Eclipse SUMO - Simulation of Urban MObility
MSLCM_LC2013 Class Reference

A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013. More...

#include <MSLCM_LC2013.h>

Inheritance diagram for MSLCM_LC2013:
Collaboration diagram for MSLCM_LC2013:

Public Member Functions

double _patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 
bool alreadyChanged () const
 reset the flag whether a vehicle already moved to false More...
 
void changed ()
 
void changedToOpposite ()
 called when a vehicle changes between lanes in opposite directions More...
 
void checkTraCICommands ()
 Check for commands issued for the vehicle via TraCI and apply the appropriate state changes For the sublane case, this includes setting a new maneuver distance if appropriate. More...
 
void cleanupShadowLane ()
 
void cleanupTargetLane ()
 
void clearGapsAtLCInit ()
 
void clearNeighbors ()
 Clear info on neighboring vehicle from previous step. More...
 
double computeSpeedLat (double latDist, double &maneuverDist)
 decides the next lateral speed (for continuous lane changing) More...
 
bool debugVehicle () const
 whether the current vehicles shall be debugged More...
 
virtual StateAndDist decideDirection (StateAndDist sd1, StateAndDist sd2) const
 decide in which direction to move in case both directions are desirable More...
 
MSLanedetermineTargetLane (int &targetDir) const
 
void endLaneChangeManeuver (const MSMoveReminder::Notification reason=MSMoveReminder::NOTIFICATION_LANE_CHANGE)
 
virtual double estimateLCDuration (const double speed, const double remainingManeuverDist, const double decel) const
 Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,. More...
 
double getAngleOffset () const
 return the angle offset during a continuous change maneuver More...
 
double getAssumedDecelForLaneChangeDuration () const
 Returns a deceleration value which is used for the estimation of the duration of a lane change. More...
 
int & getCanceledState (const int dir)
 
double getCommittedSpeed () const
 
const std::shared_ptr< MSLeaderDistanceInfogetFollowers (const int dir)
 Returns the neighboring, lc-relevant followers for the last step in the requested direction. More...
 
const std::vector< MSLane * > & getFurtherTargetLanes () const
 
double getLaneChangeCompletion () const
 Get the current lane change completion ratio. More...
 
int getLaneChangeDirection () const
 return the direction of the current lane change maneuver More...
 
SUMOTime getLastLaneChangeOffset () const
 
const std::shared_ptr< MSLeaderDistanceInfogetLeaders (const int dir)
 Returns the neighboring, lc-relevant leaders for the last step in the requested direction. More...
 
double getManeuverDist () const
 Returns the remaining unblocked distance for the current maneuver. (only used by sublane model) More...
 
LaneChangeModel getModelID () const
 Returns the model's id. More...
 
double getOppositeSafetyFactor () const
 return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model More...
 
int getOwnState () const
 
std::string getParameter (const std::string &key) const
 try to retrieve the given parameter from this device. Throw exception for unsupported key More...
 
double getPreviousManeuverDist () const
 
int getPrevState () const
 
double getSafetyFactor () const
 return factor for modifying the safety constraints of the car-following model More...
 
const std::pair< int, int > & getSavedState (const int dir) const
 
int getShadowDirection () const
 return the direction in which the current shadow lane lies More...
 
const std::vector< MSLane * > & getShadowFurtherLanes () const
 
const std::vector< double > & getShadowFurtherLanesPosLat () const
 
MSLanegetShadowLane () const
 Returns the lane the vehicle's shadow is on during continuous/sublane lane change. More...
 
MSLanegetShadowLane (const MSLane *lane) const
 return the shadow lane for the given lane More...
 
MSLanegetShadowLane (const MSLane *lane, double posLat) const
 return the shadow lane for the given lane and lateral offset More...
 
double getSpeedLat () const
 return the lateral speed of the current lane change maneuver More...
 
MSLanegetTargetLane () const
 Returns the lane the vehicle has committed to enter during a sublane lane change. More...
 
void * inform (void *info, MSVehicle *sender)
 
void initDerivedParameters ()
 init cached parameters derived directly from model parameters More...
 
bool isChangingLanes () const
 return true if the vehicle currently performs a lane change maneuver More...
 
bool isOpposite () const
 
bool isStrategicBlocked () const
 
void laneChangeOutput (const std::string &tag, MSLane *source, MSLane *target, int direction, double maneuverDist=0)
 called once the vehicle ends a lane change manoeuvre (non-instant) More...
 
void memorizeGapsAtLCInit ()
 Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More...
 
 MSLCM_LC2013 (MSVehicle &v)
 
bool pastMidpoint () const
 return whether the vehicle passed the midpoint of a continuous lane change maneuver More...
 
double patchSpeed (const double min, const double wanted, const double max, const MSCFModel &cfModel)
 Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step. More...
 
void prepareStep ()
 
void primaryLaneChanged (MSLane *source, MSLane *target, int direction)
 called once when the vehicles primary lane changes More...
 
SUMOTime remainingTime () const
 Compute the remaining time until LC completion. More...
 
void removeShadowApproachingInformation () const
 
void resetChanged ()
 reset the flag whether a vehicle already moved to false More...
 
void saveLCState (const int dir, const int stateWithoutTraCI, const int state)
 
void saveNeighbors (const int dir, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &leaders)
 Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case. More...
 
void saveNeighbors (const int dir, const std::pair< MSVehicle *const, double > &follower, const std::pair< MSVehicle *const, double > &leader)
 Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case. More...
 
void setFollowerGaps (CLeaderDist follower, double secGap)
 
void setFollowerGaps (const MSLeaderDistanceInfo &vehicles)
 
void setLeaderGaps (CLeaderDist, double secGap)
 
void setLeaderGaps (const MSLeaderDistanceInfo &vehicles)
 
void setManeuverDist (const double dist)
 Updates the remaining distance for the current maneuver while it is continued within non-action steps (only used by sublane model) More...
 
void setNoShadowPartialOccupator (MSLane *lane)
 
void setOrigLeaderGaps (CLeaderDist, double secGap)
 
void setOrigLeaderGaps (const MSLeaderDistanceInfo &vehicles)
 
virtual void setOwnState (const int state)
 
void setParameter (const std::string &key, const std::string &value)
 try to set the given parameter for this laneChangeModel. Throw exception for unsupported key More...
 
void setShadowApproachingInformation (MSLink *link) const
 set approach information for the shadow vehicle More...
 
void setShadowLane (MSLane *lane)
 set the shadow lane More...
 
void setShadowPartialOccupator (MSLane *lane)
 
void setSpeedLat (double speedLat)
 
bool startLaneChangeManeuver (MSLane *source, MSLane *target, int direction)
 start the lane change maneuver and return whether it continues More...
 
virtual bool sublaneChangeCompleted (const double latDist) const
 whether the current change completes the manoeuvre More...
 
void unchanged ()
 
bool updateCompletion ()
 
virtual void updateExpectedSublaneSpeeds (const MSLeaderDistanceInfo &ahead, int sublaneOffset, int laneIndex)
 update expected speeds for each sublane of the current edge More...
 
virtual void updateSafeLatDist (const double travelledLatDist)
 Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps. More...
 
void updateShadowLane ()
 
MSLaneupdateTargetLane ()
 
int wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
 Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable. More...
 
virtual int wantsChangeSublane (int laneOffset, LaneChangeAction alternatives, const MSLeaderDistanceInfo &leaders, const MSLeaderDistanceInfo &followers, const MSLeaderDistanceInfo &blockers, const MSLeaderDistanceInfo &neighLeaders, const MSLeaderDistanceInfo &neighFollowers, const MSLeaderDistanceInfo &neighBlockers, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked, double &latDist, double &targetDistLat, int &blocked)
 
virtual ~MSLCM_LC2013 ()
 

Static Public Member Functions

static MSAbstractLaneChangeModelbuild (LaneChangeModel lcm, MSVehicle &vehicle)
 Factory method for instantiating new lane changing models. More...
 
static bool haveLateralDynamics ()
 whether any kind of lateral dynamics is active More...
 
static bool haveLCOutput ()
 whether lanechange-output is active More...
 
static void initGlobalOptions (const OptionsCont &oc)
 init global model parameters More...
 
static bool outputLCEnded ()
 whether start of maneuvers shall be recorede More...
 
static bool outputLCStarted ()
 whether start of maneuvers shall be recorede More...
 

