureGap) {
743 : // if the blocking neighbor brakes it could actually help
744 : // how hard does it actually need to be?
745 : // to be safe in the next step the following equation has to hold:
746 : // vsafe <= followSpeed(gap=currentGap - SPEED2DIST(vsafe), ...)
747 : // we compute an upper bound on vsafe by doing the computation twice
748 533386 : const double vsafe1 = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
749 533386 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
750 533386 : const double vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
751 533386 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed - vsafe1), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
752 : // the following assertion cannot be guaranteed because the CFModel handles small gaps differently, see MSCFModel::maximumSafeStopSpeed
753 : // assert(vsafe <= vsafe1);
754 533386 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
755 : #ifdef DEBUG_INFORM
756 : if (gDebugFlag2) {
757 : std::cout << " wants to cut in before nv=" << nv->getID()
758 : << " vsafe1=" << vsafe1
759 : << " vsafe=" << vsafe
760 : << " newSecGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel())
761 : << "\n";
762 : }
763 : #endif
764 3146500 : } else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS)) {
765 : // decelerating once is sufficient to open up a large enough gap in time
766 144301 : msg(neighFollow, neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER);
767 : #ifdef DEBUG_INFORM
768 : if (gDebugFlag2) {
769 : std::cout << " wants to cut in before nv=" << nv->getID() << " (eventually)\n";
770 : }
771 : #endif
772 2468813 : } else if (dir == LCA_MRIGHT && !myAllowOvertakingRight && !nv->congested()) {
773 : const double vhelp = MAX2(neighNewSpeed, HELP_OVERTAKE);
774 2078 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
775 : #ifdef DEBUG_INFORM
776 : if (gDebugFlag2) {
777 : std::cout << " wants to cut in before nv=" << nv->getID() << " (nv cannot overtake right)\n";
778 : }
779 : #endif
780 : } else {
781 2466735 : double vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
782 2466735 : if (nv->getSpeed() > myVehicle.getSpeed() &&
783 425327 : ((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE)
784 306006 : || (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
785 : // XXX this is a hack to determine whether the vehicles is on an on-ramp. This information should be retrieved from the network itself
786 301297 : || (dir == LCA_MLEFT && myLeftSpace > MAX_ONRAMP_LENGTH)
787 : )) {
788 : // let the follower slow down to increase the likelyhood that later vehicles will be slow enough to help
789 : // follower should still be fast enough to open a gap
790 435897 : vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
791 : #ifdef DEBUG_INFORM
792 : if (gDebugFlag2) {
793 : std::cout << " wants right follower to slow down a bit\n";
794 : }
795 : #endif
796 435897 : if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
797 : #ifdef DEBUG_INFORM
798 : if (gDebugFlag2) {
799 : std::cout << " wants to cut in before right follower nv=" << nv->getID() << " (eventually)\n";
800 : }
801 : #endif
802 423023 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
803 423023 : return;
804 : }
805 : }
806 2043712 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
807 : // this follower is supposed to overtake us. slow down smoothly to allow this
808 2043712 : const double overtakeDist = (neighFollow.second // follower reaches ego back
809 2043712 : + myVehicle.getVehicleType().getLengthWithGap() // follower reaches ego front
810 2043712 : + nv->getVehicleType().getLength() // follower back at ego front
811 2043712 : + myVehicle.getCarFollowModel().getSecureGap( // follower has safe dist to ego
812 2043712 : &myVehicle, nv, plannedSpeed, vhelp, nv->getCarFollowModel().getMaxDecel()));
813 : // speed difference to create a sufficiently large gap
814 2043712 : const double needDV = overtakeDist / remainingSeconds;
815 : // make sure the deceleration is not to strong
816 2207133 : addLCSpeedAdvice(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
817 :
818 : #ifdef DEBUG_INFORM
819 : if (gDebugFlag2) {
820 : std::cout << SIMTIME
821 : << " veh=" << myVehicle.getID()
822 : << " wants to be overtaken by=" << nv->getID()
823 : << " overtakeDist=" << overtakeDist
824 : << " vneigh=" << nv->getSpeed()
825 : << " vhelp=" << vhelp
826 : << " needDV=" << needDV
827 : << " vsafe=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
828 : << "\n";
829 : }
830 : #endif
831 : }
832 1284939 : } else if (neighFollow.first != 0) {
833 1284939 : const double vsafe = MSLCHelper::getSpeedPreservingSecureGap(myVehicle, *neighFollow.first, neighFollow.second, plannedSpeed);
834 1284939 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
835 : #ifdef DEBUG_INFORM
836 : if (gDebugFlag2) {
837 : std::cout << " wants to cut in before non-blocking follower nv=" << neighFollow.first->getID() << "\n";
838 : }
839 : #endif
840 : }
841 : }
842 :
843 : double
844 2207649 : MSLCM_SL2015::informLeaders(int blocked, int dir,
845 : const std::vector<CLeaderDist>& blockers,
846 : double remainingSeconds) {
847 2207649 : double plannedSpeed = myVehicle.getSpeed();
848 2207649 : double space = myLeftSpace;
849 2207649 : if (myLeadingBlockerLength != 0) {
850 : // see patchSpeed @todo: refactor
851 341615 : space -= myLeadingBlockerLength - MAGIC_OFFSET - myVehicle.getVehicleType().getMinGap();
852 341615 : if (space <= 0) {
853 : // ignore leading blocker
854 315 : space = myLeftSpace;
855 : }
856 : }
857 2207649 : double safe = myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), space);
858 : plannedSpeed = MIN2(plannedSpeed, safe);
859 :
860 8450507 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
861 6242858 : plannedSpeed = MIN2(plannedSpeed, informLeader(blocked, dir, *it, remainingSeconds));
862 : }
863 2207649 : return plannedSpeed;
864 : }
865 :
866 :
867 : void
868 1818636 : MSLCM_SL2015::informFollowers(int blocked, int dir,
869 : const std::vector<CLeaderDist>& blockers,
870 : double remainingSeconds,
871 : double plannedSpeed) {
872 : // #3727
873 6418908 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
874 4600272 : informFollower(blocked, dir, *it, remainingSeconds, plannedSpeed);
875 : }
876 1818636 : }
877 :
878 :
879 : void
880 80959966 : MSLCM_SL2015::prepareStep() {
881 80959966 : MSAbstractLaneChangeModel::prepareStep();
882 : // keep information about strategic change direction
883 80959966 : myOwnState = (myOwnState & (LCA_STRATEGIC | LCA_COOPERATIVE)) ? (myOwnState & LCA_WANTS_LANECHANGE) : 0;
884 : #ifdef DEBUG_INFORM
885 : if (debugVehicle()) {
886 : std::cout << SIMTIME
887 : << " veh=" << myVehicle.getID()
888 : << " prepareStep"
889 : << " myCanChangeFully=" << myCanChangeFully
890 : << "\n";
891 : }
892 : #endif
893 80959966 : myLeadingBlockerLength = 0;
894 80959966 : myLeftSpace = 0;
895 : myLCAccelerationAdvices.clear();
896 80959966 : myDontBrake = false;
897 : myCFRelated.clear();
898 80959966 : myCFRelatedReady = false;
899 80959966 : const double halfWidth = getWidth() * 0.5;
900 : // only permit changing within lane bounds but open up the range depending on the checked duration in _wantsChangeSublane()
901 80959966 : mySafeLatDistRight = myVehicle.getLane()->getWidth() * 0.5 + myVehicle.getLateralPositionOnLane() - halfWidth;
902 80959966 : mySafeLatDistLeft = myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane() - halfWidth;
903 80959966 : if (isOpposite()) {
904 : std::swap(mySafeLatDistLeft, mySafeLatDistRight);
905 : }
906 : // truncate to work around numerical instability between different builds
907 80959966 : mySpeedGainProbabilityRight = ceil(mySpeedGainProbabilityRight * 100000.0) * 0.00001;
908 80959966 : mySpeedGainProbabilityLeft = ceil(mySpeedGainProbabilityLeft * 100000.0) * 0.00001;
909 80959966 : myKeepRightProbability = ceil(myKeepRightProbability * 100000.0) * 0.00001;
910 : // updated myExpectedSublaneSpeeds
911 : // XXX only do this when (sub)lane changing is possible
912 : std::vector<double> newExpectedSpeeds;
913 : #ifdef DEBUG_INFORM
914 : if (DEBUG_COND) {
915 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myExpectedSublaneSpeeds=" << toString(myExpectedSublaneSpeeds) << "\n";
916 : }
917 : #endif
918 161919932 : if (myExpectedSublaneSpeeds.size() != myVehicle.getLane()->getEdge().getSubLaneSides().size()) {
919 : // initialize
920 1108321 : const MSEdge* currEdge = &myVehicle.getLane()->getEdge();
921 : const std::vector<MSLane*>& lanes = currEdge->getLanes();
922 3041435 : for (std::vector<MSLane*>::const_iterator it_lane = lanes.begin(); it_lane != lanes.end(); ++it_lane) {
923 1933114 : const int subLanes = MAX2(1, int(ceil((*it_lane)->getWidth() / MSGlobals::gLateralResolution)));
924 10301105 : for (int i = 0; i < subLanes; ++i) {
925 8367991 : newExpectedSpeeds.push_back((*it_lane)->getVehicleMaxSpeed(&myVehicle));
926 : }
927 : }
928 1108321 : if (currEdge->canChangeToOpposite()) {
929 11301 : MSLane* opposite = lanes.back()->getOpposite();
930 11301 : const int subLanes = MAX2(1, int(ceil(opposite->getWidth() / MSGlobals::gLateralResolution)));
931 62039 : for (int i = 0; i < subLanes; ++i) {
932 50738 : newExpectedSpeeds.push_back(lanes.back()->getVehicleMaxSpeed(&myVehicle));
933 : }
934 : }
935 1108321 : if (myExpectedSublaneSpeeds.size() > 0) {
936 : // copy old values
937 : assert(myLastEdge != 0);
938 618334 : if (myLastEdge->getSubLaneSides().size() == myExpectedSublaneSpeeds.size()) {
939 618334 : const int subLaneShift = computeSublaneShift(myLastEdge, currEdge);
940 618334 : if (subLaneShift < std::numeric_limits<int>::max()) {
941 2577423 : for (int i = 0; i < (int)myExpectedSublaneSpeeds.size(); ++i) {
942 2230032 : const int newI = i + subLaneShift;
943 2230032 : if (newI > 0 && newI < (int)newExpectedSpeeds.size()) {
944 1532227 : newExpectedSpeeds[newI] = myExpectedSublaneSpeeds[i];
945 : }
946 : }
947 : }
948 : }
949 : }
950 1108321 : myExpectedSublaneSpeeds = newExpectedSpeeds;
951 1108321 : myLastEdge = currEdge;
952 : }
953 : assert(myExpectedSublaneSpeeds.size() == myVehicle.getLane()->getEdge().getSubLaneSides().size());
954 80959966 : if (mySigma > 0) {
955 55319 : mySigmaState += getLateralDrift();
956 : }
957 80959966 : }
958 :
959 : double
960 55319 : MSLCM_SL2015::getLateralDrift() {
961 : //OUProcess::step(double state, double dt, double timeScale, double noiseIntensity)
962 55319 : const double deltaState = OUProcess::step(mySigmaState,
963 55319 : myVehicle.getActionStepLengthSecs(),
964 55319 : MAX2(NUMERICAL_EPS, (1 - mySigma) * 100), mySigma) - mySigmaState;
965 55319 : const double scaledDelta = deltaState * myVehicle.getSpeed() / myVehicle.getLane()->getSpeedLimit();
966 55319 : return scaledDelta;
967 : }
968 :
969 : double
970 93809116 : MSLCM_SL2015::getPosLat() {
971 93809116 : return myVehicle.getLateralPositionOnLane() + mySigmaState;
972 : }
973 :
974 : int
975 618334 : MSLCM_SL2015::computeSublaneShift(const MSEdge* prevEdge, const MSEdge* curEdge) {
976 : // find the first lane that targets the new edge
977 : int prevShift = 0;
978 1235271 : for (const MSLane* const lane : prevEdge->getLanes()) {
979 1800182 : for (const MSLink* const link : lane->getLinkCont()) {
980 1183245 : if (&link->getLane()->getEdge() == curEdge) {
981 : int curShift = 0;
982 : const MSLane* target = link->getLane();
983 : const std::vector<MSLane*>& lanes2 = curEdge->getLanes();
984 485058 : for (std::vector<MSLane*>::const_iterator it_lane2 = lanes2.begin(); it_lane2 != lanes2.end(); ++it_lane2) {
985 485058 : const MSLane* lane2 = *it_lane2;
986 485058 : if (lane2 == target) {
987 347391 : return prevShift + curShift;
988 : }
989 137667 : MSLeaderInfo ahead(lane2->getWidth());
990 137667 : curShift += ahead.numSublanes();
991 137667 : }
992 : assert(false);
993 : }
994 : }
995 616937 : MSLeaderInfo ahead(lane->getWidth());
996 616937 : prevShift -= ahead.numSublanes();
997 616937 : }
998 : return std::numeric_limits<int>::max();
999 : }
1000 :
1001 :
1002 : void
1003 1188274 : MSLCM_SL2015::changed() {
1004 1188274 : if (!myCanChangeFully) {
1005 : // do not reset state yet so we can continue our maneuver but acknowledge
1006 : // a change to the right (movement should continue due to lane alignment desire)
1007 365325 : if (getManeuverDist() < 0) {
1008 169335 : myKeepRightProbability = 0;
1009 : }
1010 : #ifdef DEBUG_STATE
1011 : if (DEBUG_COND) {
1012 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " state not reset. maneuverDist=" << getManeuverDist() << "\n";
1013 : }
1014 : #endif
1015 365325 : return;
1016 : }
1017 822949 : myOwnState = 0;
1018 : // XX do not reset values for unfinished maneuvers
1019 822949 : mySpeedGainProbabilityRight = 0;
1020 822949 : mySpeedGainProbabilityLeft = 0;
1021 822949 : myKeepRightProbability = 0;
1022 :
1023 822949 : if (myVehicle.getBestLaneOffset() == 0) {
1024 : // if we are not yet on our best lane there might still be unseen blockers
1025 : // (during patchSpeed)
1026 802944 : myLeadingBlockerLength = 0;
1027 802944 : myLeftSpace = 0;
1028 : }
1029 822949 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1030 : myLCAccelerationAdvices.clear();
1031 822949 : myDontBrake = false;
1032 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
1033 : if (DEBUG_COND) {
1034 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " changed()\n";
1035 : }
1036 : #endif
1037 : }
1038 :
1039 :
1040 : void
1041 2922 : MSLCM_SL2015::resetState() {
1042 2922 : myOwnState = 0;
1043 2922 : mySpeedGainProbabilityRight = 0;
1044 2922 : mySpeedGainProbabilityLeft = 0;
1045 2922 : myKeepRightProbability = 0;
1046 2922 : myLeadingBlockerLength = 0;
1047 2922 : myLeftSpace = 0;
1048 2922 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1049 : myLCAccelerationAdvices.clear();
1050 2922 : myDontBrake = false;
1051 2922 : }
1052 :
1053 :
1054 : int
1055 115565969 : MSLCM_SL2015::_wantsChangeSublane(
1056 : int laneOffset,
1057 : LaneChangeAction alternatives,
1058 : const MSLeaderDistanceInfo& leaders,
1059 : const MSLeaderDistanceInfo& followers,
1060 : const MSLeaderDistanceInfo& blockers,
1061 : const MSLeaderDistanceInfo& neighLeaders,
1062 : const MSLeaderDistanceInfo& neighFollowers,
1063 : const MSLeaderDistanceInfo& neighBlockers,
1064 : const MSLane& neighLane,
1065 : const std::vector<MSVehicle::LaneQ>& preb,
1066 : MSVehicle** lastBlocked,
1067 : MSVehicle** firstBlocked,
1068 : double& latDist, double& maneuverDist, int& blocked) {
1069 :
1070 115565969 : if (laneOffset != 0) {
1071 : // update mySafeLatDist w.r.t. the direction being checkd
1072 35548671 : const double halfWidth = getWidth() * 0.5;
1073 35548671 : double center = getVehicleCenter();
1074 35548671 : if (laneOffset < 0) {
1075 15641274 : mySafeLatDistRight = center - halfWidth;
1076 : } else {
1077 19907397 : mySafeLatDistLeft = getLeftBorder() - center - halfWidth;
1078 : }
1079 : }
1080 :
1081 115565969 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
1082 : // compute bestLaneOffset
1083 : MSVehicle::LaneQ curr, neigh, best;
1084 : int bestLaneOffset = 0;
1085 115565969 : double currentDist = 0;
1086 : double neighDist = 0;
1087 115565969 : const MSLane* prebLane = myVehicle.getLane();
1088 115565969 : if (prebLane->getEdge().isInternal()) {
1089 : // internal edges are not kept inside the bestLanes structure
1090 2256181 : if (isOpposite()) {
1091 478 : prebLane = prebLane->getNormalPredecessorLane();
1092 : } else {
1093 2255703 : prebLane = prebLane->getLinkCont()[0]->getLane();
1094 : }
1095 : }
1096 : // special case: vehicle considers changing to the opposite direction edge
1097 115565969 : const bool checkOpposite = &neighLane.getEdge() != &myVehicle.getLane()->getEdge();
1098 115565969 : const int prebOffset = (checkOpposite ? 0 : laneOffset);
1099 157219058 : for (int p = 0; p < (int) preb.size(); ++p) {
1100 157219058 : if (preb[p].lane == prebLane && p + laneOffset >= 0) {
1101 : assert(p + prebOffset < (int)preb.size());
1102 : curr = preb[p];
1103 115565969 : neigh = preb[p + prebOffset];
1104 115565969 : currentDist = curr.length;
1105 115565969 : neighDist = neigh.length;
1106 115565969 : bestLaneOffset = curr.bestLaneOffset;
1107 : // VARIANT_13 (equalBest)
1108 115565969 : if (bestLaneOffset == 0 && preb[p + prebOffset].bestLaneOffset == 0 && !checkOpposite) {
1109 : #ifdef DEBUG_WANTSCHANGE
1110 : if (gDebugFlag2) {
1111 : std::cout << STEPS2TIME(currentTime)
1112 : << " veh=" << myVehicle.getID()
1113 : << " bestLaneOffsetOld=" << bestLaneOffset
1114 : << " bestLaneOffsetNew=" << laneOffset
1115 : << "\n";
1116 : }
1117 : #endif
1118 : bestLaneOffset = prebOffset;
1119 : }
1120 115565969 : best = preb[p + bestLaneOffset];
1121 : break;
1122 : }
1123 : }
1124 : assert(curr.lane != nullptr);
1125 : assert(neigh.lane != nullptr);
1126 : assert(best.lane != nullptr);
1127 : double driveToNextStop = -std::numeric_limits<double>::max();
1128 : UNUSED_PARAMETER(driveToNextStop); // XXX use when computing usableDist
1129 115565969 : if (myVehicle.nextStopDist() < std::numeric_limits<double>::max()
1130 115565969 : && &myVehicle.getNextStop().lane->getEdge() == &myVehicle.getLane()->getEdge()) {
1131 : // vehicle can always drive up to stop distance
1132 : // @note this information is dynamic and thus not available in updateBestLanes()
1133 : // @note: nextStopDist was compute before the vehicle moved
1134 : driveToNextStop = myVehicle.nextStopDist();
1135 3420880 : const double stopPos = getForwardPos() + myVehicle.nextStopDist() - myVehicle.getLastStepDist();
1136 : #ifdef DEBUG_WANTS_CHANGE
1137 : if (DEBUG_COND) {
1138 : std::cout << SIMTIME << std::setprecision(gPrecision) << " veh=" << myVehicle.getID()
1139 : << " stopDist=" << myVehicle.nextStopDist()
1140 : << " lastDist=" << myVehicle.getLastStepDist()
1141 : << " stopPos=" << stopPos
1142 : << " currentDist=" << currentDist
1143 : << " neighDist=" << neighDist
1144 : << "\n";
1145 : }
1146 : #endif
1147 4172075 : currentDist = MAX2(currentDist, stopPos);
1148 : neighDist = MAX2(neighDist, stopPos);
1149 : }
1150 : // direction specific constants
1151 115565969 : const bool right = (laneOffset == -1);
1152 115565969 : const bool left = (laneOffset == 1);
1153 115565969 : const int myLca = (right ? LCA_MRIGHT : (left ? LCA_MLEFT : 0));
1154 99924695 : const int lcaCounter = (right ? LCA_LEFT : (left ? LCA_RIGHT : LCA_NONE));
1155 115565969 : const bool changeToBest = (right && bestLaneOffset < 0) || (left && bestLaneOffset > 0) || (laneOffset == 0 && bestLaneOffset == 0);
1156 : // keep information about being a leader/follower but remove information
1157 : // about previous lane change request or urgency
1158 115565969 : int ret = (myOwnState & 0xffff0000);
1159 :
1160 : // compute the distance when changing to the neighboring lane
1161 : // (ensure we do not lap into the line behind neighLane since there might be unseen blockers)
1162 : // minimum distance to move the vehicle fully onto the new lane
1163 115565969 : double latLaneDist = laneOffset == 0 ? 0. : myVehicle.lateralDistanceToLane(laneOffset);
1164 :
1165 : // VARIANT_5 (disableAMBACKBLOCKER1)
1166 : /*
1167 : if (leader.first != 0
1168 : && (myOwnState & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0
1169 : && (leader.first->getLaneChangeModel().getOwnState() & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
1170 :
1171 : myOwnState &= (0xffffffff - LCA_AMBLOCKINGFOLLOWER_DONTBRAKE);
1172 : if (myVehicle.getSpeed() > SUMO_const_haltingSpeed) {
1173 : myOwnState |= LCA_AMBACKBLOCKER;
1174 : } else {
1175 : ret |= LCA_AMBACKBLOCKER;
1176 : myDontBrake = true;
1177 : }
1178 : }
1179 : */
1180 :
1181 : #ifdef DEBUG_WANTSCHANGE
1182 : if (gDebugFlag2) {
1183 : std::cout << STEPS2TIME(currentTime)
1184 : << " veh=" << myVehicle.getID()
1185 : << " myState=" << toString((LaneChangeAction)myOwnState)
1186 : << " firstBlocked=" << Named::getIDSecure(*firstBlocked)
1187 : << " lastBlocked=" << Named::getIDSecure(*lastBlocked)
1188 : << "\n leaders=" << leaders.toString()
1189 : << "\n followers=" << followers.toString()
1190 : << "\n blockers=" << blockers.toString()
1191 : << "\n neighLeaders=" << neighLeaders.toString()
1192 : << "\n neighFollowers=" << neighFollowers.toString()
