41 #ifdef CHECK_MEMORY_LEAKS
43 #endif // CHECK_MEMORY_LEAKS
46 #ifdef DEBUG_VEHICLE_GUI_SELECTION
58 #define LOOK_FORWARD_SPEED_DIVIDER (SUMOReal)14.
64 #define LOOK_FORWARD_RIGHT (SUMOReal)10.
65 #define LOOK_FORWARD_LEFT (SUMOReal)20.
67 #define JAM_FACTOR (SUMOReal)1.
70 #define LCA_RIGHT_IMPATIENCE (SUMOReal)-1.
71 #define CUT_IN_LEFT_SPEED_THRESHOLD (SUMOReal)27.
73 #define LOOK_AHEAD_MIN_SPEED (SUMOReal)0.0
74 #define LOOK_AHEAD_SPEED_MEMORY (SUMOReal)0.9
75 #define LOOK_AHEAD_SPEED_DECREMENT 6.
77 #define HELP_DECEL_FACTOR (SUMOReal)1.0
79 #define HELP_OVERTAKE (SUMOReal)(10.0 / 3.6)
80 #define MIN_FALLBEHIND (SUMOReal)(14.0 / 3.6)
82 #define KEEP_RIGHT_HEADWAY (SUMOReal)2.0
84 #define URGENCY (SUMOReal)2.0
86 #define ROUNDABOUT_DIST_BONUS (SUMOReal)100.0
88 #define CHANGE_PROB_THRESHOLD_RIGHT (SUMOReal)2.0
89 #define CHANGE_PROB_THRESHOLD_LEFT (SUMOReal)0.2
90 #define KEEP_RIGHT_TIME (SUMOReal)5.0 // the number of seconds after which a vehicle should move to the right lane
91 #define KEEP_RIGHT_ACCEPTANCE (SUMOReal)2.0 // calibration factor for determining the desire to keep right
93 #define RELGAIN_NORMALIZATION_MIN_SPEED (SUMOReal)10.0
95 #define TURN_LANE_DIST (SUMOReal)200.0 // the distance at which a lane leading elsewhere is considered to be a turn-lane that must be avoided
101 #define DEBUG_COND false
106 return v == 0 ?
"NULL" : v->
getID();
115 mySpeedGainProbability(0),
116 myKeepRightProbability(0),
117 myLeadingBlockerLength(0),
132 const std::pair<MSVehicle*, SUMOReal>& leader,
133 const std::pair<MSVehicle*, SUMOReal>& neighLead,
134 const std::pair<MSVehicle*, SUMOReal>& neighFollow,
136 const std::vector<MSVehicle::LaneQ>& preb,
147 <<
" considerChangeTo=" << (laneOffset == -1 ?
"right" :
"left")
151 const int result =
_wantsChange(laneOffset, msgPass, blocked, leader, neighLead, neighFollow, neighLane, preb, lastBlocked, firstBlocked);
156 <<
" wantsChangeTo=" << (laneOffset == -1 ?
"right" :
"left")
163 << ((result &
LCA_TRACI) ?
" (traci)" :
"")
180 const std::string patched = (wanted != newSpeed ?
" patched=" +
toString(newSpeed) :
"");
186 <<
" wanted=" << wanted
217 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" slowing down for leading blocker" << (safe +
NUMERICAL_EPS < min ?
" (not enough)" :
"") <<
"\n";
219 return MAX2(min, safe);
226 for (std::vector<SUMOReal>::const_iterator i =
myVSafes.begin(); i !=
myVSafes.end(); ++i) {
228 if (v >= min && v <= max) {
229 nVSafe =
MIN2(v, nVSafe);
232 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" got nVSafe=" << nVSafe <<
"\n";
237 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" ignoring low nVSafe=" << v <<
" min=" << min <<
"\n";
241 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" ignoring high nVSafe=" << v <<
" max=" << max <<
"\n";
249 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" got vSafe\n";
260 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" LCA_WANTS_LANECHANGE (strat, no vSafe)\n";
262 return (max + wanted) / (
SUMOReal) 2.0;
267 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" LCA_BLOCKED_BY_LEADER (coop)\n";
269 return (min + wanted) / (
SUMOReal) 2.0;
273 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" LCA_BLOCKED_BY_FOLLOWER (coop)\n";
275 return (max + wanted) / (
SUMOReal) 2.0;
317 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" LCA_AMBLOCKINGLEADER\n";
319 return (max + wanted) / (
SUMOReal) 2.0;
324 std::cout << time <<
" veh=" <<
myVehicle.
