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 LOOK_FORWARD 10.
41 :
42 : #define JAM_FACTOR 1.
43 :
44 : #define LCA_RIGHT_IMPATIENCE -1.
45 : #define CUT_IN_LEFT_SPEED_THRESHOLD 27.
46 : #define MAX_ONRAMP_LENGTH 200.
47 :
48 : #define LOOK_AHEAD_MIN_SPEED 0.0
49 : #define LOOK_AHEAD_SPEED_MEMORY 0.9
50 :
51 : #define HELP_DECEL_FACTOR 1.0
52 :
53 : #define HELP_OVERTAKE (10.0 / 3.6)
54 : #define MIN_FALLBEHIND (7.0 / 3.6)
55 :
56 : #define URGENCY 2.0
57 :
58 : #define KEEP_RIGHT_TIME 5.0 // the number of seconds after which a vehicle should move to the right lane
59 :
60 : #define RELGAIN_NORMALIZATION_MIN_SPEED 10.0
61 :
62 : #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
63 : #define GAIN_PERCEPTION_THRESHOLD 0.05 // the minimum relative speed gain which affects the behavior
64 :
65 : #define ARRIVALPOS_LAT_THRESHOLD 100.0
66 :
67 : // the speed at which the desired lateral gap grows now further
68 : #define LATGAP_SPEED_THRESHOLD (50 / 3.6)
69 : // the speed at which the desired lateral gap shrinks now further.
70 : // @note: when setting LATGAP_SPEED_THRESHOLD = LATGAP_SPEED_THRESHOLD2, no speed-specif reduction of minGapLat is done
71 : #define LATGAP_SPEED_THRESHOLD2 (50 / 3.6)
72 :
73 : // intention to change decays over time
74 : #define SPEEDGAIN_DECAY_FACTOR 0.5
75 : // exponential averaging factor for expected sublane speeds
76 : #define SPEEDGAIN_MEMORY_FACTOR 0.5
77 :
78 : #define REACT_TO_STOPPED_DISTANCE 100
79 :
80 :
81 : // ===========================================================================
82 : // Debug flags
83 : // ===========================================================================
84 : //#define DEBUG_MANEUVER
85 : //#define DEBUG_WANTSCHANGE
86 : //#define DEBUG_DECISION
87 : //#define DEBUG_STRATEGIC_CHANGE
88 : //#define DEBUG_KEEP_LATGAP
89 : //#define DEBUG_STATE
90 : //#define DEBUG_ACTIONSTEPS
91 : //#define DEBUG_COMMITTED_SPEED
92 : //#define DEBUG_PATCHSPEED
93 : //#define DEBUG_INFORM
94 : //#define DEBUG_ROUNDABOUTS
95 : //#define DEBUG_COOPERATE
96 : //#define DEBUG_SLOWDOWN
97 : //#define DEBUG_SAVE_BLOCKER_LENGTH
98 : //#define DEBUG_BLOCKING
99 : //#define DEBUG_TRACI
100 : //#define DEBUG_EXPECTED_SLSPEED
101 : //#define DEBUG_SLIDING
102 : //#define DEBUG_COND (myVehicle.getID() == "moped.18" || myVehicle.getID() == "moped.16")
103 : //#define DEBUG_COND (myVehicle.getID() == "Togliatti_71_0")
104 : #define DEBUG_COND (myVehicle.isSelected())
105 : //#define DEBUG_COND (myVehicle.getID() == "pkw150478" || myVehicle.getID() == "pkw150494" || myVehicle.getID() == "pkw150289")
106 : //#define DEBUG_COND (myVehicle.getID() == "A" || myVehicle.getID() == "B") // fail change to left
107 : //#define DEBUG_COND (myVehicle.getID() == "disabled") // test stops_overtaking
108 : //#define DEBUG_COND true
109 :
110 :
111 : // ===========================================================================
112 : // member method definitions
113 : // ===========================================================================
114 807041 : MSLCM_SL2015::MSLCM_SL2015(MSVehicle& v) :
115 : MSAbstractLaneChangeModel(v, LaneChangeModel::SL2015),
116 807041 : mySpeedGainProbabilityRight(0),
117 807041 : mySpeedGainProbabilityLeft(0),
118 807041 : myKeepRightProbability(0),
119 807041 : myLeadingBlockerLength(0),
120 807041 : myLeftSpace(0),
121 807041 : myLookAheadSpeed(LOOK_AHEAD_MIN_SPEED),
122 807041 : myLastEdge(nullptr),
123 807041 : myCanChangeFully(true),
124 807041 : mySafeLatDistRight(0),
125 807041 : mySafeLatDistLeft(0),
126 807041 : myStrategicParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_STRATEGIC_PARAM, 1)),
127 807041 : myCooperativeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_PARAM, 1)),
128 807041 : mySpeedGainParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_PARAM, 1)),
129 807041 : myKeepRightParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_PARAM, 1)),
130 807041 : myOppositeParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OPPOSITE_PARAM, 1)),
131 807041 : mySublaneParam(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SUBLANE_PARAM, 1)),
132 : // by default use SUMO_ATTR_LCA_PUSHY. If that is not set, try SUMO_ATTR_LCA_PUSHYGAP
133 807041 : myMinGapLat(v.getVehicleType().getMinGapLat()),
134 807041 : myPushy(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHY,
135 1613985 : 1 - (v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_PUSHYGAP,
136 807041 : MAX2(NUMERICAL_EPS, myMinGapLat)) /
137 807041 : MAX2(NUMERICAL_EPS, myMinGapLat)))),
138 807041 : myImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_IMPATIENCE, 0)),
139 807041 : myMinImpatience(myImpatience),
140 807041 : myTimeToImpatience(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE, std::numeric_limits<double>::max())),
141 807041 : myAccelLat(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_ACCEL_LAT, 1.0)),
142 807041 : myTurnAlignmentDist(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE, 0.0)),
143 807041 : myLookaheadLeft(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LOOKAHEADLEFT, 2.0)),
144 807041 : mySpeedGainRight(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAINRIGHT, 0.1)),
145 807041 : myLaneDiscipline(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_LANE_DISCIPLINE, 0.0)),
146 807041 : mySpeedGainLookahead(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD, 5)),
147 807041 : mySpeedGainRemainTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME, 20)),
148 807041 : myRoundaboutBonus(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_ROUNDABOUT, myCooperativeParam)),
149 807041 : myCooperativeSpeed(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_COOPERATIVE_SPEED, myCooperativeParam)),
150 807041 : myKeepRightAcceptanceTime(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME, -1)),
151 807041 : myOvertakeDeltaSpeedFactor(v.getVehicleType().getParameter().getLCParam(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR, 0)),
152 807041 : mySigmaState(0) {
153 807041 : initDerivedParameters();
154 807041 : }
155 :
156 1614066 : MSLCM_SL2015::~MSLCM_SL2015() {
157 807033 : changed();
158 1614066 : }
159 :
160 :
161 : void
162 1084657 : MSLCM_SL2015::initDerivedParameters() {
163 1084657 : if (mySpeedGainParam <= 0) {
164 2235 : myChangeProbThresholdRight = std::numeric_limits<double>::max();
165 2235 : myChangeProbThresholdLeft = std::numeric_limits<double>::max();
166 : } else {
167 1082422 : myChangeProbThresholdRight = (0.2 / mySpeedGainRight) / mySpeedGainParam;
168 1082422 : myChangeProbThresholdLeft = 0.2 / mySpeedGainParam;
169 : }
170 1084657 : mySpeedLossProbThreshold = (-0.1 + (1 - mySublaneParam));
171 1084657 : }
172 :
173 :
174 : bool
175 14889 : MSLCM_SL2015::debugVehicle() const {
176 14889 : return DEBUG_COND;
177 : }
178 :
179 :
180 : int
181 113895753 : MSLCM_SL2015::wantsChangeSublane(
182 : int laneOffset,
183 : LaneChangeAction alternatives,
184 : const MSLeaderDistanceInfo& leaders,
185 : const MSLeaderDistanceInfo& followers,
186 : const MSLeaderDistanceInfo& blockers,
187 : const MSLeaderDistanceInfo& neighLeaders,
188 : const MSLeaderDistanceInfo& neighFollowers,
189 : const MSLeaderDistanceInfo& neighBlockers,
190 : const MSLane& neighLane,
191 : const std::vector<MSVehicle::LaneQ>& preb,
192 : MSVehicle** lastBlocked,
193 : MSVehicle** firstBlocked,
194 : double& latDist, double& maneuverDist, int& blocked) {
195 :
196 113895753 : gDebugFlag2 = DEBUG_COND;
197 193014397 : const std::string changeType = laneOffset == -1 ? "right" : (laneOffset == 1 ? "left" : "current");
198 :
199 : #ifdef DEBUG_MANEUVER
200 : if (gDebugFlag2) {
201 : std::cout << "\n" << SIMTIME
202 : << std::setprecision(gPrecision)
203 : << " veh=" << myVehicle.getID()
204 : << " lane=" << myVehicle.getLane()->getID()
205 : << " neigh=" << neighLane.getID()
206 : << " pos=" << myVehicle.getPositionOnLane()
207 : << " posLat=" << myVehicle.getLateralPositionOnLane()
208 : << " posLatError=" << mySigmaState
209 : << " speed=" << myVehicle.getSpeed()
210 : << " considerChangeTo=" << changeType
211 : << "\n";
212 : }
213 : #endif
214 :
215 113895753 : int result = _wantsChangeSublane(laneOffset,
216 : alternatives,
217 : leaders, followers, blockers,
218 : neighLeaders, neighFollowers, neighBlockers,
219 : neighLane, preb,
220 : lastBlocked, firstBlocked, latDist, maneuverDist, blocked);
221 :
222 113895753 : result = keepLatGap(result, leaders, followers, blockers,
223 : neighLeaders, neighFollowers, neighBlockers,
224 : neighLane, laneOffset, latDist, maneuverDist, blocked);
225 :
226 113895753 : result |= getLCA(result, latDist);
227 : // take into account lateral acceleration
228 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
229 : double latDistTmp = latDist;
230 : #endif
231 113895753 : latDist = SPEED2DIST(computeSpeedLat(latDist, maneuverDist, (result & LCA_URGENT) != 0));
232 : #if defined(DEBUG_MANEUVER) || defined(DEBUG_STATE)
233 : if (gDebugFlag2 && latDist != latDistTmp) {
234 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " maneuverDist=" << maneuverDist << " latDist=" << latDistTmp << " mySpeedPrev=" << mySpeedLat << " speedLat=" << DIST2SPEED(latDist) << " latDist2=" << latDist << "\n";
235 : }
236 :
237 : if (gDebugFlag2) {
238 : if (result & LCA_WANTS_LANECHANGE) {
239 : std::cout << SIMTIME
240 : << " veh=" << myVehicle.getID()
241 : << " wantsChangeTo=" << changeType
242 : << " latDist=" << latDist
243 : << " maneuverDist=" << maneuverDist
244 : << " state=" << toString((LaneChangeAction)result)
245 : << ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
246 : << ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
247 : << "\n\n";
248 : } else {
249 : std::cout << SIMTIME
250 : << " veh=" << myVehicle.getID()
251 : << " wantsNoChangeTo=" << changeType
252 : << " state=" << toString((LaneChangeAction)result)
253 : << "\n\n";
254 : }
255 : }
256 : #endif
257 113895753 : gDebugFlag2 = false;
258 113895753 : return result;
259 : }
260 :
261 : void
262 79179083 : MSLCM_SL2015::setOwnState(const int state) {
263 79179083 : MSAbstractLaneChangeModel::setOwnState(state);
264 79179083 : if (myVehicle.isActive()) {
265 79179063 : if ((state & (LCA_STRATEGIC | LCA_SPEEDGAIN)) != 0 && (state & LCA_BLOCKED) != 0) {
266 7991592 : myImpatience = MIN2(1.0, myImpatience + myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
267 : } else {
268 : // impatience decays only to the driver-specific level
269 78177984 : myImpatience = MAX2(myMinImpatience, myImpatience - myVehicle.getActionStepLengthSecs() / myTimeToImpatience);
270 : }
271 : #ifdef DEBUG_STATE
272 : if (DEBUG_COND) {
273 : std::cout << SIMTIME << " veh=" << myVehicle.getID()
274 : << " setOwnState=" << toString((LaneChangeAction)state)
275 : << " myMinImpatience=" << myMinImpatience
276 : << " myImpatience=" << myImpatience
277 : << "\n";
278 : }
279 : #endif
280 79179063 : if ((state & LCA_STAY) != 0) {
281 69084571 : myCanChangeFully = true;
282 : // if (DEBUG_COND) {
283 : // std::cout << " myCanChangeFully=true\n";
284 : // }
285 : }
286 : }
287 79179083 : }
288 :
289 :
290 : void
291 3901065 : MSLCM_SL2015::updateSafeLatDist(const double travelledLatDist) {
292 3901065 : mySafeLatDistLeft -= travelledLatDist;
293 3901065 : mySafeLatDistRight += travelledLatDist;
294 :
295 3901065 : if (fabs(mySafeLatDistLeft) < NUMERICAL_EPS) {
296 54089 : mySafeLatDistLeft = 0.;
297 : }
298 3901065 : if (fabs(mySafeLatDistRight) < NUMERICAL_EPS) {
299 92075 : mySafeLatDistRight = 0.;
300 : }
301 3901065 : }
302 :
303 :
304 : double
305 80508754 : MSLCM_SL2015::patchSpeed(const double min, const double wanted, const double max, const MSCFModel& cfModel) {
306 80508754 : gDebugFlag2 = DEBUG_COND;
307 : // negative min speed may be passed when using ballistic updated
308 80508754 : const double newSpeed = _patchSpeed(MAX2(min, 0.0), wanted, max, cfModel);
309 : #ifdef DEBUG_PATCHSPEED
310 : if (gDebugFlag2) {
311 : const std::string patched = (wanted != newSpeed ? " patched=" + toString(newSpeed) : "");
312 : std::cout << SIMTIME
313 : << " veh=" << myVehicle.getID()
314 : << " lane=" << myVehicle.getLane()->getID()
315 : << " pos=" << myVehicle.getPositionOnLane()
316 : << " v=" << myVehicle.getSpeed()
317 : << " min=" << min
318 : << " wanted=" << wanted
319 : << " max=" << max
320 : << patched
321 : << "\n\n";
322 : }
323 : #endif
324 80508754 : gDebugFlag2 = false;
325 80508754 : return newSpeed;
326 : }
327 :
328 :
329 : double
330 80508754 : MSLCM_SL2015::_patchSpeed(double min, const double wanted, double max, const MSCFModel& cfModel) {
331 80508754 : if (wanted <= 0) {
332 : return wanted;
333 : }
334 :
335 76615487 : int state = myOwnState;
336 :
337 : double nVSafe = wanted;
338 : bool gotOne = false;
339 : // letting vehicles merge in at the end of the lane in case of counter-lane change, step#2
340 : // if we want to change and have a blocking leader and there is enough room for him in front of us
341 76615487 : if (myLeadingBlockerLength != 0) {
342 346225 : double space = myLeftSpace - myLeadingBlockerLength - POSITION_EPS;
343 : #ifdef DEBUG_PATCHSPEED
344 : if (gDebugFlag2) {
345 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myLeadingBlockerLength=" << myLeadingBlockerLength << " space=" << space << "\n";
346 : }
347 : #endif
348 346225 : if (space >= 0) {
349 : // compute speed for decelerating towards a place which allows the blocking leader to merge in in front
350 341400 : double safe = cfModel.stopSpeed(&myVehicle, myVehicle.getSpeed(), space, MSCFModel::CalcReason::LANE_CHANGE);
351 : max = MIN2(max, safe);
352 : // if we are approaching this place
353 341400 : if (safe < wanted) {
354 45887 : if (safe < min) {
355 2343 : const double vMinEmergency = myVehicle.getCarFollowModel().minNextSpeedEmergency(myVehicle.getSpeed(), &myVehicle);
356 2343 : if (safe >= vMinEmergency) {
357 : // permit harder braking if needed and helpful
358 : min = MAX2(vMinEmergency, safe);
359 : }
360 : }
361 : #ifdef DEBUG_PATCHSPEED
362 : if (gDebugFlag2) {
363 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " slowing down for leading blocker, safe=" << safe << (safe + NUMERICAL_EPS < min ? " (not enough)" : "") << "\n";
364 : }
365 : #endif
366 : nVSafe = MAX2(min, safe);
367 : gotOne = true;
368 : }
369 : }
370 : }
371 76615487 : const double coopWeight = MAX2(0.0, MIN2(1.0, myCooperativeSpeed));
372 98812188 : for (auto i : myLCAccelerationAdvices) {
373 : double accel = i.first;
374 22196701 : double v = myVehicle.getSpeed() + ACCEL2SPEED(accel);
375 22196701 : if (v >= min && v <= max) {
376 7317686 : if (i.second) {
377 : // own advice, no scaling needed
378 : nVSafe = MIN2(v, nVSafe);
379 : } else {
380 3409199 : nVSafe = MIN2(v * coopWeight + (1 - coopWeight) * wanted, nVSafe);
381 : }
382 : gotOne = true;
383 : #ifdef DEBUG_PATCHSPEED
384 : if (gDebugFlag2) {
385 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got accel=" << accel << " nVSafe=" << nVSafe << "\n";
386 : }
387 : #endif
388 : } else {
389 : #ifdef DEBUG_PATCHSPEED
