Eclipse SUMO - Simulation of Urban MObility
MSVehicle.h
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1/****************************************************************************/
2// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.org/sumo
3// Copyright (C) 2001-2022 German Aerospace Center (DLR) and others.
4// This program and the accompanying materials are made available under the
5// terms of the Eclipse Public License 2.0 which is available at
6// https://www.eclipse.org/legal/epl-2.0/
7// This Source Code may also be made available under the following Secondary
8// Licenses when the conditions for such availability set forth in the Eclipse
9// Public License 2.0 are satisfied: GNU General Public License, version 2
10// or later which is available at
11// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13/****************************************************************************/
27// Representation of a vehicle in the micro simulation
28/****************************************************************************/
29#pragma once
30#include <config.h>
31
32#include <list>
33#include <deque>
34#include <map>
35#include <set>
36#include <string>
37#include <vector>
38#include <memory>
39#include "MSGlobals.h"
40#include "MSBaseVehicle.h"
41#include "MSNet.h"
42
43#define INVALID_SPEED 299792458 + 1 // nothing can go faster than the speed of light! Refs. #2577
44
45// ===========================================================================
46// class declarations
47// ===========================================================================
49class MSMoveReminder;
50class MSLaneChanger;
53class MSStoppingPlace;
54class MSStop;
56class MSOverheadWire;
57class MSParkingArea;
58class MSPerson;
59class MSDevice;
60class OutputDevice;
61class Position;
62class MSJunction;
63class MSLeaderInfo;
68
69
70// ===========================================================================
71// class definitions
72// ===========================================================================
77class MSVehicle : public MSBaseVehicle {
78public:
79
81 friend class MSLaneChanger;
83
87 class State {
89 friend class MSVehicle;
90 friend class MSLaneChanger;
92
93 public:
95 State(double pos, double speed, double posLat, double backPos, double previousSpeed);
96
98 State(const State& state);
99
101 State& operator=(const State& state);
102
104 bool operator!=(const State& state);
105
107 double pos() const {
108 return myPos;
109 }
110
112 double speed() const {
113 return mySpeed;
114 };
115
117 double posLat() const {
118 return myPosLat;
119 }
120
122 double backPos() const {
123 return myBackPos;
124 }
125
127 double lastCoveredDist() const {
128 return myLastCoveredDist;
129 }
130
131
132 private:
134 double myPos;
135
137 double mySpeed;
138
140 double myPosLat;
141
143 // if the vehicle occupies multiple lanes, this is the position relative
144 // to the lane occupied by its back
145 double myBackPos;
146
149
155
156 };
157
158
163 public:
166
167 // return the waiting time within the last memory millisecs
168 SUMOTime cumulatedWaitingTime(SUMOTime memory = -1) const;
169
170 // process time passing for dt millisecs
171 void passTime(SUMOTime dt, bool waiting);
172
173 const std::string getState() const;
174
175 void setState(const std::string& state);
176
177 private:
180
184 std::deque<std::pair<SUMOTime, SUMOTime> > myWaitingIntervals;
185
188 };
189
190
203 };
204
212 MSVehicle(SUMOVehicleParameter* pars, const MSRoute* route,
213 MSVehicleType* type, const double speedFactor);
214
216 virtual ~MSVehicle();
217
218 void initDevices();
219
221 bool hasValidRouteStart(std::string& msg);
222
224
225
235
236
237
239
240
244 bool hasArrived() const;
245
256 bool replaceRoute(const MSRoute* route, const std::string& info, bool onInit = false, int offset = 0, bool addStops = true, bool removeStops = true, std::string* msgReturn = nullptr);
257
259
260
262
263
281 void workOnMoveReminders(double oldPos, double newPos, double newSpeed);
283
289 void workOnIdleReminders();
290
296 bool checkActionStep(const SUMOTime t);
297
303 void resetActionOffset(const SUMOTime timeUntilNextAction = 0);
304
305
315 void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength);
316
317
335 void planMove(const SUMOTime t, const MSLeaderInfo& ahead, const double lengthsInFront);
336
340
342 void registerInsertionApproach(MSLink* link, double dist);
343
344
357 bool executeMove();
358
360 void executeFractionalMove(double dist);
361
368 double getDeltaPos(const double accel) const;
369
370
372
373
377 double getPositionOnLane() const {
378 return myState.myPos;
379 }
380
384 double getLastStepDist() const {
385 return myState.lastCoveredDist();
386 }
387
391 double getPositionOnLane(const MSLane* lane) const;
392
401 inline double getBackPositionOnLane(const MSLane* lane) const {
402 return getBackPositionOnLane(lane, false);
403 }
404
408 double getBackPositionOnLane() const {
410 }
411
417 return myState.myPosLat;
418 }
419
420 void setLateralPositionOnLane(double posLat) {
421 myState.myPosLat = posLat;
422 }
423
426 }
427
432 double getRightSideOnLane() const;
433
438 double getLeftSideOnLane() const;
439
444 double getRightSideOnLane(const MSLane* lane) const;
445
450 double getLeftSideOnLane(const MSLane* lane) const;
451
455 double lateralDistanceToLane(const int offset) const;
456
458 double getLateralOverlap() const;
459 double getLateralOverlap(const MSLane* lane) const;
460 double getLateralOverlap(double posLat, const MSLane* lane) const;
461
467 double getRightSideOnEdge(const MSLane* lane = 0) const;
468
474 double getCenterOnEdge(const MSLane* lane = 0) const;
475
481 double getLatOffset(const MSLane* lane) const;
482
486 double getSpeed() const {
487 return myState.mySpeed;
488 }
489
490
494 double getPreviousSpeed() const {
496 }
497
498
503 void setPreviousSpeed(double prevSpeed, double prevAcceleration);
504
505
510 double getAcceleration() const {
511 return myAcceleration;
512 }
513
515 double getCurrentApparentDecel() const;
516
522 return myType->getActionStepLength();
523 }
524
529 double getActionStepLengthSecs() const {
531 }
532
533
538 return myLastActionTime;
539 }
540
542
543
544
546
547
551 double getSlope() const;
552
553
561 Position getPosition(const double offset = 0) const;
562
563
571 Position getPositionAlongBestLanes(double offset) const;
572
573
577 const MSLane* getLane() const {
578 return myLane;
579 }
580
586 return myLane;
587 }
588
589
594 double getMaxSpeedOnLane() const;
595
599 inline bool isOnRoad() const {
600 return myAmOnNet;
601 }
602
606 void
607 setIdling(bool amIdling) {
608 myAmIdling = amIdling;
609 }
610
615 inline bool isIdling() const {
616 return myAmIdling;
617 }
618
622 inline bool isActive() const {
623 return myActionStep;
624 }
625
629 inline bool isActionStep(SUMOTime t) const {
630 return (t - myLastActionTime) % getActionStepLength() == 0;
631// return t%getActionStepLength() == 0; // synchronized actions for all vehicles with identical actionsteplengths
632 }
633
634
638 bool isFrontOnLane(const MSLane* lane) const;
639
643 const MSEdge* getCurrentEdge() const;
644
646 const MSEdge* getNextEdgePtr() const;
647
654 const MSEdge* getRerouteOrigin() const;
655
656
664 return myWaitingTime;
665 }
666
674 return myTimeSinceStartup;
675 }
676
677 inline double getTimeSinceStartupSeconds() const {
679 }
680
691 return TIME2STEPS(myTimeLoss);
692 }
693
694
701 }
702
710 }
711
714 double getTimeLossSeconds() const {
715 return myTimeLoss;
716 }
717
720 double getStopDelay() const;
721
724 double getStopArrivalDelay() const;
725
729 double getAngle() const {
730 return myAngle;
731 }
732
733
738 return Position(std::cos(myAngle) * myState.speed(), std::sin(myAngle) * myState.speed());
739 }
741
743 double computeAngle() const;
744
746 void setAngle(double angle, bool straightenFurther = false);
747
754 void setActionStepLength(double actionStepLength, bool resetActionOffset = true);
755
757 static bool overlap(const MSVehicle* veh1, const MSVehicle* veh2) {
758 if (veh1->myState.myPos < veh2->myState.myPos) {
759 return veh2->myState.myPos - veh2->getVehicleType().getLengthWithGap() < veh1->myState.myPos;
760 }
761 return veh1->myState.myPos - veh1->getVehicleType().getLengthWithGap() < veh2->myState.myPos;
762 }
763
766 bool congested() const;
767
768
780 void activateReminders(const MSMoveReminder::Notification reason, const MSLane* enteredLane = 0);
781
788 void enterLaneAtMove(MSLane* enteredLane, bool onTeleporting = false);
789
790
791
800 void enterLaneAtInsertion(MSLane* enteredLane, double pos, double speed, double posLat,
801 MSMoveReminder::Notification notification);
802
807 void setTentativeLaneAndPosition(MSLane* lane, double pos, double posLat = 0);
808
813 void enterLaneAtLaneChange(MSLane* enteredLane);
814
815
817 void leaveLane(const MSMoveReminder::Notification reason, const MSLane* approachedLane = 0);
818
825 void updateDriveItems();
826
830 const std::pair<double, LinkDirection>& getNextTurn() {
831 return myNextTurn;
832 }
833
834
837
838 const std::vector<MSLane*>& getFurtherLanes() const {
839 return myFurtherLanes;
840 }
841
842 const std::vector<double>& getFurtherLanesPosLat() const {
844 }
845
846
848 bool onFurtherEdge(const MSEdge* edge) const;
849
852
853 //
857 struct LaneQ {
859 MSLane* lane = nullptr;
861 double length;
872 /* @brief Longest sequence of (normal-edge) lanes that can be followed without a lane change
873 * The 'length' attribute is the sum of these lane lengths
