std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealFollower(const ChangerIt& target) const {
MSVehicle* neighFollow = veh(target);
// check whether the hopped vehicle got the follower
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
if (hoppedPos <= veh(myCandi)->getPositionOnLane() && (neighFollow == 0 || neighFollow->getPositionOnLane() > hoppedPos)) {
neighFollow = target->hoppedVeh;
}
}
if (neighFollow == 0) {
SUMOReal speed = target->lane->getSpeedLimit();
// in order to look back, we'd need the minimum braking ability of vehicles in the net...
// we'll assume it to be 4m/s^2
// !!!revisit
SUMOReal dist = speed * speed / (2.*4.) + SPEED2DIST(speed);
dist = MIN2(dist, (SUMOReal) 500.);
MSVehicle* candi = veh(myCandi);
SUMOReal seen = candi->getPositionOnLane() - candi->getVehicleType().getLength();
return target->lane->getFollowerOnConsecutive(dist, seen, candi->getSpeed(), candi->getPositionOnLane() - candi->getVehicleType().getLength(), 4.5);//!!! recheck
} else {
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighFollow, candi->getPositionOnLane() - candi->getVehicleType().getLength() - neighFollow->getPositionOnLane() - neighFollow->getVehicleType().getMinGap());
}
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealThisLeader(const ChangerIt& target) const {
// get the leading vehicle on the lane to change to
MSVehicle* leader = target->lead;
if (leader == 0) {
MSLane* targetLane = target->lane;
MSVehicle* predP = targetLane->getPartialOccupator();
if (predP != 0) {
return std::pair<MSVehicle*, SUMOReal>(predP, targetLane->getPartialOccupatorEnd() - veh(myCandi)->getPositionOnLane());
}
const std::vector<MSLane*>& bestLaneConts = veh(myCandi)->getBestLanesContinuation();
MSLinkCont::const_iterator link = targetLane->succLinkSec(*veh(myCandi), 1, *targetLane, bestLaneConts);
if (targetLane->isLinkEnd(link)) {
return std::pair<MSVehicle*, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
MSLane* nextLane = (*link)->getLane();
if (nextLane == 0) {
return std::pair<MSVehicle*, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
leader = nextLane->getLastVehicle();
if (leader == 0) {
return std::pair<MSVehicle*, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
SUMOReal gap =
leader->getPositionOnLane() - leader->getVehicleType().getLength()
+
(myCandi->lane->getLength() - veh(myCandi)->getPositionOnLane() - veh(myCandi)->getVehicleType().getMinGap()); // !!! recheck
return std::pair<MSVehicle* const, SUMOReal>(leader, MAX2((SUMOReal) 0, gap));
} else {
MSVehicle* candi = veh(myCandi);
SUMOReal gap = leader->getPositionOnLane() - leader->getVehicleType().getLength() - candi->getPositionOnLane() - candi->getVehicleType().getMinGap();
return std::pair<MSVehicle* const, SUMOReal>(leader, MAX2((SUMOReal) 0, gap));
}
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealLeader(const ChangerIt& target) const {
// get the leading vehicle on the lane to change to
MSVehicle* neighLead = target->lead;
// check whether the hopped vehicle got the leader
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
if (hoppedPos > veh(myCandi)->getPositionOnLane() && (neighLead == 0 || neighLead->getPositionOnLane() > hoppedPos)) {
neighLead = target->hoppedVeh;
}
}
if (neighLead == 0) {
MSLane* targetLane = target->lane;
MSVehicle* predP = targetLane->getPartialOccupator();
if (predP != 0) {
return std::pair<MSVehicle*, SUMOReal>(predP, targetLane->getPartialOccupatorEnd() - veh(myCandi)->getPositionOnLane() - veh(myCandi)->getVehicleType().getMinGap());
}
const std::vector<MSLane*>& bestLaneConts = veh(myCandi)->getBestLanesContinuation(myCandi->lane);
SUMOReal seen = myCandi->lane->getLength() - veh(myCandi)->getPositionOnLane();
SUMOReal speed = veh(myCandi)->getSpeed();
SUMOReal dist = veh(myCandi)->getCarFollowModel().brakeGap(speed) + veh(myCandi)->getVehicleType().getMinGap();
if (seen > dist) {
return std::pair<MSVehicle* const, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
return target->lane->getLeaderOnConsecutive(dist, seen, speed, *veh(myCandi), bestLaneConts);
} else {
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighLead, neighLead->getPositionOnLane() - neighLead->getVehicleType().getLength() - candi->getPositionOnLane() - candi->getVehicleType().getMinGap());
}
}
void
MSLaneChanger::updateChanger(bool vehHasChanged) {
assert(veh(myCandi) != 0);
// "Push" the vehicles to the back, i.e. follower becomes vehicle,
// vehicle becomes leader, and leader becomes predecessor of vehicle,
// if it exists.
if (!vehHasChanged || MSGlobals::gLaneChangeDuration > DELTA_T) {
//std::cout << SIMTIME << " updateChanger: lane=" << myCandi->lane->getID() << " has new lead=" << veh(myCandi)->getID() << "\n";
myCandi->lead = veh(myCandi);
}
MSLane::VehCont& vehicles = myCandi->lane->myVehicles;
vehicles.pop_back();
//std::cout << SIMTIME << " updateChanger lane=" << myCandi->lane->getID() << " vehicles=" << toString(myCandi->lane->myVehicles) << "\n";
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealFollower(const ChangerIt& target) const {
MSVehicle* candi = veh(myCandi);
const SUMOReal candiPos = candi->getPositionOnLane();
MSVehicle* neighFollow = veh(target);
// check whether the hopped vehicle became the follower
neighFollow = getCloserFollower(candiPos, neighFollow, target->hoppedVeh);
neighFollow = getCloserFollower(candiPos, neighFollow, target->lane->getPartialBehind(candi));
if (neighFollow == 0) {
return target->lane->getFollowerOnConsecutive(
candi->getPositionOnLane() - candi->getVehicleType().getLength(),
candi->getSpeed(), candi->getCarFollowModel().getMaxDecel());
} else {
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighFollow,
candi->getPositionOnLane() - candi->getVehicleType().getLength() - neighFollow->getPositionOnLane() - neighFollow->getVehicleType().getMinGap());
}
}
int
MSLaneChangerSublane::checkChangeSublane(
int laneOffset,
const std::vector<MSVehicle::LaneQ>& preb,
SUMOReal& latDist) const {
ChangerIt target = myCandi + laneOffset;
MSVehicle* vehicle = veh(myCandi);
const MSLane& neighLane = *(target->lane);
int blocked = 0;
//gDebugFlag1 = vehicle->getLaneChangeModel().debugVehicle();
MSLeaderDistanceInfo neighLeaders = getLeaders(target, vehicle);
MSLeaderDistanceInfo neighFollowers = target->lane->getFollowersOnConsecutive(vehicle, true);
MSLeaderDistanceInfo neighBlockers(&neighLane, vehicle, vehicle->getLane()->getRightSideOnEdge() - neighLane.getRightSideOnEdge());
MSLeaderDistanceInfo leaders = getLeaders(myCandi, vehicle);
MSLeaderDistanceInfo followers = myCandi->lane->getFollowersOnConsecutive(vehicle, true);
MSLeaderDistanceInfo blockers(vehicle->getLane(), vehicle, 0);
if (gDebugFlag1) std::cout << SIMTIME
<< " checkChangeSublane: veh=" << vehicle->getID()
<< " laneOffset=" << laneOffset
<< "\n leaders=" << leaders.toString()
<< "\n neighLeaders=" << neighLeaders.toString()
<< "\n";
const int wish = vehicle->getLaneChangeModel().wantsChangeSublane(
laneOffset,
leaders, followers, blockers,
neighLeaders, neighFollowers, neighBlockers,
neighLane, preb,
&(myCandi->lastBlocked), &(myCandi->firstBlocked), latDist, blocked);
int state = blocked | wish;
// XXX
// do are more carefull (but expensive) check to ensure that a
// safety-critical leader is not being overloocked
// XXX
// ensure that a continuous lane change manoeuvre can be completed
// before the next turning movement
#ifndef NO_TRACI
// let TraCI influence the wish to change lanes and the security to take
//const int oldstate = state;
state = vehicle->influenceChangeDecision(state);
//if (vehicle->getID() == "150_2_36000000") {
// std::cout << STEPS2TIME(MSNet::getInstance()->getCurrentTimeStep()) << " veh=" << vehicle->getID() << " oldstate=" << oldstate << " newstate=" << state << "\n";
//}
#endif
gDebugFlag1 = false;
return state;
}
bool
MSLaneChangerSublane::change() {
// variant of change() for the sublane case
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
#ifdef DEBUG_VEHICLE_GUI_SELECTION
if (gDebugSelectedVehicle == vehicle->getID()) {
int bla = 0;
}
#endif
assert(vehicle->getLane() == (*myCandi).lane);
assert(!vehicle->getLaneChangeModel().isChangingLanes());
#ifndef NO_TRACI
if (vehicle->isRemoteControlled()) {
return false; // !!! temporary; just because it broke, here
}
#endif
vehicle->updateBestLanes(); // needed?