390 : if (v < min) {
391 : if (gDebugFlag2) {
392 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring low nVSafe=" << v << " (accel=" << accel << ") min=" << min << "\n";
393 : }
394 : } else {
395 : if (gDebugFlag2) {
396 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " ignoring high nVSafe=" << v << " (accel=" << accel << ") max=" << max << "\n";
397 : }
398 : }
399 : #endif
400 : }
401 : }
402 :
403 76615487 : if (gotOne && !myDontBrake) {
404 : #ifdef DEBUG_PATCHSPEED
405 : if (gDebugFlag2) {
406 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " got vSafe\n";
407 : }
408 : #endif
409 : return nVSafe;
410 : }
411 :
412 : // check whether the vehicle is blocked
413 74614080 : if ((state & LCA_WANTS_LANECHANGE) != 0 && (state & LCA_BLOCKED) != 0) {
414 4932488 : if ((state & LCA_STRATEGIC) != 0) {
415 : // necessary decelerations are controlled via vSafe. If there are
416 : // none it means we should speed up
417 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
418 : if (gDebugFlag2) {
419 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_WANTS_LANECHANGE (strat, no vSafe)\n";
420 : }
421 : #endif
422 513497 : return (max + wanted) / 2.0;
423 4418991 : } else if ((state & LCA_COOPERATIVE) != 0) {
424 : // only minor adjustments in speed should be done
425 443063 : if ((state & LCA_BLOCKED_BY_LEADER) != 0) {
426 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
427 : if (gDebugFlag2) {
428 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_LEADER (coop)\n";
429 : }
430 : #endif
431 406675 : return (min + wanted) / 2.0;
432 : }
433 36388 : if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
434 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
435 : if (gDebugFlag2) {
436 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER (coop)\n";
437 : }
438 : #endif
439 36388 : return (max + wanted) / 2.0;
440 : }
441 : //} else { // VARIANT_16
442 : // // only accelerations should be performed
443 : // if ((state & LCA_BLOCKED_BY_FOLLOWER) != 0) {
444 : // if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_BLOCKED_BY_FOLLOWER\n";
445 : // return (max + wanted) / 2.0;
446 : // }
447 : }
448 : }
449 :
450 : /*
451 : // decelerate if being a blocking follower
452 : // (and does not have to change lanes)
453 : if ((state & LCA_AMBLOCKINGFOLLOWER) != 0) {
454 : if (fabs(max - myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle)) < 0.001 && min == 0) { // !!! was standing
455 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER (standing)\n";
456 : return 0;
457 : }
458 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER\n";
459 :
460 : //return min; // VARIANT_3 (brakeStrong)
461 : return (min + wanted) / 2.0;
462 : }
463 : if ((state & LCA_AMBACKBLOCKER) != 0) {
464 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
465 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER (standing)\n";
466 : //return min; VARIANT_9 (backBlockVSafe)
467 : return nVSafe;
468 : }
469 : }
470 : if ((state & LCA_AMBACKBLOCKER_STANDING) != 0) {
471 : if (gDebugFlag2) std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBACKBLOCKER_STANDING\n";
472 : //return min;
473 : return nVSafe;
474 : }
475 : */
476 :
477 : // accelerate if being a blocking leader or blocking follower not able to brake
478 : // (and does not have to change lanes)
479 73657520 : if ((state & LCA_AMBLOCKINGLEADER) != 0) {
480 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
481 : if (gDebugFlag2) {
482 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGLEADER\n";
483 : }
484 : #endif
485 781670 : return (max + wanted) / 2.0;
486 : }
487 :
488 : if ((state & LCA_AMBLOCKINGFOLLOWER_DONTBRAKE) != 0) {
489 : #if defined(DEBUG_PATCHSPEED) || defined(DEBUG_STATE)
490 : if (gDebugFlag2) {
491 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " LCA_AMBLOCKINGFOLLOWER_DONTBRAKE\n";
492 : }
493 : #endif
494 : /*
495 : // VARIANT_4 (dontbrake)
496 : if (max <= myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle) && min == 0) { // !!! was standing
497 : return wanted;
498 : }
499 : return (min + wanted) / 2.0;
500 : */
501 : }
502 : return wanted;
503 : }
504 :
505 :
506 : void*
507 9848527 : MSLCM_SL2015::inform(void* info, MSVehicle* sender) {
508 : Info* pinfo = (Info*) info;
509 9848527 : if (pinfo->first >= 0) {
510 6146556 : addLCSpeedAdvice(pinfo->first, false);
511 : }
512 : //myOwnState &= 0xffffffff; // reset all bits of MyLCAEnum but only those
513 9848527 : myOwnState |= pinfo->second;
514 : #ifdef DEBUG_INFORM
515 : if (gDebugFlag2 || DEBUG_COND || sender->getLaneChangeModel().debugVehicle()) {
516 : std::cout << SIMTIME
517 : << " veh=" << myVehicle.getID()
518 : << " informedBy=" << sender->getID()
519 : << " info=" << pinfo->second
520 : << " vSafe=" << pinfo->first
521 : << "\n";
522 : }
523 : #else
524 : UNUSED_PARAMETER(sender);
525 : #endif
526 9848527 : delete pinfo;
527 9848527 : return (void*) true;
528 : }
529 :
530 :
531 : void
532 9848527 : MSLCM_SL2015::msg(const CLeaderDist& cld, double speed, int state) {
533 : assert(cld.first != 0);
534 9848527 : ((MSVehicle*)cld.first)->getLaneChangeModel().inform(new Info(speed, state), &myVehicle);
535 9848527 : }
536 :
537 :
538 : double
539 6367345 : MSLCM_SL2015::informLeader(int blocked,
540 : int dir,
541 : const CLeaderDist& neighLead,
542 : double remainingSeconds) {
543 12734690 : double plannedSpeed = MIN2(myVehicle.getSpeed(),
544 6367345 : myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
545 16953835 : for (auto i : myLCAccelerationAdvices) {
546 10586490 : double v = myVehicle.getSpeed() + ACCEL2SPEED(i.first);
547 10586490 : if (v >= myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())) {
548 : plannedSpeed = MIN2(plannedSpeed, v);
549 : }
550 : }
551 : #ifdef DEBUG_INFORM
552 : if (gDebugFlag2) {
553 : std::cout << " informLeader speed=" << myVehicle.getSpeed() << " planned=" << plannedSpeed << "\n";
554 : }
555 : #endif
556 :
557 6367345 : if ((blocked & LCA_BLOCKED_BY_LEADER) != 0 && neighLead.first != 0) {
558 : const MSVehicle* nv = neighLead.first;
559 5218181 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
560 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingLeader=" << nv->getID() << "\n";
561 : return plannedSpeed;
562 : }
563 : #ifdef DEBUG_INFORM
564 : if (gDebugFlag2) std::cout << " blocked by leader nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
565 : << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel()) << "\n";
566 : #endif
567 : // decide whether we want to overtake the leader or follow it
568 5214406 : const double dv = plannedSpeed - nv->getSpeed();
569 5214406 : const double overtakeDist = (neighLead.second // drive to back of follower
570 5214406 : + nv->getVehicleType().getLengthWithGap() // drive to front of follower
571 5214406 : + myVehicle.getVehicleType().getLength() // ego back reaches follower front
572 15643218 : + nv->getCarFollowModel().getSecureGap( // save gap to follower
573 5214406 : nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()));
574 :
575 5214406 : if ((dv < myOvertakeDeltaSpeedFactor * myVehicle.getLane()->getSpeedLimit() + NUMERICAL_EPS
576 : // overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
577 1907897 : || (dir == LCA_MLEFT && !myVehicle.congested() && !myAllowOvertakingRight)
578 : // not enough space to overtake? (we will start to brake when approaching a dead end)
579 3788316 : || myLeftSpace - myLeadingBlockerLength - myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed()) < overtakeDist
580 : // not enough time to overtake?
581 1759714 : || dv * remainingSeconds < overtakeDist)
582 5612189 : && (!neighLead.first->isStopped() || (isOpposite() && neighLead.second >= 0))) {
583 : // cannot overtake
584 3699815 : msg(neighLead, -1, dir | LCA_AMBLOCKINGLEADER);
585 : // slow down smoothly to follow leader
586 3699815 : const double targetSpeed = getCarFollowModel().followSpeed(
587 3699815 : &myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
588 3699815 : if (targetSpeed < myVehicle.getSpeed()) {
589 : // slow down smoothly to follow leader
590 912965 : const double decel = ACCEL2SPEED(MIN2(myVehicle.getCarFollowModel().getMaxDecel(),
591 : MAX2(MIN_FALLBEHIND, (myVehicle.getSpeed() - targetSpeed) / remainingSeconds)));
592 : //const double nextSpeed = MAX2(0., MIN2(plannedSpeed, myVehicle.getSpeed() - decel));
593 681842 : const double nextSpeed = MIN2(plannedSpeed, MAX2(0.0, myVehicle.getSpeed() - decel));
594 : #ifdef DEBUG_INFORM
595 : if (gDebugFlag2) {
596 : std::cout << SIMTIME
597 : << " cannot overtake leader nv=" << nv->getID()
598 : << " dv=" << dv
599 : << " remainingSeconds=" << remainingSeconds
600 : << " targetSpeed=" << targetSpeed
601 : << " nextSpeed=" << nextSpeed
602 : << "\n";
603 : }
604 : #endif
605 681842 : addLCSpeedAdvice(nextSpeed);
606 681842 : return nextSpeed;
607 : } else {
608 : // leader is fast enough anyway
609 : #ifdef DEBUG_INFORM
610 : if (gDebugFlag2) {
611 : std::cout << SIMTIME
612 : << " cannot overtake fast leader nv=" << nv->getID()
613 : << " dv=" << dv
614 : << " remainingSeconds=" << remainingSeconds
615 : << " targetSpeed=" << targetSpeed
616 : << "\n";
617 : }
618 : #endif
619 3017973 : addLCSpeedAdvice(targetSpeed);
620 3017973 : return plannedSpeed;
621 : }
622 : } else {
623 : #ifdef DEBUG_INFORM
624 : if (gDebugFlag2) {
625 : std::cout << SIMTIME
626 : << " wants to overtake leader nv=" << nv->getID()
627 : << " dv=" << dv
628 : << " remainingSeconds=" << remainingSeconds
629 : << " currentGap=" << neighLead.second
630 : << " secureGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel())
631 : << " overtakeDist=" << overtakeDist
632 : << " leftSpace=" << myLeftSpace
633 : << " blockerLength=" << myLeadingBlockerLength
634 : << "\n";
635 : }
636 : #endif
637 : // overtaking, leader should not accelerate
638 1514591 : msg(neighLead, nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER);
639 1514591 : return -1;
640 : }
641 1149164 : } else if (neighLead.first != 0) { // (remainUnblocked)
642 : // we are not blocked now. make sure we stay far enough from the leader
643 : const MSVehicle* nv = neighLead.first;
644 : double dv, nextNVSpeed;
645 1149164 : if (MSGlobals::gSemiImplicitEulerUpdate) {
646 : // XXX: the decrement (HELP_OVERTAKE) should be scaled with timestep length, I think.
647 : // It seems to function as an estimate nv's speed in the next simstep!? (so HELP_OVERTAKE should be an acceleration value.)
648 956707 : nextNVSpeed = nv->getSpeed() - HELP_OVERTAKE; // conservative
649 956707 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
650 : } else {
651 : // Estimate neigh's speed after actionstep length
652 : // @note The possible breaking can be underestimated by the formula, so this is a potential
653 : // source of collisions if actionsteplength>simsteplength.
654 : const double nvMaxDecel = HELP_OVERTAKE;
655 192457 : nextNVSpeed = nv->getSpeed() - nvMaxDecel * myVehicle.getActionStepLengthSecs(); // conservative
656 : // Estimated gap reduction until next action step if own speed stays constant
657 192457 : dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
658 : }
659 1149164 : const double targetSpeed = getCarFollowModel().followSpeed(
660 1149164 : &myVehicle, myVehicle.getSpeed(), neighLead.second - dv, nextNVSpeed, nv->getCarFollowModel().getMaxDecel());
661 1149164 : addLCSpeedAdvice(targetSpeed);
662 : #ifdef DEBUG_INFORM
663 : if (gDebugFlag2) {
664 : std::cout << " not blocked by leader nv=" << nv->getID()
665 : << " nvSpeed=" << nv->getSpeed()
666 : << " gap=" << neighLead.second
667 : << " nextGap=" << neighLead.second - dv
668 : << " needGap=" << myVehicle.getCarFollowModel().getSecureGap(&myVehicle, nv, myVehicle.getSpeed(), nv->getSpeed(), nv->getCarFollowModel().getMaxDecel())
669 : << " targetSpeed=" << targetSpeed
670 : << "\n";
671 : }
672 : #endif
673 : return MIN2(targetSpeed, plannedSpeed);
674 : } else {
675 : // not overtaking
676 : return plannedSpeed;
677 : }
678 : }
679 :
680 :
681 : void
682 4634417 : MSLCM_SL2015::informFollower(int blocked,
683 : int dir,
684 : const CLeaderDist& neighFollow,
685 : double remainingSeconds,
686 : double plannedSpeed) {
687 4634417 : if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0 && neighFollow.first != 0) {
688 : const MSVehicle* nv = neighFollow.first;
689 3299688 : if (MSLCHelper::divergentRoute(myVehicle, *nv)) {
690 : //std::cout << SIMTIME << " ego=" << myVehicle.getID() << " ignoresDivergentBlockingFollower=" << nv->getID() << "\n";
691 : return;
692 : }
693 : #ifdef DEBUG_INFORM
694 : if (gDebugFlag2) std::cout << " blocked by follower nv=" << nv->getID() << " nvSpeed=" << nv->getSpeed() << " needGap="
695 : << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()) << "\n";
696 : #endif
697 :
698 : // are we fast enough to cut in without any help?
699 3299392 : if (plannedSpeed - nv->getSpeed() >= HELP_OVERTAKE) {
700 188705 : const double neededGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
701 188705 : if ((neededGap - neighFollow.second) / remainingSeconds < (plannedSpeed - nv->getSpeed())) {
702 : #ifdef DEBUG_INFORM
703 : if (gDebugFlag2) {
704 : std::cout << " wants to cut in before nv=" << nv->getID() << " without any help neededGap=" << neededGap << "\n";
705 : }
706 : #endif
707 : // follower might even accelerate but not to much
708 169528 : msg(neighFollow, plannedSpeed - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER);
709 169528 : return;
710 : }
711 : }
712 : // decide whether we will request help to cut in before the follower or allow to be overtaken
713 :
714 : // PARAMETERS
715 : // assume other vehicle will assume the equivalent of 1 second of
716 : // maximum deceleration to help us (will probably be spread over
717 : // multiple seconds)
718 : // -----------
719 : const double helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR ;
720 :
721 : // change in the gap between ego and blocker over 1 second (not STEP!)
722 3129864 : const double neighNewSpeed = MAX2(0., nv->getSpeed() - ACCEL2SPEED(helpDecel));
723 3129864 : const double neighNewSpeed1s = MAX2(0., nv->getSpeed() - helpDecel);
724 3129864 : const double dv = plannedSpeed - neighNewSpeed1s;
725 : // new gap between follower and self in case the follower does brake for 1s
726 3129864 : const double decelGap = neighFollow.second + dv;
727 3129864 : const double secureGap = nv->getCarFollowModel().getSecureGap(nv, &myVehicle, neighNewSpeed1s, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
728 : #ifdef DEBUG_INFORM
729 : if (gDebugFlag2) {
730 : std::cout << SIMTIME
731 : << " egoV=" << myVehicle.getSpeed()
732 : << " egoNV=" << plannedSpeed
733 : << " nvNewSpeed=" << neighNewSpeed
734 : << " nvNewSpeed1s=" << neighNewSpeed1s
735 : << " deltaGap=" << dv
736 : << " decelGap=" << decelGap
737 : << " secGap=" << secureGap
738 : << "\n";
739 : }
740 : #endif
741 3129864 : if (decelGap > 0 && decelGap >= secureGap) {
742 : // if the blocking neighbor brakes it could actually help
743 : // how hard does it actually need to be?