1193 : << "\n neighBlockers=" << neighBlockers.toString()
1194 : << "\n changeToBest=" << changeToBest
1195 : << " latLaneDist=" << latLaneDist
1196 : << " alts=" << toString((LaneChangeAction)alternatives)
1197 : << "\n expectedSpeeds=" << toString(myExpectedSublaneSpeeds)
1198 : << std::endl;
1199 : }
1200 : #endif
1201 :
1202 115565969 : ret = slowDownForBlocked(lastBlocked, ret);
1203 : // VARIANT_14 (furtherBlock)
1204 115565969 : if (lastBlocked != firstBlocked) {
1205 115565969 : ret = slowDownForBlocked(firstBlocked, ret);
1206 : }
1207 :
1208 :
1209 : // we try to estimate the distance which is necessary to get on a lane
1210 : // we have to get on in order to keep our route
1211 : // we assume we need something that depends on our velocity
1212 : // and compare this with the free space on our wished lane
1213 : //
1214 : // if the free space is somehow less than the space we need, we should
1215 : // definitely try to get to the desired lane
1216 : //
1217 : // this rule forces our vehicle to change the lane if a lane changing is necessary soon
1218 : // lookAheadDistance:
1219 : // we do not want the lookahead distance to change all the time so we discrectize the speed a bit
1220 :
1221 : // VARIANT_18 (laHyst)
1222 115565969 : if (myVehicle.getSpeed() > myLookAheadSpeed) {
1223 20047849 : myLookAheadSpeed = myVehicle.getSpeed();
1224 : } else {
1225 : // FIXME: This strongly dependent on the value of TS, see LC2013 for the fix (l.1153, currently)
1226 95518120 : myLookAheadSpeed = MAX2(LOOK_AHEAD_MIN_SPEED,
1227 95518120 : (LOOK_AHEAD_SPEED_MEMORY * myLookAheadSpeed + (1 - LOOK_AHEAD_SPEED_MEMORY) * myVehicle.getSpeed()));
1228 : }
1229 : //myLookAheadSpeed = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1230 :
1231 : //double laDist = laSpeed > LOOK_FORWARD_SPEED_DIVIDER
1232 : // ? laSpeed * LOOK_FORWARD_FAR
1233 : // : laSpeed * LOOK_FORWARD_NEAR;
1234 115565969 : double laDist = myLookAheadSpeed * LOOK_FORWARD * myStrategicParam * (right ? 1 : myLookaheadLeft);
1235 115565969 : laDist += myVehicle.getVehicleType().getLengthWithGap() * 2.;
1236 : // aggressive drivers may elect to use reduced strategic lookahead to optimize speed
1237 : /*
1238 : if (mySpeedGainProbabilityRight > myChangeProbThresholdRight
1239 : || mySpeedGainProbabilityLeft > myChangeProbThresholdLeft) {
1240 : laDist *= MAX2(0.0, (1 - myPushy));
1241 : laDist *= MAX2(0,0, (1 - myAssertive));
1242 : laDist *= MAX2(0,0, (2 - mySpeedGainParam));
1243 : }
1244 : */
1245 :
1246 : // react to a stopped leader on the current lane
1247 115565969 : if (bestLaneOffset == 0 && leaders.hasStoppedVehicle()) {
1248 : // value is doubled for the check since we change back and forth
1249 : // laDist = 0.5 * (myVehicle.getVehicleType().getLengthWithGap() + leader.first->getVehicleType().getLengthWithGap());
1250 : // XXX determine length of longest stopped vehicle
1251 219822 : laDist = myVehicle.getVehicleType().getLengthWithGap();
1252 115346147 : } else if (checkOpposite && isOpposite() && neighLeaders.hasStoppedVehicle()) {
1253 : // compute exact distance to overtake stopped vehicle
1254 : laDist = 0;
1255 45405 : for (int i = 0; i < neighLeaders.numSublanes(); ++i) {
1256 36324 : CLeaderDist vehDist = neighLeaders[i];
1257 36324 : if (vehDist.first != nullptr && vehDist.first->isStopped()) {
1258 29472 : laDist = MAX2(laDist, myVehicle.getVehicleType().getMinGap() + vehDist.second + vehDist.first->getVehicleType().getLengthWithGap());
1259 : }
1260 : }
1261 9081 : laDist += myVehicle.getVehicleType().getLength();
1262 : }
1263 115565969 : if (myStrategicParam < 0) {
1264 : laDist = -1e3; // never perform strategic change
1265 : }
1266 :
1267 : // free space that is available for changing
1268 : //const double neighSpeed = (neighLead.first != 0 ? neighLead.first->getSpeed() :
1269 : // neighFollow.first != 0 ? neighFollow.first->getSpeed() :
1270 : // best.lane->getSpeedLimit());
1271 : // @note: while this lets vehicles change earlier into the correct direction
1272 : // it also makes the vehicles more "selfish" and prevents changes which are necessary to help others
1273 :
1274 115565969 : const double roundaboutBonus = MSLCHelper::getRoundaboutDistBonus(myVehicle, myRoundaboutBonus, curr, neigh, best);
1275 115565969 : currentDist += roundaboutBonus;
1276 115565969 : neighDist += roundaboutBonus;
1277 :
1278 115565969 : ret = checkStrategicChange(ret,
1279 : neighLane,
1280 : laneOffset,
1281 : leaders,
1282 : neighLeaders,
1283 : curr, neigh, best,
1284 : bestLaneOffset,
1285 : changeToBest,
1286 : currentDist,
1287 : neighDist,
1288 : laDist,
1289 : roundaboutBonus,
1290 : latLaneDist,
1291 : checkOpposite,
1292 : latDist);
1293 :
1294 :
1295 115565969 : if ((ret & LCA_STAY) != 0 && latDist == 0) {
1296 : // ensure that mySafeLatDistLeft / mySafeLatDistRight are up to date for the
1297 : // subsquent check with laneOffset = 0
1298 11486355 : const double center = myVehicle.getCenterOnEdge();
1299 11486355 : const double neighRight = getNeighRight(neighLane);
1300 11486355 : updateGaps(neighLeaders, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1301 11486355 : updateGaps(neighFollowers, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1302 : // remove TraCI flags because it should not be included in "state-without-traci"
1303 11486355 : ret = getCanceledState(laneOffset);
1304 11486355 : return ret;
1305 : }
1306 104079614 : if ((ret & LCA_URGENT) != 0) {
1307 : // prepare urgent lane change maneuver
1308 2055230 : if (changeToBest && abs(bestLaneOffset) > 1
1309 2274515 : && curr.bestContinuations.back()->getLinkCont().size() != 0
1310 : ) {
1311 : // there might be a vehicle which needs to counter-lane-change one lane further and we cannot see it yet
1312 47621 : const double reserve = MIN2(myLeftSpace - MAGIC_OFFSET - myVehicle.getVehicleType().getMinGap(), getExtraReservation(bestLaneOffset, neighDist - currentDist));
1313 49074 : myLeadingBlockerLength = MAX2(reserve, myLeadingBlockerLength);
1314 : #ifdef DEBUG_WANTSCHANGE
1315 : if (gDebugFlag2) {
1316 : std::cout << " reserving space for unseen blockers myLeadingBlockerLength=" << myLeadingBlockerLength << "\n";
1317 : }
1318 : #endif
1319 : }
1320 :
1321 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#1
1322 : // if there is a leader and he wants to change to the opposite direction
1323 2207649 : MSVehicle* neighLeadLongest = const_cast<MSVehicle*>(getLongest(neighLeaders).first);
1324 2207649 : const bool canContinue = curr.bestContinuations.size() > 1;
1325 : #ifdef DEBUG_WANTSCHANGE
1326 : if (DEBUG_COND) {
1327 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " neighLeaders=" << neighLeaders.toString() << " longest=" << Named::getIDSecure(neighLeadLongest) << " firstBlocked=" << Named::getIDSecure(*firstBlocked) << "\n";
1328 : }
1329 : #endif
1330 2207649 : bool canReserve = MSLCHelper::updateBlockerLength(myVehicle, neighLeadLongest, lcaCounter, myLeftSpace - MAGIC_OFFSET, canContinue, myLeadingBlockerLength);
1331 2207649 : if (*firstBlocked != neighLeadLongest && tieBrakeLeader(*firstBlocked)) {
1332 79357 : canReserve &= MSLCHelper::updateBlockerLength(myVehicle, *firstBlocked, lcaCounter, myLeftSpace - MAGIC_OFFSET, canContinue, myLeadingBlockerLength);
1333 : }
1334 2207649 : if (!canReserve && !isOpposite()) {
1335 : // we have a low-priority relief connection
1336 : // std::cout << SIMTIME << " veh=" << myVehicle.getID() << " cannotReserve for blockers\n";
1337 2980 : myDontBrake = canContinue;
1338 : }
1339 :
1340 : std::vector<CLeaderDist> collectLeadBlockers;
1341 : std::vector<CLeaderDist> collectFollowBlockers;
1342 2207649 : int blockedFully = 0; // wether execution of the full maneuver is blocked
1343 2207649 : maneuverDist = latDist;
1344 2207649 : const double gapFactor = computeGapFactor(LCA_STRATEGIC);
1345 2207649 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1346 : leaders, followers, blockers,
1347 : neighLeaders, neighFollowers, neighBlockers, &collectLeadBlockers, &collectFollowBlockers,
1348 : false, gapFactor, &blockedFully);
1349 :
1350 2207649 : const double absLaneOffset = fabs(bestLaneOffset != 0 ? bestLaneOffset : latDist / SUMO_const_laneWidth);
1351 2207649 : const double remainingSeconds = ((ret & LCA_TRACI) == 0 ?
1352 2576218 : MAX2(STEPS2TIME(TS), myLeftSpace / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / absLaneOffset / URGENCY) :
1353 222 : myVehicle.getInfluencer().changeRequestRemainingSeconds(currentTime));
1354 2207649 : const double plannedSpeed = informLeaders(blocked, myLca, collectLeadBlockers, remainingSeconds);
1355 : // coordinate with direct obstructions
1356 2207649 : if (plannedSpeed >= 0) {
1357 : // maybe we need to deal with a blocking follower
1358 1818636 : informFollowers(blocked, myLca, collectFollowBlockers, remainingSeconds, plannedSpeed);
1359 : }
1360 1818636 : if (plannedSpeed > 0) {
1361 902046 : commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane, maneuverDist);
1362 : }
1363 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
1364 : if (gDebugFlag2) {
1365 : std::cout << STEPS2TIME(currentTime)
1366 : << " veh=" << myVehicle.getID()
1367 : << " myLeftSpace=" << myLeftSpace
1368 : << " changeFully=" << myCanChangeFully
1369 : << " blockedFully=" << toString((LaneChangeAction)blockedFully)
1370 : << " remainingSeconds=" << remainingSeconds
1371 : << " plannedSpeed=" << plannedSpeed
1372 : << " mySafeLatDistRight=" << mySafeLatDistRight
1373 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
1374 : << "\n";
1375 : }
1376 : #endif
1377 : // remove TraCI flags because it should not be included in "state-without-traci"
1378 2207649 : ret = getCanceledState(laneOffset);
1379 : return ret;
1380 2207649 : }
1381 : // VARIANT_15
1382 101871965 : if (roundaboutBonus > 0) {
1383 :
1384 : #ifdef DEBUG_WANTS_CHANGE
1385 : if (DEBUG_COND) {
1386 : std::cout << STEPS2TIME(currentTime)
1387 : << " veh=" << myVehicle.getID()
1388 : << " roundaboutBonus=" << roundaboutBonus
1389 : << " myLeftSpace=" << myLeftSpace
1390 : << "\n";
1391 : }
1392 : #endif
1393 : // try to use the inner lanes of a roundabout to increase throughput
1394 : // unless we are approaching the exit
1395 5295940 : if (left) {
1396 512555 : ret |= LCA_COOPERATIVE;
1397 512555 : if (!cancelRequest(ret | LCA_LEFT, laneOffset)) {
1398 512555 : if ((ret & LCA_STAY) == 0) {
1399 512555 : latDist = latLaneDist;
1400 512555 : maneuverDist = latLaneDist;
1401 512555 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1402 : leaders, followers, blockers,
1403 : neighLeaders, neighFollowers, neighBlockers);
1404 : }
1405 512555 : return ret;
1406 : } else {
1407 : ret &= ~LCA_COOPERATIVE;
1408 : }
1409 : } else {
1410 4783385 : myKeepRightProbability = 0;
1411 : }
1412 : }
1413 :
1414 : // --------
1415 :
1416 : // -------- make place on current lane if blocking follower
1417 : //if (amBlockingFollowerPlusNB()) {
1418 : // std::cout << myVehicle.getID() << ", " << currentDistAllows(neighDist, bestLaneOffset, laDist)
1419 : // << " neighDist=" << neighDist
1420 : // << " currentDist=" << currentDist
1421 : // << "\n";
1422 : //}
1423 : const double inconvenience = (latLaneDist < 0
1424 101359410 : ? -mySpeedGainProbabilityRight / myChangeProbThresholdRight
1425 90692240 : : -mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
1426 : #ifdef DEBUG_COOPERATE
1427 : if (gDebugFlag2) {
1428 : std::cout << STEPS2TIME(currentTime)
1429 : << " veh=" << myVehicle.getID()
1430 : << " amBlocking=" << amBlockingFollowerPlusNB()
1431 : << " state=" << toString((LaneChangeAction)myOwnState)
1432 : << " myLca=" << toString((LaneChangeAction)myLca)
1433 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1434 : << " inconvenience=" << inconvenience
1435 : << " origLatDist=" << getManeuverDist()
1436 : << " wantsChangeToHelp=" << (right ? "right" : "left")
1437 : << " state=" << myOwnState
1438 : << "\n";
1439 : }
1440 : #endif
1441 :
1442 : if (laneOffset != 0
1443 21401449 : && ((amBlockingFollowerPlusNB()
1444 : // VARIANT_6 : counterNoHelp
1445 238770 : && ((myOwnState & myLca) != 0))
1446 21334799 : ||
1447 : // continue previous cooperative change
1448 21334799 : ((myPreviousState & LCA_COOPERATIVE) != 0
1449 86508 : && !myCanChangeFully
1450 : // change is in the right direction
1451 48903 : && (laneOffset * getManeuverDist() > 0)))
1452 68825 : && (inconvenience < myCooperativeParam)
1453 101426744 : && (changeToBest || currentDistAllows(neighDist, abs(bestLaneOffset) + 1, laDist))) {
1454 :
1455 : // VARIANT_2 (nbWhenChangingToHelp)
1456 : #ifdef DEBUG_COOPERATE
1457 : if (gDebugFlag2) {
1458 : std::cout << " wants cooperative change\n";
1459 : }
1460 : #endif
1461 :
1462 67331 : ret |= LCA_COOPERATIVE | LCA_URGENT ;//| LCA_CHANGE_TO_HELP;
1463 67331 : if (!cancelRequest(ret | getLCA(ret, latLaneDist), laneOffset)) {
1464 67331 : latDist = amBlockingFollowerPlusNB() ? latLaneDist : getManeuverDist();
1465 67331 : maneuverDist = latDist;
1466 67331 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1467 : leaders, followers, blockers,
1468 : neighLeaders, neighFollowers, neighBlockers);
1469 67331 : return ret;
1470 : } else {
1471 : ret &= ~(LCA_COOPERATIVE | LCA_URGENT);
1472 : }
1473 : }
1474 :
1475 : // --------
1476 :
1477 :
1478 : //// -------- security checks for krauss
1479 : //// (vsafe fails when gap<0)
1480 : //if ((blocked & LCA_BLOCKED) != 0) {
1481 : // return ret;
1482 : //}
1483 : //// --------
1484 :
1485 : // -------- higher speed
1486 : //if ((congested(neighLead.first) && neighLead.second < 20) || predInteraction(leader.first)) { //!!!
1487 : // return ret;
1488 : //}
1489 :
1490 : // iterate over all possible combinations of sublanes this vehicle might cover and check the potential speed
1491 101292079 : const MSEdge& edge = (isOpposite() ? myVehicle.getLane()->getParallelOpposite() : myVehicle.getLane())->getEdge();
1492 : const std::vector<double>& sublaneSides = edge.getSubLaneSides();
1493 : assert(sublaneSides.size() == myExpectedSublaneSpeeds.size());
1494 101292079 : const double vehWidth = getWidth();
1495 101292079 : const double rightVehSide = getVehicleCenter() - 0.5 * vehWidth;
1496 101292079 : const double leftVehSide = rightVehSide + vehWidth;
1497 : // figure out next speed when staying where we are
1498 : double defaultNextSpeed = std::numeric_limits<double>::max();
1499 : /// determine the leftmost and rightmost sublanes currently occupied
1500 101292079 : int leftmostOnEdge = (int)sublaneSides.size() - 1;
1501 300388388 : while (leftmostOnEdge > 0 && sublaneSides[leftmostOnEdge] > leftVehSide) {
1502 199096309 : leftmostOnEdge--;
1503 : }
1504 : int rightmostOnEdge = leftmostOnEdge;
1505 376289642 : while (rightmostOnEdge > 0 && sublaneSides[rightmostOnEdge] > rightVehSide + NUMERICAL_EPS) {
1506 274997563 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1507 : #ifdef DEBUG_WANTSCHANGE
1508 : if (gDebugFlag2) {
1509 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1510 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1511 : }
1512 : #endif
1513 274997563 : rightmostOnEdge--;
1514 : }
1515 101292079 : defaultNextSpeed = MIN2(defaultNextSpeed, myExpectedSublaneSpeeds[rightmostOnEdge]);
1516 : #ifdef DEBUG_WANTSCHANGE
1517 : if (gDebugFlag2) {
1518 : std::cout << " adapted to current sublane=" << rightmostOnEdge << " defaultNextSpeed=" << defaultNextSpeed << "\n";
1519 : std::cout << " sublaneSides[rightmostOnEdge]=" << sublaneSides[rightmostOnEdge] << " rightVehSide=" << rightVehSide << "\n";
1520 : }
1521 : #endif
1522 : double maxGain = -std::numeric_limits<double>::max();
1523 : double maxGainRight = -std::numeric_limits<double>::max();
1524 : double maxGainLeft = -std::numeric_limits<double>::max();
1525 : double latDistNice = std::numeric_limits<double>::max();
1526 :
1527 101292079 : const int iMin = MIN2(myVehicle.getLane()->getRightmostSublane(), neighLane.getRightmostSublane());
1528 101292079 : double leftMax = MAX2(
1529 101292079 : myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth(),
1530 : neighLane.getRightSideOnEdge() + neighLane.getWidth());
1531 101292079 : double rightMin = MIN2(myVehicle.getLane()->getRightSideOnEdge(), neighLane.getRightSideOnEdge());
1532 101292079 : if (checkOpposite || isOpposite()) {
1533 138420 : leftMax = getLeftBorder();
1534 : } else {
1535 : assert(leftMax <= edge.getWidth());
1536 : }
1537 101292079 : int sublaneCompact = MAX2(iMin, rightmostOnEdge - 1); // try to compactify to the right by default
1538 :
1539 101292079 : const double laneBoundary = laneOffset < 0 ? myVehicle.getLane()->getRightSideOnEdge() : neighLane.getRightSideOnEdge();
1540 : // if there is a neighboring lane we could change to, check sublanes on all lanes of the edge
1541 : // but restrict maneuver to the currently visible lanes (current, neigh) to ensure safety
1542 : // This way we can discover a fast lane beyond the immediate neighbor lane
1543 101292079 : const double maxLatDist = leftMax - leftVehSide;
1544 101292079 : const double minLatDist = rightMin - rightVehSide;
1545 101292079 : const int iStart = laneOffset == 0 ? iMin : 0;
1546 21334118 : const double rightEnd = laneOffset == 0 ? leftMax : (checkOpposite ? getLeftBorder() : edge.getWidth());
1547 : #ifdef DEBUG_WANTSCHANGE
1548 : if (gDebugFlag2) std::cout
1549 : << " checking sublanes rightmostOnEdge=" << rightmostOnEdge
1550 : << " rightEnd=" << rightEnd
1551 : << " leftmostOnEdge=" << leftmostOnEdge
1552 : << " iStart=" << iStart
1553 : << " iMin=" << iMin
1554 : << " sublaneSides=" << sublaneSides.size()
1555 : << " leftMax=" << leftMax
1556 : << " minLatDist=" << minLatDist
1557 : << " maxLatDist=" << maxLatDist
1558 : << " sublaneCompact=" << sublaneCompact
1559 : << "\n";
1560 : #endif
1561 755648241 : for (int i = iStart; i < (int)sublaneSides.size(); ++i) {
1562 654356162 : if (sublaneSides[i] + vehWidth < rightEnd) {
1563 : // i is the rightmost sublane and the left side of vehicles still fits on the edge,
1564 : // compute min speed of all sublanes covered by the vehicle in this case
1565 345983018 : double vMin = myExpectedSublaneSpeeds[i];
1566 : //std::cout << " i=" << i << "\n";
1567 : int j = i;
1568 1346441277 : while (vMin > 0 && j < (int)sublaneSides.size() && sublaneSides[j] < sublaneSides[i] + vehWidth) {
1569 1000458259 : vMin = MIN2(vMin, myExpectedSublaneSpeeds[j]);
1570 : #ifdef DEBUG_WANTSCHANGE
1571 : if (gDebugFlag2) {
1572 : //std::cout << " j=" << j << " vMin=" << vMin << " sublaneSides[j]=" << sublaneSides[j] << " leftVehSide=" << leftVehSide << " rightVehSide=" << rightVehSide << "\n";
1573 : }
1574 : #endif
1575 1000458259 : ++j;
1576 : }
1577 : // check whether the vehicle is between lanes
1578 345983018 : if (laneOffset != 0 && overlap(sublaneSides[i], sublaneSides[i] + vehWidth, laneBoundary, laneBoundary)) {
1579 40196142 : vMin *= (1 - myLaneDiscipline);
1580 : }
1581 489191526 : double relativeGain = (vMin - defaultNextSpeed) / MAX2(vMin, RELGAIN_NORMALIZATION_MIN_SPEED);
1582 345983018 : double currentLatDist = sublaneSides[i] - rightVehSide;
1583 345983018 : if ((laneOffset == 0 && (currentLatDist > maxLatDist || currentLatDist < minLatDist))
1584 345983018 : || (laneOffset < 0 && currentLatDist > maxLatDist)
1585 338972785 : || (laneOffset > 0 && currentLatDist < minLatDist)) {
1586 : #ifdef DEBUG_WANTSCHANGE
1587 : if (gDebugFlag2) {
1588 : std::cout << " i=" << i << " currentLatDist=" << currentLatDist << " outOfBounds\n";
1589 : }
1590 : #endif
1591 15401379 : continue;
1592 : }
1593 : currentLatDist = MIN2(MAX2(currentLatDist, minLatDist), maxLatDist);
1594 330581639 : if (currentLatDist > 0 && myVehicle.getLane()->getBidiLane() != nullptr) {
1595 : // penalize overtaking on the left if the lane is used in both
1596 : // directions
1597 224853 : relativeGain *= 0.5;
1598 : }
1599 : // @note only consider change if it is compatible with the current direction (same sign or laneOffset == 0)
1600 330581639 : if (relativeGain > maxGain && currentLatDist * laneOffset >= 0) {
1601 : maxGain = relativeGain;
1602 125512918 : if (maxGain > GAIN_PERCEPTION_THRESHOLD) {
1603 : sublaneCompact = i;
1604 7992420 : latDist = currentLatDist;
1605 : #ifdef DEBUG_WANTSCHANGE
1606 : if (gDebugFlag2) {