Static Public Attributes

static const double NO_NEIGHBOR
 

Protected Types

typedef std::pair< double, int > Info
 information regarding save velocity (unused) and state flags of the ego vehicle More...
 

Protected Member Functions

int _wantsChange (int laneOffset, MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, const std::pair< MSVehicle *, double > &leader, const std::pair< MSVehicle *, double > &neighLead, const std::pair< MSVehicle *, double > &neighFollow, const MSLane &neighLane, const std::vector< MSVehicle::LaneQ > &preb, MSVehicle **lastBlocked, MSVehicle **firstBlocked)
 helper function for doing the actual work More...
 
void adaptSpeedToPedestrians (const MSLane *lane, double &v)
 react to pedestrians on the given lane More...
 
void addLCSpeedAdvice (const double vSafe)
 Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices. More...
 
bool amBlockingFollower ()
 
bool amBlockingFollowerNB ()
 
bool amBlockingFollowerPlusNB ()
 
bool amBlockingLeader ()
 
bool cancelRequest (int state, int laneOffset)
 whether the influencer cancels the given request More...
 
virtual bool congested (const MSVehicle *const neighLeader)
 
bool currentDistAllows (double dist, int laneOffset, double lookForwardDist)
 
bool currentDistDisallows (double dist, int laneOffset, double lookForwardDist)
 
double getRoundaboutDistBonus (const MSVehicle::LaneQ &curr, const MSVehicle::LaneQ &neigh, const MSVehicle::LaneQ &best)
 Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts. More...
 
void informFollower (MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, double > &neighFollow, double remainingSeconds, double plannedSpeed)
 decide whether we will try cut in before the follower or allow to be overtaken More...
 
double informLeader (MSAbstractLaneChangeModel::MSLCMessager &msgPass, int blocked, int dir, const std::pair< MSVehicle *, double > &neighLead, double remainingSeconds)
 
void initLastLaneChangeOffset (int dir)
 
virtual bool predInteraction (const std::pair< MSVehicle *, double > &leader)
 
void saveBlockerLength (double length)
 reserve space at the end of the lane to avoid dead locks More...
 
void saveBlockerLength (MSVehicle *blocker, int lcaCounter)
 save space for vehicles which need to counter-lane-change More...
 
int slowDownForBlocked (MSVehicle **blocked, int state)
 compute useful slowdowns for blocked vehicles More...
 

Static Protected Member Functions

static double overtakeDistance (const MSVehicle *follower, const MSVehicle *leader, const double gap, double followerSpeed=INVALID_SPEED, double leaderSpeed=INVALID_SPEED)
 

Protected Attributes

bool myAlreadyChanged
 whether the vehicle has already moved this step More...
 
int myCanceledStateCenter
 
int myCanceledStateLeft
 
int myCanceledStateRight
 
const MSCFModelmyCarFollowModel
 The vehicle's car following model. More...
 
double myCommittedSpeed
 the speed when committing to a change maneuver More...
 
bool myDontBrake
 
bool myDontResetLCGaps
 Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC. More...
 
std::vector< MSLane * > myFurtherTargetLanes
 
double myKeepRightProbability
 
double myLaneChangeCompletion
 progress of the lane change maneuver 0:started, 1:complete More...
 
int myLaneChangeDirection
 direction of the lane change maneuver -1 means right, 1 means left More...
 
double myLastFollowerGap
 
double myLastFollowerSecureGap
 
double myLastFollowerSpeed
 
double myLastLateralGapLeft
 the minimum lateral gaps to other vehicles that were found when last changing to the left and right More...
 
double myLastLateralGapRight
 
double myLastLeaderGap
 the actual minimum longitudinal distances to vehicles on the target lane More...
 
double myLastLeaderSecureGap
 the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security More...
 
double myLastLeaderSpeed
 speeds of surrounding vehicles at the time of lane change More...
 
double myLastOrigLeaderGap
 acutal and secure distance to closest leader vehicle on the original when performing lane change More...
 
double myLastOrigLeaderSecureGap
 
double myLastOrigLeaderSpeed
 
std::vector< double > myLCAccelerationAdvices
 vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed() More...
 
double myLeadingBlockerLength
 
double myLeftSpace
 
double myLookAheadSpeed
 
double myManeuverDist
 The complete lateral distance the vehicle wants to travel to finish its maneuver Only used by sublane model, currently. More...
 
double myMaxSpeedLatFactor
 
double myMaxSpeedLatStanding
 
const LaneChangeModel myModel
 the type of this model More...
 
std::vector< MSLane * > myNoPartiallyOccupatedByShadow
 
int myOwnState
 The current state of the vehicle. More...
 
std::vector< MSLane * > myPartiallyOccupatedByShadow
 list of lanes where the shadow vehicle is partial occupator More...
 
double myPreviousManeuverDist
 Maneuver distance from the previous simulation step. More...
 
int myPreviousState
 lane changing state from the previous simulation step More...
 
int myPreviousState2
 lane changing state from step before the previous simulation step More...
 
std::pair< int, int > mySavedStateCenter
 
std::pair< int, int > mySavedStateLeft
 
std::pair< int, int > mySavedStateRight
 
std::vector< MSLane * > myShadowFurtherLanes
 
std::vector< double > myShadowFurtherLanesPosLat
 
MSLanemyShadowLane
 A lane that is partially occupied by the front of the vehicle but that is not the primary lane. More...
 
double mySigma
 
double mySpeedGainProbability
 a value for tracking the probability that a change to the offset with the same sign is beneficial More...
 
double mySpeedLat
 the current lateral speed More...
 
MSLanemyTargetLane
 The target lane for the vehicle's current maneuver. More...
 
MSVehiclemyVehicle
 The vehicle this lane-changer belongs to. More...
 
user configurable model parameters (can be changed via TraCI)
double myStrategicParam
 
double myCooperativeParam
 
double mySpeedGainParam
 
double myKeepRightParam
 
double myOppositeParam
 
double myLookaheadLeft
 
double mySpeedGainRight
 
double myAssertive
 
double myOvertakeRightParam
 
const double myExperimentalParam1
 
derived parameters
double myChangeProbThresholdRight
 
double myChangeProbThresholdLeft
 

Static Protected Attributes

static bool myAllowOvertakingRight
 whether overtaking on the right is permitted More...
 
static bool myLCEndedOutput
 
static bool myLCOutput
 whether to record lane-changing More...
 
static bool myLCStartedOutput
 

Private Attributes

bool myAmOpposite
 whether the vehicle is driving in the opposite direction More...
 
std::vector< MSLink * > myApproachedByShadow
 links which are approached by the shadow vehicle More...
 
SUMOTime myLastLaneChangeOffset
 

Detailed Description

A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013.

Definition at line 47 of file MSLCM_LC2013.h.