874 * (There may be alternative sequences that have equal length)
875 * It is the 'best' in the strategic sense of reducing required lane-changes
876 */
877 std::vector<MSLane*> bestContinuations;
878 };
879
883 const std::vector<LaneQ>& getBestLanes() const;
884
902 void updateBestLanes(bool forceRebuild = false, const MSLane* startLane = 0);
903
904
908 const std::vector<MSLane*>& getBestLanesContinuation() const;
909
910
914 const std::vector<MSLane*>& getBestLanesContinuation(const MSLane* const l) const;
915
922 const std::vector<const MSLane*> getUpcomingLanesUntil(double distance) const;
923
929 const std::vector<const MSLane*> getPastLanesUntil(double distance) const;
930
935 const std::vector<MSLane*> getUpstreamOppositeLanes() const;
936
937 /* @brief returns the current signed offset from the lane that is most
938 * suited for continuing the current route (in the strategic sense of reducing lane-changes)
939 * - 0 if the vehicle is one it's best lane
940 * - negative if the vehicle should change to the right
941 * - positive if the vehicle should change to the left
942 */
943 int getBestLaneOffset() const;
944
946 double getBestLaneDist() const;
947
949 void adaptBestLanesOccupation(int laneIndex, double density);
950
952
954 void fixPosition();
955
957 std::pair<const MSLane*, double> getLanePosAfterDist(double distance) const;
958
966 inline const MSCFModel& getCarFollowModel() const {
967 return myType->getCarFollowModel();
968 }
969
975 std::shared_ptr<MSSimpleDriverState> getDriverState() const;
976
981 double getFriction() const;
982
988 return myCFVariables;
989 }
990
992
993
994
995
998 bool replaceParkingArea(MSParkingArea* parkingArea, std::string& errorMsg);
999
1003
1006
1009 inline bool hasDriverState() const {
1010 return myDriverState != nullptr;
1011 }
1012
1015
1017 bool stopsAt(MSStoppingPlace* stop) const;
1018
1020 bool stopsAtEdge(const MSEdge* edge) const;
1021
1024 bool willStop() const;
1025
1027 bool isStoppedOnLane() const;
1028
1030 bool keepStopping(bool afterProcessing = false) const;
1031
1036
1040 bool isRemoteControlled() const;
1041
1045 bool wasRemoteControlled(SUMOTime lookBack = DELTA_T) const;
1046
1048 double nextStopDist() const {
1049 return myStopDist;
1050 }
1052
1053 int getLaneIndex() const;
1054
1064 double getDistanceToPosition(double destPos, const MSEdge* destEdge) const;
1065
1066
1074 double processNextStop(double currentVelocity);
1075
1076
1084 std::pair<const MSVehicle* const, double> getLeader(double dist = 0) const;
1085
1094 std::pair<const MSVehicle* const, double> getFollower(double dist = 0) const;
1095
1102 double getTimeGapOnLane() const;
1103
1104
1109 void addTransportable(MSTransportable* transportable);
1110
1113
1149
1150
1156 LC_NEVER = 0, // lcModel shall never trigger changes at this level
1157 LC_NOCONFLICT = 1, // lcModel may trigger changes if not in conflict with TraCI request
1158 LC_ALWAYS = 2 // lcModel may always trigger changes of this level regardless of requests
1160
1161
1164 LCP_ALWAYS = 0, // change regardless of blockers, adapt own speed and speed of blockers
1165 LCP_NOOVERLAP = 1, // change unless overlapping with blockers, adapt own speed and speed of blockers
1166 LCP_URGENT = 2, // change if not blocked, adapt own speed and speed of blockers
1167 LCP_OPPORTUNISTIC = 3 // change if not blocked
1169
1170
1174 void switchOnSignal(int signal) {
1175 mySignals |= signal;
1176 }
1177
1178
1182 void switchOffSignal(int signal) {
1183 mySignals &= ~signal;
1184 }
1185
1186
1190 int getSignals() const {
1191 return mySignals;
1192 }
1193
1194
1199 bool signalSet(int which) const {
1200 return (mySignals & which) != 0;
1201 }
1203
1204
1206 bool unsafeLinkAhead(const MSLane* lane) const;
1207
1209 bool passingMinor() const;
1210
1211
1212
1220 double getSpeedWithoutTraciInfluence() const;
1221
1226 bool rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg);
1227
1234 bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string& errorMsg);
1235
1236 bool handleCollisionStop(MSStop& stop, const double distToStop);
1237
1242 bool resumeFromStopping();
1243
1245 double updateFurtherLanes(std::vector<MSLane*>& furtherLanes,
1246 std::vector<double>& furtherLanesPosLat,
1247 const std::vector<MSLane*>& passedLanes);
1248
1250 PositionVector getBoundingBox(double offset = 0) const;
1251
1253 PositionVector getBoundingPoly(double offset = 0) const;
1254
1266
1269 bool setExitManoeuvre();
1272
1274 bool manoeuvreIsComplete() const;
1277
1278
1286
1287 public:
1289 Manoeuvre();
1290
1292 Manoeuvre(const Manoeuvre& manoeuvre);
1293
1295 Manoeuvre& operator=(const Manoeuvre& manoeuvre);
1296
1298 bool operator!=(const Manoeuvre& manoeuvre);
1299
1302
1305
1308
1310 bool
1311 manoeuvreIsComplete(const ManoeuvreType checkType) const;
1312
1314 bool
1315 manoeuvreIsComplete() const;
1316
1318 double getGUIIncrement() const;
1319
1322
1325
1326 private:
1329
1331 std::string myManoeuvreStop;
1332
1335
1338
1341
1342 // @brief Angle (radians) through which parking vehicle moves in each sim step
1344 };
1345
1346 // Current or previous (completed) manoeuvre
1348
1362 private:
1363
1373 void vehicleStateChanged(const SUMOVehicle* const vehicle, MSNet::VehicleState to, const std::string& info = "");
1374 };
1375
1376
1380 virtual ~GapControlState();
1382 static void init();
1384 static void cleanup();
1386 void activate(double tauOriginal, double tauTarget, double additionalGap, double duration, double changeRate, double maxDecel, const MSVehicle* refVeh);
1388 void deactivate();
1405 double maxDecel;
1418
1420 static std::map<const MSVehicle*, GapControlState*> refVehMap;
1421
1422 private:
1424 };
1425
1426
1427 public:
1429 Influencer();
1430
1432 ~Influencer();
1433
1435 static void init();
1437 static void cleanup();
1438
1442 void setSpeedTimeLine(const std::vector<std::pair<SUMOTime, double> >& speedTimeLine);
1443
1446 void activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle* refVeh = nullptr);
1447
1451
1455 void setLaneTimeLine(const std::vector<std::pair<SUMOTime, int> >& laneTimeLine);
1456
1460 void adaptLaneTimeLine(int indexShift);
1461
1465 void setSublaneChange(double latDist);
1466
1468 int getSpeedMode() const;
1469
1471 int getLaneChangeMode() const;
1472
1474
1476
1488 double influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax);
1489
1502 double gapControlSpeed(SUMOTime currentTime, const SUMOVehicle* veh, double speed, double vSafe, double vMin, double vMax);
1503
1511 int influenceChangeDecision(const SUMOTime currentTime, const MSEdge& currentEdge, const int currentLaneIndex, int state);
1512
1513
1519 double changeRequestRemainingSeconds(const SUMOTime currentTime) const;
1520
1525 inline bool getRespectJunctionPriority() const {
1527 }
1528
1529
1533 inline bool getEmergencyBrakeRedLight() const {
1535 }
1536
1543 }
1544
1545
1549 }
1550
1554 void setSpeedMode(int speedMode);
1555
1559 void setLaneChangeMode(int value);
1560
1564 double getOriginalSpeed() const;
1565
1567 void setOriginalSpeed(double speed);
1568
1569 void setRemoteControlled(Position xyPos, MSLane* l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector& route, SUMOTime t);
1570
1572 return myLastRemoteAccess;
1573 }
1574
1577
1580
1582 double implicitSpeedRemote(const MSVehicle* veh, double oldSpeed);
1583
1585 double implicitDeltaPosRemote(const MSVehicle* veh);
1586
1587 bool isRemoteControlled() const;
1588
1589 bool isRemoteAffected(SUMOTime t) const;
1590
1591 void setSignals(int signals) {
1592 myTraCISignals = signals;
1593 }
1594
1595 int getSignals() const {
1596 return myTraCISignals;
1597 }
1598
1599 double getLatDist() const {
1600 return myLatDist;
1601 }
1602
1604 myLatDist = 0.;
1605 }
1606
1607 bool ignoreOverlap() const {
1609 }
1610
1611 private:
1613 std::vector<std::pair<SUMOTime, double> > mySpeedTimeLine;
1614
1616 std::vector<std::pair<SUMOTime, int> > myLaneTimeLine;
1617
1619 std::shared_ptr<GapControlState> myGapControlState;
1620
1623
1626
1629
1632
1635
1638
1641
1644
1647
1656
1658
1659
1670
1672
1673 // @brief the signals set via TraCI
1675
1676 };
1677
1678
1686
1687 const BaseInfluencer* getBaseInfluencer() const;
1688 const Influencer* getInfluencer() const;
1689
1690 bool hasInfluencer() const {
1691 return myInfluencer != nullptr;
1692 }
1693
1695 int influenceChangeDecision(int state);
1696
1698 void setRemoteState(Position xyPos);
1699
1701 static int nextLinkPriority(const std::vector<MSLane*>& conts);
1702
1704 bool isLeader(const MSLink* link, const MSVehicle* veh, const double gap) const;
1705
1706 // @brief get the position of the back bumper;
1707 const Position getBackPosition() const;
1708
1710 bool ignoreCollision() const;
1711
1713 void updateParkingState();
1714
1720
1722
1723
1725 void saveState(OutputDevice& out);
1726
1729 void loadState(const SUMOSAXAttributes& attrs, const SUMOTime offset);
1730
1731 void loadPreviousApproaching(MSLink* link, bool setRequest,
1732 SUMOTime arrivalTime, double arrivalSpeed,
1733 double arrivalSpeedBraking,
1734 double dist, double leaveSpeed);
1736
1737protected:
1738
1741
1757 void adaptLaneEntering2MoveReminder(const MSLane& enteredLane);
1759
1760
1768 void processLinkApproaches(double& vSafe, double& vSafeMin, double& vSafeMinDist);
1769
1770
1778 void processLaneAdvances(std::vector<MSLane*>& passedLanes, std::string& emergencyReason);
1779
1780
1788 double processTraCISpeedControl(double vSafe, double vNext);
1789
1790
1798
1801 void updateWaitingTime(double vNext);
1802