for (int i = 0; i < (int) myChanger.size(); ++i) {
vehicle->adaptBestLanesOccupation(i, myChanger[i].dens);
}
// update expected speeds
int sublaneIndex = 0;
for (ChangerIt ce = myChanger.begin(); ce != myChanger.end(); ++ce) {
vehicle->getLaneChangeModel().updateExpectedSublaneSpeeds(ce->ahead, sublaneIndex, ce->lane->getIndex());
sublaneIndex += ce->ahead.numSublanes();
}
StateAndDist right = checkChangeHelper(vehicle, -1);
StateAndDist left = checkChangeHelper(vehicle, 1);
StateAndDist current = checkChangeHelper(vehicle, 0);
StateAndDist decision = vehicle->getLaneChangeModel().decideDirection(current,
vehicle->getLaneChangeModel().decideDirection(right, left));
if ((decision.state & LCA_WANTS_LANECHANGE) != 0 && (decision.state & LCA_BLOCKED) == 0) {
// change if the vehicle wants to and is allowed to change
if (vehicle->getLaneChangeModel().debugVehicle()) {
std::cout << SIMTIME << " decision=" << toString((LaneChangeAction)decision.state) << " latDist=" << decision.latDist << "\n";
}
vehicle->getLaneChangeModel().setOwnState(decision.state);
return startChangeSublane(vehicle, myCandi, decision.latDist);
}
if ((right.state & (LCA_URGENT)) != 0 && (left.state & (LCA_URGENT)) != 0) {
// ... wants to go to the left AND to the right
// just let them go to the right lane...
left.state = 0;
}
vehicle->getLaneChangeModel().setOwnState(right.state | left.state | current.state);
registerUnchanged(vehicle);
return false;
}
MSLaneChanger::ChangerIt
MSLaneChanger::findCandidate() {
// Find the vehicle in myChanger with the largest position. If there
// is no vehicle in myChanger (shouldn't happen) , return myChanger.end().
ChangerIt max = myChanger.end();
for (ChangerIt ce = myChanger.begin(); ce != myChanger.end(); ++ce) {
if (veh(ce) == 0) {
continue;
}
if (max == myChanger.end()) {
//std::cout << SIMTIME << " new max vehicle=" << veh(ce)->getID() << " pos=" << veh(ce)->getPositionOnLane() << " lane=" << ce->lane->getID() << " isFrontOnLane=" << veh(ce)->isFrontOnLane(ce->lane) << "\n";
max = ce;
continue;
}
assert(veh(ce) != 0);
assert(veh(max) != 0);
if (veh(max)->getPositionOnLane() < veh(ce)->getPositionOnLane()) {
//std::cout << SIMTIME << " new max vehicle=" << veh(ce)->getID() << " pos=" << veh(ce)->getPositionOnLane() << " lane=" << ce->lane->getID() << " isFrontOnLane=" << veh(ce)->isFrontOnLane(ce->lane) << " oldMaxPos=" << veh(max)->getPositionOnLane() << "\n";
max = ce;
}
}
assert(max != myChanger.end());
assert(veh(max) != 0);
return max;
}
int
MSLaneChanger::change2right(const std::pair<MSVehicle* const, SUMOReal>& leader,
const std::pair<MSVehicle* const, SUMOReal>& rLead,
const std::pair<MSVehicle* const, SUMOReal>& rFollow,
const std::vector<MSVehicle::LaneQ>& preb) const {
ChangerIt target = myCandi - 1;
int blocked = overlapWithHopped(target)
? target->hoppedVeh->getPositionOnLane() < veh(myCandi)->getPositionOnLane()
? LCA_BLOCKED_BY_RIGHT_FOLLOWER
: LCA_BLOCKED_BY_RIGHT_LEADER
: 0;
// overlap
if (rFollow.first != 0 && rFollow.second < 0) {
blocked |= (LCA_BLOCKED_BY_RIGHT_FOLLOWER);
}
if (rLead.first != 0 && rLead.second < 0) {
blocked |= (LCA_BLOCKED_BY_RIGHT_LEADER);
}
// safe back gap
if (rFollow.first != 0) {
// !!! eigentlich: vsafe braucht die Max. Geschwindigkeit beider Spuren
if (rFollow.second < rFollow.first->getCarFollowModel().getSecureGap(rFollow.first->getSpeed(), veh(myCandi)->getSpeed(), veh(myCandi)->getCarFollowModel().getMaxDecel())) {
blocked |= LCA_BLOCKED_BY_RIGHT_FOLLOWER;
}
}
// safe front gap
if (rLead.first != 0) {
// !!! eigentlich: vsafe braucht die Max. Geschwindigkeit beider Spuren
if (rLead.second < veh(myCandi)->getCarFollowModel().getSecureGap(veh(myCandi)->getSpeed(), rLead.first->getSpeed(), rLead.first->getCarFollowModel().getMaxDecel())) {
blocked |= LCA_BLOCKED_BY_RIGHT_LEADER;
}
}
MSAbstractLaneChangeModel::MSLCMessager msg(leader.first, rLead.first, rFollow.first);
return blocked | veh(myCandi)->getLaneChangeModel().wantsChangeToRight(
msg, blocked, leader, rLead, rFollow, *(myCandi - 1)->lane, preb, &(myCandi->lastBlocked));
}
MSLeaderDistanceInfo
MSLaneChangerSublane::getLeaders(const ChangerIt& target, const MSVehicle* ego) const {
//if (ego->getID() == "C" && SIMTIME == 17) {
// std::cout << "DEBUG\n";
//}
// get the leading vehicle on the lane to change to
if (gDebugFlag1) {
std::cout << SIMTIME << " getLeaders lane=" << target->lane->getID() << " ego=" << ego->getID() << " ahead=" << target->ahead.toString() << "\n";
}
MSLeaderDistanceInfo result(target->lane, 0, 0);
for (int i = 0; i < target->ahead.numSublanes(); ++i) {
const MSVehicle* veh = target->ahead[i];
if (veh != 0) {
assert(veh != 0);
const SUMOReal gap = veh->getBackPositionOnLane() - ego->getPositionOnLane() - ego->getVehicleType().getMinGap();
if (gDebugFlag1) {
std::cout << " ahead lead=" << veh->getID() << " leadBack=" << veh->getBackPositionOnLane() << " gap=" << gap << "\n";
}
result.addLeader(veh, gap, 0, i);
}
}
// if there are vehicles on the target lane with the same position as ego,
// they may not have been added to 'ahead' yet
const MSLeaderInfo& aheadSamePos = target->lane->getLastVehicleInformation(0, 0, ego->getPositionOnLane(), false);
for (int i = 0; i < aheadSamePos.numSublanes(); ++i) {
const MSVehicle* veh = aheadSamePos[i];
if (veh != 0 && veh != ego) {
const SUMOReal gap = veh->getBackPositionOnLane(target->lane) - ego->getPositionOnLane() - ego->getVehicleType().getMinGap();
if (gDebugFlag1) {
std::cout << " further lead=" << veh->getID() << " leadBack=" << veh->getBackPositionOnLane(target->lane) << " gap=" << gap << "\n";
}
result.addLeader(veh, gap, 0, i);
}
}
if (result.numFreeSublanes() > 0) {
MSLane* targetLane = target->lane;
SUMOReal seen = ego->getLane()->getLength() - ego->getPositionOnLane();
SUMOReal speed = ego->getSpeed();
SUMOReal dist = ego->getCarFollowModel().brakeGap(speed) + ego->getVehicleType().getMinGap();
if (seen > dist) {
return result;
}
const std::vector<MSLane*>& bestLaneConts = veh(myCandi)->getBestLanesContinuation(targetLane);
target->lane->getLeadersOnConsecutive(dist, seen, speed, ego, bestLaneConts, result);
}
return result;
}
void
MSLaneChanger::updateChanger(bool vehHasChanged) {
assert(myCandi->veh != myCandi->lane->myVehicles.rend());
// "Push" the vehicles to the back, i.e. follower becomes vehicle,
// vehicle becomes leader, and leader becomes predecessor of vehicle,
// if it exists.
if (!vehHasChanged) {
myCandi->lead = veh(myCandi);
}
myCandi->veh = myCandi->veh + 1;
if (veh(myCandi) == 0) {
assert(myCandi->follow == 0);
// leader already 0.
return;
}
if (myCandi->veh + 1 == myCandi->lane->myVehicles.rend()) {
myCandi->follow = 0;
} else {
myCandi->follow = *(myCandi->veh + 1);
}
return;
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealLeader(const ChangerIt& target) const {
// get the leading vehicle on the lane to change to
MSVehicle* neighLead = target->lead;
//if (veh(myCandi)->getID() == "disabled") std::cout << SIMTIME
// << " target=" << target->lane->getID()
// << " neighLead=" << Named::getIDSecure(neighLead)
// << " hopped=" << Named::getIDSecure(target->hoppedVeh)
// << " (416)\n";
// check whether the hopped vehicle became the leader
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
if (hoppedPos > veh(myCandi)->getPositionOnLane() && (neighLead == 0 || neighLead->getPositionOnLane() > hoppedPos)) {
neighLead = target->hoppedVeh;
//if (veh(myCandi)->getID() == "flow.21") std::cout << SIMTIME << " neighLead=" << Named::getIDSecure(neighLead) << " (422)\n";
}
}
if (neighLead == 0) {
MSLane* targetLane = target->lane;
if (targetLane->myPartialVehicles.size() > 0) {
assert(targetLane->myPartialVehicles.size() == 1);
MSVehicle* leader = targetLane->myPartialVehicles.front();
return std::pair<MSVehicle*, SUMOReal>(leader, leader->getBackPositionOnLane(targetLane) - veh(myCandi)->getPositionOnLane() - veh(myCandi)->getVehicleType().getMinGap());
}
SUMOReal seen = myCandi->lane->getLength() - veh(myCandi)->getPositionOnLane();
SUMOReal speed = veh(myCandi)->getSpeed();
SUMOReal dist = veh(myCandi)->getCarFollowModel().brakeGap(speed) + veh(myCandi)->getVehicleType().getMinGap();
if (seen > dist) {
return std::pair<MSVehicle* const, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
const std::vector<MSLane*>& bestLaneConts = veh(myCandi)->getBestLanesContinuation(targetLane);
//if (veh(myCandi)->getID() == "flow.21") std::cout << SIMTIME << " calling getLeaderOnConsecutive (443)\n";
return target->lane->getLeaderOnConsecutive(dist, seen, speed, *veh(myCandi), bestLaneConts);
} else {
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighLead, neighLead->getBackPositionOnLane(target->lane) - candi->getPositionOnLane() - candi->getVehicleType().getMinGap());
}
}
MSLaneChanger::ChangerIt
MSLaneChanger::findCandidate() {
// Find the vehicle in myChanger with the smallest position. If there
// is no vehicle in myChanger (shouldn't happen) , return
// myChanger.end().