1607 : std::cout << " i=" << i << " vMin=" << vMin << " newLatDist=" << latDist << " relGain=" << relativeGain << "\n";
1608 : }
1609 : #endif
1610 : }
1611 : } else {
1612 : // if anticipated gains to the left are higher then to the right and current gains are equal, prefer left
1613 205068721 : if (currentLatDist > 0
1614 : //&& latDist < 0 // #7184 compensates for #7185
1615 137326453 : && mySpeedGainProbabilityLeft > mySpeedGainProbabilityRight
1616 35300165 : && relativeGain > GAIN_PERCEPTION_THRESHOLD
1617 3573218 : && maxGain - relativeGain < NUMERICAL_EPS) {
1618 2867241 : latDist = currentLatDist;
1619 : }
1620 : }
1621 : #ifdef DEBUG_WANTSCHANGE
1622 : if (gDebugFlag2) {
1623 : std::cout << " i=" << i << " rightmostOnEdge=" << rightmostOnEdge << " vMin=" << vMin << " relGain=" << relativeGain << " sublaneCompact=" << sublaneCompact << " curLatDist=" << currentLatDist << "\n";
1624 : }
1625 : #endif
1626 330581639 : if (currentLatDist < -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1627 : maxGainRight = MAX2(maxGainRight, relativeGain);
1628 164393797 : } else if (currentLatDist > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1629 : maxGainLeft = MAX2(maxGainLeft, relativeGain);
1630 : }
1631 330581639 : const double subAlignDist = sublaneSides[i] - rightVehSide;
1632 330581639 : if (fabs(subAlignDist) < fabs(latDistNice)) {
1633 : latDistNice = subAlignDist;
1634 : #ifdef DEBUG_WANTSCHANGE
1635 : if (gDebugFlag2) std::cout
1636 : << " nicest sublane=" << i
1637 : << " side=" << sublaneSides[i]
1638 : << " rightSide=" << rightVehSide
1639 : << " latDistNice=" << latDistNice
1640 : << " maxGainR=" << (maxGainRight == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainRight))
1641 : << " maxGainL=" << (maxGainLeft == -std::numeric_limits<double>::max() ? "n/a" : toString(maxGainLeft))
1642 : << "\n";
1643 : #endif
1644 : }
1645 : }
1646 : }
1647 : // updated change probabilities
1648 101292079 : if (maxGainRight != -std::numeric_limits<double>::max()) {
1649 : #ifdef DEBUG_WANTSCHANGE
1650 : if (gDebugFlag2) {
1651 : std::cout << " speedGainR_old=" << mySpeedGainProbabilityRight;
1652 : }
1653 : #endif
1654 96521825 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * maxGainRight;
1655 : #ifdef DEBUG_WANTSCHANGE
1656 : if (gDebugFlag2) {
1657 : std::cout << " speedGainR_new=" << mySpeedGainProbabilityRight << "\n";
1658 : }
1659 : #endif
1660 : }
1661 101292079 : if (maxGainLeft != -std::numeric_limits<double>::max()) {
1662 : #ifdef DEBUG_WANTSCHANGE
1663 : if (gDebugFlag2) {
1664 : std::cout << " speedGainL_old=" << mySpeedGainProbabilityLeft;
1665 : }
1666 : #endif
1667 94241743 : mySpeedGainProbabilityLeft += myVehicle.getActionStepLengthSecs() * maxGainLeft;
1668 : #ifdef DEBUG_WANTSCHANGE
1669 : if (gDebugFlag2) {
1670 : std::cout << " speedGainL_new=" << mySpeedGainProbabilityLeft << "\n";
1671 : }
1672 : #endif
1673 : }
1674 : // decay if there is no reason for or against changing (only if we have enough information)
1675 101292079 : if ((fabs(maxGainRight) < NUMERICAL_EPS || maxGainRight == -std::numeric_limits<double>::max())
1676 95759110 : && (right || (alternatives & LCA_RIGHT) == 0)) {
1677 79448190 : mySpeedGainProbabilityRight *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1678 : }
1679 101292079 : if ((fabs(maxGainLeft) < NUMERICAL_EPS || maxGainLeft == -std::numeric_limits<double>::max())
1680 92377200 : && (left || (alternatives & LCA_LEFT) == 0)) {
1681 72222144 : mySpeedGainProbabilityLeft *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1682 : }
1683 :
1684 :
1685 : #ifdef DEBUG_WANTSCHANGE
1686 : if (gDebugFlag2) std::cout << SIMTIME
1687 : << " veh=" << myVehicle.getID()
1688 : << " defaultNextSpeed=" << defaultNextSpeed
1689 : << " maxGain=" << maxGain
1690 : << " maxGainRight=" << maxGainRight
1691 : << " maxGainLeft=" << maxGainLeft
1692 : << " probRight=" << mySpeedGainProbabilityRight
1693 : << " probLeft=" << mySpeedGainProbabilityLeft
1694 : << " latDist=" << latDist
1695 : << " latDistNice=" << latDistNice
1696 : << " sublaneCompact=" << sublaneCompact
1697 : << "\n";
1698 : #endif
1699 :
1700 101292079 : if (!left) {
1701 : // ONLY FOR CHANGING TO THE RIGHT
1702 : // start keepRight maneuver when no speed loss is expected and continue
1703 : // started maneuvers if the loss isn't too big
1704 90558168 : if (right && myVehicle.getSpeed() > 0 && (maxGainRight >= 0
1705 143345 : || ((myPreviousState & LCA_KEEPRIGHT) != 0 && maxGainRight >= -myKeepRightParam))) {
1706 : // honor the obligation to keep right (Rechtsfahrgebot)
1707 8559772 : const double vMax = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1708 8559772 : const double roadSpeedFactor = vMax / myVehicle.getLane()->getSpeedLimit(); // differse from speedFactor if vMax < speedLimit
1709 : double acceptanceTime;
1710 8559772 : if (myKeepRightAcceptanceTime == -1) {
1711 : // legacy behavior: scale acceptance time with current speed and
1712 : // use old hard-coded constant
1713 17119010 : acceptanceTime = 7 * roadSpeedFactor * MAX2(1.0, myVehicle.getSpeed());
1714 : } else {
1715 267 : acceptanceTime = myKeepRightAcceptanceTime * roadSpeedFactor;
1716 267 : if (followers.hasVehicles()) {
1717 : // reduce acceptanceTime if a follower vehicle is faster or wants to drive faster
1718 : double minFactor = 1.0;
1719 220 : for (int i = 0; i < followers.numSublanes(); ++i) {
1720 176 : CLeaderDist follower = followers[i];
1721 352 : if (follower.first != nullptr && follower.second < 2 * follower.first->getCarFollowModel().brakeGap(follower.first->getSpeed())) {
1722 176 : if (follower.first->getSpeed() >= myVehicle.getSpeed()) {
1723 352 : double factor = MAX2(1.0, myVehicle.getSpeed()) / MAX2(1.0, follower.first->getSpeed());
1724 176 : const double fRSF = follower.first->getLane()->getVehicleMaxSpeed(follower.first) / follower.first->getLane()->getSpeedLimit();
1725 176 : if (fRSF > roadSpeedFactor) {
1726 100 : factor /= fRSF;
1727 : }
1728 176 : if (factor < minFactor) {
1729 : minFactor = factor;
1730 : }
1731 : }
1732 : }
1733 : }
1734 44 : acceptanceTime *= minFactor;
1735 : }
1736 : }
1737 8559772 : double fullSpeedGap = MAX2(0., neighDist - myVehicle.getCarFollowModel().brakeGap(vMax));
1738 8559772 : double fullSpeedDrivingSeconds = MIN2(acceptanceTime, fullSpeedGap / vMax);
1739 8559772 : CLeaderDist neighLead = getSlowest(neighLeaders);
1740 8559772 : if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1741 7081120 : fullSpeedGap = MAX2(0., MIN2(fullSpeedGap,
1742 7081120 : neighLead.second - myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1743 7081120 : vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1744 7081120 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1745 : }
1746 8559772 : const double deltaProb = (myChangeProbThresholdRight * (fullSpeedDrivingSeconds / acceptanceTime) / KEEP_RIGHT_TIME) * myVehicle.getActionStepLengthSecs();
1747 8559772 : const bool isSlide = preventSliding(latLaneDist);
1748 : // stay below threshold
1749 9654766 : if (!isSlide || !wantsKeepRight(myKeepRightProbability + deltaProb)) {
1750 8523163 : myKeepRightProbability += deltaProb;
1751 : }
1752 :
1753 : #ifdef DEBUG_WANTSCHANGE
1754 : if (gDebugFlag2) {
1755 : std::cout << STEPS2TIME(currentTime)
1756 : << " considering keepRight:"
1757 : << " vMax=" << vMax
1758 : << " neighDist=" << neighDist
1759 : << " brakeGap=" << myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed())
1760 : << " leaderSpeed=" << (neighLead.first == 0 ? -1 : neighLead.first->getSpeed())
1761 : << " secGap=" << (neighLead.first == 0 ? -1 : myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1762 : myVehicle.getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()))
1763 : << " acceptanceTime=" << acceptanceTime
1764 : << " fullSpeedGap=" << fullSpeedGap
1765 : << " fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1766 : << " dProb=" << deltaProb
1767 : << " isSlide=" << isSlide
1768 : << " keepRight=" << myKeepRightProbability
1769 : << " speedGainL=" << mySpeedGainProbabilityLeft
1770 : << "\n";
1771 : }
1772 : #endif
1773 8559772 : if (wantsKeepRight(myKeepRightProbability)
1774 : /*&& latLaneDist <= -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()*/) {
1775 538737 : ret |= LCA_KEEPRIGHT;
1776 : assert(myVehicle.getLane()->getIndex() > neighLane.getIndex() || isOpposite());
1777 538737 : if (!cancelRequest(ret | LCA_RIGHT, laneOffset)) {
1778 537790 : latDist = latLaneDist;
1779 537790 : maneuverDist = latLaneDist;
1780 537790 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1781 : leaders, followers, blockers,
1782 : neighLeaders, neighFollowers, neighBlockers);
1783 537790 : return ret;
1784 : } else {
1785 : ret &= ~LCA_KEEPRIGHT;
1786 : }
1787 : }
1788 : }
1789 :
1790 90020378 : const double bidiRightFactor = myVehicle.getLane()->getBidiLane() == nullptr && !isOpposite() ? 1 : 0.05;
1791 : #ifdef DEBUG_WANTSCHANGE
1792 : if (gDebugFlag2) {
1793 : std::cout << STEPS2TIME(currentTime)
1794 : << " speedGainR=" << mySpeedGainProbabilityRight
1795 : << " speedGainL=" << mySpeedGainProbabilityLeft
1796 : << " neighDist=" << neighDist
1797 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1798 : << " rThresh=" << myChangeProbThresholdRight
1799 : << " rThresh2=" << myChangeProbThresholdRight* bidiRightFactor
1800 : << " latDist=" << latDist
1801 : << "\n";
1802 : }
1803 : #endif
1804 :
1805 : // make changing on the right more attractive on bidi edges
1806 2759047 : if (latDist < 0 && mySpeedGainProbabilityRight >= myChangeProbThresholdRight * bidiRightFactor
1807 92105674 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) {
1808 1002685 : ret |= LCA_SPEEDGAIN;
1809 1002685 : if (!cancelRequest(ret | getLCA(ret, latDist), laneOffset)) {
1810 989970 : int blockedFully = 0;
1811 989970 : maneuverDist = latDist;
1812 989970 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1813 : leaders, followers, blockers,
1814 : neighLeaders, neighFollowers, neighBlockers,
1815 : nullptr, nullptr, false, 0, &blockedFully);
1816 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1817 : return ret;
1818 : } else {
1819 : // @note: restore ret so subsequent calls to cancelRequest work correctly
1820 12715 : latDist = 0;
1821 : ret &= ~LCA_SPEEDGAIN;
1822 : }
1823 : }
1824 : }
1825 99764319 : if (!right || isOpposite()) {
1826 :
1827 90536951 : const bool stayInLane = myVehicle.getLateralPositionOnLane() + latDist < 0.5 * myVehicle.getLane()->getWidth();
1828 : #ifdef DEBUG_WANTSCHANGE
1829 : if (gDebugFlag2) {
1830 : std::cout << STEPS2TIME(currentTime)
1831 : << " speedGainL=" << mySpeedGainProbabilityLeft
1832 : << " speedGainR=" << mySpeedGainProbabilityRight
1833 : << " latDist=" << latDist
1834 : << " neighDist=" << neighDist
1835 : << " neighTime=" << neighDist / MAX2(.1, myVehicle.getSpeed())
1836 : << " lThresh=" << myChangeProbThresholdLeft
1837 : << " stayInLane=" << stayInLane
1838 : << "\n";
1839 : }
1840 : #endif
1841 :
1842 90536951 : if (latDist > 0 && mySpeedGainProbabilityLeft > myChangeProbThresholdLeft &&
1843 : // if we leave our lane, we should be able to stay in the new
1844 : // lane for some time
1845 3974654 : (stayInLane || neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime)) {
1846 2765097 : ret |= LCA_SPEEDGAIN;
1847 2765097 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
1848 2746072 : int blockedFully = 0;
1849 2746072 : maneuverDist = latDist;
1850 2746072 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1851 : leaders, followers, blockers,
1852 : neighLeaders, neighFollowers, neighBlockers,
1853 : nullptr, nullptr, false, 0, &blockedFully);
1854 : //commitManoeuvre(blocked, blockedFully, leaders, neighLeaders, neighLane);
1855 : return ret;
1856 : } else {
1857 19025 : latDist = 0;
1858 : ret &= ~LCA_SPEEDGAIN;
1859 : }
1860 : }
1861 : }
1862 :
1863 : double latDistSublane = 0.;
1864 97018247 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
1865 97018247 : const double halfVehWidth = getWidth() * 0.5;
1866 97018247 : if (myVehicle.getParameter().arrivalPosLatProcedure != ArrivalPosLatDefinition::DEFAULT
1867 4816 : && myVehicle.getRoute().getLastEdge() == &myVehicle.getLane()->getEdge()
1868 4816 : && bestLaneOffset == 0
1869 97023063 : && (myVehicle.getArrivalPos() - getForwardPos()) < ARRIVALPOS_LAT_THRESHOLD) {
1870 : // vehicle is on its final edge, on the correct lane and close to
1871 : // its arrival position. Change to the desired lateral position
1872 891 : switch (myVehicle.getParameter().arrivalPosLatProcedure) {
1873 0 : case ArrivalPosLatDefinition::GIVEN:
1874 0 : latDistSublane = myVehicle.getParameter().arrivalPosLat - myVehicle.getLateralPositionOnLane();
1875 0 : break;
1876 891 : case ArrivalPosLatDefinition::RIGHT:
1877 891 : latDistSublane = -halfLaneWidth + halfVehWidth - myVehicle.getLateralPositionOnLane();
1878 891 : break;
1879 0 : case ArrivalPosLatDefinition::CENTER:
1880 0 : latDistSublane = -myVehicle.getLateralPositionOnLane();
1881 0 : break;
1882 0 : case ArrivalPosLatDefinition::LEFT:
1883 0 : latDistSublane = halfLaneWidth - halfVehWidth - myVehicle.getLateralPositionOnLane();
1884 0 : break;
1885 : default:
1886 : assert(false);
1887 : }
1888 : #ifdef DEBUG_WANTSCHANGE
1889 : if (gDebugFlag2) std::cout << SIMTIME
1890 : << " arrivalPosLatProcedure=" << (int)myVehicle.getParameter().arrivalPosLatProcedure
1891 : << " arrivalPosLat=" << myVehicle.getParameter().arrivalPosLat << "\n";
1892 : #endif
1893 :
1894 : } else {
1895 :
1896 97017356 : LatAlignmentDefinition align = getDesiredAlignment();
1897 97017356 : switch (align) {
1898 4152704 : case LatAlignmentDefinition::RIGHT:
1899 4152704 : latDistSublane = -halfLaneWidth + halfVehWidth - getPosLat();
1900 4152704 : break;
1901 155447 : case LatAlignmentDefinition::LEFT:
1902 155447 : latDistSublane = halfLaneWidth - halfVehWidth - getPosLat();
1903 155447 : break;
1904 89472410 : case LatAlignmentDefinition::CENTER:
1905 : case LatAlignmentDefinition::DEFAULT:
1906 89472410 : latDistSublane = -getPosLat();
1907 89472410 : break;
1908 : case LatAlignmentDefinition::NICE:
1909 : latDistSublane = latDistNice;
1910 : break;
1911 2936076 : case LatAlignmentDefinition::COMPACT:
1912 2936076 : latDistSublane = sublaneSides[sublaneCompact] - rightVehSide;
1913 2936076 : break;
1914 28114 : case LatAlignmentDefinition::ARBITRARY: {
1915 28114 : latDistSublane = myVehicle.getLateralPositionOnLane() - getPosLat();
1916 28114 : const double hLW = myVehicle.getLane()->getWidth() * 0.5;
1917 28114 : const double posLat = myVehicle.getLateralPositionOnLane();
1918 28114 : if (fabs(posLat) > hLW) {
1919 : // vehicle is not within it's current lane
1920 37 : if (posLat > 0) {
1921 32 : latDistSublane -= (posLat - hLW);
1922 : } else {
1923 5 : latDistSublane += (-posLat - hLW);
1924 : }
1925 : } else {
1926 28077 : const double edgeWidth = myVehicle.getCurrentEdge()->getWidth();
1927 28077 : if (getWidth() < edgeWidth) {
1928 28077 : if (rightVehSide < 0) {
1929 2957 : latDistSublane -= rightVehSide;
1930 25120 : } else if (leftVehSide > edgeWidth) {
1931 1409 : latDistSublane -= leftVehSide - edgeWidth;
1932 : }
1933 : }
1934 : }
1935 : break;
1936 : }
1937 441 : case LatAlignmentDefinition::GIVEN: {
1938 : // sublane alignment should not cause the vehicle to leave the lane
1939 441 : const double hw = myVehicle.getLane()->getWidth() / 2 - NUMERICAL_EPS;
1940 882 : const double offset = MAX2(-hw, MIN2(hw, myVehicle.getVehicleType().getPreferredLateralAlignmentOffset()));
1941 441 : latDistSublane = -getPosLat() + offset;
1942 : }
1943 441 : break;
1944 : default:
1945 : break;
1946 : }
1947 : }
1948 : // only factor in preferred lateral alignment if there is no speedGain motivation or it runs in the same direction
1949 97018247 : if (fabs(latDist) <= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() ||
1950 2889924 : latDistSublane * latDist > 0) {
1951 :
1952 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE) || defined(DEBUG_MANEUVER)
1953 : if (gDebugFlag2) std::cout << SIMTIME
1954 : << " alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
1955 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
1956 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
1957 : << " latDist=" << latDist
1958 : << " latDistSublane=" << latDistSublane
1959 : << " relGainSublane=" << computeSpeedGain(latDistSublane, defaultNextSpeed)
1960 : << " maneuverDist=" << maneuverDist
1961 : << " myCanChangeFully=" << myCanChangeFully
1962 : << " myTurnAlignmentDist=" << myTurnAlignmentDist
1963 : << " nextTurn=" << myVehicle.getNextTurn().first << ":" << toString(myVehicle.getNextTurn().second)
1964 : << " prevState=" << toString((LaneChangeAction)myPreviousState)
1965 : << "\n";
1966 : #endif
1967 :
1968 10103679 : if ((latDistSublane < 0 && mySpeedGainProbabilityRight < mySpeedLossProbThreshold)
1969 94494442 : || (latDistSublane > 0 && mySpeedGainProbabilityLeft < mySpeedLossProbThreshold)
1970 187499481 : || computeSpeedGain(latDistSublane, defaultNextSpeed) < -mySublaneParam) {
1971 : // do not risk losing speed
1972 : #if defined(DEBUG_WANTSCHANGE)
1973 : if (gDebugFlag2) std::cout << " aborting sublane change to avoid speed loss (mySpeedLossProbThreshold=" << mySpeedLossProbThreshold
1974 : << " speedGain=" << computeSpeedGain(latDistSublane, defaultNextSpeed) << ")\n";
1975 : #endif
1976 : latDistSublane = 0;
1977 : }
1978 : // Ignore preferred lateral alignment if we are in the middle of an unfinished non-alignment maneuver into the opposite direction
1979 95346861 : if (!myCanChangeFully
1980 7411260 : && (myPreviousState & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_KEEPRIGHT | LCA_SPEEDGAIN)) != 0
1981 100654513 : && ((getManeuverDist() < 0 && latDistSublane > 0) || (getManeuverDist() > 0 && latDistSublane < 0))) {
1982 : #if defined(DEBUG_WANTSCHANGE)
1983 : if (gDebugFlag2) {
1984 : std::cout << " aborting sublane change due to prior maneuver\n";
1985 : }
1986 : #endif
1987 : latDistSublane = 0;
1988 : }
1989 95346861 : latDist = latDistSublane * (isOpposite() ? -1 : 1);
1990 : // XXX first compute preferred adaptation and then override with speed
1991 : // (this way adaptation is still done if changing for speedgain is
1992 : // blocked)
1993 95346861 : if (fabs(latDist) >= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1994 : #ifdef DEBUG_WANTSCHANGE
1995 : if (gDebugFlag2) std::cout << SIMTIME
1996 : << " adapting to preferred alignment=" << toString(myVehicle.getVehicleType().getPreferredLateralAlignment())
1997 : << " latDist=" << latDist
1998 : << "\n";
1999 : #endif
2000 8170851 : ret |= LCA_SUBLANE;
2001 : // include prior motivation when sublane-change is part of finishing an ongoing maneuver in the same direction
2002 8170851 : if (getPreviousManeuverDist() * latDist > 0) {
2003 921977 : int priorReason = (myPreviousState & LCA_CHANGE_REASONS & ~LCA_SUBLANE);
2004 921977 : ret |= priorReason;
2005 : #ifdef DEBUG_WANTSCHANGE
2006 : if (gDebugFlag2 && priorReason != 0) std::cout << " including prior reason " << toString((LaneChangeAction)priorReason)
2007 : << " prevManeuverDist=" << getPreviousManeuverDist() << "\n";
2008 : #endif
2009 : }
2010 8170851 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
2011 8167243 : maneuverDist = latDist;
2012 8167243 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
2013 : leaders, followers, blockers,
2014 : neighLeaders, neighFollowers, neighBlockers);
2015 8167243 : return ret;
2016 : } else {
2017 3608 : ret &= ~LCA_SUBLANE;
2018 : }
2019 : } else {
2020 87176010 : return ret | LCA_SUBLANE | LCA_STAY;
2021 : }
2022 : }
2023 1674994 : latDist = 0;
2024 :
2025 :
2026 : // --------
2027 : /*
2028 : if (changeToBest && bestLaneOffset == curr.bestLaneOffset && laneOffset != 0
2029 : && (right
2030 : ? mySpeedGainProbabilityRight > MAX2(0., mySpeedGainProbabilityLeft)
2031 : : mySpeedGainProbabilityLeft > MAX2(0., mySpeedGainProbabilityRight))) {
2032 : // change towards the correct lane, speedwise it does not hurt
2033 : ret |= LCA_STRATEGIC;
2034 : if (!cancelRequest(ret, laneOffset)) {
2035 : latDist = latLaneDist;
2036 : blocked = checkBlocking(neighLane, latDist, laneOffset,
2037 : leaders, followers, blockers,
2038 : neighLeaders, neighFollowers, neighBlockers);
2039 : return ret;
2040 : }
2041 : }
2042 : */
2043 : #ifdef DEBUG_WANTSCHANGE
