109 #define DEBUG_COND (isSelected())
111 #define DEBUG_COND2(obj) (obj->isSelected())
116 #define STOPPING_PLACE_OFFSET 0.5
118 #define CRLL_LOOK_AHEAD 5
120 #define JUNCTION_BLOCKAGE_TIME 5
123 #define DIST_TO_STOPLINE_EXPECT_PRIORITY 1.0
125 #define NUMERICAL_EPS_SPEED (0.1 * NUMERICAL_EPS * TS)
163 return (myPos != state.
myPos ||
173 myPos(pos), mySpeed(speed), myPosLat(posLat), myBackPos(backPos), myPreviousSpeed(previousSpeed), myLastCoveredDist(
SPEED2DIST(speed)) {}
185 assert(memorySpan <= myMemorySize);
186 if (memorySpan == -1) {
187 memorySpan = myMemorySize;
190 for (
const auto& interval : myWaitingIntervals) {
191 if (interval.second >= memorySpan) {
192 if (interval.first >= memorySpan) {
195 totalWaitingTime += memorySpan - interval.first;
198 totalWaitingTime += interval.second - interval.first;
201 return totalWaitingTime;
207 auto i = myWaitingIntervals.begin();
208 const auto end = myWaitingIntervals.end();
209 const bool startNewInterval = i == end || (i->first != 0);
212 if (i->first >= myMemorySize) {
220 auto d = std::distance(i, end);
222 myWaitingIntervals.pop_back();
228 }
else if (!startNewInterval) {
229 myWaitingIntervals.begin()->first = 0;
231 myWaitingIntervals.push_front(std::make_pair(0, dt));
239 std::ostringstream state;
240 state << myMemorySize <<
" " << myWaitingIntervals.size();
241 for (
const auto& interval : myWaitingIntervals) {
242 state <<
" " << interval.first <<
" " << interval.second;
250 std::istringstream is(state);
253 is >> myMemorySize >> numIntervals;
254 while (numIntervals-- > 0) {
256 myWaitingIntervals.emplace_back(begin, end);
275 if (GapControlState::refVehMap.find(msVeh) != end(GapControlState::refVehMap)) {
277 GapControlState::refVehMap[msVeh]->deactivate();
287 std::map<const MSVehicle*, MSVehicle::Influencer::GapControlState*>
294 tauOriginal(-1), tauCurrent(-1), tauTarget(-1), addGapCurrent(-1), addGapTarget(-1),
295 remainingDuration(-1), changeRate(-1), maxDecel(-1), referenceVeh(nullptr), active(false), gapAttained(false), prevLeader(nullptr),
296 lastUpdate(-1), timeHeadwayIncrement(0.0), spaceHeadwayIncrement(0.0) {}
310 WRITE_ERROR(
"MSVehicle::Influencer::GapControlState::init(): No MSNet instance found!")
327 tauOriginal = tauOrig;
328 tauCurrent = tauOrig;
331 addGapTarget = additionalGap;
332 remainingDuration = dur;
335 referenceVeh = refVeh;
338 prevLeader =
nullptr;
340 timeHeadwayIncrement = changeRate *
TS * (tauTarget - tauOriginal);
341 spaceHeadwayIncrement = changeRate *
TS * addGapTarget;
343 if (referenceVeh !=
nullptr) {
353 if (referenceVeh !=
nullptr) {
356 referenceVeh =
nullptr;
390 GapControlState::init();
395 GapControlState::cleanup();
400 mySpeedAdaptationStarted =
true;
401 mySpeedTimeLine = speedTimeLine;
406 if (myGapControlState ==
nullptr) {
407 myGapControlState = std::make_shared<GapControlState>();
409 myGapControlState->activate(originalTau, newTimeHeadway, newSpaceHeadway, duration, changeRate, maxDecel, refVeh);
414 if (myGapControlState !=
nullptr && myGapControlState->active) {
415 myGapControlState->deactivate();
421 myLaneTimeLine = laneTimeLine;
427 for (
auto& item : myLaneTimeLine) {
428 item.second += indexShift;
440 return (1 * myConsiderSafeVelocity +
441 2 * myConsiderMaxAcceleration +
442 4 * myConsiderMaxDeceleration +
443 8 * myRespectJunctionPriority +
444 16 * myEmergencyBrakeRedLight +
445 32 * !myRespectJunctionLeaderPriority
452 return (1 * myStrategicLC +
453 4 * myCooperativeLC +
455 64 * myRightDriveLC +
456 256 * myTraciLaneChangePriority +
463 for (std::vector<std::pair<SUMOTime, int>>::iterator i = myLaneTimeLine.begin(); i != myLaneTimeLine.end(); ++i) {
467 duration -= i->first;
475 if (!myLaneTimeLine.empty()) {
476 return myLaneTimeLine.back().first;
486 while (mySpeedTimeLine.size() == 1 || (mySpeedTimeLine.size() > 1 && currentTime > mySpeedTimeLine[1].first)) {
487 mySpeedTimeLine.erase(mySpeedTimeLine.begin());
490 if (!(mySpeedTimeLine.size() < 2 || currentTime < mySpeedTimeLine[0].first)) {
492 if (!mySpeedAdaptationStarted) {
493 mySpeedTimeLine[0].second = speed;
494 mySpeedAdaptationStarted =
true;
497 const double td =
STEPS2TIME(currentTime - mySpeedTimeLine[0].first) /
STEPS2TIME(mySpeedTimeLine[1].first +
DELTA_T - mySpeedTimeLine[0].first);
498 speed = mySpeedTimeLine[0].second - (mySpeedTimeLine[0].second - mySpeedTimeLine[1].second) * td;
499 if (myConsiderSafeVelocity) {
500 speed =
MIN2(speed, vSafe);
502 if (myConsiderMaxAcceleration) {
503 speed =
MIN2(speed, vMax);
505 if (myConsiderMaxDeceleration) {
506 speed =
MAX2(speed, vMin);
516 std::cout << currentTime <<
" Influencer::gapControlSpeed(): speed=" << speed
517 <<
", vSafe=" << vSafe
523 double gapControlSpeed = speed;
524 if (myGapControlState !=
nullptr && myGapControlState->active) {
526 const double currentSpeed = veh->
getSpeed();
528 assert(msVeh !=
nullptr);
529 const double desiredTargetTimeSpacing = myGapControlState->tauTarget * currentSpeed;
530 std::pair<const MSVehicle*, double> leaderInfo;
531 if (myGapControlState->referenceVeh ==
nullptr) {
534 leaderInfo = msVeh->
getLeader(
MAX2(desiredTargetTimeSpacing, myGapControlState->addGapCurrent) +
MAX2(brakeGap, 20.0));
537 std::cout <<
" --- no refVeh; myGapControlState->addGapCurrent: " << myGapControlState->addGapCurrent <<
", brakeGap: " << brakeGap <<
" in simstep: " <<
SIMSTEP << std::endl;
542 const MSVehicle* leader = myGapControlState->referenceVeh;
550 if (dist < -100000) {
552 std::cout <<
" Ego and reference vehicle are not in CF relation..." << std::endl;
554 std::cout <<
" Reference vehicle is behind ego..." << std::endl;
561 const double fakeDist =
MAX2(0.0, leaderInfo.second - myGapControlState->addGapCurrent);
564 const double desiredCurrentSpacing = myGapControlState->tauCurrent * currentSpeed;
565 std::cout <<
" Gap control active:"
566 <<
" currentSpeed=" << currentSpeed
567 <<
", desiredTargetTimeSpacing=" << desiredTargetTimeSpacing
568 <<
", desiredCurrentSpacing=" << desiredCurrentSpacing
569 <<
", leader=" << (leaderInfo.first ==
nullptr ?
"NULL" : leaderInfo.first->getID())
570 <<
", dist=" << leaderInfo.second
571 <<
", fakeDist=" << fakeDist
572 <<
",\n tauOriginal=" << myGapControlState->tauOriginal
573 <<
", tauTarget=" << myGapControlState->tauTarget
574 <<
", tauCurrent=" << myGapControlState->tauCurrent
578 if (leaderInfo.first !=
nullptr) {
579 if (myGapControlState->prevLeader !=
nullptr && myGapControlState->prevLeader != leaderInfo.first) {
583 myGapControlState->prevLeader = leaderInfo.first;
589 gapControlSpeed =
MIN2(gapControlSpeed,
590 cfm->
followSpeed(msVeh, currentSpeed, fakeDist, leaderInfo.first->
getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first));
594 std::cout <<
" -> gapControlSpeed=" << gapControlSpeed;
595 if (myGapControlState->maxDecel > 0) {
596 std::cout <<
", with maxDecel bound: " <<
MAX2(gapControlSpeed, currentSpeed -
TS * myGapControlState->maxDecel);
598 std::cout << std::endl;
601 if (myGapControlState->maxDecel > 0) {
602 gapControlSpeed =
MAX2(gapControlSpeed, currentSpeed -
TS * myGapControlState->maxDecel);
609 if (myGapControlState->lastUpdate < currentTime) {
612 std::cout <<
" Updating GapControlState." << std::endl;
615 if (myGapControlState->tauCurrent == myGapControlState->tauTarget && myGapControlState->addGapCurrent == myGapControlState->addGapTarget) {
616 if (!myGapControlState->gapAttained) {
618 myGapControlState->gapAttained = leaderInfo.first ==
nullptr || leaderInfo.second >
MAX2(desiredTargetTimeSpacing, myGapControlState->addGapTarget) - POSITION_EPS;
621 if (myGapControlState->gapAttained) {
622 std::cout <<
" Target gap was established." << std::endl;
628 myGapControlState->remainingDuration -=
TS;
631 std::cout <<
" Gap control remaining duration: " << myGapControlState->remainingDuration << std::endl;
634 if (myGapControlState->remainingDuration <= 0) {
637 std::cout <<
" Gap control duration expired, deactivating control." << std::endl;
641 myGapControlState->deactivate();
646 myGapControlState->tauCurrent =
MIN2(myGapControlState->tauCurrent + myGapControlState->timeHeadwayIncrement, myGapControlState->tauTarget);
647 myGapControlState->addGapCurrent =
MIN2(myGapControlState->addGapCurrent + myGapControlState->spaceHeadwayIncrement, myGapControlState->addGapTarget);
650 if (myConsiderSafeVelocity) {
651 gapControlSpeed =
MIN2(gapControlSpeed, vSafe);
653 if (myConsiderMaxAcceleration) {
654 gapControlSpeed =
MIN2(gapControlSpeed, vMax);
656 if (myConsiderMaxDeceleration) {
657 gapControlSpeed =
MAX2(gapControlSpeed, vMin);
659 return MIN2(speed, gapControlSpeed);
667 return myOriginalSpeed;
672 myOriginalSpeed = speed;
679 while (myLaneTimeLine.size() == 1 || (myLaneTimeLine.size() > 1 && currentTime > myLaneTimeLine[1].first)) {
680 myLaneTimeLine.erase(myLaneTimeLine.begin());
684 if (myLaneTimeLine.size() >= 2 && currentTime >= myLaneTimeLine[0].first) {
685 const int destinationLaneIndex = myLaneTimeLine[1].second;
686 if (destinationLaneIndex < (
int)currentEdge.
getLanes().size()) {
687 if (currentLaneIndex > destinationLaneIndex) {
689 }
else if (currentLaneIndex < destinationLaneIndex) {
694 }
else if (currentEdge.
getLanes().back()->getOpposite() !=
nullptr) {
703 if ((state &
LCA_TRACI) != 0 && myLatDist != 0) {
712 mode = myStrategicLC;
714 mode = myCooperativeLC;
716 mode = mySpeedGainLC;
718 mode = myRightDriveLC;
757 switch (changeRequest) {
773 assert(myLaneTimeLine.size() >= 2);
774 assert(currentTime >= myLaneTimeLine[0].first);
775 return STEPS2TIME(myLaneTimeLine[1].first - currentTime);
781 myConsiderSafeVelocity = ((speedMode & 1) != 0);
782 myConsiderMaxAcceleration = ((speedMode & 2) != 0);
783 myConsiderMaxDeceleration = ((speedMode & 4) != 0);
784 myRespectJunctionPriority = ((speedMode & 8) != 0);
785 myEmergencyBrakeRedLight = ((speedMode & 16) != 0);
786 myRespectJunctionLeaderPriority = ((speedMode & 32) == 0);
803 myRemoteXYPos = xyPos;
806 myRemotePosLat = posLat;
807 myRemoteAngle = angle;
808 myRemoteEdgeOffset = edgeOffset;
809 myRemoteRoute = route;
810 myLastRemoteAccess = t;
822 return myLastRemoteAccess >= t -
TIME2STEPS(10);
828 if (myRemoteRoute.size() != 0 && myRemoteRoute != v->
getRoute().
getEdges()) {
831 #ifdef DEBUG_REMOTECONTROL
844 const bool wasOnRoad = v->
isOnRoad();
845 const bool withinLane = myRemoteLane !=
nullptr && fabs(myRemotePosLat) < 0.5 * (myRemoteLane->getWidth() + v->
getVehicleType().
getWidth());
846 const bool keepLane = wasOnRoad && v->
getLane() == myRemoteLane;
847 if (v->
isOnRoad() && !(keepLane && withinLane)) {
848 if (myRemoteLane !=
nullptr && &v->
getLane()->
getEdge() == &myRemoteLane->getEdge()) {
855 if (myRemoteRoute.size() != 0 && myRemoteRoute != v->
getRoute().
getEdges()) {
857 #ifdef DEBUG_REMOTECONTROL
858 std::cout <<
SIMSTEP <<
" postProcessRemoteControl veh=" << v->
getID()
862 <<
" newRoute=" <<
toString(myRemoteRoute)
863 <<
" newRouteEdge=" << myRemoteRoute[myRemoteEdgeOffset]->getID()
869 myRemoteRoute.clear();
872 if (myRemoteLane !=
nullptr && myRemotePos > myRemoteLane->getLength()) {
873 myRemotePos = myRemoteLane->getLength();
875 if (myRemoteLane !=
nullptr && withinLane) {
881 if (needFurtherUpdate) {
891 myRemoteLane->forceVehicleInsertion(v, myRemotePos, notify, myRemotePosLat);
898 myRemoteLane->requireCollisionCheck();
926 if (myRemoteLane !=
nullptr) {
932 if (distAlongRoute != std::numeric_limits<double>::max()) {
933 dist = distAlongRoute;
937 const double minSpeed = myConsiderMaxDeceleration ?
939 const double maxSpeed = (myRemoteLane !=
nullptr
940 ? myRemoteLane->getVehicleMaxSpeed(veh)
951 if (myRemoteLane ==
nullptr) {
961 if (dist == std::numeric_limits<double>::max()) {
965 WRITE_WARNINGF(
TL(
"Vehicle '%' moved by TraCI from % to % (dist %) with implied speed of % (exceeding maximum speed %). time=%."),
1026 further->resetPartialOccupation(
this);
1027 if (further->getBidiLane() !=
nullptr
1029 further->getBidiLane()->resetPartialOccupation(
this);
1046 #ifdef DEBUG_ACTIONSTEPS
1048 std::cout <<
SIMTIME <<
" Removing vehicle '" <<
getID() <<
"' (reason: " <<
toString(reason) <<
")" << std::endl;
1073 if (!(*myCurrEdge)->isTazConnector()) {
1075 if ((*myCurrEdge)->getDepartLane(*
this) ==
nullptr) {
1076 msg =
"Invalid departlane definition for vehicle '" +
getID() +
"'.";
1085 if ((*myCurrEdge)->allowedLanes(
getVClass()) ==
nullptr) {
1086 msg =
"Vehicle '" +
getID() +
"' is not allowed to depart on any lane of edge '" + (*myCurrEdge)->getID() +
"'.";
1092 msg =
"Departure speed for vehicle '" +
getID() +
"' is too high for the vehicle type '" +
myType->
getID() +
"'.";
1123 updateBestLanes(
true, onInit ? (*myCurrEdge)->getLanes().front() : 0);
1126 myStopDist = std::numeric_limits<double>::max();
1144 if (!rem->first->notifyMove(*
this, oldPos + rem->second, newPos + rem->second,
MAX2(0., newSpeed))) {
1146 if (myTraceMoveReminders) {
1147 traceMoveReminder(
"notifyMove", rem->first, rem->second,
false);
1153 if (myTraceMoveReminders) {
1154 traceMoveReminder(
"notifyMove", rem->first, rem->second,
true);
1169 if (duration >= 0) {
1184 rem.first->notifyIdle(*
this);
1189 rem->notifyIdle(*
this);
1200 rem.second += oldLaneLength;
1204 if (myTraceMoveReminders) {
1205 traceMoveReminder(
"adaptedPos", rem.first, rem.second,
true);
1219 return getStops().begin()->parkingarea->getVehicleSlope(*
this);
1254 if (
myStops.begin()->parkingarea !=
nullptr) {
1255 return myStops.begin()->parkingarea->getVehiclePosition(*
this);
1265 if (offset == 0. && !changingLanes) {
1288 double relOffset = fabs(posLat) / centerDist;
1289 double newZ = (1 - relOffset) * pos.
z() + relOffset * shadowPos.
z();
1300 return MAX2(0.0, result);
1318 auto nextBestLane = bestLanes.begin();
1323 bool success =
true;
1325 while (offset > 0) {
1330 lane = lane->
getLinkCont()[0]->getViaLaneOrLane();
1332 if (lane ==
nullptr) {
1342 while (nextBestLane != bestLanes.end() && *nextBestLane ==
nullptr) {
1347 assert(lane == *nextBestLane);
1351 assert(nextBestLane == bestLanes.end() || *nextBestLane != 0);
1352 if (nextBestLane == bestLanes.end()) {
1357 assert(link !=
nullptr);
1388 int furtherIndex = 0;
1397 offset += lastLength;
1407 ConstMSEdgeVector::const_iterator
1426 #ifdef DEBUG_FURTHER
1428 std::cout <<
SIMTIME <<
" veh '" <<
getID() <<
" setAngle(" << angle <<
") straightenFurther=" << straightenFurther << std::endl;
1437 if (link !=
nullptr) {
1452 const bool newActionStepLength = actionStepLengthMillisecs != previousActionStepLength;
1453 if (newActionStepLength) {
1483 if (
myStops.begin()->parkingarea !=
nullptr) {
1484 return myStops.begin()->parkingarea->getVehicleAngle(*
this);
1521 double result = (p1 != p2 ? p2.
angleTo2D(p1) :
1526 #ifdef DEBUG_FURTHER
1545 #ifdef DEBUG_FURTHER
1552 #ifdef DEBUG_FURTHER
1588 ||
myStops.front().pars.breakDown || (
myStops.front().getSpeed() > 0
1600 return myStops.front().duration;
1628 return currentVelocity;
1633 std::cout <<
"\nPROCESS_NEXT_STOP\n" <<
SIMTIME <<
" vehicle '" <<
getID() <<
"'" << std::endl;
1644 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' reached stop.\n"
1678 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' resumes from stopping." << std::endl;
1703 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' registers as waiting for person." << std::endl;
1718 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' registers as waiting for container." << std::endl;
1741 return currentVelocity;
1757 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' hasn't reached next stop." << std::endl;
1767 if (noExits && noEntries) {
1776 bool fitsOnStoppingPlace =
true;
1778 if (stop.
busstop !=
nullptr) {
1788 fitsOnStoppingPlace =
false;
1792 if (rem->isParkingRerouter()) {
1796 if (
myStops.empty() ||
myStops.front().parkingarea != oldParkingArea) {
1798 return currentVelocity;
1801 fitsOnStoppingPlace =
false;
1803 fitsOnStoppingPlace =
false;
1811 std::cout <<
" pos=" <<
myState.
pos() <<
" speed=" << currentVelocity <<
" targetPos=" << targetPos <<
" fits=" << fitsOnStoppingPlace
1812 <<
" reachedThresh=" << reachedThreshold
1827 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' reached next stop." << std::endl;
1852 if (stop.
busstop !=
nullptr) {
1878 if (splitVeh ==
nullptr) {
1909 return currentVelocity;
1932 bool unregister =
false;
1936 if (taxiDevice !=
nullptr) {
1968 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' unregisters as waiting for transportable." << std::endl;
1983 myStops.begin()->joinTriggered =
false;
2002 double skippedLaneLengths = 0;
2017 std::string warn =
TL(
"Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2024 std::string warn =
TL(
"Cannot join vehicle '%' to vehicle '%' due to incompatible routes. time=%.");
2037 myStops.begin()->joinTriggered =
false;
2074 if (timeSinceLastAction == 0) {
2076 timeSinceLastAction = oldActionStepLength;
2078 if (timeSinceLastAction >= newActionStepLength) {
2082 SUMOTime timeUntilNextAction = newActionStepLength - timeSinceLastAction;
2091 #ifdef DEBUG_PLAN_MOVE
2097 <<
" veh=" <<
getID()
2112 #ifdef DEBUG_ACTIONSTEPS
2114 std::cout <<
STEPS2TIME(t) <<
" vehicle '" <<
getID() <<
"' skips action." << std::endl;
2122 #ifdef DEBUG_ACTIONSTEPS
2124 std::cout <<
STEPS2TIME(t) <<
" vehicle = '" <<
getID() <<
"' takes action." << std::endl;
2132 #ifdef DEBUG_PLAN_MOVE
2134 DriveItemVector::iterator i;
2137 <<
" vPass=" << (*i).myVLinkPass
2138 <<
" vWait=" << (*i).myVLinkWait
2139 <<
" linkLane=" << ((*i).myLink == 0 ?