744 : // to be safe in the next step the following equation has to hold:
745 : // vsafe <= followSpeed(gap=currentGap - SPEED2DIST(vsafe), ...)
746 : // we compute an upper bound on vsafe by doing the computation twice
747 523095 : const double vsafe1 = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
748 523095 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
749 523095 : const double vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
750 523095 : nv, nv->getSpeed(), neighFollow.second + SPEED2DIST(plannedSpeed - vsafe1), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
751 : // the following assertion cannot be guaranteed because the CFModel handles small gaps differently, see MSCFModel::maximumSafeStopSpeed
752 : // assert(vsafe <= vsafe1);
753 523095 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
754 : #ifdef DEBUG_INFORM
755 : if (gDebugFlag2) {
756 : std::cout << " wants to cut in before nv=" << nv->getID()
757 : << " vsafe1=" << vsafe1
758 : << " vsafe=" << vsafe
759 : << " newSecGap=" << nv->getCarFollowModel().getSecureGap(nv, &myVehicle, vsafe, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel())
760 : << "\n";
761 : }
762 : #endif
763 3129864 : } else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS)) {
764 : // decelerating once is sufficient to open up a large enough gap in time
765 143021 : msg(neighFollow, neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER);
766 : #ifdef DEBUG_INFORM
767 : if (gDebugFlag2) {
768 : std::cout << " wants to cut in before nv=" << nv->getID() << " (eventually)\n";
769 : }
770 : #endif
771 2463748 : } else if (dir == LCA_MRIGHT && !myAllowOvertakingRight && !nv->congested()) {
772 : const double vhelp = MAX2(neighNewSpeed, HELP_OVERTAKE);
773 1862 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
774 : #ifdef DEBUG_INFORM
775 : if (gDebugFlag2) {
776 : std::cout << " wants to cut in before nv=" << nv->getID() << " (nv cannot overtake right)\n";
777 : }
778 : #endif
779 : } else {
780 2461886 : double vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
781 2461886 : if (nv->getSpeed() > myVehicle.getSpeed() &&
782 427310 : ((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE)
783 304751 : || (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
784 : // XXX this is a hack to determine whether the vehicles is on an on-ramp. This information should be retrieved from the network itself
785 299935 : || (dir == LCA_MLEFT && myLeftSpace > MAX_ONRAMP_LENGTH)
786 : )) {
787 : // let the follower slow down to increase the likelyhood that later vehicles will be slow enough to help
788 : // follower should still be fast enough to open a gap
789 437162 : vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
790 : #ifdef DEBUG_INFORM
791 : if (gDebugFlag2) {
792 : std::cout << " wants right follower to slow down a bit\n";
793 : }
794 : #endif
795 437162 : if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
796 : #ifdef DEBUG_INFORM
797 : if (gDebugFlag2) {
798 : std::cout << " wants to cut in before right follower nv=" << nv->getID() << " (eventually)\n";
799 : }
800 : #endif
801 424114 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
802 424114 : return;
803 : }
804 : }
805 2037772 : msg(neighFollow, vhelp, dir | LCA_AMBLOCKINGFOLLOWER);
806 : // this follower is supposed to overtake us. slow down smoothly to allow this
807 2037772 : const double overtakeDist = (neighFollow.second // follower reaches ego back
808 2037772 : + myVehicle.getVehicleType().getLengthWithGap() // follower reaches ego front
809 2037772 : + nv->getVehicleType().getLength() // follower back at ego front
810 2037772 : + myVehicle.getCarFollowModel().getSecureGap( // follower has safe dist to ego
811 2037772 : &myVehicle, nv, plannedSpeed, vhelp, nv->getCarFollowModel().getMaxDecel()));
812 : // speed difference to create a sufficiently large gap
813 2037772 : const double needDV = overtakeDist / remainingSeconds;
814 : // make sure the deceleration is not to strong
815 2202136 : addLCSpeedAdvice(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
816 :
817 : #ifdef DEBUG_INFORM
818 : if (gDebugFlag2) {
819 : std::cout << SIMTIME
820 : << " veh=" << myVehicle.getID()
821 : << " wants to be overtaken by=" << nv->getID()
822 : << " overtakeDist=" << overtakeDist
823 : << " vneigh=" << nv->getSpeed()
824 : << " vhelp=" << vhelp
825 : << " needDV=" << needDV
826 : << " vsafe=" << myVehicle.getSpeed() + ACCEL2SPEED(myLCAccelerationAdvices.back().first)
827 : << "\n";
828 : }
829 : #endif
830 : }
831 1334729 : } else if (neighFollow.first != 0) {
832 1334729 : const double vsafe = MSLCHelper::getSpeedPreservingSecureGap(myVehicle, *neighFollow.first, neighFollow.second, plannedSpeed);
833 1334729 : msg(neighFollow, vsafe, dir | LCA_AMBLOCKINGFOLLOWER);
834 : #ifdef DEBUG_INFORM
835 : if (gDebugFlag2) {
836 : std::cout << " wants to cut in before non-blocking follower nv=" << neighFollow.first->getID() << "\n";
837 : }
838 : #endif
839 : }
840 : }
841 :
842 : double
843 2243037 : MSLCM_SL2015::informLeaders(int blocked, int dir,
844 : const std::vector<CLeaderDist>& blockers,
845 : double remainingSeconds) {
846 2243037 : double plannedSpeed = myVehicle.getSpeed();
847 2243037 : double space = myLeftSpace;
848 2243037 : if (myLeadingBlockerLength != 0) {
849 : // see patchSpeed @todo: refactor
850 343689 : space -= myLeadingBlockerLength - POSITION_EPS - myVehicle.getVehicleType().getMinGap();
851 343689 : if (space <= 0) {
852 : // ignore leading blocker
853 999 : space = myLeftSpace;
854 : }
855 : }
856 2243037 : double safe = myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), space);
857 : plannedSpeed = MIN2(plannedSpeed, safe);
858 :
859 8610382 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
860 6367345 : plannedSpeed = MIN2(plannedSpeed, informLeader(blocked, dir, *it, remainingSeconds));
861 : }
862 2243037 : return plannedSpeed;
863 : }
864 :
865 :
866 : void
867 1854274 : MSLCM_SL2015::informFollowers(int blocked, int dir,
868 : const std::vector<CLeaderDist>& blockers,
869 : double remainingSeconds,
870 : double plannedSpeed) {
871 : // #3727
872 6488691 : for (std::vector<CLeaderDist>::const_iterator it = blockers.begin(); it != blockers.end(); ++it) {
873 4634417 : informFollower(blocked, dir, *it, remainingSeconds, plannedSpeed);
874 : }
875 1854274 : }
876 :
877 :
878 : void
879 80058679 : MSLCM_SL2015::prepareStep() {
880 80058679 : MSAbstractLaneChangeModel::prepareStep();
881 : // keep information about strategic change direction
882 80058679 : myOwnState = (myOwnState & (LCA_STRATEGIC | LCA_COOPERATIVE)) ? (myOwnState & LCA_WANTS_LANECHANGE) : 0;
883 : #ifdef DEBUG_INFORM
884 : if (debugVehicle()) {
885 : std::cout << SIMTIME
886 : << " veh=" << myVehicle.getID()
887 : << " prepareStep"
888 : << " myCanChangeFully=" << myCanChangeFully
889 : << "\n";
890 : }
891 : #endif
892 80058679 : myLeadingBlockerLength = 0;
893 80058679 : myLeftSpace = 0;
894 : myLCAccelerationAdvices.clear();
895 80058679 : myDontBrake = false;
896 : myCFRelated.clear();
897 80058679 : myCFRelatedReady = false;
898 80058679 : const double halfWidth = getWidth() * 0.5;
899 : // only permit changing within lane bounds but open up the range depending on the checked duration in _wantsChangeSublane()
900 80058679 : mySafeLatDistRight = myVehicle.getLane()->getWidth() * 0.5 + myVehicle.getLateralPositionOnLane() - halfWidth;
901 80058679 : mySafeLatDistLeft = myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane() - halfWidth;
902 80058679 : if (isOpposite()) {
903 : std::swap(mySafeLatDistLeft, mySafeLatDistRight);
904 : }
905 : // truncate to work around numerical instability between different builds
906 80058679 : mySpeedGainProbabilityRight = ceil(mySpeedGainProbabilityRight * 100000.0) * 0.00001;
907 80058679 : mySpeedGainProbabilityLeft = ceil(mySpeedGainProbabilityLeft * 100000.0) * 0.00001;
908 80058679 : myKeepRightProbability = ceil(myKeepRightProbability * 100000.0) * 0.00001;
909 : // updated myExpectedSublaneSpeeds
910 : // XXX only do this when (sub)lane changing is possible
911 : std::vector<double> newExpectedSpeeds;
912 : #ifdef DEBUG_INFORM
913 : if (DEBUG_COND) {
914 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " myExpectedSublaneSpeeds=" << toString(myExpectedSublaneSpeeds) << "\n";
915 : }
916 : #endif
917 160117358 : if (myExpectedSublaneSpeeds.size() != myVehicle.getLane()->getEdge().getSubLaneSides().size()) {
918 : // initialize
919 1107853 : const MSEdge* currEdge = &myVehicle.getLane()->getEdge();
920 : const std::vector<MSLane*>& lanes = currEdge->getLanes();
921 3039761 : for (std::vector<MSLane*>::const_iterator it_lane = lanes.begin(); it_lane != lanes.end(); ++it_lane) {
922 1931908 : const int subLanes = MAX2(1, int(ceil((*it_lane)->getWidth() / MSGlobals::gLateralResolution)));
923 10292917 : for (int i = 0; i < subLanes; ++i) {
924 8361009 : newExpectedSpeeds.push_back((*it_lane)->getVehicleMaxSpeed(&myVehicle));
925 : }
926 : }
927 1107853 : if (currEdge->canChangeToOpposite()) {
928 11120 : MSLane* opposite = lanes.back()->getOpposite();
929 11120 : const int subLanes = MAX2(1, int(ceil(opposite->getWidth() / MSGlobals::gLateralResolution)));
930 60953 : for (int i = 0; i < subLanes; ++i) {
931 49833 : newExpectedSpeeds.push_back(lanes.back()->getVehicleMaxSpeed(&myVehicle));
932 : }
933 : }
934 1107853 : if (myExpectedSublaneSpeeds.size() > 0) {
935 : // copy old values
936 : assert(myLastEdge != 0);
937 617967 : if (myLastEdge->getSubLaneSides().size() == myExpectedSublaneSpeeds.size()) {
938 617967 : const int subLaneShift = computeSublaneShift(myLastEdge, currEdge);
939 617967 : if (subLaneShift < std::numeric_limits<int>::max()) {
940 2577320 : for (int i = 0; i < (int)myExpectedSublaneSpeeds.size(); ++i) {
941 2229905 : const int newI = i + subLaneShift;
942 2229905 : if (newI > 0 && newI < (int)newExpectedSpeeds.size()) {
943 1531654 : newExpectedSpeeds[newI] = myExpectedSublaneSpeeds[i];
944 : }
945 : }
946 : }
947 : }
948 : }
949 1107853 : myExpectedSublaneSpeeds = newExpectedSpeeds;
950 1107853 : myLastEdge = currEdge;
951 : }
952 : assert(myExpectedSublaneSpeeds.size() == myVehicle.getLane()->getEdge().getSubLaneSides().size());
953 80058679 : if (mySigma > 0) {
954 55383 : mySigmaState += getLateralDrift();
955 : }
956 80058679 : }
957 :
958 : double
959 55383 : MSLCM_SL2015::getLateralDrift() {
960 : //OUProcess::step(double state, double dt, double timeScale, double noiseIntensity)
961 55383 : const double deltaState = OUProcess::step(mySigmaState,
962 55383 : myVehicle.getActionStepLengthSecs(),
963 55383 : MAX2(NUMERICAL_EPS, (1 - mySigma) * 100), mySigma) - mySigmaState;
964 55383 : const double scaledDelta = deltaState * myVehicle.getSpeed() / myVehicle.getLane()->getSpeedLimit();
965 55383 : return scaledDelta;
966 : }
967 :
968 : double
969 92904835 : MSLCM_SL2015::getPosLat() {
970 92904835 : return myVehicle.getLateralPositionOnLane() + mySigmaState;
971 : }
972 :
973 : int
974 617967 : MSLCM_SL2015::computeSublaneShift(const MSEdge* prevEdge, const MSEdge* curEdge) {
975 : // find the first lane that targets the new edge
976 : int prevShift = 0;
977 1234144 : for (const MSLane* const lane : prevEdge->getLanes()) {
978 1798830 : for (const MSLink* const link : lane->getLinkCont()) {
979 1182653 : if (&link->getLane()->getEdge() == curEdge) {
980 : int curShift = 0;
981 : const MSLane* target = link->getLane();
982 : const std::vector<MSLane*>& lanes2 = curEdge->getLanes();
983 485038 : for (std::vector<MSLane*>::const_iterator it_lane2 = lanes2.begin(); it_lane2 != lanes2.end(); ++it_lane2) {
984 485038 : const MSLane* lane2 = *it_lane2;
985 485038 : if (lane2 == target) {
986 347415 : return prevShift + curShift;
987 : }
988 137623 : MSLeaderInfo ahead(lane2->getWidth());
989 137623 : curShift += ahead.numSublanes();
990 137623 : }
991 : assert(false);
992 : }
993 : }
994 616177 : MSLeaderInfo ahead(lane->getWidth());
995 616177 : prevShift -= ahead.numSublanes();
996 616177 : }
997 : return std::numeric_limits<int>::max();
998 : }
999 :
1000 :
1001 : void
1002 1184849 : MSLCM_SL2015::changed() {
1003 1184849 : if (!myCanChangeFully) {
1004 : // do not reset state yet so we can continue our maneuver but acknowledge
1005 : // a change to the right (movement should continue due to lane alignment desire)
1006 361538 : if (getManeuverDist() < 0) {
1007 166776 : myKeepRightProbability = 0;
1008 : }
1009 : #ifdef DEBUG_STATE
1010 : if (DEBUG_COND) {
1011 : std::cout << SIMTIME << " veh=" << myVehicle.getID() << " state not reset. maneuverDist=" << getManeuverDist() << "\n";
1012 : }
1013 : #endif
1014 361538 : return;
1015 : }
1016 823311 : myOwnState = 0;
1017 : // XX do not reset values for unfinished maneuvers
1018 823311 : mySpeedGainProbabilityRight = 0;
1019 823311 : mySpeedGainProbabilityLeft = 0;
1020 823311 : myKeepRightProbability = 0;
1021 :
1022 823311 : if (myVehicle.getBestLaneOffset() == 0) {
1023 : // if we are not yet on our best lane there might still be unseen blockers
1024 : // (during patchSpeed)
1025 803695 : myLeadingBlockerLength = 0;
1026 803695 : myLeftSpace = 0;
1027 : }
1028 823311 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1029 : myLCAccelerationAdvices.clear();
1030 823311 : myDontBrake = false;
1031 823311 : myLeadingBlockerLength = 0;
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 2887 : MSLCM_SL2015::resetState() {
1042 2887 : myOwnState = 0;
1043 2887 : mySpeedGainProbabilityRight = 0;
1044 2887 : mySpeedGainProbabilityLeft = 0;
1045 2887 : myKeepRightProbability = 0;
1046 2887 : myLeadingBlockerLength = 0;
1047 2887 : myLeftSpace = 0;
1048 2887 : myLookAheadSpeed = LOOK_AHEAD_MIN_SPEED;
1049 : myLCAccelerationAdvices.clear();
1050 2887 : myDontBrake = false;
1051 2887 : }
1052 :
1053 :
1054 : int
1055 113899012 : 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 113899012 : if (laneOffset != 0) {
1071 : // update mySafeLatDist w.r.t. the direction being checkd
1072 34780368 : const double halfWidth = getWidth() * 0.5;
1073 34780368 : double center = getVehicleCenter();
1074 34780368 : if (laneOffset < 0) {