2044 : if (gDebugFlag2) {
2045 : std::cout << STEPS2TIME(currentTime)
2046 : << " veh=" << myVehicle.getID()
2047 : << " mySpeedGainR=" << mySpeedGainProbabilityRight
2048 : << " mySpeedGainL=" << mySpeedGainProbabilityLeft
2049 : << " myKeepRight=" << myKeepRightProbability
2050 : << "\n";
2051 : }
2052 : #endif
2053 1674994 : return ret;
2054 101292079 : }
2055 :
2056 :
2057 : int
2058 231131938 : MSLCM_SL2015::slowDownForBlocked(MSVehicle** blocked, int state) {
2059 : // if this vehicle is blocking someone in front, we maybe decelerate to let him in
2060 231131938 : if ((*blocked) != nullptr) {
2061 14776930 : double gap = (*blocked)->getPositionOnLane() - (*blocked)->getVehicleType().getLength() - myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getMinGap();
2062 : #ifdef DEBUG_SLOWDOWN
2063 : if (gDebugFlag2) {
2064 : std::cout << SIMTIME
2065 : << " veh=" << myVehicle.getID()
2066 : << " blocked=" << Named::getIDSecure(*blocked)
2067 : << " gap=" << gap
2068 : << "\n";
2069 : }
2070 : #endif
2071 14776930 : if (gap > POSITION_EPS) {
2072 : //const bool blockedWantsUrgentRight = (((*blocked)->getLaneChangeModel().getOwnState() & LCA_RIGHT != 0)
2073 : // && ((*blocked)->getLaneChangeModel().getOwnState() & LCA_URGENT != 0));
2074 :
2075 11944648 : if (myVehicle.getSpeed() < myVehicle.getCarFollowModel().getMaxDecel()
2076 : //|| blockedWantsUrgentRight // VARIANT_10 (helpblockedRight)
2077 : ) {
2078 10228904 : if ((*blocked)->getSpeed() < SUMO_const_haltingSpeed) {
2079 5825107 : state |= LCA_AMBACKBLOCKER_STANDING;
2080 : } else {
2081 4403797 : state |= LCA_AMBACKBLOCKER;
2082 : }
2083 20457808 : addLCSpeedAdvice(getCarFollowModel().followSpeed(
2084 10228904 : &myVehicle, myVehicle.getSpeed(),
2085 10228904 : (gap - POSITION_EPS), (*blocked)->getSpeed(),
2086 10228904 : (*blocked)->getCarFollowModel().getMaxDecel()), false);
2087 : //(*blocked) = 0; // VARIANT_14 (furtherBlock)
2088 : }
2089 : }
2090 : }
2091 231131938 : return state;
2092 : }
2093 :
2094 :
2095 : bool
2096 106728 : MSLCM_SL2015::isBidi(const MSLane* lane) const {
2097 106728 : if (!MSNet::getInstance()->hasBidiEdges()) {
2098 : return false;
2099 : }
2100 106728 : if (lane == myVehicle.getLane()->getBidiLane()) {
2101 : return true;
2102 : }
2103 204753 : for (const MSLane* cand : myVehicle.getBestLanesContinuation()) {
2104 178072 : if (cand != nullptr && cand->getBidiLane() == lane) {
2105 : return true;
2106 : }
2107 : }
2108 : return false;
2109 : }
2110 :
2111 : void
2112 125273320 : MSLCM_SL2015::updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo& ahead, int sublaneOffset, int laneIndex) {
2113 125273320 : const std::vector<MSLane*>& lanes = myVehicle.getLane()->getEdge().getLanes();
2114 125273320 : const std::vector<MSVehicle::LaneQ>& preb = myVehicle.getBestLanes();
2115 125273320 : const MSLane* lane = isOpposite() ? myVehicle.getLane()->getParallelOpposite() : lanes[laneIndex];
2116 125273320 : const MSLane* next = myVehicle.getBestLanesContinuation().size() > 1 ? myVehicle.getBestLanesContinuation()[1] : nullptr;
2117 104198922 : const MSLink* link = next != nullptr ? lane->getLinkTo(next) : nullptr;
2118 125273320 : const double shift = link != nullptr ? link->getLateralShift() + 0.5 * (lane->getWidth() - next->getWidth()) : 0;
2119 125273320 : const MSLane* bidi = myVehicle.getLane()->getBidiLane();
2120 125273320 : const double vMax = lane->getVehicleMaxSpeed(&myVehicle);
2121 : assert(preb.size() == lanes.size() || isOpposite());
2122 : #ifdef DEBUG_EXPECTED_SLSPEED
2123 : if (DEBUG_COND) {
2124 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " updateExpectedSublaneSpeeds opposite=" << isOpposite()
2125 : << " sublaneOffset=" << sublaneOffset << " laneIndex=" << laneIndex << " lane=" << lane->getID() << " ahead=" << ahead.toString() << "\n";
2126 : }
2127 : #endif
2128 :
2129 651110198 : for (int sublane = 0; sublane < (int)ahead.numSublanes(); ++sublane) {
2130 525836878 : const int edgeSublane = sublane + sublaneOffset;
2131 525836878 : if (edgeSublane >= (int)myExpectedSublaneSpeeds.size()) {
2132 : // this may happen if a sibling lane is wider than the changer lane
2133 170 : continue;
2134 : }
2135 525836708 : if (link != nullptr && lane->getWidth() > next->getWidth() + NUMERICAL_EPS && MSGlobals::gLateralResolution > 0 && sublaneEnds(sublane, next, shift)) {
2136 : // sublane does not continue, discourage from use
2137 2917617 : myExpectedSublaneSpeeds[edgeSublane] = 0;
2138 : #ifdef DEBUG_EXPECTED_SLSPEED
2139 : if (DEBUG_COND) {
2140 : std::cout << " updateExpectedSublaneSpeeds sublane=" << sublane << " doesNotContinue\n";
2141 : }
2142 : #endif
2143 2917617 : continue;
2144 522919091 : } else if (lane->allowsVehicleClass(myVehicle.getVehicleType().getVehicleClass())) {
2145 : // lane allowed, find potential leaders and compute safe speeds
2146 : // XXX anticipate future braking if leader has a lower speed than myVehicle
2147 517069534 : const MSVehicle* leader = ahead[sublane].first;
2148 517069534 : const double gap = ahead[sublane].second;
2149 : double vSafe;
2150 517069534 : if (leader == nullptr) {
2151 105111045 : if (hasBlueLight()) {
2152 : // can continue from any lane if necessary
2153 : vSafe = vMax;
2154 : } else {
2155 104880381 : const int prebIndex = isOpposite() ? (int)preb.size() - 1 : laneIndex;
2156 104880381 : const double dist = preb[prebIndex].length - myVehicle.getPositionOnLane();
2157 104880381 : vSafe = getCarFollowModel().followSpeed(&myVehicle, vMax, dist, 0, 0);
2158 : }
2159 411958489 : } else if (bidi != nullptr && leader->getLane()->getBidiLane() != nullptr && isBidi(leader->getLane())) {
2160 : // oncoming
2161 80047 : if (gap < (1 + mySpeedGainLookahead * 2) * (vMax + leader->getSpeed())) {
2162 : vSafe = 0;
2163 : } else {
2164 : vSafe = vMax;
2165 : }
2166 : #ifdef DEBUG_EXPECTED_SLSPEED
2167 : if (DEBUG_COND) {
2168 : std::cout << SIMTIME << " updateExpectedSublaneSpeeds sublane=" << sublane << " leader=" << leader->getID() << " bidi=" << bidi->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2169 : }
2170 : #endif
2171 : } else {
2172 411878442 : if (leader->getAcceleration() > 0.5 * leader->getCarFollowModel().getMaxAccel()) {
2173 : // assume that the leader will continue accelerating to its maximum speed
2174 47196589 : vSafe = leader->getLane()->getVehicleMaxSpeed(leader);
2175 : } else {
2176 364681853 : vSafe = getCarFollowModel().followSpeed(
2177 364681853 : &myVehicle, vMax, gap, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
2178 : #ifdef DEBUG_EXPECTED_SLSPEED
2179 : if (DEBUG_COND) {
2180 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " leader=" << leader->getID() << " gap=" << gap << " vSafe=" << vSafe << "\n";
2181 : }
2182 : #endif
2183 364681853 : vSafe = forecastAverageSpeed(vSafe, vMax, gap, leader->getSpeed());
2184 : }
2185 : }
2186 : // take pedestrians into account
2187 517069534 : if (lane->getEdge().getPersons().size() > 0 && lane->hasPedestrians()) {
2188 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2189 : double foeRight, foeLeft;
2190 280452 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2191 : // get all leaders ahead or overlapping
2192 280452 : const PersonDist pedLeader = lane->nextBlocking(myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getLength(), foeRight, foeLeft);
2193 280452 : if (pedLeader.first != 0) {
2194 77844 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2195 : // we do not know the walking direction here so we take the pedestrian speed as 0
2196 77844 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2197 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2198 : #ifdef DEBUG_EXPECTED_SLSPEED
2199 : if (DEBUG_COND) {
2200 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " gap=" << pedGap << " vSafe=" << vSafe << "\n";
2201 : }
2202 : #endif
2203 : }
2204 : }
2205 : // take bidi pedestrians into account
2206 517069534 : if (bidi != nullptr && bidi->getEdge().getPersons().size() > 0 && bidi->hasPedestrians()) {
2207 : /// XXX this could be done faster by checking all sublanes at once (but would complicate the MSPModel API)
2208 : double foeRight, foeLeft;
2209 4277 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2210 4277 : const double foeRightBidi = bidi->getWidth() - foeLeft;
2211 4277 : const double foeLeftBidi = bidi->getWidth() - foeRight;
2212 : // get all leaders ahead or overlapping
2213 4277 : const double relativeBackPos = myVehicle.getLane()->getLength() - myVehicle.getPositionOnLane() + myVehicle.getLength();
2214 4277 : const double stopTime = ceil(myVehicle.getSpeed() / myVehicle.getCarFollowModel().getMaxDecel());
2215 4277 : PersonDist pedLeader = bidi->nextBlocking(relativeBackPos, foeRightBidi, foeLeftBidi, stopTime, true);
2216 4277 : if (pedLeader.first != 0) {
2217 719 : const double pedGap = pedLeader.second - myVehicle.getVehicleType().getMinGap() - myVehicle.getVehicleType().getLength();
2218 : // we do not know the walking direction here so we take the pedestrian speed as 0
2219 719 : vSafe = MIN2(getCarFollowModel().stopSpeed(&myVehicle, vMax, pedGap),
2220 : forecastAverageSpeed(vSafe, vMax, pedGap, 0));
2221 : #ifdef DEBUG_EXPECTED_SLSPEED
2222 : if (DEBUG_COND) {
2223 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " pedLeader=" << pedLeader.first->getID() << " (bidi) gap=" << pedGap << " vSafe=" << vSafe << "\n";
2224 : }
2225 : #endif
2226 : }
2227 : }
2228 : vSafe = MIN2(vMax, vSafe);
2229 : // forget old data when on the opposite side
2230 517069534 : const double memoryFactor = isOpposite() ? 0 : pow(SPEEDGAIN_MEMORY_FACTOR, myVehicle.getActionStepLengthSecs());
2231 517069534 : myExpectedSublaneSpeeds[edgeSublane] = memoryFactor * myExpectedSublaneSpeeds[edgeSublane] + (1 - memoryFactor) * vSafe;
2232 : } else {
2233 : // lane forbidden
2234 5849557 : myExpectedSublaneSpeeds[edgeSublane] = -1;
2235 : #ifdef DEBUG_EXPECTED_SLSPEED
2236 : if (DEBUG_COND) {
2237 : std::cout << " updateExpectedSublaneSpeeds edgeSublane=" << edgeSublane << " lane " << lane->getID() << " forbidden\n";
2238 : }
2239 : #endif
2240 : }
2241 : }
2242 : // XXX deal with leaders on subsequent lanes based on preb
2243 125273320 : }
2244 :
2245 :
2246 : bool
2247 7759595 : MSLCM_SL2015::sublaneEnds(int i, const MSLane* next, double shift) {
2248 7759595 : const double side = i * MSGlobals::gLateralResolution + shift;
2249 : return ((side < -NUMERICAL_EPS
2250 13 : && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass())))
2251 7759608 : || (side + MSGlobals::gLateralResolution > next->getWidth()
2252 6893730 : && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))));
2253 : }
2254 :
2255 :
2256 : double
2257 364760416 : MSLCM_SL2015::forecastAverageSpeed(double vSafe, double vMax, double gap, double vLeader) const {
2258 364760416 : const double deltaV = vMax - vLeader;
2259 364760416 : if (deltaV > 0 && gap / deltaV < mySpeedGainLookahead && mySpeedGainLookahead > 0) {
2260 : // anticipate future braking by computing the average
2261 : // speed over the next few seconds
2262 211223357 : const double foreCastTime = mySpeedGainLookahead * 2;
2263 : const double gapClosingTime = MAX2(0.0, gap / deltaV);
2264 211223357 : const double vSafe2 = (gapClosingTime * vSafe + (foreCastTime - gapClosingTime) * vLeader) / foreCastTime;
2265 : #ifdef DEBUG_EXPECTED_SLSPEED
2266 : if (DEBUG_COND && vSafe2 != vSafe) {
2267 : std::cout << " foreCastTime=" << foreCastTime << " gapClosingTime=" << gapClosingTime << " extrapolated vSafe=" << vSafe2 << "\n";
2268 : }
2269 : #endif
2270 : vSafe = vSafe2;
2271 : }
2272 364760416 : return vSafe;
2273 : }
2274 :
2275 :
2276 : double
2277 92152620 : MSLCM_SL2015::computeSpeedGain(double latDistSublane, double defaultNextSpeed) const {
2278 : double result = std::numeric_limits<double>::max();
2279 92152620 : const std::vector<double>& sublaneSides = myVehicle.getLane()->getEdge().getSubLaneSides();
2280 92152620 : const double vehWidth = getWidth();
2281 92152620 : const double rightVehSide = myVehicle.getCenterOnEdge() - vehWidth * 0.5 + latDistSublane;
2282 92152620 : const double leftVehSide = rightVehSide + vehWidth;
2283 740158355 : for (int i = 0; i < (int)sublaneSides.size(); ++i) {
2284 648005735 : const double leftSide = i + 1 < (int)sublaneSides.size() ? sublaneSides[i + 1] : MAX2(myVehicle.getLane()->getEdge().getWidth(), sublaneSides[i] + POSITION_EPS);
2285 648005735 : if (overlap(rightVehSide, leftVehSide, sublaneSides[i], leftSide)) {
2286 343252711 : result = MIN2(result, myExpectedSublaneSpeeds[i]);
2287 : }
2288 : //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";
2289 : }
2290 92152620 : return result - defaultNextSpeed;
2291 92152620 : }
2292 :
2293 :
2294 : CLeaderDist
2295 2207649 : MSLCM_SL2015::getLongest(const MSLeaderDistanceInfo& ldi) const {
2296 : int iMax = -1;
2297 : double maxLength = -1;
2298 12267949 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2299 10060300 : const MSVehicle* veh = ldi[i].first;
2300 10060300 : if (veh) {
2301 7589343 : const double length = veh->getVehicleType().getLength();
2302 7589343 : if (length > maxLength && tieBrakeLeader(veh)) {
2303 : maxLength = length;
2304 : iMax = i;
2305 : }
2306 : }
2307 : }
2308 2207649 : return iMax >= 0 ? ldi[iMax] : std::make_pair(nullptr, -1);
2309 : }
2310 :
2311 :
2312 : bool
2313 3612498 : MSLCM_SL2015::tieBrakeLeader(const MSVehicle* veh) const {
2314 : // tie braker if the leader is at the same lane position
2315 3612498 : return veh != nullptr && (veh->getPositionOnLane() != myVehicle.getPositionOnLane()
2316 9462 : || veh->getSpeed() < myVehicle.getSpeed()
2317 9319 : || &veh->getLane()->getEdge() != &myVehicle.getLane()->getEdge()
2318 9316 : || veh->getLane()->getIndex() > myVehicle.getLane()->getIndex());
2319 : }
2320 :
2321 :
2322 : CLeaderDist
2323 11414300 : MSLCM_SL2015::getSlowest(const MSLeaderDistanceInfo& ldi) {
2324 : int iMax = 0;
2325 : double minSpeed = std::numeric_limits<double>::max();
2326 57605422 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2327 46191122 : if (ldi[i].first != 0) {
2328 41035206 : const double speed = ldi[i].first->getSpeed();
2329 41035206 : if (speed < minSpeed) {
2330 : minSpeed = speed;
2331 : iMax = i;
2332 : }
2333 : }
2334 : }
2335 11414300 : return ldi[iMax];
2336 : }
2337 :
2338 :
2339 : int
2340 19303003 : MSLCM_SL2015::checkBlocking(const MSLane& neighLane, double& latDist, double maneuverDist, int laneOffset,
2341 : const MSLeaderDistanceInfo& leaders,
2342 : const MSLeaderDistanceInfo& followers,
2343 : const MSLeaderDistanceInfo& /*blockers */,
2344 : const MSLeaderDistanceInfo& neighLeaders,
2345 : const MSLeaderDistanceInfo& neighFollowers,
2346 : const MSLeaderDistanceInfo& /* neighBlockers */,
2347 : std::vector<CLeaderDist>* collectLeadBlockers,
2348 : std::vector<CLeaderDist>* collectFollowBlockers,
2349 : bool keepLatGapManeuver,
2350 : double gapFactor,
2351 : int* retBlockedFully) {
2352 : // truncate latDist according to maxSpeedLat
2353 19303003 : const double maxDist = SPEED2DIST(getMaxSpeedLat2());
2354 19303003 : latDist = MAX2(MIN2(latDist, maxDist), -maxDist);
2355 19303003 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0 && myVehicle.getInfluencer().ignoreOverlap()) {
2356 : return 0;
2357 : }
2358 :
2359 19300221 : const double neighRight = getNeighRight(neighLane);
2360 19300221 : if (!myCFRelatedReady) {
2361 11409088 : updateCFRelated(followers, myVehicle.getLane()->getRightSideOnEdge(), false);
2362 11409088 : updateCFRelated(leaders, myVehicle.getLane()->getRightSideOnEdge(), true);
2363 11409088 : if (laneOffset != 0) {
2364 7862028 : updateCFRelated(neighFollowers, neighRight, false);
2365 7862028 : updateCFRelated(neighLeaders, neighRight, true);
2366 : }
2367 11409088 : myCFRelatedReady = true;
2368 : }
2369 :
2370 : // reduce latDist to avoid blockage with overlapping vehicles (no minGapLat constraints)
2371 19300221 : const double center = myVehicle.getCenterOnEdge();
2372 19300221 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2373 19300221 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2374 19300221 : if (laneOffset != 0) {
2375 9470815 : updateGaps(neighLeaders, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2376 9470815 : updateGaps(neighFollowers, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2377 : }
2378 : #ifdef DEBUG_BLOCKING
2379 : if (gDebugFlag2) {
2380 : std::cout << " checkBlocking latDist=" << latDist << " mySafeLatDistRight=" << mySafeLatDistRight << " mySafeLatDistLeft=" << mySafeLatDistLeft << "\n";
2381 : }
2382 : #endif
2383 : // if we can move at least a little bit in the desired direction, do so (rather than block)
2384 19300221 : const bool forcedTraCIChange = (myVehicle.hasInfluencer()
2385 58900 : && myVehicle.getInfluencer().getLatDist() != 0
2386 19300562 : && myVehicle.getInfluencer().ignoreOverlap());
2387 19300221 : if (latDist < 0) {
2388 10178979 : if (mySafeLatDistRight <= NUMERICAL_EPS) {
2389 : return LCA_BLOCKED_RIGHT | LCA_OVERLAPPING;
2390 9279325 : } else if (!forcedTraCIChange) {
2391 12791290 : latDist = MAX2(latDist, -mySafeLatDistRight);
2392 : }
2393 : } else {
2394 9121242 : if (mySafeLatDistLeft <= NUMERICAL_EPS) {
2395 : return LCA_BLOCKED_LEFT | LCA_OVERLAPPING;
2396 7302793 : } else if (!forcedTraCIChange) {
2397 7302793 : latDist = MIN2(latDist, mySafeLatDistLeft);
2398 : }
2399 : }
2400 :
2401 16582118 : myCanChangeFully = (maneuverDist == 0 || latDist == maneuverDist);
2402 : #ifdef DEBUG_BLOCKING
2403 : if (gDebugFlag2) {
2404 : std::cout << " checkBlocking latDist=" << latDist << " maneuverDist=" << maneuverDist << "\n";
2405 : }
2406 : #endif
2407 : // destination sublanes must be safe
2408 : // intermediate sublanes must not be blocked by overlapping vehicles
2409 :
2410 : // XXX avoid checking the same leader multiple times
2411 : // XXX ensure that only changes within the same lane are undertaken if laneOffset = 0
2412 :
2413 : int blocked = 0;
2414 16582118 : blocked |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2415 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2416 16582118 : blocked |= checkBlockingVehicles(&myVehicle, followers, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2417 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2418 16582118 : if (laneOffset != 0) {
2419 8313063 : blocked |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, latDist, neighRight, true,
2420 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2421 8313063 : blocked |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, latDist, neighRight, false,
2422 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2423 : }
2424 :
2425 : int blockedFully = 0;
2426 16582118 : blockedFully |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2427 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2428 16582118 : blockedFully |= checkBlockingVehicles(&myVehicle, followers, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2429 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2430 16582118 : if (laneOffset != 0) {
2431 8313063 : blockedFully |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, maneuverDist, neighRight, true,
2432 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2433 8313063 : blockedFully |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, maneuverDist, neighRight, false,
2434 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2435 : }
2436 16582118 : if (retBlockedFully != nullptr) {
2437 5345264 : *retBlockedFully = blockedFully;
2438 : }
2439 : #ifdef DEBUG_BLOCKING
2440 : if (gDebugFlag2) {
2441 : std::cout << " blocked=" << blocked << " (" << toString((LaneChangeAction)blocked) << ") blockedFully=" << toString((LaneChangeAction)blockedFully)
2442 : << " canChangeFully=" << myCanChangeFully << " keepLatGapManeuver=" << keepLatGapManeuver << "\n";
2443 : }
2444 : #endif
2445 16582118 : if (blocked == 0 && !myCanChangeFully && myPushy == 0 && !keepLatGapManeuver) {
2446 : // aggressive drivers immediately start moving towards potential
2447 : // blockers and only check that the start of their maneuver (latDist) is safe. In
2448 : // contrast, cautious drivers need to check latDist and origLatDist to
2449 : // ensure that the maneuver can be finished without encroaching on other vehicles.
