Changes the wished vehicle speed / lanes. More...

#include <MSVehicle.h>

Collaboration diagram for MSVehicle::Influencer:

Public Member Functions
double	changeRequestRemainingSeconds (const SUMOTime currentTime) const
	Return the remaining number of seconds of the current laneTimeLine assuming one exists. More...

bool	getEmergencyBrakeRedLight () const
	Returns whether red lights shall be a reason to brake. More...

int	getLanechangeMode () const
	return the current lane change mode More...

SUMOTime	getLastAccessTimeStep () const

double	getLatDist () const

double	getOriginalSpeed () const
	Returns the originally longitudinal speed to use. More...

bool	getRespectJunctionPriority () const
	Returns whether junction priority rules shall be respected. More...

SUMOAbstractRouter< MSEdge, SUMOVehicle > &	getRouterTT () const

int	getRoutingMode () const
	return the current routing mode More...

int	getSignals () const

int	getSpeedMode () const
	return the current speed mode More...

double	implicitDeltaPosVTD (const MSVehicle *veh)
	return the change in longitudinal position that is implicit in the new VTD position More...

double	implicitSpeedVTD (const MSVehicle *veh, double oldSpeed)
	return the speed that is implicit in the new VTD position More...

int	influenceChangeDecision (const SUMOTime currentTime, const MSEdge &currentEdge, const int currentLaneIndex, int state)
	Applies stored LaneChangeMode information and laneTimeLine. More...

	Influencer ()
	Constructor. More...

double	influenceSpeed (SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax)
	Applies stored velocity information on the speed to use. More...

bool	isVTDAffected (SUMOTime t) const

bool	isVTDControlled () const

void	postProcessVTD (MSVehicle *v)

void	setLaneChangeMode (int value)
	Sets lane changing behavior. More...

void	setLaneTimeLine (const std::vector< std::pair< SUMOTime, int > > &laneTimeLine)
	Sets a new lane timeline. More...

void	setRoutingMode (int value)
	Sets routing behavior. More...

void	setSignals (int signals)

void	setSpeedMode (int speedMode)
	Sets speed-constraining behaviors. More...

void	setSpeedTimeLine (const std::vector< std::pair< SUMOTime, double > > &speedTimeLine)
	Sets a new velocity timeline. More...

void	setSublaneChange (double latDist)
	Sets a new sublane-change request. More...

void	setVTDControlled (Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)

	~Influencer ()
	Destructor. More...

Private Attributes
bool	myConsiderMaxAcceleration
	Whether the maximum acceleration shall be regarded. More...

bool	myConsiderMaxDeceleration
	Whether the maximum deceleration shall be regarded. More...

bool	myConsiderSafeVelocity
	Whether the safe velocity shall be regarded. More...

bool	myEmergencyBrakeRedLight
	Whether red lights are a reason to brake. More...

std::vector< std::pair< SUMOTime, int > >	myLaneTimeLine
	The lane usage time line to apply. More...

SUMOTime	myLastVTDAccess

double	myLatDist
	The requested lateral change. More...

double	myOriginalSpeed
	The velocity before influence. More...

bool	myRespectJunctionPriority
	Whether the junction priority rules are respected. More...

int	myRoutingMode
	routing mode (see TraCIConstants.h) More...

bool	mySpeedAdaptationStarted
	Whether influencing the speed has already started. More...

std::vector< std::pair< SUMOTime, double > >	mySpeedTimeLine
	The velocity time line to apply. More...

TraciLaneChangePriority	myTraciLaneChangePriority
	flags for determining the priority of traci lane change requests More...

int	myTraCISignals

double	myVTDAngle

int	myVTDEdgeOffset

MSLane *	myVTDLane

double	myVTDPos

double	myVTDPosLat

ConstMSEdgeVector	myVTDRoute

Position	myVTDXYPos

Flags for managing conflicts between the laneChangeModel and TraCI laneTimeLine
LaneChangeMode	myStrategicLC
	lane changing which is necessary to follow the current route More...

LaneChangeMode	myCooperativeLC
	lane changing with the intent to help other vehicles More...

LaneChangeMode	mySpeedGainLC
	lane changing to travel with higher speed More...

LaneChangeMode	myRightDriveLC
	changing to the rightmost lane More...

LaneChangeMode	mySublaneLC
	changing to the prefered lateral alignment More...

Detailed Description

Changes the wished vehicle speed / lanes.

The class is used for passing velocities or velocity profiles obtained via TraCI to the vehicle. The speed adaptation is controlled by the stored speedTimeLine Additionally, the variables myConsiderSafeVelocity, myConsiderMaxAcceleration, and myConsiderMaxDeceleration control whether the safe velocity, the maximum acceleration, and the maximum deceleration have to be regarded.

Furthermore this class is used to affect lane changing decisions according to LaneChangeMode and any given laneTimeLine

Definition at line 1241 of file MSVehicle.h.