"NULL" : (*i).myLink->getViaLaneOrLane()->getID())
2140 <<
" request=" << (*i).mySetRequest
2169 const bool result = (
overlap > POSITION_EPS
2182 #ifdef DEBUG_PLAN_MOVE
2197 newStopDist = std::numeric_limits<double>::max();
2205 double lateralShift = 0;
2209 laneMaxV =
MIN2(laneMaxV, l->getVehicleMaxSpeed(
this));
2210 #ifdef DEBUG_PLAN_MOVE
2212 std::cout <<
" laneMaxV=" << laneMaxV <<
" lane=" << l->getID() <<
"\n";
2218 laneMaxV =
MAX2(laneMaxV, vMinComfortable);
2220 laneMaxV = std::numeric_limits<double>::max();
2234 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" speedBeforeTraci=" << v;
2240 std::cout <<
" influencedSpeed=" << v;
2246 std::cout <<
" gapControlSpeed=" << v <<
"\n";
2254 #ifdef DEBUG_PLAN_MOVE
2256 std::cout <<
" dist=" << dist <<
" bestLaneConts=" <<
toString(bestLaneConts)
2257 <<
"\n maxV=" << maxV <<
" laneMaxV=" << laneMaxV <<
" v=" << v <<
"\n";
2260 assert(bestLaneConts.size() > 0);
2261 bool hadNonInternal =
false;
2264 nextTurn.first = seen;
2265 nextTurn.second =
nullptr;
2267 double seenNonInternal = 0;
2272 bool slowedDownForMinor =
false;
2273 double mustSeeBeforeReversal = 0;
2279 #ifdef PARALLEL_STOPWATCH
2285 if (v > vMinComfortable &&
hasStops() &&
myStops.front().pars.arrival >= 0 && sfp > 0
2287 && !
myStops.front().reached) {
2289 v =
MIN2(v, vSlowDown);
2291 auto stopIt =
myStops.begin();
2302 const double gapOffset = leaderLane ==
myLane ? 0 : seen - leaderLane->
getLength();
2308 if (cand.first != 0) {
2309 if ((cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() != leaderLane)
2310 || (!cand.first->myLaneChangeModel->isOpposite() && cand.first->getLaneChangeModel().getShadowLane() == leaderLane)) {
2312 oppositeLeaders.
addLeader(cand.first, cand.second + gapOffset -
getVehicleType().getMinGap() + cand.first->getVehicleType().
getMinGap() - cand.first->getVehicleType().getLength());
2315 const bool assumeStopped = cand.first->isStopped() || cand.first->getWaitingSeconds() > 1;
2316 const double predMaxDist = cand.first->getSpeed() + (assumeStopped ? 0 : cand.first->getCarFollowModel().getMaxAccel()) * minTimeToLeaveLane;
2317 if (cand.second >= 0 && (cand.second - v * minTimeToLeaveLane - predMaxDist < 0 || assumeStopped)) {
2323 #ifdef DEBUG_PLAN_MOVE
2325 std::cout <<
" leaderLane=" << leaderLane->
getID() <<
" gapOffset=" << gapOffset <<
" minTimeToLeaveLane=" << minTimeToLeaveLane
2326 <<
" cands=" << cands.
toString() <<
" oppositeLeaders=" << oppositeLeaders.
toString() <<
"\n";
2334 const bool outsideLeft = leftOL > lane->
getWidth();
2335 #ifdef DEBUG_PLAN_MOVE
2337 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" lane=" << lane->
getID() <<
" rightOL=" << rightOL <<
" leftOL=" << leftOL <<
"\n";
2340 if (rightOL < 0 || outsideLeft) {
2344 int sublaneOffset = 0;
2351 #ifdef DEBUG_PLAN_MOVE
2353 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" lane=" << lane->
getID() <<
" sublaneOffset=" << sublaneOffset <<
" outsideLeft=" << outsideLeft <<
"\n";
2358 && ((!outsideLeft && cand->getLeftSideOnEdge() < 0)
2359 || (outsideLeft && cand->getLeftSideOnEdge() > lane->
getEdge().
getWidth()))) {
2361 #ifdef DEBUG_PLAN_MOVE
2363 std::cout <<
" outsideLeader=" << cand->getID() <<
" ahead=" << outsideLeaders.
toString() <<
"\n";
2370 adaptToLeaders(outsideLeaders, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2374 adaptToLeaders(ahead, lateralShift, seen, lastLink, leaderLane, v, vLinkPass);
2376 if (lastLink !=
nullptr) {
2379 #ifdef DEBUG_PLAN_MOVE
2381 std::cout <<
"\nv = " << v <<
"\n";
2389 if (shadowLane !=
nullptr
2403 #ifdef DEBUG_PLAN_MOVE
2405 std::cout <<
SIMTIME <<
" opposite veh=" <<
getID() <<
" shadowLane=" << shadowLane->
getID() <<
" latOffset=" << latOffset <<
" shadowLeaders=" << shadowLeaders.
toString() <<
"\n";
2413 adaptToLeaders(shadowLeaders, latOffset, seen - turningDifference, lastLink, shadowLane, v, vLinkPass);
2418 const double latOffset = 0;
2419 #ifdef DEBUG_PLAN_MOVE
2421 std::cout <<
SIMTIME <<
" opposite shadows veh=" <<
getID() <<
" shadowLane=" << shadowLane->
getID()
2422 <<
" latOffset=" << latOffset <<
" shadowLeaders=" << shadowLeaders.
toString() <<
"\n";
2426 #ifdef DEBUG_PLAN_MOVE
2428 std::cout <<
" shadowLeadersFixed=" << shadowLeaders.
toString() <<
"\n";
2437 const double relativePos = lane->
getLength() - seen;
2438 #ifdef DEBUG_PLAN_MOVE
2440 std::cout <<
SIMTIME <<
" adapt to pedestrians on lane=" << lane->
getID() <<
" relPos=" << relativePos <<
"\n";
2446 if (leader.first != 0) {
2448 v =
MIN2(v, stopSpeed);
2449 #ifdef DEBUG_PLAN_MOVE
2451 std::cout <<
SIMTIME <<
" pedLeader=" << leader.first->getID() <<
" dist=" << leader.second <<
" v=" << v <<
"\n";
2460 const double relativePos = seen;
2461 #ifdef DEBUG_PLAN_MOVE
2463 std::cout <<
SIMTIME <<
" adapt to pedestrians on lane=" << lane->
getID() <<
" relPos=" << relativePos <<
"\n";
2470 if (leader.first != 0) {
2472 v =
MIN2(v, stopSpeed);
2473 #ifdef DEBUG_PLAN_MOVE
2475 std::cout <<
SIMTIME <<
" pedLeader=" << leader.first->getID() <<
" dist=" << leader.second <<
" v=" << v <<
"\n";
2483 bool foundRealStop =
false;
2484 while (stopIt !=
myStops.end()
2485 && ((&stopIt->lane->getEdge() == &lane->
getEdge())
2486 || (stopIt->isOpposite && stopIt->lane->getEdge().getOppositeEdge() == &lane->
getEdge()))
2489 double stopDist = std::numeric_limits<double>::max();
2490 const MSStop& stop = *stopIt;
2491 const bool isFirstStop = stopIt ==
myStops.begin();
2495 bool isWaypoint = stop.
getSpeed() > 0;
2496 double endPos = stop.
getEndPos(*
this) + NUMERICAL_EPS;
2501 }
else if (isWaypoint && !stop.
reached) {
2504 stopDist = seen + endPos - lane->
getLength();
2507 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" stopDist=" << stopDist <<
" stopLane=" << stop.
lane->
getID() <<
" stopEndPos=" << endPos <<
"\n";
2511 double stopSpeed = laneMaxV;
2513 bool waypointWithStop =
false;
2526 if (stop.
getUntil() > t + time2end) {
2528 double distToEnd = stopDist;
2533 waypointWithStop =
true;
2539 stopDist = std::numeric_limits<double>::max();
2546 if (lastLink !=
nullptr) {
2552 if (lastLink !=
nullptr) {
2556 v =
MIN2(v, stopSpeed);
2558 std::vector<MSLink*>::const_iterator exitLink =
MSLane::succLinkSec(*
this, view + 1, *lane, bestLaneConts);
2560 bool dummySetRequest;
2561 double dummyVLinkWait;
2565 #ifdef DEBUG_PLAN_MOVE
2567 std::cout <<
"\n" <<
SIMTIME <<
" next stop: distance = " << stopDist <<
" requires stopSpeed = " << stopSpeed <<
"\n";
2572 newStopDist = stopDist;
2576 lfLinks.emplace_back(v, stopDist);
2577 foundRealStop =
true;
2583 if (foundRealStop) {
2589 std::vector<MSLink*>::const_iterator link =
MSLane::succLinkSec(*
this, view + 1, *lane, bestLaneConts);
2592 if (!encounteredTurn) {
2600 nextTurn.first = seen;
2601 nextTurn.second = *link;
2602 encounteredTurn =
true;
2603 #ifdef DEBUG_NEXT_TURN
2606 <<
" at " << nextTurn.first <<
"m." << std::endl;
2621 const double va =
MAX2(NUMERICAL_EPS, cfModel.
freeSpeed(
this,
getSpeed(), distToArrival, arrivalSpeed));
2623 if (lastLink !=
nullptr) {
2632 || (opposite && (*link)->getViaLaneOrLane()->getParallelOpposite() ==
nullptr
2635 if (lastLink !=
nullptr) {
2643 #ifdef DEBUG_PLAN_MOVE
2645 std::cout <<
" braking for link end lane=" << lane->
getID() <<
" seen=" << seen
2651 lfLinks.emplace_back(v, seen);
2655 lateralShift += (*link)->getLateralShift();
2656 const bool yellowOrRed = (*link)->haveRed() || (*link)->haveYellow();
2667 double laneStopOffset;
2672 const bool canBrakeBeforeLaneEnd = seen >= brakeDist;
2676 laneStopOffset = majorStopOffset;
2677 }
else if ((*link)->havePriority()) {
2679 laneStopOffset =
MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, majorStopOffset);
2684 laneStopOffset =
MIN2((*link)->getFoeVisibilityDistance() - POSITION_EPS, minorStopOffset);
2686 #ifdef DEBUG_PLAN_MOVE
2688 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" desired stopOffset on lane '" << lane->
getID() <<
"' is " << laneStopOffset <<
"\n";
2691 if (canBrakeBeforeLaneEnd) {
2693 laneStopOffset =
MIN2(laneStopOffset, seen - brakeDist);
2695 laneStopOffset =
MAX2(POSITION_EPS, laneStopOffset);
2696 double stopDist =
MAX2(0., seen - laneStopOffset);
2700 stopDist = std::numeric_limits<double>::max();
2702 if (newStopDist != std::numeric_limits<double>::max()) {
2703 stopDist =
MAX2(stopDist, newStopDist);
2705 #ifdef DEBUG_PLAN_MOVE
2707 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" effective stopOffset on lane '" << lane->
getID()
2708 <<
"' is " << laneStopOffset <<
" (-> stopDist=" << stopDist <<
")" << std::endl;
2718 mustSeeBeforeReversal = 2 * seen +
getLength();
2720 v =
MIN2(v, vMustReverse);
2723 foundRailSignal |= ((*link)->getTLLogic() !=
nullptr
2728 bool canReverseEventually =
false;
2729 const double vReverse =
checkReversal(canReverseEventually, laneMaxV, seen);
2730 v =
MIN2(v, vReverse);
2731 #ifdef DEBUG_PLAN_MOVE
2733 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" canReverseEventually=" << canReverseEventually <<
" v=" << v <<
"\n";
2746 assert(timeRemaining != 0);
2749 (seen - POSITION_EPS) / timeRemaining);
2750 #ifdef DEBUG_PLAN_MOVE
2752 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" slowing down to finish continuous change before"
2753 <<
" link=" << (*link)->getViaLaneOrLane()->getID()
2754 <<
" timeRemaining=" << timeRemaining
2767 const bool abortRequestAfterMinor = slowedDownForMinor && (*link)->getInternalLaneBefore() ==
nullptr;
2769 bool setRequest = (v >
NUMERICAL_EPS_SPEED && !abortRequestAfterMinor) || (leavingCurrentIntersection);
2771 double stopSpeed = cfModel.
stopSpeed(
this,
getSpeed(), stopDist, stopDecel, MSCFModel::CalcReason::CURRENT_WAIT);
2772 double vLinkWait =
MIN2(v, stopSpeed);
2773 #ifdef DEBUG_PLAN_MOVE
2776 <<
" stopDist=" << stopDist
2777 <<
" stopDecel=" << stopDecel
2778 <<
" vLinkWait=" << vLinkWait
2779 <<
" brakeDist=" << brakeDist
2781 <<
" leaveIntersection=" << leavingCurrentIntersection
2782 <<
" setRequest=" << setRequest
2791 if (yellowOrRed && canBrakeBeforeStopLine && !
ignoreRed(*link, canBrakeBeforeStopLine) && seen >= mustSeeBeforeReversal) {
2798 lfLinks.push_back(
DriveProcessItem(*link, v, vLinkWait,
false, arrivalTime, vLinkWait, 0, seen, -1));
2809 #ifdef DEBUG_PLAN_MOVE
2811 <<
" ignoreRed spent=" <<
STEPS2TIME(t - (*link)->getLastStateChange())
2812 <<
" redSpeed=" << redSpeed
2821 if (lastLink !=
nullptr) {
2824 double arrivalSpeed = vLinkPass;
2830 const double visibilityDistance = (*link)->getFoeVisibilityDistance();
2831 const double determinedFoePresence = seen <= visibilityDistance;
2836 #ifdef DEBUG_PLAN_MOVE
2838 std::cout <<
" approaching link=" << (*link)->getViaLaneOrLane()->getID() <<
" prio=" << (*link)->havePriority() <<
" seen=" << seen <<
" visibilityDistance=" << visibilityDistance <<
" brakeDist=" << brakeDist <<
"\n";
2842 const bool couldBrakeForMinor = !(*link)->havePriority() && brakeDist < seen && !(*link)->lastWasContMajor();
2843 if (couldBrakeForMinor && !determinedFoePresence) {
2848 arrivalSpeed =
MIN2(vLinkPass, maxArrivalSpeed);
2849 slowedDownForMinor =
true;
2850 #ifdef DEBUG_PLAN_MOVE
2852 std::cout <<
" slowedDownForMinor maxSpeedAtVisDist=" << maxSpeedAtVisibilityDist <<
" maxArrivalSpeed=" << maxArrivalSpeed <<
" arrivalSpeed=" << arrivalSpeed <<
"\n";
2858 std::pair<const SUMOVehicle*, const MSLink*> blocker = (*link)->getFirstApproachingFoe(*link);
2861 while (blocker.second !=
nullptr && blocker.second != *link && n > 0) {
2862 blocker = blocker.second->getFirstApproachingFoe(*link);
2870 if (blocker.second == *link) {
2880 if (couldBrakeForMinor && determinedFoePresence && (*link)->getLane()->getEdge().isRoundabout()) {
2881 const bool wasOpened = (*link)->opened(arrivalTime, arrivalSpeed, arrivalSpeed,
2885 nullptr,
false,
this);
2887 slowedDownForMinor =
true;
2889 #ifdef DEBUG_PLAN_MOVE
2891 std::cout <<
" slowedDownForMinor at roundabout=" << (!wasOpened) <<
"\n";
2898 double arrivalSpeedBraking = 0;
2899 const double bGap = cfModel.
brakeGap(v);
2905 arrivalSpeedBraking =
MIN2(arrivalSpeedBraking, arrivalSpeed);
2914 const double estimatedLeaveSpeed =
MIN2((*link)->getViaLaneOrLane()->getVehicleMaxSpeed(
this),
2917 arrivalTime, arrivalSpeed,
2918 arrivalSpeedBraking,
2919 seen, estimatedLeaveSpeed));
2920 if ((*link)->getViaLane() ==
nullptr) {
2921 hadNonInternal =
true;
2924 #ifdef DEBUG_PLAN_MOVE
2926 std::cout <<
" checkAbort setRequest=" << setRequest <<
" v=" << v <<
" seen=" << seen <<
" dist=" << dist
2927 <<
" seenNonInternal=" << seenNonInternal
2928 <<
" seenInternal=" << seenInternal <<
" length=" << vehicleLength <<
"\n";
2932 if ((!setRequest || v <= 0 || seen > dist) && hadNonInternal && seenNonInternal >
MAX2(vehicleLength *
CRLL_LOOK_AHEAD, vehicleLength + seenInternal) && foundRailSignal) {
2936 lane = (*link)->getViaLaneOrLane();
2939 laneMaxV = std::numeric_limits<double>::max();
2947 #ifdef DEBUG_PLAN_MOVE
2949 std::cout <<
" laneMaxV=" << laneMaxV <<
" freeSpeed=" << va <<
" v=" << v <<
"\n";
2959 if (leaderLane ==
nullptr) {
2966 lastLink = &lfLinks.back();
2975 #ifdef PARALLEL_STOPWATCH
2999 const double s = timeDist.second;
3006 const double radicand = 4 * t * t * b * b - 8 * s * b;
3007 const double x = radicand >= 0 ? t * b - sqrt(radicand) * 0.5 : vSlowDownMin;
3008 double vSlowDown = x < vSlowDownMin ? vSlowDownMin : x;
3009 #ifdef DEBUG_PLAN_MOVE
3011 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" ad=" << arrivalDelay <<
" t=" << t <<
" vsm=" << vSlowDownMin
3012 <<
" r=" << radicand <<
" vs=" << vSlowDown <<
"\n";
3046 const MSLane*
const lane,
double& v,
double& vLinkPass)
const {
3049 ahead.
getSubLanes(
this, latOffset, rightmost, leftmost);
3050 #ifdef DEBUG_PLAN_MOVE
3052 <<
"\nADAPT_TO_LEADERS\nveh=" <<
getID()
3053 <<
" lane=" << lane->
getID()
3054 <<
" latOffset=" << latOffset
3055 <<
" rm=" << rightmost
3056 <<
" lm=" << leftmost
3071 for (
int sublane = rightmost; sublane <= leftmost; ++sublane) {
3073 if (pred !=
nullptr && pred !=
this) {
3076 double gap = (lastLink ==
nullptr
3079 bool oncoming =
false;
3083 gap = (lastLink ==
nullptr
3088 gap = (lastLink ==
nullptr
3097 #ifdef DEBUG_PLAN_MOVE
3099 std::cout <<
" fixedGap=" << gap <<
" predMaxDist=" << predMaxDist <<
"\n";
3109 #ifdef DEBUG_PLAN_MOVE
3111 std::cout <<
" pred=" << pred->
getID() <<
" predLane=" << pred->
getLane()->
getID() <<
" predPos=" << pred->
getPositionOnLane() <<
" gap=" << gap <<
" predBack=" << predBack <<
" seen=" << seen <<
" lane=" << lane->
getID() <<
" myLane=" <<
myLane->
getID() <<
" lastLink=" << (lastLink ==
nullptr ?
"NULL" : lastLink->
myLink->
getDescription()) <<
" oncoming=" << oncoming <<
"\n";
3114 if (oncoming && gap >= 0) {
3117 adaptToLeader(std::make_pair(pred, gap), seen, lastLink, v, vLinkPass);
3127 double& v,
double& vLinkPass)
const {
3130 ahead.
getSubLanes(
this, latOffset, rightmost, leftmost);
3131 #ifdef DEBUG_PLAN_MOVE
3133 <<
"\nADAPT_TO_LEADERS_DISTANCE\nveh=" <<
getID()
3134 <<
" latOffset=" << latOffset
3135 <<
" rm=" << rightmost
3136 <<
" lm=" << leftmost
3140 for (
int sublane = rightmost; sublane <= leftmost; ++sublane) {
3143 if (pred !=
nullptr && pred !=
this) {
3144 #ifdef DEBUG_PLAN_MOVE
3146 std::cout <<
" pred=" << pred->
getID() <<
" predLane=" << pred->
getLane()->
getID() <<
" predPos=" << pred->
getPositionOnLane() <<
" gap=" << predDist.second <<
"\n";
3159 double& v,
double& vLinkPass)
const {
3160 if (leaderInfo.first != 0) {
3162 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3164 std::cout <<
" foe ignored\n";
3170 double vsafeLeader = 0;
3172 vsafeLeader = -std::numeric_limits<double>::max();
3174 bool backOnRoute =
true;
3175 if (leaderInfo.second < 0 && lastLink !=
nullptr && lastLink->
myLink !=
nullptr) {
3176 backOnRoute =
false;
3181 if (leaderInfo.first->getBackLane() == current) {
3185 if (lane == current) {
3188 if (leaderInfo.first->getBackLane() == lane) {
3193 #ifdef DEBUG_PLAN_MOVE
3195 std::cout <<
SIMTIME <<
" current=" << current->
getID() <<
" leaderBackLane=" << leaderInfo.first->getBackLane()->getID() <<
" backOnRoute=" << backOnRoute <<
"\n";
3199 double stopDist = seen - current->
getLength() - POSITION_EPS;
3208 vsafeLeader = cfModel.
followSpeed(
this,
getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3210 if (lastLink !=
nullptr) {
3211 const double futureVSafe = cfModel.
followSpeed(
this, lastLink->
accelV, leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first, MSCFModel::CalcReason::FUTURE);
3213 #ifdef DEBUG_PLAN_MOVE
3215 std::cout <<
" vlinkpass=" << lastLink->
myVLinkPass <<
" futureVSafe=" << futureVSafe <<
"\n";
3219 v =
MIN2(v, vsafeLeader);
3220 vLinkPass =
MIN2(vLinkPass, vsafeLeader);
3221 #ifdef DEBUG_PLAN_MOVE
3225 <<
" veh=" <<
getID()
3226 <<
" lead=" << leaderInfo.first->getID()
3227 <<
" leadSpeed=" << leaderInfo.first->getSpeed()
3228 <<
" gap=" << leaderInfo.second
3229 <<
" leadLane=" << leaderInfo.first->getLane()->getID()
3230 <<
" predPos=" << leaderInfo.first->getPositionOnLane()
3233 <<
" vSafeLeader=" << vsafeLeader
3234 <<
" vLinkPass=" << vLinkPass
3244 const MSLane*
const lane,
double& v,
double& vLinkPass,
3245 double distToCrossing)
const {
3246 if (leaderInfo.first != 0) {
3248 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3250 std::cout <<
" junction foe ignored\n";
3256 double vsafeLeader = 0;
3258 vsafeLeader = -std::numeric_limits<double>::max();
3260 if (leaderInfo.second >= 0) {
3262 vsafeLeader = cfModel.
followSpeed(
this,
getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3265 vsafeLeader = cfModel.
insertionFollowSpeed(
this,
getSpeed(), leaderInfo.second, leaderInfo.first->getSpeed(), leaderInfo.first->getCurrentApparentDecel(), leaderInfo.first);
3267 }
else if (leaderInfo.first !=
this) {
3271 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3273 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" stopping before junction: lane=" << lane->
getID() <<
" seen=" << seen
3275 <<
" stopDist=" << seen - lane->
getLength() - POSITION_EPS
3276 <<
" vsafeLeader=" << vsafeLeader
3277 <<
" distToCrossing=" << distToCrossing
3282 if (distToCrossing >= 0) {
3285 if (leaderInfo.first ==
this) {
3287 const double vStopCrossing = cfModel.