ChangerIt max = myChanger.end();
for (ChangerIt ce = myChanger.begin(); ce != myChanger.end(); ++ce) {
if (veh(ce) == 0) {
continue;
}
if (max == myChanger.end()) {
max = ce;
continue;
}
assert(veh(ce) != 0);
assert(veh(max) != 0);
if (veh(max)->getPositionOnLane() < veh(ce)->getPositionOnLane()) {
max = ce;
}
}
assert(max != myChanger.end());
assert(veh(max) != 0);
return max;
}
int
MSLaneChanger::checkChange(
int laneOffset,
const MSLane* targetLane,
const std::pair<MSVehicle* const, SUMOReal>& leader,
const std::pair<MSVehicle* const, SUMOReal>& neighLead,
const std::pair<MSVehicle* const, SUMOReal>& neighFollow,
const std::vector<MSVehicle::LaneQ>& preb) const {
MSVehicle* vehicle = veh(myCandi);
// Debug (Leo)
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout
<< "\n" << SIMTIME << " checkChange() for vehicle '" << vehicle->getID() << "'"
<< std::endl;
}
#endif
int blocked = 0;
int blockedByLeader = (laneOffset == -1 ? LCA_BLOCKED_BY_RIGHT_LEADER : LCA_BLOCKED_BY_LEFT_LEADER);
int blockedByFollower = (laneOffset == -1 ? LCA_BLOCKED_BY_RIGHT_FOLLOWER : LCA_BLOCKED_BY_LEFT_FOLLOWER);
// overlap
if (neighFollow.first != 0 && neighFollow.second < 0) {
blocked |= (blockedByFollower | LCA_OVERLAPPING);
// Debug (Leo)
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " overlapping with follower..."
<< std::endl;
}
#endif
}
if (neighLead.first != 0 && neighLead.second < 0) {
blocked |= (blockedByLeader | LCA_OVERLAPPING);
// Debug (Leo)
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " overlapping with leader..."
<< std::endl;
}
#endif
}
// safe back gap
if ((blocked & blockedByFollower) == 0 && neighFollow.first != 0) {
// !!! eigentlich: vsafe braucht die Max. Geschwindigkeit beider Spuren
if (neighFollow.second < neighFollow.first->getCarFollowModel().getSecureGap(neighFollow.first->getSpeed(), vehicle->getSpeed(), vehicle->getCarFollowModel().getMaxDecel())) {
blocked |= blockedByFollower;
// Debug (Leo)
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " back gap unsafe: "
<< "gap = " << neighFollow.second
<< ", secureGap = "
<< neighFollow.first->getCarFollowModel().getSecureGap(neighFollow.first->getSpeed(),
vehicle->getSpeed(), vehicle->getCarFollowModel().getMaxDecel())
<< std::endl;
}
#endif
}
}
// safe front gap
if ((blocked & blockedByLeader) == 0 && neighLead.first != 0) {
// !!! eigentlich: vsafe braucht die Max. Geschwindigkeit beider Spuren
if (neighLead.second < vehicle->getCarFollowModel().getSecureGap(vehicle->getSpeed(), neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())) {
blocked |= blockedByLeader;
// Debug (Leo)
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " front gap unsafe: "
<< "gap = " << neighLead.second
<< ", secureGap = "
<< vehicle->getCarFollowModel().getSecureGap(vehicle->getSpeed(),
neighLead.first->getSpeed(), neighLead.first->getCarFollowModel().getMaxDecel())
<< std::endl;
}
#endif
}
}
MSAbstractLaneChangeModel::MSLCMessager msg(leader.first, neighLead.first, neighFollow.first);
int state = blocked | vehicle->getLaneChangeModel().wantsChange(
laneOffset, msg, blocked, leader, neighLead, neighFollow, *targetLane, preb, &(myCandi->lastBlocked), &(myCandi->firstBlocked));
if (blocked == 0 && (state & LCA_WANTS_LANECHANGE) != 0 && neighLead.first != 0) {
// do are more carefull (but expensive) check to ensure that a
// safety-critical leader is not being overloocked
const SUMOReal seen = myCandi->lane->getLength() - vehicle->getPositionOnLane();
const SUMOReal speed = vehicle->getSpeed();
const SUMOReal dist = vehicle->getCarFollowModel().brakeGap(speed) + vehicle->getVehicleType().getMinGap();
if (seen < dist) {
std::pair<MSVehicle* const, SUMOReal> neighLead2 = targetLane->getCriticalLeader(dist, seen, speed, *vehicle);
if (neighLead2.first != 0 && neighLead2.first != neighLead.first
&& (neighLead2.second < vehicle->getCarFollowModel().getSecureGap(
vehicle->getSpeed(), neighLead2.first->getSpeed(), neighLead2.first->getCarFollowModel().getMaxDecel()))) {
state |= blockedByLeader;
}
}
}
if (blocked == 0 && (state & LCA_WANTS_LANECHANGE)) {
// ensure that merging is safe for any upcoming zipper links after changing
if (vehicle->unsafeLinkAhead(targetLane)) {
state |= blockedByLeader;
}
}
if ((state & LCA_BLOCKED) == 0 && (state & LCA_WANTS_LANECHANGE) != 0 && MSGlobals::gLaneChangeDuration > DELTA_T) {
// ensure that a continuous lane change manoeuvre can be completed
// before the next turning movement
SUMOReal seen = myCandi->lane->getLength() - vehicle->getPositionOnLane();
const SUMOReal decel = vehicle->getCarFollowModel().getMaxDecel() * STEPS2TIME(MSGlobals::gLaneChangeDuration);
const SUMOReal avgSpeed = 0.5 * (
MAX2((SUMOReal)0, vehicle->getSpeed() - ACCEL2SPEED(vehicle->getCarFollowModel().getMaxDecel())) +
MAX2((SUMOReal)0, vehicle->getSpeed() - decel));
const SUMOReal space2change = avgSpeed * STEPS2TIME(MSGlobals::gLaneChangeDuration);
// for finding turns it doesn't matter whether we look along the current lane or the target lane
const std::vector<MSLane*>& bestLaneConts = vehicle->getBestLanesContinuation();
int view = 1;
MSLane* nextLane = vehicle->getLane();
MSLinkCont::const_iterator link = MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
while (!nextLane->isLinkEnd(link) && seen <= space2change) {
if ((*link)->getDirection() == LINKDIR_LEFT || (*link)->getDirection() == LINKDIR_RIGHT
// the lanes after an internal junction are on different
// edges and do not allow lane-changing
|| (nextLane->getEdge().isInternal() && (*link)->getViaLaneOrLane()->getEdge().isInternal())
) {
state |= LCA_INSUFFICIENT_SPACE;
break;
}
#ifdef HAVE_INTERNAL_LANES
if ((*link)->getViaLane() == 0) {
view++;
}
#else
view++;
#endif
nextLane = (*link)->getViaLaneOrLane();
seen += nextLane->getLength();
// get the next link used
link = MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
}
if (nextLane->isLinkEnd(link) && seen < space2change) {
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME << " checkChange insufficientSpace: seen=" << seen << " space2change=" << space2change << "\n";
}
#endif
state |= LCA_INSUFFICIENT_SPACE;
}
if ((state & LCA_BLOCKED) == 0) {
// check for dangerous leaders in case the target lane changes laterally between
// now and the lane-changing midpoint
const SUMOReal speed = vehicle->getSpeed();
seen = myCandi->lane->getLength() - vehicle->getPositionOnLane();
nextLane = vehicle->getLane();
view = 1;
const SUMOReal dist = vehicle->getCarFollowModel().brakeGap(speed) + vehicle->getVehicleType().getMinGap();
MSLinkCont::const_iterator link = MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
while (!nextLane->isLinkEnd(link) && seen <= space2change && seen <= dist) {
nextLane = (*link)->getViaLaneOrLane();
MSLane* targetLane = nextLane->getParallelLane(laneOffset);
if (targetLane == 0) {
state |= LCA_INSUFFICIENT_SPACE;
break;
} else {
std::pair<MSVehicle* const, SUMOReal> neighLead2 = targetLane->getLeader(vehicle, -seen, std::vector<MSLane*>());
if (neighLead2.first != 0 && neighLead2.first != neighLead.first
&& (neighLead2.second < vehicle->getCarFollowModel().getSecureGap(
vehicle->getSpeed(), neighLead2.first->getSpeed(), neighLead2.first->getCarFollowModel().getMaxDecel()))) {
state |= blockedByLeader;
break;
}
}
#ifdef HAVE_INTERNAL_LANES
if ((*link)->getViaLane() == 0) {
view++;
}
#else
view++;
#endif
seen += nextLane->getLength();
// get the next link used
link = MSLane::succLinkSec(*vehicle, view, *nextLane, bestLaneConts);
}
}
}
#ifndef NO_TRACI
#ifdef DEBUG_CHECK_CHANGE
const int oldstate = state;
#endif
// let TraCI influence the wish to change lanes and the security to take
state = vehicle->influenceChangeDecision(state);
#endif
#ifdef DEBUG_CHECK_CHANGE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " veh=" << vehicle->getID()
<< " oldState=" << toString((LaneChangeAction)oldstate)
<< " newState=" << toString((LaneChangeAction)state)
<< ((blocked & LCA_BLOCKED) ? " (blocked)" : "")
<< ((blocked & LCA_OVERLAPPING) ? " (overlap)" : "")
<< "\n";
}
#endif
return state;
}
void TrafficSimulation::import_vehicles(std::string vehicles_file)
{
// load input file
std::ifstream infile;
infile.exceptions(std::ifstream::badbit);
try {
