MSLaneChanger Class Reference

Performs lane changing of vehicles. More...

#include <MSLaneChanger.h>

Inheritance diagram for MSLaneChanger:

Data Structures
struct	ChangeElem

Public Types
typedef std::vector< ChangeElem >	Changer
	The list of changers; For each lane, a ChangeElem is being build.
typedef Changer::iterator	ChangerIt
	the iterator moving over the ChangeElems
typedef Changer::const_iterator	ConstChangerIt
	the iterator moving over the ChangeElems

Public Member Functions
Changer &	getChanger ()
	return changer (only to be used by MSLaneChangerSublane from another instance)
void	laneChange (SUMOTime t)
	Start lane-change-process for all vehicles on the edge'e lanes.
	MSLaneChanger (const std::vector< MSLane * > *lanes, bool allowChanging)
	Constructor.
virtual	~MSLaneChanger ()
	Destructor.

Protected Member Functions
bool	applyTraCICommands (MSVehicle *vehicle)
	Execute TraCI LC-commands.
bool	avoidDeadlock (MSVehicle *vehicle, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken, std::pair< MSVehicle *, double > leader)
	avoid opposite-diretion deadlock when vehicles are stopped on both sides of the road The method may call saveBlockerLength to affect vehicle speed in the next step
virtual bool	change ()
bool	changeOpposite (MSVehicle *vehicle, std::pair< MSVehicle *, double > leader, MSVehicle *lastStopped)
int	checkChange (int laneOffset, const MSLane *targetLane, const std::pair< MSVehicle *const, double > &leader, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &neighLead, const std::pair< MSVehicle *const, double > &neighFollow, const std::vector< MSVehicle::LaneQ > &preb) const
virtual bool	checkChangeOpposite (MSVehicle *vehicle, int laneOffset, MSLane *targetLane, const std::pair< MSVehicle *const, double > &leader, const std::pair< MSVehicle *const, double > &neighLead, const std::pair< MSVehicle *const, double > &neighFollow, const std::vector< MSVehicle::LaneQ > &preb)
int	checkChangeWithinEdge (int laneOffset, const std::pair< MSVehicle *const, double > &leader, const std::vector< MSVehicle::LaneQ > &preb) const
bool	checkOppositeStop (MSVehicle *vehicle, const MSLane *oncomingLane, const MSLane *opposite, std::pair< MSVehicle *, double > leader)
	decide whether to change (back or forth) for an opposite stop
void	checkTraCICommands (MSVehicle *vehicle)
	Take into account traci LC-commands.
double	computeSafeOppositeLength (MSVehicle *vehicle, double oppositeLength, const MSLane *source, double usableDist, std::pair< MSVehicle *, double > oncoming, double vMax, double oncomingSpeed, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken, std::pair< MSVehicle *, double > neighFollow, double surplusGap, const MSLane *opposite, bool canOvertake)
	determine for how long the vehicle can drive safely on the opposite side
bool	continueChange (MSVehicle *vehicle, ChangerIt &from)
	continue a lane change maneuver and return whether the vehicle has completely moved onto the new lane (used if gLaneChangeDuration > 0)
ChangerIt	findCandidate ()
	Find current candidate. If there is none, myChanger.end() is returned.
std::pair< MSVehicle *const, double >	getOncomingOppositeVehicle (const MSVehicle *vehicle, std::pair< MSVehicle *, double > overtaken, double searchDist)
std::pair< MSVehicle *const, double >	getOncomingVehicle (const MSLane *opposite, std::pair< MSVehicle *, double > neighOncoming, double searchDist, double &vMax, const MSVehicle *overtaken=nullptr, MSLane::MinorLinkMode mLinkMode=MSLane::MinorLinkMode::FOLLOW_NEVER)
std::pair< MSVehicle *const, double >	getRealFollower (const ChangerIt &target) const
std::pair< MSVehicle *const, double >	getRealLeader (const ChangerIt &target) const
virtual void	initChanger ()
	Initialize the changer before looping over all vehicles.
bool	mayChange (int direction) const
	whether changing to the lane in the given direction should be considered
void	registerUnchanged (MSVehicle *vehicle)
bool	resolveDeadlock (MSVehicle *vehicle, std::pair< MSVehicle *const, double > leader, std::pair< MSVehicle *, double > neighLead, std::pair< MSVehicle *, double > overtaken)
	keep stopping to resolve opposite-diretion deadlock while there is oncoming traffic The method may call saveBlockerLength to affect vehicle speed in the next step
bool	startChange (MSVehicle *vehicle, ChangerIt &from, int direction)
virtual void	updateChanger (bool vehHasChanged)
void	updateLanes (SUMOTime t)
MSVehicle *	veh (ConstChangerIt ce) const
bool	vehInChanger () const
	Check if there is a single change-candidate in the changer. Returns true if there is one.
bool	yieldToDeadlockOncoming (const MSVehicle *vehicle, const MSVehicle *stoppedNeigh, double dist)
	check whether to keep stopping for oncoming vehicles in the deadlock zone
bool	yieldToOppositeWaiting (const MSVehicle *vehicle, const MSVehicle *stoppedNeigh, double dist, SUMOTime deltaWait=0)
	check whether to yield for oncoming vehicles that have waited longer for opposite overtaking

