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);
}
}
}
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;
}
}