SUMO - Simulation of Urban MObility
MSLCM_LC2013 Class Reference

A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013. More...

#include <MSLCM_LC2013.h>

Inheritance diagram for MSLCM_LC2013:
Inheritance graph
Collaboration diagram for MSLCM_LC2013:
Collaboration graph

Public Types

enum  MyLCAEnum {
  LCA_AMBLOCKINGLEADER = 1 << 16, LCA_AMBLOCKINGFOLLOWER = 1 << 17, LCA_MRIGHT = 1 << 18, LCA_MLEFT = 1 << 19,
  LCA_AMBLOCKINGFOLLOWER_DONTBRAKE = 1 << 21, LCA_CHANGE_TO_HELP = 1 << 23, LCA_AMBACKBLOCKER = 1 << 26, LCA_AMBACKBLOCKER_STANDING = 1 << 27
}
 

Public Member Functions

double _patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 
bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
void changed ()
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void cleanupShadowLane ()
 
bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
virtual StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable More...
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
double getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
double getLateralSpeed () const
 return the lateral speed of the current lane change maneuver More...
 
int getOwnState () const
 
std::string getParameter (const std::string &key) const
 try to retrieve the given parameter from this device. Throw exception for unsupported key More...
 
const std::pair< int, int > & getSavedState (const int dir) const
 
int getShadowDirection () const
 return the direction in which the current shadow lane lies More...
 
const std::vector< MSLane * > & getShadowFurtherLanes () const
 
const std::vector< double > & getShadowFurtherLanesPosLat () const
 
MSLanegetShadowLane () const
 Returns the lane the vehicles shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
void * inform (void *info, MSVehicle *sender)
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
 MSLCM_LC2013 (MSVehicle &v)
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
double patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 Called to adapt the speed in order to allow a lane change. More...
 
void prepareStep ()
 
void primaryLaneChanged (MSLane *source, MSLane *target, int direction)
 called once when the vehicles primary lane changes More...
 
SUMOTime remainingTime () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
void removeShadowApproachingInformation () const
 
void resetChanged ()
 reset the flag whether a vehicle already moved to false More...
 
void saveState (const int dir, const int stateWithoutTraCI, const int state)
 
void setNoShadowPartialOccupator (MSLane *lane)
 
virtual void setOwnState (const int state)
 
void setParameter (const std::string &key, const std::string &value)
 try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More...
 
void setShadowApproachingInformation (MSLink *link) const
 set approach information for the shadow vehicle More...
 
void setShadowLane (MSLane *lane)
 set the shadow lane More...
 
void setShadowPartialOccupator (MSLane *lane)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
void unchanged ()
 
bool updateCompletion ()
 
virtual void updateExpectedSublaneSpeeds (const MSLeaderInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
void updateShadowLane ()
 
int wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, 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)
 Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
virtual int wantsChangeSublane (int laneOffset, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, int &blocked)
 
virtual ~MSLCM_LC2013 ()
 

Static Public Member Functions

static MSAbstractLaneChangeModelbuild (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 

Protected Types

typedef std::pair< double, int > Info
 information regarding save velocity (unused) and state flags of the ego vehicle More...
 

Protected Member Functions

int _wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, 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 More...
 
bool amBlockingFollower ()
 
bool amBlockingFollowerNB ()
 
bool amBlockingFollowerPlusNB ()
 
bool amBlockingLeader ()
 
bool cancelRequest (int state)
 whether the influencer cancels the given request More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
bool currentDistAllows (double dist, int laneOffset, double lookForwardDist)
 
bool currentDistDisallows (double dist, int laneOffset, double lookForwardDist)
 
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 More...
 
double informLeader (MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, double > &neighLead, double remainingSeconds)
 
void initLastLaneChangeOffset (int dir)
 
virtual bool predInteraction (const std::pair< MSVehicle *, double > &leader)
 
double roundaboutDistBonus (double roundaboutDistAhead, int roundaboutEdgesAhead) const
 Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts. More...
 
void saveBlockerLength (MSVehicle *blocker, int lcaCounter)
 save space for vehicles which need to counter-lane-change More...
 
void saveBlockerLength (double length)
 reserve space at the end of the lane to avoid dead locks More...
 
int slowDownForBlocked (MSVehicle **blocked, int state)
 compute useful slowdowns for blocked vehicles More...
 

