void
MSLCM_DK2004::informBlocker(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
int& blocked,
int dir,
const std::pair<MSVehicle*, SUMOReal>& neighLead,
const std::pair<MSVehicle*, SUMOReal>& neighFollow) {
if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0) {
assert(neighFollow.first != 0);
MSVehicle* nv = neighFollow.first;
SUMOReal decelGap =
neighFollow.second
+ SPEED2DIST(myVehicle.getSpeed()) * (SUMOReal) 2.0
- MAX2(nv->getSpeed() - (SUMOReal) ACCEL2DIST(nv->getCarFollowModel().getMaxDecel()) * (SUMOReal) 2.0, (SUMOReal) 0);
if (neighFollow.second > 0 && decelGap > 0 && decelGap >= nv->getCarFollowModel().getSecureGap(nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel())) {
SUMOReal vsafe = myCarFollowModel.followSpeed(&myVehicle, myVehicle.getSpeed(), neighFollow.second, neighFollow.first->getSpeed(), neighFollow.first->getCarFollowModel().getMaxDecel());
msgPass.informNeighFollower(new Info(vsafe, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
} else {
SUMOReal vsafe = neighFollow.second <= 0 ? 0 : myCarFollowModel.followSpeed(&myVehicle, myVehicle.getSpeed(), neighFollow.second, neighFollow.first->getSpeed(), neighFollow.first->getCarFollowModel().getMaxDecel());
msgPass.informNeighFollower(new Info(vsafe, dir | LCA_AMBLOCKINGFOLLOWER_DONTBRAKE), &myVehicle);
}
}
if ((blocked & LCA_BLOCKED_BY_LEADER) != 0) {
if (neighLead.first != 0 && neighLead.second > 0) {
msgPass.informNeighLeader(new Info(0, dir | LCA_AMBLOCKINGLEADER), &myVehicle);
}
}
}
void
MSLCM_LC2013::informFollower(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
int blocked,
int dir,
const std::pair<MSVehicle*, SUMOReal>& neighFollow,
SUMOReal remainingSeconds,
SUMOReal plannedSpeed) {
if ((blocked & LCA_BLOCKED_BY_FOLLOWER) != 0) {
assert(neighFollow.first != 0);
MSVehicle* nv = neighFollow.first;
// are we fast enough to cut in without any help?
if (plannedSpeed - nv->getSpeed() >= HELP_OVERTAKE) {
const SUMOReal neededGap = nv->getCarFollowModel().getSecureGap(nv->getSpeed(), plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
if ((neededGap - neighFollow.second) / remainingSeconds < (plannedSpeed - nv->getSpeed())) {
// follower might even accelerate but not to much
msgPass.informNeighFollower(new Info(plannedSpeed - HELP_OVERTAKE, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
return;
}
}
// decide whether we will request help to cut in before the follower or allow to be overtaken
// PARAMETERS
// assume other vehicle will assume the equivalent of 1 second of
// maximum deceleration to help us (will probably be spread over
// multiple seconds)
// -----------
const SUMOReal helpDecel = nv->getCarFollowModel().getMaxDecel() * HELP_DECEL_FACTOR ;
// change in the gap between ego and blocker over 1 second (not STEP!)
const SUMOReal neighNewSpeed = MAX2((SUMOReal)0, nv->getSpeed() - ACCEL2SPEED(helpDecel));
const SUMOReal neighNewSpeed1s = MAX2((SUMOReal)0, nv->getSpeed() - helpDecel);
const SUMOReal dv = plannedSpeed - neighNewSpeed1s;
// new gap between follower and self in case the follower does brake for 1s
const SUMOReal decelGap = neighFollow.second + dv;
const SUMOReal secureGap = nv->getCarFollowModel().getSecureGap(neighNewSpeed1s, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel());
if (decelGap > 0 && decelGap >= secureGap) {
// if the blocking neighbor brakes it could actually help
// how hard does it actually need to be?