infile.open(vehicles_file);
// read and match lines
std::string line;
for (uint_fast32_t line_num = 1; std::getline(infile, line);
++line_num) {
// split by fields
std::vector<std::string> fields = nonstd::split(line, ':');
// 4 fields are required (time, name, from, to)
if (fields.size() < 4) {
std::cerr << "E: Line " << line_num << " of input file \""
<< vehicles_file
<< "\" is not valid. See documentation "
"for correct syntax. Skipping..." << std::endl;
continue;
}
#ifndef NDEBUG
std::cout << "Fields:" << std::endl;
for (auto &f : fields) {
std::cout << f << std::endl;
}
std::cout << "Matched vehicle on line " << line_num << std::endl
<< "name: " << fields[1] << std::endl
<< "from: " << fields[2] << std::endl
<< "to: " << fields[3] << std::endl
<< "starttime: " << fields[0] << std::endl;
#endif
// create vehicle; parse starttime, name, from and to
try {
Vehicle veh(*this, fields[2], fields[3], stoull(fields[0]),
fields[1]);
// parse optional properties
for (int i = 4; i < fields.size(); ++i) {
// split property field by =
std::vector<std::string> property =
nonstd::split(fields[i], '=');
// assign property
switch (nonstd::hash(property[0].c_str())) {
case nonstd::hash("traffic_increase_caused"):
veh.traffic_increase_caused = stof(property[1]);
break;
case nonstd::hash("max_speed"):
veh.max_speed = stoul(property[1]);
break;
}
}
// add vehicle to simulation
vehicles.push_back(veh);
std::cout << "I: Vehicle " << veh.name
<< " loaded for simulation" << std::endl;
}
// vehicle construction errors
catch (const std::runtime_error &e) {
std::cerr << "E: " << vehicles_file << ":" << line_num
<< " Vehicle on line " << line_num
<< "could'n be loaded for simulation. " << e.what()
<< std::endl;
}
}
}
// input file errors
catch (const std::ifstream::failure &e) {
std::cerr << "E: Couldn't read file '" << vehicles_file << " "
<< e.what() << std::endl;
}
}
void CFAPI::initVehicleNetwork(std::vector<Vehicle>& vehList, int maxVehicles,
int connPat, int patCnt)
{
bool flag1 = false;
bool flag2 = false;
if(connPat == ON_FOLLOW_OFF)
{
flag1 = true;
flag2 = false;
}
else
{
flag1 = false;
flag2 = true;
}
int vehId = 0;
while(vehId < maxVehicles)
{
//
// Enable/Disable safety device
for(int i = 0; i < patCnt; i++, vehId++)
{
if(vehId >= maxVehicles)
{
break;
}
Vehicle veh(vehId,
(double)((maxVehicles-1) - vehId) * m_initVehGap,
m_initVel,
m_initAcclr,
m_initHdway,
flag1,
-1.0);
vehList.push_back(veh);
}
//
// Enable/Disable safety device
for(int i = 0; i < (maxVehicles - patCnt); i++, vehId++)
{
if(vehId >= maxVehicles)
{
break;
}
Vehicle veh(vehId,
(double)((maxVehicles-1) - vehId) * m_initVehGap,
m_initVel,
m_initAcclr,
m_initHdway,
flag2,
-1.0);
vehList.push_back(veh);
}
}
// Configure the safety device start time
int reactTimeCnt = 0;
int hopCnt = 0;
for(int i = 0; i <= maxVehicles-1; i++)
{
if (vehList.at(i).hasSafetyDev())
{
// Set start time
vehList.at(i).setSafetyDevStartTime(m_leaderCtrlStart +
hopCnt * m_nwDelayDelta +
reactTimeCnt * m_reactTime);
}
// Update counters for followers. Do not update for last vehicle.
if (i < maxVehicles-1)
{
if(vehList.at(i).hasSafetyDev() && vehList.at(i+1).hasSafetyDev())
{
hopCnt++;
}
else if ((vehList.at(i).hasSafetyDev() && !vehList.at(i+1).hasSafetyDev()) ||
(!vehList.at(i).hasSafetyDev() && vehList.at(i+1).hasSafetyDev()) ||
(!vehList.at(i).hasSafetyDev() && !vehList.at(i+1).hasSafetyDev()))
{
reactTimeCnt++;
}
}
std::cout << "Veh: " << vehList.at(i).getId() << " trigger: "
<< vehList.at(i).getSafetyDevStartTime() << std::endl;
}
}
bool
MSLaneChanger::changeOpposite(std::pair<MSVehicle*, SUMOReal> leader) {
if (!myChangeToOpposite) {
return false;
}
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
MSLane* source = vehicle->getLane();
if (vehicle->isStopped()) {
// stopped vehicles obviously should not change lanes. Usually this is
// prevent by appropriate bestLane distances
return false;
}
const bool isOpposite = vehicle->getLaneChangeModel().isOpposite();
if (!isOpposite && leader.first == 0) {
// no reason to change unless there is a leader
// or we are changing back to the propper direction
// XXX also check whether the leader is so far away as to be irrelevant
return false;
}
if (!source->getEdge().canChangeToOpposite()) {
return false;
}
MSLane* opposite = source->getOpposite();
if (opposite == 0) {
return false;
}
// changing into the opposite direction is always to the left (XXX except for left-hand networkds)
int direction = vehicle->getLaneChangeModel().isOpposite() ? -1 : 1;
std::pair<MSVehicle*, SUMOReal> neighLead((MSVehicle*)0, -1);
// preliminary sanity checks for overtaking space
if (!isOpposite) {
assert(leader.first != 0);
// find a leader vehicle with sufficient space ahead for merging back
const SUMOReal overtakingSpeed = source->getVehicleMaxSpeed(vehicle); // just a guess
const SUMOReal mergeBrakeGap = vehicle->getCarFollowModel().brakeGap(overtakingSpeed);
const SUMOReal maxLookAhead = 150; // just a guess
std::pair<MSVehicle*, SUMOReal> columnLeader = leader;
SUMOReal egoGap = leader.second;
bool foundSpaceAhead = false;
SUMOReal seen = leader.second + leader.first->getVehicleType().getLengthWithGap();
std::vector<MSLane*> conts = vehicle->getBestLanesContinuation();
while (!foundSpaceAhead) {
const SUMOReal requiredSpaceAfterLeader = (columnLeader.first->getCarFollowModel().getSecureGap(
columnLeader.first->getSpeed(), overtakingSpeed, vehicle->getCarFollowModel().getMaxDecel())
+ vehicle->getVehicleType().getLengthWithGap());
std::pair<MSVehicle* const, SUMOReal> leadLead = columnLeader.first->getLane()->getLeader(
columnLeader.first, columnLeader.first->getPositionOnLane(), conts, requiredSpaceAfterLeader + mergeBrakeGap, true);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " leadLead=" << Named::getIDSecure(leadLead.first) << " gap=" << leadLead.second << "\n";
}
#endif
if (leadLead.first == 0) {
foundSpaceAhead = true;
} else {
const SUMOReal requiredSpace = (requiredSpaceAfterLeader
+ vehicle->getCarFollowModel().getSecureGap(overtakingSpeed, leadLead.first->getSpeed(), leadLead.first->getCarFollowModel().getMaxDecel()));
if (leadLead.second > requiredSpace) {
foundSpaceAhead = true;
} else {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " not enough space after columnLeader=" << leadLead.first->getID() << " gap=" << leadLead.second << " required=" << requiredSpace << "\n";
}
#endif
seen += leadLead.second + leadLead.first->getVehicleType().getLengthWithGap();
if (seen > maxLookAhead) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to insufficient free space after columnLeader (seen=" << seen << " columnLeader=" << leadLead.first->getID() << ")\n";
}
#endif
return false;
}
// see if merging after leadLead is possible
egoGap += columnLeader.first->getVehicleType().getLengthWithGap() + leadLead.second;
columnLeader = leadLead;
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " new columnLeader=" << columnLeader.first->getID() << "\n";
}
#endif
}
}
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " compute time/space to overtake for columnLeader=" << columnLeader.first->getID() << " gap=" << columnLeader.second << "\n";
}
#endif
SUMOReal timeToOvertake;
SUMOReal spaceToOvertake;
computeOvertakingTime(vehicle, columnLeader.first, egoGap, timeToOvertake, spaceToOvertake);
// check for upcoming stops
if (vehicle->nextStopDist() < spaceToOvertake) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to upcoming stop (dist=" << vehicle->nextStopDist() << " spaceToOvertake=" << spaceToOvertake << ")\n";
}
#endif
return false;
}
neighLead = opposite->getOppositeLeader(vehicle, timeToOvertake * opposite->getSpeedLimit() * 2 + spaceToOvertake);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " veh=" << vehicle->getID()
<< " changeOpposite opposite=" << opposite->getID()
<< " lead=" << Named::getIDSecure(leader.first)
<< " oncoming=" << Named::getIDSecure(neighLead.first)
<< " timeToOvertake=" << timeToOvertake
<< " spaceToOvertake=" << spaceToOvertake
<< "\n";
}
#endif
// check for dangerous oncoming leader
if (!vehicle->getLaneChangeModel().isOpposite() && neighLead.first != 0) {
const MSVehicle* oncoming = neighLead.first;
/// XXX what about overtaking multiple vehicles?
