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;
}
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;
}
}
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;
}
}