getID() <<
" LCA_AMBLOCKINGFOLLOWER_DONTBRAKE\n";
345 if (pinfo->first >= 0) {
353 <<
" informedBy=" << sender->
getID()
354 <<
" info=" << pinfo->second
355 <<
" vSafe=" << pinfo->first
367 const std::pair<MSVehicle*, SUMOReal>& neighLead,
371 for (std::vector<SUMOReal>::const_iterator i =
myVSafes.begin(); i !=
myVSafes.end(); ++i) {
374 plannedSpeed =
MIN2(plannedSpeed, v);
378 std::cout <<
" informLeader speed=" <<
myVehicle.
getSpeed() <<
" planned=" << plannedSpeed <<
"\n";
382 assert(neighLead.first != 0);
384 if (
gDebugFlag2) std::cout <<
" blocked by leader nv=" << nv->
getID() <<
" nvSpeed=" << nv->
getSpeed() <<
" needGap="
388 const SUMOReal overtakeDist = (neighLead.second
400 || dv * remainingSeconds < overtakeDist) {
413 <<
" cannot overtake leader nv=" << nv->
getID()
415 <<
" remainingSeconds=" << remainingSeconds
416 <<
" targetSpeed=" << targetSpeed
417 <<
" nextSpeed=" << nextSpeed
426 <<
" cannot overtake fast leader nv=" << nv->
getID()
428 <<
" remainingSeconds=" << remainingSeconds
429 <<
" targetSpeed=" << targetSpeed
438 <<
" wants to overtake leader nv=" << nv->
getID()
440 <<
" remainingSeconds=" << remainingSeconds
441 <<
" currentGap=" << neighLead.second
449 }
else if (neighLead.first != 0) {
458 std::cout <<
" not blocked by leader nv=" << nv->
getID()
460 <<
" gap=" << neighLead.second
461 <<
" nextGap=" << neighLead.second - dv
463 <<
" targetSpeed=" << targetSpeed
466 return MIN2(targetSpeed, plannedSpeed);
478 const std::pair<MSVehicle*, SUMOReal>& neighFollow,
482 assert(neighFollow.first != 0);
484 if (
gDebugFlag2) std::cout <<
" blocked by follower nv=" << nv->
getID() <<
" nvSpeed=" << nv->
getSpeed() <<
" needGap="
490 if ((neededGap - neighFollow.second) / remainingSeconds < (plannedSpeed - nv->
getSpeed())) {
492 std::cout <<
" wants to cut in before nv=" << nv->
getID() <<
" without any help neededGap=" << neededGap <<
"\n";
511 const SUMOReal dv = plannedSpeed - neighNewSpeed1s;
513 const SUMOReal decelGap = neighFollow.second + dv;
518 <<
" egoNV=" << plannedSpeed
519 <<
" nvNewSpeed=" << neighNewSpeed
520 <<
" nvNewSpeed1s=" << neighNewSpeed1s
521 <<
" deltaGap=" << dv
522 <<
" decelGap=" << decelGap
523 <<
" secGap=" << secureGap
526 if (decelGap > 0 && decelGap >= secureGap) {
533 std::cout <<
" wants to cut in before nv=" << nv->
getID() <<
"\n";
535 }
else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap +
POSITION_EPS)) {
539 std::cout <<
" wants to cut in before nv=" << nv->
getID() <<
" (eventually)\n";
551 std::cout <<
" wants right follower to slow down a bit\n";
555 std::cout <<
" wants to cut in before right follower nv=" << nv->
getID() <<
" (eventually)\n";
563 const SUMOReal overtakeDist = (neighFollow.second
569 const SUMOReal needDV = overtakeDist / remainingSeconds;
576 <<
" wants to be overtaken by=" << nv->
getID()
577 <<
" overtakeDist=" << overtakeDist
579 <<
" vhelp=" << vhelp
580 <<
" needDV=" << needDV
625 const std::pair<MSVehicle*, SUMOReal>& leader,
626 const std::pair<MSVehicle*, SUMOReal>& neighLead,
627 const std::pair<MSVehicle*, SUMOReal>& neighFollow,
629 const std::vector<MSVehicle::LaneQ>& preb,
632 assert(laneOffset == 1 || laneOffset == -1);
636 int bestLaneOffset = 0;
645 for (
int p = 0; p < (
int) preb.size(); ++p) {
646 if (preb[p].lane == prebLane && p + laneOffset >= 0) {
647 assert(p + laneOffset < (
int)preb.size());
649 neigh = preb[p + laneOffset];
650 currentDist = curr.
