std::pair<MSVehicle*, SUMOReal>
MSLink::getLeaderInfo(const std::map<const MSLink*, std::string>& previousLeaders, SUMOReal dist) const {
if (MSGlobals::gUsingInternalLanes && myJunctionInlane == 0) {
// this is an exit link
// there might have been a link leader from previous steps who still qualifies
// but is not the last vehicle on the foe lane anymore
std::map<const MSLink*, std::string>::const_iterator it = previousLeaders.find(this);
if (it != previousLeaders.end()) {
MSVehicle* leader = dynamic_cast<MSVehicle*>(MSNet::getInstance()->getVehicleControl().getVehicle(it->second));
if (leader != 0 && std::find(myFoeLanes.begin(), myFoeLanes.end(), leader->getLane()) != myFoeLanes.end()) {
return std::make_pair(leader,
dist - (leader->getLane()->getLength() - leader->getPositionOnLane()) - leader->getVehicleType().getLength());
}
}
// now check for last vehicle on foe lane
for (std::vector<MSLane*>::const_iterator i = myFoeLanes.begin(); i != myFoeLanes.end(); ++i) {
assert((*i)->getLinkCont().size() == 1);
MSLink* exitLink = (*i)->getLinkCont()[0];
if (myLane == exitLink->getLane()) {
MSVehicle* leader = (*i)->getLastVehicle();
if (leader != 0) {
return std::make_pair(leader,
dist - ((*i)->getLength() - leader->getPositionOnLane()) - leader->getVehicleType().getLength());
}
}
}
}
return std::make_pair<MSVehicle*, SUMOReal>(0, 0);
}
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;
}
void
MSLaneChangerSublane::updateChanger(bool vehHasChanged) {
MSLaneChanger::updateChanger(vehHasChanged);
if (!vehHasChanged) {
MSVehicle* lead = myCandi->lead;
//std::cout << SIMTIME << " updateChanger lane=" << myCandi->lane->getID() << " lead=" << Named::getIDSecure(lead) << "\n";
myCandi->ahead.addLeader(lead, false, 0);
MSLane* shadowLane = lead->getLaneChangeModel().getShadowLane();
if (shadowLane != 0) {
const SUMOReal latOffset = lead->getLane()->getRightSideOnEdge() - shadowLane->getRightSideOnEdge();
//std::cout << SIMTIME << " updateChanger shadowLane=" << shadowLane->getID() << " lead=" << Named::getIDSecure(lead) << "\n";
(myChanger.begin() + shadowLane->getIndex())->ahead.addLeader(lead, false, latOffset);
}
}
//std::cout << SIMTIME << " updateChanger: lane=" << myCandi->lane->getID() << " lead=" << Named::getIDSecure(myCandi->lead) << " ahead=" << myCandi->ahead.toString() << " vehHasChanged=" << vehHasChanged << "\n";
//for (ChangerIt ce = myChanger.begin(); ce != myChanger.end(); ++ce) {
// std::cout << " lane=" << ce->lane->getID() << " vehicles=" << toString(ce->lane->myVehicles) << "\n";
//}
}
bool
MSCalibrator::removePending() {
if (myToRemove.size() > 0) {
MSVehicleControl& vc = MSNet::getInstance()->getVehicleControl();
// it is not save to remove the vehicles inside
// VehicleRemover::notifyEnter so we do it here
for (std::set<std::string>::iterator it = myToRemove.begin(); it != myToRemove.end(); ++it) {
MSVehicle* vehicle = dynamic_cast<MSVehicle*>(vc.getVehicle(*it));
if (vehicle != nullptr) {
vehicle->onRemovalFromNet(MSMoveReminder::NOTIFICATION_VAPORIZED);
vehicle->getLane()->removeVehicle(vehicle, MSMoveReminder::NOTIFICATION_VAPORIZED);
vc.scheduleVehicleRemoval(vehicle);
} else {
WRITE_WARNING("Calibrator '" + getID() + "' could not remove vehicle '" + *it + "'.");
}
}
myToRemove.clear();
return true;
}
return false;
}
std::pair<MSVehicle * const, SUMOReal>
MSLane::getFollowerOnConsecutive(SUMOReal dist, SUMOReal seen, SUMOReal leaderSpeed, SUMOReal backOffset) const {
// ok, a vehicle has not noticed the lane about itself;
// iterate as long as necessary to search for an approaching one
std::set<MSLane*> visited;
std::vector<std::pair<MSVehicle *, SUMOReal> > possible;
std::vector<MSLane::IncomingLaneInfo> newFound;
std::vector<MSLane::IncomingLaneInfo> toExamine = myIncomingLanes;
while (toExamine.size()!=0) {
for (std::vector<MSLane::IncomingLaneInfo>::iterator i=toExamine.begin(); i!=toExamine.end(); ++i) {
/*
if ((*i).viaLink->getState()==MSLink::LINKSTATE_TL_RED) {
continue;
}
*/
MSLane *next = (*i).lane;
if (next->getFirstVehicle()!=0) {
MSVehicle * v = (MSVehicle*) next->getFirstVehicle();
SUMOReal agap = (*i).length - v->getPositionOnLane() + backOffset;