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " timeToOvertake=" << timeToOvertake
<< " spaceToOvertake=" << spaceToOvertake
<< " oncomingGap=" << neighLead.second
<< " leaderGap=" << leader.second
<< "\n";
}
#endif
if (neighLead.second - spaceToOvertake - timeToOvertake * oncoming->getSpeed() < 0) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to dangerous oncoming\n";
}
#endif
return false;
}
}
// check for sufficient space on the opposite side
seen = source->getLength() - vehicle->getPositionOnLane();
if (!vehicle->getLaneChangeModel().isOpposite() && seen < spaceToOvertake) {
const std::vector<MSLane*>& bestLaneConts = vehicle->getBestLanesContinuation();
assert(bestLaneConts.size() >= 1);
std::vector<MSLane*>::const_iterator it = bestLaneConts.begin() + 1;
while (seen < spaceToOvertake && it != bestLaneConts.end()) {
if ((*it)->getOpposite() == 0) {
break;
}
// do not overtake past a minor link
if (*(it - 1) != 0) {
MSLink* link = MSLinkContHelper::getConnectingLink(**(it - 1), **it);
if (link == 0 || !link->havePriority() || link->getState() == LINKSTATE_ZIPPER) {
break;
}
}
seen += (*it)->getLength();
}
if (seen < spaceToOvertake) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to insufficient space (seen=" << seen << " spaceToOvertake=" << spaceToOvertake << ")\n";
}
#endif
return false;
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " seen=" << seen << " spaceToOvertake=" << spaceToOvertake << " timeToOvertake=" << timeToOvertake << "\n";
}
#endif
}
} else {
/// XXX compute sensible distance
leader = source->getOppositeLeader(vehicle, 200);
neighLead = opposite->getOppositeLeader(vehicle, -1);
}
// compute wish to change
std::vector<MSVehicle::LaneQ> preb = vehicle->getBestLanes();
if (isOpposite && leader.first != 0) {
MSVehicle::LaneQ& laneQ = preb[preb.size() - 1];
/// XXX compute sensible usable dist
laneQ.length -= MIN2(laneQ.length, opposite->getOppositePos(vehicle->getPositionOnLane()) + leader.second / 2);
leader.first = 0; // ignore leader
}
std::pair<MSVehicle* const, SUMOReal> neighFollow = opposite->getOppositeFollower(vehicle);
int state = checkChange(direction, opposite, leader, neighLead, neighFollow, preb);
bool changingAllowed = (state & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state & LCA_WANTS_LANECHANGE) != 0 && changingAllowed) {
vehicle->getLaneChangeModel().startLaneChangeManeuver(source, opposite, direction);
/// XXX use a dedicated transformation function
vehicle->myState.myPos = source->getOppositePos(vehicle->myState.myPos);
vehicle->myState.myBackPos = source->getOppositePos(vehicle->myState.myBackPos);
/// XXX compute a bette lateral position
opposite->forceVehicleInsertion(vehicle, vehicle->getPositionOnLane(), MSMoveReminder::NOTIFICATION_LANE_CHANGE, 0);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " changing to opposite veh=" << vehicle->getID() << " dir=" << direction << " opposite=" << Named::getIDSecure(opposite) << " state=" << state << "\n";
}
#endif
return true;
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " not changing to opposite veh=" << vehicle->getID() << " dir=" << direction << " opposite=" << Named::getIDSecure(opposite) << " state=" << state << "\n";
}
#endif
return false;
}
bool
MSLaneChanger::mayChange(int direction) const {
if (direction == 0) {
return true;
}
if (!myAllowsChanging) {
return false;
}
if (direction == -1) {
return (myCandi != myChanger.begin() && (myCandi - 1)->lane->allowsVehicleClass(veh(myCandi)->getVehicleType().getVehicleClass()));
} else if (direction == 1) {
return (myCandi + 1) != myChanger.end() && (myCandi + 1)->lane->allowsVehicleClass(veh(myCandi)->getVehicleType().getVehicleClass());
} else {
return false;
}
}
bool
MSLaneChanger::change() {
// Find change-candidate. If it is on an allowed lane, try to change
// to the right (there is a rule in Germany that you have to change
// to the right, unless you are overtaking). If change to the right
// isn't possible, check if there is a possibility to overtake (on the
// left.
// If candidate isn't on an allowed lane, changing to an allowed has
// priority.
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
#ifdef DEBUG_VEHICLE_GUI_SELECTION
if (gDebugSelectedVehicle == vehicle->getID()) {
int bla = 0;
}
#endif
if (vehicle->getLaneChangeModel().isChangingLanes()) {
return continueChange(vehicle, myCandi);
}
if (!myAllowsChanging || vehicle->getLaneChangeModel().alreadyChanged()) {
registerUnchanged(vehicle);
return false;
}
std::pair<MSVehicle* const, SUMOReal> leader = getRealLeader(myCandi);
if (myChanger.size() == 1 || vehicle->getLaneChangeModel().isOpposite()) {
if (changeOpposite(leader)) {
return true;
}
registerUnchanged(vehicle);
return false;
}
#ifndef NO_TRACI
if (vehicle->isRemoteControlled()) {
return false; // !!! temporary; just because it broke, here
}
#endif
vehicle->updateBestLanes(); // needed?
for (int i = 0; i < (int) myChanger.size(); ++i) {
vehicle->adaptBestLanesOccupation(i, myChanger[i].dens);
}
const std::vector<MSVehicle::LaneQ>& preb = vehicle->getBestLanes();
// check whether the vehicle wants and is able to change to right lane
int state1 = 0;
if (mayChange(-1)) {
state1 = checkChangeWithinEdge(-1, leader, preb);
bool changingAllowed1 = (state1 & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state1 & LCA_RIGHT) != 0 && changingAllowed1) {
vehicle->getLaneChangeModel().setOwnState(state1);
startChange(vehicle, myCandi, -1);
return true;
}
if ((state1 & LCA_RIGHT) != 0 && (state1 & LCA_URGENT) != 0) {
(myCandi - 1)->lastBlocked = vehicle;
if ((myCandi - 1)->firstBlocked == 0) {
(myCandi - 1)->firstBlocked = vehicle;
}
}
}
// check whether the vehicle wants and is able to change to left lane
int state2 = 0;
if (mayChange(1)) {
state2 = checkChangeWithinEdge(1, leader, preb);
bool changingAllowed2 = (state2 & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state2 & LCA_LEFT) != 0 && changingAllowed2) {
vehicle->getLaneChangeModel().setOwnState(state2);
startChange(vehicle, myCandi, 1);
return true;
}
if ((state2 & LCA_LEFT) != 0 && (state2 & LCA_URGENT) != 0) {
(myCandi + 1)->lastBlocked = vehicle;
if ((myCandi + 1)->firstBlocked == 0) {
(myCandi + 1)->firstBlocked = vehicle;
}
}
}
if ((state1 & (LCA_URGENT)) != 0 && (state2 & (LCA_URGENT)) != 0) {
// ... wants to go to the left AND to the right
// just let them go to the right lane...
state2 = 0;
}
vehicle->getLaneChangeModel().setOwnState(state2 | state1);
// only emergency vehicles should change to the opposite side on a
// multi-lane road
if (vehicle->getVehicleType().getVehicleClass() == SVC_EMERGENCY
&& changeOpposite(leader)) {
return true;
} else {
registerUnchanged(vehicle);
return false;
}
}
void
MSLaneChanger::registerUnchanged(MSVehicle* vehicle) {
myCandi->lane->myTmpVehicles.insert(myCandi->lane->myTmpVehicles.begin(), veh(myCandi));
myCandi->dens += vehicle->getVehicleType().getLengthWithGap();
vehicle->getLaneChangeModel().unchanged();
}
bool
MSLaneChanger::change() {
// Find change-candidate. If it is on an allowed lane, try to change
// to the right (there is a rule in Germany that you have to change
// to the right, unless you are overtaking). If change to the right
// isn't possible, check if there is a possibility to overtake (on the
// left.
// If candidate isn't on an allowed lane, changing to an allowed has
// priority.