Constructor & Destructor Documentation

MSVehicle::Influencer::Influencer ( )

Constructor.

Definition at line 239 of file MSVehicle.cpp.

MSVehicle::Influencer::~Influencer ( )

Destructor.

Definition at line 259 of file MSVehicle.cpp.

Member Function Documentation

double MSVehicle::Influencer::changeRequestRemainingSeconds ( const SUMOTime currentTime ) const

Return the remaining number of seconds of the current laneTimeLine assuming one exists.

Parameters

[in] currentTime The current simulation time

Returns: The remaining seconds to change lanes

Definition at line 424 of file MSVehicle.cpp.

References myLaneTimeLine, and STEPS2TIME.

Referenced by MSLCM_LC2013::_wantsChange(), and MSLCM_SL2015::_wantsChangeSublane().

bool MSVehicle::Influencer::getEmergencyBrakeRedLight ( ) const

inline

Returns whether red lights shall be a reason to brake.

Returns: Whether red lights shall be a reason to brake

Definition at line 1319 of file MSVehicle.h.

Referenced by MSVehicle::executeMove(), and MSVehicle::ignoreRed().

int MSVehicle::Influencer::getLanechangeMode ( ) const

return the current lane change mode

Definition at line 290 of file MSVehicle.cpp.

References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, and myTraciLaneChangePriority.

Referenced by TraCI_Vehicle::getLanechangeMode().

SUMOTime MSVehicle::Influencer::getLastAccessTimeStep ( ) const

inline

Definition at line 1347 of file MSVehicle.h.

Referenced by MSVehicle::wasRemoteControlled().

double MSVehicle::Influencer::getLatDist ( ) const

inline

Definition at line 1371 of file MSVehicle.h.

Referenced by MSLCM_SL2015::keepLatGap().

double MSVehicle::Influencer::getOriginalSpeed ( ) const

Returns the originally longitudinal speed to use.

Returns: The speed given before influence or -1 if no influence is active

Definition at line 334 of file MSVehicle.cpp.

References myOriginalSpeed, and mySpeedTimeLine.

Referenced by MSVehicle::getSpeedWithoutTraciInfluence().

bool MSVehicle::Influencer::getRespectJunctionPriority ( ) const

inline

Returns whether junction priority rules shall be respected.

Returns: Whether junction priority rules be respected

Definition at line 1311 of file MSVehicle.h.

Referenced by MSLaneChanger::changeOpposite(), MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().

SUMOAbstractRouter< MSEdge, SUMOVehicle > & MSVehicle::Influencer::getRouterTT ( ) const

Definition at line 543 of file MSVehicle.cpp.

References MSNet::getInstance(), MSDevice_Routing::getRouterTT(), MSNet::getRouterTT(), and myRoutingMode.

int MSVehicle::Influencer::getRoutingMode ( ) const

inline

return the current routing mode

Definition at line 1274 of file MSVehicle.h.

References MSVehicle::influenceChangeDecision().

Referenced by TraCI_Vehicle::getRoutingMode().

int MSVehicle::Influencer::getSignals ( ) const

inline

Definition at line 1367 of file MSVehicle.h.

Referenced by MSVehicle::setBlinkerInformation().

int MSVehicle::Influencer::getSpeedMode ( ) const

return the current speed mode

Definition at line 280 of file MSVehicle.cpp.

References myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myEmergencyBrakeRedLight, and myRespectJunctionPriority.

Referenced by TraCI_Vehicle::getSpeedMode().

double MSVehicle::Influencer::implicitDeltaPosVTD ( const MSVehicle * veh )

return the change in longitudinal position that is implicit in the new VTD position

Definition at line 527 of file MSVehicle.cpp.

References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, and myVTDXYPos.

Referenced by MSVehicle::updateState().

double MSVehicle::Influencer::implicitSpeedVTD	(	const MSVehicle *	veh,
		double	oldSpeed
	)

return the speed that is implicit in the new VTD position

Definition at line 512 of file MSVehicle.cpp.

References DIST2SPEED, Position::distanceTo2D(), MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), MSVehicle::getPosition(), myVTDLane, myVTDPos, and myVTDXYPos.

Referenced by MSVehicle::executeMove().

int MSVehicle::Influencer::influenceChangeDecision	(	const SUMOTime	currentTime,
		const MSEdge &	currentEdge,
		const int	currentLaneIndex,
		int	state
	)

Applies stored LaneChangeMode information and laneTimeLine.

Parameters

[in]	currentTime	The current simulation time
[in]	currentEdge	The current edge the vehicle is on
[in]	currentLaneIndex	The index of the lane the vehicle is currently on
[in]	state	The LaneChangeAction flags as computed by the laneChangeModel

Returns: The new LaneChangeAction flags to use

Definition at line 340 of file MSVehicle.cpp.

