add platoon-aware lane change model (MSLCM_LC2013_CC)

src/microsim/cfmodels/CC_VehicleVariables.cpp

@@ -63,7 +63,8 @@ CC_VehicleVariables::CC_VehicleVariables() :
     engine(0), engineModel(CC_ENGINE_MODEL_FOLM),
     usePrediction(false),
     autoLaneChange(false),
-    platoonFixedLane(-1) {
+    platoonFixedLane(-1),
+    commitToLaneChange(true), noCommitReason(0), laneChangeCommitTime(-1) {
     fakeData.frontAcceleration = 0;
     fakeData.frontControllerAcceleration = 0;
     fakeData.frontDistance = 0;

src/microsim/cfmodels/CC_VehicleVariables.h

@@ -206,4 +206,14 @@ class CC_VehicleVariables : public MSCFModel::VehicleVariables {
 
     /// @brief whole platoon lane change (not automatic). -1 indicates no need to change lane (mechanism disabled)
     int platoonFixedLane;
+
+    /// @brief when followers asks whether to actually change lane or not, what should the leader tell them?¬
+    bool commitToLaneChange;
+
+    /// @brief if a follower asks and we don't commit, what should be the blocked state to return?
+    int noCommitReason;
+
+    /// @brief timestep for which the above commit is valid¬
+    SUMOTime laneChangeCommitTime;
+
 };

src/microsim/cfmodels/MSCFModel_CC.cpp

@@ -117,6 +117,9 @@ MSCFModel_CC::setLeader(MSVehicle* veh, MSVehicle* const leader) const {
 int
 MSCFModel_CC::isPlatoonLaneChangeSafe(const MSVehicle* veh, bool left) const {
     CC_VehicleVariables* vars = (CC_VehicleVariables*) veh->getCarFollowVariables();
+    if (!vars->isLeader) {
+        return isPlatoonLaneChangeSafe(vars->leaderVehicle, left);
+    }
     int result = 0;
     std::pair<int, int> state = libsumo::Vehicle::getLaneChangeState(veh->getID(), left ? +1 : -1);
     // bit 1: query lateral direction (left:0, right:1)
@@ -229,6 +232,31 @@ MSCFModel_CC::getSecureGap(const MSVehicle* const veh, const MSVehicle* const pr
     }
 }
 
+int
+MSCFModel_CC::commitToLaneChange(const MSVehicle* veh, bool left) const {
+    auto vars = (CC_VehicleVariables*)veh->getCarFollowVariables();
+    if (isLeader(veh)) {
+        SUMOTime timestep = MSNet::getInstance()->getCurrentTimeStep();
+        if (vars->laneChangeCommitTime == timestep) {
+            if (vars->commitToLaneChange)
+                return 0;
+            else
+                return vars->noCommitReason;
+        }
+        else {
+            int blocked = isPlatoonLaneChangeSafe(veh, left);
+            if (blocked == 0) {
+                vars->commitToLaneChange = true;
+                vars->laneChangeCommitTime = timestep;
+            }
+            return blocked;
+        }
+    }
+    else {
+        return commitToLaneChange(vars->leaderVehicle, left);
+    }
+}
+
 double
 MSCFModel_CC::finalizeSpeed(MSVehicle* const veh, double vPos) const {
     double vNext;

src/microsim/cfmodels/MSCFModel_CC.h

@@ -256,6 +256,8 @@ class MSCFModel_CC : public MSCFModel {
 
     bool isLeader(const MSVehicle* veh) const;
 
+    int commitToLaneChange(const MSVehicle* veh, bool left) const;
+
     /**
      * @brief returns the number of lanes set in the configuration file
      */

src/microsim/lcmodels/CMakeLists.txt

@@ -7,6 +7,8 @@ set(microsim_lcmodels_STAT_SRCS
    MSLCM_DK2008.h
    MSLCM_LC2013.cpp
    MSLCM_LC2013.h
+   MSLCM_LC2013_CC.cpp
+   MSLCM_LC2013_CC.h
    MSLCM_SL2015.cpp
    MSLCM_SL2015.h
 )

src/microsim/lcmodels/MSAbstractLaneChangeModel.cpp

@@ -47,6 +47,7 @@
 #include <microsim/devices/MSDevice_Bluelight.h>
 #include "MSLCM_DK2008.h"
 #include "MSLCM_LC2013.h"
+#include "MSLCM_LC2013_CC.h"
 #include "MSLCM_SL2015.h"
 #include "MSAbstractLaneChangeModel.h"
 
