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());
}
}
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*, 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);
}
MSVehicle * const
MSLane::getLastVehicle(const MSVehicle::StripCont &strips) const {
MSVehicle::StripContConstIter strip = strips.begin();
MSVehicle *last = 0;
while (strip != strips.end()) {
last = (*strip)->getLastVehicle();
if (last != 0) break;
strip++;
}
if (last == 0) return last;
for (MSVehicle::StripContConstIter it=strip+1; it != strips.end(); ++it) {
MSVehicle *curr = (*it)->getLastVehicle();
if (!curr) continue;
if (last->getPositionOnLane()-last->getVehicleType().getLength()
>
curr->getPositionOnLane()-curr->getVehicleType().getLength())
last = curr;
}
//DEBUG
///*
std::pair<MSVehicle*, SUMOReal> lvInfo = getLastVehicleInformation();
if (last != lvInfo.first)
MsgHandler::getWarningInstance()->inform("LastVEH_ERR::Lane=" + this->getID() +
", time=" + time2string(MSNet::getInstance()->getCurrentTimeStep()) + ".");
//*/
return last;
}
void
MSInductLoop::notifyLeave(MSVehicle& veh, bool isArrival, bool isLaneChange) throw() {
if (veh.getPositionOnLane() > myPosition && veh.getPositionOnLane() - veh.getVehicleType().getLength() <= myPosition) {
// vehicle is on detector during lane change
leaveDetectorByLaneChange(veh);
}
}
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>
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());
}
std::pair<MSVehicle * const, SUMOReal>
MSLane::getLeaderOnConsecutive(SUMOReal dist, SUMOReal seen, SUMOReal speed, const MSVehicle &veh,
const std::vector<MSLane*> &bestLaneConts) const {
if (seen>dist) {
return std::pair<MSVehicle * const, SUMOReal>(0, -1);
}
unsigned int view = 1;
// loop over following lanes
const MSLane * targetLane = this;
MSVehicle *leader = targetLane->getPartialOccupator();
if (leader!=0) {
return std::pair<MSVehicle * const, SUMOReal>(leader, seen-targetLane->getPartialOccupatorEnd());
}
const MSLane * nextLane = targetLane;
while (true) {
// get the next link used
MSLinkCont::const_iterator link = targetLane->succLinkSec(veh, view, *nextLane, bestLaneConts);
if (nextLane->isLinkEnd(link) || !(*link)->havePriority() || (*link)->getState()==MSLink::LINKSTATE_TL_RED) {
return std::pair<MSVehicle * const, SUMOReal>(0, -1);
}
#ifdef HAVE_INTERNAL_LANES
bool nextInternal = false;
nextLane = (*link)->getViaLane();
if (nextLane==0) {
nextLane = (*link)->getLane();
} else {
nextInternal = true;
}
#else
nextLane = (*link)->getLane();
#endif
if (nextLane==0) {
return std::pair<MSVehicle * const, SUMOReal>(0, -1);
}
MSVehicle * leader = nextLane->getLastVehicle(veh.getStrips());
if (leader!=0) {
return std::pair<MSVehicle * const, SUMOReal>(leader, seen+leader->getPositionOnLane()-leader->getVehicleType().getLength());
} else {
leader = nextLane->getPartialOccupator();
if (leader!=0) {
return std::pair<MSVehicle * const, SUMOReal>(leader, seen+nextLane->getPartialOccupatorEnd());
}
}
if (nextLane->getMaxSpeed()<speed) {
dist = veh.getCarFollowModel().brakeGap(nextLane->getMaxSpeed());
}
seen += nextLane->getLength();
if (seen>dist) {
return std::pair<MSVehicle * const, SUMOReal>(0, -1);
}
#ifdef HAVE_INTERNAL_LANES
if (!nextInternal) {
view++;
}
#else
view++;
#endif
}
}
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());
}
}
bool
MSMsgInductLoop::notifyEnter(MSVehicle& veh, bool, bool) throw() {
if (veh.getPositionOnLane() - veh.getVehicleType().getLength() > myPosition) {
// vehicle-front is beyond detector. Ignore
return false;
}
// vehicle is in front of detector
return true;
}
void
MSVehicleTransfer::loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset, MSVehicleControl& vc) {
MSVehicle* veh = dynamic_cast<MSVehicle*>(vc.getVehicle(attrs.getString(SUMO_ATTR_ID)));
assert(veh != 0);
SUMOTime proceedTime = (SUMOTime)attrs.getLong(SUMO_ATTR_DEPART);
MSLane* parkingLane = attrs.hasAttribute(SUMO_ATTR_PARKING) ? MSLane::dictionary(attrs.getString(SUMO_ATTR_PARKING)): 0;
myVehicles.push_back(VehicleInformation(veh, proceedTime + offset, parkingLane != 0));
if (parkingLane != 0) {
myParkingVehicles[parkingLane].insert(veh);
veh->setTentativeLaneAndPosition(parkingLane, veh->getPositionOnLane());
veh->processNextStop(veh->getSpeed());
}
MSNet::getInstance()->getInsertionControl().alreadyDeparted(veh);
}
const MSVehicle * const
MSLane::getFirstVehicle() const {
//XXX: partial occupators don't count?