Static Protected Member Functions
static void	computeOvertakingTime (const MSVehicle *vehicle, double vMax, const MSVehicle *leader, double gap, double &timeToOvertake, double &spaceToOvertake)
	Compute the time and space required for overtaking the given leader.
static double	computeSurplusGap (const MSVehicle *vehicle, const MSLane *opposite, std::pair< MSVehicle *, double > oncoming, double timeToOvertake, double spaceToOvertake, double &oncomingSpeed, bool oncomingOpposite=false)
static bool	foundHilltop (MSVehicle *vehicle, bool foundHill, double searchDist, const std::vector< MSLane * > &bestLanes, int view, double pos, double lastMax, double hilltopThreshold)
static std::vector< MSVehicle::LaneQ >	getBestLanesOpposite (MSVehicle *vehicle, const MSLane *stopLane, double oppositeLength)
	add LaneQ for opposite lanes
static MSVehicle *	getCloserFollower (const double maxPos, MSVehicle *follow1, MSVehicle *follow2)
	return the closer follower of ego
static std::pair< MSVehicle *, double >	getColumnleader (double &maxSpace, MSVehicle *vehicle, std::pair< MSVehicle *, double > leader, double maxLookAhead=std::numeric_limits< double >::max())
	return leader vehicle that is to be overtaken
static const MSLane *	getLaneAfter (const MSLane *lane, const std::vector< MSLane * > &conts, bool allowMinor, bool &contsEnd)
	return the next lane in conts beyond lane or nullptr
static double	getMaxOvertakingSpeed (const MSVehicle *vehicle, double maxSpaceToOvertake)
	compute maximum maneuver speed
static bool	hasOppositeStop (MSVehicle *vehicle)
	whether vehicle has an opposite-direction stop within relevant range

Protected Attributes
const bool	myAllowsChanging
ChangerIt	myCandi
Changer	myChanger
	Container for ChangeElemements, one for every lane in the edge.
const bool	myChangeToOpposite
	whether this edge allows changing to the opposite direction edge

Private Member Functions
	MSLaneChanger ()
	Default constructor.
	MSLaneChanger (const MSLaneChanger &)
	Copy constructor.
MSLaneChanger &	operator= (const MSLaneChanger &)
	Assignment operator.

Detailed Description

Performs lane changing of vehicles.

Definition at line 45 of file MSLaneChanger.h.

Member Typedef Documentation

Changer

typedef std::vector< ChangeElem > MSLaneChanger::Changer

The list of changers; For each lane, a ChangeElem is being build.

Definition at line 111 of file MSLaneChanger.h.

ChangerIt

typedef Changer::iterator MSLaneChanger::ChangerIt

the iterator moving over the ChangeElems

Definition at line 114 of file MSLaneChanger.h.

ConstChangerIt

typedef Changer::const_iterator MSLaneChanger::ConstChangerIt

the iterator moving over the ChangeElems

Definition at line 117 of file MSLaneChanger.h.

Constructor & Destructor Documentation

MSLaneChanger() [1/3]

MSLaneChanger::MSLaneChanger	(	const std::vector< MSLane * > *	lanes,
		bool	allowChanging
	)

Constructor.

Definition at line 122 of file MSLaneChanger.cpp.

References myChanger.

~MSLaneChanger()

MSLaneChanger::~MSLaneChanger ( )

virtual

Destructor.

Definition at line 154 of file MSLaneChanger.cpp.

MSLaneChanger() [2/3]

MSLaneChanger::MSLaneChanger ( )

private

Default constructor.

MSLaneChanger() [3/3]

MSLaneChanger::MSLaneChanger ( const MSLaneChanger &  )

private

Copy constructor.

Member Function Documentation

applyTraCICommands()

bool MSLaneChanger::applyTraCICommands ( MSVehicle *  vehicle )

protected

Execute TraCI LC-commands.

Note

This is currently only used within non-actionsteps for the non-sublane model.

Returns

whether lane was changed

Definition at line 443 of file MSLaneChanger.cpp.

References continueChange(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, myCandi, and MSAbstractLaneChangeModel::startLaneChangeManeuver().

Referenced by change().

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avoidDeadlock()

bool MSLaneChanger::avoidDeadlock ( MSVehicle *  vehicle, std::pair< MSVehicle *, double >  neighLead, std::pair< MSVehicle *, double >  overtaken, std::pair< MSVehicle *, double >  leader  )

protected

avoid opposite-diretion deadlock when vehicles are stopped on both sides of the road The method may call saveBlockerLength to affect vehicle speed in the next step

Definition at line 1661 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), MSVehicle::getBestLanesContinuation(), MSVehicle::getBrakeGap(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), MSAbstractLaneChangeModel::isOpposite(), MAX2(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, MSAbstractLaneChangeModel::saveBlockerLength(), SIMTIME, and yieldToDeadlockOncoming().