Member Typedef Documentation

◆ Info

typedef std::pair<double, int> MSLCM_LC2013::Info
protected

information regarding save velocity (unused) and state flags of the ego vehicle

Definition at line 217 of file MSLCM_LC2013.h.

Constructor & Destructor Documentation

◆ MSLCM_LC2013()

◆ ~MSLCM_LC2013()

MSLCM_LC2013::~MSLCM_LC2013 ( )
virtual

Definition at line 130 of file MSLCM_LC2013.cpp.

References changed().

Member Function Documentation

◆ _patchSpeed()

◆ _wantsChange()

int MSLCM_LC2013::_wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager msgPass,
int  blocked,
const std::pair< MSVehicle *, double > &  leader,
const std::pair< MSVehicle *, double > &  neighLead,
const std::pair< MSVehicle *, double > &  neighFollow,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked 
)
protected

helper function for doing the actual work

we urgently need to change lanes to follow our route

Definition at line 1060 of file MSLCM_LC2013.cpp.

References ACCEL2SPEED, adaptSpeedToPedestrians(), addLCSpeedAdvice(), amBlockingFollowerPlusNB(), MSVehicle::LaneQ::bestContinuations, MSVehicle::LaneQ::bestLaneOffset, MSCFModel::brakeGap(), MSAbstractLaneChangeModel::cancelRequest(), MSVehicle::Influencer::changeRequestRemainingSeconds(), MSVehicle::congested(), currentDistAllows(), currentDistDisallows(), DEBUG_COND, MSCFModel::followSpeed(), MSVehicle::getActionStepLengthSecs(), MSLane::getBruttoOccupancy(), MSAbstractLaneChangeModel::getCanceledState(), MSVehicle::getCarFollowModel(), MSNet::getCurrentTimeStep(), MSLane::getEdge(), MSBaseVehicle::getID(), Named::getIDSecure(), MSVehicle::getInfluencer(), MSNet::getInstance(), MSVehicle::getLane(), MSVehicle::getLastStepDist(), MSVehicleType::getLength(), MSVehicleType::getLengthWithGap(), MSLane::getLinkCont(), MSCFModel::getMaxAccel(), MSCFModel::getMaxDecel(), MSVehicle::getNextStop(), MSLane::getOppositePos(), MSEdge::getPersons(), MSVehicle::getPositionOnLane(), MSBaseVehicle::getRNG(), getRoundaboutDistBonus(), MSCFModel::getSecureGap(), MSVehicle::getSpeed(), MSCFModel::getSpeedAfterMaxDecel(), MSLane::getSpeedLimit(), MSVehicleType::getVehicleClass(), MSLane::getVehicleMaxSpeed(), MSBaseVehicle::getVehicleType(), gPrecision, MSGlobals::gSemiImplicitEulerUpdate, HELP_OVERTAKE, MSVehicle::influenceChangeDecision(), informFollower(), informLeader(), MSEdge::isInternal(), MSAbstractLaneChangeModel::isOpposite(), JAM_FACTOR, KEEP_RIGHT_ACCEPTANCE, KEEP_RIGHT_TIME, MSVehicle::LaneQ::lane, MSVehicle::Stop::lane, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, MSVehicle::LaneQ::length, LOOK_AHEAD_MIN_SPEED, LOOK_AHEAD_SPEED_MEMORY, LOOK_FORWARD, MAX2(), MSCFModel::maximumSafeFollowSpeed(), MSCFModel::maximumSafeStopSpeed(), MIN2(), MSAbstractLaneChangeModel::myAllowOvertakingRight, MSAbstractLaneChangeModel::myCarFollowModel, myChangeProbThresholdLeft, myChangeProbThresholdRight, myCooperativeParam, myKeepRightParam, myKeepRightProbability, myLCAccelerationAdvices, myLeadingBlockerLength, myLeftSpace, myLookaheadLeft, myLookAheadSpeed, myOvertakeRightParam, MSAbstractLaneChangeModel::myOwnState, mySpeedGainProbability, myStrategicParam, MSAbstractLaneChangeModel::myVehicle, MSVehicle::nextStopDist(), NUMERICAL_EPS, MSVehicle::LaneQ::occupation, OPPOSITE_URGENCY, RandHelper::rand(), REACT_TO_STOPPED_DISTANCE, RELGAIN_NORMALIZATION_MIN_SPEED, saveBlockerLength(), SIMTIME, slowDownForBlocked(), STEPS2TIME, SUMO_const_haltingSpeed, SVC_EMERGENCY, toString(), TS, TURN_LANE_DIST, and URGENCY.

Referenced by wantsChange().

◆ adaptSpeedToPedestrians()

◆ addLCSpeedAdvice()

void MSLCM_LC2013::addLCSpeedAdvice ( const double  vSafe)
protected

Takes a vSafe (speed advice for speed in the next simulation step), converts it into an acceleration and stores it into myLCAccelerationAdvices.

Note
This construction was introduced to deal with action step lengths, where operation on the speed in the next sim step had to be replaced by acceleration throughout the next action step.

Definition at line 2064 of file MSLCM_LC2013.cpp.

References MSVehicle::getSpeed(), myLCAccelerationAdvices, MSAbstractLaneChangeModel::myVehicle, and SPEED2ACCEL.

Referenced by _wantsChange(), inform(), informFollower(), informLeader(), and slowDownForBlocked().

◆ alreadyChanged()

bool MSAbstractLaneChangeModel::alreadyChanged ( ) const
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 462 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSLaneChanger::change().

◆ amBlockingFollower()

bool MSLCM_LC2013::amBlockingFollower ( )
inlineprotected

◆ amBlockingFollowerNB()

bool MSLCM_LC2013::amBlockingFollowerNB ( )
inlineprotected

◆ amBlockingFollowerPlusNB()

bool MSLCM_LC2013::amBlockingFollowerPlusNB ( )
inlineprotected

◆ amBlockingLeader()

bool MSLCM_LC2013::amBlockingLeader ( )
inlineprotected

Definition at line 187 of file MSLCM_LC2013.h.

References LCA_AMBLOCKINGLEADER, and MSAbstractLaneChangeModel::myOwnState.

◆ build()

MSAbstractLaneChangeModel * MSAbstractLaneChangeModel::build ( LaneChangeModel  lcm,
MSVehicle vehicle 
)
staticinherited

Factory method for instantiating new lane changing models.

Parameters
[in]lcmThe type of model to build
[in]vehicleThe vehicle for which this model shall be built

Definition at line 71 of file MSAbstractLaneChangeModel.cpp.

References MSGlobals::gLateralResolution, LCM_DEFAULT, LCM_DK2008, LCM_LC2013, LCM_SL2015, and toString().

Referenced by MSVehicle::MSVehicle().

◆ cancelRequest()

bool MSAbstractLaneChangeModel::cancelRequest ( int  state,
int  laneOffset 
)
protectedinherited

◆ changed()

◆ changedToOpposite()

void MSAbstractLaneChangeModel::changedToOpposite ( )
inherited

◆ checkTraCICommands()

◆ cleanupShadowLane()

◆ cleanupTargetLane()

◆ clearGapsAtLCInit()

void MSAbstractLaneChangeModel::clearGapsAtLCInit ( )
inherited

◆ clearNeighbors()

void MSAbstractLaneChangeModel::clearNeighbors ( )
inherited

◆ computeSpeedLat()

double MSLCM_LC2013::computeSpeedLat ( double  latDist,
double &  maneuverDist 
)
virtual

◆ congested()

bool MSAbstractLaneChangeModel::congested ( const MSVehicle *const  neighLeader)
protectedvirtualinherited

◆ currentDistAllows()

bool MSLCM_LC2013::currentDistAllows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 202 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

◆ currentDistDisallows()

bool MSLCM_LC2013::currentDistDisallows ( double  dist,
int  laneOffset,
double  lookForwardDist 
)
inlineprotected

Definition at line 199 of file MSLCM_LC2013.h.