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
#ifdef DEBUG_VEHICLE_GUI_SELECTION
if (gSelected.isSelected(GLO_VEHICLE, static_cast<const GUIVehicle*>(vehicle)->getGlID())) {
int bla = 0;
}
#endif
const std::vector<MSVehicle::LaneQ>& preb = vehicle->getBestLanes();
assert(preb.size() == myChanger.size());
for (int i = 0; i < (int) myChanger.size(); ++i) {
((std::vector<MSVehicle::LaneQ>&) preb)[i].occupation = myChanger[i].dens + preb[i].nextOccupation;
}
vehicle->getLaneChangeModel().prepareStep();
std::pair<MSVehicle* const, SUMOReal> leader = getRealThisLeader(myCandi);
// check whether the vehicle wants and is able to change to right lane
int state1 = 0;
if (myCandi != myChanger.begin() && (myCandi - 1)->lane->allowsVehicleClass(veh(myCandi)->getVehicleType().getVehicleClass())) {
std::pair<MSVehicle* const, SUMOReal> rLead = getRealLeader(myCandi - 1);
std::pair<MSVehicle* const, SUMOReal> rFollow = getRealFollower(myCandi - 1);
state1 = change2right(leader, rLead, rFollow, preb);
if ((state1 & LCA_URGENT) != 0 || (state1 & LCA_SPEEDGAIN) != 0) {
state1 |= LCA_RIGHT;
}
bool changingAllowed1 = (state1 & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state1 & LCA_RIGHT) != 0 && changingAllowed1) {
#ifndef NO_TRACI
// inform lane change model about this change
vehicle->getLaneChangeModel().fulfillChangeRequest(MSVehicle::REQUEST_RIGHT);
#endif
(myCandi - 1)->hoppedVeh = vehicle;
(myCandi - 1)->lane->myTmpVehicles.push_front(vehicle);
vehicle->leaveLane(MSMoveReminder::NOTIFICATION_LANE_CHANGE);
myCandi->lane->leftByLaneChange(vehicle);
vehicle->enterLaneAtLaneChange((myCandi - 1)->lane);
(myCandi - 1)->lane->enteredByLaneChange(vehicle);
vehicle->myLastLaneChangeOffset = 0;
vehicle->getLaneChangeModel().changed();
(myCandi - 1)->dens += (myCandi - 1)->hoppedVeh->getVehicleType().getLengthWithGap();
return true;
}
if ((state1 & LCA_RIGHT) != 0 && (state1 & LCA_URGENT) != 0) {
(myCandi - 1)->lastBlocked = vehicle;
}
}
// check whether the vehicle wants and is able to change to left lane
int state2 = 0;
if ((myCandi + 1) != myChanger.end() && (myCandi + 1)->lane->allowsVehicleClass(veh(myCandi)->getVehicleType().getVehicleClass())) {
std::pair<MSVehicle* const, SUMOReal> lLead = getRealLeader(myCandi + 1);
std::pair<MSVehicle* const, SUMOReal> lFollow = getRealFollower(myCandi + 1);
state2 = change2left(leader, lLead, lFollow, preb);
if ((state2 & LCA_URGENT) != 0 || (state2 & LCA_SPEEDGAIN) != 0) {
state2 |= LCA_LEFT;
}
bool changingAllowed2 = (state2 & LCA_BLOCKED) == 0;
//vehicle->getLaneChangeModel().setOwnState(state2|state1);
// change if the vehicle wants to and is allowed to change
if ((state2 & LCA_LEFT) != 0 && changingAllowed2) {
#ifndef NO_TRACI
// inform lane change model about this change
vehicle->getLaneChangeModel().fulfillChangeRequest(MSVehicle::REQUEST_LEFT);
#endif
(myCandi + 1)->hoppedVeh = veh(myCandi);
(myCandi + 1)->lane->myTmpVehicles.push_front(veh(myCandi));
vehicle->leaveLane(MSMoveReminder::NOTIFICATION_LANE_CHANGE);
myCandi->lane->leftByLaneChange(vehicle);
vehicle->enterLaneAtLaneChange((myCandi + 1)->lane);
(myCandi + 1)->lane->enteredByLaneChange(vehicle);
vehicle->myLastLaneChangeOffset = 0;
vehicle->getLaneChangeModel().changed();
(myCandi + 1)->dens += (myCandi + 1)->hoppedVeh->getVehicleType().getLengthWithGap();
return true;
}
if ((state2 & LCA_LEFT) != 0 && (state2 & LCA_URGENT) != 0) {
(myCandi + 1)->lastBlocked = vehicle;
}
}
vehicle->getLaneChangeModel().setOwnState(state2 | state1);
if ((state1 & (LCA_URGENT)) != 0 && (state2 & (LCA_URGENT)) != 0) {
// ... wants to go to the left AND to the right
// just let them go to the right lane...
state2 = 0;
vehicle->getLaneChangeModel().setOwnState(state1);
}
// check whether the vehicles should be swapped
if (myAllowsSwap && ((state1 & (LCA_URGENT)) != 0 || (state2 & (LCA_URGENT)) != 0)) {
// get the direction ...
ChangerIt target;
if ((state1 & (LCA_URGENT)) != 0) {
// ... wants to go right
target = myCandi - 1;
}
if ((state2 & (LCA_URGENT)) != 0) {
// ... wants to go left
target = myCandi + 1;
}
MSVehicle* prohibitor = target->lead;
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
if (prohibitor == 0 || (hoppedPos > vehicle->getPositionOnLane() && prohibitor->getPositionOnLane() > hoppedPos)) {
prohibitor = 0;// !!! vehicles should not jump over more than one lanetarget->hoppedVeh;
}
}
if (prohibitor != 0
&&
((prohibitor->getLaneChangeModel().getOwnState() & (LCA_URGENT/*|LCA_SPEEDGAIN*/)) != 0
&&
(prohibitor->getLaneChangeModel().getOwnState() & (LCA_LEFT | LCA_RIGHT))
!=
(vehicle->getLaneChangeModel().getOwnState() & (LCA_LEFT | LCA_RIGHT))
)
) {
// check for position and speed
if (prohibitor->getVehicleType().getLengthWithGap() - vehicle->getVehicleType().getLengthWithGap() == 0) {
// ok, may be swapped
// remove vehicle to swap with
MSLane::VehCont::iterator i = find(target->lane->myTmpVehicles.begin(), target->lane->myTmpVehicles.end(), prohibitor);
if (i != target->lane->myTmpVehicles.end()) {
MSVehicle* bla = *i;
assert(bla == prohibitor);
target->lane->myTmpVehicles.erase(i);
// set this vehicle
target->hoppedVeh = vehicle;
target->lane->myTmpVehicles.push_front(vehicle);
myCandi->hoppedVeh = prohibitor;
myCandi->lane->myTmpVehicles.push_front(prohibitor);
// leave lane and detectors
vehicle->leaveLane(MSMoveReminder::NOTIFICATION_LANE_CHANGE);
prohibitor->leaveLane(MSMoveReminder::NOTIFICATION_LANE_CHANGE);
// patch position and speed
SUMOReal p1 = vehicle->getPositionOnLane();
vehicle->myState.myPos = prohibitor->myState.myPos;
prohibitor->myState.myPos = p1;
p1 = vehicle->getSpeed();
vehicle->myState.mySpeed = prohibitor->myState.mySpeed;
prohibitor->myState.mySpeed = p1;
// enter lane and detectors
vehicle->enterLaneAtLaneChange(target->lane);
prohibitor->enterLaneAtLaneChange(myCandi->lane);
// mark lane change
vehicle->getLaneChangeModel().changed();
vehicle->myLastLaneChangeOffset = 0;
prohibitor->getLaneChangeModel().changed();
prohibitor->myLastLaneChangeOffset = 0;
(myCandi)->dens += prohibitor->getVehicleType().getLengthWithGap();
(target)->dens += vehicle->getVehicleType().getLengthWithGap();
return true;
}
}
}
}
// Candidate didn't change lane.
myCandi->lane->myTmpVehicles.push_front(veh(myCandi));
vehicle->myLastLaneChangeOffset += DELTA_T;
(myCandi)->dens += vehicle->getVehicleType().getLengthWithGap();
return false;
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealLeader(const ChangerIt& target) const {
assert(veh(myCandi) != 0);
#ifdef DEBUG_SURROUNDING_VEHICLES
MSVehicle* vehicle = veh(myCandi);
if (DEBUG_COND) {
std::cout << SIMTIME << " veh '" << vehicle->getID() << "' looks for leader on lc-target lane '" << target->lane->getID() << "'." << std::endl;
}
#endif
// get the leading vehicle on the lane to change to
MSVehicle* neighLead = target->lead;
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
if (neighLead != 0) {
std::cout << "Considering '" << neighLead->getID() << "' at position " << neighLead->getPositionOnLane() << std::endl;
}
}
#endif
//if (veh(myCandi)->getID() == "disabled") std::cout << SIMTIME
// << " target=" << target->lane->getID()
// << " neighLead=" << Named::getIDSecure(neighLead)
// << " hopped=" << Named::getIDSecure(target->hoppedVeh)
// << " (416)\n";
// check whether the hopped vehicle became the leader
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
std::cout << "Considering hopped vehicle '" << target->hoppedVeh->getID() << "' at position " << hoppedPos << std::endl;
}
#endif
if (hoppedPos > veh(myCandi)->getPositionOnLane() && (neighLead == 0 || neighLead->getPositionOnLane() > hoppedPos)) {
neighLead = target->hoppedVeh;
//if (veh(myCandi)->getID() == "flow.21") std::cout << SIMTIME << " neighLead=" << Named::getIDSecure(neighLead) << " (422)\n";
}
}
if (neighLead == 0) {
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
std::cout << "Looking for leader on consecutive lanes." << std::endl;
}
#endif
// There's no leader on the target lane. Look for leaders on consecutive lanes.