StripCont::const_iterator it = myStrips.begin();
const MSVehicle *first = (*it)->getFirstVehicle();
for (; it != myStrips.end(); ++it) {
MSVehicle *curr = (*it)->getLastVehicle();
if (curr == 0)
continue;
else if (first == 0 && curr != 0)
first = curr;
if (first->getPositionOnLane() < curr->getPositionOnLane())
first = curr;
}
return first;
}
bool
MSLink::maybeOccupied(MSLane* lane) {
MSVehicle* veh = lane->getLastVehicle();
SUMOReal distLeft = 0;
if (veh == 0) {
veh = lane->getPartialOccupator();
distLeft = lane->getLength() - lane->getPartialOccupatorEnd();
} else {
distLeft = lane->getLength() - veh->getPositionOnLane() + veh->getVehicleType().getLength();
}
if (veh == 0) {
return false;
} else {
assert(distLeft > 0);
// can we be sure that the vehicle leaves this lane in the next step?
bool result = distLeft > (veh->getSpeed() - veh->getCarFollowModel().getMaxDecel());
return result;
}
}
size_t
MSLane::getEmptyStartStripID(size_t vehWidth) const {
StripCont::const_iterator strip = myStrips.begin();
std::vector<SUMOReal> vehPositions(myStrips.size(), getLength());
std::vector<SUMOReal>::iterator it, start, end;
size_t startPos = 0;
it = vehPositions.begin();
// vehPositions contains position of end of last vehicle of every strip
// or length of lane if there is no last vehicle
int i=0;
for (i=0; strip != myStrips.end(); ++strip, ++i) {
MSVehicle *veh = (*strip)->getLastVehicle();
if (veh != 0)
vehPositions[i] = veh->getPositionOnLane() - veh->getVehicleType().getLength();
}
assert(i==myStrips.size());
// for each possible position of vehicle, find the vehicle closest to current one
// (in all strips current vehicle occupies)
std::map<size_t, SUMOReal> possiblePosn;
std::map<size_t, SUMOReal>::iterator pos;
for (size_t myStart = 0; myStart <= myStrips.size() - vehWidth; ++myStart) {
// find min dist among all strips that vehicle may occupy
start = vehPositions.begin() + myStart;
end = start + vehWidth;
it = std::min_element(start, end);
possiblePosn[myStart] = *it;
}
// now find the maximum among the possible start positions
pos = possiblePosn.begin();
SUMOReal currMaxPos = pos->second;
startPos = pos->first;
for (; pos != possiblePosn.end(); ++pos) {
if (currMaxPos < pos->second) {
currMaxPos = pos->second;
startPos = pos->first;
}
}
//std::cerr << getID() << "::getEmptyStartStrip(" << vehWidth << ") = " << startPos << std::endl;
return startPos;
}
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());
}
}
int
MSCalibrator::remainingVehicleCapacity(int laneIndex) const {
if (laneIndex < 0) {
const int numLanes = (int)myEdge->getLanes().size();
int result = 0;
for (int i = 0; i < numLanes; ++i) {
result = MAX2(result, remainingVehicleCapacity(i));
}
return result;
}
assert(laneIndex < (int)myEdge->getLanes().size());
MSLane* lane = myEdge->getLanes()[laneIndex];
MSVehicle* last = lane->getLastFullVehicle();
const SUMOVehicleParameter* pars = myCurrentStateInterval->vehicleParameter;
const MSVehicleType* vtype = MSNet::getInstance()->getVehicleControl().getVType(pars->vtypeid);
const double spacePerVehicle = vtype->getLengthWithGap() + myEdge->getSpeedLimit() * vtype->getCarFollowModel().getHeadwayTime();
if (last == nullptr) {
// ensure vehicles can be inserted on short edges
return MAX2(1, (int)(myEdge->getLength() / spacePerVehicle));
} else {
return (int)(last->getPositionOnLane() / spacePerVehicle);
}
}
bool
MSLane::isEmissionSuccess(MSVehicle* aVehicle,
SUMOReal speed, SUMOReal pos,