References MSEdge::getLanes(), MSVehicle::LC_ALWAYS, MSVehicle::LC_NEVER, MSVehicle::LC_NOCONFLICT, LCA_BLOCKED, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_OVERLAPPING, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_SUBLANE, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE_OR_STAY, MSVehicle::LCP_ALWAYS, MSVehicle::LCP_NOOVERLAP, MSVehicle::LCP_OPPORTUNISTIC, myCooperativeLC, myLaneTimeLine, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, myTraciLaneChangePriority, MSVehicle::REQUEST_HOLD, MSVehicle::REQUEST_LEFT, MSVehicle::REQUEST_NONE, MSVehicle::REQUEST_RIGHT, time2string(), toString(), and WRITE_WARNING.

Referenced by MSVehicle::influenceChangeDecision().

double MSVehicle::Influencer::influenceSpeed	(	SUMOTime	currentTime,
		double	speed,
		double	vSafe,
		double	vMin,
		double	vMax
	)

Applies stored velocity information on the speed to use.

The given speed is assumed to be the non-influenced speed from longitudinal control. It is stored for further usage in "myOriginalSpeed".

Parameters

[in]	currentTime	The current simulation time
[in]	speed	The undisturbed speed
[in]	vSafe	The safe velocity
[in]	vMin	The minimum velocity
[in]	vMax	The maximum simulation time

Returns: The speed to use

Definition at line 301 of file MSVehicle.cpp.

References DELTA_T, MAX2(), MIN2(), myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myOriginalSpeed, mySpeedAdaptationStarted, mySpeedTimeLine, and STEPS2TIME.

Referenced by MSVehicle::executeMove(), and MSVehicle::planMoveInternal().

bool MSVehicle::Influencer::isVTDAffected ( SUMOTime t ) const

Definition at line 472 of file MSVehicle.cpp.

References myLastVTDAccess, and TIME2STEPS.

Referenced by MSLane::detectCollisionBetween(), MSVehicle::getPosition(), and MSLane::handleCollisionBetween().

bool MSVehicle::Influencer::isVTDControlled ( ) const

Definition at line 466 of file MSVehicle.cpp.

References MSNet::getCurrentTimeStep(), MSNet::getInstance(), and myLastVTDAccess.

Referenced by MSVehicle::executeMove(), MSVehicle::isRemoteControlled(), and MSVehicle::updateState().

void MSVehicle::Influencer::postProcessVTD ( MSVehicle * v )

void MSVehicle::Influencer::setLaneChangeMode ( int value )

Sets lane changing behavior.

Parameters

[in] value a bitset controlling the different modes

Definition at line 442 of file MSVehicle.cpp.

References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, mySublaneLC, and myTraciLaneChangePriority.

Referenced by TraCIServerAPI_Vehicle::processSet().

void MSVehicle::Influencer::setLaneTimeLine ( const std::vector< std::pair< SUMOTime, int > > & laneTimeLine )

Sets a new lane timeline.

Parameters

[in] laneTimeLine The time line of lanes to use

Definition at line 270 of file MSVehicle.cpp.

References myLaneTimeLine.

Referenced by TraCI_Vehicle::changeLane(), and TraCIServerAPI_Vehicle::processSet().

void MSVehicle::Influencer::setRoutingMode ( int value )

inline

Sets routing behavior.

Parameters

[in] value an enum value controlling the different modes

Definition at line 1336 of file MSVehicle.h.

Referenced by TraCIServerAPI_Vehicle::processSet().

void MSVehicle::Influencer::setSignals ( int signals )

inline

Definition at line 1363 of file MSVehicle.h.

Referenced by TraCIServerAPI_Vehicle::processSet(), and MSVehicle::setBlinkerInformation().

void MSVehicle::Influencer::setSpeedMode ( int speedMode )

Sets speed-constraining behaviors.

Parameters

[in] value a bitset controlling the different modes

Definition at line 432 of file MSVehicle.cpp.

References myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myEmergencyBrakeRedLight, and myRespectJunctionPriority.

Referenced by TraCIServerAPI_Vehicle::processSet().

void MSVehicle::Influencer::setSpeedTimeLine ( const std::vector< std::pair< SUMOTime, double > > & speedTimeLine )

Sets a new velocity timeline.

Parameters

[in] speedTimeLine The time line of speeds to use

Definition at line 263 of file MSVehicle.cpp.

References mySpeedAdaptationStarted, and mySpeedTimeLine.

Referenced by TraCIServerAPI_Vehicle::processSet().

void MSVehicle::Influencer::setSublaneChange ( double latDist )

Sets a new sublane-change request.

Parameters

[in] latDist The lateral distance for changing

Definition at line 275 of file MSVehicle.cpp.

References myLatDist.

Referenced by TraCIServerAPI_Vehicle::processSet(), and MSAbstractLaneChangeModel::setOwnState().

void MSVehicle::Influencer::setVTDControlled	(	Position	xyPos,
		MSLane *	l,
		double	pos,
		double	posLat,
		double	angle,
		int	edgeOffset,
		const ConstMSEdgeVector &	route,
		SUMOTime	t
	)