1805 void updateTimeLoss(double vNext);
1806
1807 /* @brief Check whether the vehicle is a train that can reverse its direction at the current point in its route
1808 * and return the speed in preparation for reversal
1809 *
1810 * @param[out] canReverse
1811 * @param[in] speedThreshold
1812 * @return speed for reversal
1813 */
1814 double checkReversal(bool& canReverse, double speedThreshold = SUMO_const_haltingSpeed, double seen = 0) const;
1815
1818 void setBrakingSignals(double vNext) ;
1819
1822 void setBlinkerInformation();
1823
1826 void setEmergencyBlueLight(SUMOTime currentTime);
1827
1829 void computeFurtherLanes(MSLane* enteredLane, double pos, bool collision = false);
1830
1832 void updateOccupancyAndCurrentBestLane(const MSLane* startLane);
1833
1835 double getBrakeGap(bool delayed = false) const;
1836
1838 Position validatePosition(Position result, double offset = 0) const;
1839
1841 virtual void drawOutsideNetwork(bool /*add*/) {};
1842
1844 void boardTransportables(MSStop& stop);
1845
1847 bool joinTrainPart(MSVehicle* veh);
1848
1850 bool joinTrainPartFront(MSVehicle* veh);
1851
1852protected:
1853
1857
1860
1863
1866
1869
1875
1876
1877
1880
1882
1885
1886 /* @brief Complex data structure for keeping and updating LaneQ:
1887 * Each element of the outer vector corresponds to an upcoming edge on the vehicles route
1888 * The first element corresponds to the current edge and is returned in getBestLanes()
1889 * The other elements are only used as a temporary structure in updateBestLanes();
1890 */
1891 std::vector<std::vector<LaneQ> > myBestLanes;
1892
1893 /* @brief iterator to speed up retrieval of the current lane's LaneQ in getBestLaneOffset() and getBestLanesContinuation()
1894 * This is updated in updateOccupancyAndCurrentBestLane()
1895 */
1896 std::vector<LaneQ>::iterator myCurrentLaneInBestLanes;
1897
1898 static std::vector<MSLane*> myEmptyLaneVector;
1899
1902
1905 std::pair<double, LinkDirection> myNextTurn;
1906
1908 std::vector<MSLane*> myFurtherLanes;
1910 std::vector<double> myFurtherLanesPosLat;
1911
1914
1917
1920
1922
1924 double myAngle;
1925
1928
1931
1933
1938
1941
1942protected:
1943
1956 double accelV;
1959
1960 DriveProcessItem(MSLink* link, double vPass, double vWait, bool setRequest,
1961 SUMOTime arrivalTime, double arrivalSpeed,
1962 double arrivalSpeedBraking,
1963 double distance,
1964 double leaveSpeed) :
1965 myLink(link), myVLinkPass(vPass), myVLinkWait(vWait), mySetRequest(setRequest),
1966 myArrivalTime(arrivalTime), myArrivalSpeed(arrivalSpeed),
1967 myArrivalSpeedBraking(arrivalSpeedBraking),
1968 myDistance(distance),
1969 accelV(leaveSpeed), hadStoppedVehicle(false), availableSpace(0) {
1970 assert(vWait >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1971 assert(vPass >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1972 };
1973
1974
1976 DriveProcessItem(double vWait, double distance, double _availableSpace = 0) :
1977 myLink(0), myVLinkPass(vWait), myVLinkWait(vWait), mySetRequest(false),
1980 myDistance(distance),
1981 accelV(-1), hadStoppedVehicle(false), availableSpace(_availableSpace) {
1982 assert(vWait >= 0 || !MSGlobals::gSemiImplicitEulerUpdate);
1983 };
1984
1985
1986 inline void adaptLeaveSpeed(const double v) {
1987 if (accelV < 0) {
1988 accelV = v;
1989 } else {
1990 accelV = MIN2(accelV, v);
1991 }
1992 }
1993 inline double getLeaveSpeed() const {
1994 return accelV < 0 ? myVLinkPass : accelV;
1995 }
1996 };
1997
1999 // TODO: Consider making LFLinkLanes a std::deque for efficient front removal (needs refactoring in checkRewindLinkLanes()...)
2000 typedef std::vector< DriveProcessItem > DriveItemVector;
2001
2004
2007
2013 DriveItemVector::iterator myNextDriveItem;
2014
2016 void planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector& lfLinks, double& myStopDist, std::pair<double, LinkDirection>& myNextTurn) const;
2017
2019 void checkRewindLinkLanes(const double lengthsInFront, DriveItemVector& lfLinks) const;
2020
2022 void removeApproachingInformation(const DriveItemVector& lfLinks) const;
2023
2024 /* @brief adapt safe velocity in accordance to a moving obstacle:
2025 * - a leader vehicle
2026 * - a vehicle or pedestrian that crosses this vehicles path on an upcoming intersection
2027 * @param[in] leaderInfo The leading vehicle and the (virtual) distance to it
2028 * @param[in] lastLink the lastLink index
2029 * @param[in,out] the safe velocity for driving
2030 * @param[in,out] the safe velocity for arriving at the next link
2031 */
2032 void adaptToLeader(const std::pair<const MSVehicle*, double> leaderInfo,
2033 double seen,
2034 DriveProcessItem* const lastLink,
2035 double& v, double& vLinkPass) const;
2036
2037public:
2038 void adaptToJunctionLeader(const std::pair<const MSVehicle*, double> leaderInfo,
2039 const double seen, DriveProcessItem* const lastLink,
2040 const MSLane* const lane, double& v, double& vLinkPass,
2041 double distToCrossing = -1) const;
2042
2044 bool ignoreRed(const MSLink* link, bool canBrake) const;
2045
2046protected:
2047
2048 /* @brief adapt safe velocity in accordance to multiple vehicles ahead:
2049 * @param[in] ahead The leader information according to the current lateral-resolution
2050 * @param[in] latOffset the lateral offset for locating the ego vehicle on the given lane
2051 * @param[in] seen the distance to the end of the current lane
2052 * @param[in] lastLink the lastLink index
2053 * @param[in] lane The current Lane the vehicle is on
2054 * @param[in,out] the safe velocity for driving
2055 * @param[in,out] the safe velocity for arriving at the next link
2056 */
2057 void adaptToLeaders(const MSLeaderInfo& ahead,
2058 double latOffset,
2059 const double seen, DriveProcessItem* const lastLink,
2060 const MSLane* const lane, double& v, double& vLinkPass) const;
2061
2062 void adaptToLeaderDistance(const MSLeaderDistanceInfo& ahead, double latOffset,
2063 double seen,
2064 DriveProcessItem* const lastLink,
2065 double& v, double& vLinkPass) const;
2066
2068 void checkLinkLeader(const MSLink* link, const MSLane* lane, double seen,
2069 DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest,
2070 bool isShadowLink = false) const;
2071
2073 void checkLinkLeaderCurrentAndParallel(const MSLink* link, const MSLane* lane, double seen,
2074 DriveProcessItem* const lastLink, double& v, double& vLinkPass, double& vLinkWait, bool& setRequest) const;
2075
2076
2077 // @brief return the lane on which the back of this vehicle resides
2078 const MSLane* getBackLane() const;
2079
2087 void updateState(double vNext);
2088
2089
2091 bool keepClear(const MSLink* link) const;
2092
2093 double estimateTimeToNextStop() const;
2094
2095 /* @brief special considerations for opposite direction driving so that the
2096 * result can be used directly by getPositionOnLane(...) */
2097 double getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) const;
2098
2105 bool hasArrivedInternal(bool oppositeTransformed = true) const;
2106
2107
2108 SUMOTime getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const;
2109
2111 bool isOppositeLane(const MSLane* lane) const;
2112
2114 inline double accelThresholdForWaiting() const {
2115 return 0.5 * getCarFollowModel().getMaxAccel();
2116 }
2117
2118private:
2121
2124
2125
2126private:
2129
2132
2135
2136};
long long int SUMOTime
Definition: GUI.h:36
std::vector< const MSEdge * > ConstMSEdgeVector
Definition: MSEdge.h:74
SUMOTime DELTA_T
Definition: SUMOTime.cpp:37
#define STEPS2TIME(x)
Definition: SUMOTime.h:54
#define TIME2STEPS(x)
Definition: SUMOTime.h:56
T MIN2(T a, T b)
Definition: StdDefs.h:71
const double SUMO_const_haltingSpeed
the speed threshold at which vehicles are considered as halting
Definition: StdDefs.h:58
Interface for lane-change models.
The base class for microscopic and mesoscopic vehicles.
Definition: MSBaseVehicle.h:55
MSVehicleType * myType
This vehicle's type.
void addStops(const bool ignoreStopErrors, MSRouteIterator *searchStart=nullptr, bool addRouteStops=true)
Adds stops to the built vehicle.
const MSVehicleType & getVehicleType() const
Returns the vehicle's type definition.
The car-following model abstraction.
Definition: MSCFModel.h:55
double getMaxAccel() const
Get the vehicle type's maximum acceleration [m/s^2].
Definition: MSCFModel.h:254
The ToC Device controls transition of control between automated and manual driving.
A device which collects info on current friction Coefficient on the road.
Abstract in-vehicle / in-person device.
Definition: MSDevice.h:61
A road/street connecting two junctions.
Definition: MSEdge.h:77
static bool gSemiImplicitEulerUpdate
Definition: MSGlobals.h:53
static SUMOTime gWaitingTimeMemory
length of memory for waiting times (in millisecs)
Definition: MSGlobals.h:112
The base class for an intersection.
Definition: MSJunction.h:58
Performs lane changing of vehicles.
Definition: MSLaneChanger.h:45
Performs lane changing of vehicles.
Representation of a lane in the micro simulation.
Definition: MSLane.h:84
saves leader/follower vehicles and their distances relative to an ego vehicle
Definition: MSLeaderInfo.h:144
Something on a lane to be noticed about vehicle movement.
Notification
Definition of a vehicle state.
Interface for objects listening to vehicle state changes.
Definition: MSNet.h:636
VehicleState
Definition of a vehicle state.
Definition: MSNet.h:603
Definition of overhead wire segment.
A lane area vehicles can halt at.
Definition: MSParkingArea.h:58
Provides an interface to an error whose fluctuation is controlled via the driver's 'awareness',...