2450 8240513 : blocked |= blockedFully;
2451 : } else {
2452 : // XXX: in case of action step length > simulation step length, pushing may lead to collisions,
2453 : // because maneuver is continued until maneuverDist is reached (perhaps set maneuverDist=latDist)
2454 : }
2455 : #ifdef DEBUG_BLOCKING
2456 : if (gDebugFlag2) {
2457 : std::cout << " blocked2=" << blocked << " (" << toString((LaneChangeAction)blocked) << ")\n";
2458 : }
2459 : #endif
2460 16582118 : if (collectFollowBlockers != nullptr && collectLeadBlockers != nullptr) {
2461 : // prevent vehicles from being classified as leader and follower simultaneously
2462 7373887 : for (std::vector<CLeaderDist>::const_iterator it2 = collectLeadBlockers->begin(); it2 != collectLeadBlockers->end(); ++it2) {
2463 27471744 : for (std::vector<CLeaderDist>::iterator it = collectFollowBlockers->begin(); it != collectFollowBlockers->end();) {
2464 21906769 : if ((*it2).first == (*it).first) {
2465 : #ifdef DEBUG_BLOCKING
2466 : if (gDebugFlag2) {
2467 : std::cout << " removed follower " << (*it).first->getID() << " because it is already a leader\n";
2468 : }
2469 : #endif
2470 : it = collectFollowBlockers->erase(it);
2471 : } else {
2472 : ++it;
2473 : }
2474 : }
2475 : }
2476 : }
2477 : return blocked;
2478 : }
2479 :
2480 :
2481 : int
2482 99580724 : MSLCM_SL2015::checkBlockingVehicles(
2483 : const MSVehicle* ego, const MSLeaderDistanceInfo& vehicles,
2484 : int laneOffset, double latDist, double foeOffset, bool leaders,
2485 : double& safeLatGapRight, double& safeLatGapLeft,
2486 : std::vector<CLeaderDist>* collectBlockers) const {
2487 : // determine borders where safety/no-overlap conditions must hold
2488 : const LaneChangeAction blockType = (laneOffset == 0
2489 99580724 : ? (leaders ? LCA_BLOCKED_BY_LEADER : LCA_BLOCKED_BY_FOLLOWER)
2490 : : (laneOffset > 0
2491 66504504 : ? (leaders ? LCA_BLOCKED_BY_LEFT_LEADER : LCA_BLOCKED_BY_LEFT_FOLLOWER)
2492 30425008 : : (leaders ? LCA_BLOCKED_BY_RIGHT_LEADER : LCA_BLOCKED_BY_RIGHT_FOLLOWER)));
2493 99580724 : const double vehWidth = getWidth();
2494 99580724 : const double rightVehSide = ego->getRightSideOnEdge();
2495 99580724 : const double leftVehSide = rightVehSide + vehWidth;
2496 99580724 : const double rightVehSideDest = rightVehSide + latDist;
2497 99580724 : const double leftVehSideDest = leftVehSide + latDist;
2498 : const double rightNoOverlap = MIN2(rightVehSideDest, rightVehSide);
2499 : const double leftNoOverlap = MAX2(leftVehSideDest, leftVehSide);
2500 : #ifdef DEBUG_BLOCKING
2501 : if (gDebugFlag2) {
2502 : std::cout << " checkBlockingVehicles"
2503 : << " laneOffset=" << laneOffset
2504 : << " latDist=" << latDist
2505 : << " foeOffset=" << foeOffset
2506 : << " vehRight=" << rightVehSide
2507 : << " vehLeft=" << leftVehSide
2508 : << " rightNoOverlap=" << rightNoOverlap
2509 : << " leftNoOverlap=" << leftNoOverlap
2510 : << " destRight=" << rightVehSideDest
2511 : << " destLeft=" << leftVehSideDest
2512 : << " leaders=" << leaders
2513 : << " blockType=" << toString((LaneChangeAction) blockType)
2514 : << "\n";
2515 : }
2516 : #endif
2517 : int result = 0;
2518 512849112 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2519 424851030 : CLeaderDist vehDist = vehicles[i];
2520 424851030 : if (vehDist.first != 0 && myCFRelated.count(vehDist.first) == 0) {
2521 : const MSVehicle* leader = vehDist.first;
2522 : const MSVehicle* follower = ego;
2523 162555912 : if (!leaders) {
2524 : std::swap(leader, follower);
2525 : }
2526 : // only check the current stripe occupied by foe (transform into edge-coordinates)
2527 : double foeRight, foeLeft;
2528 162555912 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2529 162555912 : const bool overlapBefore = overlap(rightVehSide, leftVehSide, foeRight, foeLeft);
2530 162555912 : const bool overlapDest = overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft);
2531 162555912 : const bool overlapAny = overlap(rightNoOverlap, leftNoOverlap, foeRight, foeLeft);
2532 : #ifdef DEBUG_BLOCKING
2533 : if (gDebugFlag2) {
2534 : std::cout << " foe=" << vehDist.first->getID()
2535 : << " gap=" << vehDist.second
2536 : << " secGap=" << follower->getCarFollowModel().getSecureGap(follower, leader, follower->getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
2537 : << " foeRight=" << foeRight
2538 : << " foeLeft=" << foeLeft
2539 : << " overlapBefore=" << overlapBefore
2540 : << " overlap=" << overlapAny
2541 : << " overlapDest=" << overlapDest
2542 : << "\n";
2543 : }
2544 : #endif
2545 162555912 : if (overlapAny) {
2546 35341012 : if (vehDist.second < 0) {
2547 10947165 : if (overlapBefore && !overlapDest && !outsideEdge()) {
2548 : #ifdef DEBUG_BLOCKING
2549 : if (gDebugFlag2) {
2550 : std::cout << " ignoring current overlap to come clear\n";
2551 : }
2552 : #endif
2553 : } else {
2554 : #ifdef DEBUG_BLOCKING
2555 : if (gDebugFlag2) {
2556 : std::cout << " overlap (" << toString((LaneChangeAction)blockType) << ")\n";
2557 : }
2558 : #endif
2559 10878950 : result |= (blockType | LCA_OVERLAPPING);
2560 10878950 : if (collectBlockers == nullptr) {
2561 11582642 : return result;
2562 : } else {
2563 4143716 : collectBlockers->push_back(vehDist);
2564 : }
2565 : }
2566 24393847 : } else if (overlapDest || !myCanChangeFully) {
2567 : // Estimate state after actionstep (follower may be accelerating!)
2568 : // A comparison between secure gap depending on the expected speeds and the extrapolated gap
2569 : // determines whether the s is blocking the lane change.
2570 : // (Note that the longitudinal state update has already taken effect before LC dynamics (thus "-TS" below), would be affected by #3665)
2571 :
2572 : // Use conservative estimate for time until next action step
2573 : // (XXX: how can the ego know the foe's action step length?)
2574 24372537 : const double timeTillAction = MAX2(follower->getActionStepLengthSecs(), leader->getActionStepLengthSecs()) - TS;
2575 : // Ignore decel for follower
2576 24372537 : const double followerAccel = MAX2(0., follower->getAcceleration());
2577 24372537 : const double leaderAccel = leader->getAcceleration();
2578 : // Expected gap after next actionsteps
2579 24372537 : const double expectedGap = MSCFModel::gapExtrapolation(timeTillAction, vehDist.second, leader->getSpeed(), follower->getSpeed(), leaderAccel, followerAccel, std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
2580 :
2581 : // Determine expected speeds and corresponding secure gap at the extrapolated timepoint
2582 24372537 : const double followerExpectedSpeed = follower->getSpeed() + timeTillAction * followerAccel;
2583 24372537 : const double leaderExpectedSpeed = MAX2(0., leader->getSpeed() + timeTillAction * leaderAccel);
2584 24372537 : const double expectedSecureGap = follower->getCarFollowModel().getSecureGap(follower, leader, followerExpectedSpeed, leaderExpectedSpeed, leader->getCarFollowModel().getMaxDecel());
2585 :
2586 : #if defined(DEBUG_ACTIONSTEPS) && defined(DEBUG_BLOCKING)
2587 : if (gDebugFlag2) {
2588 : std::cout << " timeTillAction=" << timeTillAction
2589 : << " followerAccel=" << followerAccel
2590 : << " followerExpectedSpeed=" << followerExpectedSpeed
2591 : << " leaderAccel=" << leaderAccel
2592 : << " leaderExpectedSpeed=" << leaderExpectedSpeed
2593 : << "\n gap=" << vehDist.second
2594 : << " gapChange=" << (expectedGap - vehDist.second)
2595 : << " expectedGap=" << expectedGap
2596 : << " expectedSecureGap=" << expectedSecureGap
2597 : << " safeLatGapLeft=" << safeLatGapLeft
2598 : << " safeLatGapRight=" << safeLatGapRight
2599 : << std::endl;
2600 : }
2601 : #endif
2602 :
2603 : // @note for euler-update, a different value for secureGap2 may be obtained when applying safetyFactor to followerDecel rather than secureGap
2604 24372537 : const double secureGap2 = expectedSecureGap * getSafetyFactor();
2605 24372537 : if (expectedGap < secureGap2) {
2606 : // Foe is a blocker. Update lateral safe gaps accordingly.
2607 5587464 : if (foeRight > leftVehSide) {
2608 3991626 : safeLatGapLeft = MIN2(safeLatGapLeft, foeRight - leftVehSide);
2609 3234971 : } else if (foeLeft < rightVehSide) {
2610 4951746 : safeLatGapRight = MIN2(safeLatGapRight, rightVehSide - foeLeft);
2611 : }
2612 :
2613 : #ifdef DEBUG_BLOCKING
2614 : if (gDebugFlag2) {
2615 : std::cout << " blocked by " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2616 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor()
2617 : << " safeLatGapLeft=" << safeLatGapLeft << " safeLatGapRight=" << safeLatGapRight
2618 : << "\n";
2619 : }
2620 : #endif
2621 5587464 : result |= blockType;
2622 5587464 : if (collectBlockers == nullptr) {
2623 4847408 : return result;
2624 : }
2625 : #ifdef DEBUG_BLOCKING
2626 : } else if (gDebugFlag2 && expectedGap < expectedSecureGap) {
2627 : std::cout << " ignore blocker " << vehDist.first->getID() << " gap=" << vehDist.second << " expectedGap=" << expectedGap
2628 : << " expectedSecureGap=" << expectedSecureGap << " secGap2=" << secureGap2 << " safetyFactor=" << getSafetyFactor() << "\n";
2629 : #endif
2630 : }
2631 18785073 : if (collectBlockers != nullptr) {
2632 : // collect non-blocking followers as well to make sure
2633 : // they remain non-blocking
2634 4496005 : collectBlockers->push_back(vehDist);
2635 : }
2636 : }
2637 : }
2638 : }
2639 : }
2640 : return result;
2641 :
2642 : }
2643 :
2644 :
2645 : void
2646 38542232 : MSLCM_SL2015::updateCFRelated(const MSLeaderDistanceInfo& vehicles, double foeOffset, bool leaders) {
2647 : // to ensure that we do not ignore the wrong vehicles due to numerical
2648 : // instability we slightly reduce the width
2649 38542232 : const double vehWidth = myVehicle.getVehicleType().getWidth() - NUMERICAL_EPS;
2650 38542232 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
2651 38542232 : const double leftVehSide = rightVehSide + vehWidth;
2652 : #ifdef DEBUG_BLOCKING
2653 : if (gDebugFlag2) {
2654 : std::cout << " updateCFRelated foeOffset=" << foeOffset << " vehicles=" << vehicles.toString() << "\n";
2655 : }
2656 : #endif
2657 213348352 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2658 174806120 : CLeaderDist vehDist = vehicles[i];
2659 214532724 : if (vehDist.first != 0 && (myCFRelated.count(vehDist.first) == 0 || vehDist.second < 0)) {
2660 : double foeRight, foeLeft;
2661 106331719 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2662 : #ifdef DEBUG_BLOCKING
2663 : if (gDebugFlag2) {
2664 : std::cout << " foe=" << vehDist.first->getID() << " gap=" << vehDist.second
2665 : << " sublane=" << i
2666 : << " foeOffset=" << foeOffset
2667 : << " egoR=" << rightVehSide << " egoL=" << leftVehSide
2668 : << " iR=" << foeRight << " iL=" << foeLeft
2669 : << " egoV=" << myVehicle.getSpeed() << " foeV=" << vehDist.first->getSpeed()
2670 : << " egoE=" << myVehicle.getLane()->getEdge().getID() << " foeE=" << vehDist.first->getLane()->getEdge().getID()
2671 : << "\n";
2672 : }
2673 : #endif
2674 106331719 : if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft) && !outsideEdge() && (vehDist.second >= 0
2675 : // avoid deadlock due to #3729
2676 4055533 : || (!leaders
2677 1589460 : && myVehicle.getPositionOnLane() >= myVehicle.getVehicleType().getLength()
2678 1484284 : && myVehicle.getSpeed() < SUMO_const_haltingSpeed
2679 1477328 : && vehDist.first->getSpeed() < SUMO_const_haltingSpeed
2680 1466569 : && -vehDist.second < vehDist.first->getVehicleType().getMinGap()
2681 1461045 : && &(myVehicle.getLane()->getEdge()) != &(vehDist.first->getLane()->getEdge()))
2682 : )) {
2683 : #ifdef DEBUG_BLOCKING
2684 : if (gDebugFlag2) {
2685 : std::cout << " ignoring cfrelated foe=" << vehDist.first->getID() << "\n";
2686 : }
2687 : #endif
2688 : myCFRelated.insert(vehDist.first);
2689 : } else {
2690 : const int erased = (int)myCFRelated.erase(vehDist.first);
2691 : #ifdef DEBUG_BLOCKING
2692 : if (gDebugFlag2 && erased > 0) {
2693 : std::cout << " restoring cfrelated foe=" << vehDist.first->getID() << "\n";
2694 : }
2695 : #else
2696 : UNUSED_PARAMETER(erased);
2697 : #endif
2698 : }
2699 : }
2700 : }
2701 38542232 : }
2702 :
2703 :
2704 : bool
2705 1409427063 : MSLCM_SL2015::overlap(double right, double left, double right2, double left2) {
2706 : assert(right <= left);
2707 : assert(right2 <= left2);
2708 1409427063 : return left2 >= right + NUMERICAL_EPS && left >= right2 + NUMERICAL_EPS;
2709 : }
2710 :
2711 :
2712 : int
2713 67995946 : MSLCM_SL2015::lowest_bit(int changeReason) {
2714 67995946 : if ((changeReason & LCA_STRATEGIC) != 0) {
2715 : return LCA_STRATEGIC;
2716 : }
2717 53633832 : if ((changeReason & LCA_COOPERATIVE) != 0) {
2718 : return LCA_COOPERATIVE;
2719 : }
2720 52965828 : if ((changeReason & LCA_SPEEDGAIN) != 0) {
2721 : return LCA_SPEEDGAIN;
2722 : }
2723 49233420 : if ((changeReason & LCA_KEEPRIGHT) != 0) {
2724 : return LCA_KEEPRIGHT;
2725 : }
2726 48504499 : if ((changeReason & LCA_TRACI) != 0) {
2727 5770 : return LCA_TRACI;
2728 : }
2729 : return changeReason;
2730 : }
2731 :
2732 :
2733 : MSLCM_SL2015::StateAndDist
2734 160034596 : MSLCM_SL2015::decideDirection(StateAndDist sd1, StateAndDist sd2) const {
2735 : // ignore dummy decisions (returned if mayChange() failes)
2736 160034596 : if (sd1.state == 0) {
2737 65447693 : return sd2;
2738 94586903 : } else if (sd2.state == 0) {
2739 60588930 : return sd1;
2740 : }
2741 : // LCA_SUBLANE is special because LCA_STAY|LCA_SUBLANE may override another LCA_SUBLANE command
2742 33997973 : const bool want1 = ((sd1.state & LCA_WANTS_LANECHANGE) != 0) || ((sd1.state & LCA_SUBLANE) != 0 && (sd1.state & LCA_STAY) != 0);
2743 33997973 : const bool want2 = ((sd2.state & LCA_WANTS_LANECHANGE) != 0) || ((sd2.state & LCA_SUBLANE) != 0 && (sd2.state & LCA_STAY) != 0);
2744 33997973 : const bool can1 = ((sd1.state & LCA_BLOCKED) == 0);
2745 33997973 : const bool can2 = ((sd2.state & LCA_BLOCKED) == 0);
2746 33997973 : int reason1 = lowest_bit(sd1.state & LCA_CHANGE_REASONS);
2747 33997973 : int reason2 = lowest_bit(sd2.state & LCA_CHANGE_REASONS);
2748 : #ifdef DEBUG_DECISION
2749 : if (DEBUG_COND) std::cout << SIMTIME
2750 : << " veh=" << myVehicle.getID()
2751 : << " state1=" << toString((LaneChangeAction)sd1.state)
2752 : << " want1=" << (sd1.state & LCA_WANTS_LANECHANGE)
2753 : << " dist1=" << sd1.latDist
2754 : << " dir1=" << sd1.dir
2755 : << " state2=" << toString((LaneChangeAction)sd2.state)
2756 : << " want2=" << (sd2.state & LCA_WANTS_LANECHANGE)
2757 : << " dist2=" << sd2.latDist
2758 : << " dir2=" << sd2.dir
2759 : << " reason1=" << toString((LaneChangeAction)reason1)
2760 : << " reason2=" << toString((LaneChangeAction)reason2)
2761 : << "\n";
2762 : #endif
2763 33997973 : if (want1) {
2764 33186120 : if (want2) {
2765 22643985 : if ((sd1.state & LCA_TRACI) != 0 && (sd2.state & LCA_TRACI) != 0) {
2766 : // influencer may assign LCA_WANTS_LANECHANGE despite latDist = 0
2767 1560 : if (sd1.latDist == 0 && sd2.latDist != 0) {
2768 114 : return sd2;
2769 1446 : } else if (sd2.latDist == 0 && sd1.latDist != 0) {
2770 20 : return sd1;
2771 : }
2772 : }
2773 : // decide whether right or left has higher priority (lower value in enum LaneChangeAction)
2774 22643851 : if (reason1 < reason2) {
2775 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " < " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2776 476677 : return (!can1 && can2 && sd1.sameDirection(sd2)) ? sd2 : sd1;
2777 : //return sd1;
2778 22403007 : } else if (reason1 > reason2) {
2779 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " > " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2780 11163554 : return (!can2 && can1 && sd1.sameDirection(sd2)) ? sd1 : sd2;
2781 : //return sd2;
2782 : } else {
2783 : // same priority.