Static Protected Member Functions

static double distanceAlongNextRoundabout (double position, const MSLane *initialLane, const std::vector< MSLane *> &continuationLanes)
 compute the distance on the next upcoming roundabout along a given sequence of lanes. More...
 
static void getRoundaboutAheadInfo (const MSLCM_LC2013 *lcm, const MSVehicle::LaneQ &curr, const MSVehicle::LaneQ &neigh, double &roundaboutDistanceAhead, double &roundaboutDistanceAheadNeigh, int &roundaboutEdgesAhead, int &roundaboutEdgesAheadNeigh)
 computes the distance and number of edges in the next upcoming roundabout along the lane continuations given in curr and neigh More...
 
static double overtakeDistance (const MSVehicle *follower, const MSVehicle *leader, const double gap, double followerSpeed=INVALID_SPEED, double leaderSpeed=INVALID_SPEED)
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
bool myDontBrake
 
double myKeepRightProbability
 
double myLaneChangeCompletion
 progress of the lane change maneuver 0:started, 1:complete More...
 
int myLaneChangeDirection
 direction of the lane change maneuver -1 means right, 1 means left More...
 
double myLastLateralGapLeft
 the minimum lateral gaps to other vehicles that were found when last changing to the left and right More...
 
double myLastLateralGapRight
 
double myLateralspeed
 The lateral offset during a continuous LaneChangeManeuver. More...
 
double myLeadingBlockerLength
 
double myLeftSpace
 
double myLookAheadSpeed
 
const LaneChangeModel myModel
 the type of this model More...
 
std::vector< MSLane * > myNoPartiallyOccupatedByShadow
 
int myOwnState
 The current state of the vehicle. More...
 
std::vector< MSLane * > myPartiallyOccupatedByShadow
 list of lanes where the shadow vehicle is partial occupator More...
 
std::map< int, std::pair< int, int > > mySavedStates
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< double > myShadowFurtherLanesPosLat
 
MSLanemyShadowLane
 A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More...
 
double mySpeedGainProbability
 a value for tracking the probability that a change to the offset with the same sign is beneficial More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
std::vector< double > myVSafes
 
user configurable model parameters (can be changed via TraCI)
double myStrategicParam
 
double myCooperativeParam
 
double mySpeedGainParam
 
double myKeepRightParam
 
const double myExperimentalParam1
 
derived parameters
const double myChangeProbThresholdRight
 
const double myChangeProbThresholdLeft
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCOutput
 whether to record lane-changing More...
 
static const double NO_LATERAL_NEIGHBOR
 

Detailed Description

A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013.

Definition at line 55 of file MSLCM_LC2013.h.

Member Typedef Documentation

◆ Info

typedef std::pair<double, int> MSLCM_LC2013::Info
protected

information regarding save velocity (unused) and state flags of the ego vehicle

Definition at line 226 of file MSLCM_LC2013.h.

Member Enumeration Documentation

◆ MyLCAEnum

Enumerator
LCA_AMBLOCKINGLEADER 
LCA_AMBLOCKINGFOLLOWER 
LCA_MRIGHT 
LCA_MLEFT 
LCA_AMBLOCKINGFOLLOWER_DONTBRAKE 
LCA_CHANGE_TO_HELP 
LCA_AMBACKBLOCKER 
LCA_AMBACKBLOCKER_STANDING 

Definition at line 58 of file MSLCM_LC2013.h.

Constructor & Destructor Documentation

◆ MSLCM_LC2013()

◆ ~MSLCM_LC2013()

MSLCM_LC2013::~MSLCM_LC2013 ( )
virtual

Definition at line 128 of file MSLCM_LC2013.cpp.

References changed().

Member Function Documentation

◆ _patchSpeed()

◆ _wantsChange()

int MSLCM_LC2013::_wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager msgPass,
int  blocked,
const std::pair< MSVehicle *, double > &  leader,
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 
)
protected

helper function for doing the actual work

we urgently need to change lanes to follow our route

Definition at line 1026 of file MSLCM_LC2013.cpp.