1075 15764674 : mySafeLatDistRight = center - halfWidth;
1076 : } else {
1077 19015694 : mySafeLatDistLeft = getLeftBorder() - center - halfWidth;
1078 : }
1079 : }
1080 :
1081 113899012 : const SUMOTime currentTime = MSNet::getInstance()->getCurrentTimeStep();
1082 : // compute bestLaneOffset
1083 : MSVehicle::LaneQ curr, neigh, best;
1084 : int bestLaneOffset = 0;
1085 113899012 : double currentDist = 0;
1086 : double neighDist = 0;
1087 113899012 : const MSLane* prebLane = myVehicle.getLane();
1088 113899012 : if (prebLane->getEdge().isInternal()) {
1089 : // internal edges are not kept inside the bestLanes structure
1090 2247305 : if (isOpposite()) {
1091 478 : prebLane = prebLane->getNormalPredecessorLane();
1092 : } else {
1093 2246827 : prebLane = prebLane->getLinkCont()[0]->getLane();
1094 : }
1095 : }
1096 : // special case: vehicle considers changing to the opposite direction edge
1097 113899012 : const bool checkOpposite = &neighLane.getEdge() != &myVehicle.getLane()->getEdge();
1098 113899012 : const int prebOffset = (checkOpposite ? 0 : laneOffset);
1099 155995976 : for (int p = 0; p < (int) preb.size(); ++p) {
1100 155995976 : if (preb[p].lane == prebLane && p + laneOffset >= 0) {
1101 : assert(p + prebOffset < (int)preb.size());
1102 : curr = preb[p];
1103 113899012 : neigh = preb[p + prebOffset];
1104 113899012 : currentDist = curr.length;
1105 113899012 : neighDist = neigh.length;
1106 113899012 : bestLaneOffset = curr.bestLaneOffset;
1107 : // VARIANT_13 (equalBest)
1108 113899012 : 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 113899012 : 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 113899012 : if (myVehicle.nextStopDist() < std::numeric_limits<double>::max()
1130 113899012 : && &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 1899444 : 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 2650290 : currentDist = MAX2(currentDist, stopPos);
1148 : neighDist = MAX2(neighDist, stopPos);
1149 : }
1150 : // direction specific constants
1151 113899012 : const bool right = (laneOffset == -1);
1152 113899012 : const bool left = (laneOffset == 1);
1153 113899012 : const int myLca = (right ? LCA_MRIGHT : (left ? LCA_MLEFT : 0));
1154 98134338 : const int lcaCounter = (right ? LCA_LEFT : (left ? LCA_RIGHT : LCA_NONE));
1155 113899012 : 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 113899012 : 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 113899012 : 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 113899012 : ret = slowDownForBlocked(lastBlocked, ret);
1203 : // VARIANT_14 (furtherBlock)
1204 113899012 : if (lastBlocked != firstBlocked) {
1205 113899012 : 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 113899012 : if (myVehicle.getSpeed() > myLookAheadSpeed) {
1223 20045501 : myLookAheadSpeed = myVehicle.getSpeed();
1224 : } else {
1225 : // FIXME: This strongly dependent on the value of TS, see LC2013 for the fix (l.1153, currently)
1226 93853511 : myLookAheadSpeed = MAX2(LOOK_AHEAD_MIN_SPEED,
1227 93853511 : (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 113899012 : double laDist = myLookAheadSpeed * LOOK_FORWARD * myStrategicParam * (right ? 1 : myLookaheadLeft);
1235 113899012 : 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 113899012 : 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 221459 : laDist = myVehicle.getVehicleType().getLengthWithGap();
1252 113677553 : } else if (checkOpposite && isOpposite() && neighLeaders.hasStoppedVehicle()) {
1253 : // compute exact distance to overtake stopped vehicle
1254 : laDist = 0;
1255 45395 : for (int i = 0; i < neighLeaders.numSublanes(); ++i) {
1256 36316 : CLeaderDist vehDist = neighLeaders[i];
1257 36316 : if (vehDist.first != nullptr && vehDist.first->isStopped()) {
1258 29464 : laDist = MAX2(laDist, myVehicle.getVehicleType().getMinGap() + vehDist.second + vehDist.first->getVehicleType().getLengthWithGap());
1259 : }
1260 : }
1261 9079 : laDist += myVehicle.getVehicleType().getLength();
1262 : }
1263 113899012 : 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 113899012 : const double roundaboutBonus = MSLCHelper::getRoundaboutDistBonus(myVehicle, myRoundaboutBonus, curr, neigh, best);
1275 113899012 : currentDist += roundaboutBonus;
1276 113899012 : neighDist += roundaboutBonus;
1277 :
1278 113899012 : 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 113899012 : 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 10686124 : const double center = myVehicle.getCenterOnEdge();
1299 10686124 : const double neighRight = getNeighRight(neighLane);
1300 10686124 : updateGaps(neighLeaders, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1301 10686124 : updateGaps(neighFollowers, neighRight, center, 1.0, mySafeLatDistRight, mySafeLatDistLeft);
1302 : // remove TraCI flags because it should not be included in "state-without-traci"
1303 10686124 : ret = getCanceledState(laneOffset);
1304 10686124 : return ret;
1305 : }
1306 103212888 : if ((ret & LCA_URGENT) != 0) {
1307 : // prepare urgent lane change maneuver
1308 2084277 : if (changeToBest && abs(bestLaneOffset) > 1
1309 2309525 : && 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 47585 : const double reserve = MIN2(myLeftSpace - POSITION_EPS, getExtraReservation(bestLaneOffset, neighDist - currentDist));
1313 49173 : 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 2243037 : MSVehicle* neighLeadLongest = const_cast<MSVehicle*>(getLongest(neighLeaders).first);
1324 2243037 : 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 2243037 : bool canReserve = MSLCHelper::updateBlockerLength(myVehicle, neighLeadLongest, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1331 2243037 : if (*firstBlocked != neighLeadLongest && tieBrakeLeader(*firstBlocked)) {
1332 80412 : canReserve &= MSLCHelper::updateBlockerLength(myVehicle, *firstBlocked, lcaCounter, myLeftSpace - POSITION_EPS, canContinue, myLeadingBlockerLength);
1333 : }
1334 2243037 : if (!canReserve && !isOpposite()) {
1335 : // we have a low-priority relief connection
1336 : // std::cout << SIMTIME << " veh=" << myVehicle.getID() << " cannotReserve for blockers\n";
1337 5339 : myDontBrake = canContinue;
1338 : }
1339 :
1340 : std::vector<CLeaderDist> collectLeadBlockers;
1341 : std::vector<CLeaderDist> collectFollowBlockers;
1342 2243037 : int blockedFully = 0; // wether execution of the full maneuver is blocked
1343 2243037 : maneuverDist = latDist;
1344 2243037 : const double gapFactor = computeGapFactor(LCA_STRATEGIC);
1345 2243037 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1346 : leaders, followers, blockers,
1347 : neighLeaders, neighFollowers, neighBlockers, &collectLeadBlockers, &collectFollowBlockers,
1348 : false, gapFactor, &blockedFully);
1349 :
1350 2243037 : const double absLaneOffset = fabs(bestLaneOffset != 0 ? bestLaneOffset : latDist / SUMO_const_laneWidth);
1351 2243037 : const double remainingSeconds = ((ret & LCA_TRACI) == 0 ?
1352 2623225 : MAX2(STEPS2TIME(TS), myLeftSpace / MAX2(myLookAheadSpeed, NUMERICAL_EPS) / absLaneOffset / URGENCY) :
1353 222 : myVehicle.getInfluencer().changeRequestRemainingSeconds(currentTime));
1354 2243037 : const double plannedSpeed = informLeaders(blocked, myLca, collectLeadBlockers, remainingSeconds);
1355 : // coordinate with direct obstructions
1356 2243037 : if (plannedSpeed >= 0) {
1357 : // maybe we need to deal with a blocking follower
1358 1854274 : informFollowers(blocked, myLca, collectFollowBlockers, remainingSeconds, plannedSpeed);
1359 : }
1360 1854274 : if (plannedSpeed > 0) {
1361 915475 : 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 2243037 : ret = getCanceledState(laneOffset);
1379 : return ret;
1380 2243037 : }
1381 : // VARIANT_15
1382 100969851 : 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 5367211 : if (left) {
1396 536539 : ret |= LCA_COOPERATIVE;
1397 536539 : if (!cancelRequest(ret | LCA_LEFT, laneOffset)) {
1398 536539 : if ((ret & LCA_STAY) == 0) {
1399 536539 : latDist = latLaneDist;
1400 536539 : maneuverDist = latLaneDist;
1401 536539 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1402 : leaders, followers, blockers,
1403 : neighLeaders, neighFollowers, neighBlockers);
1404 : }
1405 536539 : return ret;
1406 : } else {
1407 : ret &= ~LCA_COOPERATIVE;
1408 : }
1409 : } else {
1410 4830672 : 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 100433312 : ? -mySpeedGainProbabilityRight / myChangeProbThresholdRight
1425 89754294 : : -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 21375058 : && ((amBlockingFollowerPlusNB()
1444 : // VARIANT_6 : counterNoHelp
1445 252417 : && ((myOwnState & myLca) != 0))
1446 21305307 : ||
1447 : // continue previous cooperative change
1448 21305307 : ((myPreviousState & LCA_COOPERATIVE) != 0
1449 84358 : && !myCanChangeFully
1450 : // change is in the right direction
1451 46348 : && (laneOffset * getManeuverDist() > 0)))
1452 71911 : && (inconvenience < myCooperativeParam)
1453 100503045 : && (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 69733 : ret |= LCA_COOPERATIVE | LCA_URGENT ;//| LCA_CHANGE_TO_HELP;
1463 69733 : if (!cancelRequest(ret | getLCA(ret, latLaneDist), laneOffset)) {
1464 69733 : latDist = amBlockingFollowerPlusNB() ? latLaneDist : getManeuverDist();
1465 69733 : maneuverDist = latDist;
1466 69733 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1467 : leaders, followers, blockers,
1468 : neighLeaders, neighFollowers, neighBlockers);
1469 69733 : 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 100363579 : 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 100363579 : const double vehWidth = getWidth();
1495 100363579 : const double rightVehSide = getVehicleCenter() - 0.5 * vehWidth;
1496 100363579 : 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 100363579 : int leftmostOnEdge = (int)sublaneSides.size() - 1;
1501 291727077 : while (leftmostOnEdge > 0 && sublaneSides[leftmostOnEdge] > leftVehSide) {
1502 191363498 : leftmostOnEdge--;
1503 : }
1504 : int rightmostOnEdge = leftmostOnEdge;
1505 372545460 : while (rightmostOnEdge > 0 && sublaneSides[rightmostOnEdge] > rightVehSide + NUMERICAL_EPS) {
1506 272181881 : 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 272181881 : rightmostOnEdge--;
1514 : }
1515 100363579 : 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 100363579 : const int iMin = MIN2(myVehicle.getLane()->getRightmostSublane(), neighLane.getRightmostSublane());
1528 100363579 : double leftMax = MAX2(
1529 100363579 : myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth(),
1530 : neighLane.getRightSideOnEdge() + neighLane.getWidth());
1531 100363579 : double rightMin = MIN2(myVehicle.getLane()->getRightSideOnEdge(), neighLane.getRightSideOnEdge());
1532 100363579 : if (checkOpposite || isOpposite()) {
1533 137741 : leftMax = getLeftBorder();
1534 : } else {
1535 : assert(leftMax <= edge.getWidth());
1536 : }
1537 100363579 : int sublaneCompact = MAX2(iMin, rightmostOnEdge - 1); // try to compactify to the right by default
1538 :
1539 100363579 : 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 100363579 : const double maxLatDist = leftMax - leftVehSide;
1544 100363579 : const double minLatDist = rightMin - rightVehSide;
1545 100363579 : const int iStart = laneOffset == 0 ? iMin : 0;
1546 21305325 : 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 743667914 : for (int i = iStart; i < (int)sublaneSides.size(); ++i) {
1562 643304335 : 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 343885866 : double vMin = myExpectedSublaneSpeeds[i];
1566 : //std::cout << " i=" << i << "\n";
1567 : int j = i;
1568 1338865665 : while (vMin > 0 && j < (int)sublaneSides.size() && sublaneSides[j] < sublaneSides[i] + vehWidth) {
1569 994979799 : 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 994979799 : ++j;
1576 : }
1577 : // check whether the vehicle is between lanes
1578 343885866 : if (laneOffset != 0 && overlap(sublaneSides[i], sublaneSides[i] + vehWidth, laneBoundary, laneBoundary)) {
1579 40146279 : vMin *= (1 - myLaneDiscipline);
1580 : }
1581 487094780 : double relativeGain = (vMin - defaultNextSpeed) / MAX2(vMin, RELGAIN_NORMALIZATION_MIN_SPEED);
1582 343885866 : double currentLatDist = sublaneSides[i] - rightVehSide;
1583 343885866 : if ((laneOffset == 0 && (currentLatDist > maxLatDist || currentLatDist < minLatDist))
1584 343885866 : || (laneOffset < 0 && currentLatDist > maxLatDist)
1585 336854602 : || (laneOffset > 0 && currentLatDist < minLatDist)) {
1586 : #ifdef DEBUG_WANTSCHANGE
1587 : if (gDebugFlag2) {
1588 : std::cout << " i=" << i << " currentLatDist=" << currentLatDist << " outOfBounds\n";
1589 : }
1590 : #endif
1591 15685334 : continue;
1592 : }
1593 : currentLatDist = MIN2(MAX2(currentLatDist, minLatDist), maxLatDist);
1594 328200532 : 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 328200532 : if (relativeGain > maxGain && currentLatDist * laneOffset >= 0) {
1601 : maxGain = relativeGain;
1602 124486626 : if (maxGain > GAIN_PERCEPTION_THRESHOLD) {
1603 : sublaneCompact = i;
1604 7981050 : 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 203713906 : if (currentLatDist > 0
1614 : //&& latDist < 0 // #7184 compensates for #7185
1615 135844313 : && mySpeedGainProbabilityLeft > mySpeedGainProbabilityRight
1616 35082572 : && relativeGain > GAIN_PERCEPTION_THRESHOLD
1617 3466885 : && maxGain - relativeGain < NUMERICAL_EPS) {
1618 2763405 : 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 328200532 : if (currentLatDist < -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1627 : maxGainRight = MAX2(maxGainRight, relativeGain);
1628 162855570 : } else if (currentLatDist > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
1629 : maxGainLeft = MAX2(maxGainLeft, relativeGain);
1630 : }
1631 328200532 : const double subAlignDist = sublaneSides[i] - rightVehSide;
1632 328200532 : 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 100363579 : if (maxGainRight != -std::numeric_limits<double>::max()) {
1649 : #ifdef DEBUG_WANTSCHANGE
1650 : if (gDebugFlag2) {
1651 : std::cout << " speedGainR_old=" << mySpeedGainProbabilityRight;
1652 : }
1653 : #endif
1654 95574615 : mySpeedGainProbabilityRight += myVehicle.getActionStepLengthSecs() * maxGainRight;