if (!v->getCarFollowModel().hasSafeGap(v->getCarFollowModel().maxNextSpeed(v->getSpeed()), agap, leaderSpeed, v->getLane().getMaxSpeed())) {
possible.push_back(std::make_pair(v, (*i).length-v->getPositionOnLane()+seen));
}
} else {
if ((*i).length+seen<dist) {
const std::vector<MSLane::IncomingLaneInfo> &followers = next->getIncomingLanes();
for (std::vector<MSLane::IncomingLaneInfo>::const_iterator j=followers.begin(); j!=followers.end(); ++j) {
if (visited.find((*j).lane)==visited.end()) {
visited.insert((*j).lane);
MSLane::IncomingLaneInfo ili;
ili.lane = (*j).lane;
ili.length = (*j).length + (*i).length;
ili.viaLink = (*j).viaLink;
newFound.push_back(ili);
}
}
}
}
}
toExamine.clear();
swap(newFound, toExamine);
}
if (possible.size()==0) {
return std::pair<MSVehicle * const, SUMOReal>(0, -1);
}
sort(possible.begin(), possible.end(), by_second_sorter());
return *(possible.begin());
}
void
MSE2Collector::detectorUpdate(const SUMOTime /* step */) {
JamInfo* currentJam = 0;
std::map<SUMOVehicle*, SUMOTime> haltingVehicles;
std::map<SUMOVehicle*, SUMOTime> intervalHaltingVehicles;
std::vector<JamInfo*> jams;
SUMOReal lengthSum = 0;
myCurrentMeanSpeed = 0;
myCurrentMeanLength = 0;
myCurrentStartedHalts = 0;
myCurrentHaltingsNumber = 0;
// go through the (sorted) list of vehicles positioned on the detector
// sum up values and prepare the list of jams
myKnownVehicles.sort(by_vehicle_position_sorter(getLane()));
for (std::list<SUMOVehicle*>::const_iterator i = myKnownVehicles.begin(); i != myKnownVehicles.end(); ++i) {
MSVehicle* veh = static_cast<MSVehicle*>(*i);
SUMOReal length = veh->getVehicleType().getLength();
if (veh->getLane() == getLane()) {
if (veh->getPositionOnLane() - veh->getVehicleType().getLength() < myStartPos) {
// vehicle entered detector partially
length -= (veh->getVehicleType().getLength() - (veh->getPositionOnLane() - myStartPos));
}
if (veh->getPositionOnLane() > myEndPos && veh->getPositionOnLane() - veh->getVehicleType().getLength() <= myEndPos) {
// vehicle left detector partially
length -= (veh->getPositionOnLane() - myEndPos);
}
} else {
// ok, the vehicle is only partially still on the detector, has already moved to the
// next lane; still, we do not know how far away it is
assert(veh == myLane->getPartialOccupator());
length = myEndPos - myLane->getPartialOccupatorEnd();
}
assert(length >= 0);
mySpeedSum += veh->getSpeed();
myCurrentMeanSpeed += veh->getSpeed();
lengthSum += length;
myCurrentMeanLength += length;
// jam-checking begins
bool isInJam = false;
// first, check whether the vehicle is slow enough to be states as halting
if (veh->getSpeed() < myJamHaltingSpeedThreshold) {
myCurrentHaltingsNumber++;
// we have to track the time it was halting;
// so let's look up whether it was halting before and compute the overall halting time
bool wasHalting = myHaltingVehicleDurations.find(veh) != myHaltingVehicleDurations.end();
if (wasHalting) {
haltingVehicles[veh] = myHaltingVehicleDurations[veh] + DELTA_T;
intervalHaltingVehicles[veh] = myIntervalHaltingVehicleDurations[veh] + DELTA_T;
} else {
haltingVehicles[veh] = DELTA_T;
intervalHaltingVehicles[veh] = DELTA_T;
myCurrentStartedHalts++;
myStartedHalts++;
}
// we now check whether the halting time is large enough
if (haltingVehicles[veh] > myJamHaltingTimeThreshold) {
// yep --> the vehicle is a part of a jam
isInJam = true;
}
} else {
// is not standing anymore; keep duration information
std::map<SUMOVehicle*, SUMOTime>::iterator v = myHaltingVehicleDurations.find(veh);
if (v != myHaltingVehicleDurations.end()) {
myPastStandingDurations.push_back((*v).second);
myHaltingVehicleDurations.erase(v);
}
v = myIntervalHaltingVehicleDurations.find(veh);
if (v != myIntervalHaltingVehicleDurations.end()) {
myPastIntervalStandingDurations.push_back((*v).second);
myIntervalHaltingVehicleDurations.erase(v);
}
}
// jam-building
if (isInJam) {
// the vehicle is in a jam;
// it may be a new one or already an existing one
if (currentJam == 0) {
// the vehicle is the first vehicle in a jam
currentJam = new JamInfo;
currentJam->firstStandingVehicle = i;
} else {
// ok, we have a jam already. But - maybe it is too far away
// ... honestly, I can hardly find a reason for doing this,
// but jams were defined this way in an earlier version...