Referenced by _wantsChange().

◆ debugVehicle()

bool MSLCM_LC2013::debugVehicle ( ) const
virtual

whether the current vehicles shall be debugged

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 143 of file MSLCM_LC2013.cpp.

References DEBUG_COND.

Referenced by getRoundaboutDistBonus().

◆ decideDirection()

virtual StateAndDist MSAbstractLaneChangeModel::decideDirection ( StateAndDist  sd1,
StateAndDist  sd2 
) const
inlinevirtualinherited

decide in which direction to move in case both directions are desirable

Reimplemented in MSLCM_SL2015.

Definition at line 322 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ determineTargetLane()

◆ endLaneChangeManeuver()

◆ estimateLCDuration()

double MSAbstractLaneChangeModel::estimateLCDuration ( const double  speed,
const double  remainingManeuverDist,
const double  decel 
) const
virtualinherited

Calculates the maximal time needed to complete a lane change maneuver if lcMaxSpeedLatFactor and lcMaxSpeedStanding are set and the vehicle breaks not harder than decel. LC when the vehicle starts breaking now. If lcMaxSpeedStanding==0 the completion may be impossible,.

Parameters
[in]speedCurrent longitudinal speed of the changing vehicle.
[in]remainingManeuverDistdist which is still to be covered until LC is completed
[in]decelMaximal assumed deceleration rate applied during the LC.
Returns
maximal LC duration (or -1) if it is possible that it can't be completed.
Note
1) For the calculation it is assumed that the vehicle starts breaking with decel (>=0) immediately. If lcMaxSpeedStanding==0 the completion may be impossible, and -1 is returned. 2) In case that no maxSpeedLat is used to control lane changing, this is only called prior to a lane change, and the duration is MSGlobals::gLaneChangeDuration.

Definition at line 679 of file MSAbstractLaneChangeModel.cpp.

References SUMOVTypeParameter::getLCParams(), MSVehicleType::getMaxSpeedLat(), MSVehicleType::getParameter(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSAbstractLaneChangeModel::myMaxSpeedLatFactor, MSAbstractLaneChangeModel::myMaxSpeedLatStanding, MSAbstractLaneChangeModel::myVehicle, STEPS2TIME, SUMO_ATTR_LCA_MAXSPEEDLATFACTOR, SUMO_ATTR_LCA_MAXSPEEDLATSTANDING, VTYPEPARS_MAXSPEED_LAT_SET, and MSVehicleType::wasSet().

Referenced by MSLaneChanger::checkChange(), and MSAbstractLaneChangeModel::remainingTime().

◆ getAngleOffset()

double MSAbstractLaneChangeModel::getAngleOffset ( ) const
inherited

◆ getAssumedDecelForLaneChangeDuration()

double MSLCM_LC2013::getAssumedDecelForLaneChangeDuration ( ) const
virtual

Returns a deceleration value which is used for the estimation of the duration of a lane change.

Note
Effective only for continuous lane-changing when using attributes myMaxSpeedLatFactor and myMaxSpeedLatStanding. See #3771

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 2082 of file MSLCM_LC2013.cpp.

References MSVehicle::getAcceleration(), LC_ASSUMED_DECEL, MAX2(), and MSAbstractLaneChangeModel::myVehicle.

◆ getCanceledState()

◆ getCommittedSpeed()

double MSAbstractLaneChangeModel::getCommittedSpeed ( ) const
inlineinherited

◆ getFollowers()

const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getFollowers ( const int  dir)
inherited

Returns the neighboring, lc-relevant followers for the last step in the requested direction.

Definition at line 218 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myLeftFollowers, and MSAbstractLaneChangeModel::myRightFollowers.

◆ getFurtherTargetLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getFurtherTargetLanes ( ) const
inlineinherited

◆ getLaneChangeCompletion()

double MSAbstractLaneChangeModel::getLaneChangeCompletion ( ) const
inlineinherited

Get the current lane change completion ratio.

Definition at line 446 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeCompletion.

◆ getLaneChangeDirection()

int MSAbstractLaneChangeModel::getLaneChangeDirection ( ) const
inlineinherited

return the direction of the current lane change maneuver

Definition at line 451 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeDirection.

Referenced by MSLaneChanger::continueChange().

◆ getLastLaneChangeOffset()

SUMOTime MSAbstractLaneChangeModel::getLastLaneChangeOffset ( ) const
inlineinherited

◆ getLeaders()

const std::shared_ptr< MSLeaderDistanceInfo > MSAbstractLaneChangeModel::getLeaders ( const int  dir)
inherited

Returns the neighboring, lc-relevant leaders for the last step in the requested direction.

Definition at line 231 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myLeftLeaders, and MSAbstractLaneChangeModel::myRightLeaders.

Referenced by libsumo::Vehicle::getNeighbors().

◆ getManeuverDist()

double MSAbstractLaneChangeModel::getManeuverDist ( ) const
inherited

◆ getModelID()

LaneChangeModel MSLCM_LC2013::getModelID ( ) const
inlinevirtual

Returns the model's id.

Implements MSAbstractLaneChangeModel.

Definition at line 55 of file MSLCM_LC2013.h.

References LCM_LC2013.

◆ getOppositeSafetyFactor()

double MSLCM_LC2013::getOppositeSafetyFactor ( ) const
virtual

return factor for modifying the safety constraints for opposite-diretction overtaking of the car-following model

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 2092 of file MSLCM_LC2013.cpp.

References myOppositeParam.

◆ getOwnState()

◆ getParameter()

◆ getPreviousManeuverDist()

double MSAbstractLaneChangeModel::getPreviousManeuverDist ( ) const
inherited

◆ getPrevState()

int MSAbstractLaneChangeModel::getPrevState ( ) const
inlineinherited

at the time of this call myPreviousState already holds the new value

Definition at line 178 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myPreviousState2.

Referenced by MSLaneChangerSublane::abortLCManeuver(), MSLaneChangerSublane::outputLCStarted(), and MSLaneChangerSublane::startChangeSublane().

◆ getRoundaboutDistBonus()

double MSLCM_LC2013::getRoundaboutDistBonus ( const MSVehicle::LaneQ curr,
const MSVehicle::LaneQ neigh,
const MSVehicle::LaneQ best 
)
protected

Computes the artificial bonus distance for roundabout lanes this additional distance reduces the sense of urgency within roundabouts and thereby promotes the use of the inner roundabout lane in multi-lane roundabouts.

Parameters
[in]currcontinuation info along veh's current lane
[in]neighcontinuation info along a neighboring lane (in MSLCM_2013::_wantsChange() the considered lane for a lanechange)

Definition at line 1787 of file MSLCM_LC2013.cpp.

References MSVehicle::LaneQ::bestContinuations, debugVehicle(), MSLane::getBruttoVehLenSum(), MSLane::getEdge(), Named::getID(), MSJunction::getIncoming(), MSVehicle::getLane(), MSLane::getLength(), MSLane::getLinkCont(), MSJunction::getOutgoing(), MSVehicle::getPositionOnLane(), MSEdge::getToJunction(), MSAbstractLaneChangeModel::isOpposite(), MSEdge::isRoundabout(), MSVehicle::LaneQ::lane, MAX2(), myCooperativeParam, MSAbstractLaneChangeModel::myVehicle, and ROUNDABOUT_DIST_FACTOR.