2784 16800706 : if ((sd1.state & LCA_SUBLANE) != 0) {
2785 : // special treatment: prefer action with dir != 0
2786 16520965 : if (sd1.dir == 0) {
2787 15778743 : return sd2;
2788 742222 : } else if (sd2.dir == 0) {
2789 0 : return sd1;
2790 : } else {
2791 : // prefer action that knows more about the desired direction
2792 : // @note when deciding between right and left, right is always given as sd1
2793 : assert(sd1.dir == -1);
2794 : assert(sd2.dir == 1);
2795 742222 : if (sd1.latDist <= 0) {
2796 697487 : return sd1;
2797 44735 : } else if (sd2.latDist >= 0) {
2798 44101 : return sd2;
2799 : }
2800 : // when in doubt, prefer moving to the right
2801 634 : return sd1.latDist <= sd2.latDist ? sd1 : sd2;
2802 : }
2803 : } else {
2804 279741 : if (can1) {
2805 167644 : if (can2) {
2806 : // break strategic ties with tactial concerns
2807 111154 : if (reason1 == LCA_STRATEGIC) {
2808 2516 : if (sd1.latDist <= sd2.latDist) {
2809 4234 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd1 : sd2;
2810 : } else {
2811 7 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd2 : sd1;
2812 : }
2813 : } else {
2814 : // finish the shorter maneuver (i.e. continue the current maneuver)
2815 191878 : return fabs(sd1.maneuverDist) < fabs(sd2.maneuverDist) ? sd1 : sd2;
2816 : }
2817 : } else {
2818 56490 : return sd1;
2819 : }
2820 : } else {
2821 112097 : return sd2;
2822 : }
2823 : }
2824 : }
2825 : } else {
2826 10542135 : return sd1;
2827 : }
2828 : } else {
2829 811853 : return sd2;
2830 : }
2831 :
2832 : }
2833 :
2834 :
2835 : LaneChangeAction
2836 127571933 : MSLCM_SL2015::getLCA(int state, double latDist) {
2837 26313215 : return ((latDist == 0 || (state & LCA_CHANGE_REASONS) == 0)
2838 153884746 : ? LCA_NONE : (latDist < 0 ? LCA_RIGHT : LCA_LEFT));
2839 : }
2840 :
2841 :
2842 : int
2843 115565969 : MSLCM_SL2015::checkStrategicChange(int ret,
2844 : const MSLane& neighLane,
2845 : int laneOffset,
2846 : const MSLeaderDistanceInfo& leaders,
2847 : const MSLeaderDistanceInfo& neighLeaders,
2848 : const MSVehicle::LaneQ& curr,
2849 : const MSVehicle::LaneQ& neigh,
2850 : const MSVehicle::LaneQ& best,
2851 : int bestLaneOffset,
2852 : bool changeToBest,
2853 : double& currentDist,
2854 : double neighDist,
2855 : double laDist,
2856 : double roundaboutBonus,
2857 : double latLaneDist,
2858 : bool checkOpposite,
2859 : double& latDist
2860 : ) {
2861 115565969 : const bool right = (laneOffset == -1);
2862 : const bool left = (laneOffset == 1);
2863 :
2864 115565969 : const double forwardPos = getForwardPos();
2865 115565969 : if (laneOffset != 0) {
2866 35548671 : myLeftSpace = currentDist - forwardPos;
2867 : }
2868 115565969 : const double usableDist = (currentDist - forwardPos - best.occupation * JAM_FACTOR);
2869 : //- (best.lane->getVehicleNumber() * neighSpeed)); // VARIANT 9 jfSpeed
2870 115565969 : const double maxJam = MAX2(neigh.occupation, curr.occupation);
2871 115565969 : const double neighLeftPlace = MAX2(0., neighDist - forwardPos - maxJam);
2872 115565969 : const double overlap = myVehicle.getLateralOverlap();
2873 : // save the left space
2874 :
2875 : #ifdef DEBUG_STRATEGIC_CHANGE
2876 : if (gDebugFlag2) {
2877 : std::cout << SIMTIME
2878 : << " veh=" << myVehicle.getID()
2879 : << " forwardPos=" << forwardPos
2880 : << " laSpeed=" << myLookAheadSpeed
2881 : << " laDist=" << laDist
2882 : << " currentDist=" << currentDist
2883 : << " usableDist=" << usableDist
2884 : << " bestLaneOffset=" << bestLaneOffset
2885 : << " best.length=" << best.length
2886 : << " maxJam=" << maxJam
2887 : << " neighLeftPlace=" << neighLeftPlace
2888 : << " myLeftSpace=" << myLeftSpace
2889 : << " overlap=" << overlap
2890 : << "\n";
2891 : }
2892 : #endif
2893 :
2894 115565969 : if (laneOffset == 0) {
2895 80017298 : if (overlap > MAX2(POSITION_EPS, MSGlobals::gLateralResolution)
2896 367626 : && (getShadowLane() == nullptr || !getShadowLane()->allowsVehicleClass(myVehicle.getVClass()))
2897 80020709 : && getWidth() < myVehicle.getLane()->getWidth()) {
2898 : // @brief we urgently need to return to within lane bounds
2899 3324 : latDist = myVehicle.getLateralPositionOnLane() > 0 ? -overlap : overlap;
2900 3324 : ret |= LCA_STRATEGIC | LCA_URGENT;
2901 : #ifdef DEBUG_STRATEGIC_CHANGE
2902 : if (gDebugFlag2) {
2903 : std::cout << SIMTIME << " returnToLaneBounds\n";
2904 : }
2905 : #endif
2906 : //std::cout << SIMTIME << " veh=" << myVehicle.getID() << " overlap=" << overlap << " returnToLaneBounds\n";
2907 80013974 : } else if (myVehicle.getBestLanesContinuation().size() > 1 && myVehicle.getLane()->getWidth() > myVehicle.getBestLanesContinuation()[1]->getWidth()) {
2908 890075 : const MSLane* cur = myVehicle.getLane();
2909 890075 : const MSLane* next = myVehicle.getBestLanesContinuation()[1];
2910 890075 : const MSLink* link = cur->getLinkTo(next);
2911 890075 : const double distOnLane = cur->getLength() - myVehicle.getPositionOnLane();
2912 890075 : if (link != nullptr && getWidth() < next->getWidth() && distOnLane < 100) {
2913 885599 : double hwDiff = 0.5 * (cur->getWidth() - next->getWidth());
2914 885599 : double rightVehSide = myVehicle.getRightSideOnLane() + link->getLateralShift() - hwDiff;
2915 885599 : double leftVehSide = myVehicle.getLeftSideOnLane() + link->getLateralShift() - hwDiff;
2916 885599 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : next->getWidth();
2917 885599 : if (rightVehSide < -res && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass()))) {
2918 24050 : latDist = -rightVehSide;
2919 24050 : myLeftSpace = distOnLane;
2920 24050 : ret |= LCA_STRATEGIC | LCA_URGENT;
2921 : #ifdef DEBUG_STRATEGIC_CHANGE
2922 : if (gDebugFlag2) {
2923 : std::cout << SIMTIME << " rightSublaneEnds rVSide=" << myVehicle.getRightSideOnLane()
2924 : << " shift=" << link->getLateralShift() << " rVSide2=" << rightVehSide << " myLeftSpace=" << myLeftSpace << " \n";
2925 : }
2926 : #endif
2927 861549 : } else if (leftVehSide > next->getWidth() + res && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))) {
2928 29935 : latDist = -(leftVehSide - next->getWidth());
2929 29935 : myLeftSpace = distOnLane;
2930 29935 : ret |= LCA_STRATEGIC | LCA_URGENT;
2931 : #ifdef DEBUG_STRATEGIC_CHANGE
2932 : if (gDebugFlag2) {
2933 : std::cout << SIMTIME << " leftSublaneEnds lVSide=" << myVehicle.getLeftSideOnLane()
2934 : << " shift=" << link->getLateralShift() << " lVSide2=" << leftVehSide << " myLeftSpace=" << myLeftSpace << "\n";
2935 : }
2936 : #endif
2937 : }
2938 : }
2939 : }
2940 21911527 : } else if (laneOffset != 0 && changeToBest && bestLaneOffset == curr.bestLaneOffset
2941 40732866 : && currentDistDisallows(usableDist, bestLaneOffset, laDist)) {
2942 : /// @brief we urgently need to change lanes to follow our route
2943 1992116 : if (!mustOvertakeStopped(false, neighLane, neighLeaders, leaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
2944 1977513 : latDist = latLaneDist;
2945 1977513 : ret |= LCA_STRATEGIC | LCA_URGENT;
2946 : #ifdef DEBUG_STRATEGIC_CHANGE
2947 : if (gDebugFlag2) {
2948 : std::cout << SIMTIME << " mustChangeToBest\n";
2949 : }
2950 : #endif
2951 : } else {
2952 : #ifdef DEBUG_STRATEGIC_CHANGE
2953 : if (gDebugFlag2) {
2954 : std::cout << " veh=" << myVehicle.getID() << " avoidStoppedNeigh\n";
2955 : }
2956 : #endif
2957 : }
2958 : } else {
2959 : // VARIANT_20 (noOvertakeRight)
2960 33556555 : if (left && avoidOvertakeRight() && neighLeaders.hasVehicles()) {
2961 : // check for slower leader on the left. we should not overtake but
2962 : // rather move left ourselves (unless congested)
2963 : // XXX only adapt as much as possible to get a lateral gap
2964 2854528 : CLeaderDist cld = getSlowest(neighLeaders);
2965 2854528 : const MSVehicle* nv = cld.first;
2966 2854528 : if (nv->getSpeed() < myVehicle.getSpeed()) {
2967 420464 : const double vSafe = getCarFollowModel().followSpeed(
2968 420464 : &myVehicle, myVehicle.getSpeed(), cld.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
2969 420464 : addLCSpeedAdvice(vSafe);
2970 420464 : if (vSafe < myVehicle.getSpeed()) {
2971 216728 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * myChangeProbThresholdLeft / 3;
2972 : }
2973 : #ifdef DEBUG_STRATEGIC_CHANGE
2974 : if (gDebugFlag2) {
2975 : std::cout << SIMTIME
2976 : << " avoid overtaking on the right nv=" << nv->getID()
2977 : << " nvSpeed=" << nv->getSpeed()
2978 : << " mySpeedGainProbabilityR=" << mySpeedGainProbabilityRight
2979 : << " plannedSpeed=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
2980 : << "\n";
2981 : }
2982 : #endif
2983 : }
2984 : }
2985 :
2986 : // handling reaction to stopped for opposite direction driving NYI
2987 33556555 : const bool noOpposites = &myVehicle.getLane()->getEdge() == &neighLane.getEdge();
2988 33556555 : if (laneOffset != 0 && myStrategicParam >= 0 && noOpposites && mustOvertakeStopped(true, neighLane, leaders, neighLeaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
2989 : #ifdef DEBUG_STRATEGIC_CHANGE
2990 : if (gDebugFlag2) {
2991 : std::cout << " veh=" << myVehicle.getID() << " mustOvertakeStopped\n";
2992 : }
2993 : #endif
2994 21971 : if (latDist == 0) {
2995 0 : ret |= LCA_STAY | LCA_STRATEGIC;
2996 : } else {
2997 21971 : ret |= LCA_STRATEGIC | LCA_URGENT;
2998 : }
2999 :
3000 33534584 : } else if (!changeToBest && (currentDistDisallows(neighLeftPlace, abs(bestLaneOffset) + 2, laDist))) {
3001 : // the opposite lane-changing direction should be done than the one examined herein
3002 : // we'll check whether we assume we could change anyhow and get back in time...
3003 : //
3004 : // this rule prevents the vehicle from moving in opposite direction of the best lane
3005 : // unless the way till the end where the vehicle has to be on the best lane
3006 : // is long enough
3007 : #ifdef DEBUG_STRATEGIC_CHANGE
3008 : if (gDebugFlag2) {
3009 : std::cout << " veh=" << myVehicle.getID() << " could not change back and forth in time (1) neighLeftPlace=" << neighLeftPlace << "\n";
3010 : }
3011 : #endif
3012 10685021 : ret |= LCA_STAY | LCA_STRATEGIC;
3013 : } else if (
3014 : laneOffset != 0
3015 22849563 : && bestLaneOffset == 0
3016 2926033 : && !leaders.hasStoppedVehicle()
3017 2904138 : && neigh.bestContinuations.back()->getLinkCont().size() != 0
3018 2071490 : && roundaboutBonus == 0
3019 2071490 : && !checkOpposite
3020 1355076 : && neighDist < TURN_LANE_DIST
3021 23775575 : && myStrategicParam >= 0) {
3022 : // VARIANT_21 (stayOnBest)
3023 : // we do not want to leave the best lane for a lane which leads elsewhere
3024 : // unless our leader is stopped or we are approaching a roundabout
3025 : #ifdef DEBUG_STRATEGIC_CHANGE
3026 : if (gDebugFlag2) {
3027 : std::cout << " veh=" << myVehicle.getID() << " does not want to leave the bestLane (neighDist=" << neighDist << ")\n";
3028 : }
3029 : #endif
3030 922123 : ret |= LCA_STAY | LCA_STRATEGIC;
3031 : } else if (right
3032 21927440 : && bestLaneOffset == 0
3033 580121 : && myVehicle.getLane()->getSpeedLimit() > 80. / 3.6
3034 21950132 : && myLookAheadSpeed > SUMO_const_haltingSpeed
3035 : ) {
3036 : // let's also regard the case where the vehicle is driving on a highway...
3037 : // in this case, we do not want to get to the dead-end of an on-ramp
3038 : #ifdef DEBUG_STRATEGIC_CHANGE
3039 : if (gDebugFlag2) {
3040 : std::cout << " veh=" << myVehicle.getID() << " does not want to get stranded on the on-ramp of a highway\n";
3041 : }
3042 : #endif
3043 22153 : ret |= LCA_STAY | LCA_STRATEGIC;
3044 : }
3045 : }
3046 115565969 : if (laneOffset != 0 && (ret & LCA_URGENT) == 0 && getShadowLane() != nullptr &&
3047 : // ignore overlap if it goes in the correct direction
3048 1789835 : bestLaneOffset * myVehicle.getLateralPositionOnLane() <= 0) {
3049 : // no decision or decision to stay
3050 : // make sure to stay within lane bounds in case the shadow lane ends
3051 : //const double requiredDist = MAX2(2 * myVehicle.getLateralOverlap(), getSublaneWidth()) / SUMO_const_laneWidth * laDist;
3052 900682 : const double requiredDist = 2 * overlap / SUMO_const_laneWidth * laDist;
3053 900682 : double currentShadowDist = -myVehicle.getPositionOnLane();
3054 : MSLane* shadowPrev = nullptr;
3055 1934002 : for (std::vector<MSLane*>::const_iterator it = curr.bestContinuations.begin(); it != curr.bestContinuations.end(); ++it) {
3056 1702101 : if (*it == nullptr) {
3057 31354 : continue;
3058 : }
3059 1670747 : MSLane* shadow = getShadowLane(*it);
3060 1670747 : if (shadow == nullptr || currentShadowDist >= requiredDist) {
3061 : break;
3062 : }
3063 1001966 : if (shadowPrev != nullptr) {
3064 112371 : currentShadowDist += shadowPrev->getEdge().getInternalFollowingLengthTo(&shadow->getEdge(), myVehicle.getVClass());
3065 : }
3066 1001966 : currentShadowDist += shadow->getLength();
3067 : shadowPrev = shadow;
3068 : #ifdef DEBUG_STRATEGIC_CHANGE
3069 : if (gDebugFlag2) {
3070 : std::cout << " shadow=" << shadow->getID() << " currentShadowDist=" << currentShadowDist << "\n";
3071 : }
3072 : #endif
3073 : }
3074 : #ifdef DEBUG_STRATEGIC_CHANGE
3075 : if (gDebugFlag2) {
3076 : std::cout << " veh=" << myVehicle.getID() << " currentShadowDist=" << currentShadowDist << " requiredDist=" << requiredDist << " overlap=" << overlap << "\n";
3077 : }
3078 : #endif
3079 900682 : if (currentShadowDist < requiredDist && currentShadowDist < usableDist) {
3080 150703 : myLeftSpace = currentShadowDist;
3081 150703 : latDist = myVehicle.getLateralPositionOnLane() < 0 ? overlap : -overlap;
3082 : #ifdef DEBUG_STRATEGIC_CHANGE
3083 : if (gDebugFlag2) {
3084 : std::cout << " must change for shadowLane end latDist=" << latDist << " myLeftSpace=" << myLeftSpace << "\n";
3085 : }
3086 : #endif
3087 150703 : ret |= LCA_STRATEGIC | LCA_URGENT | LCA_STAY ;
3088 : }
3089 : }
3090 :
3091 : // check for overriding TraCI requests
3092 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3093 : if (gDebugFlag2) {
3094 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ret=" << ret;
3095 : }
3096 : #endif
3097 : // store state before canceling
3098 115565969 : getCanceledState(laneOffset) |= ret;
3099 115565969 : int retTraCI = myVehicle.influenceChangeDecision(ret);
3100 115565969 : if ((retTraCI & LCA_TRACI) != 0) {
3101 4900 : if ((retTraCI & LCA_STAY) != 0) {
3102 : ret = retTraCI;
3103 4336 : latDist = 0;
3104 564 : } else if (((retTraCI & LCA_RIGHT) != 0 && laneOffset < 0)
3105 489 : || ((retTraCI & LCA_LEFT) != 0 && laneOffset > 0)) {
3106 : ret = retTraCI;
3107 222 : latDist = latLaneDist;
3108 : }
3109 : }
3110 : #if defined(DEBUG_STRATEGIC_CHANGE) || defined(DEBUG_TRACI)
3111 : if (gDebugFlag2) {
3112 : std::cout << " reqAfterInfluence=" << toString((LaneChangeAction)retTraCI) << " ret=" << toString((LaneChangeAction)ret) << "\n";
3113 : }
3114 : #endif
3115 115565969 : return ret;
3116 : }
3117 :
3118 :
3119 : bool
3120 35301374 : MSLCM_SL2015::mustOvertakeStopped(bool checkCurrent, const MSLane& neighLane, const MSLeaderDistanceInfo& leaders, const MSLeaderDistanceInfo& neighLead,
3121 : double posOnLane, double neighDist, bool right, double latLaneDist, double& currentDist, double& latDist) {
3122 : bool mustOvertake = false;
3123 35301374 : const bool checkOverTakeRight = avoidOvertakeRight();
3124 : int rightmost;
3125 : int leftmost;
3126 35301374 : const bool curHasStopped = leaders.hasStoppedVehicle();
3127 35301374 : const int dir = latLaneDist < 0 ? -1 : 1;
3128 35301374 : const MSLane* neighBeyond = neighLane.getParallelLane(dir);
3129 35301374 : const bool hasLaneBeyond = checkCurrent && neighBeyond != nullptr && neighBeyond->allowsVehicleClass(myVehicle.getVClass());
3130 : UNUSED_PARAMETER(hasLaneBeyond);
3131 35301374 : if (curHasStopped) {
3132 93623 : leaders.getSubLanes(&myVehicle, 0, rightmost, leftmost);
3133 397394 : for (int i = rightmost; i <= leftmost; i++) {
3134 303771 : const CLeaderDist& leader = leaders[i];
3135 303771 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3136 182597 : const double overtakeDist = leader.second + myVehicle.getVehicleType().getLength() + leader.first->getVehicleType().getLengthWithGap();
3137 182597 : const double remaining = MIN2(neighDist, currentDist) - posOnLane;
3138 : #ifdef DEBUG_STRATEGIC_CHANGE
3139 : if (DEBUG_COND) {
3140 : std::cout << " overtakeDist=" << overtakeDist << " remaining=" << remaining
3141 : << " minDistToStopped=" << neighLead.getMinDistToStopped()
3142 : << " hasLaneBeyond=" << hasLaneBeyond
3143 : << "\n";
3144 : }
3145 : #endif
3146 : if (// current destination leaves enough space to overtake the leader
3147 : remaining > overtakeDist
3148 : // maybe do not overtake on the right at high speed
3149 64437 : && (!checkCurrent || !checkOverTakeRight || !right)
3150 245984 : && (!neighLead.hasStoppedVehicle() || neighLead.getMinDistToStopped() > overtakeDist /*|| (hasLaneBeyond && hasFreeLaneBeyond(neighBeyond, dir))*/)
3151 : //&& (neighLead.first == 0 || !neighLead.first->isStopped()
3152 : // // neighboring stopped vehicle leaves enough space to overtake leader
3153 : // || neighLead.second > overtakeDist))
3154 : ) {
3155 : // avoid becoming stuck behind a stopped leader
3156 36591 : currentDist = myVehicle.getPositionOnLane() + leader.second;
3157 36591 : myLeftSpace = currentDist - posOnLane;
3158 36591 : latDist = latLaneDist;
3159 : mustOvertake = true;
3160 : #ifdef DEBUG_STRATEGIC_CHANGE
3161 : if (DEBUG_COND) {
3162 : std::cout << " veh=" << myVehicle.getID() << " overtake stopped leader=" << leader.first->getID()
3163 : << " newCurrentDist=" << currentDist
3164 : << " overtakeDist=" << overtakeDist
3165 : << " remaining=" << remaining
3166 : << "\n";
3167 : }
3168 : #endif
3169 : }
3170 : }
3171 :
3172 : }
3173 : }
3174 35301374 : if (!mustOvertake && !curHasStopped && neighLead.hasStoppedVehicle()) {
3175 : // #todo fix this if the neigh lane has a different width
3176 150116 : const double offset = (latLaneDist < 0 ? -1 : 1) * myVehicle.getLane()->getWidth();
3177 126168 : neighLead.getSubLanes(&myVehicle, offset, rightmost, leftmost);
3178 626863 : for (int i = 0; i < leaders.numSublanes(); i++) {
3179 500695 : const CLeaderDist& leader = leaders[i];
3180 500695 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3181 : mustOvertake = true;
3182 0 : if (i >= rightmost && i <= leftmost) {
3183 0 : latDist = myVehicle.getLateralOverlap() * (latLaneDist > 0 ? -1 : 1);
3184 0 : break;
3185 : }
3186 : }
3187 : }
3188 : }
3189 35301374 : return mustOvertake;
3190 : }
3191 :
3192 :
3193 : double
3194 117770359 : MSLCM_SL2015::computeGapFactor(int state) const {
3195 117770359 : return (state & LCA_STRATEGIC) != 0 ? MAX2(0.0, (1.0 - myPushy * (1 + 0.5 * myImpatience))) : 1.0;
3196 : }
3197 :
3198 :
3199 : int
3200 115562710 : MSLCM_SL2015::keepLatGap(int state,
3201 : const MSLeaderDistanceInfo& leaders,
3202 : const MSLeaderDistanceInfo& followers,
3203 : const MSLeaderDistanceInfo& blockers,
3204 : const MSLeaderDistanceInfo& neighLeaders,
3205 : const MSLeaderDistanceInfo& neighFollowers,
3206 : const MSLeaderDistanceInfo& neighBlockers,
3207 : const MSLane& neighLane,
3208 : int laneOffset,
3209 : double& latDist,
3210 : double& maneuverDist,
3211 : int& blocked) {
3212 :
3213 : /* @notes
3214 : * vehicles may need to compromise between fulfilling lane change objectives
3215 : * (LCA_STRATEGIC, LCA_SPEED etc) and maintaining lateral gap. The minimum
3216 : * acceptable lateral gap depends on
3217 : * - the cultural context (China vs Europe)
3218 : * - the driver agressiveness (willingness to encroach on other vehicles to force them to move laterally as well)
3219 : * - see @note in checkBlocking
3220 : * - the vehicle type (car vs motorcycle)
3221 : * - the current speed
3222 : * - the speed difference
3223 : * - the importance / urgency of the desired maneuver
3224 : *
3225 : * the object of this method is to evaluate the above circumstances and
3226 : * either:
3227 : * - allow the current maneuver (state, latDist)
3228 : * - to override the current maneuver with a distance-keeping maneuver
3229 : *
3230 : *
3231 : * laneChangeModel/driver parameters
3232 : * - bool pushy (willingness to encroach)
3233 : * - float minGap at 100km/h (to be interpolated for lower speeds (assume 0 at speed 0)
3234 : * - gapFactors (a factor for each of the change reasons
3235 : *
3236 : * further assumptions
3237 : * - the maximum of egoSpeed and deltaSpeed can be used when interpolating minGap
3238 : * - distance keeping to the edges of the road can be ignored (for now)
3239 : *
3240 : * currentMinGap = minGap * min(1.0, max(v, abs(v - vOther)) / 100) * gapFactor[lc_reason]
3241 : *
3242 : * */
3243 :
3244 : /// XXX to be made configurable
3245 115562710 : double gapFactor = computeGapFactor(state);
3246 115562710 : const double oldLatDist = latDist;
3247 115562710 : const double oldManeuverDist = maneuverDist;
3248 : /// passed state is without traci-influence but we need it here
3249 115562710 : const int traciState = myVehicle.influenceChangeDecision(state);
3250 :
3251 : // compute gaps after maneuver
3252 115562710 : const double halfWidth = getWidth() * 0.5;
3253 : // if the current maneuver is blocked we will stay where we are
3254 115562710 : const double oldCenter = myVehicle.getCenterOnEdge();
3255 : // surplus gaps. these are used to collect various constraints
3256 : // if they do not permit the desired maneuvre, should override it to better maintain distance
3257 : // stay within the current edge
3258 115562710 : double surplusGapRight = oldCenter - halfWidth;
3259 115562710 : double surplusGapLeft = getLeftBorder(laneOffset != 0) - oldCenter - halfWidth;
3260 : const bool stayInLane = (laneOffset == 0
3261 115562710 : || ((traciState & LCA_STRATEGIC) != 0
3262 : && (traciState & LCA_STAY) != 0
3263 : // permit wide vehicles to stay on the road
3264 11633550 : && (surplusGapLeft >= 0 && surplusGapRight >= 0)));
3265 :
3266 115562710 : if (isOpposite()) {
3267 : std::swap(surplusGapLeft, surplusGapRight);
3268 : }
3269 : #ifdef DEBUG_KEEP_LATGAP
3270 : if (gDebugFlag2) {
3271 : std::cout << "\n " << SIMTIME << " keepLatGap() laneOffset=" << laneOffset
3272 : << " latDist=" << latDist
3273 : << " maneuverDist=" << maneuverDist
3274 : << " state=" << toString((LaneChangeAction)state)
3275 : << " traciState=" << toString((LaneChangeAction)traciState)
3276 : << " blocked=" << toString((LaneChangeAction)blocked)
3277 : << " gapFactor=" << gapFactor
3278 : << " stayInLane=" << stayInLane << "\n"
3279 : << " stayInEdge: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3280 : }