References abs, ACCEL2SPEED, amBlockingFollowerPlusNB(), MSVehicle::LaneQ::bestContinuations, MSVehicle::LaneQ::bestLaneOffset, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), MSVehicle::congested(), currentDistAllows(), currentDistDisallows(), DEBUG_COND, DELTA_T, MSEdge::EDGEFUNCTION_INTERNAL, MSCFModel::followSpeed(), MSLane::getBruttoOccupancy(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicleType::getMaxSpeed(), MSLane::getOppositePos(), MSVehicle::getPositionOnLane(), MSEdge::getPurpose(), getRoundaboutAheadInfo(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSLane::getSpeedLimit(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gSemiImplicitEulerUpdate, MSVehicle::influenceChangeDecision(), informFollower(), informLeader(), MSAbstractLaneChangeModel::isOpposite(), JAM_FACTOR, KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, MSVehicle::LaneQ::lane, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD_LEFT, LOOK_FORWARD_RIGHT, MAX2(), MIN2(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myKeepRightParam, myKeepRightProbability, myLeadingBlockerLength, myLeftSpace, myLookAheadSpeed, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbability, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, myVSafes, NUMERICAL_EPS, MSVehicle::LaneQ::occupation, RELGAIN_NORMALIZATION_MIN_SPEED, roundaboutDistBonus(), saveBlockerLength(), SIMTIME, slowDownForBlocked(), STEPS2TIME, SUMO_const_haltingSpeed, toString(), TS, TURN_LANE_DIST, and URGENCY.

Referenced by wantsChange().

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 338 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSLaneChanger::change().

◆ amBlockingFollower()

bool MSLCM_LC2013::amBlockingFollower ( )
inlineprotected

◆ amBlockingFollowerNB()

bool MSLCM_LC2013::amBlockingFollowerNB ( )
inlineprotected

◆ amBlockingFollowerPlusNB()

bool MSLCM_LC2013::amBlockingFollowerPlusNB ( )
inlineprotected

◆ amBlockingLeader()

bool MSLCM_LC2013::amBlockingLeader ( )
inlineprotected

Definition at line 206 of file MSLCM_LC2013.h.

References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.

◆ build()

MSAbstractLaneChangeModel * MSAbstractLaneChangeModel::build ( LaneChangeModel  lcm,
MSVehicle vehicle 
)
staticinherited

Factory method for instantiating new lane changing models.

Parameters
[in]lcmThe type of model to build
[in]vehicleThe vehicle for which this model shall be built

Definition at line 63 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().

Referenced by MSVehicle::MSVehicle(), and MSAbstractLaneChangeModel::StateAndDist::sameDirection().

◆ cancelRequest()

bool MSAbstractLaneChangeModel::cancelRequest ( int  state)
protectedinherited

◆ changed()

◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )
inherited

◆ cleanupShadowLane()

◆ congested()

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited

◆ currentDistAllows()

bool MSLCM_LC2013::currentDistAllows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 221 of file MSLCM_LC2013.h.

References abs.

Referenced by _wantsChange().

◆ currentDistDisallows()

bool MSLCM_LC2013::currentDistDisallows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 218 of file MSLCM_LC2013.h.

References abs.

Referenced by _wantsChange().

◆ debugVehicle()

bool MSLCM_LC2013::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 134 of file MSLCM_LC2013.cpp.

References DEBUG_COND.

Referenced by getRoundaboutAheadInfo().

◆ decideDirection()

virtual StateAndDist MSAbstractLaneChangeModel::decideDirection ( StateAndDist  sd1,
StateAndDist  sd2 
) const
inlinevirtualinherited

decide in which direction to move in case both directions are desirable

Reimplemented in MSLCM_SL2015.

Definition at line 237 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::changed(), MSAbstractLaneChangeModel::inform(), max, min, MSAbstractLaneChangeModel::myModel, MSAbstractLaneChangeModel::patchSpeed(), toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ distanceAlongNextRoundabout()

double MSLCM_LC2013::distanceAlongNextRoundabout ( double  position,
const MSLane initialLane,
const std::vector< MSLane *> &  continuationLanes 
)
staticprotected

compute the distance on the next upcoming roundabout along a given sequence of lanes.