bool patchSpeed, size_t startStripId) throw(ProcessError) {
// and the speed is not too high (vehicle should decelerate)
// try to get a leader on consecutive lanes
// we have to do this even if we have found a leader on our lane because it may
// be driving into another direction
//std::cerr<<"EMISSION speed:"<<speed<<std::endl;
std::cerr<<"EMISSION vehicle:"<<aVehicle->getID()<<std::endl;
size_t endStripId = startStripId + aVehicle->getWidth() - 1;
assert(startStripId >=0 && endStripId < myStrips.size());
aVehicle->getBestLanes(true, this);
const MSCFModel &cfModel = aVehicle->getCarFollowModel();
const std::vector<MSLane*> &bestLaneConts = aVehicle->getBestLanesContinuation(this);
std::vector<MSLane*>::const_iterator ri = bestLaneConts.begin();
SUMOReal seen = getLength() - pos;
SUMOReal dist = cfModel.brakeGap(speed);
const MSRoute &r = aVehicle->getRoute();
MSRouteIterator ce = r.begin();
MSLane *currentLane = this;
MSLane *nextLane = this;
while (seen<dist&&ri!=bestLaneConts.end()&&nextLane!=0/*&&ce!=r.end()*/) {
// get the next link used...
MSLinkCont::const_iterator link = currentLane->succLinkSec(*aVehicle, 1, *currentLane, bestLaneConts);
// ...and the next used lane (including internal)
if (!currentLane->isLinkEnd(link) && (*link)->havePriority() && (*link)->getState()!=MSLink::LINKSTATE_TL_RED) { // red may have priority?
#ifdef HAVE_INTERNAL_LANES
bool nextInternal = false;
nextLane = (*link)->getViaLane();
if (nextLane==0) {
nextLane = (*link)->getLane();
} else {
nextInternal = true;
}
#else
nextLane = (*link)->getLane();
#endif
} else {
nextLane = 0;
}
// check how next lane effects the journey
if (nextLane!=0) {
SUMOReal gap = 0;
//TODO: fix get & set partial occupator to strip level
MSVehicle * leader = 0;//currentLane->getPartialOccupator();
if (leader!=0) {
gap = getPartialOccupatorEnd();
} else {
// check leader on next lane
leader = nextLane->getLastVehicle(aVehicle->getStrips());
if (leader!=0) {
gap = seen+leader->getPositionOnLane()-leader->getVehicleType().getLength();
}
}
if (leader!=0) {
SUMOReal nspeed = gap>=0 ? cfModel.ffeV(aVehicle, speed, gap, leader->getSpeed()) : 0;
if (nspeed<speed) {
if (patchSpeed) {
speed = MIN2(nspeed, speed);
dist = cfModel.brakeGap(speed);
} else {
// we may not drive with the given velocity - we crash into the leader
return false;
}
}
}
// check next lane's maximum velocity
SUMOReal nspeed = nextLane->getMaxSpeed();
if (nspeed<speed) {
// patch speed if needed
if (patchSpeed) {
speed = MIN2(cfModel.ffeV(aVehicle, speed, seen, nspeed), speed);
dist = cfModel.brakeGap(speed);
} else {
// we may not drive with the given velocity - we would be too fast on the next lane
return false;
}
}
// check traffic on next junctions
const SUMOTime arrivalTime = MSNet::getInstance()->getCurrentTimeStep() + TIME2STEPS(seen / speed);
#ifdef HAVE_INTERNAL_LANES
const SUMOTime leaveTime = (*link)->getViaLane()==0 ? arrivalTime + TIME2STEPS((*link)->getLength() * speed) : arrivalTime + TIME2STEPS((*link)->getViaLane()->getLength() * speed);
#else
const SUMOTime leaveTime = arrivalTime + TIME2STEPS((*link)->getLength() * speed);
#endif
if ((*link)->hasApproachingFoe(arrivalTime, leaveTime)) {
SUMOReal nspeed = cfModel.ffeV(aVehicle, speed, seen, 0);
if (nspeed<speed) {
if (patchSpeed) {
speed = MIN2(nspeed, speed);
dist = cfModel.brakeGap(speed);
} else {
// we may not drive with the given velocity - we crash into the leader
return false;
}
}
} else {
// we can only drive to the end of the current lane...