Referenced by changeOpposite().

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change()

bool MSLaneChanger::change ( )

protectedvirtual

Find a new candidate and try to change it.

Reimplemented in MSLaneChangerSublane.

Definition at line 293 of file MSLaneChanger.cpp.

References MSVehicle::adaptBestLanesOccupation(), MSAbstractLaneChangeModel::alreadyChanged(), applyTraCICommands(), changeOpposite(), checkChangeWithinEdge(), checkTraCICommands(), MSAbstractLaneChangeModel::clearNeighbors(), continueChange(), DEBUG_COND, findCandidate(), MSVehicle::getBestLanes(), Named::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), getRealLeader(), MSBaseVehicle::getVClass(), hasOppositeStop(), MSVehicle::isActive(), MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::isOpposite(), MSVehicle::isStoppedOnLane(), LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_URGENT, mayChange(), myAllowsChanging, myCandi, myChanger, registerUnchanged(), MSAbstractLaneChangeModel::setOwnState(), SIMTIME, startChange(), SVC_EMERGENCY, MSVehicle::updateBestLanes(), and veh().

Referenced by laneChange().

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changeOpposite()

bool MSLaneChanger::changeOpposite ( MSVehicle *  vehicle, std::pair< MSVehicle *, double >  leader, MSVehicle *  lastStopped  )

protected

try changing to the opposite direction edge.

Definition at line 1219 of file MSLaneChanger.cpp.

References MSLane::allowsChangingLeft(), MSLane::allowsVehicleClass(), avoidDeadlock(), checkChangeOpposite(), checkOppositeStop(), computeOvertakingTime(), computeSafeOppositeLength(), computeSurplusGap(), DEBUG_COND, MSLane::FOLLOW_ONCOMING, foundHilltop(), gDebugFlag5, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanes(), MSVehicle::getBestLanesContinuation(), getBestLanesOpposite(), getColumnleader(), MSLink::getDirection(), Named::getID(), Named::getIDSecure(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicle::Influencer::getLaneTimeLineDuration(), MSLane::getLeader(), MSLane::getLength(), MSVehicleType::getLength(), MSLane::getLinkTo(), getMaxOvertakingSpeed(), MSVehicleType::getMinGap(), MSVehicle::getMutableLane(), getOncomingOppositeVehicle(), getOncomingVehicle(), MSLane::getOpposite(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSLane::getOppositePos(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSLane::getParallelLane(), MSVehicle::getPosition(), MSVehicle::getPositionOnLane(), MSVehicle::Influencer::getRespectJunctionPriority(), MSVehicle::getSlope(), MSLane::getSpeedLimit(), MSLink::getState(), MSBaseVehicle::getVClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSLink::getViaLaneOrLane(), MSBaseVehicle::getWaitingSeconds(), MSGlobals::gLefthand, MSNet::hasElevation(), MSVehicle::hasInfluencer(), hasOppositeStop(), MSLink::havePriority(), MSLink::haveRed(), MSLink::haveYellow(), MSVehicle::ignoreRed(), MSVehicle::influenceChangeDecision(), MSLane::isInternal(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), LCA_LEFT, LCA_TRACI, LINKSTATE_ZIPPER, MAX2(), MIN2(), myChangeToOpposite, MSVehicle::nextStopDist(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, OPPOSITE_OVERTAKING_HILLTOP_THRESHOHOLD, OPPOSITE_OVERTAKING_MAX_SPACE_TO_OVERTAKE, OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD, resolveDeadlock(), SIMTIME, STEPS2TIME, STRAIGHT, SVC_EMERGENCY, TIME2STEPS, toString(), TS, MSVehicle::VEH_SIGNAL_BLINKER_LEFT, MSVehicle::VEH_SIGNAL_BLINKER_RIGHT, yieldToOppositeWaiting(), and Position::z().

Referenced by change(), and MSLaneChangerSublane::change().

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checkChange()

int MSLaneChanger::checkChange ( int  laneOffset, const MSLane *  targetLane, const std::pair< MSVehicle *const, double > &  leader, const std::pair< MSVehicle *const, double > &  follower, const std::pair< MSVehicle *const, double > &  neighLead, const std::pair< MSVehicle *const, double > &  neighFollow, const std::vector< MSVehicle::LaneQ > &  preb  ) const

protected

Definition at line 762 of file MSLaneChanger.cpp.

