SUMO - Simulation of Urban MObility
MSAbstractLaneChangeModel Class Referenceabstract

Interface for lane-change models. More...

#include <MSAbstractLaneChangeModel.h>

Inheritance diagram for MSAbstractLaneChangeModel:
Inheritance graph
Collaboration diagram for MSAbstractLaneChangeModel:
Collaboration graph

Data Structures

class  MSLCMessager
 A class responsible for exchanging messages between cars involved in lane-change interaction. More...
 
struct  StateAndDist
 

Public Member Functions

bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
virtual void changed ()=0
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void checkTraCICommands ()
 Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. More...
 
void cleanupShadowLane ()
 
void cleanupTargetLane ()
 
virtual double computeSpeedLat (double latDist, double &maneuverDist)
 decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints. More...
 
virtual 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...
 
MSLanedetermineTargetLane (int &targetDir) const
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
double getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
double getCommittedSpeed () const
 
const std::vector< MSLane * > & getFurtherTargetLanes () const
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
double getManeuverDist () const
 Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More...
 
int getOwnState () const
 
virtual std::string getParameter (const std::string &key) const
 try to retrieve the given parameter from this laneChangeModel. Throw exception for unsupported key More...
 
int getPrevState () const
 
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 vehicle's shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
MSLanegetShadowLane (const MSLane *lane, double posLat) const
 return the shadow lane for the given lane and lateral offset More...
 
double getSpeedLat () const
 return the lateral speed of the current lane change maneuver More...
 
MSLanegetTargetLane () const
 Returns the lane the vehicle has committed to enter during a sublane lane change. More...
 
virtual void * inform (void *info, MSVehicle *sender)=0
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
void laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction)
 called once the vehicle ends a lane change manoeuvre (non-instant) More...
 
 MSAbstractLaneChangeModel (MSVehicle &v, const LaneChangeModel model)
 Constructor. More...
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
virtual double patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)=0
 Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More...
 
virtual 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...
 
virtual void saveBlockerLength (double length)
 reserve space at the end of the lane to avoid dead locks More...
 
void saveState (const int dir, const int stateWithoutTraCI, const int state)
 
void setFollowerGaps (CLeaderDist follower, double secGap)
 
void setFollowerGaps (const MSLeaderDistanceInfo &vehicles)
 
void setLeaderGaps (CLeaderDist, double secGap)
 
void setLeaderGaps (const MSLeaderDistanceInfo &vehicles)
 
void setManeuverDist (const double dist)
 Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) More...
 
void setNoShadowPartialOccupator (MSLane *lane)
 
void setOrigLeaderGaps (CLeaderDist, double secGap)
 
void setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles)
 
virtual void setOwnState (const int state)
 
virtual 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)
 
void setSpeedLat (double speedLat)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
virtual bool sublaneChangeCompleted (const double latDist) const
 whether the current change completes the manoeuvre More...
 
void unchanged ()
 
bool updateCompletion ()
 
virtual void updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
virtual void updateSafeLatDist (const double travelledLatDist)
 Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps. More...
 
void updateShadowLane ()
 
void updateTargetLane ()
 
virtual 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, LaneChangeAction alternatives, 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, double &targetDistLat, int &blocked)
 
virtual ~MSAbstractLaneChangeModel ()
 Destructor. More...
 

Static Public Member Functions

static MSAbstractLaneChangeModelbuild (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static bool haveLCOutput ()
 whether lanechange-output is active More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 
static bool outputLCEnded ()
 whether start of maneuvers shall be recorede More...
 
static bool outputLCStarted ()
 whether start of maneuvers shall be recorede More...
 

Static Public Attributes

static const double NO_NEIGHBOR
 

Protected Member Functions

bool cancelRequest (int state)
 whether the influencer cancels the given request More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
void initLastLaneChangeOffset (int dir)
 
virtual bool predInteraction (const std::pair< MSVehicle *, double > &leader)
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
double myCommittedSpeed
 the speed when committing to a change maneuver More...
 
std::vector< MSLane * > myFurtherTargetLanes
 
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 myLastFollowerGap
 
double myLastFollowerSecureGap
 
double myLastLateralGapLeft
 the minimum lateral gaps to other vehicles that were found when last changing to the left and right More...
 
double myLastLateralGapRight
 
double myLastLeaderGap
 the actual minimum longitudinal distances to vehicles on the target lane More...
 
double myLastLeaderSecureGap
 the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More...
 
double myLastOrigLeaderGap
 acutal and secure distance to closest leader vehicle on the original when performing lane change More...
 
double myLastOrigLeaderSecureGap
 
double myManeuverDist
 The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. More...
 
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...
 
int myPreviousState
 lane changing state from the previous simulation step More...
 
int myPreviousState2
 lane changing state from step before the previous simulation step 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 mySpeedLat
 the current lateral speed More...
 
MSLanemyTargetLane
 The target lane for the vehicle's current maneuver. More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCEndedOutput
 
static bool myLCOutput
 whether to record lane-changing More...
 
static bool myLCStartedOutput
 

Private Member Functions

MSAbstractLaneChangeModeloperator= (const MSAbstractLaneChangeModel &s)
 Invalidated assignment operator. More...
 

Private Attributes

bool myAmOpposite
 whether the vehicle is driving in the opposite direction More...
 
std::vector< MSLink * > myApproachedByShadow
 links which are approached by the shadow vehicle More...
 
SUMOTime myLastLaneChangeOffset
 

Detailed Description

Interface for lane-change models.

Definition at line 51 of file MSAbstractLaneChangeModel.h.

Constructor & Destructor Documentation

◆ MSAbstractLaneChangeModel()

MSAbstractLaneChangeModel::MSAbstractLaneChangeModel ( MSVehicle v,
const LaneChangeModel  model 
)

Constructor.

Parameters
[in]vThe vehicle this lane-changer belongs to
[in]modelThe type of lane change model

Definition at line 97 of file MSAbstractLaneChangeModel.cpp.

Referenced by outputLCEnded().

◆ ~MSAbstractLaneChangeModel()

MSAbstractLaneChangeModel::~MSAbstractLaneChangeModel ( )
virtual

Destructor.

Definition at line 125 of file MSAbstractLaneChangeModel.cpp.

Referenced by outputLCEnded().

Member Function Documentation

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inline

reset the flag whether a vehicle already moved to false

Definition at line 399 of file MSAbstractLaneChangeModel.h.

References myAlreadyChanged.

Referenced by MSLaneChanger::change().

◆ build()

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

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 74 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)
protected

whether the influencer cancels the given request

Definition at line 347 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::influenceChangeDecision(), and myVehicle.

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

◆ changed()

virtual void MSAbstractLaneChangeModel::changed ( )
pure virtual

◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )

called when a vehicle changes between lanes in opposite directions

Definition at line 580 of file MSAbstractLaneChangeModel.cpp.

References myAlreadyChanged, and myAmOpposite.

Referenced by debugVehicle(), endLaneChangeManeuver(), MSVehicle::executeMove(), and startLaneChangeManeuver().

◆ checkTraCICommands()

void MSAbstractLaneChangeModel::checkTraCICommands ( )

◆ cleanupShadowLane()

◆ cleanupTargetLane()

void MSAbstractLaneChangeModel::cleanupTargetLane ( )

◆ computeSpeedLat()

virtual double MSAbstractLaneChangeModel::computeSpeedLat ( double  latDist,
double &  maneuverDist 
)
inlinevirtual

decides the next lateral speed depending on the remaining lane change distance to be covered and updates maneuverDist according to lateral safety constraints.

Reimplemented in MSLCM_SL2015.

Definition at line 487 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::continueChangeSublane().

◆ congested()

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

◆ debugVehicle()

virtual bool MSAbstractLaneChangeModel::debugVehicle ( ) const
inlinevirtual

◆ decideDirection()

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

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

Reimplemented in MSLCM_SL2015.

Definition at line 287 of file MSAbstractLaneChangeModel.h.

References changed(), inform(), myModel, patchSpeed(), toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ determineTargetLane()

MSLane * MSAbstractLaneChangeModel::determineTargetLane ( int &  targetDir) const

◆ endLaneChangeManeuver()

◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const

return the angle offset during a continuous change maneuver

Definition at line 504 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, myLaneChangeCompletion, myLaneChangeDirection, pastMidpoint(), and STEPS2TIME.

Referenced by getLaneChangeDirection().

◆ getCommittedSpeed()

double MSAbstractLaneChangeModel::getCommittedSpeed ( ) const
inline

◆ getFurtherTargetLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getFurtherTargetLanes ( ) const
inline

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inline

return the direction of the current lane change maneuver

Definition at line 388 of file MSAbstractLaneChangeModel.h.

References getAngleOffset(), getShadowDirection(), and myLaneChangeDirection.

Referenced by MSLaneChanger::continueChange().

◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inline

Definition at line 369 of file MSAbstractLaneChangeModel.h.

References myLastLaneChangeOffset.

◆ getManeuverDist()

double MSAbstractLaneChangeModel::getManeuverDist ( ) const

◆ getOwnState()

◆ getParameter()

virtual std::string MSAbstractLaneChangeModel::getParameter ( const std::string &  key) const
inlinevirtual

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

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 494 of file MSAbstractLaneChangeModel.h.

References myModel, and toString().

Referenced by libsumo::Vehicle::getParameter().

◆ getPrevState()

int MSAbstractLaneChangeModel::getPrevState ( ) const
inline

at the time of this call myPreviousState already holds the new value

Definition at line 174 of file MSAbstractLaneChangeModel.h.

References getManeuverDist(), myPreviousState2, setManeuverDist(), setOwnState(), and updateSafeLatDist().

Referenced by MSLaneChangerSublane::outputLCStarted().

◆ getSavedState()

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

Definition at line 189 of file MSAbstractLaneChangeModel.h.

References mySavedStates.

Referenced by libsumo::Vehicle::getLaneChangeState().

◆ getShadowDirection()

int MSAbstractLaneChangeModel::getShadowDirection ( ) const

◆ getShadowFurtherLanes()

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

◆ getShadowFurtherLanesPosLat()

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

◆ getShadowLane() [1/3]

◆ getShadowLane() [2/3]

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane lane) const

return the shadow lane for the given lane

Definition at line 300 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLateralPositionOnLane(), getShadowLane(), and myVehicle.

◆ getShadowLane() [3/3]

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane lane,
double  posLat 
) const

◆ getSpeedLat()

double MSAbstractLaneChangeModel::getSpeedLat ( ) const
inline

return the lateral speed of the current lane change maneuver

Definition at line 477 of file MSAbstractLaneChangeModel.h.

References mySpeedLat.

Referenced by MSLaneChangerSublane::change(), MSLaneChanger::continueChange(), GUIVehicle::getParameterWindow(), and MSLeaderInfo::getSubLanes().

◆ getTargetLane()

MSLane* MSAbstractLaneChangeModel::getTargetLane ( ) const
inline

Returns the lane the vehicle has committed to enter during a sublane lane change.

Returns
The vehicle's target lane.

Definition at line 361 of file MSAbstractLaneChangeModel.h.

References myTargetLane.

Referenced by GUIVehicle::getParameterWindow(), and MSLaneChangerSublane::startChangeSublane().

◆ haveLCOutput()

static bool MSAbstractLaneChangeModel::haveLCOutput ( )
inlinestatic

◆ inform()

◆ initGlobalOptions()

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
static

◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protected

Definition at line 354 of file MSAbstractLaneChangeModel.cpp.

References myLastLaneChangeOffset.

Referenced by primaryLaneChanged().

◆ isChangingLanes()

◆ isOpposite()

◆ laneChangeOutput()

◆ operator=()

MSAbstractLaneChangeModel& MSAbstractLaneChangeModel::operator= ( const MSAbstractLaneChangeModel s)
private

Invalidated assignment operator.

◆ outputLCEnded()

static bool MSAbstractLaneChangeModel::outputLCEnded ( )
inlinestatic

whether start of maneuvers shall be recorede

Definition at line 157 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel(), myLCEndedOutput, and ~MSAbstractLaneChangeModel().

Referenced by MSLaneChangerSublane::outputLCEnded().

◆ outputLCStarted()

static bool MSAbstractLaneChangeModel::outputLCStarted ( )
inlinestatic

whether start of maneuvers shall be recorede

Definition at line 152 of file MSAbstractLaneChangeModel.h.

References myLCStartedOutput.

Referenced by MSLaneChangerSublane::outputLCStarted().

◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inline

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

Definition at line 375 of file MSAbstractLaneChangeModel.h.

References myLaneChangeCompletion, and remainingTime().

Referenced by getAngleOffset(), getShadowDirection(), and updateCompletion().

◆ patchSpeed()

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

Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step.

It is guaranteed that min<=wanted<=max, but the implementation needs to make sure that the return value is between min and max.

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

Implemented in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Referenced by decideDirection(), MSCFModel_Rail::moveHelper(), MSCFModel_Krauss::moveHelper(), MSCFModel_KraussOrig1::moveHelper(), MSCFModel_Daniel1::moveHelper(), MSCFModel_SmartSK::moveHelper(), MSCFModel_KraussX::moveHelper(), and MSCFModel::moveHelper().

◆ predInteraction()

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

◆ prepareStep()

◆ primaryLaneChanged()

void MSAbstractLaneChangeModel::primaryLaneChanged ( MSLane source,
MSLane target,
int  direction 
)

◆ remainingTime()

SUMOTime MSAbstractLaneChangeModel::remainingTime ( ) const

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

Definition at line 511 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLaneChangeDuration, and myLaneChangeCompletion.

Referenced by pastMidpoint().

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const

◆ resetChanged()

void MSAbstractLaneChangeModel::resetChanged ( )
inline

◆ saveBlockerLength()

virtual void MSAbstractLaneChangeModel::saveBlockerLength ( double  length)
inlinevirtual

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

Reimplemented in MSLCM_LC2013, and MSLCM_SL2015.

Definition at line 440 of file MSAbstractLaneChangeModel.h.

References UNUSED_PARAMETER.

Referenced by MSLCM_LC2013::saveBlockerLength().

◆ saveState()

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

◆ setFollowerGaps() [1/2]

◆ setFollowerGaps() [2/2]

◆ setLeaderGaps() [1/2]

◆ setLeaderGaps() [2/2]

◆ setManeuverDist()

void MSAbstractLaneChangeModel::setManeuverDist ( const double  dist)

Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model)

Definition at line 142 of file MSAbstractLaneChangeModel.cpp.

References DEBUG_COND, MSBaseVehicle::getID(), myManeuverDist, myVehicle, and SIMTIME.

Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::change(), checkTraCICommands(), getPrevState(), and MSLaneChangerSublane::startChangeSublane().

◆ setNoShadowPartialOccupator()

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inline

◆ setOrigLeaderGaps() [1/2]

◆ setOrigLeaderGaps() [2/2]

◆ setOwnState()

void MSAbstractLaneChangeModel::setOwnState ( const int  state)
virtual

◆ setParameter()

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

try to set the given parameter for this laneChangeModel. Throw exception for unsupported key

Reimplemented in MSLCM_SL2015, and MSLCM_LC2013.

Definition at line 499 of file MSAbstractLaneChangeModel.h.

References checkTraCICommands(), myModel, toString(), and UNUSED_PARAMETER.

Referenced by libsumo::Vehicle::setParameter().

◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const

set approach information for the shadow vehicle

Definition at line 517 of file MSAbstractLaneChangeModel.cpp.

References myApproachedByShadow.

Referenced by MSVehicle::checkRewindLinkLanes(), and sublaneChangeCompleted().

◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inline

set the shadow lane

Definition at line 346 of file MSAbstractLaneChangeModel.h.

References myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inline

Definition at line 444 of file MSAbstractLaneChangeModel.h.

References myPartiallyOccupatedByShadow.

◆ setSpeedLat()

void MSAbstractLaneChangeModel::setSpeedLat ( double  speedLat)
inline

◆ startLaneChangeManeuver()

◆ sublaneChangeCompleted()

virtual bool MSAbstractLaneChangeModel::sublaneChangeCompleted ( const double  latDist) const
inlinevirtual

whether the current change completes the manoeuvre

Definition at line 459 of file MSAbstractLaneChangeModel.h.

References myModel, removeShadowApproachingInformation(), setShadowApproachingInformation(), toString(), and UNUSED_PARAMETER.

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inline

Definition at line 324 of file MSAbstractLaneChangeModel.h.

References DELTA_T, and myLastLaneChangeOffset.

Referenced by MSLaneChanger::registerUnchanged().

◆ updateCompletion()

bool MSAbstractLaneChangeModel::updateCompletion ( )

◆ updateExpectedSublaneSpeeds()

virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderDistanceInfo ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtual

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 279 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ updateSafeLatDist()

void MSAbstractLaneChangeModel::updateSafeLatDist ( const double  travelledLatDist)
virtual

Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps.

Reimplemented in MSLCM_SL2015.

Definition at line 136 of file MSAbstractLaneChangeModel.cpp.

References UNUSED_PARAMETER.

Referenced by getPrevState(), and MSLaneChangerSublane::startChangeSublane().

◆ updateShadowLane()

◆ updateTargetLane()

◆ wantsChange()

virtual int MSAbstractLaneChangeModel::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 
)
inlinevirtual

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 in MSLCM_SL2015, MSLCM_LC2013, and MSLCM_DK2008.

Definition at line 223 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChanger::checkChange().

◆ wantsChangeSublane()

virtual int MSAbstractLaneChangeModel::wantsChangeSublane ( int  laneOffset,
LaneChangeAction  alternatives,
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,
double &  targetDistLat,
int &  blocked 
)
inlinevirtual

Reimplemented in MSLCM_SL2015.

Definition at line 246 of file MSAbstractLaneChangeModel.h.

References myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::checkChangeSublane().

Field Documentation

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotected

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protected

whether the vehicle has already moved this step

Definition at line 550 of file MSAbstractLaneChangeModel.h.

Referenced by alreadyChanged(), changedToOpposite(), and resetChanged().

◆ myAmOpposite

bool MSAbstractLaneChangeModel::myAmOpposite
private

whether the vehicle is driving in the opposite direction

Definition at line 627 of file MSAbstractLaneChangeModel.h.

Referenced by changedToOpposite(), endLaneChangeManeuver(), and isOpposite().

◆ myApproachedByShadow

std::vector<MSLink*> MSAbstractLaneChangeModel::myApproachedByShadow
mutableprivate

links which are approached by the shadow vehicle

Definition at line 624 of file MSAbstractLaneChangeModel.h.

Referenced by removeShadowApproachingInformation(), and setShadowApproachingInformation().

◆ myCarFollowModel

◆ myCommittedSpeed

double MSAbstractLaneChangeModel::myCommittedSpeed
protected

the speed when committing to a change maneuver

Definition at line 537 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::commitManoeuvre(), getCommittedSpeed(), and prepareStep().

◆ myFurtherTargetLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myFurtherTargetLanes
protected

◆ myLaneChangeCompletion

double MSAbstractLaneChangeModel::myLaneChangeCompletion
protected

progress of the lane change maneuver 0:started, 1:complete

Definition at line 540 of file MSAbstractLaneChangeModel.h.

Referenced by endLaneChangeManeuver(), getAngleOffset(), getShadowLane(), isChangingLanes(), pastMidpoint(), remainingTime(), startLaneChangeManeuver(), and updateCompletion().

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protected

direction of the lane change maneuver -1 means right, 1 means left

Definition at line 543 of file MSAbstractLaneChangeModel.h.

Referenced by getAngleOffset(), getLaneChangeDirection(), getShadowDirection(), and startLaneChangeManeuver().

◆ myLastFollowerGap

double MSAbstractLaneChangeModel::myLastFollowerGap
protected

Definition at line 596 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().

◆ myLastFollowerSecureGap

double MSAbstractLaneChangeModel::myLastFollowerSecureGap
protected

Definition at line 599 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setFollowerGaps().

◆ myLastLaneChangeOffset

SUMOTime MSAbstractLaneChangeModel::myLastLaneChangeOffset
private

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protected

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

Definition at line 591 of file MSAbstractLaneChangeModel.h.

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

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protected

◆ myLastLeaderGap

double MSAbstractLaneChangeModel::myLastLeaderGap
protected

the actual minimum longitudinal distances to vehicles on the target lane

Definition at line 595 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().

◆ myLastLeaderSecureGap

double MSAbstractLaneChangeModel::myLastLeaderSecureGap
protected

the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security

Definition at line 598 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setLeaderGaps().

◆ myLastOrigLeaderGap

double MSAbstractLaneChangeModel::myLastOrigLeaderGap
protected

acutal and secure distance to closest leader vehicle on the original when performing lane change

Definition at line 601 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().

◆ myLastOrigLeaderSecureGap

double MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap
protected

Definition at line 602 of file MSAbstractLaneChangeModel.h.

Referenced by laneChangeOutput(), prepareStep(), and setOrigLeaderGaps().

◆ myLCEndedOutput

bool MSAbstractLaneChangeModel::myLCEndedOutput
staticprotected

Definition at line 614 of file MSAbstractLaneChangeModel.h.

Referenced by initGlobalOptions(), and outputLCEnded().

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotected

whether to record lane-changing

Definition at line 612 of file MSAbstractLaneChangeModel.h.

Referenced by haveLCOutput(), initGlobalOptions(), and laneChangeOutput().

◆ myLCStartedOutput

bool MSAbstractLaneChangeModel::myLCStartedOutput
staticprotected

Definition at line 613 of file MSAbstractLaneChangeModel.h.

Referenced by initGlobalOptions(), and outputLCStarted().

◆ myManeuverDist

double MSAbstractLaneChangeModel::myManeuverDist
protected

The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently.

Definition at line 547 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSLCM_SL2015::checkBlocking(), determineTargetLane(), getManeuverDist(), MSLCM_SL2015::prepareStep(), setManeuverDist(), MSLCM_SL2015::setOwnState(), and MSLCM_SL2015::wantsChange().

◆ myModel

◆ myNoPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myNoPartiallyOccupatedByShadow
protected

◆ myOwnState

◆ myPartiallyOccupatedByShadow

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

list of lanes where the shadow vehicle is partial occupator

Definition at line 584 of file MSAbstractLaneChangeModel.h.

Referenced by setShadowPartialOccupator().

◆ myPreviousState

int MSAbstractLaneChangeModel::myPreviousState
protected

lane changing state from the previous simulation step

Definition at line 527 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), and setOwnState().

◆ myPreviousState2

int MSAbstractLaneChangeModel::myPreviousState2
protected

lane changing state from step before the previous simulation step

Definition at line 529 of file MSAbstractLaneChangeModel.h.

Referenced by getPrevState(), and setOwnState().

◆ mySavedStates

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

Definition at line 531 of file MSAbstractLaneChangeModel.h.

Referenced by getSavedState(), and saveState().

◆ myShadowFurtherLanes

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

◆ myShadowFurtherLanesPosLat

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

Definition at line 557 of file MSAbstractLaneChangeModel.h.

Referenced by getShadowFurtherLanesPosLat(), and updateShadowLane().

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protected

A lane that is partially occupied by the front of the vehicle but that is not the primary lane.

Definition at line 553 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupShadowLane(), determineTargetLane(), getShadowDirection(), getShadowLane(), setShadowLane(), and updateShadowLane().

◆ mySpeedLat

double MSAbstractLaneChangeModel::mySpeedLat
protected

◆ myTargetLane

MSLane* MSAbstractLaneChangeModel::myTargetLane
protected

The target lane for the vehicle's current maneuver.

Note
This is used by the sublane model to register the vehicle at lanes, it will reach within the current action step, so vehicles on that lane may react to the started lc-maneuver during the car-following process. If the shadow lane is the same as the lc maneuver target, myTargetLane is set to nullptr. The current shadow lanes and further lanes should always be updated before updating the target lane.

Definition at line 567 of file MSAbstractLaneChangeModel.h.

Referenced by cleanupTargetLane(), getTargetLane(), and updateTargetLane().

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protected

The vehicle this lane-changer belongs to.

Definition at line 522 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_LC2013::_patchSpeed(), MSLCM_SL2015::_patchSpeed(), MSLCM_LC2013::_wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), MSLCM_LC2013::adaptSpeedToPedestrians(), MSLCM_SL2015::addLCSpeedAdvice(), MSLCM_LC2013::addLCSpeedAdvice(), cancelRequest(), MSLCM_LC2013::changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), checkTraCICommands(), cleanupShadowLane(), cleanupTargetLane(), MSLCM_SL2015::commitFollowSpeed(), MSLCM_SL2015::commitManoeuvre(), MSLCM_SL2015::computeSpeedGain(), MSLCM_SL2015::computeSpeedLat(), congested(), MSLCM_SL2015::decideDirection(), determineTargetLane(), endLaneChangeManeuver(), MSLCM_LC2013::getRoundaboutAheadInfo(), getShadowDirection(), getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getWidth(), MSLCM_LC2013::inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), MSLCM_LC2013::informFollower(), MSLCM_SL2015::informFollower(), MSLCM_LC2013::informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), laneChangeOutput(), MSLCM_SL2015::msg(), MSLCM_LC2013::MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), MSLCM_LC2013::patchSpeed(), MSLCM_SL2015::patchSpeed(), predInteraction(), MSLCM_SL2015::prepareStep(), primaryLaneChanged(), removeShadowApproachingInformation(), MSLCM_SL2015::saveBlockerLength(), MSLCM_LC2013::saveBlockerLength(), setFollowerGaps(), setLeaderGaps(), setManeuverDist(), setOrigLeaderGaps(), MSLCM_SL2015::setOwnState(), MSLCM_LC2013::slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), startLaneChangeManeuver(), MSLCM_SL2015::updateCFRelated(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), updateShadowLane(), updateTargetLane(), MSLCM_LC2013::wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ NO_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_NEIGHBOR
static

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