1655 : #ifdef DEBUG_WANTSCHANGE
1656 : if (gDebugFlag2) {
1657 : std::cout << " speedGainR_new=" << mySpeedGainProbabilityRight << "\n";
1658 : }
1659 : #endif
1660 : }
1661 100363579 : if (maxGainLeft != -std::numeric_limits<double>::max()) {
1662 : #ifdef DEBUG_WANTSCHANGE
1663 : if (gDebugFlag2) {
1664 : std::cout << " speedGainL_old=" << mySpeedGainProbabilityLeft;
1665 : }
1666 : #endif
1667 93173316 : 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 100363579 : if ((fabs(maxGainRight) < NUMERICAL_EPS || maxGainRight == -std::numeric_limits<double>::max())
1676 94748464 : && (right || (alternatives & LCA_RIGHT) == 0)) {
1677 78304860 : mySpeedGainProbabilityRight *= pow(SPEEDGAIN_DECAY_FACTOR, myVehicle.getActionStepLengthSecs());
1678 : }
1679 100363579 : if ((fabs(maxGainLeft) < NUMERICAL_EPS || maxGainLeft == -std::numeric_limits<double>::max())
1680 91507458 : && (left || (alternatives & LCA_LEFT) == 0)) {
1681 72244352 : 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 100363579 : 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 89642693 : if (right && myVehicle.getSpeed() > 0 && (maxGainRight >= 0
1705 145852 : || ((myPreviousState & LCA_KEEPRIGHT) != 0 && maxGainRight >= -myKeepRightParam))) {
1706 : // honor the obligation to keep right (Rechtsfahrgebot)
1707 8518338 : const double vMax = myVehicle.getLane()->getVehicleMaxSpeed(&myVehicle);
1708 8518338 : const double roadSpeedFactor = vMax / myVehicle.getLane()->getSpeedLimit(); // differse from speedFactor if vMax < speedLimit
1709 : double acceptanceTime;
1710 8518338 : if (myKeepRightAcceptanceTime == -1) {
1711 : // legacy behavior: scale acceptance time with current speed and
1712 : // use old hard-coded constant
1713 17036142 : 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 8518338 : double fullSpeedGap = MAX2(0., neighDist - myVehicle.getCarFollowModel().brakeGap(vMax));
1738 8518338 : double fullSpeedDrivingSeconds = MIN2(acceptanceTime, fullSpeedGap / vMax);
1739 8518338 : CLeaderDist neighLead = getSlowest(neighLeaders);
1740 8518338 : if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1741 7042139 : fullSpeedGap = MAX2(0., MIN2(fullSpeedGap,
1742 7042139 : neighLead.second - myVehicle.getCarFollowModel().getSecureGap(&myVehicle, neighLead.first,
1743 7042139 : vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1744 7042139 : fullSpeedDrivingSeconds = MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1745 : }
1746 8518338 : const double deltaProb = (myChangeProbThresholdRight * (fullSpeedDrivingSeconds / acceptanceTime) / KEEP_RIGHT_TIME) * myVehicle.getActionStepLengthSecs();
1747 8518338 : const bool isSlide = preventSliding(latLaneDist);
1748 : // stay below threshold
1749 9605649 : if (!isSlide || !wantsKeepRight(myKeepRightProbability + deltaProb)) {
1750 8480611 : 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 8518338 : if (wantsKeepRight(myKeepRightProbability)
1774 : /*&& latLaneDist <= -NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()*/) {
1775 525107 : ret |= LCA_KEEPRIGHT;
1776 : assert(myVehicle.getLane()->getIndex() > neighLane.getIndex() || isOpposite());
1777 525107 : if (!cancelRequest(ret | LCA_RIGHT, laneOffset)) {
1778 524160 : latDist = latLaneDist;
1779 524160 : maneuverDist = latLaneDist;
1780 524160 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
1781 : leaders, followers, blockers,
1782 : neighLeaders, neighFollowers, neighBlockers);
1783 524160 : return ret;
1784 : } else {
1785 : ret &= ~LCA_KEEPRIGHT;
1786 : }
1787 : }
1788 : }
1789 :
1790 89118533 : 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 2813097 : if (latDist < 0 && mySpeedGainProbabilityRight >= myChangeProbThresholdRight * bidiRightFactor
1807 91291789 : && neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime) {
1808 1046520 : ret |= LCA_SPEEDGAIN;
1809 1046520 : if (!cancelRequest(ret | getLCA(ret, latDist), laneOffset)) {
1810 1033414 : int blockedFully = 0;
1811 1033414 : maneuverDist = latDist;
1812 1033414 : 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 13106 : latDist = 0;
1821 : ret &= ~LCA_SPEEDGAIN;
1822 : }
1823 : }
1824 : }
1825 98806005 : if (!right || isOpposite()) {
1826 :
1827 89588858 : 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 89588858 : 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 3888452 : (stayInLane || neighDist / MAX2(.1, myVehicle.getSpeed()) > mySpeedGainRemainTime)) {
1846 2712272 : ret |= LCA_SPEEDGAIN;
1847 2712272 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
1848 2693716 : int blockedFully = 0;
1849 2693716 : maneuverDist = latDist;
1850 2693716 : 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 18556 : latDist = 0;
1858 : ret &= ~LCA_SPEEDGAIN;
1859 : }
1860 : }
1861 : }
1862 :
1863 : double latDistSublane = 0.;
1864 96112289 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
1865 96112289 : const double halfVehWidth = getWidth() * 0.5;
1866 96112289 : if (myVehicle.getParameter().arrivalPosLatProcedure != ArrivalPosLatDefinition::DEFAULT
1867 4816 : && myVehicle.getRoute().getLastEdge() == &myVehicle.getLane()->getEdge()
1868 4816 : && bestLaneOffset == 0
1869 96117105 : && (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 96111398 : LatAlignmentDefinition align = getDesiredAlignment();
1897 96111398 : switch (align) {
1898 4154225 : case LatAlignmentDefinition::RIGHT:
1899 4154225 : latDistSublane = -halfLaneWidth + halfVehWidth - getPosLat();
1900 4154225 : break;
1901 155047 : case LatAlignmentDefinition::LEFT:
1902 155047 : latDistSublane = halfLaneWidth - halfVehWidth - getPosLat();
1903 155047 : break;
1904 88567008 : case LatAlignmentDefinition::CENTER:
1905 : case LatAlignmentDefinition::DEFAULT:
1906 88567008 : latDistSublane = -getPosLat();
1907 88567008 : break;
1908 : case LatAlignmentDefinition::NICE:
1909 : latDistSublane = latDistNice;
1910 : break;
1911 2934399 : case LatAlignmentDefinition::COMPACT:
1912 2934399 : latDistSublane = sublaneSides[sublaneCompact] - rightVehSide;
1913 2934399 : 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 96112289 : if (fabs(latDist) <= NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() ||
1950 2903181 : 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 10161104 : if ((latDistSublane < 0 && mySpeedGainProbabilityRight < mySpeedLossProbThreshold)
1969 93551388 : || (latDistSublane > 0 && mySpeedGainProbabilityLeft < mySpeedLossProbThreshold)
1970 185671463 : || 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 94432583 : if (!myCanChangeFully
1980 7429821 : && (myPreviousState & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_KEEPRIGHT | LCA_SPEEDGAIN)) != 0
1981 99739214 : && ((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 94432583 : 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 94432583 : 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 8231031 : ret |= LCA_SUBLANE;
2001 : // include prior motivation when sublane-change is part of finishing an ongoing maneuver in the same direction
2002 8231031 : if (getPreviousManeuverDist() * latDist > 0) {
2003 917573 : int priorReason = (myPreviousState & LCA_CHANGE_REASONS & ~LCA_SUBLANE);
2004 917573 : 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 8231031 : if (!cancelRequest(ret + getLCA(ret, latDist), laneOffset)) {
2011 8227425 : maneuverDist = latDist;
2012 8227425 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset,
2013 : leaders, followers, blockers,
2014 : neighLeaders, neighFollowers, neighBlockers);
2015 8227425 : return ret;
2016 : } else {
2017 3606 : ret &= ~LCA_SUBLANE;
2018 : }
2019 : } else {
2020 86201552 : return ret | LCA_SUBLANE | LCA_STAY;
2021 : }
2022 : }
2023 1683312 : 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 1683312 : return ret;
2054 100363579 : }
2055 :
2056 :
2057 : int
2058 227798024 : MSLCM_SL2015::slowDownForBlocked(MSVehicle** blocked, int state) {
2059 : // if this vehicle is blocking someone in front, we maybe decelerate to let him in
2060 227798024 : if ((*blocked) != nullptr) {
2061 15284794 : 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 15284794 : if (gap > POSITION_EPS) {
2072 : //const bool blockedWantsUrgentRight = (((*blocked)->getLaneChangeModel().getOwnState() & LCA_RIGHT != 0)
2073 : // && ((*blocked)->getLaneChangeModel().getOwnState() & LCA_URGENT != 0));
2074 :
2075 12295062 : if (myVehicle.getSpeed() < myVehicle.getCarFollowModel().getMaxDecel()
2076 : //|| blockedWantsUrgentRight // VARIANT_10 (helpblockedRight)
2077 : ) {
2078 10500373 : if ((*blocked)->getSpeed() < SUMO_const_haltingSpeed) {
2079 6141140 : state |= LCA_AMBACKBLOCKER_STANDING;
2080 : } else {
2081 4359233 : state |= LCA_AMBACKBLOCKER;
2082 : }
2083 21000746 : addLCSpeedAdvice(getCarFollowModel().followSpeed(
2084 10500373 : &myVehicle, myVehicle.getSpeed(),
2085 10500373 : (gap - POSITION_EPS), (*blocked)->getSpeed(),
2086 10500373 : (*blocked)->getCarFollowModel().getMaxDecel()), false);
2087 : //(*blocked) = 0; // VARIANT_14 (furtherBlock)
2088 : }
2089 : }
2090 : }
2091 227798024 : 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 122795311 : MSLCM_SL2015::updateExpectedSublaneSpeeds(const MSLeaderDistanceInfo& ahead, int sublaneOffset, int laneIndex) {
2113 122795311 : const std::vector<MSLane*>& lanes = myVehicle.getLane()->getEdge().getLanes();
2114 122795311 : const std::vector<MSVehicle::LaneQ>& preb = myVehicle.getBestLanes();
2115 122795311 : const MSLane* lane = isOpposite() ? myVehicle.getLane()->getParallelOpposite() : lanes[laneIndex];
2116 122795311 : const MSLane* next = myVehicle.getBestLanesContinuation().size() > 1 ? myVehicle.getBestLanesContinuation()[1] : nullptr;
2117 101496496 : const MSLink* link = next != nullptr ? lane->getLinkTo(next) : nullptr;
2118 122795311 : const double shift = link != nullptr ? link->getLateralShift() + 0.5 * (lane->getWidth() - next->getWidth()) : 0;
2119 122795311 : const MSLane* bidi = myVehicle.getLane()->getBidiLane();
2120 122795311 : 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 638449028 : for (int sublane = 0; sublane < (int)ahead.numSublanes(); ++sublane) {
2130 515653717 : const int edgeSublane = sublane + sublaneOffset;
2131 515653717 : if (edgeSublane >= (int)myExpectedSublaneSpeeds.size()) {
2132 : // this may happen if a sibling lane is wider than the changer lane
2133 170 : continue;
2134 : }
2135 515653547 : 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 2826199 : myExpectedSublaneSpeeds[edgeSublane] = 0;
2138 : #ifdef DEBUG_EXPECTED_SLSPEED
2139 : if (DEBUG_COND) {
2140 : std::cout << " updateExpectedSublaneSpeeds sublane=" << sublane << " doesNotContinue\n";
2141 : }
2142 : #endif
2143 2826199 : continue;
2144 512827348 : } 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 506971291 : const MSVehicle* leader = ahead[sublane].first;
2148 506971291 : const double gap = ahead[sublane].second;
2149 : double vSafe;
2150 506971291 : if (leader == nullptr) {
2151 95055075 : if (hasBlueLight()) {
2152 : // can continue from any lane if necessary
2153 : vSafe = vMax;
2154 : } else {
2155 94824668 : const int prebIndex = isOpposite() ? (int)preb.size() - 1 : laneIndex;
2156 94824668 : const double dist = preb[prebIndex].length - myVehicle.getPositionOnLane();
2157 94824668 : vSafe = getCarFollowModel().followSpeed(&myVehicle, vMax, dist, 0, 0);
2158 : }
2159 411916216 : } 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 411836169 : if (leader->getAcceleration() > 0.5 * leader->getCarFollowModel().getMaxAccel()) {
2173 : // assume that the leader will continue accelerating to its maximum speed
2174 47127940 : vSafe = leader->getLane()->getVehicleMaxSpeed(leader);
2175 : } else {
2176 364708229 : vSafe = getCarFollowModel().followSpeed(
2177 364708229 : &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 364708229 : vSafe = forecastAverageSpeed(vSafe, vMax, gap, leader->getSpeed());
2184 : }
2185 : }
2186 : // take pedestrians into account
2187 506971291 : 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 279892 : ahead.getSublaneBorders(sublane, 0, foeRight, foeLeft);
2191 : // get all leaders ahead or overlapping
2192 279892 : const PersonDist pedLeader = lane->nextBlocking(myVehicle.getPositionOnLane() - myVehicle.getVehicleType().getLength(), foeRight, foeLeft);
2193 279892 : if (pedLeader.first != 0) {
2194 77803 : 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 77803 : 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 506971291 : 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 506971291 : const double memoryFactor = isOpposite() ? 0 : pow(SPEEDGAIN_MEMORY_FACTOR, myVehicle.getActionStepLengthSecs());
2231 506971291 : myExpectedSublaneSpeeds[edgeSublane] = memoryFactor * myExpectedSublaneSpeeds[edgeSublane] + (1 - memoryFactor) * vSafe;
2232 : } else {
2233 : // lane forbidden
2234 5856057 : 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 122795311 : }
2244 :
2245 :
2246 : bool
2247 7076254 : MSLCM_SL2015::sublaneEnds(int i, const MSLane* next, double shift) {
2248 7076254 : 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 7076267 : || (side + MSGlobals::gLateralResolution > next->getWidth()
2252 6256536 : && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))));
2253 : }
2254 :
2255 :
2256 : double
2257 364786751 : MSLCM_SL2015::forecastAverageSpeed(double vSafe, double vMax, double gap, double vLeader) const {
2258 364786751 : const double deltaV = vMax - vLeader;
2259 364786751 : if (deltaV > 0 && gap / deltaV < mySpeedGainLookahead && mySpeedGainLookahead > 0) {
2260 : // anticipate future braking by computing the average
2261 : // speed over the next few seconds
2262 211315181 : const double foreCastTime = mySpeedGainLookahead * 2;
2263 : const double gapClosingTime = MAX2(0.0, gap / deltaV);
2264 211315181 : 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 364786751 : return vSafe;
2273 : }
2274 :
2275 :
2276 : double
2277 91238880 : MSLCM_SL2015::computeSpeedGain(double latDistSublane, double defaultNextSpeed) const {
2278 : double result = std::numeric_limits<double>::max();
2279 91238880 : const std::vector<double>& sublaneSides = myVehicle.getLane()->getEdge().getSubLaneSides();