stopSpeed(
this,
getSpeed(), distToCrossing);
3288 vsafeLeader = vStopCrossing;
3289 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3291 std::cout <<
" breaking for pedestrian distToCrossing=" << distToCrossing <<
" vStopCrossing=" << vStopCrossing <<
"\n";
3294 if (lastLink !=
nullptr) {
3297 }
else if (leaderInfo.second == -std::numeric_limits<double>::max()) {
3299 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3301 std::cout <<
" stop at crossing point for critical leader vStop=" << vStop <<
"\n";
3304 vsafeLeader =
MAX2(vsafeLeader, vStop);
3306 const double leaderDistToCrossing = distToCrossing - leaderInfo.second;
3314 vsafeLeader =
MAX2(vsafeLeader,
MIN2(v2, vStop));
3315 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3317 std::cout <<
" driving up to the crossing point (distToCrossing=" << distToCrossing <<
")"
3318 <<
" leaderPastCPTime=" << leaderPastCPTime
3319 <<
" vFinal=" << vFinal
3321 <<
" vStop=" << vStop
3322 <<
" vsafeLeader=" << vsafeLeader <<
"\n";
3327 if (lastLink !=
nullptr) {
3330 v =
MIN2(v, vsafeLeader);
3331 vLinkPass =
MIN2(vLinkPass, vsafeLeader);
3332 #ifdef DEBUG_PLAN_MOVE
3336 <<
" veh=" <<
getID()
3337 <<
" lead=" << leaderInfo.first->getID()
3338 <<
" leadSpeed=" << leaderInfo.first->getSpeed()
3339 <<
" gap=" << leaderInfo.second
3340 <<
" leadLane=" << leaderInfo.first->getLane()->getID()
3341 <<
" predPos=" << leaderInfo.first->getPositionOnLane()
3343 <<
" lane=" << lane->
getID()
3345 <<
" dTC=" << distToCrossing
3347 <<
" vSafeLeader=" << vsafeLeader
3348 <<
" vLinkPass=" << vLinkPass
3358 double& v,
double& vLinkPass)
const {
3359 if (leaderInfo.first != 0) {
3361 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3363 std::cout <<
" oncoming foe ignored\n";
3369 const MSVehicle* lead = leaderInfo.first;
3374 const double gapSum = leaderBrakeGap + egoBrakeGap;
3378 double gap = leaderInfo.second;
3379 if (egoExit + leaderExit < gap) {
3380 gap -= egoExit + leaderExit;
3385 const double freeGap =
MAX2(0.0, gap - gapSum);
3386 const double splitGap =
MIN2(gap, gapSum);
3388 const double gapRatio = gapSum > 0 ? egoBrakeGap / gapSum : 0.5;
3389 const double vsafeLeader = cfModel.
stopSpeed(
this,
getSpeed(), splitGap * gapRatio + egoExit + 0.5 * freeGap);
3390 if (lastLink !=
nullptr) {
3391 const double futureVSafe = cfModel.
stopSpeed(
this, lastLink->
accelV, leaderInfo.second, MSCFModel::CalcReason::FUTURE);
3393 #ifdef DEBUG_PLAN_MOVE
3395 std::cout <<
" vlinkpass=" << lastLink->
myVLinkPass <<
" futureVSafe=" << futureVSafe <<
"\n";
3399 v =
MIN2(v, vsafeLeader);
3400 vLinkPass =
MIN2(vLinkPass, vsafeLeader);
3401 #ifdef DEBUG_PLAN_MOVE
3405 <<
" veh=" <<
getID()
3406 <<
" oncomingLead=" << lead->
getID()
3407 <<
" leadSpeed=" << lead->
getSpeed()
3408 <<
" gap=" << leaderInfo.second
3410 <<
" gapRatio=" << gapRatio
3415 <<
" vSafeLeader=" << vsafeLeader
3416 <<
" vLinkPass=" << vLinkPass
3425 DriveProcessItem*
const lastLink,
double& v,
double& vLinkPass,
double& vLinkWait,
bool& setRequest)
const {
3428 checkLinkLeader(link, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest);
3431 if (parallelLink !=
nullptr) {
3432 checkLinkLeader(parallelLink, lane, seen, lastLink, v, vLinkPass, vLinkWait, setRequest,
true);
3441 DriveProcessItem*
const lastLink,
double& v,
double& vLinkPass,
double& vLinkWait,
bool& setRequest,
3442 bool isShadowLink)
const {
3443 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3449 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3454 for (MSLink::LinkLeaders::const_iterator it = linkLeaders.begin(); it != linkLeaders.end(); ++it) {
3456 const MSVehicle* leader = (*it).vehAndGap.first;
3457 if (leader ==
nullptr) {
3459 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3461 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" is blocked on link to " << link->
getViaLaneOrLane()->
getID() <<
" by pedestrian. dist=" << it->distToCrossing <<
"\n";
3466 #ifdef DEBUG_PLAN_MOVE
3468 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" is ignoring pedestrian (jmIgnoreJunctionFoeProb)\n";
3473 adaptToJunctionLeader(std::make_pair(
this, -1), seen, lastLink, lane, v, vLinkPass, it->distToCrossing);
3477 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3479 std::cout <<
" aborting request\n";
3483 }
else if (
isLeader(link, leader, (*it).vehAndGap.second) || (*it).inTheWay()) {
3486 #ifdef DEBUG_PLAN_MOVE
3488 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" is ignoring linkLeader=" << leader->
getID() <<
" (jmIgnoreJunctionFoeProb)\n";
3499 linkLeadersAhead.
addLeader(leader,
false, 0);
3503 #ifdef DEBUG_PLAN_MOVE
3507 <<
" isShadowLink=" << isShadowLink
3508 <<
" lane=" << lane->
getID()
3509 <<
" foe=" << leader->
getID()
3511 <<
" latOffset=" << latOffset
3513 <<
" linkLeadersAhead=" << linkLeadersAhead.
toString()
3518 #ifdef DEBUG_PLAN_MOVE
3520 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" linkLeader=" << leader->
getID() <<
" gap=" << it->vehAndGap.second
3529 if (lastLink !=
nullptr) {
3543 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3545 std::cout <<
" aborting request\n";
3552 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3554 std::cout <<
" aborting previous request\n";
3560 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
3563 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" ignoring leader " << leader->
getID() <<
" gap=" << (*it).vehAndGap.second <<
" dtC=" << (*it).distToCrossing
3573 vLinkWait =
MIN2(vLinkWait, v);
3603 double vSafeZipper = std::numeric_limits<double>::max();
3606 bool canBrakeVSafeMin =
false;
3611 MSLink*
const link = dpi.myLink;
3613 #ifdef DEBUG_EXEC_MOVE
3617 <<
" veh=" <<
getID()
3619 <<
" req=" << dpi.mySetRequest
3620 <<
" vP=" << dpi.myVLinkPass
3621 <<
" vW=" << dpi.myVLinkWait
3622 <<
" d=" << dpi.myDistance
3629 if (link !=
nullptr && dpi.mySetRequest) {
3638 const bool ignoreRedLink =
ignoreRed(link, canBrake) || beyondStopLine;
3639 if (yellow && canBrake && !ignoreRedLink) {
3640 vSafe = dpi.myVLinkWait;
3642 #ifdef DEBUG_CHECKREWINDLINKLANES
3644 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (yellow)\n";
3651 bool opened = (yellow || influencerPrio
3652 || link->
opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3658 ignoreRedLink,
this, dpi.myDistance));
3661 if (parallelLink !=
nullptr) {
3664 opened = yellow || influencerPrio || (opened && parallelLink->
opened(dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
3668 ignoreRedLink,
this, dpi.myDistance));
3669 #ifdef DEBUG_EXEC_MOVE
3672 <<
" veh=" <<
getID()
3676 <<
" opened=" << opened
3683 #ifdef DEBUG_EXEC_MOVE
3686 <<
" opened=" << opened
3687 <<
" influencerPrio=" << influencerPrio
3690 <<
" isCont=" << link->
isCont()
3691 <<
" ignoreRed=" << ignoreRedLink
3697 double determinedFoePresence = dpi.myDistance <= visibilityDistance;
3698 if (!determinedFoePresence && (canBrake || !yellow)) {
3699 vSafe = dpi.myVLinkWait;
3701 #ifdef DEBUG_CHECKREWINDLINKLANES
3703 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (minor)\n";
3719 vSafeMinDist = dpi.myDistance;
3725 canBrakeVSafeMin = canBrake;
3726 #ifdef DEBUG_EXEC_MOVE
3728 std::cout <<
" vSafeMin=" << vSafeMin <<
" vSafeMinDist=" << vSafeMinDist <<
" canBrake=" << canBrake <<
"\n";
3735 vSafe = dpi.myVLinkPass;
3739 #ifdef DEBUG_CHECKREWINDLINKLANES
3741 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (very slow)\n";
3746 vSafeZipper =
MIN2(vSafeZipper,
3747 link->
getZipperSpeed(
this, dpi.myDistance, dpi.myVLinkPass, dpi.myArrivalTime, &collectFoes));
3748 }
else if (!canBrake
3753 #ifdef DEBUG_EXEC_MOVE
3755 std::cout <<
SIMTIME <<
" too fast to brake for closed link\n";
3758 vSafe = dpi.myVLinkPass;
3760 vSafe = dpi.myVLinkWait;
3762 #ifdef DEBUG_CHECKREWINDLINKLANES
3764 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (closed)\n";
3767 #ifdef DEBUG_EXEC_MOVE
3778 #ifdef DEBUG_EXEC_MOVE
3780 std::cout <<
SIMTIME <<
" resetting junctionEntryTime at junction '" << link->
getJunction()->
getID() <<
"' beause of non-request exitLink\n";
3787 vSafe = dpi.myVLinkWait;
3790 #ifdef DEBUG_CHECKREWINDLINKLANES
3792 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (no request, braking) vSafe=" << vSafe <<
"\n";
3797 #ifdef DEBUG_CHECKREWINDLINKLANES
3799 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (no request, stopping)\n";
3834 #ifdef DEBUG_EXEC_MOVE
3836 std::cout <<
"vSafeMin Problem? vSafe=" << vSafe <<
" vSafeMin=" << vSafeMin <<
" vSafeMinDist=" << vSafeMinDist << std::endl;
3839 if (canBrakeVSafeMin && vSafe <
getSpeed()) {
3845 #ifdef DEBUG_CHECKREWINDLINKLANES
3847 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" haveToWait (vSafe=" << vSafe <<
" < vSafeMin=" << vSafeMin <<
")\n";
3865 vSafe =
MIN2(vSafe, vSafeZipper);
3875 std::cout <<
SIMTIME <<
" MSVehicle::processTraCISpeedControl() for vehicle '" <<
getID() <<
"'"
3876 <<
" vSafe=" << vSafe <<
" (init)vNext=" << vNext <<
" keepStopping=" <<
keepStopping();
3885 vMin =
MAX2(0., vMin);
3894 std::cout <<
" (processed)vNext=" << vNext << std::endl;
3904 #ifdef DEBUG_ACTIONSTEPS
3906 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" removePassedDriveItems()\n"
3907 <<
" Current items: ";
3909 if (j.myLink == 0) {
3910 std::cout <<
"\n Stop at distance " << j.myDistance;
3912 const MSLane* to = j.myLink->getViaLaneOrLane();
3913 const MSLane* from = j.myLink->getLaneBefore();
3914 std::cout <<
"\n Link at distance " << j.myDistance <<
": '"
3915 << (from == 0 ?
"NONE" : from->
getID()) <<
"' -> '" << (to == 0 ?
"NONE" : to->
getID()) <<
"'";
3918 std::cout <<
"\n myNextDriveItem: ";
3925 std::cout <<
"\n Link at distance " <<
myNextDriveItem->myDistance <<
": '"
3926 << (from == 0 ?
"NONE" : from->
getID()) <<
"' -> '" << (to == 0 ?
"NONE" : to->
getID()) <<
"'";
3929 std::cout << std::endl;
3933 #ifdef DEBUG_ACTIONSTEPS
3935 std::cout <<
" Removing item: ";
3936 if (j->myLink == 0) {
3937 std::cout <<
"Stop at distance " << j->myDistance;
3939 const MSLane* to = j->myLink->getViaLaneOrLane();
3940 const MSLane* from = j->myLink->getLaneBefore();
3941 std::cout <<
"Link at distance " << j->myDistance <<
": '"
3942 << (from == 0 ?
"NONE" : from->
getID()) <<
"' -> '" << (to == 0 ?
"NONE" : to->
getID()) <<
"'";
3944 std::cout << std::endl;
3947 if (j->myLink !=
nullptr) {
3948 j->myLink->removeApproaching(
this);
3958 #ifdef DEBUG_ACTIONSTEPS
3960 std::cout <<
SIMTIME <<
" updateDriveItems(), veh='" <<
getID() <<
"' (lane: '" <<
getLane()->
getID() <<
"')\nCurrent drive items:" << std::endl;
3963 <<
" vPass=" << dpi.myVLinkPass
3964 <<
" vWait=" << dpi.myVLinkWait
3965 <<
" linkLane=" << (dpi.myLink == 0 ?
"NULL" : dpi.myLink->getViaLaneOrLane()->getID())
3966 <<
" request=" << dpi.mySetRequest
3969 std::cout <<
" myNextDriveItem's linked lane: " << (
myNextDriveItem->myLink == 0 ?
"NULL" :
myNextDriveItem->myLink->getViaLaneOrLane()->getID()) << std::endl;
3976 const MSLink* nextPlannedLink =
nullptr;
3979 while (i !=
myLFLinkLanes.end() && nextPlannedLink ==
nullptr) {
3980 nextPlannedLink = i->myLink;
3984 if (nextPlannedLink ==
nullptr) {
3986 #ifdef DEBUG_ACTIONSTEPS
3988 std::cout <<
"Found no link-related drive item." << std::endl;
3996 #ifdef DEBUG_ACTIONSTEPS
3998 std::cout <<
"Continuing on planned lane sequence, no update required." << std::endl;
4020 #ifdef DEBUG_ACTIONSTEPS
4022 std::cout <<
"Changed lane. Drive items will be updated along the current lane continuation." << std::endl;
4034 MSLink* newLink =
nullptr;
4036 if (driveItemIt->myLink ==
nullptr) {
4046 #ifdef DEBUG_ACTIONSTEPS
4048 std::cout <<
"Reached end of the new continuation sequence. Erasing leftover link-items." << std::endl;
4052 if (driveItemIt->myLink ==
nullptr) {
4063 const MSLane*
const target = *bestLaneIt;
4067 if (link->getLane() == target) {
4073 if (newLink == driveItemIt->myLink) {
4075 #ifdef DEBUG_ACTIONSTEPS
4077 std::cout <<
"Old and new continuation sequences merge at link\n"
4079 <<
"\nNo update beyond merge required." << std::endl;
4085 #ifdef DEBUG_ACTIONSTEPS
4087 std::cout <<
"lane=" << lane->
getID() <<
"\nUpdating link\n '" << driveItemIt->myLink->getLaneBefore()->getID() <<
"'->'" << driveItemIt->myLink->getViaLaneOrLane()->getID() <<
"'"
4091 newLink->
setApproaching(
this, driveItemIt->myLink->getApproaching(
this));
4092 driveItemIt->myLink->removeApproaching(
this);
4093 driveItemIt->myLink = newLink;
4100 #ifdef DEBUG_ACTIONSTEPS
4102 std::cout <<
"Updated drive items:" << std::endl;
4105 <<
" vPass=" << dpi.myVLinkPass
4106 <<
" vWait=" << dpi.myVLinkWait
4107 <<
" linkLane=" << (dpi.myLink == 0 ?
"NULL" : dpi.myLink->getViaLaneOrLane()->getID())
4108 <<
" request=" << dpi.mySetRequest
4125 brakelightsOn =
true;
4166 #ifdef DEBUG_REVERSE_BIDI
4170 <<
" speedThreshold=" << speedThreshold
4178 <<
" stopOk=" << stopOk
4197 if (remainingRoute < neededFutureRoute) {
4198 #ifdef DEBUG_REVERSE_BIDI
4210 #ifdef DEBUG_REVERSE_BIDI
4221 const double stopPos =
myStops.front().getEndPos(*
this);
4224 if (newPos > stopPos) {
4225 #ifdef DEBUG_REVERSE_BIDI
4230 if (seen >
MAX2(brakeDist, 1.0)) {
4233 #ifdef DEBUG_REVERSE_BIDI
4235 std::cout <<
" train is too long, skipping stop at " << stopPos <<
" cannot be avoided\n";
4249 if (!further->getEdge().isInternal()) {
4250 if (further->getEdge().getBidiEdge() != *(
myCurrEdge + view)) {
4251 #ifdef DEBUG_REVERSE_BIDI
4253 std::cout <<
" noBidi view=" << view <<
" further=" << further->
getID() <<
" furtherBidi=" <<
Named::getIDSecure(further->getEdge().getBidiEdge()) <<
" future=" << (*(
myCurrEdge + view))->getID() <<
"\n";
4260 if (toNext ==
nullptr) {
4265 #ifdef DEBUG_REVERSE_BIDI
4267 std::cout <<
" do not reverse on a red signal\n";
4275 const double stopPos =
myStops.front().getEndPos(*
this);
4277 if (newPos > stopPos) {
4278 #ifdef DEBUG_REVERSE_BIDI
4280 std::cout <<
" reversal would go past stop on further-opposite lane " << further->getBidiLane()->getID() <<
"\n";
4283 if (seen >
MAX2(brakeDist, 1.0)) {
4287 #ifdef DEBUG_REVERSE_BIDI
4289 std::cout <<
" train is too long, skipping stop at " << stopPos <<
" cannot be avoided\n";
4300 #ifdef DEBUG_REVERSE_BIDI
4302 std::cout <<
SIMTIME <<
" seen=" << seen <<
" vReverseOK=" << vMinComfortable <<
"\n";
4306 return vMinComfortable;
4315 passedLanes.push_back(*i);
4317 if (passedLanes.size() == 0 || passedLanes.back() !=
myLane) {
4318 passedLanes.push_back(
myLane);
4321 bool reverseTrain =
false;
4329 #ifdef DEBUG_REVERSE_BIDI
4354 if (link !=
nullptr) {
4360 emergencyReason =
" because it must reverse direction";
4361 approachedLane =
nullptr;
4377 if (link->
haveRed() && !
ignoreRed(link,
false) && !beyondStopLine && !reverseTrain) {
4378 emergencyReason =
" because of a red traffic light";
4382 if (reverseTrain && approachedLane->
isInternal()) {
4390 }
else if (reverseTrain) {
4391 approachedLane = (*(
myCurrEdge + 1))->getLanes()[0];
4399 emergencyReason =
" because there is no connection to the next edge";
4400 approachedLane =
nullptr;
4403 if (approachedLane !=
myLane && approachedLane !=
nullptr) {
4423 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
4439 WRITE_WARNING(
"Vehicle '" +
getID() +
"' could not finish continuous lane change (turn lane) time=" +
4448 passedLanes.push_back(approachedLane);
4453 #ifdef DEBUG_ACTIONSTEPS
4455 std::cout <<
"Updated drive items:" << std::endl;
4458 <<
" vPass=" << (*i).myVLinkPass
4459 <<
" vWait=" << (*i).myVLinkWait
4460 <<
" linkLane=" << ((*i).myLink == 0 ?
"NULL" : (*i).myLink->getViaLaneOrLane()->getID())
4461 <<
" request=" << (*i).mySetRequest
4478 #ifdef DEBUG_EXEC_MOVE
4480 std::cout <<
"\nEXECUTE_MOVE\n"
4482 <<
" veh=" <<
getID()
4490 double vSafe = std::numeric_limits<double>::max();
4492 double vSafeMin = -std::numeric_limits<double>::max();
4495 double vSafeMinDist = 0;
4500 #ifdef DEBUG_ACTIONSTEPS
4502 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"'\n"
4503 " vsafe from processLinkApproaches(): vsafe " << vSafe << std::endl;
4509 #ifdef DEBUG_ACTIONSTEPS
4511 std::cout <<
SIMTIME <<
" vehicle '" <<
getID() <<
"' skips processLinkApproaches()\n"
4513 <<
"speed: " <<
getSpeed() <<
" -> " << vSafe << std::endl;
4527 double vNext = vSafe;
4546 vNext =
MAX2(vNext, vSafeMin);
4555 #ifdef DEBUG_EXEC_MOVE
4557 std::cout <<
SIMTIME <<
" finalizeSpeed vSafe=" << vSafe <<
" vSafeMin=" << (vSafeMin == -std::numeric_limits<double>::max() ?