Definition: MSStop.h:44
A lane area vehicles can halt at.
A static instance of this class in GapControlState deactivates gap control for vehicles whose referen...
Definition: MSVehicle.h:1366
void vehicleStateChanged(const SUMOVehicle *const vehicle, MSNet::VehicleState to, const std::string &info="")
Called if a vehicle changes its state.
Definition: MSVehicle.cpp:261
Changes the wished vehicle speed / lanes.
Definition: MSVehicle.h:1361
void setLaneChangeMode(int value)
Sets lane changing behavior.
Definition: MSVehicle.cpp:781
TraciLaneChangePriority myTraciLaneChangePriority
flags for determining the priority of traci lane change requests
Definition: MSVehicle.h:1671
bool getEmergencyBrakeRedLight() const
Returns whether red lights shall be a reason to brake.
Definition: MSVehicle.h:1533
SUMOTime getLaneTimeLineEnd()
Definition: MSVehicle.cpp:470
void adaptLaneTimeLine(int indexShift)
Adapts lane timeline when moving to a new lane and the lane index changes.
Definition: MSVehicle.cpp:422
void setRemoteControlled(Position xyPos, MSLane *l, double pos, double posLat, double angle, int edgeOffset, const ConstMSEdgeVector &route, SUMOTime t)
Definition: MSVehicle.cpp:792
bool isRemoteAffected(SUMOTime t) const
Definition: MSVehicle.cpp:811
int getSpeedMode() const
return the current speed mode
Definition: MSVehicle.cpp:435
void deactivateGapController()
Deactivates the gap control.
Definition: MSVehicle.cpp:409
Influencer()
Constructor.
Definition: MSVehicle.cpp:360
void setSpeedMode(int speedMode)
Sets speed-constraining behaviors.
Definition: MSVehicle.cpp:770
std::shared_ptr< GapControlState > myGapControlState
The gap control state.
Definition: MSVehicle.h:1619
bool considerSafeVelocity() const
Returns whether safe velocities shall be considered.
Definition: MSVehicle.h:1547
int getSignals() const
Definition: MSVehicle.h:1595
bool myConsiderMaxDeceleration
Whether the maximum deceleration shall be regarded.
Definition: MSVehicle.h:1637
ConstMSEdgeVector myRemoteRoute
Definition: MSVehicle.h:1654
void setLaneTimeLine(const std::vector< std::pair< SUMOTime, int > > &laneTimeLine)
Sets a new lane timeline.
Definition: MSVehicle.cpp:416
bool myRespectJunctionLeaderPriority
Whether the junction priority rules are respected (within)
Definition: MSVehicle.h:1646
void setOriginalSpeed(double speed)
Stores the originally longitudinal speed.
Definition: MSVehicle.cpp:661
double myOriginalSpeed
The velocity before influence.
Definition: MSVehicle.h:1622
double getLatDist() const
Definition: MSVehicle.h:1599
double implicitDeltaPosRemote(const MSVehicle *veh)
return the change in longitudinal position that is implicit in the new remote position
Definition: MSVehicle.cpp:928
double implicitSpeedRemote(const MSVehicle *veh, double oldSpeed)
return the speed that is implicit in the new remote position
Definition: MSVehicle.cpp:901
void postProcessRemoteControl(MSVehicle *v)
update position from remote control
Definition: MSVehicle.cpp:832
double gapControlSpeed(SUMOTime currentTime, const SUMOVehicle *veh, double speed, double vSafe, double vMin, double vMax)
Applies gap control logic on the speed.
Definition: MSVehicle.cpp:509
void setSublaneChange(double latDist)
Sets a new sublane-change request.
Definition: MSVehicle.cpp:430
double getOriginalSpeed() const
Returns the originally longitudinal speed to use.
Definition: MSVehicle.cpp:656
SUMOTime myLastRemoteAccess
Definition: MSVehicle.h:1655
std::vector< std::pair< SUMOTime, int > > myLaneTimeLine
The lane usage time line to apply.
Definition: MSVehicle.h:1616
bool getRespectJunctionLeaderPriority() const
Returns whether junction priority rules within the junction shall be respected (concerns vehicles wit...
Definition: MSVehicle.h:1541
LaneChangeMode myStrategicLC
lane changing which is necessary to follow the current route
Definition: MSVehicle.h:1660
LaneChangeMode mySpeedGainLC
lane changing to travel with higher speed
Definition: MSVehicle.h:1664
static void init()
Static initalization.
Definition: MSVehicle.cpp:385
LaneChangeMode mySublaneLC
changing to the prefered lateral alignment
Definition: MSVehicle.h:1668
bool getRespectJunctionPriority() const
Returns whether junction priority rules shall be respected (concerns approaching vehicles outside the...
Definition: MSVehicle.h:1525
static void cleanup()
Static cleanup.
Definition: MSVehicle.cpp:390
int getLaneChangeMode() const
return the current lane change mode
Definition: MSVehicle.cpp:447
SUMOTime getLaneTimeLineDuration()
Definition: MSVehicle.cpp:457
double influenceSpeed(SUMOTime currentTime, double speed, double vSafe, double vMin, double vMax)
Applies stored velocity information on the speed to use.
Definition: MSVehicle.cpp:480
double changeRequestRemainingSeconds(const SUMOTime currentTime) const
Return the remaining number of seconds of the current laneTimeLine assuming one exists.
Definition: MSVehicle.cpp:762
bool myConsiderSafeVelocity
Whether the safe velocity shall be regarded.
Definition: MSVehicle.h:1631
bool mySpeedAdaptationStarted
Whether influencing the speed has already started.
Definition: MSVehicle.h:1628
~Influencer()
Destructor.
Definition: MSVehicle.cpp:382
void setSignals(int signals)
Definition: MSVehicle.h:1591
double myLatDist
The requested lateral change.
Definition: MSVehicle.h:1625
bool myEmergencyBrakeRedLight
Whether red lights are a reason to brake.
Definition: MSVehicle.h:1643
LaneChangeMode myRightDriveLC
changing to the rightmost lane
Definition: MSVehicle.h:1666
void setSpeedTimeLine(const std::vector< std::pair< SUMOTime, double > > &speedTimeLine)
Sets a new velocity timeline.
Definition: MSVehicle.cpp:395
void updateRemoteControlRoute(MSVehicle *v)
update route if provided by remote control
Definition: MSVehicle.cpp:817
std::vector< std::pair< SUMOTime, double > > mySpeedTimeLine
The velocity time line to apply.
Definition: MSVehicle.h:1613
SUMOTime getLastAccessTimeStep() const
Definition: MSVehicle.h:1571
bool myConsiderMaxAcceleration
Whether the maximum acceleration shall be regarded.
Definition: MSVehicle.h:1634
LaneChangeMode myCooperativeLC
lane changing with the intent to help other vehicles
Definition: MSVehicle.h:1662
bool isRemoteControlled() const
Definition: MSVehicle.cpp:805
bool ignoreOverlap() const
Definition: MSVehicle.h:1607
bool myRespectJunctionPriority
Whether the junction priority rules are respected (approaching)
Definition: MSVehicle.h:1640
int influenceChangeDecision(const SUMOTime currentTime, const MSEdge &currentEdge, const int currentLaneIndex, int state)
Applies stored LaneChangeMode information and laneTimeLine.
Definition: MSVehicle.cpp:667
void activateGapController(double originalTau, double newTimeHeadway, double newSpaceHeadway, double duration, double changeRate, double maxDecel, MSVehicle *refVeh=nullptr)
Activates the gap control with the given parameters,.
Definition: MSVehicle.cpp:401
Container for manouevering time associated with stopping.
Definition: MSVehicle.h:1285
SUMOTime myManoeuvreCompleteTime
Time at which this manoeuvre should complete.
Definition: MSVehicle.h:1337
MSVehicle::ManoeuvreType getManoeuvreType() const
Accessor (get) for manoeuvre type.
Definition: MSVehicle.cpp:7230
std::string myManoeuvreStop
The name of the stop associated with the Manoeuvre - for debug output.
Definition: MSVehicle.h:1331
bool manoeuvreIsComplete() const
Check if any manoeuver is ongoing and whether the completion time is beyond currentTime.
Definition: MSVehicle.cpp:7364
bool configureExitManoeuvre(MSVehicle *veh)
Setup the myManoeuvre for exiting (Sets completion time and manoeuvre type)
Definition: MSVehicle.cpp:7283
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
Accessor (set) for manoeuvre type.
Definition: MSVehicle.cpp:7246
Manoeuvre & operator=(const Manoeuvre &manoeuvre)
Assignment operator.
Definition: MSVehicle.cpp:7205
Manoeuvre()
Constructor.
Definition: MSVehicle.cpp:7194
std::string myManoeuvreVehicleID
The name of the vehicle associated with the Manoeuvre - for debug output.
Definition: MSVehicle.h:1328
ManoeuvreType myManoeuvreType
Manoeuvre type - currently entry, exit or none.
Definition: MSVehicle.h:1340
double getGUIIncrement() const
Accessor for GUI rotation step when parking (radians)
Definition: MSVehicle.cpp:7225
SUMOTime myManoeuvreStartTime
Time at which the Manoeuvre for this stop started.
Definition: MSVehicle.h:1334
bool operator!=(const Manoeuvre &manoeuvre)
Operator !=.
Definition: MSVehicle.cpp:7215
bool entryManoeuvreIsComplete(MSVehicle *veh)
Configure an entry manoeuvre if nothing is configured - otherwise check if complete.
Definition: MSVehicle.cpp:7325
bool configureEntryManoeuvre(MSVehicle *veh)
Setup the entry manoeuvre for this vehicle (Sets completion time and manoeuvre type)
Definition: MSVehicle.cpp:7252
Container that holds the vehicles driving state (position+speed).
Definition: MSVehicle.h:87
double lastCoveredDist() const
previous Speed of this state
Definition: MSVehicle.h:127
double myPosLat
the stored lateral position
Definition: MSVehicle.h:140
State(double pos, double speed, double posLat, double backPos, double previousSpeed)
Constructor.
Definition: MSVehicle.cpp:168
double myPreviousSpeed
the speed at the begin of the previous time step
Definition: MSVehicle.h:148
double myPos
the stored position
Definition: MSVehicle.h:134
bool operator!=(const State &state)
Operator !=.