2280 91238880 : const double vehWidth = getWidth();
2281 91238880 : const double rightVehSide = myVehicle.getCenterOnEdge() - vehWidth * 0.5 + latDistSublane;
2282 91238880 : const double leftVehSide = rightVehSide + vehWidth;
2283 728966665 : for (int i = 0; i < (int)sublaneSides.size(); ++i) {
2284 637727785 : const double leftSide = i + 1 < (int)sublaneSides.size() ? sublaneSides[i + 1] : MAX2(myVehicle.getLane()->getEdge().getWidth(), sublaneSides[i] + POSITION_EPS);
2285 637727785 : if (overlap(rightVehSide, leftVehSide, sublaneSides[i], leftSide)) {
2286 339667977 : 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 91238880 : return result - defaultNextSpeed;
2291 91238880 : }
2292 :
2293 :
2294 : CLeaderDist
2295 2243037 : MSLCM_SL2015::getLongest(const MSLeaderDistanceInfo& ldi) const {
2296 : int iMax = -1;
2297 : double maxLength = -1;
2298 12503043 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2299 10260006 : const MSVehicle* veh = ldi[i].first;
2300 10260006 : if (veh) {
2301 7750673 : const double length = veh->getVehicleType().getLength();
2302 7750673 : if (length > maxLength && tieBrakeLeader(veh)) {
2303 : maxLength = length;
2304 : iMax = i;
2305 : }
2306 : }
2307 : }
2308 2243037 : return iMax >= 0 ? ldi[iMax] : std::make_pair(nullptr, -1);
2309 : }
2310 :
2311 :
2312 : bool
2313 3676676 : MSLCM_SL2015::tieBrakeLeader(const MSVehicle* veh) const {
2314 : // tie braker if the leader is at the same lane position
2315 3676676 : return veh != nullptr && (veh->getPositionOnLane() != myVehicle.getPositionOnLane()
2316 9959 : || veh->getSpeed() < myVehicle.getSpeed()
2317 9852 : || &veh->getLane()->getEdge() != &myVehicle.getLane()->getEdge()
2318 9852 : || veh->getLane()->getIndex() > myVehicle.getLane()->getIndex());
2319 : }
2320 :
2321 :
2322 : CLeaderDist
2323 11368980 : MSLCM_SL2015::getSlowest(const MSLeaderDistanceInfo& ldi) {
2324 : int iMax = 0;
2325 : double minSpeed = std::numeric_limits<double>::max();
2326 57355639 : for (int i = 0; i < ldi.numSublanes(); ++i) {
2327 45986659 : if (ldi[i].first != 0) {
2328 40851367 : const double speed = ldi[i].first->getSpeed();
2329 40851367 : if (speed < minSpeed) {
2330 : minSpeed = speed;
2331 : iMax = i;
2332 : }
2333 : }
2334 : }
2335 11368980 : return ldi[iMax];
2336 : }
2337 :
2338 :
2339 : int
2340 19541025 : 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 19541025 : const double maxDist = SPEED2DIST(getMaxSpeedLat2());
2354 19541025 : latDist = MAX2(MIN2(latDist, maxDist), -maxDist);
2355 19541025 : if (myVehicle.hasInfluencer() && myVehicle.getInfluencer().getLatDist() != 0 && myVehicle.getInfluencer().ignoreOverlap()) {
2356 : return 0;
2357 : }
2358 :
2359 19538243 : const double neighRight = getNeighRight(neighLane);
2360 19538243 : if (!myCFRelatedReady) {
2361 11450566 : updateCFRelated(followers, myVehicle.getLane()->getRightSideOnEdge(), false);
2362 11450566 : updateCFRelated(leaders, myVehicle.getLane()->getRightSideOnEdge(), true);
2363 11450566 : if (laneOffset != 0) {
2364 7937492 : updateCFRelated(neighFollowers, neighRight, false);
2365 7937492 : updateCFRelated(neighLeaders, neighRight, true);
2366 : }
2367 11450566 : myCFRelatedReady = true;
2368 : }
2369 :
2370 : // reduce latDist to avoid blockage with overlapping vehicles (no minGapLat constraints)
2371 19538243 : const double center = myVehicle.getCenterOnEdge();
2372 19538243 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2373 19538243 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectFollowBlockers);
2374 19538243 : if (laneOffset != 0) {
2375 9658627 : updateGaps(neighLeaders, neighRight, center, gapFactor, mySafeLatDistRight, mySafeLatDistLeft, false, 0, latDist, collectLeadBlockers);
2376 9658627 : 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 19538243 : const bool forcedTraCIChange = (myVehicle.hasInfluencer()
2385 57355 : && myVehicle.getInfluencer().getLatDist() != 0
2386 19538584 : && myVehicle.getInfluencer().ignoreOverlap());
2387 19538243 : if (latDist < 0) {
2388 10268943 : if (mySafeLatDistRight <= NUMERICAL_EPS) {
2389 : return LCA_BLOCKED_RIGHT | LCA_OVERLAPPING;
2390 9232417 : } else if (!forcedTraCIChange) {
2391 12745442 : latDist = MAX2(latDist, -mySafeLatDistRight);
2392 : }
2393 : } else {
2394 9269300 : if (mySafeLatDistLeft <= NUMERICAL_EPS) {
2395 : return LCA_BLOCKED_LEFT | LCA_OVERLAPPING;
2396 7262543 : } else if (!forcedTraCIChange) {
2397 7262543 : latDist = MIN2(latDist, mySafeLatDistLeft);
2398 : }
2399 : }
2400 :
2401 16494960 : 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 16494960 : blocked |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2415 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2416 16494960 : blocked |= checkBlockingVehicles(&myVehicle, followers, laneOffset, latDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2417 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2418 16494960 : if (laneOffset != 0) {
2419 8340344 : blocked |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, latDist, neighRight, true,
2420 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2421 8340344 : blocked |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, latDist, neighRight, false,
2422 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2423 : }
2424 :
2425 : int blockedFully = 0;
2426 16494960 : blockedFully |= checkBlockingVehicles(&myVehicle, leaders, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), true,
2427 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2428 16494960 : blockedFully |= checkBlockingVehicles(&myVehicle, followers, laneOffset, maneuverDist, myVehicle.getLane()->getRightSideOnEdge(), false,
2429 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2430 16494960 : if (laneOffset != 0) {
2431 8340344 : blockedFully |= checkBlockingVehicles(&myVehicle, neighLeaders, laneOffset, maneuverDist, neighRight, true,
2432 : mySafeLatDistRight, mySafeLatDistLeft, collectLeadBlockers);
2433 8340344 : blockedFully |= checkBlockingVehicles(&myVehicle, neighFollowers, laneOffset, maneuverDist, neighRight, false,
2434 : mySafeLatDistRight, mySafeLatDistLeft, collectFollowBlockers);
2435 : }
2436 16494960 : if (retBlockedFully != nullptr) {
2437 5322099 : *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 16494960 : 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 8220800 : 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 16494960 : if (collectFollowBlockers != nullptr && collectLeadBlockers != nullptr) {
2461 : // prevent vehicles from being classified as leader and follower simultaneously
2462 7415256 : for (std::vector<CLeaderDist>::const_iterator it2 = collectLeadBlockers->begin(); it2 != collectLeadBlockers->end(); ++it2) {
2463 27591634 : for (std::vector<CLeaderDist>::iterator it = collectFollowBlockers->begin(); it != collectFollowBlockers->end();) {
2464 21987018 : 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 99341216 : 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 99341216 : ? (leaders ? LCA_BLOCKED_BY_LEADER : LCA_BLOCKED_BY_FOLLOWER)
2490 : : (laneOffset > 0
2491 66722752 : ? (leaders ? LCA_BLOCKED_BY_LEFT_LEADER : LCA_BLOCKED_BY_LEFT_FOLLOWER)
2492 30618344 : : (leaders ? LCA_BLOCKED_BY_RIGHT_LEADER : LCA_BLOCKED_BY_RIGHT_FOLLOWER)));
2493 99341216 : const double vehWidth = getWidth();
2494 99341216 : const double rightVehSide = ego->getRightSideOnEdge();
2495 99341216 : const double leftVehSide = rightVehSide + vehWidth;
2496 99341216 : const double rightVehSideDest = rightVehSide + latDist;
2497 99341216 : 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 508640208 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2519 420812940 : CLeaderDist vehDist = vehicles[i];
2520 420812940 : if (vehDist.first != 0 && myCFRelated.count(vehDist.first) == 0) {
2521 : const MSVehicle* leader = vehDist.first;
2522 : const MSVehicle* follower = ego;
2523 160319798 : 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 160319798 : vehicles.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
2529 160319798 : const bool overlapBefore = overlap(rightVehSide, leftVehSide, foeRight, foeLeft);
2530 160319798 : const bool overlapDest = overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft);
2531 160319798 : 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 160319798 : if (overlapAny) {
2546 35305001 : if (vehDist.second < 0) {
2547 10828426 : 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 10749491 : result |= (blockType | LCA_OVERLAPPING);
2560 10749491 : if (collectBlockers == nullptr) {
2561 11513948 : return result;
2562 : } else {
2563 4065714 : collectBlockers->push_back(vehDist);
2564 : }
2565 : }
2566 24476575 : } 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 24453993 : const double timeTillAction = MAX2(follower->getActionStepLengthSecs(), leader->getActionStepLengthSecs()) - TS;
2575 : // Ignore decel for follower
2576 24453993 : const double followerAccel = MAX2(0., follower->getAcceleration());
2577 24453993 : const double leaderAccel = leader->getAcceleration();
2578 : // Expected gap after next actionsteps
2579 24453993 : 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 24453993 : const double followerExpectedSpeed = follower->getSpeed() + timeTillAction * followerAccel;
2583 24453993 : const double leaderExpectedSpeed = MAX2(0., leader->getSpeed() + timeTillAction * leaderAccel);
2584 24453993 : 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 24453993 : const double secureGap2 = expectedSecureGap * getSafetyFactor();
2605 24453993 : if (expectedGap < secureGap2) {
2606 : // Foe is a blocker. Update lateral safe gaps accordingly.
2607 5570592 : if (foeRight > leftVehSide) {
2608 3981582 : safeLatGapLeft = MIN2(safeLatGapLeft, foeRight - leftVehSide);
2609 3223149 : } else if (foeLeft < rightVehSide) {
2610 4931929 : 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 5570592 : result |= blockType;
2622 5570592 : if (collectBlockers == nullptr) {
2623 4830171 : 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 18883401 : if (collectBlockers != nullptr) {
2632 : // collect non-blocking followers as well to make sure
2633 : // they remain non-blocking
2634 4623496 : collectBlockers->push_back(vehDist);
2635 : }
2636 : }
2637 : }
2638 : }
2639 : }
2640 : return result;
2641 :
2642 : }
2643 :
2644 :
2645 : void
2646 38776116 : 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 38776116 : const double vehWidth = myVehicle.getVehicleType().getWidth() - NUMERICAL_EPS;
2650 38776116 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
2651 38776116 : 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 214258254 : for (int i = 0; i < vehicles.numSublanes(); ++i) {
2658 175482138 : CLeaderDist vehDist = vehicles[i];
2659 214887598 : if (vehDist.first != 0 && (myCFRelated.count(vehDist.first) == 0 || vehDist.second < 0)) {
2660 : double foeRight, foeLeft;
2661 106779079 : 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 106779079 : if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft) && !outsideEdge() && (vehDist.second >= 0
2675 : // avoid deadlock due to #3729
2676 4298276 : || (!leaders
2677 1703879 : && myVehicle.getPositionOnLane() >= myVehicle.getVehicleType().getLength()
2678 1592877 : && myVehicle.getSpeed() < SUMO_const_haltingSpeed
2679 1585052 : && vehDist.first->getSpeed() < SUMO_const_haltingSpeed
2680 1574225 : && -vehDist.second < vehDist.first->getVehicleType().getMinGap()
2681 1562297 : && &(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 38776116 : }
2702 :
2703 :
2704 : bool
2705 1393218185 : MSLCM_SL2015::overlap(double right, double left, double right2, double left2) {
2706 : assert(right <= left);
2707 : assert(right2 <= left2);
2708 1393218185 : return left2 >= right + NUMERICAL_EPS && left >= right2 + NUMERICAL_EPS;
2709 : }
2710 :
2711 :
2712 : int
2713 66447018 : MSLCM_SL2015::lowest_bit(int changeReason) {
2714 66447018 : if ((changeReason & LCA_STRATEGIC) != 0) {
2715 : return LCA_STRATEGIC;
2716 : }
2717 52854303 : if ((changeReason & LCA_COOPERATIVE) != 0) {
2718 : return LCA_COOPERATIVE;
2719 : }
2720 52161745 : if ((changeReason & LCA_SPEEDGAIN) != 0) {
2721 : return LCA_SPEEDGAIN;
2722 : }
2723 48435480 : if ((changeReason & LCA_KEEPRIGHT) != 0) {
2724 : return LCA_KEEPRIGHT;
2725 : }
2726 47729574 : if ((changeReason & LCA_TRACI) != 0) {
2727 5770 : return LCA_TRACI;
2728 : }
2729 : return changeReason;
2730 : }
2731 :
2732 :
2733 : MSLCM_SL2015::StateAndDist
2734 158237288 : MSLCM_SL2015::decideDirection(StateAndDist sd1, StateAndDist sd2) const {
2735 : // ignore dummy decisions (returned if mayChange() failes)
2736 158237288 : if (sd1.state == 0) {
2737 64431563 : return sd2;
2738 93805725 : } else if (sd2.state == 0) {
2739 60582216 : return sd1;
2740 : }
2741 : // LCA_SUBLANE is special because LCA_STAY|LCA_SUBLANE may override another LCA_SUBLANE command
2742 33223509 : const bool want1 = ((sd1.state & LCA_WANTS_LANECHANGE) != 0) || ((sd1.state & LCA_SUBLANE) != 0 && (sd1.state & LCA_STAY) != 0);
2743 33223509 : const bool want2 = ((sd2.state & LCA_WANTS_LANECHANGE) != 0) || ((sd2.state & LCA_SUBLANE) != 0 && (sd2.state & LCA_STAY) != 0);
2744 33223509 : const bool can1 = ((sd1.state & LCA_BLOCKED) == 0);
2745 33223509 : const bool can2 = ((sd2.state & LCA_BLOCKED) == 0);
2746 33223509 : int reason1 = lowest_bit(sd1.state & LCA_CHANGE_REASONS);
2747 33223509 : 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 33223509 : if (want1) {
2764 32389814 : if (want2) {
2765 22691771 : 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 22691637 : if (reason1 < reason2) {
2775 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " < " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2776 517945 : return (!can1 && can2 && sd1.sameDirection(sd2)) ? sd2 : sd1;
2777 : //return sd1;
2778 22430094 : } else if (reason1 > reason2) {
2779 : //if (DEBUG_COND) std::cout << " " << (sd1.state & LCA_CHANGE_REASONS) << " > " << (sd2.state & LCA_CHANGE_REASONS) << "\n";
2780 11210718 : return (!can2 && can1 && sd1.sameDirection(sd2)) ? sd1 : sd2;
2781 : //return sd2;
2782 : } else {
2783 : // same priority.