length;
652 bestLaneOffset = curr.bestLaneOffset;
654 if (bestLaneOffset == 0 && preb[p + laneOffset].bestLaneOffset == 0) {
658 <<
" bestLaneOffsetOld=" << bestLaneOffset
659 <<
" bestLaneOffsetNew=" << laneOffset
662 bestLaneOffset = laneOffset;
664 best = preb[p + bestLaneOffset];
670 const bool right = (laneOffset == -1);
675 const bool changeToBest = (right && bestLaneOffset < 0) || (!right && bestLaneOffset > 0);
699 <<
" firstBlocked=" <<
tryID(*firstBlocked)
700 <<
" lastBlocked=" <<
tryID(*lastBlocked)
701 <<
" neighLead=" <<
tryID(neighLead.first)
702 <<
" neighLeadGap=" << neighLead.second
703 <<
" neighFollow=" <<
tryID(neighFollow.first)
704 <<
" neighFollowGap=" << neighFollow.second
710 if (lastBlocked != firstBlocked) {
749 int roundaboutEdgesAhead = 0;
751 if ((*it) != 0 && (*it)->getEdge().isRoundabout()) {
752 roundaboutEdgesAhead += 1;
753 }
else if (roundaboutEdgesAhead > 0) {
758 int roundaboutEdgesAheadNeigh = 0;
760 if ((*it) != 0 && (*it)->getEdge().isRoundabout()) {
761 roundaboutEdgesAheadNeigh += 1;
762 }
else if (roundaboutEdgesAheadNeigh > 0) {
767 if (roundaboutEdgesAhead > 1) {
771 if (roundaboutEdgesAhead > 0) {
773 std::cout <<
" roundaboutEdgesAhead=" << roundaboutEdgesAhead <<
" roundaboutEdgesAheadNeigh=" << roundaboutEdgesAheadNeigh <<
"\n";
779 const SUMOReal maxJam =
MAX2(preb[currIdx + laneOffset].occupation, preb[currIdx].occupation);
786 <<
" laDist=" << laDist
787 <<
" currentDist=" << currentDist
788 <<
" usableDist=" << usableDist
789 <<
" bestLaneOffset=" << bestLaneOffset
790 <<
" best.length=" << best.
length
791 <<
" maxJam=" << maxJam
792 <<
" neighLeftPlace=" << neighLeftPlace
814 <<
" avoid overtaking on the right nv=" << nv->
getID()
817 <<
" plannedSpeed=" <<
myVSafes.back()
831 std::cout <<
" veh=" <<
myVehicle.
getID() <<
" could not change back and forth in time (1) neighLeftPlace=" << neighLeftPlace <<
"\n";
834 }
else if (bestLaneOffset == 0 && (neighLeftPlace * 2. < laDist)) {
840 std::cout <<
" veh=" <<
myVehicle.
getID() <<
" could not change back and forth in time (2) neighLeftPlace=" << neighLeftPlace <<
"\n";
843 }
else if (bestLaneOffset == 0
844 && (leader.first == 0 || !leader.first->isStopped())
846 && roundaboutEdgesAhead == 0
852 std::cout <<
" veh=" <<
myVehicle.
getID() <<
" does not want to leave the bestLane (neighDist=" << neighDist <<
")\n";
862 if ((ret & lcaCounter) != 0) {
867 std::cout <<
" retAfterInfluence=" << ret <<
"\n";
877 if (changeToBest &&
abs(bestLaneOffset) > 1) {
880 std::cout <<
" reserving space for unseen blockers\n";
888 if (*firstBlocked != neighLead.first) {
895 const SUMOReal plannedSpeed =
informLeader(msgPass, blocked, myLca, neighLead, remainingSeconds);
896 if (plannedSpeed >= 0) {
898 informFollower(msgPass, blocked, myLca, neighFollow, remainingSeconds, plannedSpeed);
905 <<
" remainingSeconds=" << remainingSeconds
906 <<
" plannedSpeed=" << plannedSpeed
913 if (roundaboutEdgesAhead > 1) {
931 std::cout <<
" veh=" <<
myVehicle.
getID() <<
" does not want to get stranded on the on-ramp of a highway\n";
956 <<
" wantsChangeToHelp=" << (right ?
"right" :
"left")
958 << (((
myOwnState & myLcaCounter) != 0) ?