"-Inf" :
toString(vSafeMin))
4558 <<
" vNext=" << vNext <<
" (i.e. accel=" <<
SPEED2ACCEL(vNext -
getSpeed()) <<
")" << std::endl;
4575 vNext =
MAX2(vNext, 0.);
4585 if (elecHybridOfVehicle !=
nullptr) {
4587 elecHybridOfVehicle->
setConsum(elecHybridOfVehicle->
consumption(*
this, (vNext - this->getSpeed()) /
TS, vNext));
4591 if (elecHybridOfVehicle->
getConsum() /
TS > maxPower) {
4596 vNext =
MAX2(vNext, 0.);
4598 elecHybridOfVehicle->
setConsum(elecHybridOfVehicle->
consumption(*
this, (vNext - this->getSpeed()) /
TS, vNext));
4616 std::vector<MSLane*> passedLanes;
4620 std::string emergencyReason;
4628 if (emergencyReason ==
"") {
4629 emergencyReason =
TL(
" for unknown reasons");
4631 WRITE_WARNINGF(
TL(
"Vehicle '%' performs emergency stop at the end of lane '%'% (decel=%, offset=%), time=%."),
4642 passedLanes.clear();
4644 #ifdef DEBUG_ACTIONSTEPS
4646 std::cout <<
SIMTIME <<
" veh '" <<
getID() <<
"' updates further lanes." << std::endl;
4675 #ifdef DEBUG_ACTIONSTEPS
4677 std::cout <<
SIMTIME <<
" veh '" <<
getID() <<
"' skips LCM->prepareStep()." << std::endl;
4685 #ifdef DEBUG_EXEC_MOVE
4693 MSLane* newOpposite =
nullptr;
4695 if (newOppositeEdge !=
nullptr) {
4697 #ifdef DEBUG_EXEC_MOVE
4699 std::cout <<
SIMTIME <<
" newOppositeEdge=" << newOppositeEdge->
getID() <<
" oldLaneOffset=" << oldLaneOffset <<
" leftMost=" << newOppositeEdge->
getNumLanes() - 1 <<
" newOpposite=" <<
Named::getIDSecure(newOpposite) <<
"\n";
4703 if (newOpposite ==
nullptr) {
4706 WRITE_WARNINGF(
TL(
"Unexpected end of opposite lane for vehicle '%' at lane '%', time=%."),
4713 if (oldOpposite !=
nullptr) {
4726 oldLane = oldLaneMaybeOpposite;
4734 return myLane != oldLane;
4745 for (
int i = 0; i < (int)lanes.size(); i++) {
4747 if (i + 1 < (
int)lanes.size()) {
4748 const MSLane*
const to = lanes[i + 1];
4750 for (
MSLink*
const l : lanes[i]->getLinkCont()) {
4751 if ((
internal && l->getViaLane() == to) || (!
internal && l->getLane() == to)) {
4760 std::vector<MSLane*> passedLanes;
4762 if (lanes.size() > 1) {
4765 std::string emergencyReason;
4767 #ifdef DEBUG_EXTRAPOLATE_DEPARTPOS
4769 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" executeFractionalMove dist=" << dist
4770 <<
" passedLanes=" <<
toString(passedLanes) <<
" lanes=" <<
toString(lanes)
4778 if (lanes.size() > 1) {
4780 #ifdef DEBUG_FURTHER
4782 std::cout <<
SIMTIME <<
" leaveLane \n";
4785 (*i)->resetPartialOccupation(
this);
4810 #ifdef DEBUG_EXEC_MOVE
4812 std::cout <<
SIMTIME <<
" updateState() for veh '" <<
getID() <<
"': deltaPos=" << deltaPos
4817 if (decelPlus > 0) {
4821 decelPlus += 2 * NUMERICAL_EPS;
4824 WRITE_WARNINGF(
TL(
"Vehicle '%' performs emergency braking on lane '%' with decel=%, wished=%, severity=%, time=%."),
4859 dev->notifyParking();
4884 const std::vector<MSLane*>& passedLanes) {
4885 #ifdef DEBUG_SETFURTHER
4887 <<
" updateFurtherLanes oldFurther=" <<
toString(furtherLanes)
4888 <<
" oldFurtherPosLat=" <<
toString(furtherLanesPosLat)
4889 <<
" passed=" <<
toString(passedLanes)
4892 for (
MSLane* further : furtherLanes) {
4893 further->resetPartialOccupation(
this);
4894 if (further->getBidiLane() !=
nullptr
4896 further->getBidiLane()->resetPartialOccupation(
this);
4900 std::vector<MSLane*> newFurther;
4901 std::vector<double> newFurtherPosLat;
4904 if (passedLanes.size() > 1) {
4906 std::vector<MSLane*>::const_iterator fi = furtherLanes.begin();
4907 std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
4908 for (
auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
4911 newFurther.push_back(further);
4917 if (fi != furtherLanes.end() && further == *fi) {
4919 newFurtherPosLat.push_back(*fpi);
4927 if (newFurtherPosLat.size() == 0) {
4934 newFurtherPosLat.push_back(newFurtherPosLat.back());
4937 #ifdef DEBUG_SETFURTHER
4939 std::cout <<
SIMTIME <<
" updateFurtherLanes \n"
4940 <<
" further lane '" << further->
getID() <<
"' backPosOnPreviousLane=" << backPosOnPreviousLane
4945 furtherLanes = newFurther;
4946 furtherLanesPosLat = newFurtherPosLat;
4948 furtherLanes.clear();
4949 furtherLanesPosLat.clear();
4951 #ifdef DEBUG_SETFURTHER
4953 <<
" newFurther=" <<
toString(furtherLanes)
4954 <<
" newFurtherPosLat=" <<
toString(furtherLanesPosLat)
4955 <<
" newBackPos=" << backPosOnPreviousLane
4958 return backPosOnPreviousLane;
4964 #ifdef DEBUG_FURTHER
4967 <<
" getBackPositionOnLane veh=" <<
getID()
4969 <<
" cbgP=" << calledByGetPosition
5024 leftLength -= (*i)->getLength();
5037 leftLength -= (*i)->getLength();
5048 auto j = furtherTargetLanes.begin();
5049 while (leftLength > 0 && j != furtherTargetLanes.end()) {
5050 leftLength -= (*i)->getLength();
5081 double seenSpace = -lengthsInFront;
5082 #ifdef DEBUG_CHECKREWINDLINKLANES
5084 std::cout <<
"\nCHECK_REWIND_LINKLANES\n" <<
" veh=" <<
getID() <<
" lengthsInFront=" << lengthsInFront <<
"\n";
5087 bool foundStopped =
false;
5090 for (
int i = 0; i < (int)lfLinks.size(); ++i) {
5093 #ifdef DEBUG_CHECKREWINDLINKLANES
5096 <<
" foundStopped=" << foundStopped;
5098 if (item.
myLink ==
nullptr || foundStopped) {
5099 if (!foundStopped) {
5104 #ifdef DEBUG_CHECKREWINDLINKLANES
5113 if (approachedLane !=
nullptr) {
5116 if (approachedLane ==
myLane) {
5123 #ifdef DEBUG_CHECKREWINDLINKLANES
5125 <<
" approached=" << approachedLane->
getID()
5128 <<
" seenSpace=" << seenSpace
5130 <<
" lengthsInFront=" << lengthsInFront
5137 if (last ==
nullptr || last ==
this) {
5140 seenSpace += approachedLane->
getLength();
5143 #ifdef DEBUG_CHECKREWINDLINKLANES
5149 bool foundStopped2 =
false;
5155 const double oncomingBGap = oncomingVeh->
getBrakeGap(
true);
5158 const double spaceTillOncoming = oncomingGap - oncomingBGap - oncomingMove;
5159 spaceTillLastStanding =
MIN2(spaceTillLastStanding, spaceTillOncoming);
5161 foundStopped =
true;
5163 #ifdef DEBUG_CHECKREWINDLINKLANES
5165 std::cout <<
" oVeh=" << oncomingVeh->
getID()
5166 <<
" oGap=" << oncomingGap
5167 <<
" bGap=" << oncomingBGap
5168 <<
" mGap=" << oncomingMove
5169 <<
" sto=" << spaceTillOncoming;
5174 seenSpace += spaceTillLastStanding;
5175 if (foundStopped2) {
5176 foundStopped =
true;
5181 foundStopped =
true;
5184 #ifdef DEBUG_CHECKREWINDLINKLANES
5186 <<
" approached=" << approachedLane->
getID()
5187 <<
" last=" << last->
getID()
5194 <<
" stls=" << spaceTillLastStanding
5196 <<
" seenSpace=" << seenSpace
5197 <<
" foundStopped=" << foundStopped
5198 <<
" foundStopped2=" << foundStopped2
5205 for (
int i = ((
int)lfLinks.size() - 1); i > 0; --i) {
5209 const bool opened = (item.
myLink !=
nullptr
5210 && (canLeaveJunction || (
5221 #ifdef DEBUG_CHECKREWINDLINKLANES
5224 <<
" canLeave=" << canLeaveJunction
5225 <<
" opened=" << opened
5226 <<
" allowsContinuation=" << allowsContinuation
5227 <<
" foundStopped=" << foundStopped
5230 if (!opened && item.
myLink !=
nullptr) {
5231 foundStopped =
true;
5235 allowsContinuation =
true;
5239 if (allowsContinuation) {
5241 #ifdef DEBUG_CHECKREWINDLINKLANES
5251 int removalBegin = -1;
5252 for (
int i = 0; foundStopped && i < (int)lfLinks.size() && removalBegin < 0; ++i) {
5255 if (item.
myLink ==
nullptr) {
5266 #ifdef DEBUG_CHECKREWINDLINKLANES
5269 <<
" veh=" <<
getID()
5272 <<
" leftSpace=" << leftSpace
5275 if (leftSpace < 0/* && item.myLink->willHaveBlockedFoe()*/) {
5276 double impatienceCorrection = 0;
5283 if (leftSpace < -impatienceCorrection / 10. &&
keepClear(item.
myLink)) {
5292 while (removalBegin < (
int)(lfLinks.size())) {
5294 if (dpi.
myLink ==
nullptr) {
5298 #ifdef DEBUG_CHECKREWINDLINKLANES
5303 if (dpi.
myDistance >= brakeGap + POSITION_EPS) {
5305 if (!dpi.
myLink->
isExitLink() || !lfLinks[removalBegin - 1].mySetRequest) {
5323 if (dpi.myLink !=
nullptr) {
5327 dpi.myLink->setApproaching(
this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5334 if (dpi.myLink !=
nullptr) {
5340 if (parallelLink !=
nullptr) {
5342 parallelLink->
setApproaching(
this, dpi.myArrivalTime, dpi.myArrivalSpeed, dpi.getLeaveSpeed(),
5343 dpi.mySetRequest, dpi.myArrivalSpeedBraking,
getWaitingTime(), dpi.myDistance,
5350 #ifdef DEBUG_PLAN_MOVE
5353 <<
" veh=" <<
getID()
5354 <<
" after checkRewindLinkLanes\n";
5357 <<
" vPass=" << dpi.myVLinkPass
5358 <<
" vWait=" << dpi.myVLinkWait
5359 <<
" linkLane=" << (dpi.myLink == 0 ?
"NULL" : dpi.myLink->getViaLaneOrLane()->getID())
5360 <<
" request=" << dpi.mySetRequest
5361 <<
" atime=" << dpi.myArrivalTime
5384 if (rem->first->getLane() !=
nullptr && rem->second > 0.) {
5386 if (myTraceMoveReminders) {
5387 traceMoveReminder(
"notifyEnter_skipped", rem->first, rem->second,
true);
5392 if (rem->first->notifyEnter(*
this, reason, enteredLane)) {
5394 if (myTraceMoveReminders) {
5395 traceMoveReminder(
"notifyEnter", rem->first, rem->second,
true);
5401 if (myTraceMoveReminders) {
5402 traceMoveReminder(
"notifyEnter", rem->first, rem->second,
false);
5439 if (!onTeleporting) {
5443 assert(oldLane !=
nullptr);
5445 if (link !=
nullptr) {
5489 int deleteFurther = 0;
5490 #ifdef DEBUG_SETFURTHER
5501 if (lane !=
nullptr) {
5504 #ifdef DEBUG_SETFURTHER
5506 std::cout <<
" enterLaneAtLaneChange i=" << i <<
" lane=" <<
Named::getIDSecure(lane) <<
" leftLength=" << leftLength <<
"\n";
5509 if (leftLength > 0) {
5510 if (lane !=
nullptr) {
5526 #ifdef DEBUG_SETFURTHER
5539 #ifdef DEBUG_SETFURTHER
5554 if (deleteFurther > 0) {
5555 #ifdef DEBUG_SETFURTHER
5557 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" shortening myFurtherLanes by " << deleteFurther <<
"\n";
5563 #ifdef DEBUG_SETFURTHER
5578 MSLane* clane = enteredLane;
5580 while (leftLength > 0) {
5584 const MSEdge* fromRouteEdge =
myRoute->getEdges()[routeIndex];
5588 if (ili.lane->getEdge().getNormalBefore() == fromRouteEdge) {
5614 #ifdef DEBUG_SETFURTHER
5622 #ifdef DEBUG_SETFURTHER
5624 std::cout <<
SIMTIME <<
" opposite: resetPartialOccupation " << further->getID() <<
" \n";
5627 further->resetPartialOccupation(
this);
5628 if (further->getBidiLane() !=
nullptr
5630 further->getBidiLane()->resetPartialOccupation(
this);
5682 if (rem->first->notifyLeave(*
this,
myState.
myPos + rem->second, reason, approachedLane)) {
5684 if (myTraceMoveReminders) {
5685 traceMoveReminder(
"notifyLeave", rem->first, rem->second,
true);
5691 if (myTraceMoveReminders) {
5692 traceMoveReminder(
"notifyLeave", rem->first, rem->second,
false);
5712 #ifdef DEBUG_FURTHER
5714 std::cout <<
SIMTIME <<
" leaveLane \n";
5717 further->resetPartialOccupation(
this);
5718 if (further->getBidiLane() !=
nullptr
5720 further->getBidiLane()->resetPartialOccupation(
this);
5731 myStopDist = std::numeric_limits<double>::max();
5738 if (
myStops.front().getSpeed() <= 0) {
5751 if (stop.
busstop !=
nullptr) {
5767 myStopDist = std::numeric_limits<double>::max();
5791 const std::vector<MSVehicle::LaneQ>&
5799 #ifdef DEBUG_BESTLANES
5804 if (startLane ==
nullptr) {
5807 assert(startLane != 0);
5815 assert(startLane != 0);
5816 #ifdef DEBUG_BESTLANES
5818 std::cout <<
" startLaneIsOpposite newStartLane=" << startLane->
getID() <<
"\n";
5829 #ifdef DEBUG_BESTLANES
5831 std::cout <<
" only updateOccupancyAndCurrentBestLane\n";
5842 #ifdef DEBUG_BESTLANES
5844 std::cout <<
" nothing to do on internal\n";
5854 std::vector<LaneQ>& lanes = *it;
5855 assert(lanes.size() > 0);
5856 if (&(lanes[0].lane->getEdge()) == nextEdge) {
5858 std::vector<LaneQ> oldLanes = lanes;
5860 const std::vector<MSLane*>& sourceLanes = startLane->
getEdge().
getLanes();
5861 for (std::vector<MSLane*>::const_iterator it_source = sourceLanes.begin(); it_source != sourceLanes.end(); ++it_source) {
5862 for (std::vector<LaneQ>::iterator it_lane = oldLanes.begin(); it_lane != oldLanes.end(); ++it_lane) {
5863 if ((*it_source)->getLinkCont()[0]->getLane() == (*it_lane).lane) {
5864 lanes.push_back(*it_lane);
5871 for (
int i = 0; i < (int)lanes.size(); ++i) {
5872 if (i + lanes[i].bestLaneOffset < 0) {
5873 lanes[i].bestLaneOffset = -i;
5875 if (i + lanes[i].bestLaneOffset >= (
int)lanes.size()) {
5876 lanes[i].bestLaneOffset = (int)lanes.size() - i - 1;
5878 assert(i + lanes[i].bestLaneOffset >= 0);
5879 assert(i + lanes[i].bestLaneOffset < (
int)lanes.size());
5880 if (lanes[i].bestContinuations[0] != 0) {
5882 lanes[i].bestContinuations.insert(lanes[i].bestContinuations.begin(), (
MSLane*)
nullptr);
5884 if (startLane->
getLinkCont()[0]->getLane() == lanes[i].lane) {
5887 assert(&(lanes[i].lane->getEdge()) == nextEdge);
5891 #ifdef DEBUG_BESTLANES
5893 std::cout <<
" updated for internal\n";
5911 const MSLane* nextStopLane =
nullptr;
5912 double nextStopPos = 0;
5913 bool nextStopIsWaypoint =
false;
5916 nextStopLane = nextStop.
lane;
5921 nextStopEdge = nextStop.
edge;
5923 nextStopIsWaypoint = nextStop.
getSpeed() > 0;
5927 nextStopEdge = (
myRoute->end() - 1);
5931 if (nextStopEdge !=
myRoute->end()) {
5934 nextStopPos =
MAX2(POSITION_EPS,
MIN2((
double)nextStopPos, (
double)(nextStopLane->
getLength() - 2 * POSITION_EPS)));
5937 nextStopPos = (*nextStopEdge)->getLength();
5946 double seenLength = 0;
5947 bool progress =
true;
5951 std::vector<LaneQ> currentLanes;
5952 const std::vector<MSLane*>* allowed =
nullptr;
5953 const MSEdge* nextEdge =
nullptr;
5955 nextEdge = *(ce + 1);
5958 const std::vector<MSLane*>& lanes = (*ce)->getLanes();
5959 for (std::vector<MSLane*>::const_iterator i = lanes.begin(); i != lanes.end(); ++i) {
5968 q.
allowsContinuation = allowed ==
nullptr || std::find(allowed->begin(), allowed->end(), cl) != allowed->end();
5971 currentLanes.push_back(q);
5974 if (nextStopEdge == ce
5977 if (!nextStopLane->
isInternal() && !continueAfterStop) {
5981 for (std::vector<LaneQ>::iterator q = currentLanes.begin(); q != currentLanes.end(); ++q) {
5982 if (nextStopLane !=
nullptr && normalStopLane != (*q).lane) {
5983 (*q).allowsContinuation =
false;
5984 (*q).length = nextStopPos;
5985 (*q).currentLength = (*q).length;
5992 seenLength += currentLanes[0].lane->getLength();
5994 progress &= (seen <= 4 || seenLength <
MAX2(maxBrakeDist, 3000.0));
5996 progress &= ce !=
myRoute->end();
6006 double bestLength = -1;
6008 int bestThisIndex = 0;
6009 int bestThisMaxIndex = 0;
6012 for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6013 if ((*j).length > bestLength) {
6014 bestLength = (*j).length;
6015 bestThisIndex = index;
6016 bestThisMaxIndex = index;
6017 }
else if ((*j).length == bestLength) {
6018 bestThisMaxIndex = index;
6022 bool requiredChangeRightForbidden =
false;
6023 int requireChangeToLeftForbidden = -1;
6024 for (std::vector<LaneQ>::iterator j = last.begin(); j != last.end(); ++j, ++index) {
6025 if ((*j).length < bestLength) {
6026 if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6027 (*j).bestLaneOffset = bestThisIndex - index;
6029 (*j).bestLaneOffset = bestThisMaxIndex - index;
6031 if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(
getVClass())
6032 || !(*j).lane->getParallelLane(-1,
false)->allowsVehicleClass(
getVClass())
6033 || requiredChangeRightForbidden)) {
6035 requiredChangeRightForbidden =
true;
6037 }
else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(
getVClass())
6038 || !(*j).lane->getParallelLane(1,
false)->allowsVehicleClass(
getVClass()))) {
6040 requireChangeToLeftForbidden = (*j).lane->getIndex();
6044 for (
int i = requireChangeToLeftForbidden; i >= 0; i--) {
6047 #ifdef DEBUG_BESTLANES
6049 std::cout <<
" last edge=" << last.front().lane->getEdge().getID() <<
" (bestIndex=" << bestThisIndex <<
" bestMaxIndex=" << bestThisMaxIndex <<
"):\n";
6051 for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6052 std::cout <<
" lane=" << (*j).lane->getID() <<
" length=" << (*j).length <<
" bestOffset=" << (*j).bestLaneOffset <<
"\n";
6059 for (std::vector<std::vector<LaneQ> >::reverse_iterator i =
myBestLanes.rbegin() + 1; i !=
myBestLanes.rend(); ++i) {
6060 std::vector<LaneQ>& nextLanes = (*(i - 1));
6061 std::vector<LaneQ>& clanes = (*i);
6062 MSEdge*
const cE = &clanes[0].lane->getEdge();
6064 double bestConnectedLength = -1;
6065 double bestLength = -1;
6066 for (
const LaneQ& j : nextLanes) {
6067 if (j.lane->isApproachedFrom(cE) && bestConnectedLength < j.length) {
6068 bestConnectedLength = j.length;
6070 if (bestLength < j.length) {
6071 bestLength = j.length;
6075 int bestThisIndex = 0;
6076 int bestThisMaxIndex = 0;
6077 if (bestConnectedLength > 0) {
6079 for (
LaneQ& j : clanes) {
6080 const LaneQ* bestConnectedNext =
nullptr;
6081 if (j.allowsContinuation) {
6082 for (
const LaneQ& m : nextLanes) {
6083 if ((m.lane->allowsVehicleClass(
getVClass()) || m.lane->hadPermissionChanges())
6084 && m.lane->isApproachedFrom(cE, j.lane)) {
6086 bestConnectedNext = &m;
6090 if (bestConnectedNext !=
nullptr) {
6091 if (bestConnectedNext->
length == bestConnectedLength && abs(bestConnectedNext->
bestLaneOffset) < 2) {
6094 j.length += bestConnectedNext->
length;
6102 j.allowsContinuation =
false;
6104 if (clanes[bestThisIndex].length < j.length
6105 || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) > abs(j.bestLaneOffset))
6106 || (clanes[bestThisIndex].length == j.length && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset) &&
6109 bestThisIndex = index;
6110 bestThisMaxIndex = index;
6111 }
else if (clanes[bestThisIndex].length == j.length
6112 && abs(clanes[bestThisIndex].bestLaneOffset) == abs(j.bestLaneOffset)
6114 bestThisMaxIndex = index;
6122 for (
const LaneQ& j : clanes) {
6124 if (overheadWireSegmentID !=
"") {
6125 bestThisIndex = index;
6126 bestThisMaxIndex = index;
6134 int bestNextIndex = 0;
6135 int bestDistToNeeded = (int) clanes.size();
6137 for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6138 if ((*j).allowsContinuation) {
6140 for (std::vector<LaneQ>::const_iterator m = nextLanes.begin(); m != nextLanes.end(); ++m, ++nextIndex) {
6141 if ((*m).lane->isApproachedFrom(cE, (*j).lane)) {
6142 if (bestDistToNeeded > abs((*m).bestLaneOffset)) {
6143 bestDistToNeeded = abs((*m).bestLaneOffset);
6144 bestThisIndex = index;
6145 bestThisMaxIndex = index;
6146 bestNextIndex = nextIndex;
6152 clanes[bestThisIndex].length += nextLanes[bestNextIndex].length;
6153 copy(nextLanes[bestNextIndex].bestContinuations.begin(), nextLanes[bestNextIndex].bestContinuations.end(), back_inserter(clanes[bestThisIndex].bestContinuations));
6158 bool requiredChangeRightForbidden =
false;
6159 int requireChangeToLeftForbidden = -1;
6160 for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6161 if ((*j).length < clanes[bestThisIndex].length
6162 || ((*j).length == clanes[bestThisIndex].length && abs((*j).bestLaneOffset) > abs(clanes[bestThisIndex].bestLaneOffset))
6165 if (abs(bestThisIndex - index) < abs(bestThisMaxIndex - index)) {
6166 (*j).bestLaneOffset = bestThisIndex - index;
6168 (*j).bestLaneOffset = bestThisMaxIndex - index;
6172 (*j).length = (*j).currentLength;
6174 if ((*j).bestLaneOffset < 0 && (!(*j).lane->allowsChangingRight(
getVClass())
6175 || !(*j).lane->getParallelLane(-1,
false)->allowsVehicleClass(
getVClass())
6176 || requiredChangeRightForbidden)) {
6178 requiredChangeRightForbidden =
true;
6179 if ((*j).length == (*j).currentLength) {
6182 }
else if ((*j).bestLaneOffset > 0 && (!(*j).lane->allowsChangingLeft(
getVClass())
6183 || !(*j).lane->getParallelLane(1,
false)->allowsVehicleClass(
getVClass()))) {
6185 requireChangeToLeftForbidden = (*j).lane->getIndex();
6188 (*j).bestLaneOffset = 0;
6191 for (
int idx = requireChangeToLeftForbidden; idx >= 0; idx--) {
6192 if (clanes[idx].length == clanes[idx].currentLength) {
6193 clanes[idx].length = 0;
6201 if (overheadWireID !=
"") {
6202 for (std::vector<LaneQ>::iterator j = clanes.begin(); j != clanes.end(); ++j, ++index) {
6203 (*j).bestLaneOffset = bestThisIndex - index;
6208 #ifdef DEBUG_BESTLANES
6210 std::cout <<
" edge=" << cE->
getID() <<
" (bestIndex=" << bestThisIndex <<
" bestMaxIndex=" << bestThisMaxIndex <<
"):\n";
6211 std::vector<LaneQ>& laneQs = clanes;
6212 for (std::vector<LaneQ>::iterator j = laneQs.begin(); j != laneQs.end(); ++j) {
6213 std::cout <<
" lane=" << (*j).lane->getID() <<
" length=" << (*j).length <<
" bestOffset=" << (*j).bestLaneOffset <<
" allowCont=" << (*j).allowsContinuation <<
"\n";
6220 #ifdef DEBUG_BESTLANES
6236 if (bestConnectedNext ==
nullptr) {
6253 if (conts.size() < 2) {
6256 const MSLink*
const link = conts[0]->getLinkTo(conts[1]);
6257 if (link !=
nullptr) {
6269 std::vector<LaneQ>& currLanes = *
myBestLanes.begin();
6270 std::vector<LaneQ>::iterator i;
6271 for (i = currLanes.begin(); i != currLanes.end(); ++i) {
6272 double nextOccupation = 0;
6273 for (std::vector<MSLane*>::const_iterator j = (*i).bestContinuations.begin() + 1; j != (*i).bestContinuations.end(); ++j) {
6274 nextOccupation += (*j)->getBruttoVehLenSum();
6276 (*i).nextOccupation = nextOccupation;
6277 #ifdef DEBUG_BESTLANES
6279 std::cout <<
" lane=" << (*i).lane->getID() <<
" nextOccupation=" << nextOccupation <<
"\n";
6282 if ((*i).lane == startLane) {
6289 const std::vector<MSLane*>&
6294 return (*myCurrentLaneInBestLanes).bestContinuations;
6298 const std::vector<MSLane*>&
6310 if ((*i).lane == lane) {
6311 return (*i).bestContinuations;
6317 const std::vector<const MSLane*>
6319 std::vector<const MSLane*> lanes;
6332 while (lane->
isInternal() && (distance > 0.)) {
6333 lanes.insert(lanes.end(), lane);
6335 lane = lane->
getLinkCont().front()->getViaLaneOrLane();
6339 if (contLanes.empty()) {
6342 auto contLanesIt = contLanes.begin();
6344 while (distance > 0.) {
6346 if (contLanesIt != contLanes.end()) {
6349 assert(l->
getEdge().
