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SUMO - Simulation of Urban MObility
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Changes the wished vehicle speed / lanes. More...
#include <MSVehicle.h>
Public Member Functions | |
SUMOReal | changeRequestRemainingSeconds (const SUMOTime currentTime) const |
Return the remaining number of seconds of the current laneTimeLine assuming one exists. More... | |
bool | getEmergencyBrakeRedLight () const |
Returns whether red lights shall be a reason to brake. More... | |
SUMOTime | getLastAccessTimeStep () const |
SUMOReal | getOriginalSpeed () const |
Returns the originally longitudinal speed to use. More... | |
bool | getRespectJunctionPriority () const |
Returns whether junction priority rules shall be respected. More... | |
SUMOReal | implicitDeltaPosVTD (const MSVehicle *veh) |
return the change in longitudinal position that is implicit in the new VTD position More... | |
SUMOReal | implicitSpeedVTD (const MSVehicle *veh, SUMOReal oldSpeed) |
return the speed that is implicit in the new VTD position More... | |
int | influenceChangeDecision (const SUMOTime currentTime, const MSEdge ¤tEdge, const unsigned int currentLaneIndex, int state) |
Applies stored LaneChangeMode information and laneTimeLine. More... | |
Influencer () | |
Constructor. More... | |
SUMOReal | influenceSpeed (SUMOTime currentTime, SUMOReal speed, SUMOReal vSafe, SUMOReal vMin, SUMOReal vMax) |
Applies stored velocity information on the speed to use. More... | |
bool | isVTDAffected (SUMOTime t) const |
bool | isVTDControlled () const |
void | postProcessVTD (MSVehicle *v) |
void | setConsiderMaxAcceleration (bool value) |
Sets whether the maximum acceleration shall be regarded. More... | |
void | setConsiderMaxDeceleration (bool value) |
Sets whether the maximum deceleration shall be regarded. More... | |
void | setConsiderSafeVelocity (bool value) |
Sets whether the safe velocity shall be regarded. More... | |
void | setEmergencyBrakeRedLight (bool value) |
Sets whether red lights shall be a reason to brake. More... | |
void | setLaneChangeMode (int value) |
Sets lane changing behavior. More... | |
void | setLaneTimeLine (const std::vector< std::pair< SUMOTime, unsigned int > > &laneTimeLine) |
Sets a new lane timeline. More... | |
void | setRespectJunctionPriority (bool value) |
Sets whether junction priority rules shall be respected. More... | |
void | setSpeedTimeLine (const std::vector< std::pair< SUMOTime, SUMOReal > > &speedTimeLine) |
Sets a new velocity timeline. More... | |
void | setVTDControlled (bool c, MSLane *l, SUMOReal pos, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t) |
~Influencer () | |
Destructor. More... | |
Private Attributes | |
bool | myAmVTDControlled |
bool | myConsiderMaxAcceleration |
Whether the maximum acceleration shall be regarded. More... | |
bool | myConsiderMaxDeceleration |
Whether the maximum deceleration shall be regarded. More... | |
bool | myConsiderSafeVelocity |
Whether the safe velocity shall be regarded. More... | |
bool | myEmergencyBrakeRedLight |
Whether red lights are a reason to brake. More... | |
std::vector< std::pair< SUMOTime, unsigned int > > | myLaneTimeLine |
The lane usage time line to apply. More... | |
SUMOTime | myLastVTDAccess |
SUMOReal | myOriginalSpeed |
The velocity before influence. More... | |
bool | myRespectJunctionPriority |
Whether the junction priority rules are respected. More... | |
bool | mySpeedAdaptationStarted |
Whether influencing the speed has already started. More... | |
std::vector< std::pair< SUMOTime, SUMOReal > > | mySpeedTimeLine |
The velocity time line to apply. More... | |
TraciLaneChangePriority | myTraciLaneChangePriority |
flags for determining the priority of traci lane change requests More... | |
int | myVTDEdgeOffset |
MSLane * | myVTDLane |
SUMOReal | myVTDPos |
ConstMSEdgeVector | myVTDRoute |
Flags for managing conflicts between the laneChangeModel and TraCI laneTimeLine | |
LaneChangeMode | myStrategicLC |
lane changing which is necessary to follow the current route More... | |
LaneChangeMode | myCooperativeLC |
lane changing with the intent to help other vehicles More... | |
LaneChangeMode | mySpeedGainLC |
lane changing to travel with higher speed More... | |
LaneChangeMode | myRightDriveLC |
changing to the rightmost lane More... | |
Changes the wished vehicle speed / lanes.
The class is used for passing velocities or velocity profiles obtained via TraCI to the vehicle. The speed adaptation is controlled by the stored speedTimeLine Additionally, the variables myConsiderSafeVelocity, myConsiderMaxAcceleration, and myConsiderMaxDeceleration control whether the safe velocity, the maximum acceleration, and the maximum deceleration have to be regarded.
Furthermore this class is used to affect lane changing decisions according to LaneChangeMode and any given laneTimeLine
Definition at line 914 of file MSVehicle.h.