Definition: MSVehicle.cpp:158
double myLastCoveredDist
Definition: MSVehicle.h:154
double mySpeed
the stored speed (should be >=0 at any time)
Definition: MSVehicle.h:137
State & operator=(const State &state)
Assignment operator.
Definition: MSVehicle.cpp:146
double posLat() const
Lateral Position of this state (m relative to the centerline of the lane).
Definition: MSVehicle.h:117
double pos() const
Position of this state.
Definition: MSVehicle.h:107
double speed() const
Speed of this state.
Definition: MSVehicle.h:112
double backPos() const
back Position of this state
Definition: MSVehicle.h:122
double myBackPos
the stored back position
Definition: MSVehicle.h:145
Stores the waiting intervals over the previous seconds (memory is to be specified in ms....
Definition: MSVehicle.h:162
void passTime(SUMOTime dt, bool waiting)
Definition: MSVehicle.cpp:202
const std::string getState() const
Definition: MSVehicle.cpp:234
SUMOTime cumulatedWaitingTime(SUMOTime memory=-1) const
Definition: MSVehicle.cpp:180
std::deque< std::pair< SUMOTime, SUMOTime > > myWaitingIntervals
Definition: MSVehicle.h:184
void setState(const std::string &state)
Definition: MSVehicle.cpp:245
SUMOTime myMemorySize
the maximal memory to store
Definition: MSVehicle.h:179
void appendWaitingTime(SUMOTime dt)
append an amount of dt millisecs to the stored waiting times
WaitingTimeCollector(SUMOTime memory=MSGlobals::gWaitingTimeMemory)
Constructor.
Definition: MSVehicle.cpp:176
Representation of a vehicle in the micro simulation.
Definition: MSVehicle.h:77
void setManoeuvreType(const MSVehicle::ManoeuvreType mType)
accessor function to myManoeuvre equivalent
Definition: MSVehicle.cpp:7241
TraciLaneChangePriority
modes for prioritizing traci lane change requests
Definition: MSVehicle.h:1163
@ LCP_NOOVERLAP
Definition: MSVehicle.h:1165
@ LCP_OPPORTUNISTIC
Definition: MSVehicle.h:1167
const std::vector< double > & getFurtherLanesPosLat() const
Definition: MSVehicle.h:842
double getRightSideOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
Definition: MSVehicle.cpp:6272
bool wasRemoteControlled(SUMOTime lookBack=DELTA_T) const
Returns the information whether the vehicle is fully controlled via TraCI within the lookBack time.
Definition: MSVehicle.cpp:6833
void processLinkApproaches(double &vSafe, double &vSafeMin, double &vSafeMinDist)
This method iterates through the driveprocess items for the vehicle and adapts the given in/out param...
Definition: MSVehicle.cpp:3298
SUMOTime getTimeSinceStartup() const
Returns the SUMOTime spent driving since startup (speed was larger than 0.1m/s)
Definition: MSVehicle.h:673
void checkLinkLeader(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest, bool isShadowLink=false) const
checks for link leaders on the given link
Definition: MSVehicle.cpp:3147
void checkRewindLinkLanes(const double lengthsInFront, DriveItemVector &lfLinks) const
runs heuristic for keeping the intersection clear in case of downstream jamming
Definition: MSVehicle.cpp:4735
MSVehicle(const MSVehicle &)
invalidated copy constructor
bool willStop() const
Returns whether the vehicle will stop on the current edge.
Definition: MSVehicle.cpp:1550
bool hasDriverState() const
Whether this vehicle is equipped with a MSDriverState.
Definition: MSVehicle.h:1009
static int nextLinkPriority(const std::vector< MSLane * > &conts)
get a numerical value for the priority of the upcoming link
Definition: MSVehicle.cpp:5810
double getTimeGapOnLane() const
Returns the time gap in seconds to the leader of the vehicle on the same lane.
Definition: MSVehicle.cpp:6130
void updateBestLanes(bool forceRebuild=false, const MSLane *startLane=0)
computes the best lanes to use in order to continue the route
Definition: MSVehicle.cpp:5391
bool myAmIdling
Whether the vehicle is trying to enter the network (eg after parking so engine is running)
Definition: MSVehicle.h:1919
SUMOTime myWaitingTime
The time the vehicle waits (is not faster than 0.1m/s) in seconds.
Definition: MSVehicle.h:1855
double getStopDelay() const
Returns the public transport stop delay in seconds.
Definition: MSVehicle.cpp:7467
double computeAngle() const
compute the current vehicle angle
Definition: MSVehicle.cpp:1399
double myTimeLoss
the time loss in seconds due to driving with less than maximum speed
Definition: MSVehicle.h:1859
SUMOTime myLastActionTime
Action offset (actions are taken at time myActionOffset + N*getActionStepLength()) Initialized to 0,...
Definition: MSVehicle.h:1874
bool hasArrivedInternal(bool oppositeTransformed=true) const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge) metho...
Definition: MSVehicle.cpp:1076
double getFriction() const
Returns the current friction on the road as perceived by the friction device.
Definition: MSVehicle.cpp:7161
bool replaceParkingArea(MSParkingArea *parkingArea, std::string &errorMsg)
replace the current parking area stop with a new stop with merge duration
Definition: MSVehicle.cpp:1489
void boardTransportables(MSStop &stop)
board persons and load transportables at the given stop
Definition: MSVehicle.cpp:1838
const std::vector< const MSLane * > getUpcomingLanesUntil(double distance) const
Returns the upcoming (best followed by default 0) sequence of lanes to continue the route starting at...
Definition: MSVehicle.cpp:5876
bool isOnRoad() const
Returns the information whether the vehicle is on a road (is simulated)
Definition: MSVehicle.h:599
void adaptLaneEntering2MoveReminder(const MSLane &enteredLane)
Adapts the vehicle's entering of a new lane.
Definition: MSVehicle.cpp:1159
void addTransportable(MSTransportable *transportable)
Adds a person or container to this vehicle.
Definition: MSVehicle.cpp:6141
MSParkingArea * getNextParkingArea()
get the upcoming parking area stop or nullptr
Definition: MSVehicle.cpp:1526
SUMOTime myJunctionConflictEntryTime
Definition: MSVehicle.h:1937
SUMOTime getLastActionTime() const
Returns the time of the vehicle's last action point.
Definition: MSVehicle.h:537
PositionVector getBoundingPoly(double offset=0) const
get bounding polygon
Definition: MSVehicle.cpp:6552
void setTentativeLaneAndPosition(MSLane *lane, double pos, double posLat=0)
set tentative lane and position during insertion to ensure that all cfmodels work (some of them requi...
Definition: MSVehicle.cpp:6239
SUMOTime getWaitingTime() const
Returns the SUMOTime waited (speed was lesser than 0.1m/s)
Definition: MSVehicle.h:663
void workOnMoveReminders(double oldPos, double newPos, double newSpeed)
Processes active move reminder.
Definition: MSVehicle.cpp:1100
bool isStoppedOnLane() const
Definition: MSVehicle.cpp:1555
double myAcceleration
The current acceleration after dawdling in m/s.
Definition: MSVehicle.h:1901
void registerInsertionApproach(MSLink *link, double dist)
register approach on insertion
Definition: MSVehicle.cpp:5003
SUMOTime getTimeLoss() const
Returns the SUMOTime lost (speed was lesser maximum speed)
Definition: MSVehicle.h:690
void adaptToLeaders(const MSLeaderInfo &ahead, double latOffset, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass) const
Definition: MSVehicle.cpp:2844
bool isActive() const
Returns whether the current simulation step is an action point for the vehicle.
Definition: MSVehicle.h:622
const MSLane * getBackLane() const
Definition: MSVehicle.cpp:4526
double getTimeLossSeconds() const
Returns the time loss in seconds.
Definition: MSVehicle.h:714
void enterLaneAtInsertion(MSLane *enteredLane, double pos, double speed, double posLat, MSMoveReminder::Notification notification)
Update when the vehicle enters a new lane in the emit step.
Definition: MSVehicle.cpp:5241
std::pair< double, LinkDirection > myNextTurn
the upcoming turn for the vehicle
Definition: MSVehicle.h:1905
double getBackPositionOnLane() const
Get the vehicle's position relative to its current lane.
Definition: MSVehicle.h:408
void setPreviousSpeed(double prevSpeed, double prevAcceleration)
Sets the influenced previous speed.
Definition: MSVehicle.cpp:7167
const std::pair< double, LinkDirection > & getNextTurn()
Get the distance and direction of the next upcoming turn for the vehicle (within its look-ahead range...
Definition: MSVehicle.h:830
SUMOTime getArrivalTime(SUMOTime t, double seen, double v, double arrivalSpeed) const
Definition: MSVehicle.cpp:2825
double getAccumulatedWaitingSeconds() const
Returns the number of seconds waited (speed was lesser than 0.1m/s) within the last millisecs.
Definition: MSVehicle.h:708
bool isFrontOnLane(const MSLane *lane) const
Returns the information whether the front of the vehicle is on the given lane.
Definition: MSVehicle.cpp:4729
virtual ~MSVehicle()
Destructor.
Definition: MSVehicle.cpp:991
double getTimeSinceStartupSeconds() const
Definition: MSVehicle.h:677
bool stopsAt(MSStoppingPlace *stop) const
Returns whether the vehicle stops at the given stopping place.
Definition: MSVehicle.cpp:1947
void processLaneAdvances(std::vector< MSLane * > &passedLanes, std::string &emergencyReason)
This method checks if the vehicle has advanced over one or several lanes along its route and triggers...
Definition: MSVehicle.cpp:3975
MSAbstractLaneChangeModel & getLaneChangeModel()
Definition: MSVehicle.cpp:5367
void setEmergencyBlueLight(SUMOTime currentTime)
sets the blue flashing light for emergency vehicles
Definition: MSVehicle.cpp:6219
bool isActionStep(SUMOTime t) const
Returns whether the next simulation step will be an action point for the vehicle.
Definition: MSVehicle.h:629
MSAbstractLaneChangeModel * myLaneChangeModel
Definition: MSVehicle.h:1881
Position getPositionAlongBestLanes(double offset) const
Return the (x,y)-position, which the vehicle would reach if it continued along its best continuation ...