References ACCEL2SPEED, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::checkChangeBeforeCommitting(), DEBUG_COND, DELTA_T, MSAbstractLaneChangeModel::estimateLCDuration(), MSVehicle::getAcceleration(), MSVehicle::getActionStepLength(), MSAbstractLaneChangeModel::getAssumedDecelForLaneChangeDuration(), MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), MSLane::getCriticalLeader(), MSLane::getEdge(), MSCFModel::getHeadwayTime(), Named::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSLane::getLeader(), MSLane::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSVehicleType::getMinGap(), MSLane::getParallelLane(), MSVehicle::getPositionOnLane(), MSVehicle::getRightSideOnLane(), MSAbstractLaneChangeModel::getSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSLane::getWidth(), MSVehicleType::getWidth(), MSGlobals::gLaneChangeDuration, MSLane::hasPedestrians(), MSVehicle::influenceChangeDecision(), MSEdge::isInternal(), MSLane::isLinkEnd(), MSAbstractLaneChangeModel::isOpposite(), LCA_BLOCKED, LCA_BLOCKED_BY_LEFT_FOLLOWER, LCA_BLOCKED_BY_LEFT_LEADER, LCA_BLOCKED_BY_RIGHT_FOLLOWER, LCA_BLOCKED_BY_RIGHT_LEADER, LCA_INSUFFICIENT_SPACE, LCA_INSUFFICIENT_SPEED, LCA_OVERLAPPING, LCA_URGENT, LCA_WANTS_LANECHANGE, LEFT, MAX2(), MIN2(), myCandi, myChanger, MSLane::nextBlocking(), MSAbstractLaneChangeModel::NO_NEIGHBOR, RIGHT, MSAbstractLaneChangeModel::saveLCState(), MSAbstractLaneChangeModel::saveNeighbors(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), SIMTIME, MSLane::succLinkSec(), toString(), TS, MSVehicle::unsafeLinkAhead(), veh(), and MSAbstractLaneChangeModel::wantsChange().

Referenced by checkChangeOpposite(), and checkChangeWithinEdge().

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checkChangeOpposite()

bool MSLaneChanger::checkChangeOpposite ( MSVehicle *  vehicle, int  laneOffset, MSLane *  targetLane, const std::pair< MSVehicle *const, double > &  leader, const std::pair< MSVehicle *const, double > &  neighLead, const std::pair< MSVehicle *const, double > &  neighFollow, const std::vector< MSVehicle::LaneQ > &  preb  )

protectedvirtual

Reimplemented in MSLaneChangerSublane.

Definition at line 2186 of file MSLaneChanger.cpp.

References checkChange(), continueChange(), DEBUG_COND, Named::getID(), Named::getIDSecure(), MSVehicle::getLaneChangeModel(), MSVehicle::getMutableLane(), MSAbstractLaneChangeModel::isOpposite(), LCA_BLOCKED, LCA_COOPERATIVE, LCA_WANTS_LANECHANGE, myCandi, MSAbstractLaneChangeModel::setOwnState(), SIMTIME, MSAbstractLaneChangeModel::startLaneChangeManeuver(), and toString().

Referenced by changeOpposite(), and checkOppositeStop().

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checkChangeWithinEdge()

int MSLaneChanger::checkChangeWithinEdge ( int  laneOffset, const std::pair< MSVehicle *const, double > &  leader, const std::vector< MSVehicle::LaneQ > &  preb  ) const

protected

Definition at line 744 of file MSLaneChanger.cpp.

References checkChange(), getRealFollower(), getRealLeader(), and myCandi.

Referenced by change().

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checkOppositeStop()

bool MSLaneChanger::checkOppositeStop ( MSVehicle *  vehicle, const MSLane *  oncomingLane, const MSLane *  opposite, std::pair< MSVehicle *, double >  leader  )

protected

decide whether to change (back or forth) for an opposite stop

Definition at line 1125 of file MSLaneChanger.cpp.

References checkChangeOpposite(), computeSurplusGap(), DEBUG_COND, getBestLanesOpposite(), MSVehicle::getCarFollowModel(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSCFModel::getMaxAccel(), MSVehicleType::getMaxSpeedLat(), MSBaseVehicle::getNextStop(), MSAbstractLaneChangeModel::getNormalizedLaneIndex(), getOncomingVehicle(), MSLane::getOppositeFollower(), MSLane::getOppositeLeader(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, MSAbstractLaneChangeModel::isOpposite(), MSStop::lane, MAX2(), MSVehicle::nextStopDist(), OPPOSITE_OVERTAKING_MAX_LOOKAHEAD, OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD, STEPS2TIME, and SUMO_const_laneWidth.

Referenced by changeOpposite().

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checkTraCICommands()

void MSLaneChanger::checkTraCICommands ( MSVehicle *  vehicle )

protected

Take into account traci LC-commands.

Note

This is currently only used within non-actionsteps.

Definition at line 422 of file MSLaneChanger.cpp.

References MSAbstractLaneChangeModel::checkTraCICommands(), DEBUG_COND, Named::getID(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getOwnState(), LCA_BLOCKED, LCA_OVERLAPPING, SIMTIME, and toString().

Referenced by change(), and MSLaneChangerSublane::change().