SUMOReal nspeed = cfModel.ffeV(aVehicle, speed, seen, 0);
if (nspeed<speed) {
if (patchSpeed) {
speed = MIN2(nspeed, speed);
dist = cfModel.brakeGap(speed);
} else {
// we may not drive with the given velocity - we crash into the leader
return false;
}
}
}
seen += nextLane->getLength();
++ce;
++ri;
currentLane = nextLane;
}
}
if (seen<dist) {
SUMOReal nspeed = cfModel.ffeV(aVehicle, speed, seen, 0);
if (nspeed<speed) {
if (patchSpeed) {
speed = MIN2(nspeed, speed);
dist = cfModel.brakeGap(speed);
} else {
// we may not drive with the given velocity - we crash into the leader
MsgHandler::getErrorInstance()->inform("Vehicle '" + aVehicle->getID() + "' will not be able to emit using given velocity!");
// !!! we probably should do something else...
return false;
}
}
}
// get the pointer to the vehicle next in front of the given position
MSVehicle *pred;
std::vector<MSVehicle *> predCont;
std::vector<MSVehicle *>::iterator predIt, it;
for (unsigned int i=startStripId; i<=endStripId; ++i) {
predCont.push_back(myStrips.at(i)->getPredAtPos(pos));
}
predIt = predCont.begin();
SUMOReal currMin = -1;
if (*predIt != 0) {
currMin = (*predIt)->getPositionOnLane();
} else {
// signals no leader in front
predIt = predCont.end();
}
for (it = predCont.begin(); it != predCont.end(); ++it) {
if (*it == 0) continue;
if ((*it)->getPositionOnLane() < currMin) {
predIt = it;
currMin = (*it)->getPositionOnLane();
}
}
if (predIt != predCont.end()) {
// ok, there is one (a leader)
MSVehicle* leader = *predIt;
SUMOReal frontGapNeeded = aVehicle->getCarFollowModel().getSecureGap(speed, leader->getCarFollowModel().getSpeedAfterMaxDecel(leader->getSpeed()));
SUMOReal gap = MSVehicle::gap(leader->getPositionOnLane(), leader->getVehicleType().getLength(), pos);
if (gap<frontGapNeeded) {
// too close to the leader on this lane
return false;
}
}
// FIXME: implement look back
// check back vehicle
if (false/*predIt!=myVehicles.begin()*/) {
// there is direct follower on this lane
MSVehicle *follower = *(predIt-1);
SUMOReal backGapNeeded = follower->getCarFollowModel().getSecureGap(follower->getSpeed(), aVehicle->getCarFollowModel().getSpeedAfterMaxDecel(speed));
SUMOReal gap = MSVehicle::gap(pos, aVehicle->getVehicleType().getLength(), follower->getPositionOnLane());
if (gap<backGapNeeded) {
// too close to the follower on this lane
return false;
}
} else if (false) {
// check approaching vehicle (consecutive follower)
SUMOReal lspeed = getMaxSpeed();
// 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 = lspeed * lspeed * SUMOReal(1./2.*4.) + SPEED2DIST(lspeed);
std::pair<const MSVehicle * const, SUMOReal> approaching = getFollowerOnConsecutive(dist, 0, speed, pos - aVehicle->getVehicleType().getLength());
if (approaching.first!=0) {
const MSVehicle *const follower = approaching.first;
SUMOReal backGapNeeded = follower->getCarFollowModel().getSecureGap(follower->getSpeed(), aVehicle->getCarFollowModel().getSpeedAfterMaxDecel(speed));
SUMOReal gap = approaching.second - pos - aVehicle->getVehicleType().getLength();
if (gap<backGapNeeded) {
// too close to the consecutive follower
return false;
}
}
// check for in-lapping vehicle
MSVehicle* leader = getPartialOccupator();
if (leader!=0) {
SUMOReal frontGapNeeded = aVehicle->getCarFollowModel().getSecureGap(speed, leader->getCarFollowModel().getSpeedAfterMaxDecel(leader->getSpeed()));
SUMOReal gap = getPartialOccupatorEnd() - pos;
if (gap<=frontGapNeeded) {
// too close to the leader on this lane
return false;
}
}
}
// may got negative while adaptation
if (speed<0) {
return false;
}
// enter
//XXX: later change to enterStripAtEmit()?