MSVehicle::Influencer::Influencer | ( | ) |
Constructor.
Definition at line 147 of file MSVehicle.cpp.
MSVehicle::Influencer::~Influencer | ( | ) |
Destructor.
Definition at line 164 of file MSVehicle.cpp.
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
[in] | currentTime | The current simulation time |
Definition at line 296 of file MSVehicle.cpp.
References myLaneTimeLine, and STEPS2TIME.
Referenced by MSLCM_JE2013::_wantsChange(), and MSLCM_LC2013::_wantsChange().
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Returns whether red lights shall be a reason to brake.
Definition at line 1007 of file MSVehicle.h.
Referenced by MSVehicle::executeMove().
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Definition at line 1034 of file MSVehicle.h.
References SUMOReal.
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Returns the originally longitudinal speed to use.
Definition at line 1021 of file MSVehicle.h.
Referenced by MSVehicle::getSpeedWithoutTraciInfluence().
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Returns whether junction priority rules shall be respected.
Definition at line 993 of file MSVehicle.h.
Referenced by MSVehicle::checkRewindLinkLanes(), and MSVehicle::executeMove().
return the change in longitudinal position that is implicit in the new VTD position
Definition at line 370 of file MSVehicle.cpp.
References DIST2SPEED, MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), myVTDLane, myVTDPos, and SUMOReal.
Referenced by MSVehicle::executeMove().
return the speed that is implicit in the new VTD position
Definition at line 360 of file MSVehicle.cpp.
References DIST2SPEED, MSVehicle::getDistanceToPosition(), MSLane::getEdge(), MSBaseVehicle::getMaxSpeed(), myVTDLane, myVTDPos, and SUMOReal.
Referenced by MSVehicle::executeMove().
int MSVehicle::Influencer::influenceChangeDecision | ( | const SUMOTime | currentTime, |
const MSEdge & | currentEdge, | ||
const unsigned int | currentLaneIndex, | ||
int | state | ||
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Applies stored LaneChangeMode information and laneTimeLine.
[in] | currentTime | The current simulation time |
[in] | currentEdge | The current edge the vehicle is on |
[in] | currentLaneIndex | The index of the lane the vehicle is currently on |
[in] | state | The LaneChangeAction flags as computed by the laneChangeModel |
Definition at line 214 of file MSVehicle.cpp.
References MSEdge::getLanes(), MSVehicle::LC_ALWAYS, MSVehicle::LC_NEVER, MSVehicle::LC_NOCONFLICT, LCA_BLOCKED, LCA_COOPERATIVE, LCA_KEEPRIGHT, LCA_LEFT, LCA_OVERLAPPING, LCA_RIGHT, LCA_SPEEDGAIN, LCA_STAY, LCA_STRATEGIC, LCA_TRACI, LCA_URGENT, LCA_WANTS_LANECHANGE_OR_STAY, MSVehicle::LCP_ALWAYS, MSVehicle::LCP_NOOVERLAP, MSVehicle::LCP_OPPORTUNISTIC, myCooperativeLC, myLaneTimeLine, myRightDriveLC, mySpeedGainLC, myStrategicLC, myTraciLaneChangePriority, MSVehicle::REQUEST_HOLD, MSVehicle::REQUEST_LEFT, MSVehicle::REQUEST_NONE, MSVehicle::REQUEST_RIGHT, SUMOReal, time2string(), toString(), and WRITE_WARNING.
Referenced by MSVehicle::influenceChangeDecision().
SUMOReal MSVehicle::Influencer::influenceSpeed | ( | SUMOTime | currentTime, |
SUMOReal | speed, | ||
SUMOReal | vSafe, | ||
SUMOReal | vMin, | ||
SUMOReal | vMax | ||
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Applies stored velocity information on the speed to use.
The given speed is assumed to be the non-influenced speed from longitudinal control. It is stored for further usage in "myOriginalSpeed".
[in] | currentTime | The current simulation time |
[in] | speed | The undisturbed speed |
[in] | vSafe | The safe velocity |
[in] | vMin | The minimum velocity |
[in] | vMax | The maximum simulation time |
Definition at line 181 of file MSVehicle.cpp.
References DELTA_T, MAX2(), MIN2(), myConsiderMaxAcceleration, myConsiderMaxDeceleration, myConsiderSafeVelocity, myOriginalSpeed, mySpeedAdaptationStarted, mySpeedTimeLine, STEPS2TIME, and SUMOReal.
Referenced by MSVehicle::executeMove(), and MSVehicle::planMoveInternal().
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Definition at line 1050 of file MSVehicle.h.
References TIME2STEPS.
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Definition at line 1046 of file MSVehicle.h.
Referenced by MSLaneChanger::change(), MSVehicle::executeMove(), and MSLane::executeMovements().
void MSVehicle::Influencer::postProcessVTD | ( | MSVehicle * | v | ) |
Definition at line 344 of file MSVehicle.cpp.