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computeOvertakingTime()

void MSLaneChanger::computeOvertakingTime ( const MSVehicle *  vehicle, double  vMax, const MSVehicle *  leader, double  gap, double &  timeToOvertake, double &  spaceToOvertake  )

staticprotected

Compute the time and space required for overtaking the given leader.

Parameters

[in]	vehicle	The vehicle that wants to overtake
[in]	leader	The vehicle to be overtaken
[in]	gap	The gap between vehicle and leader
[out]	timeToOvertake	The time for overtaking
[out]	spaceToOvertake	The space for overtaking

XXX ignore speed limit when overtaking through the opposite lane?

Definition at line 2227 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getAcceleration(), MSVehicle::getCarFollowModel(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getMinGap(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getStopDuration(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSLane::getWidth(), MSGlobals::gSublane, MAX2(), OPPOSITE_OVERTAKING_SAFE_TIMEGAP, OPPOSITE_OVERTAKING_SAFETY_FACTOR, STEPS2TIME, and TS.

Referenced by changeOpposite().

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computeSafeOppositeLength()

double MSLaneChanger::computeSafeOppositeLength ( MSVehicle *  vehicle, double  oppositeLength, const MSLane *  source, double  usableDist, std::pair< MSVehicle *, double >  oncoming, double  vMax, double  oncomingSpeed, std::pair< MSVehicle *, double >  neighLead, std::pair< MSVehicle *, double >  overtaken, std::pair< MSVehicle *, double >  neighFollow, double  surplusGap, const MSLane *  opposite, bool  canOvertake  )

protected

determine for how long the vehicle can drive safely on the opposite side

Definition at line 1902 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getCarFollowModel(), Named::getID(), MSVehicle::getLaneChangeModel(), MSCFModel::getMaxDecel(), MSLane::getOppositeFollower(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), MSAbstractLaneChangeModel::getShadowLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), MAX2(), MIN2(), MSVehicle::nextStopDist(), SIMTIME, TIME2STEPS, and yieldToOppositeWaiting().

Referenced by changeOpposite().

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computeSurplusGap()

double MSLaneChanger::computeSurplusGap ( const MSVehicle *  vehicle, const MSLane *  opposite, std::pair< MSVehicle *, double >  oncoming, double  timeToOvertake, double  spaceToOvertake, double &  oncomingSpeed, bool  oncomingOpposite = false  )

staticprotected

Definition at line 2098 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getCarFollowModel(), MSCFModel::getHeadwayTime(), Named::getID(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSAbstractLaneChangeModel::getShadowLane(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getWaitingSeconds(), MSAbstractLaneChangeModel::isOpposite(), MSBaseVehicle::isStopped(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, OPPOSITE_OVERTAKING_SAFETYGAP_HEADWAY_FACTOR, and SIMTIME.

Referenced by changeOpposite(), and checkOppositeStop().

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continueChange()

bool MSLaneChanger::continueChange ( MSVehicle *  vehicle, ChangerIt &  from  )

protected

continue a lane change maneuver and return whether the vehicle has completely moved onto the new lane (used if gLaneChangeDuration > 0)

Definition at line 485 of file MSLaneChanger.cpp.

References MSVehicle::computeAngle(), DEBUG_COND, MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSLane::getEdge(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSAbstractLaneChangeModel::getLaneChangeCompletion(), MSAbstractLaneChangeModel::getLaneChangeDirection(), MSVehicle::getLaneChangeModel(), MSVehicle::getLateralPositionOnLane(), MSLane::getParallelLane(), MSAbstractLaneChangeModel::getShadowLane(), MSAbstractLaneChangeModel::getSpeedLat(), MSLane::getWidth(), Position::INVALID, MSAbstractLaneChangeModel::isChangingLanes(), MSAbstractLaneChangeModel::isOpposite(), M_PI, MSVehicle::myAngle, MSVehicle::myCachedPosition, myCandi, myChanger, MSVehicle::State::myPosLat, MSVehicle::myState, MSAbstractLaneChangeModel::primaryLaneChanged(), MSLane::requireCollisionCheck(), SIMTIME, SPEED2DIST, MSAbstractLaneChangeModel::updateCompletion(), and MSAbstractLaneChangeModel::updateShadowLane().

Referenced by applyTraCICommands(), change(), checkChangeOpposite(), and startChange().

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findCandidate()

MSLaneChanger::ChangerIt MSLaneChanger::findCandidate ( )

protected

Find current candidate. If there is none, myChanger.end() is returned.

Definition at line 235 of file MSLaneChanger.cpp.

References Named::getID(), MSVehicle::getPositionOnLane(), MSVehicle::isFrontOnLane(), myChanger, SIMTIME, and veh().

Referenced by change(), and MSLaneChangerSublane::change().

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foundHilltop()

bool MSLaneChanger::foundHilltop ( MSVehicle *  vehicle, bool  foundHill, double  searchDist, const std::vector< MSLane * > &  bestLanes, int  view, double  pos, double  lastMax, double  hilltopThreshold  )

staticprotected

Definition at line 2132 of file MSLaneChanger.cpp.