Parameters
[in]positionposition of the vehicle on the initial lane
[in]initialLanestarting lane for the computation (may be internal)
[in]continuationLanessequence of lanes along which the roundabout distance is to be computed (only containing non-internal lanes)
Returns
distance along next upcoming roundabout on the given sequence of lanes continuationLanes

Definition at line 1772 of file MSLCM_LC2013.cpp.

References MSEdge::EDGEFUNCTION_INTERNAL, MSLinkContHelper::getConnectingLink(), MSLane::getEdge(), MSLink::getInternalLengthsAfter(), MSLane::getLength(), MSLane::getLinkCont(), MSLane::isInternal(), and MSEdge::isRoundabout().

Referenced by getRoundaboutAheadInfo().

◆ endLaneChangeManeuver()

◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const
inherited

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inlineinherited

◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inlineinherited

◆ getLateralSpeed()

double MSAbstractLaneChangeModel::getLateralSpeed ( ) const
inlineinherited

return the lateral speed of the current lane change maneuver

Definition at line 333 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLateralspeed.

Referenced by MSLaneChanger::continueChange().

◆ getOwnState()

int MSAbstractLaneChangeModel::getOwnState ( ) const
inlineinherited

◆ getParameter()

std::string MSLCM_LC2013::getParameter ( const std::string &  key) const
virtual

try to retrieve the given parameter from this device. Throw exception for unsupported key

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 1958 of file MSLCM_LC2013.cpp.

References LCA_KEEPRIGHT, myCooperativeParam, myKeepRightParam, MSAbstractLaneChangeModel::myModel, mySpeedGainParam, myStrategicParam, SUMO_ATTR_LCA_COOPERATIVE_PARAM, SUMO_ATTR_LCA_SPEEDGAIN_PARAM, SUMO_ATTR_LCA_STRATEGIC_PARAM, and toString().

◆ getRoundaboutAheadInfo()

void MSLCM_LC2013::getRoundaboutAheadInfo ( const MSLCM_LC2013 lcm,
const MSVehicle::LaneQ curr,
const MSVehicle::LaneQ neigh,
double &  roundaboutDistanceAhead,
double &  roundaboutDistanceAheadNeigh,
int &  roundaboutEdgesAhead,
int &  roundaboutEdgesAheadNeigh 
)
staticprotected

computes the distance and number of edges in the next upcoming roundabout along the lane continuations given in curr and neigh

Parameters
[in]vehThe considered ego Vehicle
[in]currcontinuation info along veh's current lane
[in]neighcontinuation info along a neighboring lane (in MSLCM_2013::_wantsChange() the considered lane for a lanechange)
[out]roundaboutDistanceAheadAccumulated length of lanes in the next oncoming roundabout in curr
[out]roundaboutDistanceAheadNeighAccumulated length of lanes in the next oncoming roundabout in neigh
[out]roundaboutEdgesAheadNumber of lanes in the next oncoming roundabout in curr
[out]roundaboutEdgesAheadNeighNumber of lanes in the next oncoming roundabout in neigh

Definition at line 1671 of file MSLCM_LC2013.cpp.

References MSVehicle::LaneQ::bestContinuations, debugVehicle(), distanceAlongNextRoundabout(), MSEdge::EDGEFUNCTION_INTERNAL, MSLinkContHelper::getConnectingLink(), MSLane::getEdge(), MSLink::getInternalLengthsAfter(), MSVehicle::getLane(), MSLane::getLength(), MSVehicle::getPositionOnLane(), MSEdge::getPurpose(), MSAbstractLaneChangeModel::isOpposite(), MSEdge::isRoundabout(), MSVehicle::LaneQ::lane, and MSAbstractLaneChangeModel::myVehicle.

Referenced by _wantsChange().