//if (speed < 0.0001) speed += 10.0;
StripCont strips;
strips.resize(aVehicle->getWidth());
StripCont::iterator start = myStrips.begin() + startStripId;
std::copy(start, start + aVehicle->getWidth(), strips.begin());
aVehicle->enterLaneAtEmit(this, pos, speed, strips);
bool wasInactive = getVehicleNumber()==0;
if (true/*predIt==myVehicles.end()*/) {
// vehicle will be the first on the lane
//std::cerr<<"startStripId:"<<startStripId<<", NumStrips:"<<strips.size()<<", VehWidth:"<<aVehicle->getWidth()<<std::endl;
for (size_t i=startStripId; i<startStripId+strips.size(); ++i) {
this->getStrip(i)->pushIntoStrip(aVehicle);
this->getStrip(i)->setVehLenSum(this->getStrip(i)->getVehLenSum() +
aVehicle->getVehicleType().getLength());
}
aVehicle->printDebugMsg("Emitting");
printDebugMsg();
} else {
//this->getStrip(0).insert(0, aVehicle);
}
//myVehicleLengthSum += aVehicle->getVehicleType().getLength();
if (wasInactive) {
MSNet::getInstance()->getEdgeControl().gotActive(this);
}
return true;
}
// ------ Vehicle emission ------
bool
MSLane::freeEmit(MSVehicle& veh, SUMOReal mspeed) throw() {
size_t stripId = getEmptyStartStripID(veh.getWidth());
bool adaptableSpeed = true;
if (getVehicleNumber()==0) {
if (isEmissionSuccess(&veh, mspeed, 0, adaptableSpeed,stripId)) {
return true;
}
} else {
// check whether the vehicle can be put behind the last one if there is such
MSVehicle *leader = getLastVehicle(veh.getStrips());
if (leader != 0) {
SUMOReal leaderPos = leader->getPositionOnLane() - leader->getVehicleType().getLength();
SUMOReal speed = mspeed;
if (adaptableSpeed) {
speed = leader->getSpeed();
}
SUMOReal frontGapNeeded = veh.getCarFollowModel().getSecureGap(speed, leader->getCarFollowModel().getSpeedAfterMaxDecel(leader->getSpeed()));
if (leaderPos-frontGapNeeded>=0) {
SUMOReal tspeed = MIN2(veh.getCarFollowModel().ffeV(&veh, mspeed, frontGapNeeded, leader->getSpeed()), mspeed);
// check whether we can emit in behind the last vehicle on the lane
if (isEmissionSuccess(&veh, tspeed, 0, adaptableSpeed, stripId)) {
return true;
}
else std::cerr << "not successful emission 1" ;
}
} else {
if (isEmissionSuccess(&veh, mspeed, 0, adaptableSpeed, stripId)) {
return true;
}
else std::cerr << "not successful emission 2" ;
}
}
/* ashu
StripCont strips =getMyStrips();
for (StripContConstIter it=strips.begin(); it != strips.end(); ++it)
{if ((*it)->freeEmitCheck(veh, mspeed))
return true;}
//TODO: Uncomment and fix
// go through the lane, look for free positions (starting after the last vehicle)
MSLane::VehCont::iterator predIt = myVehicles.begin();
while (predIt!=myVehicles.end()) {
// get leader (may be zero) and follower
const MSVehicle *leader = predIt!=myVehicles.end()-1 ? *(predIt+1) : getPartialOccupator();
const MSVehicle *follower = *predIt;
// patch speed if allowed
SUMOReal speed = mspeed;
if (adaptableSpeed&&leader!=0) {
speed = MIN2(leader->getSpeed(), mspeed);
}
// compute the space needed to not collide with leader
SUMOReal frontMax = getLength();
if (leader!=0) {
SUMOReal leaderRearPos = leader->getPositionOnLane() - leader->getVehicleType().getLength();
if (leader == getPartialOccupator()) {