2784 16803645 : if ((sd1.state & LCA_SUBLANE) != 0) {
2785 : // special treatment: prefer action with dir != 0
2786 16524945 : if (sd1.dir == 0) {
2787 15742694 : return sd2;
2788 782251 : } 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 782251 : if (sd1.latDist <= 0) {
2796 732791 : return sd1;
2797 49460 : } else if (sd2.latDist >= 0) {
2798 48709 : return sd2;
2799 : }
2800 : // when in doubt, prefer moving to the right
2801 751 : return sd1.latDist <= sd2.latDist ? sd1 : sd2;
2802 : }
2803 : } else {
2804 278700 : if (can1) {
2805 159314 : if (can2) {
2806 : // break strategic ties with tactial concerns
2807 106316 : if (reason1 == LCA_STRATEGIC) {
2808 2514 : if (sd1.latDist <= sd2.latDist) {
2809 4150 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd1 : sd2;
2810 : } else {
2811 2 : return mySpeedGainProbabilityRight > mySpeedGainProbabilityLeft ? sd2 : sd1;
2812 : }
2813 : } else {
2814 : // finish the shorter maneuver (i.e. continue the current maneuver)
2815 182926 : return fabs(sd1.maneuverDist) < fabs(sd2.maneuverDist) ? sd1 : sd2;
2816 : }
2817 : } else {
2818 52998 : return sd1;
2819 : }
2820 : } else {
2821 119386 : return sd2;
2822 : }
2823 : }
2824 : }
2825 : } else {
2826 9698043 : return sd1;
2827 : }
2828 : } else {
2829 833695 : return sd2;
2830 : }
2831 :
2832 : }
2833 :
2834 :
2835 : LaneChangeAction
2836 125958568 : MSLCM_SL2015::getLCA(int state, double latDist) {
2837 26513392 : return ((latDist == 0 || (state & LCA_CHANGE_REASONS) == 0)
2838 152471558 : ? LCA_NONE : (latDist < 0 ? LCA_RIGHT : LCA_LEFT));
2839 : }
2840 :
2841 :
2842 : int
2843 113899012 : 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 113899012 : const bool right = (laneOffset == -1);
2862 : const bool left = (laneOffset == 1);
2863 :
2864 113899012 : const double forwardPos = getForwardPos();
2865 113899012 : if (laneOffset != 0) {
2866 34780368 : myLeftSpace = currentDist - forwardPos;
2867 : }
2868 113899012 : const double usableDist = (currentDist - forwardPos - best.occupation * JAM_FACTOR);
2869 : //- (best.lane->getVehicleNumber() * neighSpeed)); // VARIANT 9 jfSpeed
2870 113899012 : const double maxJam = MAX2(neigh.occupation, curr.occupation);
2871 113899012 : const double neighLeftPlace = MAX2(0., neighDist - forwardPos - maxJam);
2872 113899012 : 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 113899012 : if (laneOffset == 0) {
2895 79118644 : if (overlap > MAX2(POSITION_EPS, MSGlobals::gLateralResolution)
2896 438451 : && (getShadowLane() == nullptr || !getShadowLane()->allowsVehicleClass(myVehicle.getVClass()))
2897 79122017 : && getWidth() < myVehicle.getLane()->getWidth()) {
2898 : // @brief we urgently need to return to within lane bounds
2899 3286 : latDist = myVehicle.getLateralPositionOnLane() > 0 ? -overlap : overlap;
2900 3286 : 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 79115358 : } else if (myVehicle.getBestLanesContinuation().size() > 1 && myVehicle.getLane()->getWidth() > myVehicle.getBestLanesContinuation()[1]->getWidth()) {
2908 833649 : const MSLane* cur = myVehicle.getLane();
2909 833649 : const MSLane* next = myVehicle.getBestLanesContinuation()[1];
2910 833649 : const MSLink* link = cur->getLinkTo(next);
2911 833649 : const double distOnLane = cur->getLength() - myVehicle.getPositionOnLane();
2912 833649 : if (link != nullptr && getWidth() < next->getWidth() && distOnLane < 100) {
2913 829173 : double hwDiff = 0.5 * (cur->getWidth() - next->getWidth());
2914 829173 : double rightVehSide = myVehicle.getRightSideOnLane() + link->getLateralShift() - hwDiff;
2915 829173 : double leftVehSide = myVehicle.getLeftSideOnLane() + link->getLateralShift() - hwDiff;
2916 829173 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : next->getWidth();
2917 829173 : if (rightVehSide < -res && (next->getParallelLane(-1) == nullptr || !next->getParallelLane(-1)->allowsVehicleClass(myVehicle.getVClass()))) {
2918 24398 : latDist = -rightVehSide;
2919 24398 : myLeftSpace = distOnLane;
2920 24398 : 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 804775 : } else if (leftVehSide > next->getWidth() + res && (next->getParallelLane(1) == nullptr || !next->getParallelLane(1)->allowsVehicleClass(myVehicle.getVClass()))) {
2928 30678 : latDist = -(leftVehSide - next->getWidth());
2929 30678 : myLeftSpace = distOnLane;
2930 30678 : 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 22002495 : } else if (laneOffset != 0 && changeToBest && bestLaneOffset == curr.bestLaneOffset
2941 39910488 : && currentDistDisallows(usableDist, bestLaneOffset, laDist)) {
2942 : /// @brief we urgently need to change lanes to follow our route
2943 2017624 : if (!mustOvertakeStopped(false, neighLane, neighLeaders, leaders, forwardPos, neighDist, right, latLaneDist, currentDist, latDist)) {
2944 2003421 : latDist = latLaneDist;
2945 2003421 : 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 32762744 : 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 2850642 : CLeaderDist cld = getSlowest(neighLeaders);
2965 2850642 : const MSVehicle* nv = cld.first;
2966 2850642 : if (nv->getSpeed() < myVehicle.getSpeed()) {
2967 419787 : const double vSafe = getCarFollowModel().followSpeed(
2968 419787 : &myVehicle, myVehicle.getSpeed(), cld.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
2969 419787 : addLCSpeedAdvice(vSafe);
2970 419787 : if (vSafe < myVehicle.getSpeed()) {
2971 216013 : 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 32762744 : const bool noOpposites = &myVehicle.getLane()->getEdge() == &neighLane.getEdge();
2988 32762744 : 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 23231 : if (latDist == 0) {
2995 0 : ret |= LCA_STAY | LCA_STRATEGIC;
2996 : } else {
2997 23231 : ret |= LCA_STRATEGIC | LCA_URGENT;
2998 : }
2999 :
3000 32739513 : } 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 10694640 : ret |= LCA_STAY | LCA_STRATEGIC;
3013 : } else if (
3014 : laneOffset != 0
3015 22044873 : && bestLaneOffset == 0
3016 2059117 : && !leaders.hasStoppedVehicle()
3017 2037051 : && neigh.bestContinuations.back()->getLinkCont().size() != 0
3018 1273866 : && roundaboutBonus == 0
3019 1273866 : && !checkOpposite
3020 549474 : && neighDist < TURN_LANE_DIST
3021 22166816 : && 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 118054 : ret |= LCA_STAY | LCA_STRATEGIC;
3031 : } else if (right
3032 21926819 : && bestLaneOffset == 0
3033 561556 : && myVehicle.getLane()->getSpeedLimit() > 80. / 3.6
3034 21949896 : && 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 22430 : ret |= LCA_STAY | LCA_STRATEGIC;
3044 : }
3045 : }
3046 113899012 : if (laneOffset != 0 && (ret & LCA_URGENT) == 0 && getShadowLane() != nullptr &&
3047 : // ignore overlap if it goes in the correct direction
3048 1883921 : 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 956611 : const double requiredDist = 2 * overlap / SUMO_const_laneWidth * laDist;
3053 956611 : double currentShadowDist = -myVehicle.getPositionOnLane();
3054 : MSLane* shadowPrev = nullptr;
3055 2031227 : for (std::vector<MSLane*>::const_iterator it = curr.bestContinuations.begin(); it != curr.bestContinuations.end(); ++it) {
3056 1769108 : if (*it == nullptr) {
3057 30936 : continue;
3058 : }
3059 1738172 : MSLane* shadow = getShadowLane(*it);
3060 1738172 : if (shadow == nullptr || currentShadowDist >= requiredDist) {
3061 : break;
3062 : }
3063 1043680 : if (shadowPrev != nullptr) {
3064 111910 : currentShadowDist += shadowPrev->getEdge().getInternalFollowingLengthTo(&shadow->getEdge(), myVehicle.getVClass());
3065 : }
3066 1043680 : 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 956611 : if (currentShadowDist < requiredDist && currentShadowDist < usableDist) {
3080 157870 : myLeftSpace = currentShadowDist;
3081 157870 : 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 157870 : 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 113899012 : getCanceledState(laneOffset) |= ret;
3099 113899012 : int retTraCI = myVehicle.influenceChangeDecision(ret);
3100 113899012 : 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 113899012 : return ret;
3116 : }
3117 :
3118 :
3119 : bool
3120 34534541 : 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 34534541 : const bool checkOverTakeRight = avoidOvertakeRight();
3124 : int rightmost;
3125 : int leftmost;
3126 34534541 : const bool curHasStopped = leaders.hasStoppedVehicle();
3127 34534541 : const int dir = latLaneDist < 0 ? -1 : 1;
3128 34534541 : const MSLane* neighBeyond = neighLane.getParallelLane(dir);
3129 34534541 : const bool hasLaneBeyond = checkCurrent && neighBeyond != nullptr && neighBeyond->allowsVehicleClass(myVehicle.getVClass());
3130 : UNUSED_PARAMETER(hasLaneBeyond);
3131 34534541 : if (curHasStopped) {
3132 93436 : leaders.getSubLanes(&myVehicle, 0, rightmost, leftmost);
3133 396392 : for (int i = rightmost; i <= leftmost; i++) {
3134 302956 : const CLeaderDist& leader = leaders[i];
3135 302956 : if (leader.first != 0 && leader.first->isStopped() && leader.second < REACT_TO_STOPPED_DISTANCE) {
3136 184776 : const double overtakeDist = leader.second + myVehicle.getVehicleType().getLength() + leader.first->getVehicleType().getLengthWithGap();
3137 184776 : 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 65382 : && (!checkCurrent || !checkOverTakeRight || !right)
3150 249127 : && (!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 37450 : currentDist = myVehicle.getPositionOnLane() + leader.second;
3157 37450 : myLeftSpace = currentDist - posOnLane;
3158 37450 : 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 34534541 : if (!mustOvertake && !curHasStopped && neighLead.hasStoppedVehicle()) {
3175 : // #todo fix this if the neigh lane has a different width
3176 150283 : const double offset = (latLaneDist < 0 ? -1 : 1) * myVehicle.getLane()->getWidth();
3177 127194 : neighLead.getSubLanes(&myVehicle, offset, rightmost, leftmost);
3178 631993 : for (int i = 0; i < leaders.numSublanes(); i++) {
3179 504799 : const CLeaderDist& leader = leaders[i];
3180 504799 : 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 34534541 : return mustOvertake;
3190 : }
3191 :
3192 :
3193 : double
3194 116138790 : MSLCM_SL2015::computeGapFactor(int state) const {
3195 116138790 : return (state & LCA_STRATEGIC) != 0 ? MAX2(0.0, (1.0 - myPushy * (1 + 0.5 * myImpatience))) : 1.0;
3196 : }
3197 :
3198 :
3199 : int
3200 113895753 : 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 113895753 : double gapFactor = computeGapFactor(state);
3246 113895753 : const double oldLatDist = latDist;
3247 113895753 : const double oldManeuverDist = maneuverDist;
3248 : /// passed state is without traci-influence but we need it here
3249 113895753 : const int traciState = myVehicle.influenceChangeDecision(state);
3250 :
3251 : // compute gaps after maneuver
3252 113895753 : const double halfWidth = getWidth() * 0.5;
3253 : // if the current maneuver is blocked we will stay where we are
3254 113895753 : 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 113895753 : double surplusGapRight = oldCenter - halfWidth;
3259 113895753 : double surplusGapLeft = getLeftBorder(laneOffset != 0) - oldCenter - halfWidth;
3260 : const bool stayInLane = (laneOffset == 0
3261 113895753 : || ((traciState & LCA_STRATEGIC) != 0
3262 : && (traciState & LCA_STAY) != 0
3263 : // permit wide vehicles to stay on the road
3264 10840486 : && (surplusGapLeft >= 0 && surplusGapRight >= 0)));
3265 :
3266 113895753 : 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 113895753 : 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 113895753 : const double netOverlap = -myVehicle.getVehicleType().getLength() * 0.5;
3290 113895753 : updateGaps(leaders, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3291 113895753 : updateGaps(followers, myVehicle.getLane()->getRightSideOnEdge(), oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true, netOverlap);
3292 :
3293 113895753 : if (laneOffset != 0) {
3294 : // maintain gaps to vehicles on the target lane
3295 34777109 : const double neighRight = getNeighRight(neighLane);
3296 34777109 : updateGaps(neighLeaders, neighRight, oldCenter, gapFactor, surplusGapRight, surplusGapLeft, true);
3297 34777109 : 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 113895753 : double physicalGapLeft = myLastLateralGapLeft == NO_NEIGHBOR ? surplusGapLeft : myLastLateralGapLeft;
3307 113895753 : double physicalGapRight = myLastLateralGapRight == NO_NEIGHBOR ? surplusGapRight : myLastLateralGapRight;
3308 :
3309 113895753 : const double halfLaneWidth = myVehicle.getLane()->getWidth() * 0.5;
3310 113895753 : const double posLat = myVehicle.getLateralPositionOnLane() * (isOpposite() ? -1 : 1);
3311 113895753 : 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 295066752 : surplusGapRight = MIN2(surplusGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3315 : physicalGapRight = MIN2(physicalGapRight, MAX2(0.0, halfLaneWidth + posLat - halfWidth));
3316 : }
3317 113895753 : 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 277572253 : 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 113895753 : if (surplusGapRight + surplusGapLeft < 0) {
3330 : // insufficient lateral space to fulfill all requirements. apportion space proportionally
3331 3545719 : if ((state & LCA_CHANGE_REASONS) == 0) {
3332 32570 : state |= LCA_SUBLANE;
3333 : }
3334 3545719 : const double equalDeficit = 0.5 * (surplusGapLeft + surplusGapRight);
3335 3545719 : if (surplusGapRight < surplusGapLeft) {
3336 : // shift further to the left but no further than there is physical space
3337 1126541 : const double delta = MIN2(equalDeficit - surplusGapRight, physicalGapLeft);
3338 1126541 : latDist = delta;
3339 1126541 : 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 2419178 : const double delta = MIN2(equalDeficit - surplusGapLeft, physicalGapRight);
3348 2419178 : latDist = -delta;
3349 2419178 : 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 110350034 : latDist = MAX2(MIN2(latDist, surplusGapLeft), -surplusGapRight);
3359 110350034 : maneuverDist = MAX2(MIN2(maneuverDist, surplusGapLeft), -surplusGapRight);
3360 110350034 : if ((state & LCA_KEEPRIGHT) != 0 && maneuverDist != oldManeuverDist) {
3361 : // don't start keepRight unless it can be completed
3362 136483 : latDist = oldLatDist;
3363 136483 : 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 113895753 : 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 113895753 : const bool nonSublaneChange = (state & (LCA_STRATEGIC | LCA_COOPERATIVE | LCA_SPEEDGAIN | LCA_KEEPRIGHT)) != 0;
3390 113895753 : const bool traciChange = ((state | traciState) & LCA_TRACI) != 0;
3391 113895753 : if (nonSublaneChange && !traciChange) {
3392 18458594 : 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 1147653 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3399 1147653 : blocked = LCA_OVERLAPPING | LCA_BLOCKED_LEFT;
3400 17310941 : } 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 767572 : latDist = oldLatDist; // restore old request for usage in decideDirection()
3407 767572 : 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 113895753 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs() && oldLatDist == 0) {
3412 1008288 : state &= (~(LCA_CHANGE_REASONS | LCA_STAY) | LCA_TRACI);
3413 : }
3414 : // update blocked status
3415 113895753 : 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 4213001 : blocked = checkBlocking(neighLane, latDist, maneuverDist, laneOffset, leaders, followers, blockers, neighLeaders, neighFollowers, neighBlockers, nullptr, nullptr, nonSublaneChange);
3422 : }
3423 113895753 : if (fabs(latDist) > NUMERICAL_EPS * myVehicle.getActionStepLengthSecs()) {
3424 14453201 : state = (state & ~LCA_STAY);
3425 14453201 : if ((state & LCA_CHANGE_REASONS) == 0) {
3426 1007096 : state |= LCA_SUBLANE;
3427 : }
3428 : } else {
3429 99442552 : if ((state & LCA_SUBLANE) != 0) {
3430 87326443 : state |= LCA_STAY;
3431 : }
3432 : // avoid setting blinker due to numerical issues
3433 99442552 : 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 113895753 : return state;
3446 : }
3447 :
3448 :
3449 : void
3450 377111712 : 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 377111712 : if (others.hasVehicles()) {
3456 325512003 : const double halfWidth = getWidth() * 0.5 + NUMERICAL_EPS;
3457 325512003 : const double baseMinGap = myMinGapLat;
3458 1716058689 : for (int i = 0; i < others.numSublanes(); ++i) {
3459 2703222315 : if (others[i].first != 0 && others[i].second <= 0
3460 1421881294 : && myCFRelated.count(others[i].first) == 0
3461 1594728011 : && (netOverlap == 0 || others[i].second + others[i].first->getVehicleType().getMinGap() < netOverlap)) {
3462 : /// foe vehicle occupies full sublanes
3463 173025009 : const MSVehicle* foe = others[i].first;
3464 173025009 : const double res = MSGlobals::gLateralResolution > 0 ? MSGlobals::gLateralResolution : others[i].first->getLane()->getWidth();
3465 : double foeRight, foeLeft;
3466 173025009 : others.getSublaneBorders(i, foeOffset, foeRight, foeLeft);
3467 173025009 : const double foeCenter = foeRight + 0.5 * res;
3468 173025009 : const double gap = MIN2(fabs(foeRight - oldCenter), fabs(foeLeft - oldCenter)) - halfWidth;