getID() == (*routeIt)->getLanes().front()->getEdge().getID());
6358 }
else if (routeIt !=
myRoute->end()) {
6360 l = (*routeIt)->getLanes().back();
6366 assert(l !=
nullptr);
6370 while ((internalLane !=
nullptr) && internalLane->
isInternal() && (distance > 0.)) {
6371 lanes.insert(lanes.end(), internalLane);
6373 internalLane = internalLane->
getLinkCont().front()->getViaLaneOrLane();
6375 if (distance <= 0.) {
6379 lanes.insert(lanes.end(), l);
6386 const std::vector<const MSLane*>
6388 std::vector<const MSLane*> lanes;
6390 if (distance <= 0.) {
6402 while (lane->
isInternal() && (distance > 0.)) {
6403 lanes.insert(lanes.end(), lane);
6408 while (distance > 0.) {
6410 MSLane* l = (*routeIt)->getLanes().back();
6414 const MSLane* internalLane = internalEdge !=
nullptr ? internalEdge->
getLanes().front() :
nullptr;
6415 std::vector<const MSLane*> internalLanes;
6416 while ((internalLane !=
nullptr) && internalLane->
isInternal()) {
6417 internalLanes.insert(internalLanes.begin(), internalLane);
6418 internalLane = internalLane->
getLinkCont().front()->getViaLaneOrLane();
6420 for (
auto it = internalLanes.begin(); (it != internalLanes.end()) && (distance > 0.); ++it) {
6421 lanes.insert(lanes.end(), *it);
6422 distance -= (*it)->getLength();
6424 if (distance <= 0.) {
6428 lanes.insert(lanes.end(), l);
6433 if (routeIt !=
myRoute->begin()) {
6444 const std::vector<MSLane*>
6447 std::vector<MSLane*> result;
6448 for (
const MSLane* lane : routeLanes) {
6450 if (opposite !=
nullptr) {
6451 result.push_back(opposite);
6465 return (*myCurrentLaneInBestLanes).bestLaneOffset;
6474 return (*myCurrentLaneInBestLanes).length;
6482 std::vector<MSVehicle::LaneQ>& preb =
myBestLanes.front();
6483 assert(laneIndex < (
int)preb.size());
6484 preb[laneIndex].occupation = density + preb[laneIndex].nextOccupation;
6495 std::pair<const MSLane*, double>
6497 if (distance == 0) {
6502 for (
const MSLane* lane : lanes) {
6503 if (lane->getLength() > distance) {
6504 return std::make_pair(lane, distance);
6506 distance -= lane->getLength();
6508 return std::make_pair(
nullptr, -1);
6514 if (
isOnRoad() && destLane !=
nullptr) {
6517 return std::numeric_limits<double>::max();
6521 std::pair<const MSVehicle* const, double>
6524 return std::make_pair(
static_cast<const MSVehicle*
>(
nullptr), -1);
6533 MSLane::VehCont::const_iterator it = std::find(vehs.begin(), vehs.end(),
this);
6534 if (it != vehs.end() && it + 1 != vehs.end()) {
6537 if (lead !=
nullptr) {
6538 std::pair<const MSVehicle* const, double> result(
6551 std::pair<const MSVehicle* const, double>
6554 return std::make_pair(
static_cast<const MSVehicle*
>(
nullptr), -1);
6566 std::pair<const MSVehicle* const, double> leaderInfo =
getLeader(-1);
6567 if (leaderInfo.first ==
nullptr ||
getSpeed() == 0) {
6579 if (
myStops.front().triggered &&
myStops.front().numExpectedPerson > 0) {
6580 myStops.front().numExpectedPerson -= (int)
myStops.front().pars.awaitedPersons.count(transportable->
getID());
6583 if (
myStops.front().pars.containerTriggered &&
myStops.front().numExpectedContainer > 0) {
6584 myStops.front().numExpectedContainer -= (int)
myStops.front().pars.awaitedContainers.count(transportable->
getID());
6596 const bool blinkerManoeuvre = (((state &
LCA_SUBLANE) == 0) && (
6604 if ((state &
LCA_LEFT) != 0 && blinkerManoeuvre) {
6606 }
else if ((state &
LCA_RIGHT) != 0 && blinkerManoeuvre) {
6618 switch ((*link)->getDirection()) {
6635 && (
myStops.begin()->reached ||
6638 if (
myStops.begin()->lane->getIndex() > 0 &&
myStops.begin()->lane->getParallelLane(-1)->allowsVehicleClass(
getVClass())) {
6656 if (currentTime % 1000 == 0) {
6736 #ifdef DEBUG_FURTHER
6743 #ifdef DEBUG_FURTHER
6753 for (
int i = 0; i < (int)shadowFurther.size(); ++i) {
6755 if (shadowFurther[i] == lane) {
6780 #ifdef DEBUG_FURTHER
6787 #ifdef DEBUG_FURTHER
6795 #ifdef DEBUG_FURTHER
6802 for (
int i = 0; i < (int)shadowFurther.size(); ++i) {
6803 if (shadowFurther[i] == lane) {
6804 #ifdef DEBUG_FURTHER
6807 <<
" lane=" << lane->
getID()
6821 MSLane* targetLane = furtherTargets[i];
6822 if (targetLane == lane) {
6825 #ifdef DEBUG_TARGET_LANE
6827 std::cout <<
" getLatOffset veh=" <<
getID()
6833 <<
" targetDir=" << targetDir
6834 <<
" latOffset=" << latOffset
6851 assert(offset == 0 || offset == 1 || offset == -1);
6852 assert(
myLane !=
nullptr);
6855 const double halfVehWidth = 0.5 * (
getWidth() + NUMERICAL_EPS);
6858 double leftLimit = halfCurrentLaneWidth - halfVehWidth - oppositeSign * latPos;
6859 double rightLimit = -halfCurrentLaneWidth + halfVehWidth - oppositeSign * latPos;
6860 double latLaneDist = 0;
6862 if (latPos + halfVehWidth > halfCurrentLaneWidth) {
6864 latLaneDist = halfCurrentLaneWidth - latPos - halfVehWidth;
6865 }
else if (latPos - halfVehWidth < -halfCurrentLaneWidth) {
6867 latLaneDist = -halfCurrentLaneWidth - latPos + halfVehWidth;
6869 latLaneDist *= oppositeSign;
6870 }
else if (offset == -1) {
6871 latLaneDist = rightLimit - (
getWidth() + NUMERICAL_EPS);
6872 }
else if (offset == 1) {
6873 latLaneDist = leftLimit + (
getWidth() + NUMERICAL_EPS);
6875 #ifdef DEBUG_ACTIONSTEPS
6878 <<
" veh=" <<
getID()
6879 <<
" halfCurrentLaneWidth=" << halfCurrentLaneWidth
6880 <<
" halfVehWidth=" << halfVehWidth
6881 <<
" latPos=" << latPos
6882 <<
" latLaneDist=" << latLaneDist
6883 <<
" leftLimit=" << leftLimit
6884 <<
" rightLimit=" << rightLimit
6912 if (dpi.myLink !=
nullptr) {
6913 dpi.myLink->removeApproaching(
this);
6931 std::vector<MSLink*>::const_iterator link =
MSLane::succLinkSec(*
this, view, *lane, bestLaneConts);
6933 while (!lane->
isLinkEnd(link) && seen <= dist) {
6935 && (((*link)->getState() ==
LINKSTATE_ZIPPER && seen < (*link)->getFoeVisibilityDistance())
6936 || !(*link)->havePriority())) {
6940 if ((*di).myLink !=
nullptr) {
6941 const MSLane* diPredLane = (*di).myLink->getLaneBefore();
6942 if (diPredLane !=
nullptr) {
6953 const SUMOTime leaveTime = (*link)->getLeaveTime((*di).myArrivalTime, (*di).myArrivalSpeed,
6955 if ((*link)->hasApproachingFoe((*di).myArrivalTime, leaveTime, (*di).myArrivalSpeed,
getCarFollowModel().getMaxDecel())) {
6962 lane = (*link)->getViaLaneOrLane();
6978 centerLine.push_back(pos);
6987 centerLine.push_back(lane->getShape().back());
6999 backPos = pos +
Position(l * cos(a), l * sin(a));
7001 centerLine.push_back(backPos);
7034 result.push_back(line1[0]);
7035 result.push_back(line2[0]);
7036 result.push_back(line2[1]);
7037 result.push_back(line1[1]);
7040 result.push_back(line1[1]);
7041 result.push_back(line2[1]);
7042 result.push_back(line2[0]);
7043 result.push_back(line1[0]);
7055 if (&(*i)->getEdge() == edge) {
7081 if (destParkArea ==
nullptr) {
7083 errorMsg =
"Vehicle " +
getID() +
" is not driving to a parking area so it cannot be rerouted.";
7096 if (newParkingArea ==
nullptr) {
7097 errorMsg =
"Parking area ID " +
toString(parkingAreaID) +
" not found in the network.";
7110 if (!newDestination) {
7121 if (edgesFromPark.size() > 0) {
7122 edges.insert(edges.end(), edgesFromPark.begin() + 1, edgesFromPark.end());
7125 if (newDestination) {
7136 const bool onInit =
myLane ==
nullptr;
7149 const int numStops = (int)
myStops.size();
7194 if (stop.
busstop !=
nullptr) {
7223 rem.first->notifyStopEnded();
7235 myStopDist = std::numeric_limits<double>::max();
7334 #ifdef DEBUG_IGNORE_RED
7339 if (ignoreRedTime < 0) {
7341 if (ignoreYellowTime > 0 && link->
haveYellow()) {
7345 return !canBrake || ignoreYellowTime > yellowDuration;
7355 #ifdef DEBUG_IGNORE_RED
7359 <<
" ignoreRedTime=" << ignoreRedTime
7360 <<
" spentRed=" << redDuration
7361 <<
" canBrake=" << canBrake <<
"\n";
7365 return !canBrake || ignoreRedTime > redDuration;
7382 if (
id == foe->
getID()) {
7408 if (veh ==
nullptr) {
7435 assert(logic !=
nullptr);
7452 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7454 std::cout <<
" foeGap=" << foeGap <<
" foeBGap=" << foeBrakeGap <<
"\n";
7458 if (foeGap < foeBrakeGap) {
7467 response = foeEntry->
haveRed();
7482 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7485 <<
" foeLane=" << foeLane->
getID()
7487 <<
" linkIndex=" << link->
getIndex()
7488 <<
" foeLinkIndex=" << foeLink->
getIndex()
7491 <<
" response=" << response
7492 <<
" response2=" << response2
7500 }
else if (response && response2) {
7506 if (egoET == foeET) {
7510 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7512 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" equal ET " << egoET <<
" with foe " << veh->
getID()
7513 <<
" foeIsLeaderByID=" << (
getID() < veh->
getID()) <<
"\n";
7518 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7520 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" equal ET " << egoET <<
" with foe " << veh->
getID()
7530 #ifdef DEBUG_PLAN_MOVE_LEADERINFO
7532 std::cout <<
SIMTIME <<
" veh=" <<
getID() <<
" egoET " << egoET <<
" with foe " << veh->
getID()
7533 <<
" foeET=" << foeET <<
" isLeader=" << (egoET > foeET) <<
"\n";
7536 return egoET > foeET;
7552 std::vector<std::string> internals;
7571 stop.write(out,
false);
7579 stop.writeParams(out);
7589 dev->saveState(out);
7597 throw ProcessError(
TL(
"Error: Invalid vehicles in state (may be a meso state)!"));
7622 while (pastStops > 0) {
7647 myStops.front().startedFromState =
true;
7656 SUMOTime arrivalTime,
double arrivalSpeed,
7657 double arrivalSpeedBraking,
7658 double dist,
double leaveSpeed) {
7661 arrivalTime, arrivalSpeed, arrivalSpeedBraking, dist, leaveSpeed));
7666 std::shared_ptr<MSSimpleDriverState>
7682 if (prevAcceleration != std::numeric_limits<double>::min()) {
7742 return (myGUIIncrement);
7748 return (myManoeuvreType);
7766 myManoeuvreType = mType;
7781 if (abs(GUIAngle) < 0.1) {
7784 myManoeuvreVehicleID = veh->
getID();
7787 myManoeuvreStartTime = currentTime;
7789 myGUIIncrement = GUIAngle / (
STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) /
TS);
7793 std::cout <<
"ENTRY manoeuvre start: vehicle=" << veh->
getID() <<
" Manoeuvre Angle=" << manoeuverAngle <<
" Rotation angle=" <<
RAD2DEG(GUIAngle) <<
" Road Angle" <<
RAD2DEG(veh->
getAngle()) <<
" increment=" <<
RAD2DEG(myGUIIncrement) <<
" currentTime=" << currentTime <<
7794 " endTime=" << myManoeuvreCompleteTime <<
" manoeuvre time=" << myManoeuvreCompleteTime - currentTime <<
" parkArea=" << myManoeuvreStop << std::endl;
7820 if (abs(GUIAngle) < 0.1) {
7824 myManoeuvreVehicleID = veh->
getID();
7827 myManoeuvreStartTime = currentTime;
7829 myGUIIncrement = -GUIAngle / (
STEPS2TIME(myManoeuvreCompleteTime - myManoeuvreStartTime) /
TS);
7836 std::cout <<
"EXIT manoeuvre start: vehicle=" << veh->
getID() <<
" Manoeuvre Angle=" << manoeuverAngle <<
" increment=" <<
RAD2DEG(myGUIIncrement) <<
" currentTime=" << currentTime
7837 <<
" endTime=" << myManoeuvreCompleteTime <<
" manoeuvre time=" << myManoeuvreCompleteTime - currentTime <<
" parkArea=" << myManoeuvreStop << std::endl;
7855 if (configureEntryManoeuvre(veh)) {
7872 if (checkType != myManoeuvreType) {
7896 std::pair<double, double>
7900 if (lane ==
nullptr) {
7911 travelTime += (*it)->getMinimumTravelTime(
this);
7912 dist += (*it)->getLength();
7917 dist += stopEdgeDist;
7924 const double d = dist;
7930 const double maxVD =
MAX2(c, ((sqrt(
MAX2(0.0, pow(2 * c * b, 2) + (4 * ((b * ((a * (2 * d * (b + a) + (vs * vs) - (c * c))) - (b * (c * c))))
7931 + pow((a * vs), 2))))) * 0.5) + (c * b)) / (b + a));
7935 double timeLossAccel = 0;
7936 double timeLossDecel = 0;
7937 double timeLossLength = 0;
7939 double v =
MIN2(maxVD, (*it)->getVehicleMaxSpeed(
this));
7941 if (edgeLength <= len && v0Stable && v0 < v) {
7942 const double lengthDist =
MIN2(len, edgeLength);
7943 const double dTL = lengthDist / v0 - lengthDist / v;
7945 timeLossLength += dTL;
7947 if (edgeLength > len) {
7948 const double dv = v - v0;
7951 const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
7953 timeLossAccel += dTA;
7955 }
else if (dv < 0) {
7957 const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
7959 timeLossDecel += dTD;
7968 const double dv = v - v0;
7971 const double dTA = dv / a - dv * (v + v0) / (2 * a * v);
7973 timeLossAccel += dTA;
7975 }
else if (dv < 0) {
7977 const double dTD = -dv / b + dv * (v + v0) / (2 * b * v0);
7979 timeLossDecel += dTD;
7981 const double result = travelTime + timeLossAccel + timeLossDecel + timeLossLength;
7984 return {
MAX2(0.0, result), dist};
8045 return nextInternal ? nextInternal : nextNormal;
8057 bool resultInternal;
8060 if (furtherIndex % 2 == 0) {
8061 routeIndex -= (furtherIndex + 0) / 2;
8062 resultInternal =
false;
8064 routeIndex -= (furtherIndex + 1) / 2;
8065 resultInternal =
false;
8068 if (furtherIndex % 2 != 0) {
8069 routeIndex -= (furtherIndex + 1) / 2;
8070 resultInternal =
false;
8072 routeIndex -= (furtherIndex + 2) / 2;
8073 resultInternal =
true;
8077 routeIndex -= furtherIndex;
8078 resultInternal =
false;
8081 if (routeIndex >= 0) {
8082 if (resultInternal) {
8085 for (
MSLink* link : cand->getLinkCont()) {
8086 if (link->getLane() == current) {
8087 if (link->getViaLane() !=
nullptr) {
8088 return link->getViaLane();
8090 return const_cast<MSLane*
>(link->getLaneBefore());
8096 return myRoute->getEdges()[routeIndex]->getLanes()[0];
std::vector< const MSEdge * > ConstMSEdgeVector
std::vector< MSEdge * > MSEdgeVector
std::pair< const MSVehicle *, double > CLeaderDist
std::pair< const MSPerson *, double > PersonDist
ConstMSEdgeVector::const_iterator MSRouteIterator
#define NUMERICAL_EPS_SPEED
#define STOPPING_PLACE_OFFSET
#define JUNCTION_BLOCKAGE_TIME
#define DIST_TO_STOPLINE_EXPECT_PRIORITY
#define WRITE_WARNINGF(...)
#define WRITE_WARNING(msg)
std::shared_ptr< const MSRoute > ConstMSRoutePtr
SUMOTime string2time(const std::string &r)
convert string to SUMOTime
std::string time2string(SUMOTime t, bool humanReadable)
convert SUMOTime to string (independently of global format setting)
bool isRailway(SVCPermissions permissions)
Returns whether an edge with the given permissions is a railway edge.
long long int SVCPermissions
bitset where each bit declares whether a certain SVC may use this edge/lane
@ RAIL_CARGO
render as a cargo train
@ PASSENGER_VAN
render as a van
@ PASSENGER
render as a passenger vehicle
@ RAIL_CAR
render as a (city) rail without locomotive
@ PASSENGER_HATCHBACK
render as a hatchback passenger vehicle ("Fliessheck")
@ BUS_FLEXIBLE
render as a flexible city bus
@ TRUCK_1TRAILER
render as a transport vehicle with one trailer
@ PASSENGER_SEDAN
render as a sedan passenger vehicle ("Stufenheck")
@ PASSENGER_WAGON
render as a wagon passenger vehicle ("Combi")
@ TRUCK_SEMITRAILER
render as a semi-trailer transport vehicle ("Sattelschlepper")
@ SVC_RAIL_CLASSES
classes which drive on tracks
@ SVC_EMERGENCY
public emergency vehicles
const int VEHPARS_CFMODEL_PARAMS_SET
@ GIVEN
The lane is given.
@ GIVEN
The speed is given.
@ SPLIT_FRONT
depart position for a split vehicle is in front of the continuing vehicle
@ GIVEN
The arrival lane is given.
@ GIVEN
The speed is given.
const int VEHPARS_FORCE_REROUTE
@ GIVEN
The arrival position is given.
const int STOP_STARTED_SET
@ SUMO_TAG_PARKING_AREA_REROUTE
entry for an alternative parking zone
@ SUMO_TAG_PARKING_AREA
A parking area.
@ SUMO_TAG_OVERHEAD_WIRE_SEGMENT
An overhead wire segment.
LinkDirection
The different directions a link between two lanes may take (or a stream between two edges)....
@ PARTLEFT
The link is a partial left direction.
@ RIGHT
The link is a (hard) right direction.
@ TURN
The link is a 180 degree turn.
@ LEFT
The link is a (hard) left direction.
@ STRAIGHT
The link is a straight direction.
@ TURN_LEFTHAND
The link is a 180 degree turn (left-hand network)
@ PARTRIGHT
The link is a partial right direction.
@ NODIR
The link has no direction (is a dead end link)
LinkState
The right-of-way state of a link between two lanes used when constructing a NBTrafficLightLogic,...
@ LINKSTATE_ALLWAY_STOP
This is an uncontrolled, all-way stop link.
@ LINKSTATE_EQUAL
This is an uncontrolled, right-before-left link.
@ LINKSTATE_ZIPPER
This is an uncontrolled, zipper-merge link.
@ LCA_KEEPRIGHT
The action is due to the default of keeping right "Rechtsfahrgebot".
@ LCA_BLOCKED
blocked in all directions
@ LCA_URGENT
The action is urgent (to be defined by lc-model)
@ LCA_STAY
Needs to stay on the current lane.
@ LCA_SUBLANE
used by the sublane model
@ LCA_WANTS_LANECHANGE_OR_STAY
lane can change or stay
@ LCA_COOPERATIVE
The action is done to help someone else.
@ LCA_OVERLAPPING
The vehicle is blocked being overlapping.
@ LCA_LEFT
Wants go to the left.
@ LCA_STRATEGIC
The action is needed to follow the route (navigational lc)
@ LCA_TRACI
The action is due to a TraCI request.
@ LCA_SPEEDGAIN
The action is due to the wish to be faster (tactical lc)
@ LCA_RIGHT
Wants go to the right.
@ SUMO_ATTR_JM_STOPLINE_CROSSING_GAP
@ SUMO_ATTR_JM_IGNORE_KEEPCLEAR_TIME
@ SUMO_ATTR_MAXIMUMPOWER
Maximum Power.