References MSLane::forceVehicleInsertion(), MSVehicle::getLane(), MSLane::getLength(), myAmVTDControlled, MSBaseVehicle::myCurrEdge, myVTDEdgeOffset, myVTDLane, myVTDPos, myVTDRoute, MSMoveReminder::NOTIFICATION_TELEPORT, MSVehicle::onRemovalFromNet(), MSLane::removeVehicle(), MSBaseVehicle::replaceRouteEdges(), SUMOReal, and MSVehicle::updateBestLanes().
void MSVehicle::Influencer::setConsiderMaxAcceleration | ( | bool | value | ) |
Sets whether the maximum acceleration shall be regarded.
[in] | value | Whether the maximum acceleration shall be regarded |
Definition at line 310 of file MSVehicle.cpp.
References myConsiderMaxAcceleration.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setConsiderMaxDeceleration | ( | bool | value | ) |
Sets whether the maximum deceleration shall be regarded.
[in] | value | Whether the maximum deceleration shall be regarded |
Definition at line 316 of file MSVehicle.cpp.
References myConsiderMaxDeceleration.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setConsiderSafeVelocity | ( | bool | value | ) |
Sets whether the safe velocity shall be regarded.
[in] | value | Whether the safe velocity shall be regarded |
Definition at line 304 of file MSVehicle.cpp.
References myConsiderSafeVelocity.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setEmergencyBrakeRedLight | ( | bool | value | ) |
Sets whether red lights shall be a reason to brake.
[in] | value | Whether red lights shall be a reason to brake |
Definition at line 328 of file MSVehicle.cpp.
References myEmergencyBrakeRedLight.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setLaneChangeMode | ( | int | value | ) |
Sets lane changing behavior.
[in] | value | a bitset controlling the different modes |
Definition at line 334 of file MSVehicle.cpp.
References myCooperativeLC, myRightDriveLC, mySpeedGainLC, myStrategicLC, and myTraciLaneChangePriority.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setLaneTimeLine | ( | const std::vector< std::pair< SUMOTime, unsigned int > > & | laneTimeLine | ) |
Sets a new lane timeline.
[in] | laneTimeLine | The time line of lanes to use |
Definition at line 175 of file MSVehicle.cpp.
References myLaneTimeLine, and SUMOReal.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setRespectJunctionPriority | ( | bool | value | ) |
Sets whether junction priority rules shall be respected.
[in] | value | Whether junction priority rules be respected |
Definition at line 322 of file MSVehicle.cpp.
References myRespectJunctionPriority.
Referenced by TraCIServerAPI_Vehicle::processSet().
void MSVehicle::Influencer::setSpeedTimeLine | ( | const std::vector< std::pair< SUMOTime, SUMOReal > > & | speedTimeLine | ) |
Sets a new velocity timeline.
[in] | speedTimeLine | The time line of speeds to use |
Definition at line 168 of file MSVehicle.cpp.
References mySpeedAdaptationStarted, and mySpeedTimeLine.
Referenced by TraCIServerAPI_Vehicle::processSet().
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Definition at line 1025 of file MSVehicle.h.
References MSVehicle::State::pos().
Referenced by TraCIServer::setVTDControlled().
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Definition at line 1083 of file MSVehicle.h.
Referenced by postProcessVTD().
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Whether the maximum acceleration shall be regarded.
Definition at line 1072 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderMaxAcceleration().
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Whether the maximum deceleration shall be regarded.
Definition at line 1075 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderMaxDeceleration().
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Whether the safe velocity shall be regarded.
Definition at line 1069 of file MSVehicle.h.
Referenced by influenceSpeed(), and setConsiderSafeVelocity().
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lane changing with the intent to help other vehicles
Definition at line 1095 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether red lights are a reason to brake.
Definition at line 1081 of file MSVehicle.h.
Referenced by setEmergencyBrakeRedLight().
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The lane usage time line to apply.
Definition at line 1060 of file MSVehicle.h.
Referenced by changeRequestRemainingSeconds(), influenceChangeDecision(), and setLaneTimeLine().
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Definition at line 1088 of file MSVehicle.h.
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The velocity before influence.
Definition at line 1063 of file MSVehicle.h.
Referenced by influenceSpeed().
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Whether the junction priority rules are respected.
Definition at line 1078 of file MSVehicle.h.
Referenced by setRespectJunctionPriority().
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changing to the rightmost lane
Definition at line 1099 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Whether influencing the speed has already started.
Definition at line 1066 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing to travel with higher speed
Definition at line 1097 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
The velocity time line to apply.
Definition at line 1057 of file MSVehicle.h.
Referenced by influenceSpeed(), and setSpeedTimeLine().
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lane changing which is necessary to follow the current route
Definition at line 1093 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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flags for determining the priority of traci lane change requests
Definition at line 1102 of file MSVehicle.h.
Referenced by influenceChangeDecision(), and setLaneChangeMode().
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Definition at line 1086 of file MSVehicle.h.
Referenced by postProcessVTD().
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Definition at line 1084 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), and postProcessVTD().
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Definition at line 1085 of file MSVehicle.h.
Referenced by implicitDeltaPosVTD(), implicitSpeedVTD(), and postProcessVTD().
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Definition at line 1087 of file MSVehicle.h.
Referenced by postProcessVTD().