Referenced by _wantsChange().

◆ getSafetyFactor()

double MSLCM_LC2013::getSafetyFactor ( ) const
virtual

return factor for modifying the safety constraints of the car-following model

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 2087 of file MSLCM_LC2013.cpp.

References myAssertive.

◆ getSavedState()

const std::pair<int, int>& MSAbstractLaneChangeModel::getSavedState ( const int  dir) const
inlineinherited

◆ getShadowDirection()

◆ getShadowFurtherLanes()

const std::vector<MSLane*>& MSAbstractLaneChangeModel::getShadowFurtherLanes ( ) const
inlineinherited

◆ getShadowFurtherLanesPosLat()

const std::vector<double>& MSAbstractLaneChangeModel::getShadowFurtherLanesPosLat ( ) const
inlineinherited

◆ getShadowLane() [1/3]

◆ getShadowLane() [2/3]

MSLane * MSAbstractLaneChangeModel::getShadowLane ( const MSLane lane) const
inherited

◆ getShadowLane() [3/3]

◆ getSpeedLat()

double MSAbstractLaneChangeModel::getSpeedLat ( ) const
inlineinherited

◆ getTargetLane()

MSLane* MSAbstractLaneChangeModel::getTargetLane ( ) const
inlineinherited

Returns the lane the vehicle has committed to enter during a sublane lane change.

Returns
The vehicle's target lane.

Definition at line 406 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myTargetLane.

◆ haveLateralDynamics()

static bool MSAbstractLaneChangeModel::haveLateralDynamics ( )
inlinestaticinherited

◆ haveLCOutput()

static bool MSAbstractLaneChangeModel::haveLCOutput ( )
inlinestaticinherited

◆ inform()

◆ informFollower()

◆ informLeader()

◆ initDerivedParameters()

void MSLCM_LC2013::initDerivedParameters ( )

init cached parameters derived directly from model parameters

Definition at line 136 of file MSLCM_LC2013.cpp.

References MAX2(), myChangeProbThresholdLeft, myChangeProbThresholdRight, mySpeedGainParam, mySpeedGainRight, and NUMERICAL_EPS.

Referenced by MSLCM_LC2013(), and setParameter().

◆ initGlobalOptions()

void MSAbstractLaneChangeModel::initGlobalOptions ( const OptionsCont oc)
staticinherited

◆ initLastLaneChangeOffset()

void MSAbstractLaneChangeModel::initLastLaneChangeOffset ( int  dir)
protectedinherited

◆ isChangingLanes()

◆ isOpposite()

◆ isStrategicBlocked()

bool MSAbstractLaneChangeModel::isStrategicBlocked ( ) const
inherited
Returns
whether this vehicle is blocked from performing a strategic change

Definition at line 974 of file MSAbstractLaneChangeModel.cpp.

References LCA_BLOCKED, LCA_LEFT, LCA_RIGHT, LCA_STRATEGIC, MSAbstractLaneChangeModel::mySavedStateLeft, and MSAbstractLaneChangeModel::mySavedStateRight.

Referenced by MSLink::getLeaderInfo().

◆ laneChangeOutput()

void MSAbstractLaneChangeModel::laneChangeOutput ( const std::string &  tag,
MSLane source,
MSLane target,
int  direction,
double  maneuverDist = 0 
)
inherited

called once the vehicle ends a lane change manoeuvre (non-instant)

Definition at line 331 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::clearGapsAtLCInit(), OutputDevice::closeTag(), DELTA_T, OutputDevice::getDeviceByOption(), Named::getID(), MSBaseVehicle::getID(), MSVehicleType::getID(), MSNet::getInstance(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MSGlobals::gLaneChangeDuration, MSGlobals::gLateralResolution, LCA_AMBACKBLOCKER, LCA_AMBACKBLOCKER_STANDING, LCA_AMBLOCKINGFOLLOWER, LCA_AMBLOCKINGLEADER, LCA_LEFT, LCA_MLEFT, LCA_MRIGHT, LCA_RIGHT, MSAbstractLaneChangeModel::myLastFollowerGap, MSAbstractLaneChangeModel::myLastFollowerSecureGap, MSAbstractLaneChangeModel::myLastFollowerSpeed, MSAbstractLaneChangeModel::myLastLateralGapLeft, MSAbstractLaneChangeModel::myLastLateralGapRight, MSAbstractLaneChangeModel::myLastLeaderGap, MSAbstractLaneChangeModel::myLastLeaderSecureGap, MSAbstractLaneChangeModel::myLastLeaderSpeed, MSAbstractLaneChangeModel::myLastOrigLeaderGap, MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap, MSAbstractLaneChangeModel::myLastOrigLeaderSpeed, MSAbstractLaneChangeModel::myLCOutput, MSAbstractLaneChangeModel::myOwnState, MSAbstractLaneChangeModel::myVehicle, MSAbstractLaneChangeModel::NO_NEIGHBOR, OutputDevice::openTag(), SUMO_ATTR_DIR, SUMO_ATTR_FROM, SUMO_ATTR_ID, SUMO_ATTR_POSITION, SUMO_ATTR_SPEED, SUMO_ATTR_TIME, SUMO_ATTR_TO, SUMO_ATTR_TYPE, time2string(), toString(), and OutputDevice::writeAttr().

Referenced by MSLaneChangerSublane::outputLCEnded(), MSLaneChangerSublane::outputLCStarted(), and MSAbstractLaneChangeModel::primaryLaneChanged().

◆ memorizeGapsAtLCInit()

void MSAbstractLaneChangeModel::memorizeGapsAtLCInit ( )
inherited

Control for resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.

Definition at line 296 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myDontResetLCGaps.

Referenced by MSAbstractLaneChangeModel::startLaneChangeManeuver().

◆ outputLCEnded()

static bool MSAbstractLaneChangeModel::outputLCEnded ( )
inlinestaticinherited

whether start of maneuvers shall be recorede

Definition at line 161 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLCEndedOutput.

Referenced by MSLaneChangerSublane::outputLCEnded().

◆ outputLCStarted()

static bool MSAbstractLaneChangeModel::outputLCStarted ( )
inlinestaticinherited

whether start of maneuvers shall be recorede

Definition at line 156 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLCStartedOutput.

Referenced by MSLaneChangerSublane::outputLCStarted().

◆ overtakeDistance()

double MSLCM_LC2013::overtakeDistance ( const MSVehicle follower,
const MSVehicle leader,
const double  gap,
double  followerSpeed = INVALID_SPEED,
double  leaderSpeed = INVALID_SPEED 
)
staticprotected

◆ pastMidpoint()

bool MSAbstractLaneChangeModel::pastMidpoint ( ) const
inlineinherited

return whether the vehicle passed the midpoint of a continuous lane change maneuver

Definition at line 420 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myLaneChangeCompletion.

Referenced by MSAbstractLaneChangeModel::getAngleOffset(), MSAbstractLaneChangeModel::getShadowDirection(), and MSAbstractLaneChangeModel::updateCompletion().

◆ patchSpeed()

double MSLCM_LC2013::patchSpeed ( const double  min,
const double  wanted,
const double  max,
const MSCFModel cfModel 
)
virtual

Called to adapt the speed in order to allow a lane change. It uses information on LC-related desired speed-changes from the call to wantsChange() at the end of the previous simulation step.

Parameters
minThe minimum resulting speed
wantedThe aspired speed of the car following model
maxThe maximum resulting speed
cfModelThe model used
Returns
the new speed of the vehicle as proposed by the lane changer

Implements MSAbstractLaneChangeModel.

Definition at line 188 of file MSLCM_LC2013.cpp.

