34#define INVALID_SPEED 299792458 + 1
73 const std::pair<MSVehicle*, double>& leader,
74 const std::pair<MSVehicle*, double>& follower,
75 const std::pair<MSVehicle*, double>& neighLead,
76 const std::pair<MSVehicle*, double>& neighFollow,
78 const std::vector<MSVehicle::LaneQ>& preb,
94 double patchSpeed(
const double min,
const double wanted,
const double max,
110 std::string
getParameter(
const std::string& key)
const override;
113 void setParameter(
const std::string& key,
const std::string& value)
override;
116 double computeSpeedLat(
double latDist,
double& maneuverDist,
bool urgent)
const override;
121 double _patchSpeed(
double min,
const double wanted,
double max,
128 const std::pair<MSVehicle*, double>& leader,
129 const std::pair<MSVehicle*, double>& follower,
130 const std::pair<MSVehicle*, double>& neighLead,
131 const std::pair<MSVehicle*, double>& neighFollow,
133 const std::vector<MSVehicle::LaneQ>& preb,
142 int blocked,
int dir,
143 const std::pair<MSVehicle*, double>& neighLead,
144 double remainingSeconds);
148 int blocked,
int dir,
149 const std::pair<MSVehicle*, double>& neighFollow,
150 double remainingSeconds,
151 double plannedSpeed);
169 double anticipateFollowSpeed(
const std::pair<MSVehicle*, double>& leaderDist,
double dist,
double vMax,
bool acceleratingLeader);
190 return dist / (abs(laneOffset)) < lookForwardDist;
193 return dist / abs(laneOffset) > lookForwardDist;
199 typedef std::pair<double, int>
Info;
@ LCA_AMBLOCKINGFOLLOWER_DONTBRAKE
A class responsible for exchanging messages between cars involved in lane-change interaction.
Interface for lane-change models.
int myOwnState
The current state of the vehicle.
The car-following model abstraction.
A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013.
bool currentDistAllows(double dist, int laneOffset, double lookForwardDist)
int wantsChange(int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &follower, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked) override
Called to examine whether the vehicle wants to change using the given laneOffset. This method gets th...
void informFollower(MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, double > &neighFollow, double remainingSeconds, double plannedSpeed)
decide whether we will try cut in before the follower or allow to be overtaken
double computeSpeedLat(double latDist, double &maneuverDist, bool urgent) const override
decides the next lateral speed (for continuous lane changing)
double myOvertakeDeltaSpeedFactor
bool amBlockingFollowerNB()
double getExtraReservation(int bestLaneOffset) const override
reserve extra space for unseen blockers when more tnan one lane change is required
bool debugVehicle() const override
whether the current vehicles shall be debugged
double mySpeedGainLookahead
const double myExperimentalParam1
double patchSpeed(const double min, const double wanted, const double max, const MSCFModel &cfModel) override
Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired ...
void initDerivedParameters()
init cached parameters derived directly from model parameters
LaneChangeModel getModelID() const override
Returns the model's id.
double myCooperativeParam
double myChangeProbThresholdRight
double anticipateFollowSpeed(const std::pair< MSVehicle *, double > &leaderDist, double dist, double vMax, bool acceleratingLeader)
anticipate future follow speed for the given leader
std::string getParameter(const std::string &key) const override
try to retrieve the given parameter from this device. Throw exception for unsupported key
void setParameter(const std::string &key, const std::string &value) override
try to set the given parameter for this laneChangeModel. Throw exception for unsupported key
double myCooperativeSpeed
bool amBlockingFollower()
double informLeader(MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, double > &neighLead, double remainingSeconds)
double _patchSpeed(double min, const double wanted, double max, const MSCFModel &cfModel)
double myLeadingBlockerLength
std::pair< double, int > Info
information regarding save velocity (unused) and state flags of the ego vehicle
void prepareStep() override
double getSafetyFactor() const override
return factor for modifying the safety constraints of the car-following model
int slowDownForBlocked(MSVehicle **blocked, int state)
compute useful slowdowns for blocked vehicles
bool amBlockingFollowerPlusNB()
double myKeepRightProbability
bool currentDistDisallows(double dist, int laneOffset, double lookForwardDist)
void adaptSpeedToPedestrians(const MSLane *lane, double &v)
react to pedestrians on the given lane
double getOppositeSafetyFactor() const override
return factor for modifying the safety constraints for opposite-diretction overtaking of the car-foll...
void resetState() override
double myKeepRightAcceptanceTime
bool saveBlockerLength(double length, double foeLeftSpace) override
reserve space at the end of the lane to avoid dead locks
double mySpeedGainProbability
a value for tracking the probability that a change to the offset with the same sign is beneficial
double myChangeProbThresholdLeft
void * inform(void *info, MSVehicle *sender) override
int _wantsChange(int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &follower, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
helper function for doing the actual work
static double overtakeDistance(const MSVehicle *follower, const MSVehicle *leader, const double gap, double followerSpeed=INVALID_SPEED, double leaderSpeed=INVALID_SPEED)
Representation of a lane in the micro simulation.
Representation of a vehicle in the micro simulation.