@ SUMO_ATTR_CF_IGNORE_IDS
@ SUMO_ATTR_JM_STOPLINE_GAP
@ SUMO_ATTR_JM_DRIVE_AFTER_RED_TIME
@ SUMO_ATTR_JM_DRIVE_AFTER_YELLOW_TIME
@ SUMO_ATTR_CF_IGNORE_TYPES
@ SUMO_ATTR_JM_IGNORE_JUNCTION_FOE_PROB
@ SUMO_ATTR_STATE
The state of a link.
@ SUMO_ATTR_JM_DRIVE_RED_SPEED
int gPrecision
the precision for floating point outputs
bool gDebugFlag1
global utility flags for debugging
const double INVALID_DOUBLE
invalid double
const double SUMO_const_laneWidth
const double SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
std::string toString(const T &t, std::streamsize accuracy=gPrecision)
#define SOFT_ASSERT(expr)
define SOFT_ASSERT raise an assertion in debug mode everywhere except on the windows test server
double getDouble(SumoXMLAttr attr) const
void setDouble(SumoXMLAttr attr, double value)
Sets a parameter.
static double naviDegree(const double angle)
static double fromNaviDegree(const double angle)
Interface for lane-change models.
double getLaneChangeCompletion() const
Get the current lane change completion ratio.
MSLane * updateTargetLane()
bool hasBlueLight() const
const std::vector< double > & getShadowFurtherLanesPosLat() const
double getCommittedSpeed() const
virtual void resetSpeedLat()
double getManeuverDist() const
Returns the remaining unblocked distance for the current maneuver. (only used by sublane model)
int getLaneChangeDirection() const
return the direction of the current lane change maneuver
virtual void prepareStep()
void resetChanged()
reset the flag whether a vehicle already moved to false
MSLane * getShadowLane() const
Returns the lane the vehicle's shadow is on during continuous/sublane lane change.
virtual void saveState(OutputDevice &out) const
Save the state of the laneChangeModel.
void endLaneChangeManeuver(const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
const std::vector< MSLane * > & getShadowFurtherLanes() const
void setNoShadowPartialOccupator(MSLane *lane)
SUMOTime remainingTime() const
Compute the remaining time until LC completion.
void setShadowApproachingInformation(MSLink *link) const
set approach information for the shadow vehicle
const std::vector< MSLane * > & getFurtherTargetLanes() const
static MSAbstractLaneChangeModel * build(LaneChangeModel lcm, MSVehicle &vehicle)
Factory method for instantiating new lane changing models.
void changedToOpposite()
called when a vehicle changes between lanes in opposite directions
int getShadowDirection() const
return the direction in which the current shadow lane lies
virtual void loadState(const SUMOSAXAttributes &attrs)
Loads the state of the laneChangeModel from the given attributes.
double calcAngleOffset()
return the angle offset during a continuous change maneuver
void setPreviousAngleOffset(const double angleOffset)
set the angle offset of the previous time step
MSLane * getTargetLane() const
Returns the lane the vehicle has committed to enter during a sublane lane change.
virtual void resetState()
double getAngleOffset() const
return the angle offset resulting from lane change and sigma
bool isChangingLanes() const
return true if the vehicle currently performs a lane change maneuver
void removeShadowApproachingInformation() const
void setExtraImpatience(double value)
Sets routing behavior.
The base class for microscopic and mesoscopic vehicles.
double getMaxSpeed() const
Returns the maximum speed (the minimum of desired and technical maximum speed)
bool haveValidStopEdges(bool silent=false) const
check whether all stop.edge MSRouteIterators are valid and in order
virtual bool isSelected() const
whether this vehicle is selected in the GUI
std::list< MSStop > myStops
The vehicle's list of stops.
double getImpatience() const
Returns this vehicles impatience.
const std::vector< MSTransportable * > & getPersons() const
retrieve riding persons
virtual void initDevices()
const MSEdge * succEdge(int nSuccs) const
Returns the nSuccs'th successor of edge the vehicle is currently at.
void calculateArrivalParams(bool onInit)
(Re-)Calculates the arrival position and lane from the vehicle parameters
virtual double getArrivalPos() const
Returns this vehicle's desired arrivalPos for its current route (may change on reroute)
MSVehicleType * myType
This vehicle's type.
MoveReminderCont myMoveReminders
Currently relevant move reminders.
double myDepartPos
The real depart position.
const std::list< MSStop > & getStops() const
const SUMOVehicleParameter & getParameter() const
Returns the vehicle's parameter (including departure definition)
void addReminder(MSMoveReminder *rem)
Adds a MoveReminder dynamically.
void replaceParameter(const SUMOVehicleParameter *newParameter)
replace the vehicle parameter (deleting the old one)
double getChosenSpeedFactor() const
Returns the precomputed factor by which the driver wants to be faster than the speed limit.
std::vector< MSVehicleDevice * > myDevices
The devices this vehicle has.
virtual void addTransportable(MSTransportable *transportable)
Adds a person or container to this vehicle.
virtual bool replaceRoute(ConstMSRoutePtr route, const std::string &info, bool onInit=false, int offset=0, bool addRouteStops=true, bool removeStops=true, std::string *msgReturn=nullptr)
Replaces the current route by the given one.
MSVehicleType & getSingularType()
Replaces the current vehicle type with a new one used by this vehicle only.
virtual void replaceVehicleType(MSVehicleType *type)
Replaces the current vehicle type by the one given.
double getLength() const
Returns the vehicle's length.
bool isParking() const
Returns whether the vehicle is parking.
MSParkingArea * getCurrentParkingArea()
get the current parking area stop or nullptr
const MSEdge * getEdge() const
Returns the edge the vehicle is currently at.
int getPersonNumber() const
Returns the number of persons.
MSRouteIterator myCurrEdge
Iterator to current route-edge.
bool hasDeparted() const
Returns whether this vehicle has already departed.
ConstMSRoutePtr myRoute
This vehicle's route.
double getWidth() const
Returns the vehicle's width.
MSDevice_Transportable * myContainerDevice
The containers this vehicle may have.
SUMOTime getDeparture() const
Returns this vehicle's real departure time.
double getWaitingSeconds() const
Returns the number of seconds waited (speed was lesser than 0.1m/s)
MSDevice_Transportable * myPersonDevice
The passengers this vehicle may have.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
bool hasStops() const
Returns whether the vehicle has to stop somewhere.
@ ROUTE_START_INVALID_LANE
@ ROUTE_START_INVALID_PERMISSIONS
void addStops(const bool ignoreStopErrors, MSRouteIterator *searchStart=nullptr, bool addRouteStops=true)
Adds stops to the built vehicle.
SUMOVehicleClass getVClass() const
Returns the vehicle's access class.
MSParkingArea * getNextParkingArea()
get the upcoming parking area stop or nullptr
int myArrivalLane
The destination lane where the vehicle stops.
SUMOTime myDeparture
The real departure time.
bool isStoppedTriggered() const
Returns whether the vehicle is on a triggered stop.
std::vector< SUMOVehicleParameter::Stop > myPastStops
The list of stops that the vehicle has already reached.
void onDepart()
Called when the vehicle is inserted into the network.
virtual bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string &errorMsg)
int getRoutePosition() const
return index of edge within route
bool replaceParkingArea(MSParkingArea *parkingArea, std::string &errorMsg)
replace the current parking area stop with a new stop with merge duration
static const SUMOTime NOT_YET_DEPARTED
bool myAmRegisteredAsWaiting
Whether this vehicle is registered as waiting for a person or container (for deadlock-recognition)
SUMOAbstractRouter< MSEdge, SUMOVehicle > & getRouterTT() const
EnergyParams * myEnergyParams
The emission parameters this vehicle may have.
const SUMOVehicleParameter * myParameter
This vehicle's parameter.
int myRouteValidity
status of the current vehicle route
const MSRoute & getRoute() const
Returns the current route.
bool isStopped() const
Returns whether the vehicle is at a stop.
MSDevice * getDevice(const std::type_info &type) const
Returns a device of the given type if it exists, nullptr otherwise.
int myNumberReroutes
The number of reroutings.
double myArrivalPos
The position on the destination lane where the vehicle stops.
virtual void saveState(OutputDevice &out)
Saves the (common) state of a vehicle.
double myOdometer
A simple odometer to keep track of the length of the route already driven.
int getContainerNumber() const
Returns the number of containers.
bool replaceRouteEdges(ConstMSEdgeVector &edges, double cost, double savings, const std::string &info, bool onInit=false, bool check=false, bool removeStops=true, std::string *msgReturn=nullptr)
Replaces the current route by the given edges.
The car-following model abstraction.
double estimateSpeedAfterDistance(const double dist, const double v, const double accel) const
virtual double maxNextSpeed(double speed, const MSVehicle *const veh) const
Returns the maximum speed given the current speed.
virtual double minNextSpeedEmergency(double speed, const MSVehicle *const veh=0) const
Returns the minimum speed after emergency braking, given the current speed (depends on the numerical ...
double getEmergencyDecel() const
Get the vehicle type's maximal phisically possible deceleration [m/s^2].
SUMOTime getStartupDelay() const
Get the vehicle type's startupDelay.
double getMinimalArrivalSpeed(double dist, double currentSpeed) const
Computes the minimal possible arrival speed after covering a given distance.
virtual void setHeadwayTime(double headwayTime)
Sets a new value for desired headway [s].
virtual double freeSpeed(const MSVehicle *const veh, double speed, double seen, double maxSpeed, const bool onInsertion=false, const CalcReason usage=CalcReason::CURRENT) const
Computes the vehicle's safe speed without a leader.
virtual double minNextSpeed(double speed, const MSVehicle *const veh=0) const
Returns the minimum speed given the current speed (depends on the numerical update scheme and its ste...
virtual double insertionFollowSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0) const
Computes the vehicle's safe speed (no dawdling) This method is used during the insertion stage....
SUMOTime getMinimalArrivalTime(double dist, double currentSpeed, double arrivalSpeed) const
Computes the minimal time needed to cover a distance given the desired speed at arrival.
virtual double finalizeSpeed(MSVehicle *const veh, double vPos) const
Applies interaction with stops and lane changing model influences. Called at most once per simulation...
virtual VehicleVariables * createVehicleVariables() const
Returns model specific values which are stored inside a vehicle and must be used with casting.
double getApparentDecel() const
Get the vehicle type's apparent deceleration [m/s^2] (the one regarded by its followers.
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
double brakeGap(const double speed) const
Returns the distance the vehicle needs to halt including driver's reaction time tau (i....
virtual double maximumLaneSpeedCF(const MSVehicle *const veh, double maxSpeed, double maxSpeedLane) const
Returns the maximum velocity the CF-model wants to achieve in the next step.
double maximumSafeStopSpeed(double gap, double decel, double currentSpeed, bool onInsertion=false, double headway=-1, bool relaxEmergency=true) const
Returns the maximum next velocity for stopping within gap.
double getMaxDecel() const
Get the vehicle type's maximal comfortable deceleration [m/s^2].
double getMinimalArrivalSpeedEuler(double dist, double currentSpeed) const
Computes the minimal possible arrival speed after covering a given distance for Euler update.
virtual double followSpeed(const MSVehicle *const veh, double speed, double gap2pred, double predSpeed, double predMaxDecel, const MSVehicle *const pred=0, const CalcReason usage=CalcReason::CURRENT) const =0
Computes the vehicle's follow speed (no dawdling)
double stopSpeed(const MSVehicle *const veh, const double speed, double gap, const CalcReason usage=CalcReason::CURRENT) const
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
virtual double getHeadwayTime() const
Get the driver's desired headway [s].
The ToC Device controls transition of control between automated and manual driving.
std::shared_ptr< MSSimpleDriverState > getDriverState() const
return internal state
void update()
update internal state
A device which collects info on the vehicle trip (mainly on departure and arrival)
double consumption(SUMOVehicle &veh, double a, double newSpeed)
return energy consumption in Wh (power multiplied by TS)
double getParameterDouble(const std::string &key) const
void setConsum(const double consumption)
double acceleration(SUMOVehicle &veh, double power, double oldSpeed)
double getConsum() const
Get consum.
A device which collects info on current friction Coefficient on the road.
double getMeasuredFriction()
A device which collects info on the vehicle trip (mainly on departure and arrival)
A device which collects info on the vehicle trip (mainly on departure and arrival)
void cancelCurrentCustomers()
remove the persons the taxi is currently waiting for from reservations
bool notifyMove(SUMOTrafficObject &veh, double oldPos, double newPos, double newSpeed)
Checks whether the vehicle is at a stop and transportable action is needed.
bool anyLeavingAtStop(const MSStop &stop) const
void transferAtSplitOrJoin(MSBaseVehicle *otherVeh)
transfers transportables that want to continue in the other train part (without boarding/loading dela...
void checkCollisionForInactive(MSLane *l)
trigger collision checking for inactive lane
A road/street connecting two junctions.
const MSEdge * getOppositeEdge() const
Returns the opposite direction edge if on exists else a nullptr.
bool isFringe() const
return whether this edge is at the fringe of the network
const MSEdge * getNormalSuccessor() const
if this edge is an internal edge, return its first normal successor, otherwise the edge itself
const std::vector< MSLane * > * allowedLanes(const MSEdge &destination, SUMOVehicleClass vclass=SVC_IGNORING, bool ignoreTransientPermissions=false) const
Get the allowed lanes to reach the destination-edge.
const std::set< MSTransportable *, ComparatorNumericalIdLess > & getPersons() const
Returns this edge's persons set.
bool isNormal() const
return whether this edge is an internal edge
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
double getSpeedLimit() const
Returns the speed limit of the edge @caution The speed limit of the first lane is retured; should pro...
const MSJunction * getFromJunction() const
bool hasChangeProhibitions(SUMOVehicleClass svc, int index) const
return whether this edge prohibits changing for the given vClass when starting on the given lane inde...
double getMinimumTravelTime(const SUMOVehicle *const veh) const
returns the minimum travel time for the given vehicle
bool isRoundabout() const
bool isInternal() const
return whether this edge is an internal edge
double getWidth() const
Returns the edges's width (sum over all lanes)
bool isVaporizing() const
Returns whether vehicles on this edge shall be vaporized.
void addWaiting(SUMOVehicle *vehicle) const
Adds a vehicle to the list of waiting vehicles.
const MSJunction * getToJunction() const
const MSEdge * getInternalFollowingEdge(const MSEdge *followerAfterInternal, SUMOVehicleClass vClass) const
void removeWaiting(const SUMOVehicle *vehicle) const
Removes a vehicle from the list of waiting vehicles.
const MSEdge * getBidiEdge() const
return opposite superposable/congruent edge, if it exist and 0 else
const MSEdgeVector & getSuccessors(SUMOVehicleClass vClass=SVC_IGNORING) const
Returns the following edges, restricted by vClass.
static bool gModelParkingManoeuver
whether parking simulation includes manoeuver time and any associated lane blocking
static bool gUseStopStarted
static SUMOTime gStartupWaitThreshold
The minimum waiting time before applying startupDelay.
static double gTLSYellowMinDecel
The minimum deceleration at a yellow traffic light (only overruled by emergencyDecel)
static double gLateralResolution
static bool gSemiImplicitEulerUpdate
static bool gLefthand
Whether lefthand-drive is being simulated.
static bool gSublane
whether sublane simulation is enabled (sublane model or continuous lanechanging)
static SUMOTime gLaneChangeDuration
static double gEmergencyDecelWarningThreshold
threshold for warning about strong deceleration
static bool gUsingInternalLanes
Information whether the simulation regards internal lanes.
void add(SUMOVehicle *veh)
Adds a single vehicle for departure.
virtual const MSJunctionLogic * getLogic() const
virtual const MSLogicJunction::LinkBits & getResponseFor(int linkIndex) const
Returns the response for the given link.
Representation of a lane in the micro simulation.
const std::vector< MSLink * > & getLinkCont() const
returns the container with all links !!!
std::pair< MSVehicle *const, double > getFollower(const MSVehicle *ego, double egoPos, double dist, MinorLinkMode mLinkMode) const
Find follower vehicle for the given ego vehicle (which may be on the opposite direction lane)
std::pair< const MSPerson *, double > nextBlocking(double minPos, double minRight, double maxLeft, double stopTime=0, bool bidi=false) const
This is just a wrapper around MSPModel::nextBlocking. You should always check using hasPedestrians be...
MSLane * getParallelLane(int offset, bool includeOpposite=true) const
Returns the lane with the given offset parallel to this one or 0 if it does not exist.
virtual MSVehicle * removeVehicle(MSVehicle *remVehicle, MSMoveReminder::Notification notification, bool notify=true)
int getVehicleNumber() const
Returns the number of vehicles on this lane (for which this lane is responsible)
MSVehicle * getFirstAnyVehicle() const
returns the first vehicle that is fully or partially on this lane
const MSLink * getEntryLink() const
Returns the entry link if this is an internal lane, else nullptr.
int getVehicleNumberWithPartials() const
Returns the number of vehicles on this lane (including partial occupators)
double getBruttoVehLenSum() const
Returns the sum of lengths of vehicles, including their minGaps, which were on the lane during the la...
static std::vector< MSLink * >::const_iterator succLinkSec(const SUMOVehicle &veh, int nRouteSuccs, const MSLane &succLinkSource, const std::vector< MSLane * > &conts)
void markRecalculateBruttoSum()
Set a flag to recalculate the brutto (including minGaps) occupancy of this lane (used if mingap is ch...
virtual const VehCont & getVehiclesSecure() const
Returns the vehicles container; locks it for microsimulation.
const MSLink * getLinkTo(const MSLane *const) const
returns the link to the given lane or nullptr, if it is not connected
void forceVehicleInsertion(MSVehicle *veh, double pos, MSMoveReminder::Notification notification, double posLat=0)
Inserts the given vehicle at the given position.
double getVehicleStopOffset(const MSVehicle *veh) const
Returns vehicle class specific stopOffset for the vehicle.
double getSpeedLimit() const
Returns the lane's maximum allowed speed.
std::vector< MSVehicle * > VehCont
Container for vehicles.
std::vector< StopWatch< std::chrono::nanoseconds > > & getStopWatch()
const MSEdge * getNextNormal() const
Returns the lane's follower if it is an internal lane, the edge of the lane otherwise.
SVCPermissions getPermissions() const
Returns the vehicle class permissions for this lane.
MSLane * getCanonicalPredecessorLane() const
double getLength() const
Returns the lane's length.
double getMaximumBrakeDist() const
compute maximum braking distance on this lane
const MSLane * getInternalFollowingLane(const MSLane *const) const
returns the internal lane leading to the given lane or nullptr, if there is none
const MSLeaderInfo getLastVehicleInformation(const MSVehicle *ego, double latOffset, double minPos=0, bool allowCached=true) const
Returns the last vehicles on the lane.
bool isLinkEnd(std::vector< MSLink * >::const_iterator &i) const
bool allowsVehicleClass(SUMOVehicleClass vclass) const
virtual double setPartialOccupation(MSVehicle *v)
Sets the information about a vehicle lapping into this lane.
double getVehicleMaxSpeed(const SUMOTrafficObject *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
double getRightSideOnEdge() const
bool hasPedestrians() const
whether the lane has pedestrians on it
int getIndex() const
Returns the lane's index.
MSLane * getCanonicalSuccessorLane() const
const std::vector< IncomingLaneInfo > & getIncomingLanes() const
double getOppositePos(double pos) const
return the corresponding position on the opposite lane
MSLane * getLogicalPredecessorLane() const
get the most likely precedecessor lane (sorted using by_connections_to_sorter). The result is cached ...
double getCenterOnEdge() const
MSVehicle * getLastAnyVehicle() const
returns the last vehicle that is fully or partially on this lane
MSEdge & getEdge() const
Returns the lane's edge.
virtual void resetPartialOccupation(MSVehicle *v)
Removes the information about a vehicle lapping into this lane.
MSLane * getOpposite() const
return the neighboring opposite direction lane for lane changing or nullptr
virtual void releaseVehicles() const
Allows to use the container for microsimulation again.
bool mustCheckJunctionCollisions() const
whether this lane must check for junction collisions
double interpolateLanePosToGeometryPos(double lanePos) const
MSLane * getBidiLane() const
retrieve bidirectional lane or nullptr
std::pair< MSVehicle *const, double > getLeaderOnConsecutive(double dist, double seen, double speed, const MSVehicle &veh, const std::vector< MSLane * > &bestLaneConts) const
Returns the immediate leader and the distance to him.
MSLane * getParallelOpposite() const
return the opposite direction lane of this lanes edge or nullptr
double getSpaceTillLastStanding(const MSVehicle *ego, bool &foundStopped) const
return the empty space up to the last standing vehicle or the empty space on the whole lane if no veh...
const MSLane * getNormalPredecessorLane() const
get normal lane leading to this internal lane, for normal lanes, the lane itself is returned
const std::vector< MSMoveReminder * > & getMoveReminders() const
Return the list of this lane's move reminders.
MSLeaderDistanceInfo getFollowersOnConsecutive(const MSVehicle *ego, double backOffset, bool allSublanes, double searchDist=-1, MinorLinkMode mLinkMode=FOLLOW_ALWAYS) const
return the sublane followers with the largest missing rear gap among all predecessor lanes (within di...
double getWidth() const
Returns the lane's width.
MSVehicle * getFirstFullVehicle() const
returns the first vehicle for which this lane is responsible or 0
const Position geometryPositionAtOffset(double offset, double lateralOffset=0) const
virtual const PositionVector & getShape(bool) const
static CollisionAction getCollisionAction()
saves leader/follower vehicles and their distances relative to an ego vehicle
virtual std::string toString() const
print a debugging representation
void fixOppositeGaps(bool isFollower)
subtract vehicle length from all gaps if the leader vehicle is driving in the opposite direction
virtual int addLeader(const MSVehicle *veh, double gap, double latOffset=0, int sublane=-1)
void setSublaneOffset(int offset)
set number of sublanes by which to shift positions
void removeOpposite(const MSLane *lane)
remove vehicles that are driving in the opposite direction (fully or partially) on the given lane
virtual int addLeader(const MSVehicle *veh, bool beyond, double latOffset=0.)
virtual std::string toString() const
print a debugging representation
virtual void clear()
discard all information
int getSublaneOffset() const
void getSubLanes(const MSVehicle *veh, double latOffset, int &rightmost, int &leftmost) const
bool fromInternalLane() const
return whether the fromLane of this link is an internal lane
bool isIndirect() const
whether this link is the start of an indirect turn
LinkState getState() const
Returns the current state of the link.
MSLane * getViaLane() const
Returns the following inner lane.
void setApproaching(const SUMOVehicle *approaching, const SUMOTime arrivalTime, const double arrivalSpeed, const double leaveSpeed, const bool setRequest, const double arrivalSpeedBraking, const SUMOTime waitingTime, double dist, double latOffset)
Sets the information about an approaching vehicle.