◆ getSavedState()

const std::pair<int, int>& MSAbstractLaneChangeModel::getSavedState ( const int  dir) const
inlineinherited

◆ getShadowDirection()

◆ getShadowFurtherLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited

◆ getShadowFurtherLanesPosLat()

const std::vector<double>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited

◆ getShadowLane() [1/2]

◆ getShadowLane() [2/2]

◆ inform()

◆ informFollower()

◆ informLeader()

◆ initGlobalOptions()

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
staticinherited

◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited

◆ isChangingLanes()

◆ isOpposite()

◆ overtakeDistance()

double MSLCM_LC2013::overtakeDistance ( const MSVehicle follower,
const MSVehicle leader,
const double  gap,
double  followerSpeed = INVALID_SPEED,
double  leaderSpeed = INVALID_SPEED 
)
staticprotected

◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inlineinherited

◆ patchSpeed()

double MSLCM_LC2013::patchSpeed ( const double  min,
const double  wanted,
const double  max,
const MSCFModel cfModel 
)
virtual

Called to adapt the speed in order to allow a lane change.

Parameters
minThe minimum resulting speed
wantedThe aspired speed of the car following model
maxThe maximum resulting speed
cfModelThe model used
Returns
the new speed of the vehicle as proposed by the lane changer

Implements MSAbstractLaneChangeModel.

Definition at line 179 of file MSLCM_LC2013.cpp.

References _patchSpeed(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, and toString().

◆ predInteraction()

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, double > &  leader)
protectedvirtualinherited

◆ prepareStep()

◆ primaryLaneChanged()

◆ remainingTime()

SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const
inherited

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 342 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, and MSAbstractLaneChangeModel::myLaneChangeCompletion.

Referenced by MSAbstractLaneChangeModel::pastMidpoint().

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const
inherited

◆ resetChanged()

◆ roundaboutDistBonus()

double MSLCM_LC2013::roundaboutDistBonus ( double  roundaboutDistAhead,
int  roundaboutEdgesAhead 
) const
protected

Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts.

Parameters
[in]roundaboutDistAheadDistance on roundabout
[in]roundaboutEdgesAheadnumber of edges on roundabout

Definition at line 1743 of file MSLCM_LC2013.cpp.

References MSGlobals::gSemiImplicitEulerUpdate, myCooperativeParam, ROUNDABOUT_DIST_BONUS, ROUNDABOUT_DIST_FACTOR, and ROUNDABOUT_DIST_TRESH.

Referenced by _wantsChange().

◆ saveBlockerLength() [1/2]

◆ saveBlockerLength() [2/2]

void MSLCM_LC2013::saveBlockerLength ( double  length)
inlineprotectedvirtual

reserve space at the end of the lane to avoid dead locks

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 202 of file MSLCM_LC2013.h.

References MAX2(), and myLeadingBlockerLength.

◆ saveState()

void MSAbstractLaneChangeModel::saveState ( const int  dir,
const int  stateWithoutTraCI,
const int  state 
)
inlineinherited

◆ setNoShadowPartialOccupator()

◆ setOwnState()

◆ setParameter()

void MSLCM_LC2013::setParameter ( const std::string &  key,
const std::string &  value 
)
virtual

◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const
inherited

set approach information for the shadow vehicle

Definition at line 348 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myApproachedByShadow.

Referenced by MSVehicle::checkRewindLinkLanes(), and MSAbstractLaneChangeModel::setNoShadowPartialOccupator().

◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inlineinherited

set the shadow lane

Definition at line 291 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ slowDownForBlocked()

◆ startLaneChangeManeuver()

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inlineinherited

◆ updateCompletion()

◆ updateExpectedSublaneSpeeds()

virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderInfo ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtualinherited

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 229 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ updateShadowLane()

◆ wantsChange()

int MSLCM_LC2013::wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager msgPass,
int  blocked,
const std::pair< MSVehicle *, double > &  leader,
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 
)
virtual

Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 140 of file MSLCM_LC2013.cpp.

References _wantsChange(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSAbstractLaneChangeModel::myVehicle, SIMTIME, STEPS2TIME, and toString().