3469 173025009 : const double deltaV = MIN2(LATGAP_SPEED_THRESHOLD, MAX3(LATGAP_SPEED_THRESHOLD2, myVehicle.getSpeed(), fabs(myVehicle.getSpeed() - foe->getSpeed())));
3470 173025009 : const double desiredMinGap = baseMinGap * deltaV / LATGAP_SPEED_THRESHOLD;
3471 173025009 : 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 173025009 : if (foeCenter < oldCenter) { // && foe->getLaneChangeModel().getSpeedLat() > 0) {
3503 86641035 : const double foeManeuverDist = MAX2(0., foe->getLaneChangeModel().getManeuverDist());
3504 249161503 : surplusGapRight = MIN3(surplusGapRight, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3505 : } else { //if (foeCenter > oldCenter && foe->getLaneChangeModel().getSpeedLat() < 0) {
3506 86383974 : const double foeManeuverDist = -MIN2(0., foe->getLaneChangeModel().getManeuverDist());
3507 249604038 : surplusGapLeft = MIN3(surplusGapLeft, gap - currentMinGap, MAX2(currentMinGap, gap - foeManeuverDist));
3508 : }
3509 173025009 : if (saveMinGap) {
3510 83230511 : 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 76269035 : 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 52848210 : myLastLateralGapLeft = MIN2(myLastLateralGapLeft, gap);
3524 : }
3525 : }
3526 173025009 : if (collectBlockers != nullptr) {
3527 : // check if the vehicle is blocking a desire lane change
3528 8818027 : if ((foeCenter < oldCenter && latDist < 0 && gap < (desiredMinGap - latDist))
3529 6331492 : || (foeCenter > oldCenter && latDist > 0 && gap < (desiredMinGap + latDist))) {
3530 7659528 : collectBlockers->push_back(others[i]);
3531 : }
3532 : }
3533 : }
3534 : }
3535 : }
3536 377111712 : }
3537 :
3538 :
3539 : double
3540 1057325090 : MSLCM_SL2015::getWidth() const {
3541 1057325090 : return myVehicle.getVehicleType().getWidth() + NUMERICAL_EPS;
3542 : }
3543 :
3544 :
3545 : double
3546 114690040 : MSLCM_SL2015::computeSpeedLat(double latDist, double& maneuverDist, bool urgent) const {
3547 114690040 : int currentDirection = mySpeedLat >= 0 ? 1 : -1;
3548 114690040 : int directionWish = latDist >= 0 ? 1 : -1;
3549 114690040 : double maxSpeedLat = myVehicle.getVehicleType().getMaxSpeedLat();
3550 114690040 : double accelLat = myAccelLat;
3551 114690040 : if (!urgent && (myLeftSpace > POSITION_EPS || myMaxSpeedLatFactor < 0)) {
3552 65546776 : const double speedBound = myMaxSpeedLatStanding + myMaxSpeedLatFactor * myVehicle.getSpeed();
3553 65546776 : 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 114690040 : if (getWidth() < myVehicle.getCurrentEdge()->getWidth() && !isOpposite()) {
3565 114599082 : const double rightVehSide = myVehicle.getRightSideOnEdge();
3566 114599082 : const double edgeOverlap = MAX2(-rightVehSide, rightVehSide + myVehicle.getVehicleType().getWidth() - myVehicle.getCurrentEdge()->getWidth());
3567 : // if vehicle is outside edge bounds. Permit stronger lateral maneuvering
3568 114599082 : 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 114690040 : if (directionWish == 1) {
3591 107057803 : speedDecel = MAX2(mySpeedLat - ACCEL2SPEED(accelLat), 0.);
3592 : } else {
3593 7632237 : speedDecel = MIN2(mySpeedLat + ACCEL2SPEED(accelLat), 0.);
3594 : }
3595 : // increased lateral speed (in the desired direction)
3596 114690040 : 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 114690040 : double speedBound = DIST2SPEED(latDist);
3600 : // for lat-gap keeping maneuvres myOrigLatDist may be 0
3601 222719058 : 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 114690040 : if (maneuverDist * latDist > 0) {
3605 14317428 : 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 114690040 : if (speedDecel * speedAccel <= 0 && (
3620 : // speedAccel and speedDecel bracket speed 0. This means we can end the maneuver
3621 106302021 : (latDist >= 0 && speedAccel >= speedBound && speedBound >= speedDecel)
3622 8778755 : || (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 3726827 : if (latDist * mySpeedLat < 0) {
3633 : #ifdef DEBUG_MANEUVER
3634 : if (debugVehicle()) {
3635 : std::cout << " computeSpeedLat b)\n";
3636 : }
3637 : #endif
3638 439802 : return emergencySpeedLat(speedAccel);
3639 : }
3640 : // check if the remaining distance allows to accelerate laterally
3641 3287025 : double minDistAccel = SPEED2DIST(speedAccel) + currentDirection * MSCFModel::brakeGapEuler(fabs(speedAccel), accelLat, 0); // most we can move in the target direction
3642 3287025 : 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 606092 : double minDistCurrent = SPEED2DIST(mySpeedLat) + currentDirection * MSCFModel::brakeGapEuler(fabs(mySpeedLat), accelLat, 0);
3657 606092 : 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 146242 : 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 459850 : return emergencySpeedLat(speedDecel);
3673 : }
3674 :
3675 :
3676 : double
3677 899652 : MSLCM_SL2015::emergencySpeedLat(double speedLat) const {
3678 : // reduce lateral speed for safety purposes
3679 899652 : if (speedLat < 0 && SPEED2DIST(-speedLat) > mySafeLatDistRight) {
3680 15139 : speedLat = -DIST2SPEED(mySafeLatDistRight);
3681 : #ifdef DEBUG_MANEUVER
3682 : if (debugVehicle()) {
3683 : std::cout << " rightDanger speedLat=" << speedLat << "\n";
3684 : }
3685 : #endif
3686 884513 : } else if (speedLat > 0 && SPEED2DIST(speedLat) > mySafeLatDistLeft) {
3687 23405 : speedLat = DIST2SPEED(mySafeLatDistLeft);
3688 : #ifdef DEBUG_MANEUVER
3689 : if (debugVehicle()) {
3690 : std::cout << " leftDanger speedLat=" << speedLat << "\n";
3691 : }
3692 : #endif
3693 : }
3694 899652 : return speedLat;
3695 : }
3696 :
3697 :
3698 : LatAlignmentDefinition
3699 96111398 : MSLCM_SL2015::getDesiredAlignment() const {
3700 : LatAlignmentDefinition align = MSAbstractLaneChangeModel::getDesiredAlignment();
3701 : // Check whether the vehicle should adapt its alignment to an upcoming turn
3702 96111398 : if (myTurnAlignmentDist > 0) {
3703 376540 : const std::pair<double, const MSLink*>& turnInfo = myVehicle.getNextTurn();
3704 376540 : const LinkDirection turnDir = turnInfo.second == nullptr ? LinkDirection::NODIR : turnInfo.second->getDirection();
3705 376540 : const bool indirect = turnInfo.second == nullptr ? false : turnInfo.second->isIndirect();
3706 376540 : if (turnInfo.first < myTurnAlignmentDist) {
3707 : // Vehicle is close enough to the link to change its default alignment
3708 158584 : 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 96111398 : return align;
3730 : }
3731 :
3732 :
3733 : void
3734 915475 : MSLCM_SL2015::commitManoeuvre(int blocked, int blockedFully,
3735 : const MSLeaderDistanceInfo& leaders,
3736 : const MSLeaderDistanceInfo& neighLeaders,
3737 : const MSLane& neighLane,
3738 : double maneuverDist) {
3739 915475 : if (!blocked && !blockedFully && !myCanChangeFully) {
3740 : // round to full action steps
3741 : double secondsToLeaveLane;
3742 488785 : if (MSGlobals::gSemiImplicitEulerUpdate) {
3743 419734 : 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 839468 : myCommittedSpeed = MIN3(myLeftSpace / secondsToLeaveLane,
3749 419734 : myVehicle.getCarFollowModel().maxNextSpeed(myVehicle.getSpeed(), &myVehicle),
3750 419734 : 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 69051 : secondsToLeaveLane = MSCFModel::estimateArrivalTime(fabs(maneuverDist), 0., 0., myVehicle.getVehicleType().getMaxSpeedLat(), myAccelLat, myAccelLat);
3760 : // round to full action steps
3761 69051 : 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 69051 : const double timeTillActionStep = myVehicle.getActionStepLengthSecs() - TS;
3766 69051 : const double nextActionStepSpeed = MAX2(0., myVehicle.getSpeed() + timeTillActionStep * myVehicle.getAcceleration());
3767 : double nextLeftSpace;
3768 68719 : if (nextActionStepSpeed > 0.) {
3769 68719 : nextLeftSpace = myLeftSpace - timeTillActionStep * (myVehicle.getSpeed() + nextActionStepSpeed) * 0.5;
3770 332 : } else if (myVehicle.getAcceleration() == 0) {
3771 0 : nextLeftSpace = myLeftSpace;
3772 : } else {
3773 : assert(myVehicle.getAcceleration() < 0.);
3774 332 : nextLeftSpace = myLeftSpace + (myVehicle.getSpeed() * myVehicle.getSpeed() / myVehicle.getAcceleration()) * 0.5;
3775 : }
3776 69051 : const double avoidArrivalSpeed = nextActionStepSpeed + ACCEL2SPEED(MSCFModel::avoidArrivalAccel(
3777 : nextLeftSpace, secondsToLeaveLane - timeTillActionStep, nextActionStepSpeed, myVehicle.getCarFollowModel().getEmergencyDecel()));
3778 :
3779 138102 : myCommittedSpeed = MIN3(avoidArrivalSpeed,
3780 69051 : myVehicle.getSpeed() + myVehicle.getCarFollowModel().getMaxAccel() * myVehicle.getActionStepLengthSecs(),
3781 69051 : 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 488785 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, leaders, myVehicle.getLane()->getRightSideOnEdge());
3798 488785 : myCommittedSpeed = commitFollowSpeed(myCommittedSpeed, maneuverDist, secondsToLeaveLane, neighLeaders, neighLane.getRightSideOnEdge());
3799 488785 : if (myCommittedSpeed < myVehicle.getCarFollowModel().minNextSpeed(myVehicle.getSpeed(), &myVehicle)) {
3800 71464 : 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 915475 : }
3814 :
3815 : double
3816 977570 : MSLCM_SL2015::commitFollowSpeed(double speed, double latDist, double secondsToLeaveLane, const MSLeaderDistanceInfo& leaders, double foeOffset) const {
3817 977570 : 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 467184 : const double maxDecel = myVehicle.getCarFollowModel().getMaxDecel();
3824 : // temporarily use another decel value
3825 : MSCFModel& cfmodel = const_cast<MSCFModel&>(myVehicle.getCarFollowModel());
3826 467184 : cfmodel.setMaxDecel(maxDecel / getSafetyFactor());
3827 :
3828 467184 : const double vehWidth = getWidth();
3829 467184 : const double rightVehSide = myVehicle.getCenterOnEdge() - 0.5 * vehWidth;
3830 467184 : const double leftVehSide = rightVehSide + vehWidth;
3831 467184 : const double rightVehSideDest = rightVehSide + latDist;
3832 467184 : 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 2629687 : for (int i = 0; i < leaders.numSublanes(); ++i) {
3846 2162503 : CLeaderDist vehDist = leaders[i];
3847 2162503 : 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 1700840 : 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 1700840 : if (overlap(rightVehSideDest, leftVehSideDest, foeRight, foeLeft)) {
3865 : // case 1
3866 766069 : const double vSafe = myVehicle.getCarFollowModel().followSpeed(
3867 766069 : &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 934771 : } else if (overlap(rightVehSide, leftVehSide, foeRight, foeLeft)) {
3875 : // case 2
3876 469517 : const double vSafe = myVehicle.getCarFollowModel().followSpeedTransient(
3877 : secondsToLeaveLane,
3878 469517 : &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 467184 : cfmodel.setMaxDecel(maxDecel);
3890 :
3891 : }
3892 977570 : return speed;
3893 : }
3894 :
3895 : double
3896 755588187 : MSLCM_SL2015::getSafetyFactor() const {
3897 755588187 : return 1 / ((1 + 0.5 * myImpatience) * myAssertive);
3898 : }
3899 :
3900 : double
3901 1831508 : MSLCM_SL2015::getOppositeSafetyFactor() const {
3902 1831508 : 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 277616 : MSLCM_SL2015::setParameter(const std::string& key, const std::string& value) {
3984 : double doubleValue;
3985 : try {
3986 277616 : 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 277616 : if (key == toString(SUMO_ATTR_LCA_STRATEGIC_PARAM)) {
3991 71042 : myStrategicParam = doubleValue;
3992 206574 : } else if (key == toString(SUMO_ATTR_LCA_COOPERATIVE_PARAM)) {
3993 0 : myCooperativeParam = doubleValue;
3994 206574 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_PARAM)) {
3995 0 : mySpeedGainParam = doubleValue;
3996 206574 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_PARAM)) {
3997 0 : myKeepRightParam = doubleValue;
3998 206574 : } else if (key == toString(SUMO_ATTR_LCA_OPPOSITE_PARAM)) {
3999 0 : myOppositeParam = doubleValue;
4000 206574 : } else if (key == toString(SUMO_ATTR_LCA_SUBLANE_PARAM)) {
4001 0 : mySublaneParam = doubleValue;
4002 206574 : } else if (key == toString(SUMO_ATTR_MINGAP_LAT)) {
4003 68864 : myMinGapLat = doubleValue;
4004 137710 : } else if (key == toString(SUMO_ATTR_LCA_PUSHY)) {
4005 0 : myPushy = doubleValue;
4006 137710 : } else if (key == toString(SUMO_ATTR_LCA_PUSHYGAP)) {
4007 0 : myPushy = 1 - doubleValue / myMinGapLat;
4008 137710 : } else if (key == toString(SUMO_ATTR_LCA_ASSERTIVE)) {
4009 0 : myAssertive = doubleValue;
4010 137710 : } else if (key == toString(SUMO_ATTR_LCA_IMPATIENCE)) {
4011 0 : myImpatience = doubleValue;
4012 0 : myMinImpatience = doubleValue;
4013 137710 : } else if (key == toString(SUMO_ATTR_LCA_TIME_TO_IMPATIENCE)) {
4014 0 : myTimeToImpatience = doubleValue;
4015 137710 : } else if (key == toString(SUMO_ATTR_LCA_ACCEL_LAT)) {
4016 0 : myAccelLat = doubleValue;
4017 137710 : } else if (key == toString(SUMO_ATTR_LCA_TURN_ALIGNMENT_DISTANCE)) {
4018 0 : myTurnAlignmentDist = doubleValue;
4019 137710 : } else if (key == toString(SUMO_ATTR_LCA_LOOKAHEADLEFT)) {
4020 0 : myLookaheadLeft = doubleValue;
4021 137710 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAINRIGHT)) {
4022 0 : mySpeedGainRight = doubleValue;
4023 137710 : } else if (key == toString(SUMO_ATTR_LCA_LANE_DISCIPLINE)) {
4024 0 : myLaneDiscipline = doubleValue;
4025 137710 : } else if (key == toString(SUMO_ATTR_LCA_SIGMA)) {
4026 0 : mySigma = doubleValue;
4027 137710 : } else if (key == toString(SUMO_ATTR_LCA_KEEPRIGHT_ACCEPTANCE_TIME)) {
4028 0 : myKeepRightAcceptanceTime = doubleValue;
4029 137710 : } else if (key == toString(SUMO_ATTR_LCA_OVERTAKE_DELTASPEED_FACTOR)) {
4030 0 : myOvertakeDeltaSpeedFactor = doubleValue;
4031 137710 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_LOOKAHEAD)) {
4032 68855 : mySpeedGainLookahead = doubleValue;
4033 68855 : } else if (key == toString(SUMO_ATTR_LCA_SPEEDGAIN_REMAIN_TIME)) {
4034 68855 : 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 277616 : initDerivedParameters();
4060 277616 : }
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 133186762 : MSLCM_SL2015::getLeftBorder(bool checkOpposite) const {
4142 133186762 : return (myVehicle.getLane()->getEdge().getWidth()
4143 133186762 : + ((myVehicle.getLane()->getParallelOpposite() != nullptr && checkOpposite) ? myVehicle.getLane()->getParallelOpposite()->getEdge().getWidth() : 0));
4144 : }
4145 :
4146 : double
4147 135143947 : MSLCM_SL2015::getVehicleCenter() const {
4148 135143947 : if (isOpposite()) {
4149 155697 : return myVehicle.getEdge()->getWidth() + myVehicle.getLane()->getWidth() * 0.5 - myVehicle.getLateralPositionOnLane();
4150 : } else {
4151 134988250 : return myVehicle.getCenterOnEdge();
4152 : }
4153 : }
4154 :
4155 : double
4156 65001476 : MSLCM_SL2015::getNeighRight(const MSLane& neighLane) const {
4157 65001476 : if (isOpposite()) {
4158 132455 : return myVehicle.getLane()->getRightSideOnEdge() - neighLane.getWidth() + 2 * myVehicle.getLateralPositionOnLane();
4159 64869021 : } else if ((&myVehicle.getLane()->getEdge() != &neighLane.getEdge())) {
4160 118286 : return myVehicle.getLane()->getRightSideOnEdge() + myVehicle.getLane()->getWidth();
4161 : } else {
4162 : // the normal case
4163 64750735 : return neighLane.getRightSideOnEdge();
4164 : }
4165 : }
4166 :
4167 :
4168 : bool
4169 8518338 : MSLCM_SL2015::preventSliding(double maneuverDist) const {
4170 : // prevent wide maneuvers with unsufficient forward space
4171 8518338 : if (fabs(maneuverDist) > myMaxDistLatStanding) {
4172 : // emergency vehicles should not be restricted (TODO solve this with LCA_URGENT)
4173 8158104 : if (myVehicle.getVehicleType().getVehicleClass() == SVC_EMERGENCY) {
4174 : return false;
4175 : }
4176 8130204 : const double brakeGap = myVehicle.getCarFollowModel().brakeGap(myVehicle.getSpeed());
4177 8130204 : 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 8130204 : return isSlide;
4185 : }
4186 : return false;
4187 : }
4188 :
4189 : bool
4190 : MSLCM_SL2015::wantsKeepRight(double keepRightProb) const {
4191 9605649 : return keepRightProb * myKeepRightParam > MAX2(myChangeProbThresholdRight, mySpeedGainProbabilityLeft);
4192 : }
4193 :
4194 :
4195 : bool
4196 22845 : MSLCM_SL2015::saveBlockerLength(double length, double foeLeftSpace) {
4197 22845 : const bool canReserve = MSLCHelper::canSaveBlockerLength(myVehicle, length, myLeftSpace);
4198 22845 : if (!isOpposite() && (canReserve || myLeftSpace > foeLeftSpace)) {
4199 17340 : myLeadingBlockerLength = MAX2(length, myLeadingBlockerLength);
4200 17340 : if (myLeftSpace == 0 && foeLeftSpace < 0) {
4201 : // called from opposite overtaking, myLeftSpace must be initialized
4202 978 : myLeftSpace = myVehicle.getBestLanes()[myVehicle.getLane()->getIndex()].length - myVehicle.getPositionOnLane();
4203 : }
4204 17340 : return true;
4205 : } else {
4206 : return false;
4207 : }
4208 : }
4209 :
4210 :
4211 : bool
4212 26527294 : MSLCM_SL2015::outsideEdge() const {
4213 26527294 : return myVehicle.getLeftSideOnEdge() < 0 || myVehicle.getRightSideOnEdge() > myVehicle.getLane()->getEdge().getWidth();
4214 : }
4215 : /****************************************************************************/
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