References _patchSpeed(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MAX2(), MSAbstractLaneChangeModel::myVehicle, SIMTIME, and toString().

◆ predInteraction()

bool MSAbstractLaneChangeModel::predInteraction ( const std::pair< MSVehicle *, double > &  leader)
protectedvirtualinherited

◆ prepareStep()

◆ primaryLaneChanged()

◆ remainingTime()

◆ removeShadowApproachingInformation()

void MSAbstractLaneChangeModel::removeShadowApproachingInformation ( ) const
inherited

◆ resetChanged()

void MSAbstractLaneChangeModel::resetChanged ( )
inlineinherited

reset the flag whether a vehicle already moved to false

Definition at line 467 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myAlreadyChanged.

Referenced by MSVehicle::planMove().

◆ saveBlockerLength() [1/2]

void MSLCM_LC2013::saveBlockerLength ( double  length)
inlineprotectedvirtual

reserve space at the end of the lane to avoid dead locks

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 183 of file MSLCM_LC2013.h.

References MAX2(), and myLeadingBlockerLength.

◆ saveBlockerLength() [2/2]

◆ saveLCState()

◆ saveNeighbors() [1/2]

void MSAbstractLaneChangeModel::saveNeighbors ( const int  dir,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo leaders 
)
inherited

Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChangeSublane()). -> SL2015 case.

Definition at line 179 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myLeftFollowers, MSAbstractLaneChangeModel::myLeftLeaders, MSAbstractLaneChangeModel::myRightFollowers, and MSAbstractLaneChangeModel::myRightLeaders.

Referenced by MSLaneChanger::checkChange(), and MSLaneChangerSublane::checkChangeSublane().

◆ saveNeighbors() [2/2]

void MSAbstractLaneChangeModel::saveNeighbors ( const int  dir,
const std::pair< MSVehicle *const, double > &  follower,
const std::pair< MSVehicle *const, double > &  leader 
)
inherited

Saves the lane change relevant vehicles, which are currently on neighboring lanes in the given direction (as detected in wantsChange()). -> LC2013 case.

Definition at line 194 of file MSAbstractLaneChangeModel.cpp.

References MSVehicle::getLane(), MSAbstractLaneChangeModel::myLeftFollowers, MSAbstractLaneChangeModel::myLeftLeaders, MSAbstractLaneChangeModel::myRightFollowers, MSAbstractLaneChangeModel::myRightLeaders, and MSAbstractLaneChangeModel::myVehicle.

◆ setFollowerGaps() [1/2]

◆ setFollowerGaps() [2/2]

◆ setLeaderGaps() [1/2]

◆ setLeaderGaps() [2/2]

◆ setManeuverDist()

void MSAbstractLaneChangeModel::setManeuverDist ( const double  dist)
inherited

◆ setNoShadowPartialOccupator()

void MSAbstractLaneChangeModel::setNoShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ setOrigLeaderGaps() [1/2]

◆ setOrigLeaderGaps() [2/2]

◆ setOwnState()

◆ setParameter()

◆ setShadowApproachingInformation()

void MSAbstractLaneChangeModel::setShadowApproachingInformation ( MSLink link) const
inherited

set approach information for the shadow vehicle

Definition at line 793 of file MSAbstractLaneChangeModel.cpp.

References MSAbstractLaneChangeModel::myApproachedByShadow.

Referenced by MSVehicle::setApproachingForAllLinks().

◆ setShadowLane()

void MSAbstractLaneChangeModel::setShadowLane ( MSLane lane)
inlineinherited

set the shadow lane

Definition at line 391 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myShadowLane.

◆ setShadowPartialOccupator()

void MSAbstractLaneChangeModel::setShadowPartialOccupator ( MSLane lane)
inlineinherited

◆ setSpeedLat()

void MSAbstractLaneChangeModel::setSpeedLat ( double  speedLat)
inlineinherited

◆ slowDownForBlocked()

◆ startLaneChangeManeuver()

◆ sublaneChangeCompleted()

virtual bool MSAbstractLaneChangeModel::sublaneChangeCompleted ( const double  latDist) const
inlinevirtualinherited

whether the current change completes the manoeuvre

Definition at line 526 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.

◆ unchanged()

void MSAbstractLaneChangeModel::unchanged ( )
inlineinherited

◆ updateCompletion()

◆ updateExpectedSublaneSpeeds()

virtual void MSAbstractLaneChangeModel::updateExpectedSublaneSpeeds ( const MSLeaderDistanceInfo ahead,
int  sublaneOffset,
int  laneIndex 
)
inlinevirtualinherited

update expected speeds for each sublane of the current edge

Reimplemented in MSLCM_SL2015.

Definition at line 314 of file MSAbstractLaneChangeModel.h.

References MSAbstractLaneChangeModel::myModel, toString(), and UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::change().

◆ updateSafeLatDist()

void MSAbstractLaneChangeModel::updateSafeLatDist ( const double  travelledLatDist)
virtualinherited

Updates the value of safe lateral distances (in SL2015) during maneuver continuation in non-action steps.

Reimplemented in MSLCM_SL2015.

Definition at line 147 of file MSAbstractLaneChangeModel.cpp.

References UNUSED_PARAMETER.

Referenced by MSLaneChangerSublane::startChangeSublane().

◆ updateShadowLane()

◆ updateTargetLane()

◆ wantsChange()

int MSLCM_LC2013::wantsChange ( int  laneOffset,
MSAbstractLaneChangeModel::MSLCMessager msgPass,
int  blocked,
const std::pair< MSVehicle *, double > &  leader,
const std::pair< MSVehicle *, double > &  neighLead,
const std::pair< MSVehicle *, double > &  neighFollow,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked 
)
virtual

Called to examine whether the vehicle wants to change using the given laneOffset. This method gets the information about the surrounding vehicles and whether another lane may be more preferable.

TODO: better documentation, refs #2

Reimplemented from MSAbstractLaneChangeModel.

Definition at line 149 of file MSLCM_LC2013.cpp.

References _wantsChange(), DEBUG_COND, Named::getID(), MSBaseVehicle::getID(), MSVehicle::getLane(), MSVehicle::getLateralPositionOnLane(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), gPrecision, MSAbstractLaneChangeModel::myVehicle, SIMTIME, and toString().

◆ wantsChangeSublane()

virtual int MSAbstractLaneChangeModel::wantsChangeSublane ( int  laneOffset,
LaneChangeAction  alternatives,
const MSLeaderDistanceInfo leaders,
const MSLeaderDistanceInfo followers,
const MSLeaderDistanceInfo blockers,
const MSLeaderDistanceInfo neighLeaders,
const MSLeaderDistanceInfo neighFollowers,
const MSLeaderDistanceInfo neighBlockers,
const MSLane neighLane,
const std::vector< MSVehicle::LaneQ > &  preb,
MSVehicle **  lastBlocked,
MSVehicle **  firstBlocked,
double &  latDist,
double &  targetDistLat,
int &  blocked 
)
inlinevirtualinherited

Field Documentation

◆ myAllowOvertakingRight

bool MSAbstractLaneChangeModel::myAllowOvertakingRight
staticprotectedinherited

◆ myAlreadyChanged

bool MSAbstractLaneChangeModel::myAlreadyChanged
protectedinherited

◆ myAmOpposite

◆ myApproachedByShadow

std::vector<MSLink*> MSAbstractLaneChangeModel::myApproachedByShadow
mutableprivateinherited

links which are approached by the shadow vehicle

Definition at line 722 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::removeShadowApproachingInformation(), and MSAbstractLaneChangeModel::setShadowApproachingInformation().