◆ wantsChangeSublane()

virtual int MSAbstractLaneChangeModel::wantsChangeSublane ( int  laneOffset,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked,
double &  latDist,
int &  blocked 
)
inlinevirtualinherited

Field Documentation

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited

◆ myCarFollowModel

◆ myChangeProbThresholdLeft

const double MSLCM_LC2013::myChangeProbThresholdLeft
protected

Definition at line 262 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

◆ myChangeProbThresholdRight

const double MSLCM_LC2013::myChangeProbThresholdRight
protected

Definition at line 261 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

◆ myCooperativeParam

double MSLCM_LC2013::myCooperativeParam
protected

◆ myDontBrake

bool MSLCM_LC2013::myDontBrake
protected

Definition at line 246 of file MSLCM_LC2013.h.

Referenced by _patchSpeed(), changed(), and prepareStep().

◆ myExperimentalParam1

const double MSLCM_LC2013::myExperimentalParam1
protected

Definition at line 255 of file MSLCM_LC2013.h.

Referenced by informFollower().

◆ myKeepRightParam

double MSLCM_LC2013::myKeepRightParam
protected

Definition at line 253 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), MSLCM_LC2013(), and setParameter().

◆ myKeepRightProbability

double MSLCM_LC2013::myKeepRightProbability
protected

Definition at line 236 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and prepareStep().

◆ myLaneChangeCompletion

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protectedinherited

the minimum lateral gaps to other vehicles that were found when last changing to the left and right

Definition at line 452 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::keepLatGap(), MSLCM_SL2015::prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), and MSLCM_SL2015::updateGaps().

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protectedinherited

◆ myLateralspeed

double MSAbstractLaneChangeModel::myLateralspeed
protectedinherited

The lateral offset during a continuous LaneChangeManeuver.

Definition at line 425 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::getLateralSpeed(), and MSAbstractLaneChangeModel::startLaneChangeManeuver().

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotectedinherited

whether to record lane-changing

Definition at line 464 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::initGlobalOptions(), and MSAbstractLaneChangeModel::primaryLaneChanged().

◆ myLeadingBlockerLength

double MSLCM_LC2013::myLeadingBlockerLength
protected

◆ myLeftSpace

double MSLCM_LC2013::myLeftSpace
protected

◆ myLookAheadSpeed

double MSLCM_LC2013::myLookAheadSpeed
protected

Definition at line 243 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and informLeader().

◆ myModel

◆ myNoPartiallyOccupatedByShadow

◆ myOwnState

◆ myPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow
protectedinherited

list of lanes where the shadow vehicle is partial occupator

Definition at line 445 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().

◆ mySavedStates

std::map<int, std::pair<int, int> > MSAbstractLaneChangeModel::mySavedStates
protectedinherited

◆ myShadowFurtherLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited

◆ myShadowFurtherLanesPosLat

std::vector<double> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited

◆ mySpeedGainParam

double MSLCM_LC2013::mySpeedGainParam
protected

Definition at line 252 of file MSLCM_LC2013.h.

Referenced by getParameter(), MSLCM_LC2013(), and setParameter().

◆ mySpeedGainProbability

double MSLCM_LC2013::mySpeedGainProbability
protected

a value for tracking the probability that a change to the offset with the same sign is beneficial

Definition at line 232 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and prepareStep().

◆ myStrategicParam

double MSLCM_LC2013::myStrategicParam
protected

Definition at line 250 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), MSLCM_LC2013(), and setParameter().

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited

The vehicle this lane-changer belongs to.

Definition at line 412 of file MSAbstractLaneChangeModel.h.

Referenced by _patchSpeed(), MSLCM_SL2015::_patchSpeed(), _wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSAbstractLaneChangeModel::cancelRequest(), changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::congested(), MSLCM_SL2015::decideDirection(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), getRoundaboutAheadInfo(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), informFollower(), MSLCM_SL2015::informFollower(), informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), MSLCM_SL2015::msg(), MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), patchSpeed(), MSLCM_SL2015::patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), MSLCM_SL2015::prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), MSLCM_SL2015::saveBlockerLength(), saveBlockerLength(), MSLCM_SL2015::setOwnState(), MSAbstractLaneChangeModel::setOwnState(), slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ myVSafes

std::vector<double> MSLCM_LC2013::myVSafes
protected

◆ NO_LATERAL_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_LATERAL_NEIGHBOR
staticprotectedinherited

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