@@ -86,6 +87,8 @@ MSAbstractLaneChangeModel::build(LaneChangeModel lcm, MSVehicle& v) {
             return new MSLCM_DK2008(v);
         case LaneChangeModel::LC2013:
             return new MSLCM_LC2013(v);
+        case LaneChangeModel::LC2013_CC:
+            return new MSLCM_LC2013_CC(v);
         case LaneChangeModel::SL2015:
             return new MSLCM_SL2015(v);
         case LaneChangeModel::DEFAULT:

src/microsim/lcmodels/MSLCM_LC2013_CC.cpp

@@ -0,0 +1,50 @@
+/****************************************************************************/
+// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
+// Copyright (C) 2001-2023 German Aerospace Center (DLR) and others.
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// https://www.eclipse.org/legal/epl-2.0/
+// This Source Code may also be made available under the following Secondary
+// Licenses when the conditions for such availability set forth in the Eclipse
+// Public License 2.0 are satisfied: GNU General Public License, version 2
+// or later which is available at
+// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
+// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
+/****************************************************************************/
+/// @file    MSLCM_LC2013.cpp
+/// @author  Daniel Krajzewicz
+/// @author  Jakob Erdmann
+/// @author  Friedemann Wesner
+/// @author  Sascha Krieg
+/// @author  Michael Behrisch
+/// @author  Laura Bieker
+/// @author  Leonhard Luecken
+/// @date    Fri, 08.10.2013
+///
+// A lane change model developed by J. Erdmann
+// based on the model of D. Krajzewicz developed between 2004 and 2011 (MSLCM_DK2004)
+/****************************************************************************/
+#include "MSLCM_LC2013_CC.h"
+#include <microsim/cfmodels/MSCFModel_CC.h>
+
+// ===========================================================================
+// member method definitions
+// ===========================================================================
+MSLCM_LC2013_CC::MSLCM_LC2013_CC(MSVehicle& v) : MSLCM_LC2013(v) {}
+
+MSLCM_LC2013_CC::~MSLCM_LC2013_CC() {}
+
+int MSLCM_LC2013_CC::checkChangeBeforeCommitting(const MSVehicle *veh, int state) const {
+
+    if (state & LCA_WANTS_LANECHANGE) {
+        auto *cfm = dynamic_cast<const MSCFModel_CC *>(&veh->getCarFollowModel());
+
+        if (cfm) {
+            bool left = (state & LCA_LEFT) != 0;
+            return cfm->commitToLaneChange(veh, left);
+        }
+    }
+    return 0;
+}
+
+/****************************************************************************/

src/microsim/lcmodels/MSLCM_LC2013_CC.h

@@ -0,0 +1,50 @@
+/****************************************************************************/
+// Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
+// Copyright (C) 2001-2023 German Aerospace Center (DLR) and others.
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// https://www.eclipse.org/legal/epl-2.0/
+// This Source Code may also be made available under the following Secondary
+// Licenses when the conditions for such availability set forth in the Eclipse
+// Public License 2.0 are satisfied: GNU General Public License, version 2
+// or later which is available at
+// https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
+// SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
+/****************************************************************************/
+/// @file    MSLCM_LC2013.h
+/// @author  Daniel Krajzewicz
+/// @author  Jakob Erdmann
+/// @author  Friedemann Wesner
+/// @author  Sascha Krieg
+/// @author  Michael Behrisch
+/// @date    Fri, 08.10.2013
+///
+// A lane change model developed by D. Krajzewicz, J. Erdmann et al. between 2004 and 2013
+/****************************************************************************/
+#pragma once
+
+#include "MSLCM_LC2013.h"
+
+// ===========================================================================
+// class definitions
+// ===========================================================================
+/**
+ * @class MSLCM_LC2013_CC
+ * @brief A lane change model developed by D. Krajzewicz, J. Erdmann
+ * et al. between 2004 and 2013, extended for atomic lane change for platoons
+ */
+class MSLCM_LC2013_CC : public MSLCM_LC2013 {
+public:
+
+    MSLCM_LC2013_CC(MSVehicle& v);
+
+    virtual ~MSLCM_LC2013_CC();
+
+    /// @brief Returns the model's id
+    LaneChangeModel getModelID() const override {
+        return LaneChangeModel::LC2013_CC;
+    }
+
+    int checkChangeBeforeCommitting(const MSVehicle* veh, int state) const override;
+
+};

src/utils/xml/SUMOXMLDefinitions.cpp

@@ -1270,6 +1270,7 @@ StringBijection<InsertionCheck>::Entry SUMOXMLDefinitions::insertionCheckValues[
 StringBijection<LaneChangeModel>::Entry SUMOXMLDefinitions::laneChangeModelValues[] = {
     { "DK2008",     LaneChangeModel::DK2008 },
     { "LC2013",     LaneChangeModel::LC2013 },
+    { "LC2013_CC",  LaneChangeModel::LC2013_CC },
     { "SL2015",     LaneChangeModel::SL2015 },
     { "default",    LaneChangeModel::DEFAULT } //< must be the last one
 };

src/utils/xml/SUMOXMLDefinitions.h

@@ -1882,6 +1882,7 @@ enum LaneChangeAction {
 enum class LaneChangeModel {
     DK2008,
     LC2013,
+    LC2013_CC,
     SL2015,
     DEFAULT
 };