◆ myAssertive

double MSLCM_LC2013::myAssertive
protected

Definition at line 253 of file MSLCM_LC2013.h.

Referenced by getParameter(), getSafetyFactor(), and setParameter().

◆ myCanceledStateCenter

int MSAbstractLaneChangeModel::myCanceledStateCenter
protectedinherited

◆ myCanceledStateLeft

int MSAbstractLaneChangeModel::myCanceledStateLeft
protectedinherited

◆ myCanceledStateRight

int MSAbstractLaneChangeModel::myCanceledStateRight
protectedinherited

◆ myCarFollowModel

◆ myChangeProbThresholdLeft

double MSLCM_LC2013::myChangeProbThresholdLeft
protected

Definition at line 266 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), and initDerivedParameters().

◆ myChangeProbThresholdRight

double MSLCM_LC2013::myChangeProbThresholdRight
protected

Definition at line 265 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), and initDerivedParameters().

◆ myCommittedSpeed

double MSAbstractLaneChangeModel::myCommittedSpeed
protectedinherited

the speed when committing to a change maneuver

Definition at line 617 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::commitManoeuvre(), MSAbstractLaneChangeModel::getCommittedSpeed(), and MSAbstractLaneChangeModel::prepareStep().

◆ myCooperativeParam

double MSLCM_LC2013::myCooperativeParam
protected

◆ myDontBrake

bool MSLCM_LC2013::myDontBrake
protected

Definition at line 237 of file MSLCM_LC2013.h.

Referenced by _patchSpeed(), changed(), and prepareStep().

◆ myDontResetLCGaps

bool MSAbstractLaneChangeModel::myDontResetLCGaps
protectedinherited

Flag to prevent resetting the memorized values for LC relevant gaps until the LC output is triggered in the case of continuous LC.

Definition at line 693 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::clearGapsAtLCInit(), MSAbstractLaneChangeModel::memorizeGapsAtLCInit(), and MSAbstractLaneChangeModel::prepareStep().

◆ myExperimentalParam1

const double MSLCM_LC2013::myExperimentalParam1
protected

Definition at line 258 of file MSLCM_LC2013.h.

Referenced by informFollower().

◆ myFurtherTargetLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myFurtherTargetLanes
protectedinherited

◆ myKeepRightParam

double MSLCM_LC2013::myKeepRightParam
protected

Definition at line 244 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), MSLCM_LC2013(), and setParameter().

◆ myKeepRightProbability

double MSLCM_LC2013::myKeepRightProbability
protected

Definition at line 224 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and prepareStep().

◆ myLaneChangeCompletion

◆ myLaneChangeDirection

int MSAbstractLaneChangeModel::myLaneChangeDirection
protectedinherited

◆ myLastFollowerGap

double MSAbstractLaneChangeModel::myLastFollowerGap
protectedinherited

◆ myLastFollowerSecureGap

double MSAbstractLaneChangeModel::myLastFollowerSecureGap
protectedinherited

◆ myLastFollowerSpeed

double MSAbstractLaneChangeModel::myLastFollowerSpeed
protectedinherited

◆ myLastLaneChangeOffset

SUMOTime MSAbstractLaneChangeModel::myLastLaneChangeOffset
privateinherited

◆ myLastLateralGapLeft

double MSAbstractLaneChangeModel::myLastLateralGapLeft
protectedinherited

the minimum lateral gaps to other vehicles that were found when last changing to the left and right

Definition at line 674 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSLCM_SL2015::updateGaps().

◆ myLastLateralGapRight

double MSAbstractLaneChangeModel::myLastLateralGapRight
protectedinherited

◆ myLastLeaderGap

double MSAbstractLaneChangeModel::myLastLeaderGap
protectedinherited

the actual minimum longitudinal distances to vehicles on the target lane

Definition at line 678 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().

◆ myLastLeaderSecureGap

double MSAbstractLaneChangeModel::myLastLeaderSecureGap
protectedinherited

the minimum longitudinal distances to vehicles on the target lane that would be necessary for stringent security

Definition at line 681 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().

◆ myLastLeaderSpeed

double MSAbstractLaneChangeModel::myLastLeaderSpeed
protectedinherited

speeds of surrounding vehicles at the time of lane change

Definition at line 687 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setLeaderGaps().

◆ myLastOrigLeaderGap

double MSAbstractLaneChangeModel::myLastOrigLeaderGap
protectedinherited

acutal and secure distance to closest leader vehicle on the original when performing lane change

Definition at line 684 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::laneChangeOutput(), MSAbstractLaneChangeModel::prepareStep(), and MSAbstractLaneChangeModel::setOrigLeaderGaps().

◆ myLastOrigLeaderSecureGap

double MSAbstractLaneChangeModel::myLastOrigLeaderSecureGap
protectedinherited

◆ myLastOrigLeaderSpeed

double MSAbstractLaneChangeModel::myLastOrigLeaderSpeed
protectedinherited

◆ myLCAccelerationAdvices

std::vector<double> MSLCM_LC2013::myLCAccelerationAdvices
protected

vector of LC-related acceleration recommendations Filled in wantsChange() and applied in patchSpeed()

Definition at line 235 of file MSLCM_LC2013.h.

Referenced by _patchSpeed(), _wantsChange(), addLCSpeedAdvice(), changed(), informFollower(), informLeader(), prepareStep(), and slowDownForBlocked().

◆ myLCEndedOutput

bool MSAbstractLaneChangeModel::myLCEndedOutput
staticprotectedinherited

◆ myLCOutput

bool MSAbstractLaneChangeModel::myLCOutput
staticprotectedinherited

◆ myLCStartedOutput

bool MSAbstractLaneChangeModel::myLCStartedOutput
staticprotectedinherited

◆ myLeadingBlockerLength

double MSLCM_LC2013::myLeadingBlockerLength
protected

◆ myLeftFollowers

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myLeftFollowers
protectedinherited

Cached info on lc-relevant neighboring vehicles.

Definition at line 607 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::clearNeighbors(), MSAbstractLaneChangeModel::getFollowers(), and MSAbstractLaneChangeModel::saveNeighbors().

◆ myLeftLeaders

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myLeftLeaders
protectedinherited

◆ myLeftSpace

double MSLCM_LC2013::myLeftSpace
protected

◆ myLookaheadLeft

double MSLCM_LC2013::myLookaheadLeft
protected

Definition at line 248 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), and setParameter().

◆ myLookAheadSpeed

double MSLCM_LC2013::myLookAheadSpeed
protected

Definition at line 231 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and informLeader().

◆ myManeuverDist

◆ myMaxSpeedLatFactor

double MSAbstractLaneChangeModel::myMaxSpeedLatFactor
protectedinherited

◆ myMaxSpeedLatStanding

double MSAbstractLaneChangeModel::myMaxSpeedLatStanding
protectedinherited

◆ myModel

◆ myNoPartiallyOccupatedByShadow

◆ myOppositeParam

double MSLCM_LC2013::myOppositeParam
protected

Definition at line 245 of file MSLCM_LC2013.h.

Referenced by getOppositeSafetyFactor(), getParameter(), and setParameter().

◆ myOvertakeRightParam

double MSLCM_LC2013::myOvertakeRightParam
protected

Definition at line 255 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), and setParameter().

◆ myOwnState

◆ myPartiallyOccupatedByShadow

std::vector<MSLane*> MSAbstractLaneChangeModel::myPartiallyOccupatedByShadow
protectedinherited

list of lanes where the shadow vehicle is partial occupator

Definition at line 667 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::setShadowPartialOccupator().