const SUMOReal vsafe = MAX2(neighNewSpeed, nv->getCarFollowModel().followSpeed(
nv, nv->getSpeed(), neighFollow.second, plannedSpeed, myVehicle.getCarFollowModel().getMaxDecel()));
msgPass.informNeighFollower(new Info(vsafe, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
} else if (dv > 0 && dv * remainingSeconds > (secureGap - decelGap + POSITION_EPS)) {
// decelerating once is sufficient to open up a large enough gap in time
msgPass.informNeighFollower(new Info(neighNewSpeed, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
} else {
SUMOReal vhelp = MAX2(nv->getSpeed(), myVehicle.getSpeed() + HELP_OVERTAKE);
//if (dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE &&
// nv->getSpeed() > myVehicle.getSpeed()) {
if (nv->getSpeed() > myVehicle.getSpeed() &&
((dir == LCA_MRIGHT && myVehicle.getWaitingSeconds() > LCA_RIGHT_IMPATIENCE)
|| (dir == LCA_MLEFT && plannedSpeed > CUT_IN_LEFT_SPEED_THRESHOLD) // VARIANT_22 (slowDownLeft)
)) {
// let the follower slow down to increase the likelyhood that later vehicles will be slow enough to help
// follower should still be fast enough to open a gap
vhelp = MAX2(neighNewSpeed, myVehicle.getSpeed() + HELP_OVERTAKE);
if ((nv->getSpeed() - myVehicle.getSpeed()) / helpDecel < remainingSeconds) {
msgPass.informNeighFollower(new Info(vhelp, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
return;
}
}
msgPass.informNeighFollower(new Info(vhelp, dir | LCA_AMBLOCKINGFOLLOWER), &myVehicle);
// this follower is supposed to overtake us. slow down smoothly to allow this
const SUMOReal overtakeDist = (neighFollow.second // follower reaches ego back
+ myVehicle.getVehicleType().getLengthWithGap() // follower reaches ego front
+ nv->getVehicleType().getLength() // follower back at ego front
+ myVehicle.getCarFollowModel().getSecureGap( // follower has safe dist to ego
plannedSpeed, vhelp, nv->getCarFollowModel().getMaxDecel()));
// speed difference to create a sufficiently large gap
const SUMOReal needDV = overtakeDist / remainingSeconds;
// make sure the deceleration is not to strong
myVSafes.push_back(MAX2(vhelp - needDV, myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())));
}
}
}
SUMOReal
MSLCM_LC2013::informLeader(MSAbstractLaneChangeModel::MSLCMessager& msgPass,
int blocked,
int dir,
const std::pair<MSVehicle*, SUMOReal>& neighLead,
SUMOReal remainingSeconds) {
SUMOReal plannedSpeed = MIN2(myVehicle.getSpeed(),
myVehicle.getCarFollowModel().stopSpeed(&myVehicle, myVehicle.getSpeed(), myLeftSpace - myLeadingBlockerLength));
for (std::vector<SUMOReal>::const_iterator i = myVSafes.begin(); i != myVSafes.end(); ++i) {
SUMOReal v = (*i);
if (v >= myVehicle.getSpeed() - ACCEL2SPEED(myVehicle.getCarFollowModel().getMaxDecel())) {
plannedSpeed = MIN2(plannedSpeed, v);
}
}
if ((blocked & LCA_BLOCKED_BY_LEADER) != 0) {
assert(neighLead.first != 0);
MSVehicle* nv = neighLead.first;
// decide whether we want to overtake the leader or follow it
const SUMOReal dv = plannedSpeed - nv->getSpeed();
const SUMOReal overtakeDist = (neighLead.second // drive to back of follower
+ nv->getVehicleType().getLengthWithGap() // drive to front of follower
+ myVehicle.getVehicleType().getLength() // ego back reaches follower front
+ nv->getCarFollowModel().getSecureGap( // save gap to follower
nv->getSpeed(), myVehicle.getSpeed(), myVehicle.getCarFollowModel().getMaxDecel()));
if (dv < 0
// overtaking on the right on an uncongested highway is forbidden (noOvertakeLCLeft)
|| (dir == LCA_MLEFT && !myVehicle.congested())
// not enough space to overtake?
|| myLeftSpace < overtakeDist
// not enough time to overtake?
|| dv * remainingSeconds < overtakeDist) {
// cannot overtake
msgPass.informNeighLeader(new Info(-1, dir | LCA_AMBLOCKINGLEADER), &myVehicle);
// slow down smoothly to follow leader
const SUMOReal targetSpeed = myCarFollowModel.followSpeed(
&myVehicle, myVehicle.getSpeed(), neighLead.second, nv->getSpeed(), nv->getCarFollowModel().getMaxDecel());
if (targetSpeed < myVehicle.getSpeed()) {
// slow down smoothly to follow leader
const SUMOReal decel = ACCEL2SPEED(MIN2(myVehicle.getCarFollowModel().getMaxDecel(),
MAX2(MIN_FALLBEHIND, (myVehicle.getSpeed() - targetSpeed) / remainingSeconds)));
const SUMOReal nextSpeed = MIN2(plannedSpeed, myVehicle.getSpeed() - decel);
myVSafes.push_back(nextSpeed);
return nextSpeed;
} else {
// leader is fast enough anyway
myVSafes.push_back(targetSpeed);
return plannedSpeed;
}
} else {
// overtaking, leader should not accelerate
msgPass.informNeighLeader(new Info(nv->getSpeed(), dir | LCA_AMBLOCKINGLEADER), &myVehicle);
return -1;
}
} else if (neighLead.first != 0) { // (remainUnblocked)
// we are not blocked now. make sure we stay far enough from the leader
MSVehicle* nv = neighLead.first;
const SUMOReal nextNVSpeed = nv->getSpeed() - HELP_OVERTAKE; // conservative
const SUMOReal dv = SPEED2DIST(myVehicle.getSpeed() - nextNVSpeed);
const SUMOReal targetSpeed = myCarFollowModel.followSpeed(
&myVehicle, myVehicle.getSpeed(), neighLead.second - dv, nextNVSpeed, nv->getCarFollowModel().getMaxDecel());
myVSafes.push_back(targetSpeed);
return MIN2(targetSpeed, plannedSpeed);
} else {
// not overtaking
return plannedSpeed;
}
}