3281 : #endif
3282 : // staying within the edge overrides all minGap considerations
3283 115562710 : if (surplusGapLeft < 0 || surplusGapRight < 0) {
3284 : gapFactor = 0;
3285 : }
3286 :
3287 : // maintain gaps to vehicles on the current lane
3288 : // ignore vehicles that are too far behind
3289 115562710 : const double netOverlap = -myVehicle.getVehicleType().getLength() * 0.5;
3290 115562710 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3291 115562710 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3292 :
3293 115562710 : if (laneOffset != 0) {
3294 : // maintain gaps to vehicles on the target lane
3295 35545412 : const double neighRight = getNeighRight(neighLane);
3296 35545412 : updateGaps(neighLeaders, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3297 35545412 : updateGaps(neighFollowers, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3298 : }
3299 : #ifdef DEBUG_KEEP_LATGAP
3300 : if (gDebugFlag2) {
3301 : std::cout << " minGapLat: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n"
3302 : << " lastGaps: right=" << myLastLateralGapRight << " left=" << myLastLateralGapLeft << "\n";
3303 : }
3304 : #endif
3305 : // we also need to track the physical gap, in addition to the psychological gap
3306 115562710 : double physicalGapLeft = myLastLateralGapLeft == NO_NEIGHBOR ? surplusGapLeft : myLastLateralGapLeft;
3307 115562710 : double physicalGapRight = myLastLateralGapRight == NO_NEIGHBOR ? surplusGapRight : myLastLateralGapRight;
3308 :
3309 115562710 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
3310 115562710 : const double posLat = myVehicle.getLateralPositionOnLane() * (isOpposite() ? -1 : 1);
3311 115562710 : if (stayInLane || laneOffset == 1) {
3312 : // do not move past the right boundary of the current lane (traffic wasn't checked there)
3313 : // but assume it's ok to be where we are in case we are already beyond
3314 300216874 : surplusGapRight = MIN2(surplusGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3315 : physicalGapRight = MIN2(physicalGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3316 : }
3317 115562710 : if (stayInLane || laneOffset == -1) {
3318 : // do not move past the left boundary of the current lane (traffic wasn't checked there)
3319 : // but assume it's ok to be where we are in case we are already beyond
3320 282778494 : surplusGapLeft = MIN2(surplusGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3321 : physicalGapLeft = MIN2(physicalGapLeft, MAX2(0.0, halfLaneWidth - posLat - halfWidth));
3322 : }
3323 : #ifdef DEBUG_KEEP_LATGAP
3324 : if (gDebugFlag2) {
3325 : std::cout << " stayInLane: surplusGapRight=" << surplusGapRight << " surplusGapLeft=" << surplusGapLeft << "\n";
3326 : }
3327 : #endif
3328 :
3329 115562710 : if (surplusGapRight + surplusGapLeft < 0) {
3330 : // insufficient lateral space to fulfill all requirements. apportion space proportionally
3331 3351554 : if ((state & LCA_CHANGE_REASONS) == 0) {
3332 31756 : state |= LCA_SUBLANE;
3333 : }
3334 3351554 : const double equalDeficit = 0.5 * (surplusGapLeft + surplusGapRight);
3335 3351554 : if (surplusGapRight < surplusGapLeft) {
3336 : // shift further to the left but no further than there is physical space
3337 1061839 : const double delta = MIN2(equalDeficit - surplusGapRight, physicalGapLeft);
3338 1061839 : latDist = delta;
3339 1061839 : maneuverDist = delta;
3340 : #ifdef DEBUG_KEEP_LATGAP
3341 : if (gDebugFlag2) {
3342 : std::cout << " insufficient latSpace, move left: delta=" << delta << "\n";
3343 : }
3344 : #endif
3345 : } else {
3346 : // shift further to the right but no further than there is physical space
3347 2289715 : const double delta = MIN2(equalDeficit - surplusGapLeft, physicalGapRight);
3348 2289715 : latDist = -delta;
3349 2289715 : maneuverDist = -delta;
3350 : #ifdef DEBUG_KEEP_LATGAP
3351 : if (gDebugFlag2) {
3352 : std::cout << " insufficient latSpace, move right: delta=" << delta << "\n";
3353 : }
3354 : #endif
3355 : }
3356 : } else {
3357 : // sufficient space. move as far as the gaps permit
3358 112211156 : latDist = MAX2(MIN2(latDist, surplusGapLeft), -surplusGapRight);
3359 112211156 : maneuverDist = MAX2(MIN2(maneuverDist, surplusGapLeft), -surplusGapRight);
3360 112211156 : if ((state & LCA_KEEPRIGHT) != 0 && maneuverDist != oldManeuverDist) {
3361 : // don't start keepRight unless it can be completed
3362 145427 : latDist = oldLatDist;
3363 145427 : maneuverDist = oldManeuverDist;
3364 : }
3365 : #ifdef DEBUG_KEEP_LATGAP
3366 : if (gDebugFlag2) {
3367 : std::cout << " adapted latDist=" << latDist << " maneuverDist=" << maneuverDist << " (old=" << oldLatDist << ")\n";
3368 : }
3369 : #endif
3370 : }
3371 : // take into account overriding traci sublane-request
3372 115562710 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0) {
3373 : // @note: the influence is reset in MSAbstractLaneChangeModel::setOwnState at the end of the lane-changing code for this vehicle
3374 2226 : latDist = myVehicle.getInfluencer().getLatDist();
3375 2226 : maneuverDist = myVehicle.getInfluencer().getLatDist();
3376 2226 : if (latDist < 0) {
3377 2465 : mySafeLatDistRight = MAX2(-latDist, mySafeLatDistRight);
3378 : } else {
3379 1542 : mySafeLatDistLeft = MAX2(latDist, mySafeLatDistLeft);
3380 : }
3381 2226 : state |= LCA_TRACI;
3382 : #ifdef DEBUG_KEEP_LATGAP
3383 : if (gDebugFlag2) {
3384 : std::cout << " traci influenced latDist=" << latDist << "\n";
3385 : }
3386 : #endif
3387 : }
3388 : // if we cannot move in the desired direction, consider the maneuver blocked anyway
3389 115562710 : const bool nonSublaneChange = (state & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT)) != 0;
3390 115562710 : const bool traciChange = ((state | traciState) & LCA_TRACI) != 0;
3391 115562710 : if (nonSublaneChange && !traciChange) {
3392 19229058 : if ((latDist < NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist > 0)) {
3393 : #ifdef DEBUG_KEEP_LATGAP
3394 : if (gDebugFlag2) {
3395 : std::cout << " wanted changeToLeft oldLatDist=" << oldLatDist << ", blocked latGap changeToRight\n";
3396 : }
3397 : #endif
3398 1146153 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3399 1146153 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_LEFT;
3400 18082905 : } else if ((latDist > -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) && (oldLatDist < 0)) {
3401 : #ifdef DEBUG_KEEP_LATGAP
3402 : if (gDebugFlag2) {
3403 : std::cout << " wanted changeToRight oldLatDist=" << oldLatDist << ", blocked latGap changeToLeft\n";
3404 : }
3405 : #endif
3406 731592 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3407 731592 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_RIGHT;
3408 : }
3409 : }
3410 : // if we move, even though we wish to stay, update the change reason (except for TraCI)
3411 115562710 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() && oldLatDist == 0) {
3412 969440 : state &= (~(LCA_CHANGE_REASONS | LCA_STAY) | LCA_TRACI);
3413 : }
3414 : // update blocked status
3415 115562710 : if (fabs(latDist - oldLatDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3416 : #ifdef DEBUG_KEEP_LATGAP
3417 : if (gDebugFlag2) {
3418 : std::cout << " latDistUpdated=" << latDist << " oldLatDist=" << oldLatDist << "\n";
3419 : }
3420 : #endif
3421 4074393 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset, leaders, followers, blockers, neighLeaders, neighFollowers, neighBlockers, nullptr, nullptr, nonSublaneChange);
3422 : }
3423 115562710 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3424 14306609 : state = (state & ~LCA_STAY);
3425 14306609 : if ((state & LCA_CHANGE_REASONS) == 0) {
3426 968248 : state |= LCA_SUBLANE;
3427 : }
3428 : } else {
3429 101256101 : if ((state & LCA_SUBLANE) != 0) {
3430 88325957 : state |= LCA_STAY;
3431 : }
3432 : // avoid setting blinker due to numerical issues
3433 101256101 : latDist = 0;
3434 : }
3435 : #if defined(DEBUG_KEEP_LATGAP) || defined(DEBUG_STATE)
3436 : if (gDebugFlag2) {
3437 : std::cout << " latDist2=" << latDist
3438 : << " state2=" << toString((LaneChangeAction)state)
3439 : << " lastGapLeft=" << myLastLateralGapLeft
3440 : << " lastGapRight=" << myLastLateralGapRight
3441 : << " blockedAfter=" << toString((LaneChangeAction)blocked)
3442 : << "\n";
3443 : }
3444 : #endif
3445 115562710 : return state;
3446 : }
3447 :
3448 :
3449 : void
3450 382731026 : MSLCM_SL2015::updateGaps(const MSLeaderDistanceInfo& others, double foeOffset, double oldCenter, double gapFactor,
3451 : double& surplusGapRight, double& surplusGapLeft,
3452 : bool saveMinGap, double netOverlap,
3453 : double latDist,
3454 : std::vector<CLeaderDist>* collectBlockers) {
3455 382731026 : if (others.hasVehicles()) {
3456 324753231 : const double halfWidth = getWidth() * 0.5 + NUMERICAL_EPS;
3457 324753231 : const double baseMinGap = myMinGapLat;
3458 1712620099 : for (int i = 0; i < others.numSublanes(); ++i) {
3459 2698475368 : if (others[i].first != 0 && others[i].second <= 0
3460 1418938592 : && myCFRelated.count(others[i].first) == 0
3461 1588194051 : && (netOverlap == 0 || others[i].second + others[i].first->getVehicleType().getMinGap() < netOverlap)) {
3462 : /// foe vehicle occupies full sublanes
3463 169408803 : const MSVehicle* foe = others[i].first;
3464 169408803 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : others[i].first->getLane()->getWidth();
3465 : double foeRight, foeLeft;
3466 169408803 : others.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3467 169408803 : const double foeCenter = foeRight + 0.5 * res;
3468 169408803 : const double gap = MIN2(fabs(foeRight - oldCenter), fabs(foeLeft - oldCenter)) - halfWidth;
3469 169408803 : const double deltaV = MIN2(LATGAP_SPEED_THRESHOLD, MAX3(LATGAP_SPEED_THRESHOLD2, myVehicle.getSpeed(), fabs(myVehicle.getSpeed() - foe->getSpeed())));
3470 169408803 : const double desiredMinGap = baseMinGap * deltaV / LATGAP_SPEED_THRESHOLD;
3471 169408803 : const double currentMinGap = desiredMinGap * gapFactor; // pushy vehicles may accept a lower lateral gap temporarily
3472 : /*
3473 : if (netOverlap != 0) {
3474 : // foe vehicle is follower with its front ahead of the ego midpoint
3475 : // scale gap requirements so it gets lower for foe which are further behind ego
3476 : //
3477 : // relOverlap approaches 0 as the foe gets closer to the midpoint and it equals 1 if the foe is driving head-to-head
3478 : const double relOverlap = 1 - (others[i].second + others[i].first->getVehicleType().getMinGap()) / netOverlap;
3479 : currentMinGap *= currOverlap * relOverlap;
3480 : }
3481 : */
3482 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3483 : if (debugVehicle()) {
3484 : std::cout << " updateGaps"
3485 : << " i=" << i
3486 : << " foe=" << foe->getID()
3487 : << " foeRight=" << foeRight
3488 : << " foeLeft=" << foeLeft
3489 : << " oldCenter=" << oldCenter
3490 : << " gap=" << others[i].second
3491 : << " latgap=" << gap
3492 : << " currentMinGap=" << currentMinGap
3493 : << " surplusGapRight=" << surplusGapRight
3494 : << " surplusGapLeft=" << surplusGapLeft
3495 : << "\n";
3496 : }
3497 : #endif
3498 :
3499 : // If foe is maneuvering towards ego, reserve some additional distance.
3500 : // But don't expect the foe to come closer than currentMinGap if it isn't already there.
3501 : // (XXX: How can the ego know the foe's maneuver dist?)
3502 169408803 : if (foeCenter < oldCenter) { // && foe->getLaneChangeModel().getSpeedLat() > 0) {
3503 83818775 : const double foeManeuverDist = MAX2(0., foe->getLaneChangeModel().getManeuverDist());
3504 241799337 : surplusGapRight = MIN3(surplusGapRight, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3505 : } else { //if (foeCenter > oldCenter && foe->getLaneChangeModel().getSpeedLat() < 0) {
3506 85590028 : const double foeManeuverDist = -MIN2(0., foe->getLaneChangeModel().getManeuverDist());
3507 248234946 : surplusGapLeft = MIN3(surplusGapLeft, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3508 : }
3509 169408803 : if (saveMinGap) {
3510 82217428 : if (foeCenter < oldCenter) {
3511 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3512 : if (gDebugFlag2 && gap < myLastLateralGapRight) {
3513 : std::cout << " new minimum rightGap=" << gap << "\n";
3514 : }
3515 : #endif
3516 75297804 : myLastLateralGapRight = MIN2(myLastLateralGapRight, gap);
3517 : } else {
3518 : #if defined(DEBUG_BLOCKING) || defined(DEBUG_KEEP_LATGAP)
3519 : if (gDebugFlag2 && gap < myLastLateralGapLeft) {
3520 : std::cout << " new minimum leftGap=" << gap << "\n";
3521 : }
3522 : #endif
3523 52560164 : myLastLateralGapLeft = MIN2(myLastLateralGapLeft, gap);
3524 : }
3525 : }
3526 169408803 : if (collectBlockers != nullptr) {
3527 : // check if the vehicle is blocking a desire lane change
3528 8584619 : if ((foeCenter < oldCenter && latDist < 0 && gap < (desiredMinGap - latDist))
3529 6114406 : || (foeCenter > oldCenter && latDist > 0 && gap < (desiredMinGap + latDist))) {
3530 7453864 : collectBlockers->push_back(others[i]);
3531 : }
3532 : }
3533 : }
3534 : }
3535 : }
3536 382731026 : }
3537 :
3538 :
3539 : double
3540 1064611484 : MSLCM_SL2015::getWidth() const {
3541 1064611484 : return myVehicle.getVehicleType().getWidth() + NUMERICAL_EPS;
3542 : }
3543 :
3544 :
3545 : double
3546 116373478 : MSLCM_SL2015::computeSpeedLat(double latDist, double& maneuverDist, bool urgent) const {
3547 116373478 : int currentDirection = mySpeedLat >= 0 ? 1 : -1;
3548 116373478 : int directionWish = latDist >= 0 ? 1 : -1;
3549 116373478 : double maxSpeedLat = myVehicle.getVehicleType().getMaxSpeedLat();
3550 116373478 : double accelLat = myAccelLat;
3551 116373478 : if (!urgent && (myLeftSpace > POSITION_EPS || myMaxSpeedLatFactor < 0)) {
3552 67186240 : const double speedBound = myMaxSpeedLatStanding + myMaxSpeedLatFactor * myVehicle.getSpeed();
3553 67186240 : if (myMaxSpeedLatFactor >= 0) {
3554 : // speedbound increases with speed and needs an upper bound
3555 : maxSpeedLat = MIN2(maxSpeedLat, speedBound);
3556 : } else {
3557 : // speedbound decreases with speed and needs a lower bound
3558 : // (only useful if myMaxSpeedLatStanding > maxSpeedLat)
3559 : maxSpeedLat = MAX2(maxSpeedLat, speedBound);
3560 : // increase (never decrease) lateral acceleration in proportion
3561 498 : accelLat *= MAX2(1.0, speedBound / myVehicle.getVehicleType().getMaxSpeedLat());
3562 : }
3563 : }
3564 116373478 : if (getWidth() < myVehicle.getCurrentEdge()->getWidth() && !isOpposite()) {
3565 116281875 : const double rightVehSide = myVehicle.getRightSideOnEdge();
3566 116281875 : const double edgeOverlap = MAX2(-rightVehSide, rightVehSide + myVehicle.getVehicleType().getWidth() - myVehicle.getCurrentEdge()->getWidth());
3567 : // if vehicle is outside edge bounds. Permit stronger lateral maneuvering
3568 116281875 : accelLat = MAX2(accelLat, 2 * edgeOverlap);
3569 : maxSpeedLat = MAX2(maxSpeedLat, edgeOverlap);
3570 : }
3571 :
3572 : #ifdef DEBUG_MANEUVER
3573 : if (debugVehicle()) {
3574 : std::cout << SIMTIME
3575 : << " veh=" << myVehicle.getID()
3576 : << " computeSpeedLat()"
3577 : << " latDist=" << latDist
3578 : << " maneuverDist=" << maneuverDist
3579 : << " urgent=" << urgent
3580 : << " speedLat=" << mySpeedLat
3581 : << " currentDirection=" << currentDirection
3582 : << " directionWish=" << directionWish
3583 : << " myLeftSpace=" << myLeftSpace
3584 : << " maxSpeedLat=" << maxSpeedLat
3585 : << std::endl;
3586 : }
3587 : #endif
3588 : // reduced lateral speed (in the desired direction). Don't change direction against desired.
3589 : double speedDecel;
3590 116373478 : if (directionWish == 1) {
3591 108746418 : speedDecel = MAX2(mySpeedLat - ACCEL2SPEED(accelLat), 0.);
3592 : } else {
3593 7627060 : speedDecel = MIN2(mySpeedLat + ACCEL2SPEED(accelLat), 0.);
3594 : }
3595 : // increased lateral speed (in the desired direction)
3596 116373478 : double speedAccel = MAX2(MIN2(mySpeedLat + directionWish * ACCEL2SPEED(accelLat), maxSpeedLat), -maxSpeedLat);
3597 :
3598 : // can we reach the target distance in a single step? (XXX: assumes "Euler" update)
3599 116373478 : double speedBound = DIST2SPEED(latDist);
3600 : // for lat-gap keeping maneuvres myOrigLatDist may be 0
3601 226167731 : const double fullLatDist = latDist > 0 ? MIN2(mySafeLatDistLeft, MAX2(maneuverDist, latDist)) : MAX2(-mySafeLatDistRight, MIN2(maneuverDist, latDist));
3602 :
3603 : // update maneuverDist, if safety constraints apply in its direction
3604 116373478 : if (maneuverDist * latDist > 0) {
3605 14250457 : maneuverDist = fullLatDist;
3606 : }
3607 :
3608 : #ifdef DEBUG_MANEUVER
3609 : if (debugVehicle()) {
3610 : std::cout << " mySafeLatDistRight=" << mySafeLatDistRight
3611 : << " mySafeLatDistLeft=" << mySafeLatDistLeft
3612 : << " fullLatDist=" << fullLatDist
3613 : << " speedAccel=" << speedAccel
3614 : << " speedDecel=" << speedDecel
3615 : << " speedBound=" << speedBound
3616 : << std::endl;
3617 : }
3618 : #endif
3619 116373478 : if (speedDecel * speedAccel <= 0 && (
3620 : // speedAccel and speedDecel bracket speed 0. This means we can end the maneuver
3621 107985371 : (latDist >= 0 && speedAccel >= speedBound && speedBound >= speedDecel)
3622 8705440 : || (latDist <= 0 && speedAccel <= speedBound && speedBound <= speedDecel))) {
3623 : // we can reach the desired value in this step
3624 : #ifdef DEBUG_MANEUVER
3625 : if (debugVehicle()) {
3626 : std::cout << " computeSpeedLat a)\n";
3627 : }
3628 : #endif
3629 : return speedBound;
3630 : }
3631 : // are we currently moving in the wrong direction?
3632 3679351 : if (latDist * mySpeedLat < 0) {
3633 : #ifdef DEBUG_MANEUVER
3634 : if (debugVehicle()) {
3635 : std::cout << " computeSpeedLat b)\n";
3636 : }
3637 : #endif
3638 445184 : return emergencySpeedLat(speedAccel);
3639 : }
3640 : // check if the remaining distance allows to accelerate laterally
3641 3234167 : double minDistAccel = SPEED2DIST(speedAccel) + currentDirection * MSCFModel::brakeGapEuler(fabs(speedAccel), accelLat, 0); // most we can move in the target direction
3642 3234167 : if ((fabs(minDistAccel) < fabs(fullLatDist)) || (fabs(minDistAccel - fullLatDist) < NUMERICAL_EPS)) {
3643 : #ifdef DEBUG_MANEUVER
3644 : if (debugVehicle()) {
3645 : std::cout << " computeSpeedLat c)\n";
3646 : }
3647 : #endif
3648 : return speedAccel;
3649 : } else {
3650 : #ifdef DEBUG_MANEUVER
3651 : if (debugVehicle()) {
3652 : std::cout << " minDistAccel=" << minDistAccel << "\n";
3653 : }
3654 : #endif
3655 : // check if the remaining distance allows to maintain current lateral speed
3656 612796 : double minDistCurrent = SPEED2DIST(mySpeedLat) + currentDirection * MSCFModel::brakeGapEuler(fabs(mySpeedLat), accelLat, 0);
3657 612796 : if ((fabs(minDistCurrent) < fabs(fullLatDist)) || (fabs(minDistCurrent - fullLatDist) < NUMERICAL_EPS)) {
3658 : #ifdef DEBUG_MANEUVER
3659 : if (debugVehicle()) {
3660 : std::cout << " computeSpeedLat d)\n";
3661 : }
3662 : #endif
3663 145680 : return mySpeedLat;
3664 : }
3665 : }
3666 : // reduce lateral speed
3667 : #ifdef DEBUG_MANEUVER
3668 : if (debugVehicle()) {
3669 : std::cout << " computeSpeedLat e)\n";
3670 : }
3671 : #endif
3672 467116 : return emergencySpeedLat(speedDecel);
3673 : }
3674 :
3675 :
3676 : double
3677 912300 : MSLCM_SL2015::emergencySpeedLat(double speedLat) const {
3678 : // reduce lateral speed for safety purposes
3679 912300 : if (speedLat < 0 && SPEED2DIST(-speedLat) > mySafeLatDistRight) {
3680 14673 : speedLat = -DIST2SPEED(mySafeLatDistRight);
3681 : #ifdef DEBUG_MANEUVER
3682 : if (debugVehicle()) {
3683 : std::cout << " rightDanger speedLat=" << speedLat << "\n";
3684 : }
3685 : #endif
3686 897627 : } else if (speedLat > 0 && SPEED2DIST(speedLat) > mySafeLatDistLeft) {
3687 24016 : speedLat = DIST2SPEED(mySafeLatDistLeft);
3688 : #ifdef DEBUG_MANEUVER
3689 : if (debugVehicle()) {
3690 : std::cout << " leftDanger speedLat=" << speedLat << "\n";
3691 : }
3692 : #endif
3693 : }
3694 912300 : return speedLat;
3695 : }
3696 :
3697 :
3698 : LatAlignmentDefinition
3699 97017356 : MSLCM_SL2015::getDesiredAlignment() const {
3700 : LatAlignmentDefinition align = MSAbstractLaneChangeModel::getDesiredAlignment();
3701 : // Check whether the vehicle should adapt its alignment to an upcoming turn
3702 97017356 : if (myTurnAlignmentDist > 0) {
3703 376643 : const std::pair<double, const MSLink*>& turnInfo = myVehicle.getNextTurn();
3704 376643 : const LinkDirection turnDir = turnInfo.second == nullptr ? LinkDirection::NODIR : turnInfo.second->getDirection();
3705 376643 : const bool indirect = turnInfo.second == nullptr ? false : turnInfo.second->isIndirect();
3706 376643 : if (turnInfo.first < myTurnAlignmentDist) {
3707 : // Vehicle is close enough to the link to change its default alignment
3708 158642 : switch (turnDir) {
3709 13757 : case LinkDirection::TURN:
3710 : case LinkDirection::LEFT:
3711 : case LinkDirection::PARTLEFT:
3712 13757 : if (myVehicle.getLane()->getBidiLane() == nullptr) {
3713 : // no left alignment on bidi lane to avoid blocking oncoming traffic
3714 13689 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::RIGHT : LatAlignmentDefinition::LEFT;
3715 : }
3716 : break;
3717 12791 : case LinkDirection::TURN_LEFTHAND:
3718 : case LinkDirection::RIGHT:
3719 : case LinkDirection::PARTRIGHT:
3720 12791 : align = MSGlobals::gLefthand != indirect ? LatAlignmentDefinition::LEFT : LatAlignmentDefinition::RIGHT;
3721 : break;
3722 : case LinkDirection::STRAIGHT:
3723 : case LinkDirection::NODIR:
3724 : default:
3725 : break;
3726 : }
3727 : }
3728 : }
3729 97017356 : return align;
3730 : }
3731 :
3732 :
3733 : void
3734 902046 : MSLCM_SL2015::commitManoeuvre(int blocked, int blockedFully,
3735 : const MSLeaderDistanceInfo& leaders,
3736 : const MSLeaderDistanceInfo& neighLeaders,
3737 : const MSLane& neighLane,
3738 : double maneuverDist) {
3739 902046 : if (!blocked && !blockedFully && !myCanChangeFully) {
3740 : // round to full action steps
3741 : double secondsToLeaveLane;
3742 477595 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3743 408796 : secondsToLeaveLane = ceil(fabs(maneuverDist) / myVehicle.getVehicleType().getMaxSpeedLat() / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3744 : // XXX myAccelLat must be taken into account (refs #3601, see ballistic case for solution)
3745 :
3746 : // XXX This also causes probs: if the difference between the current speed and the committed is higher than the maximal decel,
3747 : // the vehicle may pass myLeftSpace before completing the maneuver.