References DEBUG_COND, foundHilltop(), Named::getID(), MSLane::getShape(), MSLane::interpolateGeometryPosToLanePos(), and SIMTIME.

Referenced by changeOpposite(), and foundHilltop().

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getBestLanesOpposite()

std::vector< MSVehicle::LaneQ > MSLaneChanger::getBestLanesOpposite ( MSVehicle *  vehicle, const MSLane *  stopLane, double  oppositeLength  )

staticprotected

add LaneQ for opposite lanes

Definition at line 1181 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), MSLane::getEdge(), MSAbstractLaneChangeModel::getForwardPos(), Named::getID(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSEdge::getLanes(), MSEdge::getNormalSuccessor(), MSEdge::getNumLanes(), MSEdge::getOppositeEdge(), MSAbstractLaneChangeModel::isOpposite(), MSVehicle::nextStopDist(), and SIMTIME.

Referenced by changeOpposite(), MSLaneChangerSublane::checkChangeHelper(), and checkOppositeStop().

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getChanger()

Changer & MSLaneChanger::getChanger ( )

inline

return changer (only to be used by MSLaneChangerSublane from another instance)

Definition at line 120 of file MSLaneChanger.h.

References myChanger.

Referenced by MSLaneChangerSublane::startChangeSublane().

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getCloserFollower()

MSVehicle * MSLaneChanger::getCloserFollower ( const double  maxPos, MSVehicle *  follow1, MSVehicle *  follow2  )

staticprotected

return the closer follower of ego

Definition at line 729 of file MSLaneChanger.cpp.

References MSVehicle::getPositionOnLane().

Referenced by getRealFollower().

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getColumnleader()

std::pair< MSVehicle *, double > MSLaneChanger::getColumnleader ( double &  maxSpace, MSVehicle *  vehicle, std::pair< MSVehicle *, double >  leader, double  maxLookAhead = std::numeric_limits<double>::max()  )

staticprotected

return leader vehicle that is to be overtaken

Parameters

[out]	maxSpace	The maxium space that can be used for the overtaking maneuver (limits speed)
[in]	vehicle	The vehicle that wants to overtake
[in]	leader	The vehicle to be overtaken and the gap to this vehicle
[in]	maxLookAhead	The maximum lookahead distance

This methods calls itself recursively to find the leader of a column of vehicles to be overtaken (if there is no sufficient gap for stopping in between)

Definition at line 2350 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), getColumnleader(), MSLane::getEdge(), Named::getID(), Named::getIDSecure(), MSVehicle::getLane(), getLaneAfter(), MSVehicle::getLaneChangeModel(), MSLane::getLastAnyVehicle(), MSLane::getLength(), MSVehicleType::getLengthWithGap(), MSCFModel::getMaxDecel(), MSAbstractLaneChangeModel::getOppositeSafetyFactor(), MSVehicle::getPositionOnLane(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSBaseVehicle::getVClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), OPPOSITE_OVERTAKING_MAX_LOOKAHEAD, OPPOSITE_OVERTAKING_MAX_LOOKAHEAD_EMERGENCY, OPPOSITE_OVERTAKING_SAFETY_FACTOR, SVC_EMERGENCY, and toString().

Referenced by changeOpposite(), and getColumnleader().

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getLaneAfter()

const MSLane * MSLaneChanger::getLaneAfter ( const MSLane *  lane, const std::vector< MSLane * > &  conts, bool  allowMinor, bool &  contsEnd  )

staticprotected

return the next lane in conts beyond lane or nullptr

Definition at line 2539 of file MSLaneChanger.cpp.

References MSLane::getLinkTo(), and MSLink::havePriority().

Referenced by getColumnleader().

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getMaxOvertakingSpeed()

double MSLaneChanger::getMaxOvertakingSpeed ( const MSVehicle *  vehicle, double  maxSpaceToOvertake  )

staticprotected

compute maximum maneuver speed

Definition at line 2560 of file MSLaneChanger.cpp.

References MSVehicle::getCarFollowModel(), MSCFModel::getMaxAccel(), and MSCFModel::getMaxDecel().

Referenced by changeOpposite().

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getOncomingOppositeVehicle()

std::pair< MSVehicle *const, double > MSLaneChanger::getOncomingOppositeVehicle ( const MSVehicle *  vehicle, std::pair< MSVehicle *, double >  overtaken, double  searchDist  )

protected

Definition at line 2053 of file MSLaneChanger.cpp.

References gDebugFlag5, MSVehicle::getBestLanesContinuation(), Named::getID(), Named::getIDSecure(), MSVehicle::getLane(), MSLane::getLeader(), MSVehicleType::getLengthWithGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), and SIMTIME.

Referenced by changeOpposite(), and resolveDeadlock().