Definition: MSVehicle.cpp:1241
bool hasValidRouteStart(std::string &msg)
checks wether the vehicle can depart on the first edge
Definition: MSVehicle.cpp:1038
double getLeftSideOnLane() const
Get the lateral position of the vehicles left side on the lane:
Definition: MSVehicle.cpp:6254
std::vector< MSLane * > myFurtherLanes
The information into which lanes the vehicle laps into.
Definition: MSVehicle.h:1908
bool signalSet(int which) const
Returns whether the given signal is on.
Definition: MSVehicle.h:1199
MSCFModel::VehicleVariables * myCFVariables
The per vehicle variables of the car following model.
Definition: MSVehicle.h:2120
double getActionStepLengthSecs() const
Returns the vehicle's action step length in secs, i.e. the interval between two action points.
Definition: MSVehicle.h:529
bool addTraciStop(SUMOVehicleParameter::Stop stop, std::string &errorMsg)
Definition: MSVehicle.cpp:6677
void checkLinkLeaderCurrentAndParallel(const MSLink *link, const MSLane *lane, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass, double &vLinkWait, bool &setRequest) const
checks for link leaders of the current link as well as the parallel link (if there is one)
Definition: MSVehicle.cpp:3131
int influenceChangeDecision(int state)
allow TraCI to influence a lane change decision
Definition: MSVehicle.cpp:6808
double getMaxSpeedOnLane() const
Returns the maximal speed for the vehicle on its current lane (including speed factor and deviation,...
Definition: MSVehicle.cpp:1307
bool isRemoteControlled() const
Returns the information whether the vehicle is fully controlled via TraCI.
Definition: MSVehicle.cpp:6827
bool myAmOnNet
Whether the vehicle is on the network (not parking, teleported, vaporized, or arrived)
Definition: MSVehicle.h:1916
double nextStopDist() const
return the distance to the next stop or doubleMax if there is none.
Definition: MSVehicle.h:1048
void enterLaneAtMove(MSLane *enteredLane, bool onTeleporting=false)
Update when the vehicle enters a new lane in the move step.
Definition: MSVehicle.cpp:5047
void adaptBestLanesOccupation(int laneIndex, double density)
update occupation from MSLaneChanger
Definition: MSVehicle.cpp:6039
double accelThresholdForWaiting() const
maximum acceleration to consider a vehicle as 'waiting' at low speed
Definition: MSVehicle.h:2114
void setAngle(double angle, bool straightenFurther=false)
Set a custom vehicle angle in rad, optionally updates furtherLanePosLat.
Definition: MSVehicle.cpp:1353
std::vector< LaneQ >::iterator myCurrentLaneInBestLanes
Definition: MSVehicle.h:1896
MSVehicle & operator=(const MSVehicle &)
invalidated assignment operator
double getDeltaPos(const double accel) const
calculates the distance covered in the next integration step given an acceleration and assuming the c...
Definition: MSVehicle.cpp:3276
const MSLane * myLastBestLanesInternalLane
Definition: MSVehicle.h:1884
void updateOccupancyAndCurrentBestLane(const MSLane *startLane)
updates LaneQ::nextOccupation and myCurrentLaneInBestLanes
Definition: MSVehicle.cpp:5826
const std::vector< MSLane * > getUpstreamOppositeLanes() const
Returns the sequence of opposite lanes corresponding to past lanes.
Definition: MSVehicle.cpp:6003
WaitingTimeCollector myWaitingTimeCollector
Definition: MSVehicle.h:1856
void setRemoteState(Position xyPos)
sets position outside the road network
Definition: MSVehicle.cpp:6821
void fixPosition()
repair errors in vehicle position after changing between internal edges
Definition: MSVehicle.cpp:6047
double getAcceleration() const
Returns the vehicle's acceleration in m/s (this is computed as the last step's mean acceleration in c...
Definition: MSVehicle.h:510
double getSpeedWithoutTraciInfluence() const
Returns the uninfluenced velocity.
Definition: MSVehicle.cpp:6798
PositionVector getBoundingBox(double offset=0) const
get bounding rectangle
Definition: MSVehicle.cpp:6521
ManoeuvreType
flag identifying which, if any, manoeuvre is in progress
Definition: MSVehicle.h:1258
@ MANOEUVRE_ENTRY
Manoeuvre into stopping place.
Definition: MSVehicle.h:1260
@ MANOEUVRE_NONE
not manouevring
Definition: MSVehicle.h:1264
@ MANOEUVRE_EXIT
Manoeuvre out of stopping place.
Definition: MSVehicle.h:1262
const MSEdge * getNextEdgePtr() const
returns the next edge (possibly an internal edge)
Definition: MSVehicle.cpp:7509
Position getPosition(const double offset=0) const
Return current position (x/y, cartesian)
Definition: MSVehicle.cpp:1208
void setBrakingSignals(double vNext)
sets the braking lights on/off
Definition: MSVehicle.cpp:3800
const std::vector< MSLane * > & getBestLanesContinuation() const
Returns the best sequence of lanes to continue the route starting at myLane.
Definition: MSVehicle.cpp:5848
double estimateTimeToNextStop() const
Definition: MSVehicle.cpp:7373
MSParkingArea * getCurrentParkingArea()
get the current parking area stop or nullptr
Definition: MSVehicle.cpp:1540
const MSEdge * myLastBestLanesEdge
Definition: MSVehicle.h:1883
bool ignoreCollision() const
whether this vehicle is except from collision checks
Definition: MSVehicle.cpp:1587
Influencer * myInfluencer
An instance of a velocity/lane influencing instance; built in "getInfluencer".
Definition: MSVehicle.h:2123
void saveState(OutputDevice &out)
Saves the states of a vehicle.
Definition: MSVehicle.cpp:7049
bool replaceRoute(const MSRoute *route, const std::string &info, bool onInit=false, int offset=0, bool addStops=true, bool removeStops=true, std::string *msgReturn=nullptr)
Replaces the current route by the given one.
Definition: MSVehicle.cpp:1085
void setIdling(bool amIdling)
access function for Idling flag used to record whether vehicle is waiting to enter lane (after parkin...
Definition: MSVehicle.h:607
void onRemovalFromNet(const MSMoveReminder::Notification reason)
Called when the vehicle is removed from the network.
Definition: MSVehicle.cpp:1015
void planMove(const SUMOTime t, const MSLeaderInfo &ahead, const double lengthsInFront)
Compute safe velocities for the upcoming lanes based on positions and speeds from the last time step....
Definition: MSVehicle.cpp:2014
bool resumeFromStopping()
Definition: MSVehicle.cpp:6715
int getBestLaneOffset() const
Definition: MSVehicle.cpp:6019
void adaptToJunctionLeader(const std::pair< const MSVehicle *, double > leaderInfo, const double seen, DriveProcessItem *const lastLink, const MSLane *const lane, double &v, double &vLinkPass, double distToCrossing=-1) const
Definition: MSVehicle.cpp:3034
double lateralDistanceToLane(const int offset) const
Get the minimal lateral distance required to move fully onto the lane at given offset.
Definition: MSVehicle.cpp:6394
bool stopsAtEdge(const MSEdge *edge) const
Returns whether the vehicle stops at the given edge.
Definition: MSVehicle.cpp:1963
double getBackPositionOnLane(const MSLane *lane) const
Get the vehicle's position relative to the given lane.
Definition: MSVehicle.h:401
void resetActionOffset(const SUMOTime timeUntilNextAction=0)
Resets the action offset for the vehicle.
Definition: MSVehicle.cpp:1989
std::vector< DriveProcessItem > DriveItemVector
Container for used Links/visited Lanes during planMove() and executeMove.
Definition: MSVehicle.h:2000
void setBlinkerInformation()
sets the blue flashing light for emergency vehicles
Definition: MSVehicle.cpp:6158
const MSEdge * getCurrentEdge() const
Returns the edge the vehicle is currently at (possibly an internal edge or nullptr)
Definition: MSVehicle.cpp:7504
void adaptToLeaderDistance(const MSLeaderDistanceInfo &ahead, double latOffset, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
Definition: MSVehicle.cpp:2923
DriveItemVector::iterator myNextDriveItem
iterator pointing to the next item in myLFLinkLanes
Definition: MSVehicle.h:2013
void leaveLane(const MSMoveReminder::Notification reason, const MSLane *approachedLane=0)
Update of members if vehicle leaves a new lane in the lane change step or at arrival.
Definition: MSVehicle.cpp:5281
bool isIdling() const
Returns whether a sim vehicle is waiting to enter a lane (after parking has completed)
Definition: MSVehicle.h:615
std::shared_ptr< MSSimpleDriverState > getDriverState() const
Returns the vehicle driver's state.
Definition: MSVehicle.cpp:7155
void removeApproachingInformation(const DriveItemVector &lfLinks) const
unregister approach from all upcoming links
Definition: MSVehicle.cpp:6456
void replaceVehicleType(MSVehicleType *type)
Replaces the current vehicle type by the one given.
Definition: MSVehicle.cpp:4518
SUMOTime myJunctionEntryTimeNeverYield
Definition: MSVehicle.h:1936
double getLatOffset(const MSLane *lane) const
Get the offset that that must be added to interpret myState.myPosLat for the given lane.
Definition: MSVehicle.cpp:6321
bool rerouteParkingArea(const std::string &parkingAreaID, std::string &errorMsg)
Definition: MSVehicle.cpp:6601
bool hasArrived() const
Returns whether this vehicle has already arived (reached the arrivalPosition on its final edge)
Definition: MSVehicle.cpp:1070
const MSEdge * getRerouteOrigin() const
Returns the starting point for reroutes (usually the current edge)
Definition: MSVehicle.cpp:1337
void switchOffSignal(int signal)
Switches the given signal off.
Definition: MSVehicle.h:1182
void updateState(double vNext)
updates the vehicles state, given a next value for its speed. This value can be negative in case of t...
Definition: MSVehicle.cpp:4449
double getStopArrivalDelay() const
Returns the estimated public transport stop arrival delay in seconds.
Definition: MSVehicle.cpp:7488
int getSignals() const
Returns the signals.
Definition: MSVehicle.h:1190
int mySignals
State of things of the vehicle that can be on or off.