3748 817592 : myCommittedSpeed = MIN3(myLeftSpace / secondsToLeaveLane,
3749 408796 : myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle),
3750 408796 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3751 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3752 : if (debugVehicle()) {
3753 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myCommittedSpeed=" << myCommittedSpeed << " leftSpace=" << myLeftSpace << " secondsToLeave=" << secondsToLeaveLane << "\n";
3754 : }
3755 : #endif
3756 : } else {
3757 :
3758 : // Calculate seconds needed for leaving lane assuming start from lateral speed zero, and lat.accel == -lat.decel
3759 68799 : secondsToLeaveLane = MSCFModel::estimateArrivalTime(fabs(maneuverDist), 0., 0., myVehicle.getVehicleType().getMaxSpeedLat(), myAccelLat, myAccelLat);
3760 : // round to full action steps
3761 68799 : secondsToLeaveLane = ceil(secondsToLeaveLane / myVehicle.getActionStepLengthSecs()) * myVehicle.getActionStepLengthSecs();
3762 :
3763 : // committed speed will eventually be pushed into a drive item during the next planMove() step. This item
3764 : // will not be read before the next action step at current time + actionStepLength-TS, so we need to schedule the corresponding speed.
3765 68799 : const double timeTillActionStep = myVehicle.getActionStepLengthSecs() - TS;
3766 68799 : const double nextActionStepSpeed = MAX2(0., myVehicle.getSpeed() + timeTillActionStep * myVehicle.getAcceleration());
3767 : double nextLeftSpace;
3768 68442 : if (nextActionStepSpeed > 0.) {
3769 68439 : nextLeftSpace = myLeftSpace - timeTillActionStep * (myVehicle.getSpeed() + nextActionStepSpeed) * 0.5;
3770 360 : } else if (myVehicle.getAcceleration() == 0) {
3771 0 : nextLeftSpace = myLeftSpace;
3772 : } else {
3773 : assert(myVehicle.getAcceleration() < 0.);
3774 360 : nextLeftSpace = myLeftSpace + (myVehicle.getSpeed() * myVehicle.getSpeed() / myVehicle.getAcceleration()) * 0.5;
3775 : }
3776 68799 : const double avoidArrivalSpeed = nextActionStepSpeed + ACCEL2SPEED(MSCFModel::avoidArrivalAccel(
3777 : nextLeftSpace, secondsToLeaveLane - timeTillActionStep, nextActionStepSpeed, myVehicle.getCarFollowModel().getEmergencyDecel()));
3778 :
3779 137598 : myCommittedSpeed = MIN3(avoidArrivalSpeed,
3780 68799 : myVehicle.getSpeed() + myVehicle.getCarFollowModel().getMaxAccel() * myVehicle.getActionStepLengthSecs(),
3781 68799 : myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle));
3782 :
3783 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3784 : if (gDebugFlag2) {
3785 : std::cout << SIMTIME
3786 : << " veh=" << myVehicle.getID()
3787 : << " avoidArrivalSpeed=" << avoidArrivalSpeed
3788 : << " currentSpeed=" << myVehicle.getSpeed()
3789 : << " myLeftSpace=" << myLeftSpace
3790 : << "\n nextLeftSpace=" << nextLeftSpace
3791 : << " nextActionStepSpeed=" << nextActionStepSpeed
3792 : << " nextActionStepRemainingSeconds=" << secondsToLeaveLane - timeTillActionStep
3793 : << "\n";
3794 : }
3795 : #endif
3796 : }
3797 477595 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, leaders, myVehicle.getLane()->getRightSideOnEdge());
3798 477595 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, neighLeaders, neighLane.getRightSideOnEdge());
3799 477595 : if (myCommittedSpeed < myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle)) {
3800 71492 : myCommittedSpeed = 0;
3801 : }
3802 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3803 : if (gDebugFlag2) {
3804 : std::cout << SIMTIME
3805 : << " veh=" << myVehicle.getID()
3806 : << " secondsToLeave=" << secondsToLeaveLane
3807 : << " maxNext=" << myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)
3808 : << " committed=" << myCommittedSpeed
3809 : << "\n";
3810 : }
3811 : #endif
3812 : }
3813 902046 : }
3814 :
3815 : double
3816 955190 : MSLCM_SL2015::commitFollowSpeed(double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo& leaders, double foeOffset) const {
3817 955190 : if (leaders.hasVehicles()) {
3818 : // we distinguish 3 cases
3819 : // - vehicles with lateral overlap at the end of the maneuver: try to follow safely
3820 : // - vehicles with overlap at the start of the maneuver: avoid collision within secondsToLeaveLane
3821 : // - vehicles without overlap: ignore
3822 :
3823 448195 : const double maxDecel = myVehicle.getCarFollowModel().getMaxDecel();
3824 : // temporarily use another decel value
3825 : MSCFModel& cfmodel = const_cast<MSCFModel&>(myVehicle.getCarFollowModel());
3826 448195 : cfmodel.setMaxDecel(maxDecel / getSafetyFactor());
3827 :
3828 448195 : const double vehWidth = getWidth();
3829 448195 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
3830 448195 : const double leftVehSide = rightVehSide + vehWidth;
3831 448195 : const double rightVehSideDest = rightVehSide + latDist;
3832 448195 : const double leftVehSideDest = leftVehSide + latDist;
3833 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3834 : if (gDebugFlag2) {
3835 : std::cout << " commitFollowSpeed"
3836 : << " latDist=" << latDist
3837 : << " foeOffset=" << foeOffset
3838 : << " vehRight=" << rightVehSide
3839 : << " vehLeft=" << leftVehSide
3840 : << " destRight=" << rightVehSideDest
3841 : << " destLeft=" << leftVehSideDest
3842 : << "\n";
3843 : }
3844 : #endif
3845 2524931 : for (int i = 0; i < leaders.numSublanes(); ++i) {
3846 2076736 : CLeaderDist vehDist = leaders[i];
3847 2076736 : if (vehDist.first != 0) {
3848 : const MSVehicle* leader = vehDist.first;
3849 : // only check the current stripe occuped by foe (transform into edge-coordinates)
3850 : double foeRight, foeLeft;
3851 1628557 : leaders.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3852 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3853 : if (gDebugFlag2) {
3854 : std::cout << " foe=" << vehDist.first->getID()
3855 : << " gap=" << vehDist.second
3856 : << " secGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, leader, myVehicle.getSpeed(), leader->getSpeed(), leader->getCarFollowModel().getMaxDecel())
3857 : << " foeRight=" << foeRight
3858 : << " foeLeft=" << foeLeft
3859 : << " overlapBefore=" << overlap(rightVehSide, leftVehSide, foeRight, foeLeft)
3860 : << " overlapDest=" << overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)
3861 : << "\n";
3862 : }
3863 : #endif
3864 1628557 : if (overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)) {
3865 : // case 1
3866 738702 : const double vSafe = myVehicle.getCarFollowModel().followSpeed(
3867 738702 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3868 : speed = MIN2(speed, vSafe);
3869 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3870 : if (gDebugFlag2) {
3871 : std::cout << " case1 vsafe=" << vSafe << " speed=" << speed << "\n";
3872 : }
3873 : #endif
3874 889855 : } else if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft)) {
3875 : // case 2
3876 446108 : const double vSafe = myVehicle.getCarFollowModel().followSpeedTransient(
3877 : secondsToLeaveLane,
3878 446108 : &myVehicle, speed, vehDist.second, leader->getSpeed(), leader->getCarFollowModel().getMaxDecel());
3879 : speed = MIN2(speed, vSafe);
3880 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_COMMITTED_SPEED)
3881 : if (gDebugFlag2) {
3882 : std::cout << " case2 vsafe=" << vSafe << " speed=" << speed << "\n";
3883 : }
3884 : #endif
3885 : }
3886 : }
3887 : }
3888 : // restore original deceleration
3889 448195 : cfmodel.setMaxDecel(maxDecel);
3890 :
3891 : }
3892 955190 : return speed;
3893 : }
3894 :
3895 : double
3896 772785830 : MSLCM_SL2015::getSafetyFactor() const {
3897 772785830 : return 1 / ((1 + 0.5 * myImpatience) * myAssertive);
3898 : }
3899 :
3900 : double
3901 1831724 : MSLCM_SL2015::getOppositeSafetyFactor() const {
3902 1831724 : return myOppositeParam <= 0 ? std::numeric_limits<double>::max() : 1 / myOppositeParam;
3903 : }
3904 :
3905 :
3906 : std::string
3907 154 : MSLCM_SL2015::getParameter(const std::string& key) const {
3908 154 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
3909 36 : return toString(myStrategicParam);
3910 118 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
3911 36 : return toString(myCooperativeParam);
3912 82 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
3913 36 : return toString(mySpeedGainParam);
3914 46 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
3915 0 : return toString(myKeepRightParam);
3916 46 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
3917 0 : return toString(myOppositeParam);
3918 46 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
3919 0 : return toString(mySublaneParam);
3920 46 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
3921 46 : return toString(myMinGapLat);
3922 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
3923 0 : return toString(myPushy);
3924 0 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
3925 0 : return toString((myPushy - 1) * myMinGapLat);
3926 0 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
3927 0 : return toString(myAssertive);
3928 0 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
3929 0 : return toString(myImpatience);
3930 0 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
3931 0 : return toString(myTimeToImpatience);
3932 0 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
3933 0 : return toString(myAccelLat);
3934 0 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
3935 0 : return toString(myLookaheadLeft);
3936 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
3937 0 : return toString(mySpeedGainRight);
3938 0 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
3939 0 : return toString(myLaneDiscipline);
3940 0 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
3941 0 : return toString(mySigma);
3942 0 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
3943 0 : return toString(myKeepRightAcceptanceTime);
3944 0 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
3945 0 : return toString(myOvertakeDeltaSpeedFactor);
3946 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
3947 0 : return toString(mySpeedGainLookahead);
3948 0 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
3949 0 : return toString(mySpeedGainRemainTime);
3950 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
3951 0 : return toString(myRoundaboutBonus);
3952 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
3953 0 : return toString(myCooperativeSpeed);
3954 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
3955 0 : return toString(myMaxSpeedLatStanding);
3956 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
3957 0 : return toString(myMaxSpeedLatFactor);
3958 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
3959 0 : return toString(myMaxDistLatStanding);
3960 : // access to internal state for debugging in sumo-gui (not documented since it may change at any time)
3961 0 : } else if (key == "speedGainProbabilityRight") {
3962 0 : return toString(mySpeedGainProbabilityRight);
3963 0 : } else if (key == "speedGainProbabilityLeft") {
3964 0 : return toString(mySpeedGainProbabilityLeft);
3965 0 : } else if (key == "keepRightProbability") {
3966 0 : return toString(myKeepRightProbability);
3967 0 : } else if (key == "lookAheadSpeed") {
3968 0 : return toString(myLookAheadSpeed);
3969 0 : } else if (key == "sigmaState") {
3970 0 : return toString(mySigmaState);
3971 : // motivation relative to threshold
3972 0 : } else if (key == "speedGainRP") {
3973 0 : return toString(mySpeedGainProbabilityRight / myChangeProbThresholdRight);
3974 0 : } else if (key == "speedGainLP") {
3975 0 : return toString(mySpeedGainProbabilityLeft / myChangeProbThresholdLeft);
3976 0 : } else if (key == "keepRightP") {
3977 0 : return toString(myKeepRightProbability * myKeepRightParam / myChangeProbThresholdRight);
3978 : }
3979 0 : throw InvalidArgument("Parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
3980 : }
3981 :
3982 : void
3983 278292 : MSLCM_SL2015::setParameter(const std::string& key, const std::string& value) {
3984 : double doubleValue;
3985 : try {
3986 278292 : doubleValue = StringUtils::toDouble(value);
3987 0 : } catch (NumberFormatException&) {
3988 0 : throw InvalidArgument("Setting parameter '" + key + "' requires a number for laneChangeModel of type '" + toString(myModel) + "'");
3989 0 : }
3990 278292 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
3991 71256 : myStrategicParam = doubleValue;
3992 207036 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
3993 0 : myCooperativeParam = doubleValue;
3994 207036 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
3995 0 : mySpeedGainParam = doubleValue;
3996 207036 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
3997 0 : myKeepRightParam = doubleValue;
3998 207036 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
3999 0 : myOppositeParam = doubleValue;
4000 207036 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
4001 0 : mySublaneParam = doubleValue;
4002 207036 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
4003 69018 : myMinGapLat = doubleValue;
4004 138018 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
4005 0 : myPushy = doubleValue;
4006 138018 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
4007 0 : myPushy = 1 - doubleValue / myMinGapLat;
4008 138018 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
4009 0 : myAssertive = doubleValue;
4010 138018 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
4011 0 : myImpatience = doubleValue;
4012 0 : myMinImpatience = doubleValue;
4013 138018 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
4014 0 : myTimeToImpatience = doubleValue;
4015 138018 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
4016 0 : myAccelLat = doubleValue;
4017 138018 : } else if (key == toString(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE)) {
4018 0 : myTurnAlignmentDist = doubleValue;
4019 138018 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
4020 0 : myLookaheadLeft = doubleValue;
4021 138018 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
4022 0 : mySpeedGainRight = doubleValue;
4023 138018 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
4024 0 : myLaneDiscipline = doubleValue;
4025 138018 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
4026 0 : mySigma = doubleValue;
4027 138018 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
4028 0 : myKeepRightAcceptanceTime = doubleValue;
4029 138018 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
4030 0 : myOvertakeDeltaSpeedFactor = doubleValue;
4031 138018 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
4032 69009 : mySpeedGainLookahead = doubleValue;
4033 69009 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
4034 69009 : mySpeedGainRemainTime = doubleValue;
4035 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT)) {
4036 0 : myRoundaboutBonus = doubleValue;
4037 0 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_SPEED)) {
4038 0 : myCooperativeSpeed = doubleValue;
4039 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATSTANDING)) {
4040 0 : myMaxSpeedLatStanding = doubleValue;
4041 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXSPEEDLATFACTOR)) {
4042 0 : myMaxSpeedLatFactor = doubleValue;
4043 0 : } else if (key == toString(SUMO_ATTR_LCA_MAXDISTLATSTANDING)) {
4044 0 : myMaxDistLatStanding = doubleValue;
4045 : // access to internal state
4046 0 : } else if (key == "speedGainProbabilityRight") {
4047 0 : mySpeedGainProbabilityRight = doubleValue;
4048 0 : } else if (key == "speedGainProbabilityLeft") {
4049 0 : mySpeedGainProbabilityLeft = doubleValue;
4050 0 : } else if (key == "keepRightProbability") {
4051 0 : myKeepRightProbability = doubleValue;
4052 0 : } else if (key == "lookAheadSpeed") {
4053 0 : myLookAheadSpeed = doubleValue;
4054 0 : } else if (key == "sigmaState") {
4055 0 : mySigmaState = doubleValue;
4056 : } else {
4057 0 : throw InvalidArgument("Setting parameter '" + key + "' is not supported for laneChangeModel of type '" + toString(myModel) + "'");
4058 : }
4059 278292 : initDerivedParameters();
4060 278292 : }
4061 :
4062 :
4063 : int
4064 3259 : MSLCM_SL2015::wantsChange(
4065 : int laneOffset,
4066 : MSAbstractLaneChangeModel::MSLCMessager& /* msgPass */,
4067 : int blocked,
4068 : const std::pair<MSVehicle*, double>& leader,
4069 : const std::pair<MSVehicle*, double>& follower,
4070 : const std::pair<MSVehicle*, double>& neighLead,
4071 : const std::pair<MSVehicle*, double>& neighFollow,
4072 : const MSLane& neighLane,
4073 : const std::vector<MSVehicle::LaneQ>& preb,
4074 : MSVehicle** lastBlocked,
4075 : MSVehicle** firstBlocked) {
4076 :
4077 : const LaneChangeAction alternatives = LCA_NONE; // @todo pas this data
4078 :
4079 : #ifdef DEBUG_WANTSCHANGE
4080 : if (DEBUG_COND) {
4081 : std::cout << "\nWANTS_CHANGE\n" << SIMTIME
4082 : //<< std::setprecision(10)
4083 : << " veh=" << myVehicle.getID()
4084 : << " lane=" << myVehicle.getLane()->getID()
4085 : << " neigh=" << neighLane.getID()
4086 : << " pos=" << myVehicle.getPositionOnLane()
4087 : << " posLat=" << myVehicle.getLateralPositionOnLane()
4088 : << " speed=" << myVehicle.getSpeed()
4089 : << " considerChangeTo=" << (laneOffset == -1 ? "right" : "left")
4090 : << "\n";
4091 : }
4092 : #endif
4093 :
4094 3259 : double latDist = 0;
4095 3259 : const double laneWidth = myVehicle.getLane()->getWidth();
4096 3259 : MSLeaderDistanceInfo leaders(leader, laneWidth);
4097 3259 : MSLeaderDistanceInfo followers(follower, laneWidth);
4098 3259 : MSLeaderDistanceInfo blockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4099 3259 : MSLeaderDistanceInfo neighLeaders(neighLead, laneWidth);
4100 3259 : MSLeaderDistanceInfo neighFollowers(neighFollow, laneWidth);
4101 3259 : MSLeaderDistanceInfo neighBlockers(std::make_pair((MSVehicle*)nullptr, -1), laneWidth);
4102 :
4103 : double maneuverDist;
4104 3259 : int result = _wantsChangeSublane(laneOffset,
4105 : alternatives,
4106 : leaders, followers, blockers,
4107 : neighLeaders, neighFollowers, neighBlockers,
4108 : neighLane, preb,
4109 : lastBlocked, firstBlocked, latDist, maneuverDist, blocked);
4110 :
4111 3259 : myCanChangeFully = true;
4112 : // ignore sublane motivation
4113 3259 : result &= ~LCA_SUBLANE;
4114 3259 : result |= getLCA(result, latDist);
4115 :
4116 : #if defined(DEBUG_WANTSCHANGE) || defined(DEBUG_STATE)
4117 : if (DEBUG_COND) {
4118 : if (result & LCA_WANTS_LANECHANGE) {
4119 : std::cout << SIMTIME
4120 : << " veh=" << myVehicle.getID()
4121 : << " wantsChangeTo=" << (laneOffset == -1 ? "right" : "left")
4122 : << ((result & LCA_URGENT) ? " (urgent)" : "")
4123 : << ((result & LCA_CHANGE_TO_HELP) ? " (toHelp)" : "")
4124 : << ((result & LCA_STRATEGIC) ? " (strat)" : "")
4125 : << ((result & LCA_COOPERATIVE) ? " (coop)" : "")
4126 : << ((result & LCA_SPEEDGAIN) ? " (speed)" : "")
4127 : << ((result & LCA_KEEPRIGHT) ? " (keepright)" : "")
4128 : << ((result & LCA_TRACI) ? " (traci)" : "")
4129 : << ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
4130 : << ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
4131 : << "\n\n\n";
4132 : }
4133 : }
4134 : #endif
4135 :
4136 3259 : return result;
4137 3259 : }
4138 :
4139 :
4140 : double
4141 135746780 : MSLCM_SL2015::getLeftBorder(bool checkOpposite) const {
4142 135746780 : return (myVehicle.getLane()->getEdge().getWidth()
4143 135746780 : + ((myVehicle.getLane()->getParallelOpposite() != nullptr && checkOpposite) ? myVehicle.getLane()->getParallelOpposite()->getEdge().getWidth() : 0));
4144 : }
4145 :
4146 : double
4147 136840750 : MSLCM_SL2015::getVehicleCenter() const {
4148 136840750 : if (isOpposite()) {
4149 157008 : return myVehicle.getEdge()->getWidth() + myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane();
4150 : } else {
4151 136683742 : return myVehicle.getCenterOnEdge();
4152 : }
4153 : }
4154 :
4155 : double
4156 66331988 : MSLCM_SL2015::getNeighRight(const MSLane& neighLane) const {
4157 66331988 : if (isOpposite()) {
4158 132868 : return myVehicle.getLane()->getRightSideOnEdge() - neighLane.getWidth() + 2 * myVehicle.getLateralPositionOnLane();
4159 66199120 : } else if ((&myVehicle.getLane()->getEdge() != &neighLane.getEdge())) {
4160 118368 : return myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth();
4161 : } else {
4162 : // the normal case
4163 66080752 : return neighLane.getRightSideOnEdge();
4164 : }
4165 : }
4166 :
4167 :
4168 : bool
4169 8559772 : MSLCM_SL2015::preventSliding(double maneuverDist) const {
4170 : // prevent wide maneuvers with unsufficient forward space
4171 8559772 : if (fabs(maneuverDist) > myMaxDistLatStanding) {
4172 : // emergency vehicles should not be restricted (TODO solve this with LCA_URGENT)
4173 8199068 : if (myVehicle.getVehicleType().getVehicleClass() == SVC_EMERGENCY) {
4174 : return false;
4175 : }
4176 8171095 : const double brakeGap = myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed());
4177 8171095 : const bool isSlide = fabs(maneuverDist) > myMaxDistLatStanding + brakeGap * fabs(myMaxSpeedLatFactor);
4178 : #ifdef DEBUG_SLIDING
4179 : if (gDebugFlag2) {
4180 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " bgap=" << brakeGap << " maneuverDist=" << maneuverDist
4181 : << " mds=" << myMaxDistLatStanding << " isSlide=" << isSlide << "\n";
4182 : }
4183 : #endif
4184 8171095 : return isSlide;
4185 : }
4186 : return false;
4187 : }
4188 :
4189 : bool
4190 : MSLCM_SL2015::wantsKeepRight(double keepRightProb) const {
4191 9654766 : return keepRightProb * myKeepRightParam > MAX2(myChangeProbThresholdRight, mySpeedGainProbabilityLeft);
4192 : }
4193 :
4194 :
4195 : bool
4196 20761 : MSLCM_SL2015::saveBlockerLength(double length, double foeLeftSpace) {
4197 20761 : const bool canReserve = MSLCHelper::canSaveBlockerLength(myVehicle, length, myLeftSpace);
4198 20761 : if (!isOpposite() && (canReserve || myLeftSpace > foeLeftSpace)) {
4199 17702 : myLeadingBlockerLength = MAX2(length, myLeadingBlockerLength);
4200 17702 : if (myLeftSpace == 0 && foeLeftSpace < 0) {
4201 : // called from opposite overtaking, myLeftSpace must be initialized
4202 466 : myLeftSpace = myVehicle.getBestLanes()[myVehicle.getLane()->getIndex()].length - myVehicle.getPositionOnLane();
4203 : }
4204 17702 : return true;
4205 : } else {
4206 : return false;
4207 : }
4208 : }
4209 :
4210 :
4211 : bool
4212 26355065 : MSLCM_SL2015::outsideEdge() const {
4213 26355065 : return myVehicle.getLeftSideOnEdge() < 0 || myVehicle.getRightSideOnEdge() > myVehicle.getLane()->getEdge().getWidth();
4214 : }
4215 : /****************************************************************************/
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