leaderRearPos = getPartialOccupatorEnd();
}
frontMax = leaderRearPos - veh.getCarFollowModel().getSecureGap(speed, leader->getCarFollowModel().getSpeedAfterMaxDecel(leader->getSpeed()));
}
// compute the space needed to not let the follower collide
const SUMOReal followPos = follower->getPositionOnLane();
const SUMOReal backGapNeeded = follower->getCarFollowModel().getSecureGap(follower->getSpeed(), veh.getCarFollowModel().getSpeedAfterMaxDecel(speed));
const SUMOReal backMin = followPos + backGapNeeded + veh.getVehicleType().getLength();
// check whether there is enough room (given some extra space for rounding errors)
if (frontMax>0 && backMin+POSITION_EPS<frontMax) {
// try emit vehicle (should be always ok)
if (isEmissionSuccess(&veh, speed, backMin+POSITION_EPS, adaptableSpeed)) {
std::cerr << "FIX working" ;
return true;
}
}
++predIt;
}
*/
//TODO: Recheck01 ___AB oct 2011
StripCont strips =getMyStrips();
for (StripContConstIter it=strips.begin(); it != strips.end(); ++it)
{
// go through the lane, look for free positions (starting after the last vehicle)
MSLane::VehCont::iterator predIt = (*it)->myVehicles.begin();
while (predIt!=(*it)->myVehicles.end()) {
// get leader (may be zero) and follower
const MSVehicle *leader = predIt!=(*it)->myVehicles.end()-1 ? *(predIt+1) : (*it)->getPartialOccupator();
const MSVehicle *follower = *predIt;
// patch speed if allowed
SUMOReal speed = mspeed;
if (adaptableSpeed&&leader!=0) {
speed = MIN2(leader->getSpeed(), mspeed);
}
// compute the space needed to not collide with leader
SUMOReal frontMax = getLength();
if (leader!=0) {
SUMOReal leaderRearPos = leader->getPositionOnLane() - leader->getVehicleType().getLength();
if (leader == (*it)->getPartialOccupator()) {
leaderRearPos = (*it)->getPartialOccupatorEnd();
}
frontMax = leaderRearPos - veh.getCarFollowModel().getSecureGap(speed, leader->getCarFollowModel().getSpeedAfterMaxDecel(leader->getSpeed()));
}
// compute the space needed to not let the follower collide
const SUMOReal followPos = follower->getPositionOnLane();
const SUMOReal backGapNeeded = follower->getCarFollowModel().getSecureGap(follower->getSpeed(), veh.getCarFollowModel().getSpeedAfterMaxDecel(speed));
const SUMOReal backMin = followPos + backGapNeeded + veh.getVehicleType().getLength();
// check whether there is enough room (given some extra space for rounding errors)
if (frontMax>0 && backMin+POSITION_EPS<frontMax) {
// try emit vehicle (should be always ok)
if (isEmissionSuccess(&veh, speed, backMin+POSITION_EPS, adaptableSpeed, stripId)) {
std::cerr << "FIX working" ;
return true;
}
}
++predIt;
}
}//for
// first check at lane's begin
std::cerr << "not successful emission last" ;
return false;
}
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());
}
}
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();
}
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;
}
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());
}
}
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::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;
}
}
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;
}
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;
}