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getOncomingVehicle()

std::pair< MSVehicle *const, double > MSLaneChanger::getOncomingVehicle ( const MSLane *  opposite, std::pair< MSVehicle *, double >  neighOncoming, double  searchDist, double &  vMax, const MSVehicle *  overtaken = nullptr, MSLane::MinorLinkMode  mLinkMode = MSLane::MinorLinkMode::FOLLOW_NEVER  )

protected

Definition at line 2014 of file MSLaneChanger.cpp.

References gDebugFlag5, MSLane::getFollower(), MAX2(), MIN2(), and SIMTIME.

Referenced by changeOpposite(), and checkOppositeStop().

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getRealFollower()

std::pair< MSVehicle *const, double > MSLaneChanger::getRealFollower ( const ChangerIt &  target ) const

protected

Definition at line 651 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBackPositionOnLane(), getCloserFollower(), Named::getID(), MSVehicleType::getLength(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), myCandi, SIMTIME, and veh().

Referenced by checkChangeWithinEdge().

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getRealLeader()

std::pair< MSVehicle *const, double > MSLaneChanger::getRealLeader ( const ChangerIt &  target ) const

protected

Definition at line 542 of file MSLaneChanger.cpp.

References MSCFModel::brakeGap(), DEBUG_COND, MSVehicle::getBackPositionOnLane(), MSVehicle::getBestLanesContinuation(), MSVehicle::getCarFollowModel(), Named::getID(), Named::getIDSecure(), MSLane::getLength(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), myCandi, MSLane::myPartialVehicles, SIMTIME, and veh().

Referenced by change(), and checkChangeWithinEdge().

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hasOppositeStop()

bool MSLaneChanger::hasOppositeStop ( MSVehicle *  vehicle )

staticprotected

whether vehicle has an opposite-direction stop within relevant range

Definition at line 1113 of file MSLaneChanger.cpp.

References MSBaseVehicle::getNextStop(), MSBaseVehicle::hasStops(), MSStop::isOpposite, MSVehicle::nextStopDist(), and OPPOSITE_OVERTAKING_MAX_LOOKAHEAD.

Referenced by change(), MSLaneChangerSublane::change(), and changeOpposite().

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initChanger()

void MSLaneChanger::initChanger ( )

protectedvirtual

Initialize the changer before looping over all vehicles.

Reimplemented in MSLaneChangerSublane.

Definition at line 182 of file MSLaneChanger.cpp.

References myChanger.

Referenced by MSLaneChangerSublane::initChanger(), and laneChange().

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laneChange()

void MSLaneChanger::laneChange

(

SUMOTime

t

)

Start lane-change-process for all vehicles on the edge'e lanes.

Definition at line 159 of file MSLaneChanger.cpp.

References change(), initChanger(), myChanger, updateChanger(), updateLanes(), and vehInChanger().

Referenced by MSEdge::changeLanes().

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mayChange()

bool MSLaneChanger::mayChange ( int  direction ) const

protected

whether changing to the lane in the given direction should be considered

Definition at line 274 of file MSLaneChanger.cpp.

References MSBaseVehicle::getVClass(), myAllowsChanging, myCandi, and veh().

Referenced by change(), MSLaneChangerSublane::change(), MSLaneChangerSublane::checkChangeHelper(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeToNewLane(), and MSLaneChangerSublane::startChangeSublane().

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operator=()

MSLaneChanger & MSLaneChanger::operator= ( const MSLaneChanger &  )

private

Assignment operator.

registerUnchanged()

void MSLaneChanger::registerUnchanged ( MSVehicle *  vehicle )

protected

Update changer for vehicles that did not change

Definition at line 412 of file MSLaneChanger.cpp.

References MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSBaseVehicle::getVehicleType(), myCandi, MSAbstractLaneChangeModel::unchanged(), and veh().

Referenced by change(), MSLaneChangerSublane::change(), and startChange().

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resolveDeadlock()

bool MSLaneChanger::resolveDeadlock ( MSVehicle *  vehicle, std::pair< MSVehicle *const, double >  leader, std::pair< MSVehicle *, double >  neighLead, std::pair< MSVehicle *, double >  overtaken  )

protected

keep stopping to resolve opposite-diretion deadlock while there is oncoming traffic The method may call saveBlockerLength to affect vehicle speed in the next step

Definition at line 1830 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getBestLanes(), Named::getID(), Named::getIDSecure(), MSLane::getIndex(), MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSVehicleType::getLengthWithGap(), MSVehicleType::getMinGap(), getOncomingOppositeVehicle(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, MSAbstractLaneChangeModel::saveBlockerLength(), SIMTIME, UNUSED_PARAMETER, and yieldToDeadlockOncoming().

Referenced by changeOpposite().

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startChange()

bool MSLaneChanger::startChange ( MSVehicle *  vehicle, ChangerIt &  from, int  direction  )

protected

Definition at line 465 of file MSLaneChanger.cpp.