" (counter)" :
"")
983 if (neighLead.first == 0) {
988 &
myVehicle,
myVehicle.
getSpeed(), neighLead.second, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()));
990 if (leader.first == 0) {
998 thisLaneVSafe =
MIN2(thisLaneVSafe, vMax);
999 neighLaneVSafe =
MIN2(neighLaneVSafe, vMax);
1000 const SUMOReal relativeGain = (neighLaneVSafe - thisLaneVSafe) /
MAX2(neighLaneVSafe,
1005 if (thisLaneVSafe - 5 / 3.6 > neighLaneVSafe) {
1019 SUMOReal fullSpeedDrivingSeconds =
MIN2(acceptanceTime, fullSpeedGap / vMax);
1020 if (neighLead.first != 0 && neighLead.first->getSpeed() < vMax) {
1023 vMax, neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())));
1024 fullSpeedDrivingSeconds =
MIN2(fullSpeedDrivingSeconds, fullSpeedGap / (vMax - neighLead.first->getSpeed()));
1035 <<
" neighDist=" << neighDist
1037 <<
" leaderSpeed=" << (neighLead.first == 0 ? -1 : neighLead.first->getSpeed())
1039 myVehicle.
getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel()))
1040 <<
" acceptanceTime=" << acceptanceTime
1041 <<
" fullSpeedGap=" << fullSpeedGap
1042 <<
" fullSpeedDrivingSeconds=" << fullSpeedDrivingSeconds
1043 <<
" dProb=" << deltaProb
1059 <<
" thisLaneVSafe=" << thisLaneVSafe
1060 <<
" neighLaneVSafe=" << neighLaneVSafe
1061 <<
" relativeGain=" << relativeGain
1062 <<
" blocked=" << blocked
1075 if (thisLaneVSafe > neighLaneVSafe) {
1102 && (right ? mySpeedGainProbability < 0 : mySpeedGainProbability > 0)) {
1114 <<
" thisLaneVSafe=" << thisLaneVSafe
1115 <<
" neighLaneVSafe=" << neighLaneVSafe
1125 if ((*blocked) != 0) {
1130 <<
" blocked=" <<
tryID(*blocked)
1149 (*blocked)->getCarFollowModel().getMaxDecel()));
1170 <<
" blocker=" <<
tryID(blocker)
1180 <<
" blocker=" <<
tryID(blocker)
void * inform(void *info, MSVehicle *sender)
#define LOOK_AHEAD_MIN_SPEED
bool gDebugFlag1
global utility flags for debugging
int _wantsChange(int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, SUMOReal > &leader, const std::pair< MSVehicle *, SUMOReal > &neighLead, const std::pair< MSVehicle *, SUMOReal > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
helper function for doing the actual work
MSEdge & getEdge() const
Returns the lane's edge.
#define CHANGE_PROB_THRESHOLD_LEFT
Representation of a vehicle in the micro simulation.
SUMOReal getMaxSpeed() const
Get vehicle's maximum speed [m/s].
int slowDownForBlocked(MSVehicle **blocked, int state)
compute useful slowdowns for blocked vehicles
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
bool currentDistAllows(SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
const std::vector< MSLane * > & getLanes() const
Returns this edge's lanes.
The action is done to help someone else.
SUMOReal getLengthWithGap() const
Get vehicle's length including the minimum gap [m].
int bestLaneOffset
The (signed) number of lanes to be crossed to get to the lane which allows to continue the drive...
virtual SUMOReal followSpeed(const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const =0
Computes the vehicle's safe speed (no dawdling)
SUMOReal myLeadingBlockerLength
The car-following model abstraction.
void * informNeighFollower(void *info, MSVehicle *sender)
Informs the follower on the desired lane.
SUMOReal getLength() const
Get vehicle's length [m].
int wantsChange(int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, SUMOReal > &leader, const std::pair< MSVehicle *, SUMOReal > &neighLead, const std::pair< MSVehicle *, SUMOReal > &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 th...
static MSNet * getInstance()
Returns the pointer to the unique instance of MSNet (singleton).
MSLCM_JE2013(MSVehicle &v)
std::vector< SUMOReal > myVSafes
SUMOReal getSecureGap(const SUMOReal speed, const SUMOReal leaderSpeed, const SUMOReal leaderMaxDecel) const
Returns the minimum gap to reserve if the leader is braking at maximum.
SUMOReal getPositionOnLane() const
Get the vehicle's position along the lane.
The action is due to a TraCI request.
SUMOTime getCurrentTimeStep() const
Returns the current simulation step.
SUMOReal length
The overall length which may be driven when using this lane without a lane change.