Definition: MSVehicle.h:1913
bool setExitManoeuvre()
accessor function to myManoeuvre equivalent
Definition: MSVehicle.cpp:7186
bool isOppositeLane(const MSLane *lane) const
whether the give lane is reverse direction of the current route or not
Definition: MSVehicle.cpp:5378
double myStopDist
distance to the next stop or doubleMax if there is none
Definition: MSVehicle.h:1927
Signalling
Some boolean values which describe the state of some vehicle parts.
Definition: MSVehicle.h:1117
@ VEH_SIGNAL_EMERGENCY_RED
A red emergency light is on.
Definition: MSVehicle.h:1145
@ VEH_SIGNAL_NONE
Everything is switched off.
Definition: MSVehicle.h:1119
@ VEH_SIGNAL_FOGLIGHT
The fog lights are on (no visualisation)
Definition: MSVehicle.h:1131
@ VEH_SIGNAL_FRONTLIGHT
The front lights are on (no visualisation)
Definition: MSVehicle.h:1129
@ VEH_SIGNAL_DOOR_OPEN_LEFT
One of the left doors is opened.
Definition: MSVehicle.h:1139
@ VEH_SIGNAL_BLINKER_RIGHT
Right blinker lights are switched on.
Definition: MSVehicle.h:1121
@ VEH_SIGNAL_BRAKELIGHT
The brake lights are on.
Definition: MSVehicle.h:1127
@ VEH_SIGNAL_BACKDRIVE
The backwards driving lights are on (no visualisation)
Definition: MSVehicle.h:1135
@ VEH_SIGNAL_EMERGENCY_BLUE
A blue emergency light is on.
Definition: MSVehicle.h:1143
@ VEH_SIGNAL_BLINKER_LEFT
Left blinker lights are switched on.
Definition: MSVehicle.h:1123
@ VEH_SIGNAL_DOOR_OPEN_RIGHT
One of the right doors is opened.
Definition: MSVehicle.h:1141
@ VEH_SIGNAL_BLINKER_EMERGENCY
Blinker lights on both sides are switched on.
Definition: MSVehicle.h:1125
@ VEH_SIGNAL_WIPER
The wipers are on.
Definition: MSVehicle.h:1137
@ VEH_SIGNAL_EMERGENCY_YELLOW
A yellow emergency light is on.
Definition: MSVehicle.h:1147
@ VEH_SIGNAL_HIGHBEAM
The high beam lights are on (no visualisation)
Definition: MSVehicle.h:1133
SUMOTime getActionStepLength() const
Returns the vehicle's action step length in millisecs, i.e. the interval between two action points.
Definition: MSVehicle.h:521
bool myHaveToWaitOnNextLink
Definition: MSVehicle.h:1921
SUMOTime collisionStopTime() const
Returns the remaining time a vehicle needs to stop due to a collision. A negative value indicates tha...
Definition: MSVehicle.cpp:1581
const std::vector< const MSLane * > getPastLanesUntil(double distance) const
Returns the sequence of past lanes (right-most on edge) based on the route starting at the current la...
Definition: MSVehicle.cpp:5945
double getBestLaneDist() const
returns the distance that can be driven without lane change
Definition: MSVehicle.cpp:6028
std::pair< const MSVehicle *const, double > getLeader(double dist=0) const
Returns the leader of the vehicle looking for a fixed distance.
Definition: MSVehicle.cpp:6088
bool executeMove()
Executes planned vehicle movements with regards to right-of-way.
Definition: MSVehicle.cpp:4135
const MSLane * getLane() const
Returns the lane the vehicle is on.
Definition: MSVehicle.h:577
std::pair< const MSVehicle *const, double > getFollower(double dist=0) const
Returns the follower of the vehicle looking for a fixed distance.
Definition: MSVehicle.cpp:6118
double getLastStepDist() const
Get the distance the vehicle covered in the previous timestep.
Definition: MSVehicle.h:384
void invalidateCachedPosition()
Definition: MSVehicle.h:424
ChangeRequest
Requests set via TraCI.
Definition: MSVehicle.h:194
@ REQUEST_HOLD
vehicle want's to keep the current lane
Definition: MSVehicle.h:202
@ REQUEST_LEFT
vehicle want's to change to left lane
Definition: MSVehicle.h:198
@ REQUEST_NONE
vehicle doesn't want to change
Definition: MSVehicle.h:196
@ REQUEST_RIGHT
vehicle want's to change to right lane
Definition: MSVehicle.h:200
bool isLeader(const MSLink *link, const MSVehicle *veh, const double gap) const
whether the given vehicle must be followed at the given junction
Definition: MSVehicle.cpp:6911
void computeFurtherLanes(MSLane *enteredLane, double pos, bool collision=false)
updates myFurtherLanes on lane insertion or after collision
Definition: MSVehicle.cpp:5183
MSLane * getMutableLane() const
Returns the lane the vehicle is on Non const version indicates that something volatile is going on.
Definition: MSVehicle.h:585
std::pair< const MSLane *, double > getLanePosAfterDist(double distance) const
return lane and position along bestlanes at the given distance
Definition: MSVehicle.cpp:6054
SUMOTime myCollisionImmunity
amount of time for which the vehicle is immune from collisions
Definition: MSVehicle.h:1930
bool passingMinor() const
decide whether the vehicle is passing a minor link or has comitted to do so
Definition: MSVehicle.cpp:6895
void updateWaitingTime(double vNext)
Updates the vehicle's waiting time counters (accumulated and consecutive)
Definition: MSVehicle.cpp:3819
void enterLaneAtLaneChange(MSLane *enteredLane)
Update when the vehicle enters a new lane in the laneChange step.
Definition: MSVehicle.cpp:5107
BaseInfluencer & getBaseInfluencer()
Returns the velocity/lane influencer.
Definition: MSVehicle.cpp:6781
Influencer & getInfluencer()
Definition: MSVehicle.cpp:6773
double getRightSideOnLane() const
Get the lateral position of the vehicles right side on the lane:
Definition: MSVehicle.cpp:6248
bool unsafeLinkAhead(const MSLane *lane) const
whether the vehicle may safely move to the given lane with regard to upcoming links
Definition: MSVehicle.cpp:6468
double getCurrentApparentDecel() const
get apparent deceleration based on vType parameters and current acceleration
Definition: MSVehicle.cpp:7179
double updateFurtherLanes(std::vector< MSLane * > &furtherLanes, std::vector< double > &furtherLanesPosLat, const std::vector< MSLane * > &passedLanes)
update a vector of further lanes and return the new backPos
Definition: MSVehicle.cpp:4536
DriveItemVector myLFLinkLanesPrev
planned speeds from the previous step for un-registering from junctions after the new container is fi...
Definition: MSVehicle.h:2006
std::vector< std::vector< LaneQ > > myBestLanes
Definition: MSVehicle.h:1891
void setActionStepLength(double actionStepLength, bool resetActionOffset=true)
Sets the action steplength of the vehicle.
Definition: MSVehicle.cpp:1376
double getLateralPositionOnLane() const
Get the vehicle's lateral position on the lane.
Definition: MSVehicle.h:416
double getSlope() const
Returns the slope of the road at vehicle's position in degrees.
Definition: MSVehicle.cpp:1181
bool myActionStep
The flag myActionStep indicates whether the current time step is an action point for the vehicle.
Definition: MSVehicle.h:1871
const Position getBackPosition() const
Definition: MSVehicle.cpp:1456
bool congested() const
Definition: MSVehicle.cpp:1393
void loadState(const SUMOSAXAttributes &attrs, const SUMOTime offset)
Loads the state of this vehicle from the given description.
Definition: MSVehicle.cpp:7094
SUMOTime myTimeSinceStartup
duration of driving (speed > SUMO_const_haltingSpeed) after the last halting eposide
Definition: MSVehicle.h:1940
double getSpeed() const
Returns the vehicle's current speed.
Definition: MSVehicle.h:486
void setApproachingForAllLinks(const SUMOTime t)
Register junction approaches for all link items in the current plan.
Definition: MSVehicle.cpp:4950
SUMOTime getAccumulatedWaitingTime() const
Returns the SUMOTime waited (speed was lesser than 0.1m/s) within the last t millisecs.
Definition: MSVehicle.h:699
SUMOTime remainingStopDuration() const
Returns the remaining stop duration for a stopped vehicle or 0.
Definition: MSVehicle.cpp:1572
bool keepStopping(bool afterProcessing=false) const
Returns whether the vehicle is stopped and must continue to do so.
Definition: MSVehicle.cpp:1560
void workOnIdleReminders()
cycle through vehicle devices invoking notifyIdle
Definition: MSVehicle.cpp:1143
static std::vector< MSLane * > myEmptyLaneVector
Definition: MSVehicle.h:1898
Position myCachedPosition
Definition: MSVehicle.h:1932
MSVehicle::ManoeuvreType getManoeuvreType() const
accessor function to myManoeuvre equivalent
Definition: MSVehicle.cpp:7235
double checkReversal(bool &canReverse, double speedThreshold=SUMO_const_haltingSpeed, double seen=0) const
Definition: MSVehicle.cpp:3843
void removePassedDriveItems()
Erase passed drive items from myLFLinkLanes (and unregister approaching information for corresponding...
Definition: MSVehicle.cpp:3586
const std::vector< MSLane * > & getFurtherLanes() const
Definition: MSVehicle.h:838
const std::vector< LaneQ > & getBestLanes() const
Returns the description of best lanes to use in order to continue the route.
Definition: MSVehicle.cpp:5385
std::vector< double > myFurtherLanesPosLat
lateral positions on further lanes
Definition: MSVehicle.h:1910
bool checkActionStep(const SUMOTime t)
Returns whether the vehicle is supposed to take action in the current simulation step Updates myActio...
Definition: MSVehicle.cpp:1979
const MSCFModel & getCarFollowModel() const
Returns the vehicle's car following model definition.