MSLane* targetLane = target->lane;
if (targetLane->myPartialVehicles.size() > 0) {
assert(targetLane->myPartialVehicles.size() > 0);
std::vector<MSVehicle*>::const_iterator i = targetLane->myPartialVehicles.begin();
MSVehicle* leader = *i;
SUMOReal leaderPos = leader->getBackPositionOnLane(targetLane);
while (++i != targetLane->myPartialVehicles.end()) {
if ((*i)->getBackPositionOnLane(targetLane) < leader->getBackPositionOnLane(targetLane)) {
leader = *i;
leaderPos = leader->getBackPositionOnLane(targetLane);
}
}
return std::pair<MSVehicle*, SUMOReal>(leader, leaderPos - veh(myCandi)->getPositionOnLane() - veh(myCandi)->getVehicleType().getMinGap());
}
SUMOReal seen = myCandi->lane->getLength() - veh(myCandi)->getPositionOnLane();
SUMOReal speed = veh(myCandi)->getSpeed();
SUMOReal dist = veh(myCandi)->getCarFollowModel().brakeGap(speed) + veh(myCandi)->getVehicleType().getMinGap();
if (seen > dist) {
return std::pair<MSVehicle* const, SUMOReal>(static_cast<MSVehicle*>(0), -1);
}
const std::vector<MSLane*>& bestLaneConts = veh(myCandi)->getBestLanesContinuation(targetLane);
return target->lane->getLeaderOnConsecutive(dist, seen, speed, *veh(myCandi), bestLaneConts);
} else {
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighLead, neighLead->getBackPositionOnLane(target->lane) - candi->getPositionOnLane() - candi->getVehicleType().getMinGap());
}
}
std::pair<MSVehicle* const, SUMOReal>
MSLaneChanger::getRealFollower(const ChangerIt& target) const {
assert(veh(myCandi) != 0);
#ifdef DEBUG_SURROUNDING_VEHICLES
MSVehicle* vehicle = veh(myCandi);
if (DEBUG_COND) {
std::cout << SIMTIME << " veh '" << vehicle->getID() << "' looks for follower on lc-target lane '" << target->lane->getID() << "'." << std::endl;
}
#endif
MSVehicle* candi = veh(myCandi);
const SUMOReal candiPos = candi->getPositionOnLane();
MSVehicle* neighFollow = veh(target);
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
if (neighFollow != 0) {
std::cout << "veh(target) returns '" << neighFollow->getID() << "' at position " << neighFollow->getPositionOnLane() << std::endl;
} else {
std::cout << "veh(target) returns none." << std::endl;
}
}
#endif
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
if (getCloserFollower(candiPos, neighFollow, target->hoppedVeh) != neighFollow) {
std::cout << "Hopped vehicle '" << target->hoppedVeh->getID() << "' at position " << target->hoppedVeh->getPositionOnLane() << " is closer." << std::endl;
}
}
#endif
// check whether the hopped vehicle became the follower
neighFollow = getCloserFollower(candiPos, neighFollow, target->hoppedVeh);
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
MSVehicle* partialBehind = getCloserFollower(candiPos, neighFollow, target->lane->getPartialBehind(candi));
if (partialBehind != 0 && partialBehind != neighFollow) {
std::cout << "'Partial behind'-vehicle '" << target->lane->getPartialBehind(candi)->getID() << "' at position " << target->hoppedVeh->getPositionOnLane() << " is closer." << std::endl;
}
}
#endif
// or a follower which is partially lapping into the target lane
neighFollow = getCloserFollower(candiPos, neighFollow, target->lane->getPartialBehind(candi));
if (neighFollow == 0) {
std::pair<MSVehicle* const, SUMOReal> consecutiveFollower = target->lane->getFollowerOnConsecutive(
candi->getPositionOnLane() - candi->getVehicleType().getLength(),
candi->getSpeed(), candi->getCarFollowModel().getMaxDecel());
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
if (consecutiveFollower.first == 0) {
std::cout << "no follower found." << std::endl;
} else {
std::cout << "found follower '" << consecutiveFollower.first->getID() << "' on consecutive lanes." << std::endl;
}
}
#endif
return consecutiveFollower;
} else {
#ifdef DEBUG_SURROUNDING_VEHICLES
if (DEBUG_COND) {
std::cout << "found follower '" << neighFollow->getID() << "'." << std::endl;
}
#endif
MSVehicle* candi = veh(myCandi);
return std::pair<MSVehicle* const, SUMOReal>(neighFollow,
candi->getPositionOnLane() - candi->getVehicleType().getLength() - neighFollow->getPositionOnLane() - neighFollow->getVehicleType().getMinGap());
}
}
bool
MSLaneChanger::changeOpposite(std::pair<MSVehicle*, SUMOReal> leader) {
if (!myChangeToOpposite) {
return false;
}
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
MSLane* source = vehicle->getLane();
if (vehicle->isStopped()) {
// stopped vehicles obviously should not change lanes. Usually this is
// prevent by appropriate bestLane distances
return false;
}
const bool isOpposite = vehicle->getLaneChangeModel().isOpposite();
if (!isOpposite && leader.first == 0) {
// no reason to change unless there is a leader
// or we are changing back to the propper direction
// XXX also check whether the leader is so far away as to be irrelevant
return false;
}
MSLane* opposite = source->getOpposite();
if (opposite == 0) {
return false;
}
// changing into the opposite direction is always to the left (XXX except for left-hand networkds)
int direction = isOpposite ? -1 : 1;
std::pair<MSVehicle*, SUMOReal> neighLead((MSVehicle*)0, -1);
// preliminary sanity checks for overtaking space
SUMOReal timeToOvertake;
SUMOReal spaceToOvertake;
if (!isOpposite) {
assert(leader.first != 0);
// find a leader vehicle with sufficient space ahead for merging back
const SUMOReal overtakingSpeed = source->getVehicleMaxSpeed(vehicle); // just a guess
const SUMOReal mergeBrakeGap = vehicle->getCarFollowModel().brakeGap(overtakingSpeed);
std::pair<MSVehicle*, SUMOReal> columnLeader = leader;
SUMOReal egoGap = leader.second;
bool foundSpaceAhead = false;
SUMOReal seen = leader.second + leader.first->getVehicleType().getLengthWithGap();
std::vector<MSLane*> conts = vehicle->getBestLanesContinuation();
while (!foundSpaceAhead) {
const SUMOReal requiredSpaceAfterLeader = (columnLeader.first->getCarFollowModel().getSecureGap(
columnLeader.first->getSpeed(), overtakingSpeed, vehicle->getCarFollowModel().getMaxDecel())
+ vehicle->getVehicleType().getLengthWithGap());
// all leader vehicles on the current laneChanger edge are already moved into MSLane::myTmpVehicles
const bool checkTmpVehicles = (&columnLeader.first->getLane()->getEdge() == &source->getEdge());
std::pair<MSVehicle* const, SUMOReal> leadLead = columnLeader.first->getLane()->getLeader(
columnLeader.first, columnLeader.first->getPositionOnLane(), conts, requiredSpaceAfterLeader + mergeBrakeGap,
checkTmpVehicles);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " leadLead=" << Named::getIDSecure(leadLead.first) << " gap=" << leadLead.second << "\n";
}
#endif
if (leadLead.first == 0) {
foundSpaceAhead = true;
} else {
const SUMOReal requiredSpace = (requiredSpaceAfterLeader
+ vehicle->getCarFollowModel().getSecureGap(overtakingSpeed, leadLead.first->getSpeed(), leadLead.first->getCarFollowModel().getMaxDecel()));
if (leadLead.second > requiredSpace) {
foundSpaceAhead = true;
} else {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " not enough space after columnLeader=" << columnLeader.first->getID() << " required=" << requiredSpace << "\n";
}
#endif
seen += MAX2((SUMOReal)0, leadLead.second) + leadLead.first->getVehicleType().getLengthWithGap();
if (seen > OPPOSITE_OVERTAKING_MAX_LOOKAHEAD) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to insufficient free space after columnLeader (seen=" << seen << " columnLeader=" << columnLeader.first->getID() << ")\n";
}
#endif
return false;
}
// see if merging after leadLead is possible
egoGap += columnLeader.first->getVehicleType().getLengthWithGap() + leadLead.second;
columnLeader = leadLead;
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " new columnLeader=" << columnLeader.first->getID() << "\n";
}
#endif
}
}
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " compute time/space to overtake for columnLeader=" << columnLeader.first->getID() << " gap=" << columnLeader.second << "\n";
}
#endif
computeOvertakingTime(vehicle, columnLeader.first, egoGap, timeToOvertake, spaceToOvertake);
// check for upcoming stops
if (vehicle->nextStopDist() < spaceToOvertake) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to upcoming stop (dist=" << vehicle->nextStopDist() << " spaceToOvertake=" << spaceToOvertake << ")\n";
}
#endif
return false;
}
neighLead = opposite->getOppositeLeader(vehicle, timeToOvertake * opposite->getSpeedLimit() * 2 + spaceToOvertake, true);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " veh=" << vehicle->getID()
<< " changeOpposite opposite=" << opposite->getID()
<< " lead=" << Named::getIDSecure(leader.first)
<< " timeToOvertake=" << timeToOvertake
<< " spaceToOvertake=" << spaceToOvertake
<< "\n";
}
#endif
// check for dangerous oncoming leader
if (neighLead.first != 0) {
const MSVehicle* oncoming = neighLead.first;
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME
<< " oncoming=" << oncoming->getID()
<< " oncomingGap=" << neighLead.second
<< " leaderGap=" << leader.second
<< "\n";
}
#endif
if (neighLead.second - spaceToOvertake - timeToOvertake * oncoming->getSpeed() < 0) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to dangerous oncoming\n";