if (veh->getPositionOnLane() - (*currentJam->lastStandingVehicle)->getPositionOnLane() > myJamDistanceThreshold) {
// yep, yep, yep - it's a new one...
// close the frist, build a new
jams.push_back(currentJam);
currentJam = new JamInfo;
currentJam->firstStandingVehicle = i;
}
}
currentJam->lastStandingVehicle = i;
} else {
// the vehicle is not part of a jam...
// maybe we have to close an already computed jam
if (currentJam != 0) {
jams.push_back(currentJam);
currentJam = 0;
}
}
}
if (currentJam != 0) {
jams.push_back(currentJam);
currentJam = 0;
}
myCurrentMaxJamLengthInMeters = 0;
myCurrentMaxJamLengthInVehicles = 0;
myCurrentJamLengthInMeters = 0;
myCurrentJamLengthInVehicles = 0;
// process jam information
for (std::vector<JamInfo*>::iterator i = jams.begin(); i != jams.end(); ++i) {
// compute current jam's values
SUMOReal jamLengthInMeters =
(*(*i)->firstStandingVehicle)->getPositionOnLane()
- (*(*i)->lastStandingVehicle)->getPositionOnLane()
+ (*(*i)->lastStandingVehicle)->getVehicleType().getLengthWithGap();
const MSVehicle* const occ = myLane->getPartialOccupator();
if (occ && occ == *(*i)->firstStandingVehicle && occ != *(*i)->lastStandingVehicle) {
jamLengthInMeters = myLane->getPartialOccupatorEnd() + occ->getVehicleType().getLengthWithGap()
- (*(*i)->lastStandingVehicle)->getPositionOnLane()
+ (*(*i)->lastStandingVehicle)->getVehicleType().getLengthWithGap();
}
unsigned jamLengthInVehicles = (unsigned) distance((*i)->firstStandingVehicle, (*i)->lastStandingVehicle) + 1;
// apply them to the statistics
myCurrentMaxJamLengthInMeters = MAX2(myCurrentMaxJamLengthInMeters, jamLengthInMeters);
myCurrentMaxJamLengthInVehicles = MAX2(myCurrentMaxJamLengthInVehicles, jamLengthInVehicles);
myJamLengthInMetersSum += jamLengthInMeters;
myJamLengthInVehiclesSum += jamLengthInVehicles;
myCurrentJamLengthInMeters += jamLengthInMeters;
myCurrentJamLengthInVehicles += jamLengthInVehicles;
}
myCurrentJamNo = (unsigned) jams.size();
unsigned noVehicles = (unsigned) myKnownVehicles.size();
myVehicleSamples += noVehicles;
myTimeSamples += 1;
// compute occupancy values
SUMOReal currentOccupancy = lengthSum / (myEndPos - myStartPos) * (SUMOReal) 100.;
myCurrentOccupancy = currentOccupancy;
myOccupancySum += currentOccupancy;
myMaxOccupancy = MAX2(myMaxOccupancy, currentOccupancy);
// compute jam values
myMeanMaxJamInVehicles += myCurrentMaxJamLengthInVehicles;
myMeanMaxJamInMeters += myCurrentMaxJamLengthInMeters;
myMaxJamInVehicles = MAX2(myMaxJamInVehicles, myCurrentMaxJamLengthInVehicles);
myMaxJamInMeters = MAX2(myMaxJamInMeters, myCurrentMaxJamLengthInMeters);
// save information about halting vehicles
myHaltingVehicleDurations = haltingVehicles;
myIntervalHaltingVehicleDurations = intervalHaltingVehicles;
// compute information about vehicle numbers
myMeanVehicleNumber += (unsigned) myKnownVehicles.size();
myMaxVehicleNumber = MAX2((unsigned) myKnownVehicles.size(), myMaxVehicleNumber);
// norm current values
myCurrentMeanSpeed = noVehicles != 0 ? myCurrentMeanSpeed / (SUMOReal) noVehicles : -1;
myCurrentMeanLength = noVehicles != 0 ? myCurrentMeanLength / (SUMOReal) noVehicles : -1;
// clean up
for (std::vector<JamInfo*>::iterator i = jams.begin(); i != jams.end(); ++i) {
delete *i;
}
jams.clear();
}
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;
}
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;
}
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;
}