Definition: MSVehicle.h:966
Position validatePosition(Position result, double offset=0) const
ensure that a vehicle-relative position is not invalid
Definition: MSVehicle.cpp:1316
void loadPreviousApproaching(MSLink *link, bool setRequest, SUMOTime arrivalTime, double arrivalSpeed, double arrivalSpeedBraking, double dist, double leaveSpeed)
Definition: MSVehicle.cpp:7143
bool keepClear(const MSLink *link) const
decide whether the given link must be kept clear
Definition: MSVehicle.cpp:6839
bool manoeuvreIsComplete() const
accessor function to myManoeuvre equivalent
Definition: MSVehicle.cpp:7368
double processNextStop(double currentVelocity)
Processes stops, returns the velocity needed to reach the stop.
Definition: MSVehicle.cpp:1593
double myAngle
the angle in radians (
Definition: MSVehicle.h:1924
bool ignoreRed(const MSLink *link, bool canBrake) const
decide whether a red (or yellow light) may be ignore
Definition: MSVehicle.cpp:6851
double getPositionOnLane() const
Get the vehicle's position along the lane.
Definition: MSVehicle.h:377
void updateTimeLoss(double vNext)
Updates the vehicle's time loss.
Definition: MSVehicle.cpp:3831
MSDevice_DriverState * myDriverState
This vehicle's driver state.
Definition: MSVehicle.h:1865
bool joinTrainPart(MSVehicle *veh)
try joining the given vehicle to the rear of this one (to resolve joinTriggered)
Definition: MSVehicle.cpp:1893
MSLane * myLane
The lane the vehicle is on.
Definition: MSVehicle.h:1879
bool onFurtherEdge(const MSEdge *edge) const
whether this vehicle has its back (and no its front) on the given edge
Definition: MSVehicle.cpp:6591
double processTraCISpeedControl(double vSafe, double vNext)
Check for speed advices from the traci client and adjust the speed vNext in the current (euler) / aft...
Definition: MSVehicle.cpp:3557
Manoeuvre myManoeuvre
Definition: MSVehicle.h:1347
double getLateralOverlap() const
return the amount by which the vehicle extends laterally outside it's primary lane
Definition: MSVehicle.cpp:6450
double getAngle() const
Returns the vehicle's direction in radians.
Definition: MSVehicle.h:729
bool handleCollisionStop(MSStop &stop, const double distToStop)
Definition: MSVehicle.cpp:6688
bool hasInfluencer() const
whether the vehicle is individually influenced (via TraCI or special parameters)
Definition: MSVehicle.h:1690
MSDevice_Friction * myFrictionDevice
This vehicle's friction perception.
Definition: MSVehicle.h:1868
double getPreviousSpeed() const
Returns the vehicle's speed before the previous time step.
Definition: MSVehicle.h:494
MSCFModel::VehicleVariables * getCarFollowVariables() const
Returns the vehicle's car following model variables.
Definition: MSVehicle.h:987
MSVehicle()
invalidated default constructor
bool joinTrainPartFront(MSVehicle *veh)
try joining the given vehicle to the front of this one (to resolve joinTriggered)
Definition: MSVehicle.cpp:1910
void updateActionOffset(const SUMOTime oldActionStepLength, const SUMOTime newActionStepLength)
Process an updated action step length value (only affects the vehicle's action offset,...
Definition: MSVehicle.cpp:1995
double getBrakeGap(bool delayed=false) const
get distance for coming to a stop (used for rerouting checks)
Definition: MSVehicle.cpp:1973
void executeFractionalMove(double dist)
move vehicle forward by the given distance during insertion
Definition: MSVehicle.cpp:4392
LaneChangeMode
modes for resolving conflicts between external control (traci) and vehicle control over lane changing...
Definition: MSVehicle.h:1155
@ LC_NOCONFLICT
Definition: MSVehicle.h:1157
virtual void drawOutsideNetwork(bool)
register vehicle for drawing while outside the network
Definition: MSVehicle.h:1841
void initDevices()
Definition: MSVehicle.cpp:1028
State myState
This Vehicles driving state (pos and speed)
Definition: MSVehicle.h:1862
double getCenterOnEdge(const MSLane *lane=0) const
Get the vehicle's lateral position on the edge of the given lane (or its current edge if lane == 0)
Definition: MSVehicle.cpp:6278
void setLateralPositionOnLane(double posLat)
Definition: MSVehicle.h:420
void adaptToLeader(const std::pair< const MSVehicle *, double > leaderInfo, double seen, DriveProcessItem *const lastLink, double &v, double &vLinkPass) const
Definition: MSVehicle.cpp:2955
void activateReminders(const MSMoveReminder::Notification reason, const MSLane *enteredLane=0)
"Activates" all current move reminder
Definition: MSVehicle.cpp:5014
double getDistanceToPosition(double destPos, const MSEdge *destEdge) const
Definition: MSVehicle.cpp:6071
void planMoveInternal(const SUMOTime t, MSLeaderInfo ahead, DriveItemVector &lfLinks, double &myStopDist, std::pair< double, LinkDirection > &myNextTurn) const
Definition: MSVehicle.cpp:2083
void switchOnSignal(int signal)
Switches the given signal on.
Definition: MSVehicle.h:1174
static bool overlap(const MSVehicle *veh1, const MSVehicle *veh2)
Definition: MSVehicle.h:757
int getLaneIndex() const
Definition: MSVehicle.cpp:6233
void updateParkingState()
update state while parking
Definition: MSVehicle.cpp:4502
DriveItemVector myLFLinkLanes
container for the planned speeds in the current step
Definition: MSVehicle.h:2003
void updateDriveItems()
Check whether the drive items (myLFLinkLanes) are up to date, and update them if required.
Definition: MSVehicle.cpp:3640
Position getVelocityVector() const
Returns the vehicle's direction in radians.
Definition: MSVehicle.h:737
SUMOTime myJunctionEntryTime
time at which the current junction was entered
Definition: MSVehicle.h:1935
The car-following model and parameter.
Definition: MSVehicleType.h:63
double getLengthWithGap() const
Get vehicle's length including the minimum gap [m].
double getActionStepLengthSecs() const
Returns this type's default action step length in seconds.
const MSCFModel & getCarFollowModel() const
Returns the vehicle type's car following model definition (const version)
SUMOTime getActionStepLength() const
Returns this type's default action step length.
Static storage of an output device and its base (abstract) implementation.
Definition: OutputDevice.h:61
A point in 2D or 3D with translation and scaling methods.
Definition: Position.h:37
static const Position INVALID
used to indicate that a position is valid
Definition: Position.h:298
A list of positions.
Encapsulated SAX-Attributes.
Representation of a vehicle.
Definition: SUMOVehicle.h:60
Definition of vehicle stop (position and duration)
Structure representing possible vehicle parameter.
Drive process items represent bounds on the safe velocity corresponding to the upcoming links.
Definition: MSVehicle.h:1947
DriveProcessItem(MSLink *link, double vPass, double vWait, bool setRequest, SUMOTime arrivalTime, double arrivalSpeed, double arrivalSpeedBraking, double distance, double leaveSpeed)
Definition: MSVehicle.h:1960
double getLeaveSpeed() const
Definition: MSVehicle.h:1993
DriveProcessItem(double vWait, double distance, double _availableSpace=0)
constructor if the link shall not be passed
Definition: MSVehicle.h:1976
void adaptLeaveSpeed(const double v)
Definition: MSVehicle.h:1986
Container for state and parameters of the gap control.
Definition: MSVehicle.h:1378
bool active
Whether the gap control is active.
Definition: MSVehicle.h:1409
static std::map< const MSVehicle *, GapControlState * > refVehMap
stores reference vehicles currently in use by a gapController
Definition: MSVehicle.h:1420
SUMOTime lastUpdate
Time of the last update of the gap control.
Definition: MSVehicle.h:1415
double changeRate
Rate by which the current time and space headways are changed towards the target value....
Definition: MSVehicle.h:1403
double addGapTarget
Target value for the desired space headway.
Definition: MSVehicle.h:1398
static GapControlVehStateListener vehStateListener
Definition: MSVehicle.h:1423
double timeHeadwayIncrement
cache storage for the headway increments of the current operation
Definition: MSVehicle.h:1417
double tauOriginal
Original value for the desired headway (will be reset after duration has expired)
Definition: MSVehicle.h:1390
double tauCurrent
Current, interpolated value for the desired time headway.
Definition: MSVehicle.h:1392
double remainingDuration
Remaining duration for keeping the target headway.
Definition: MSVehicle.h:1400
void activate(double tauOriginal, double tauTarget, double additionalGap, double duration, double changeRate, double maxDecel, const MSVehicle *refVeh)
Start gap control with given params.
Definition: MSVehicle.cpp:317
double addGapCurrent
Current, interpolated value for the desired space headway.
Definition: MSVehicle.h:1396
static void cleanup()
Static cleanup (removes vehicle state listener)
Definition: MSVehicle.cpp:311
double tauTarget
Target value for the desired time headway.
Definition: MSVehicle.h:1394
void deactivate()
Stop gap control.
Definition: MSVehicle.cpp:347
const MSVehicle * referenceVeh
reference vehicle for the gap - if it is null, the current leader on the ego's lane is used as a refe...
Definition: MSVehicle.h:1407
double maxDecel
Maximal deceleration to be applied due to the adapted headway.
Definition: MSVehicle.h:1405
bool gapAttained
Whether the desired gap was attained during the current activity phase (induces the remaining duratio...
Definition: MSVehicle.h:1411
const MSVehicle * prevLeader
The last recognized leader.
Definition: MSVehicle.h:1413
static void init()
Static initalization (adds vehicle state listener)
Definition: MSVehicle.cpp:300
A structure representing the best lanes for continuing the current route starting at 'lane'.
Definition: MSVehicle.h:857
double length
The overall length which may be driven when using this lane without a lane change.
Definition: MSVehicle.h:861
bool allowsContinuation
Whether this lane allows to continue the drive.
Definition: MSVehicle.h:871
double nextOccupation
As occupation, but without the first lane.
Definition: MSVehicle.h:867
std::vector< MSLane * > bestContinuations
Definition: MSVehicle.h:877
MSLane * lane
The described lane.
Definition: MSVehicle.h:859
double currentLength
The length which may be driven on this lane.
Definition: MSVehicle.h:863
int bestLaneOffset
The (signed) number of lanes to be crossed to get to the lane which allows to continue the drive.
Definition: MSVehicle.h:869
double occupation
The overall vehicle sum on consecutive lanes which can be passed without a lane change.
Definition: MSVehicle.h:865