}
#endif
return false;
}
}
} else {
timeToOvertake = -1;
// look forward as far as possible
spaceToOvertake = std::numeric_limits<SUMOReal>::max();
leader = source->getOppositeLeader(vehicle, OPPOSITE_OVERTAKING_ONCOMING_LOOKAHEAD, true);
// -1 will use getMaximumBrakeDist() as look-ahead distance
neighLead = opposite->getOppositeLeader(vehicle, -1, false);
}
// compute remaining space on the opposite side
// 1. the part that remains on the current lane
SUMOReal usableDist = isOpposite ? vehicle->getPositionOnLane() : source->getLength() - vehicle->getPositionOnLane();
if (usableDist < spaceToOvertake) {
// look forward along the next lanes
const std::vector<MSLane*>& bestLaneConts = vehicle->getBestLanesContinuation();
assert(bestLaneConts.size() >= 1);
std::vector<MSLane*>::const_iterator it = bestLaneConts.begin() + 1;
while (usableDist < spaceToOvertake && it != bestLaneConts.end()) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " usableDist=" << usableDist << " opposite=" << Named::getIDSecure((*it)->getOpposite()) << "\n";
}
#endif
if ((*it)->getOpposite() == 0) {
// opposite lane ends
break;
}
// do not overtake past a minor link or turn
if (*(it - 1) != 0) {
MSLink* link = MSLinkContHelper::getConnectingLink(**(it - 1), **it);
if (link == 0 || !link->havePriority() || link->getState() == LINKSTATE_ZIPPER || link->getDirection() != LINKDIR_STRAIGHT) {
break;
}
}
usableDist += (*it)->getLength();
++it;
}
}
if (!isOpposite && usableDist < spaceToOvertake) {
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " cannot changeOpposite due to insufficient space (seen=" << usableDist << " spaceToOvertake=" << spaceToOvertake << ")\n";
}
#endif
return false;
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << " usableDist=" << usableDist << " spaceToOvertake=" << spaceToOvertake << " timeToOvertake=" << timeToOvertake << "\n";
}
#endif
// compute wish to change
std::vector<MSVehicle::LaneQ> preb = vehicle->getBestLanes();
if (isOpposite) {
// compute the remaining distance that can be drive on the opposite side
// this value will put into LaneQ.length of the leftmost lane
// @note: length counts from the start of the current lane
// @note: see MSLCM_LC2013::_wantsChange @1092 (isOpposite()
MSVehicle::LaneQ& laneQ = preb[preb.size() - 1];
// position on the target lane
const SUMOReal forwardPos = source->getOppositePos(vehicle->getPositionOnLane());
// consider usableDist (due to minor links or end of opposite lanes)
laneQ.length = MIN2(laneQ.length, usableDist + forwardPos);
// consider upcoming stops
laneQ.length = MIN2(laneQ.length, vehicle->nextStopDist() + forwardPos);
// consider oncoming leaders
if (leader.first != 0) {
laneQ.length = MIN2(laneQ.length, leader.second / 2 + forwardPos);
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " found oncoming leader=" << leader.first->getID() << " gap=" << leader.second << "\n";
}
#endif
leader.first = 0; // ignore leader after this
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " veh=" << vehicle->getID() << " remaining dist=" << laneQ.length - forwardPos << " forwardPos=" << forwardPos << " laneQ.length=" << laneQ.length << "\n";
}
#endif
}
std::pair<MSVehicle* const, SUMOReal> neighFollow = opposite->getOppositeFollower(vehicle);
int state = checkChange(direction, opposite, leader, neighLead, neighFollow, preb);
bool changingAllowed = (state & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state & LCA_WANTS_LANECHANGE) != 0 && changingAllowed
// do not change to the opposite direction for cooperative reasons
&& (isOpposite || (state & LCA_COOPERATIVE) == 0)) {
vehicle->getLaneChangeModel().startLaneChangeManeuver(source, opposite, direction);
/// XXX use a dedicated transformation function
vehicle->myState.myPos = source->getOppositePos(vehicle->myState.myPos);
/// XXX compute a better lateral position
opposite->forceVehicleInsertion(vehicle, vehicle->getPositionOnLane(), MSMoveReminder::NOTIFICATION_LANE_CHANGE, 0);
if (!isOpposite) {
vehicle->myState.myBackPos = source->getOppositePos(vehicle->myState.myBackPos);
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " changing to opposite veh=" << vehicle->getID() << " dir=" << direction << " opposite=" << Named::getIDSecure(opposite) << " state=" << state << "\n";
}
#endif
return true;
}
#ifdef DEBUG_CHANGE_OPPOSITE
if (DEBUG_COND) {
std::cout << SIMTIME << " not changing to opposite veh=" << vehicle->getID() << " dir=" << direction
<< " opposite=" << Named::getIDSecure(opposite) << " state=" << toString((LaneChangeAction)state) << "\n";
}
#endif
return false;
}
bool
MSLaneChanger::change() {
// Find change-candidate. If it is on an allowed lane, try to change
// to the right (there is a rule in Germany that you have to change
// to the right, unless you are overtaking). If change to the right
// isn't possible, check if there is a possibility to overtake (on the
// left.
// If candidate isn't on an allowed lane, changing to an allowed has
// priority.
myCandi = findCandidate();
MSVehicle* vehicle = veh(myCandi);
#ifdef DEBUG_VEHICLE_GUI_SELECTION
if (gDebugSelectedVehicle == vehicle->getID()) {
int bla = 0;
}
#endif
if (vehicle->getLaneChangeModel().isChangingLanes()) {
return continueChange(vehicle, myCandi);
}
if (!myAllowsChanging || vehicle->getLaneChangeModel().alreadyChanged()) {
registerUnchanged(vehicle);
return false;
}
std::pair<MSVehicle* const, SUMOReal> leader = getRealLeader(myCandi);
if (myChanger.size() == 1) {
if (changeOpposite(leader)) {
return true;
}
registerUnchanged(vehicle);
return false;
}
#ifndef NO_TRACI
if (vehicle->isRemoteControlled()) {
return false; // !!! temporary; just because it broke, here
}
#endif
vehicle->updateBestLanes(); // needed?
for (int i = 0; i < (int) myChanger.size(); ++i) {
vehicle->adaptBestLanesOccupation(i, myChanger[i].dens);
}
const std::vector<MSVehicle::LaneQ>& preb = vehicle->getBestLanes();
// check whether the vehicle wants and is able to change to right lane
int state1 = 0;
if (mayChange(-1)) {
state1 = checkChangeWithinEdge(-1, leader, preb);
bool changingAllowed1 = (state1 & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state1 & LCA_RIGHT) != 0 && changingAllowed1) {
vehicle->getLaneChangeModel().setOwnState(state1);
startChange(vehicle, myCandi, -1);
return true;
}
if ((state1 & LCA_RIGHT) != 0 && (state1 & LCA_URGENT) != 0) {
(myCandi - 1)->lastBlocked = vehicle;
if ((myCandi - 1)->firstBlocked == 0) {
(myCandi - 1)->firstBlocked = vehicle;
}
}
}
// check whether the vehicle wants and is able to change to left lane
int state2 = 0;
if (mayChange(1)) {
state2 = checkChangeWithinEdge(1, leader, preb);
bool changingAllowed2 = (state2 & LCA_BLOCKED) == 0;
// change if the vehicle wants to and is allowed to change
if ((state2 & LCA_LEFT) != 0 && changingAllowed2) {
vehicle->getLaneChangeModel().setOwnState(state2);
startChange(vehicle, myCandi, 1);
return true;
}
if ((state2 & LCA_LEFT) != 0 && (state2 & LCA_URGENT) != 0) {
(myCandi + 1)->lastBlocked = vehicle;
if ((myCandi + 1)->firstBlocked == 0) {
(myCandi + 1)->firstBlocked = vehicle;
}
}
}
if ((state1 & (LCA_URGENT)) != 0 && (state2 & (LCA_URGENT)) != 0) {
// ... wants to go to the left AND to the right
// just let them go to the right lane...
state2 = 0;
}
vehicle->getLaneChangeModel().setOwnState(state2 | state1);
// check whether the vehicles should be swapped
if (myAllowsSwap && ((state1 & (LCA_URGENT)) != 0 || (state2 & (LCA_URGENT)) != 0)) {
// get the direction ...
ChangerIt target;
int direction = 0;
if ((state1 & (LCA_URGENT)) != 0) {
// ... wants to go right
target = myCandi - 1;
direction = -1;
}
if ((state2 & (LCA_URGENT)) != 0) {
// ... wants to go left
target = myCandi + 1;
direction = 1;
}
MSVehicle* prohibitor = target->lead;
if (target->hoppedVeh != 0) {
SUMOReal hoppedPos = target->hoppedVeh->getPositionOnLane();
if (prohibitor == 0 || (hoppedPos > vehicle->getPositionOnLane() && prohibitor->getPositionOnLane() > hoppedPos)) {
prohibitor = 0;// !!! vehicles should not jump over more than one lanetarget->hoppedVeh;
}
}
if (prohibitor != 0
&&
((prohibitor->getLaneChangeModel().getOwnState() & (LCA_URGENT/*|LCA_SPEEDGAIN*/)) != 0
&&
(prohibitor->getLaneChangeModel().getOwnState() & (LCA_LEFT | LCA_RIGHT))
!=
(vehicle->getLaneChangeModel().getOwnState() & (LCA_LEFT | LCA_RIGHT))
)
) {
// check for position and speed
if (prohibitor->getVehicleType().getLengthWithGap() == vehicle->getVehicleType().getLengthWithGap()) {
// ok, may be swapped
// remove vehicle to swap with
MSLane::VehCont::iterator i = find(target->lane->myTmpVehicles.begin(), target->lane->myTmpVehicles.end(), prohibitor);
if (i != target->lane->myTmpVehicles.end()) {
assert(*i == prohibitor);
target->lane->myTmpVehicles.erase(i);
startChange(vehicle, myCandi, direction);
startChange(prohibitor, target, -direction);
std::swap(vehicle->myState, prohibitor->myState);
myCandi->lead = prohibitor;
target->lead = vehicle;
return true;
}
}
}
}
if (!changeOpposite(leader)) {
registerUnchanged(vehicle);
return false;
} else {
return true;
}
}