SUMOTime getLastStateChange() const
MSLane * getLane() const
Returns the connected lane.
MSLane * getViaLaneOrLane() const
return the via lane if it exists and the lane otherwise
bool opened(SUMOTime arrivalTime, double arrivalSpeed, double leaveSpeed, double vehicleLength, double impatience, double decel, SUMOTime waitingTime, double posLat=0, BlockingFoes *collectFoes=nullptr, bool ignoreRed=false, const SUMOTrafficObject *ego=nullptr, double dist=-1) const
Returns the information whether the link may be passed.
bool isConflictEntryLink() const
return whether this link enters the conflict area (not a continuation link)
int getIndex() const
Returns the respond index (for visualization)
bool havePriority() const
Returns whether this link is a major link.
const LinkLeaders getLeaderInfo(const MSVehicle *ego, double dist, std::vector< const MSPerson * > *collectBlockers=0, bool isShadowLink=false) const
Returns all potential link leaders (vehicles on foeLanes) Valid during the planMove() phase.
bool isEntryLink() const
return whether the toLane of this link is an internal lane and fromLane is a normal lane
const MSLane * getLaneBefore() const
return the internalLaneBefore if it exists and the laneBefore otherwise
bool isInternalJunctionLink() const
return whether the fromLane and the toLane of this link are internal lanes
bool isExitLink() const
return whether the fromLane of this link is an internal lane and toLane is a normal lane
std::vector< LinkLeader > LinkLeaders
std::string getDescription() const
get string description for this link
bool hasFoes() const
Returns whether this link belongs to a junction where more than one edge is incoming.
const MSLink * getCorrespondingEntryLink() const
returns the corresponding entry link for exitLinks to a junction.
void removeApproaching(const SUMOVehicle *veh)
removes the vehicle from myApproachingVehicles
bool isExitLinkAfterInternalJunction() const
return whether the fromLane of this link is an internal lane and its incoming lane is also an interna...
MSLink * getParallelLink(int direction) const
return the link that is parallel to this lane or 0
std::vector< const SUMOTrafficObject * > BlockingFoes
double getLateralShift() const
return lateral shift that must be applied when passing this link
const MSTrafficLightLogic * getTLLogic() const
Returns the TLS index.
double getFoeVisibilityDistance() const
Returns the distance on the approaching lane from which an approaching vehicle is able to see all rel...
bool lastWasContMajor() const
whether this is a link past an internal junction which currently has priority
MSJunction * getJunction() const
double getZipperSpeed(const MSVehicle *ego, const double dist, double vSafe, SUMOTime arrivalTime, const BlockingFoes *foes) const
return the speed at which ego vehicle must approach the zipper link
MSLink * getOppositeDirectionLink() const
return the link that is the opposite entry link to this one
LinkDirection getDirection() const
Returns the direction the vehicle passing this link take.
bool keepClear() const
whether the junction after this link must be kept clear
const MSLane * getInternalLaneBefore() const
return myInternalLaneBefore (always 0 when compiled without internal lanes)
bool haveRed() const
Returns whether this link is blocked by a red (or redyellow) traffic light.
Something on a lane to be noticed about vehicle movement.
Notification
Definition of a vehicle state.
@ NOTIFICATION_TELEPORT_ARRIVED
The vehicle was teleported out of the net.
@ NOTIFICATION_PARKING_REROUTE
The vehicle needs another parking area.
@ NOTIFICATION_DEPARTED
The vehicle has departed (was inserted into the network)
@ NOTIFICATION_LANE_CHANGE
The vehicle changes lanes (micro only)
@ NOTIFICATION_VAPORIZED_VAPORIZER
The vehicle got vaporized with a vaporizer.
@ NOTIFICATION_JUNCTION
The vehicle arrived at a junction.
@ NOTIFICATION_PARKING
The vehicle starts or ends parking.
@ NOTIFICATION_VAPORIZED_COLLISION
The vehicle got removed by a collision.
@ NOTIFICATION_LOAD_STATE
The vehicle has been loaded from a state file.
@ NOTIFICATION_TELEPORT
The vehicle is being teleported.
@ NOTIFICATION_TELEPORT_CONTINUATION
The vehicle continues being teleported past an edge.
Interface for objects listening to vehicle state changes.
The simulated network and simulation perfomer.
void removeVehicleStateListener(VehicleStateListener *listener)
Removes a vehicle states listener.
VehicleState
Definition of a vehicle state.
@ STARTING_STOP
The vehicles starts to stop.
@ STARTING_PARKING
The vehicles starts to park.
@ STARTING_TELEPORT
The vehicle started to teleport.
@ ENDING_STOP
The vehicle ends to stop.
@ ARRIVED
The vehicle arrived at his destination (is deleted)
@ EMERGENCYSTOP
The vehicle had to brake harder than permitted.
@ MANEUVERING
Vehicle maneuvering either entering or exiting a parking space.
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
virtual MSTransportableControl & getContainerControl()
Returns the container control.
MSVehicleControl & getVehicleControl()
Returns the vehicle control.
std::string getStoppingPlaceID(const MSLane *lane, const double pos, const SumoXMLTag category) const
Returns the stop of the given category close to the given position.
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
static bool hasInstance()
Returns whether the network was already constructed.
MSStoppingPlace * getStoppingPlace(const std::string &id, const SumoXMLTag category) const
Returns the named stopping place of the given category.
void addVehicleStateListener(VehicleStateListener *listener)
Adds a vehicle states listener.
MSEdgeControl & getEdgeControl()
Returns the edge control.
bool hasContainers() const
Returns whether containers are simulated.
MSInsertionControl & getInsertionControl()
Returns the insertion control.
void informVehicleStateListener(const SUMOVehicle *const vehicle, VehicleState to, const std::string &info="")
Informs all added listeners about a vehicle's state change.
bool hasPersons() const
Returns whether persons are simulated.
virtual MSTransportableControl & getPersonControl()
Returns the person control.
static const double SAFETY_GAP
A lane area vehicles can halt at.
void leaveFrom(SUMOVehicle *what)
Called if a vehicle leaves this stop.
int getCapacity() const
Returns the area capacity.
void enter(SUMOVehicle *veh)
Called if a vehicle enters this stop.
int getLotIndex(const SUMOVehicle *veh) const
compute lot for this vehicle
int getLastFreeLotAngle() const
Return the angle of myLastFreeLot - the next parking lot only expected to be called after we have est...
bool parkOnRoad() const
whether vehicles park on the road
int getOccupancyIncludingBlocked() const
Returns the area occupancy.
double getLastFreePosWithReservation(SUMOTime t, const SUMOVehicle &forVehicle, double brakePos)
Returns the last free position on this stop including reservations from the current lane and time ste...
double getLastFreeLotGUIAngle() const
Return the GUI angle of myLastFreeLot - the angle the GUI uses to rotate into the next parking lot as...
int getManoeuverAngle(const SUMOVehicle &forVehicle) const
Return the manoeuver angle of the lot where the vehicle is parked.
int getOccupancy() const
Returns the area occupancy.
double getGUIAngle(const SUMOVehicle &forVehicle) const
Return the GUI angle of the lot where the vehicle is parked.
const MSEdge * getLastEdge() const
returns the destination edge
MSRouteIterator begin() const
Returns the begin of the list of edges to pass.
const ConstMSEdgeVector & getEdges() const
const MSLane * lane
The lane to stop at (microsim only)
bool triggered
whether an arriving person lets the vehicle continue
bool containerTriggered
whether an arriving container lets the vehicle continue
SUMOTime timeToLoadNextContainer
The time at which the vehicle is able to load another container.
MSStoppingPlace * containerstop
(Optional) container stop if one is assigned to the stop
double getSpeed() const
return speed for passing waypoint / skipping on-demand stop
bool joinTriggered
whether coupling another vehicle (train) the vehicle continue
bool isOpposite
whether this an opposite-direction stop
SUMOTime getMinDuration(SUMOTime time) const
return minimum stop duration when starting stop at time
int numExpectedContainer
The number of still expected containers.
bool reached
Information whether the stop has been reached.
MSRouteIterator edge
The edge in the route to stop at.
SUMOTime timeToBoardNextPerson
The time at which the vehicle is able to board another person.
bool skipOnDemand
whether the decision to skip this stop has been made
const MSEdge * getEdge() const
double getReachedThreshold() const
return startPos taking into account opposite stopping
SUMOTime endBoarding
the maximum time at which persons may board this vehicle
double getEndPos(const SUMOVehicle &veh) const
return halting position for upcoming stop;
int numExpectedPerson
The number of still expected persons.
MSParkingArea * parkingarea
(Optional) parkingArea if one is assigned to the stop
bool startedFromState
whether the 'started' value was loaded from simulaton state
MSStoppingPlace * chargingStation
(Optional) charging station if one is assigned to the stop
SUMOTime duration
The stopping duration.
SUMOTime getUntil() const
return until / ended time
const SUMOVehicleParameter::Stop pars
The stop parameter.
MSStoppingPlace * busstop
(Optional) bus stop if one is assigned to the stop
static MSStopOut * getInstance()
void stopStarted(const SUMOVehicle *veh, int numPersons, int numContainers, SUMOTime time)
void stopEnded(const SUMOVehicle *veh, const SUMOVehicleParameter::Stop &stop, const std::string &laneOrEdgeID, bool simEnd=false)
double getBeginLanePosition() const
Returns the begin position of this stop.
bool fits(double pos, const SUMOVehicle &veh) const
return whether the given vehicle fits at the given position
double getEndLanePosition() const
Returns the end position of this stop.
void enter(SUMOVehicle *veh, bool parking)
Called if a vehicle enters this stop.
const MSLane & getLane() const
Returns the lane this stop is located at.
void leaveFrom(SUMOVehicle *what)
Called if a vehicle leaves this stop.
bool hasAnyWaiting(const MSEdge *edge, SUMOVehicle *vehicle) const
check whether any transportables are waiting for the given vehicle
bool loadAnyWaiting(const MSEdge *edge, SUMOVehicle *vehicle, SUMOTime &timeToLoadNext, SUMOTime &stopDuration, MSTransportable *const force=nullptr)
load any applicable transportables Loads any person / container that is waiting on that edge for the ...
bool isPerson() const
Whether it is a person.
A static instance of this class in GapControlState deactivates gap control for vehicles whose referen...
void vehicleStateChanged(const SUMOVehicle *const vehicle, MSNet::VehicleState to, const std::string &info="")
Called if a vehicle changes its state.
Changes the wished vehicle speed / lanes.
void setLaneChangeMode(int value)
Sets lane changing behavior.
TraciLaneChangePriority myTraciLaneChangePriority
flags for determining the priority of traci lane change requests
bool getEmergencyBrakeRedLight() const
Returns whether red lights shall be a reason to brake.
SUMOTime getLaneTimeLineEnd()
void adaptLaneTimeLine(int indexShift)
Adapts lane timeline when moving to a new lane and the lane index changes.
void setRemoteControlled(Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
bool isRemoteAffected(SUMOTime t) const
int getSpeedMode() const
return the current speed mode
void deactivateGapController()
Deactivates the gap control.
void setSpeedMode(int speedMode)
Sets speed-constraining behaviors.
std::shared_ptr< GapControlState > myGapControlState
The gap control state.
bool considerSafeVelocity() const
Returns whether safe velocities shall be considered.
bool myConsiderMaxDeceleration
Whether the maximum deceleration shall be regarded.
void setLaneTimeLine(const std::vector< std::pair< SUMOTime, int > > &laneTimeLine)
Sets a new lane timeline.
bool myRespectJunctionLeaderPriority
Whether the junction priority rules are respected (within)
void setOriginalSpeed(double speed)
Stores the originally longitudinal speed.
double myOriginalSpeed
The velocity before influence.
double implicitDeltaPosRemote(const MSVehicle *veh)
return the change in longitudinal position that is implicit in the new remote position
double implicitSpeedRemote(const MSVehicle *veh, double oldSpeed)
return the speed that is implicit in the new remote position
void postProcessRemoteControl(MSVehicle *v)
update position from remote control
double gapControlSpeed(SUMOTime currentTime, const SUMOVehicle *veh, double speed, double vSafe, double vMin, double vMax)
Applies gap control logic on the speed.
void setSublaneChange(double latDist)
Sets a new sublane-change request.
double getOriginalSpeed() const
Returns the originally longitudinal speed to use.
SUMOTime myLastRemoteAccess
bool getRespectJunctionLeaderPriority() const
Returns whether junction priority rules within the junction shall be respected (concerns vehicles wit...
LaneChangeMode myStrategicLC
lane changing which is necessary to follow the current route
LaneChangeMode mySpeedGainLC
lane changing to travel with higher speed
static void init()
Static initalization.
LaneChangeMode mySublaneLC
changing to the prefered lateral alignment
bool getRespectJunctionPriority() const
Returns whether junction priority rules shall be respected (concerns approaching vehicles outside the...
static void cleanup()
Static cleanup.
int getLaneChangeMode() const
return the current lane change mode
SUMOTime getLaneTimeLineDuration()
double influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax)
Applies stored velocity information on the speed to use.
double changeRequestRemainingSeconds(const SUMOTime currentTime) const
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
bool myConsiderSafeVelocity
Whether the safe velocity shall be regarded.
bool mySpeedAdaptationStarted
Whether influencing the speed has already started.
void setSignals(int signals)
double myLatDist
The requested lateral change.
bool myEmergencyBrakeRedLight
Whether red lights are a reason to brake.
LaneChangeMode myRightDriveLC
changing to the rightmost lane
void setSpeedTimeLine(const std::vector< std::pair< SUMOTime, double > > &speedTimeLine)
Sets a new velocity timeline.
void updateRemoteControlRoute(MSVehicle *v)
update route if provided by remote control
SUMOTime getLastAccessTimeStep() const
bool myConsiderMaxAcceleration
Whether the maximum acceleration shall be regarded.
LaneChangeMode myCooperativeLC
lane changing with the intent to help other vehicles
bool isRemoteControlled() const
bool myRespectJunctionPriority
Whether the junction priority rules are respected (approaching)
int influenceChangeDecision(const SUMOTime currentTime, const MSEdge ¤tEdge, const int currentLaneIndex, int state)
Applies stored LaneChangeMode information and laneTimeLine.
void activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle *refVeh=nullptr)
Activates the gap control with the given parameters,.
Container for manouevering time associated with stopping.
SUMOTime myManoeuvreCompleteTime
Time at which this manoeuvre should complete.
MSVehicle::ManoeuvreType getManoeuvreType() const
Accessor (get) for manoeuvre type.
std::string myManoeuvreStop
The name of the stop associated with the Manoeuvre - for debug output.
bool manoeuvreIsComplete() const
Check if any manoeuver is ongoing and whether the completion time is beyond currentTime.
bool configureExitManoeuvre(MSVehicle *veh)
Setup the myManoeuvre for exiting (Sets completion time and manoeuvre type)
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
Accessor (set) for manoeuvre type.
Manoeuvre & operator=(const Manoeuvre &manoeuvre)
Assignment operator.
ManoeuvreType myManoeuvreType
Manoeuvre type - currently entry, exit or none.
double getGUIIncrement() const
Accessor for GUI rotation step when parking (radians)
SUMOTime myManoeuvreStartTime
Time at which the Manoeuvre for this stop started.
bool operator!=(const Manoeuvre &manoeuvre)
Operator !=.
bool entryManoeuvreIsComplete(MSVehicle *veh)
Configure an entry manoeuvre if nothing is configured - otherwise check if complete.
bool manoeuvreIsComplete(const ManoeuvreType checkType) const
Check if specific manoeuver is ongoing and whether the completion time is beyond currentTime.
bool configureEntryManoeuvre(MSVehicle *veh)
Setup the entry manoeuvre for this vehicle (Sets completion time and manoeuvre type)
Container that holds the vehicles driving state (position+speed).
double myPosLat
the stored lateral position
State(double pos, double speed, double posLat, double backPos, double previousSpeed)
Constructor.
double myPreviousSpeed
the speed at the begin of the previous time step
double myPos
the stored position
bool operator!=(const State &state)
Operator !=.
double mySpeed
the stored speed (should be >=0 at any time)
State & operator=(const State &state)
Assignment operator.
double pos() const
Position of this state.
double myBackPos
the stored back position
void passTime(SUMOTime dt, bool waiting)
const std::string getState() const
SUMOTime cumulatedWaitingTime(SUMOTime memory=-1) const
void setState(const std::string &state)
WaitingTimeCollector(SUMOTime memory=MSGlobals::gWaitingTimeMemory)
Constructor.
void registerEmergencyStop()
register emergency stop
SUMOVehicle * getVehicle(const std::string &id) const
Returns the vehicle with the given id.
void registerStopEnded()
register emergency stop
void registerEmergencyBraking()
register emergency stop
void removeVType(const MSVehicleType *vehType)
void registerOneWaiting()
increases the count of vehicles waiting for a transport to allow recognition of person / container re...
void unregisterOneWaiting()
decreases the count of vehicles waiting for a transport to allow recognition of person / container re...
void registerStopStarted()
register emergency stop
Abstract in-vehicle device.
Representation of a vehicle in the micro simulation.
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
accessor function to myManoeuvre equivalent
TraciLaneChangePriority
modes for prioritizing traci lane change requests
double getRightSideOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
bool wasRemoteControlled(SUMOTime lookBack=DELTA_T) const
Returns the information whether the vehicle is fully controlled via TraCI within the lookBack time.
void processLinkApproaches(double &vSafe, double &vSafeMin, double &vSafeMinDist)
This method iterates through the driveprocess items for the vehicle and adapts the given in/out param...
const MSLane * getPreviousLane(const MSLane *current, int &furtherIndex) const
void checkLinkLeader(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest, bool isShadowLink=false) const
checks for link leaders on the given link
void checkRewindLinkLanes(const double lengthsInFront, DriveItemVector &lfLinks) const
runs heuristic for keeping the intersection clear in case of downstream jamming
bool willStop() const
Returns whether the vehicle will stop on the current edge.
bool hasDriverState() const
Whether this vehicle is equipped with a MSDriverState.
static int nextLinkPriority(const std::vector< MSLane * > &conts)
get a numerical value for the priority of the upcoming link
double getTimeGapOnLane() const
Returns the time gap in seconds to the leader of the vehicle on the same lane.
void updateBestLanes(bool forceRebuild=false, const MSLane *startLane=0)
computes the best lanes to use in order to continue the route
bool myAmIdling
Whether the vehicle is trying to enter the network (eg after parking so engine is running)
SUMOTime myWaitingTime
The time the vehicle waits (is not faster than 0.1m/s) in seconds.
double getStopDelay() const
Returns the public transport stop delay in seconds.
double computeAngle() const
compute the current vehicle angle
double myTimeLoss
the time loss in seconds due to driving with less than maximum speed
SUMOTime myLastActionTime
Action offset (actions are taken at time myActionOffset + N*getActionStepLength()) Initialized to 0,...
ConstMSEdgeVector::const_iterator getRerouteOrigin() const
Returns the starting point for reroutes (usually the current edge)
bool hasArrivedInternal(bool oppositeTransformed=true) const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge) metho...
double getFriction() const
Returns the current friction on the road as perceived by the friction device.
bool ignoreFoe(const SUMOTrafficObject *foe) const
decide whether a given foe object may be ignored
void boardTransportables(MSStop &stop)
board persons and load transportables at the given stop
const std::vector< const MSLane * > getUpcomingLanesUntil(double distance) const
Returns the upcoming (best followed by default 0) sequence of lanes to continue the route starting at...
bool isOnRoad() const
Returns the information whether the vehicle is on a road (is simulated)
void adaptLaneEntering2MoveReminder(const MSLane &enteredLane)
Adapts the vehicle's entering of a new lane.
void addTransportable(MSTransportable *transportable)
Adds a person or container to this vehicle.
SUMOTime myJunctionConflictEntryTime
double getLeftSideOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
PositionVector getBoundingPoly(double offset=0) const
get bounding polygon
void setTentativeLaneAndPosition(MSLane *lane, double pos, double posLat=0)
set tentative lane and position during insertion to ensure that all cfmodels work (some of them requi...
bool brakeForOverlap(const MSLink *link, const MSLane *lane) const
handle with transitions
const std::vector< MSLane * > & getFurtherLanes() const
void workOnMoveReminders(double oldPos, double newPos, double newSpeed)
Processes active move reminder.
bool isStoppedOnLane() const
double getDistanceToPosition(double destPos, const MSLane *destLane) const
bool brokeDown() const
Returns how long the vehicle has been stopped already due to lack of energy.
double myAcceleration
The current acceleration after dawdling in m/s.
void registerInsertionApproach(MSLink *link, double dist)
register approach on insertion
void cleanupFurtherLanes()
remove vehicle from further lanes (on leaving the network)
void adaptToLeaders(const MSLeaderInfo &ahead, double latOffset, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass) const
static bool betterContinuation(const LaneQ *bestConnectedNext, const LaneQ &m)
comparison between different continuations from the same lane
const MSLane * getBackLane() const
void enterLaneAtInsertion(MSLane *enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification)
Update when the vehicle enters a new lane in the emit step.
double getBackPositionOnLane() const
Get the vehicle's position relative to its current lane.
void setPreviousSpeed(double prevSpeed, double prevAcceleration)
Sets the influenced previous speed.
SUMOTime getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const
double getAccumulatedWaitingSeconds() const
Returns the number of seconds waited (speed was lesser than 0.1m/s) within the last millisecs.
SUMOTime getWaitingTime(const bool accumulated=false) const
Returns the SUMOTime waited (speed was lesser than 0.1m/s)
bool isFrontOnLane(const MSLane *lane) const
Returns the information whether the front of the vehicle is on the given lane.
virtual ~MSVehicle()
Destructor.
void processLaneAdvances(std::vector< MSLane * > &passedLanes, std::string &emergencyReason)
This method checks if the vehicle has advanced over one or several lanes along its route and triggers...
MSAbstractLaneChangeModel & getLaneChangeModel()
void setEmergencyBlueLight(SUMOTime currentTime)
sets the blue flashing light for emergency vehicles
bool isActionStep(SUMOTime t) const
Returns whether the next simulation step will be an action point for the vehicle.
MSAbstractLaneChangeModel * myLaneChangeModel
Position getPositionAlongBestLanes(double offset) const
Return the (x,y)-position, which the vehicle would reach if it continued along its best continuation ...
bool hasValidRouteStart(std::string &msg)
checks wether the vehicle can depart on the first edge
double getLeftSideOnLane() const
Get the lateral position of the vehicles left side on the lane:
std::vector< MSLane * > myFurtherLanes
The information into which lanes the vehicle laps into.
bool signalSet(int which) const
Returns whether the given signal is on.
MSLane * getMutableLane() const
Returns the lane the vehicle is on Non const version indicates that something volatile is going on.