References continueChange(), MSVehicle::getLaneChangeModel(), MSVehicle::isRemoteControlled(), myCandi, registerUnchanged(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

Referenced by change().

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updateChanger()

void MSLaneChanger::updateChanger ( bool  vehHasChanged )

protectedvirtual

After the possible change, update the changer.

Reimplemented in MSLaneChangerSublane.

Definition at line 199 of file MSLaneChanger.cpp.

References myCandi, and veh().

Referenced by laneChange(), and MSLaneChangerSublane::updateChanger().

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updateLanes()

void MSLaneChanger::updateLanes ( SUMOTime  t )

protected

During lane-change a temporary vehicle container is filled within the lanes (bad practice to modify foreign members, I know). Swap this container with the real one.

Definition at line 217 of file MSLaneChanger.cpp.

References myChanger.

Referenced by laneChange().

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veh()

MSVehicle * MSLaneChanger::veh ( ConstChangerIt  ce ) const

inlineprotected

Returns the furthes unhandled vehicle on this change-elements lane or 0 if there is none.

Definition at line 144 of file MSLaneChanger.h.

Referenced by change(), MSLaneChangerSublane::change(), checkChange(), MSLaneChangerSublane::checkChangeSublane(), findCandidate(), MSLaneChangerSublane::getLeaders(), getRealFollower(), getRealLeader(), mayChange(), registerUnchanged(), updateChanger(), and vehInChanger().

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vehInChanger()

bool MSLaneChanger::vehInChanger ( ) const

inlineprotected

Check if there is a single change-candidate in the changer. Returns true if there is one.

Definition at line 131 of file MSLaneChanger.h.

References myChanger, and veh().

Referenced by laneChange().

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yieldToDeadlockOncoming()

bool MSLaneChanger::yieldToDeadlockOncoming ( const MSVehicle *  vehicle, const MSVehicle *  stoppedNeigh, double  dist  )

protected

check whether to keep stopping for oncoming vehicles in the deadlock zone

Definition at line 1779 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getFollower(), Named::getID(), Named::getIDSecure(), MSVehicleType::getLengthWithGap(), MSBaseVehicle::getVehicleType(), MSBaseVehicle::getWaitingSeconds(), OPPOSITE_OVERTAKING_DEADLOCK_WAIT, and SIMTIME.

Referenced by avoidDeadlock(), and resolveDeadlock().

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yieldToOppositeWaiting()

bool MSLaneChanger::yieldToOppositeWaiting ( const MSVehicle *  vehicle, const MSVehicle *  stoppedNeigh, double  dist, SUMOTime  deltaWait = 0  )

protected

check whether to yield for oncoming vehicles that have waited longer for opposite overtaking

Definition at line 1807 of file MSLaneChanger.cpp.

References DEBUG_COND, MSVehicle::getFollower(), Named::getID(), MSBaseVehicle::getWaitingSeconds(), MSVehicle::getWaitingTime(), SIMTIME, and STEPS2TIME.

Referenced by changeOpposite(), and computeSafeOppositeLength().

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Field Documentation

myAllowsChanging

const bool MSLaneChanger::myAllowsChanging

protected

Definition at line 323 of file MSLaneChanger.h.

Referenced by change(), and mayChange().

myCandi

ChangerIt MSLaneChanger::myCandi

protected

Change-candidate. Last of the vehicles in changer. Only this one will try to change. Every vehicle on the edge will be a candidate once in the change-process.

Definition at line 319 of file MSLaneChanger.h.

Referenced by MSLaneChangerSublane::abortLCManeuver(), applyTraCICommands(), change(), MSLaneChangerSublane::change(), checkChange(), MSLaneChangerSublane::checkChangeHelper(), checkChangeOpposite(), MSLaneChangerSublane::checkChangeOpposite(), MSLaneChangerSublane::checkChangeSublane(), checkChangeWithinEdge(), continueChange(), getRealFollower(), getRealLeader(), mayChange(), registerUnchanged(), startChange(), updateChanger(), and MSLaneChangerSublane::updateChanger().

myChanger

Changer MSLaneChanger::myChanger

protected

Container for ChangeElemements, one for every lane in the edge.

Definition at line 314 of file MSLaneChanger.h.

Referenced by change(), MSLaneChangerSublane::change(), checkChange(), continueChange(), findCandidate(), getChanger(), initChanger(), MSLaneChangerSublane::initChanger(), laneChange(), MSLaneChanger(), MSLaneChangerSublane::MSLaneChangerSublane(), MSLaneChangerSublane::startChangeSublane(), MSLaneChangerSublane::updateChanger(), updateLanes(), and vehInChanger().

myChangeToOpposite

const bool MSLaneChanger::myChangeToOpposite

protected

whether this edge allows changing to the opposite direction edge

Definition at line 326 of file MSLaneChanger.h.

Referenced by MSLaneChangerSublane::change(), and changeOpposite().

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The documentation for this class was generated from the following files:

• MSLaneChanger.h
• MSLaneChanger.cpp