The action is urgent (to be defined by lc-model)
MSAbstractLaneChangeModel & getLaneChangeModel()
void informFollower(MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, SUMOReal > &neighFollow, SUMOReal remainingSeconds, SUMOReal plannedSpeed)
decide whether we will try cut in before the follower or allow to be overtaken
#define LCA_RIGHT_IMPATIENCE
std::pair< SUMOReal, int > Info
information regarding save velocity (unused) and state flags of the ego vehicle
static bool myAllowOvertakingRight
whether overtaking on the right is permitted
A class responsible for exchanging messages between cars involved in lane-change interaction.
const std::string & getID() const
Returns the id.
bool cancelRequest(int state)
whether the influencer cancels the given request
SUMOReal brakeGap(const SUMOReal speed) const
Returns the distance the vehicle needs to halt including driver's reaction time.
#define CUT_IN_LEFT_SPEED_THRESHOLD
SUMOReal mySpeedGainProbability
a value for tracking the probability that a change to the offset with the same sign is beneficial ...
SUMOReal getMinGap() const
Get the free space in front of vehicles of this class.
#define RELGAIN_NORMALIZATION_MIN_SPEED
#define LOOK_FORWARD_RIGHT
bool amBlockingFollowerPlusNB()
SUMOReal informLeader(MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, SUMOReal > &neighLead, SUMOReal remainingSeconds)
SUMOReal _patchSpeed(const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)
void saveBlockerLength(MSVehicle *blocker, int lcaCounter)
save space for vehicles which need to counter-lane-change
virtual SUMOReal stopSpeed(const MSVehicle *const veh, const SUMOReal speed, SUMOReal gap2pred) const =0
Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling) ...
SUMOReal getSpeedLimit() const
Returns the lane's maximum allowed speed.
std::string tryID(const MSVehicle *v)
A structure representing the best lanes for continuing the route.
SUMOReal getMaxDecel() const
Get the vehicle type's maximum deceleration [m/s^2].
SUMOReal changeRequestRemainingSeconds(const SUMOTime currentTime) const
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
int myOwnState
The current state of the vehicle.
std::string toString(const T &t, std::streamsize accuracy=OUTPUT_ACCURACY)
virtual void saveBlockerLength(SUMOReal length)
reserve space at the end of the lane to avoid dead locks
#define HELP_DECEL_FACTOR
MSVehicle & myVehicle
The vehicle this lane-changer belongs to.
void * informNeighLeader(void *info, MSVehicle *sender)
Informs the leader on the desired lane.
The action is needed to follow the route (navigational lc)
EdgeBasicFunction getPurpose() const
Returns the edge type (EdgeBasicFunction)
Influencer & getInfluencer()
Returns the velocity/lane influencer.
SUMOReal myKeepRightProbability
#define LOOK_AHEAD_SPEED_MEMORY
SUMOTime myLastLaneChangeOffset
information how long ago the vehicle has performed a lane-change
#define ROUNDABOUT_DIST_BONUS
SUMOReal occupation
The overall vehicle sum on consecutive lanes which can be passed without a lane change.
#define CHANGE_PROB_THRESHOLD_RIGHT
std::vector< MSLane * > bestContinuations
Consecutive lane that can be followed without a lane change (contribute to length and occupation) ...
SUMOReal myLookAheadSpeed
The action is due to the default of keeping right "Rechtsfahrgebot".
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
const SUMOReal SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
Needs to stay on the current lane.
SUMOReal getSpeed() const
Returns the vehicle's current speed.
SUMOReal getWaitingSeconds() const
Returns the number of seconds waited (speed was lesser than 0.1m/s)
#define KEEP_RIGHT_ACCEPTANCE
#define LOOK_FORWARD_LEFT
const MSLinkCont & getLinkCont() const
returns the container with all links !!!
SUMOReal getVehicleMaxSpeed(const SUMOVehicle *const veh) const
Returns the lane's maximum speed, given a vehicle's speed limit adaptation.
MSLane * getLane() const
Returns the lane the vehicle is on.
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
The edge is an internal edge.
Representation of a lane in the micro simulation.
const MSCFModel & myCarFollowModel
The vehicle's car following model.
bool currentDistDisallows(SUMOReal dist, int laneOffset, SUMOReal lookForwardDist)
Interface for lane-change models.
int getBestLaneOffset() const
returns the current offset from the best lane
SUMOReal patchSpeed(const SUMOReal min, const SUMOReal wanted, const SUMOReal max, const MSCFModel &cfModel)
Called to adapt the speed in order to allow a lane change.
const std::string & getID() const
Returns the name of the vehicle.
The action is due to the wish to be faster (tactical lc)