MSCFModel::VehicleVariables * myCFVariables
The per vehicle variables of the car following model.
bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string &errorMsg)
void checkLinkLeaderCurrentAndParallel(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest) const
checks for link leaders of the current link as well as the parallel link (if there is one)
void planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector &lfLinks, double &myStopDist, std::pair< double, const MSLink * > &myNextTurn) const
std::pair< double, const MSLink * > myNextTurn
the upcoming turn for the vehicle
double getDistanceToLeaveJunction() const
get the distance from the start of this lane to the start of the next normal lane (or 0 if this lane ...
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
double getMaxSpeedOnLane() const
Returns the maximal speed for the vehicle on its current lane (including speed factor and deviation,...
bool isRemoteControlled() const
Returns the information whether the vehicle is fully controlled via TraCI.
bool myAmOnNet
Whether the vehicle is on the network (not parking, teleported, vaporized, or arrived)
void enterLaneAtMove(MSLane *enteredLane, bool onTeleporting=false)
Update when the vehicle enters a new lane in the move step.
void adaptBestLanesOccupation(int laneIndex, double density)
update occupation from MSLaneChanger
std::pair< double, double > estimateTimeToNextStop() const
return time (s) and distance to the next stop
double accelThresholdForWaiting() const
maximum acceleration to consider a vehicle as 'waiting' at low speed
void setAngle(double angle, bool straightenFurther=false)
Set a custom vehicle angle in rad, optionally updates furtherLanePosLat.
std::vector< LaneQ >::iterator myCurrentLaneInBestLanes
double getDeltaPos(const double accel) const
calculates the distance covered in the next integration step given an acceleration and assuming the c...
const MSLane * myLastBestLanesInternalLane
void updateOccupancyAndCurrentBestLane(const MSLane *startLane)
updates LaneQ::nextOccupation and myCurrentLaneInBestLanes
const std::vector< MSLane * > getUpstreamOppositeLanes() const
Returns the sequence of opposite lanes corresponding to past lanes.
WaitingTimeCollector myWaitingTimeCollector
void setRemoteState(Position xyPos)
sets position outside the road network
void fixPosition()
repair errors in vehicle position after changing between internal edges
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
double getSpeedWithoutTraciInfluence() const
Returns the uninfluenced velocity.
PositionVector getBoundingBox(double offset=0) const
get bounding rectangle
ManoeuvreType
flag identifying which, if any, manoeuvre is in progress
@ MANOEUVRE_ENTRY
Manoeuvre into stopping place.
@ MANOEUVRE_NONE
not manouevring
@ MANOEUVRE_EXIT
Manoeuvre out of stopping place.
const MSEdge * getNextEdgePtr() const
returns the next edge (possibly an internal edge)
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
void setBrakingSignals(double vNext)
sets the braking lights on/off
const std::vector< MSLane * > & getBestLanesContinuation() const
Returns the best sequence of lanes to continue the route starting at myLane.
const MSEdge * myLastBestLanesEdge
bool ignoreCollision() const
whether this vehicle is except from collision checks
Influencer * myInfluencer
An instance of a velocity/lane influencing instance; built in "getInfluencer".
void saveState(OutputDevice &out)
Saves the states of a vehicle.
void onRemovalFromNet(const MSMoveReminder::Notification reason)
Called when the vehicle is removed from the network.
void planMove(const SUMOTime t, const MSLeaderInfo &ahead, const double lengthsInFront)
Compute safe velocities for the upcoming lanes based on positions and speeds from the last time step....
bool resumeFromStopping()
int getBestLaneOffset() const
void adaptToJunctionLeader(const std::pair< const MSVehicle *, double > leaderInfo, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass, double distToCrossing=-1) const
double lateralDistanceToLane(const int offset) const
Get the minimal lateral distance required to move fully onto the lane at given offset.
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
void resetActionOffset(const SUMOTime timeUntilNextAction=0)
Resets the action offset for the vehicle.
std::vector< DriveProcessItem > DriveItemVector
Container for used Links/visited Lanes during planMove() and executeMove.
void interpolateLateralZ(Position &pos, double offset, double posLat) const
perform lateral z interpolation in elevated networks
void setBlinkerInformation()
sets the blue flashing light for emergency vehicles
const MSEdge * getCurrentEdge() const
Returns the edge the vehicle is currently at (possibly an internal edge or nullptr)
void adaptToLeaderDistance(const MSLeaderDistanceInfo &ahead, double latOffset, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
DriveItemVector::iterator myNextDriveItem
iterator pointing to the next item in myLFLinkLanes
void leaveLane(const MSMoveReminder::Notification reason, const MSLane *approachedLane=0)
Update of members if vehicle leaves a new lane in the lane change step or at arrival.
bool isIdling() const
Returns whether a sim vehicle is waiting to enter a lane (after parking has completed)
std::shared_ptr< MSSimpleDriverState > getDriverState() const
Returns the vehicle driver's state.
void removeApproachingInformation(const DriveItemVector &lfLinks) const
unregister approach from all upcoming links
void replaceVehicleType(MSVehicleType *type)
Replaces the current vehicle type by the one given.
SUMOTime myJunctionEntryTimeNeverYield
double getLatOffset(const MSLane *lane) const
Get the offset that that must be added to interpret myState.myPosLat for the given lane.
bool rerouteParkingArea(const std::string &parkingAreaID, std::string &errorMsg)
bool hasArrived() const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge)
void switchOffSignal(int signal)
Switches the given signal off.
void updateState(double vNext)
updates the vehicles state, given a next value for its speed. This value can be negative in case of t...
double getStopArrivalDelay() const
Returns the estimated public transport stop arrival delay in seconds.
int mySignals
State of things of the vehicle that can be on or off.
bool setExitManoeuvre()
accessor function to myManoeuvre equivalent
bool isOppositeLane(const MSLane *lane) const
whether the give lane is reverse direction of the current route or not
double myStopDist
distance to the next stop or doubleMax if there is none
Signalling
Some boolean values which describe the state of some vehicle parts.
@ VEH_SIGNAL_BLINKER_RIGHT
Right blinker lights are switched on.
@ VEH_SIGNAL_BRAKELIGHT
The brake lights are on.
@ VEH_SIGNAL_EMERGENCY_BLUE
A blue emergency light is on.
@ VEH_SIGNAL_BLINKER_LEFT
Left blinker lights are switched on.
SUMOTime getActionStepLength() const
Returns the vehicle's action step length in millisecs, i.e. the interval between two action points.
bool myHaveToWaitOnNextLink
SUMOTime collisionStopTime() const
Returns the remaining time a vehicle needs to stop due to a collision. A negative value indicates tha...
const std::vector< const MSLane * > getPastLanesUntil(double distance) const
Returns the sequence of past lanes (right-most on edge) based on the route starting at the current la...
double getBestLaneDist() const
returns the distance that can be driven without lane change
std::pair< const MSVehicle *const, double > getLeader(double dist=0) const
Returns the leader of the vehicle looking for a fixed distance.
double slowDownForSchedule(double vMinComfortable) const
optionally return an upper bound on speed to stay within the schedule
bool executeMove()
Executes planned vehicle movements with regards to right-of-way.
std::pair< const MSVehicle *const, double > getFollower(double dist=0) const
Returns the follower of the vehicle looking for a fixed distance.
ChangeRequest
Requests set via TraCI.
@ REQUEST_HOLD
vehicle want's to keep the current lane
@ REQUEST_LEFT
vehicle want's to change to left lane
@ REQUEST_NONE
vehicle doesn't want to change
@ REQUEST_RIGHT
vehicle want's to change to right lane
bool isLeader(const MSLink *link, const MSVehicle *veh, const double gap) const
whether the given vehicle must be followed at the given junction
void computeFurtherLanes(MSLane *enteredLane, double pos, bool collision=false)
updates myFurtherLanes on lane insertion or after collision
std::pair< const MSLane *, double > getLanePosAfterDist(double distance) const
return lane and position along bestlanes at the given distance
SUMOTime myCollisionImmunity
amount of time for which the vehicle is immune from collisions
bool passingMinor() const
decide whether the vehicle is passing a minor link or has comitted to do so
void updateWaitingTime(double vNext)
Updates the vehicle's waiting time counters (accumulated and consecutive)
void enterLaneAtLaneChange(MSLane *enteredLane)
Update when the vehicle enters a new lane in the laneChange step.
BaseInfluencer & getBaseInfluencer()
Returns the velocity/lane influencer.
Influencer & getInfluencer()
bool isBidiOn(const MSLane *lane) const
whether this vehicle is driving against lane
double getRightSideOnLane() const
Get the lateral position of the vehicles right side on the lane:
bool unsafeLinkAhead(const MSLane *lane) const
whether the vehicle may safely move to the given lane with regard to upcoming links
double getCurrentApparentDecel() const
get apparent deceleration based on vType parameters and current acceleration
double updateFurtherLanes(std::vector< MSLane * > &furtherLanes, std::vector< double > &furtherLanesPosLat, const std::vector< MSLane * > &passedLanes)
update a vector of further lanes and return the new backPos
DriveItemVector myLFLinkLanesPrev
planned speeds from the previous step for un-registering from junctions after the new container is fi...
std::vector< std::vector< LaneQ > > myBestLanes
void setActionStepLength(double actionStepLength, bool resetActionOffset=true)
Sets the action steplength of the vehicle.
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
double getSlope() const
Returns the slope of the road at vehicle's position in degrees.
bool myActionStep
The flag myActionStep indicates whether the current time step is an action point for the vehicle.
const Position getBackPosition() const
void loadState(const SUMOSAXAttributes &attrs, const SUMOTime offset)
Loads the state of this vehicle from the given description.
SUMOTime myTimeSinceStartup
duration of driving (speed > SUMO_const_haltingSpeed) after the last halting episode
double getSpeed() const
Returns the vehicle's current speed.
void setApproachingForAllLinks(const SUMOTime t)
Register junction approaches for all link items in the current plan.
SUMOTime remainingStopDuration() const
Returns the remaining stop duration for a stopped vehicle or 0.
bool keepStopping(bool afterProcessing=false) const
Returns whether the vehicle is stopped and must continue to do so.
void workOnIdleReminders()
cycle through vehicle devices invoking notifyIdle
static std::vector< MSLane * > myEmptyLaneVector
Position myCachedPosition
bool replaceRoute(ConstMSRoutePtr route, const std::string &info, bool onInit=false, int offset=0, bool addStops=true, bool removeStops=true, std::string *msgReturn=nullptr)
Replaces the current route by the given one.
MSVehicle::ManoeuvreType getManoeuvreType() const
accessor function to myManoeuvre equivalent
double checkReversal(bool &canReverse, double speedThreshold=SUMO_const_haltingSpeed, double seen=0) const
void updateLaneBruttoSum()
Update the lane brutto occupancy after a change in minGap.
void removePassedDriveItems()
Erase passed drive items from myLFLinkLanes (and unregister approaching information for corresponding...
const std::vector< LaneQ > & getBestLanes() const
Returns the description of best lanes to use in order to continue the route.
std::vector< double > myFurtherLanesPosLat
lateral positions on further lanes
bool checkActionStep(const SUMOTime t)
Returns whether the vehicle is supposed to take action in the current simulation step Updates myActio...
Position validatePosition(Position result, double offset=0) const
ensure that a vehicle-relative position is not invalid
void loadPreviousApproaching(MSLink *link, bool setRequest, SUMOTime arrivalTime, double arrivalSpeed, double arrivalSpeedBraking, double dist, double leaveSpeed)
bool keepClear(const MSLink *link) const
decide whether the given link must be kept clear
bool manoeuvreIsComplete() const
accessor function to myManoeuvre equivalent
double processNextStop(double currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
double myAngle
the angle in radians (
bool ignoreRed(const MSLink *link, bool canBrake) const
decide whether a red (or yellow light) may be ignored
double getPositionOnLane() const
Get the vehicle's position along the lane.
const MSLane * getLane() const
Returns the lane the vehicle is on.
void updateTimeLoss(double vNext)
Updates the vehicle's time loss.
MSDevice_DriverState * myDriverState
This vehicle's driver state.
bool joinTrainPart(MSVehicle *veh)
try joining the given vehicle to the rear of this one (to resolve joinTriggered)
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
MSLane * myLane
The lane the vehicle is on.
bool onFurtherEdge(const MSEdge *edge) const
whether this vehicle has its back (and no its front) on the given edge
double processTraCISpeedControl(double vSafe, double vNext)
Check for speed advices from the traci client and adjust the speed vNext in the current (euler) / aft...
double getLateralOverlap() const
return the amount by which the vehicle extends laterally outside it's primary lane
double getAngle() const
Returns the vehicle's direction in radians.
bool handleCollisionStop(MSStop &stop, const double distToStop)
bool hasInfluencer() const
whether the vehicle is individually influenced (via TraCI or special parameters)
MSDevice_Friction * myFrictionDevice
This vehicle's friction perception.
double getPreviousSpeed() const
Returns the vehicle's speed before the previous time step.
MSVehicle()
invalidated default constructor
bool joinTrainPartFront(MSVehicle *veh)
try joining the given vehicle to the front of this one (to resolve joinTriggered)
void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength)
Process an updated action step length value (only affects the vehicle's action offset,...
double getBrakeGap(bool delayed=false) const
get distance for coming to a stop (used for rerouting checks)
void executeFractionalMove(double dist)
move vehicle forward by the given distance during insertion
LaneChangeMode
modes for resolving conflicts between external control (traci) and vehicle control over lane changing...
virtual void drawOutsideNetwork(bool)
register vehicle for drawing while outside the network
void adaptToOncomingLeader(const std::pair< const MSVehicle *, double > leaderInfo, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
State myState
This Vehicles driving state (pos and speed)
double getCenterOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
void adaptToLeader(const std::pair< const MSVehicle *, double > leaderInfo, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
void activateReminders(const MSMoveReminder::Notification reason, const MSLane *enteredLane=0)
"Activates" all current move reminder
void switchOnSignal(int signal)
Switches the given signal on.
static bool overlap(const MSVehicle *veh1, const MSVehicle *veh2)
void updateParkingState()
update state while parking
DriveItemVector myLFLinkLanes
container for the planned speeds in the current step
void updateDriveItems()
Check whether the drive items (myLFLinkLanes) are up to date, and update them if required.
SUMOTime myJunctionEntryTime
time at which the current junction was entered
static MSVehicleTransfer * getInstance()
Returns the instance of this object.
void remove(MSVehicle *veh)
Remove a vehicle from this transfer object.
The car-following model and parameter.
double getLengthWithGap() const
Get vehicle's length including the minimum gap [m].
double getWidth() const
Get the width which vehicles of this class shall have when being drawn.
SUMOVehicleClass getVehicleClass() const
Get this vehicle type's vehicle class.
double getMaxSpeed() const
Get vehicle's (technical) maximum speed [m/s].
double getMinGap() const
Get the free space in front of vehicles of this class.
LaneChangeModel getLaneChangeModel() const
void setLength(const double &length)
Set a new value for this type's length.
SUMOTime getExitManoeuvreTime(const int angle) const
Accessor function for parameter equivalent returning exit time for a specific manoeuver angle.
bool isVehicleSpecific() const
Returns whether this type belongs to a single vehicle only (was modified)
const std::string & getID() const
Returns the name of the vehicle type.
void setActionStepLength(const SUMOTime actionStepLength, bool resetActionOffset)
Set a new value for this type's action step length.
double getLength() const
Get vehicle's length [m].
SUMOVehicleShape getGuiShape() const
Get this vehicle type's shape.
const MSCFModel & getCarFollowModel() const
Returns the vehicle type's car following model definition (const version)
SUMOTime getEntryManoeuvreTime(const int angle) const
Accessor function for parameter equivalent returning entry time for a specific manoeuver angle.
const SUMOVTypeParameter & getParameter() const
static std::string getIDSecure(const T *obj, const std::string &fallBack="NULL")
get an identifier for Named-like object which may be Null
const std::string & getID() const
Returns the id.
Static storage of an output device and its base (abstract) implementation.
OutputDevice & writeAttr(const SumoXMLAttr attr, const T &val)
writes a named attribute
bool closeTag(const std::string &comment="")
Closes the most recently opened tag and optionally adds a comment.
bool hasParameter(const std::string &key) const
Returns whether the parameter is set.
virtual const std::string getParameter(const std::string &key, const std::string defaultValue="") const
Returns the value for a given key.
void writeParams(OutputDevice &device) const
write Params in the given outputdevice
A point in 2D or 3D with translation and scaling methods.
double slopeTo2D(const Position &other) const
returns the slope of the vector pointing from here to the other position (in radians between -M_PI an...
static const Position INVALID
used to indicate that a position is valid
double distanceTo2D(const Position &p2) const
returns the euclidean distance in the x-y-plane
void setz(double z)
set position z
double z() const
Returns the z-position.
double angleTo2D(const Position &other) const
returns the angle in the plane of the vector pointing from here to the other position (in radians bet...
double length2D() const
Returns the length.
void append(const PositionVector &v, double sameThreshold=2.0)
double rotationAtOffset(double pos) const
Returns the rotation at the given length.
Position positionAtOffset(double pos, double lateralOffset=0) const
Returns the position at the given length.
void move2side(double amount, double maxExtension=100)
move position vector to side using certain amount
double slopeDegreeAtOffset(double pos) const
Returns the slope at the given length.
void extrapolate2D(const double val, const bool onlyFirst=false)
extrapolate position vector in two dimensions (Z is ignored)
void scaleRelative(double factor)
enlarges/shrinks the polygon by a factor based at the centroid
PositionVector reverse() const
reverse position vector
static double rand(SumoRNG *rng=nullptr)
Returns a random real number in [0, 1)
virtual bool compute(const E *from, const E *to, const V *const vehicle, SUMOTime msTime, std::vector< const E * > &into, bool silent=false)=0
Builds the route between the given edges using the minimum effort at the given time The definition of...
virtual double recomputeCosts(const std::vector< const E * > &edges, const V *const v, SUMOTime msTime, double *lengthp=nullptr) const
Encapsulated SAX-Attributes.
virtual std::string getString(int id, bool *isPresent=nullptr) const =0
Returns the string-value of the named (by its enum-value) attribute.
virtual bool hasAttribute(int id) const =0
Returns the information whether the named (by its enum-value) attribute is within the current list.
double getFloat(int id) const
Returns the double-value of the named (by its enum-value) attribute.
Representation of a vehicle, person, or container.
virtual double getSpeed() const =0
Returns the object's current speed.
virtual const MSVehicleType & getVehicleType() const =0
Returns the object's "vehicle" type.
double speedFactorPremature
the possible speed reduction when a train is ahead of schedule
double getJMParam(const SumoXMLAttr attr, const double defaultValue) const
Returns the named value from the map, or the default if it is not contained there.
Representation of a vehicle.
Definition of vehicle stop (position and duration)
SUMOTime started
the time at which this stop was reached
ParkingType parking
whether the vehicle is removed from the net while stopping
SUMOTime extension
The maximum time extension for boarding / loading.
std::string split
the id of the vehicle (train portion) that splits of upon reaching this stop
double startPos
The stopping position start.
std::string line
the new line id of the trip within a cyclical public transport route
double posLat
the lateral offset when stopping
bool onDemand
whether the stop may be skipped
std::string join
the id of the vehicle (train portion) to which this vehicle shall be joined
SUMOTime until
The time at which the vehicle may continue its journey.
SUMOTime ended
the time at which this stop was ended
double endPos
The stopping position end.
SUMOTime waitUntil
The earliest pickup time for a taxi stop.
std::string tripId
id of the trip within a cyclical public transport route
bool collision
Whether this stop was triggered by a collision.
SUMOTime arrival
The (expected) time at which the vehicle reaches the stop.
SUMOTime duration
The stopping duration.
Structure representing possible vehicle parameter.
int parametersSet
Information for the router which parameter were set, TraCI may modify this (when changing color)
int departLane
(optional) The lane the vehicle shall depart from (index in edge)
ArrivalSpeedDefinition arrivalSpeedProcedure
Information how the vehicle's end speed shall be chosen.
double departSpeed
(optional) The initial speed of the vehicle
std::vector< std::string > via
List of the via-edges the vehicle must visit.
ArrivalLaneDefinition arrivalLaneProcedure
Information how the vehicle shall choose the lane to arrive on.
DepartLaneDefinition departLaneProcedure
Information how the vehicle shall choose the lane to depart from.
DepartSpeedDefinition departSpeedProcedure
Information how the vehicle's initial speed shall be chosen.
double arrivalPos
(optional) The position the vehicle shall arrive on
bool wasSet(int what) const
Returns whether the given parameter was set.
ArrivalPosDefinition arrivalPosProcedure
Information how the vehicle shall choose the arrival position.
double arrivalSpeed
(optional) The final speed of the vehicle (not used yet)
int arrivalEdge
(optional) The final edge within the route of the vehicle
DepartPosDefinition departPosProcedure
Information how the vehicle shall choose the departure position.
static SUMOTime processActionStepLength(double given)
Checks and converts given value for the action step length from seconds to miliseconds assuring it be...
NLOHMANN_BASIC_JSON_TPL_DECLARATION void swap(nlohmann::NLOHMANN_BASIC_JSON_TPL &j1, nlohmann::NLOHMANN_BASIC_JSON_TPL &j2) noexcept(//NOLINT(readability-inconsistent-declaration-parameter-name) is_nothrow_move_constructible< nlohmann::NLOHMANN_BASIC_JSON_TPL >::value &&//NOLINT(misc-redundant-expression) is_nothrow_move_assignable< nlohmann::NLOHMANN_BASIC_JSON_TPL >::value)
exchanges the values of two JSON objects
Drive process items represent bounds on the safe velocity corresponding to the upcoming links.
void adaptStopSpeed(const double v)
double getLeaveSpeed() const
void adaptLeaveSpeed(const double v)
static std::map< const MSVehicle *, GapControlState * > refVehMap
stores reference vehicles currently in use by a gapController
static GapControlVehStateListener vehStateListener
void activate(double tauOriginal, double tauTarget, double additionalGap, double duration, double changeRate, double maxDecel, const MSVehicle *refVeh)
Start gap control with given params.
static void cleanup()
Static cleanup (removes vehicle state listener)
virtual ~GapControlState()
void deactivate()
Stop gap control.
static void init()
Static initalization (adds vehicle state listener)
A structure representing the best lanes for continuing the current route starting at 'lane'.
double length
The overall length which may be driven when using this lane without a lane change.
bool allowsContinuation
Whether this lane allows to continue the drive.
double nextOccupation
As occupation, but without the first lane.
std::vector< MSLane * > bestContinuations
MSLane * lane
The described lane.
double currentLength
The length which may be driven on this lane.
int bestLaneOffset
The (signed) number of lanes to be crossed to get to the lane which allows to continue the drive.
double occupation
The overall vehicle sum on consecutive lanes which can be passed without a lane change.