◆ myPreviousManeuverDist

double MSAbstractLaneChangeModel::myPreviousManeuverDist
protectedinherited

Maneuver distance from the previous simulation step.

Definition at line 630 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), MSAbstractLaneChangeModel::getPreviousManeuverDist(), and MSAbstractLaneChangeModel::setManeuverDist().

◆ myPreviousState

int MSAbstractLaneChangeModel::myPreviousState
protectedinherited

lane changing state from the previous simulation step

Definition at line 594 of file MSAbstractLaneChangeModel.h.

Referenced by MSLCM_SL2015::_wantsChangeSublane(), and MSAbstractLaneChangeModel::setOwnState().

◆ myPreviousState2

int MSAbstractLaneChangeModel::myPreviousState2
protectedinherited

lane changing state from step before the previous simulation step

Definition at line 596 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::getPrevState(), and MSAbstractLaneChangeModel::setOwnState().

◆ myRightFollowers

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myRightFollowers
protectedinherited

◆ myRightLeaders

std::shared_ptr<MSLeaderDistanceInfo> MSAbstractLaneChangeModel::myRightLeaders
protectedinherited

◆ mySavedStateCenter

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateCenter
protectedinherited

◆ mySavedStateLeft

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateLeft
protectedinherited

◆ mySavedStateRight

std::pair<int, int> MSAbstractLaneChangeModel::mySavedStateRight
protectedinherited

◆ myShadowFurtherLanes

std::vector<MSLane*> MSAbstractLaneChangeModel::myShadowFurtherLanes
protectedinherited

◆ myShadowFurtherLanesPosLat

std::vector<double> MSAbstractLaneChangeModel::myShadowFurtherLanesPosLat
protectedinherited

◆ myShadowLane

MSLane* MSAbstractLaneChangeModel::myShadowLane
protectedinherited

◆ mySigma

double MSAbstractLaneChangeModel::mySigma
protectedinherited

◆ mySpeedGainParam

double MSLCM_LC2013::mySpeedGainParam
protected

Definition at line 243 of file MSLCM_LC2013.h.

Referenced by getParameter(), initDerivedParameters(), MSLCM_LC2013(), and setParameter().

◆ mySpeedGainProbability

double MSLCM_LC2013::mySpeedGainProbability
protected

a value for tracking the probability that a change to the offset with the same sign is beneficial

Definition at line 220 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), changed(), and prepareStep().

◆ mySpeedGainRight

double MSLCM_LC2013::mySpeedGainRight
protected

Definition at line 250 of file MSLCM_LC2013.h.

Referenced by getParameter(), initDerivedParameters(), and setParameter().

◆ mySpeedLat

double MSAbstractLaneChangeModel::mySpeedLat
protectedinherited

◆ myStrategicParam

double MSLCM_LC2013::myStrategicParam
protected

Definition at line 241 of file MSLCM_LC2013.h.

Referenced by _wantsChange(), getParameter(), MSLCM_LC2013(), and setParameter().

◆ myTargetLane

MSLane* MSAbstractLaneChangeModel::myTargetLane
protectedinherited

The target lane for the vehicle's current maneuver.

Note
This is used by the sublane model to register the vehicle at lanes, it will reach within the current action step, so vehicles on that lane may react to the started lc-maneuver during the car-following process. If the shadow lane is the same as the lc maneuver target, myTargetLane is set to nullptr. The current shadow lanes and further lanes should always be updated before updating the target lane.

Definition at line 650 of file MSAbstractLaneChangeModel.h.

Referenced by MSAbstractLaneChangeModel::cleanupTargetLane(), MSAbstractLaneChangeModel::getTargetLane(), and MSAbstractLaneChangeModel::updateTargetLane().

◆ myVehicle

MSVehicle& MSAbstractLaneChangeModel::myVehicle
protectedinherited

The vehicle this lane-changer belongs to.

Definition at line 589 of file MSAbstractLaneChangeModel.h.

Referenced by _patchSpeed(), MSLCM_SL2015::_patchSpeed(), _wantsChange(), MSLCM_SL2015::_wantsChangeSublane(), adaptSpeedToPedestrians(), addLCSpeedAdvice(), MSLCM_SL2015::addLCSpeedAdvice(), MSAbstractLaneChangeModel::cancelRequest(), changed(), MSLCM_SL2015::changed(), MSLCM_SL2015::checkBlocking(), MSLCM_SL2015::checkStrategicChange(), MSAbstractLaneChangeModel::checkTraCICommands(), MSAbstractLaneChangeModel::cleanupShadowLane(), MSAbstractLaneChangeModel::cleanupTargetLane(), MSLCM_SL2015::commitFollowSpeed(), MSLCM_SL2015::commitManoeuvre(), MSLCM_SL2015::computeSpeedGain(), computeSpeedLat(), MSLCM_SL2015::computeSpeedLat(), MSAbstractLaneChangeModel::computeSpeedLat(), MSAbstractLaneChangeModel::congested(), MSLCM_SL2015::decideDirection(), MSAbstractLaneChangeModel::determineTargetLane(), MSAbstractLaneChangeModel::endLaneChangeManeuver(), MSAbstractLaneChangeModel::estimateLCDuration(), getAssumedDecelForLaneChangeDuration(), MSLCM_SL2015::getLateralDrift(), MSLCM_SL2015::getPosLat(), getRoundaboutDistBonus(), MSAbstractLaneChangeModel::getShadowDirection(), MSAbstractLaneChangeModel::getShadowLane(), MSLCM_SL2015::getSublaneWidth(), MSLCM_SL2015::getWidth(), inform(), MSLCM_SL2015::inform(), MSLCM_DK2008::informBlocker(), informFollower(), MSLCM_SL2015::informFollower(), informLeader(), MSLCM_SL2015::informLeader(), MSLCM_SL2015::informLeaders(), MSLCM_SL2015::keepLatGap(), MSAbstractLaneChangeModel::laneChangeOutput(), MSLCM_SL2015::msg(), MSLCM_LC2013(), MSLCM_DK2008::patchSpeed(), patchSpeed(), MSLCM_SL2015::patchSpeed(), MSAbstractLaneChangeModel::predInteraction(), prepareStep(), MSLCM_SL2015::prepareStep(), MSAbstractLaneChangeModel::primaryLaneChanged(), MSAbstractLaneChangeModel::remainingTime(), MSAbstractLaneChangeModel::removeShadowApproachingInformation(), saveBlockerLength(), MSLCM_SL2015::saveBlockerLength(), MSAbstractLaneChangeModel::saveNeighbors(), MSAbstractLaneChangeModel::setFollowerGaps(), MSAbstractLaneChangeModel::setLeaderGaps(), MSAbstractLaneChangeModel::setManeuverDist(), MSAbstractLaneChangeModel::setOrigLeaderGaps(), MSLCM_SL2015::setOwnState(), slowDownForBlocked(), MSLCM_SL2015::slowDownForBlocked(), MSAbstractLaneChangeModel::startLaneChangeManeuver(), MSLCM_SL2015::updateCFRelated(), MSLCM_SL2015::updateExpectedSublaneSpeeds(), MSLCM_SL2015::updateGaps(), MSAbstractLaneChangeModel::updateShadowLane(), MSAbstractLaneChangeModel::updateTargetLane(), wantsChange(), MSLCM_SL2015::wantsChange(), MSLCM_SL2015::wantsChangeSublane(), MSLCM_DK2008::wantsChangeToLeft(), and MSLCM_DK2008::wantsChangeToRight().

◆ NO_NEIGHBOR

const double MSAbstractLaneChangeModel::NO_NEIGHBOR
staticinherited

The documentation for this class was generated from the following files: