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registering on bidi furtherLanes. refs #13313
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@namdre
namdre committed May 30, 2023
1 parent b86af7a commit d91dae5
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Showing 3 changed files with 79 additions and 14 deletions.
4 changes: 2 additions & 2 deletions src/microsim/MSLane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1822,8 +1822,8 @@ MSLane::detectCollisionBetween(SUMOTime timestep, const std::string& stage, MSVe
return false;
}

const bool colliderOpposite = collider->getLaneChangeModel().isOpposite() || collider->getLane() == getBidiLane();
const bool victimOpposite = victim->getLaneChangeModel().isOpposite() || victim->getLane() == getBidiLane();
const bool colliderOpposite = collider->getLaneChangeModel().isOpposite() || collider->isBidiOn(this);
const bool victimOpposite = victim->getLaneChangeModel().isOpposite() || victim->isBidiOn(this);
const bool bothOpposite = victimOpposite && colliderOpposite;
if (bothOpposite) {
std::swap(victim, collider);
Expand Down
86 changes: 74 additions & 12 deletions src/microsim/MSVehicle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1001,8 +1001,12 @@ MSVehicle::~MSVehicle() {

void
MSVehicle::cleanupFurtherLanes() {
for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
(*i)->resetPartialOccupation(this);
for (MSLane* further : myFurtherLanes) {
further->resetPartialOccupation(this);
if (further->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
further->getBidiLane()->resetPartialOccupation(this);
}
}
if (myLaneChangeModel != nullptr) {
removeApproachingInformation(myLFLinkLanes);
Expand Down Expand Up @@ -4758,6 +4762,10 @@ MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<do
#endif
for (MSLane* further : furtherLanes) {
further->resetPartialOccupation(this);
if (further->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
further->getBidiLane()->resetPartialOccupation(this);
}
}

std::vector<MSLane*> newFurther;
Expand All @@ -4770,9 +4778,14 @@ MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<do
std::vector<double>::const_iterator fpi = furtherLanesPosLat.begin();
for (auto pi = passedLanes.rbegin() + 1; pi != passedLanes.rend() && backPosOnPreviousLane < 0; ++pi) {
// As long as vehicle back reaches into passed lane, add it to the further lanes
newFurther.push_back(*pi);
backPosOnPreviousLane += (*pi)->setPartialOccupation(this);
if (fi != furtherLanes.end() && *pi == *fi) {
MSLane* further = *pi;
newFurther.push_back(further);
backPosOnPreviousLane += further->setPartialOccupation(this);
if (further->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
further->getBidiLane()->setPartialOccupation(this);
}
if (fi != furtherLanes.end() && further == *fi) {
// Lateral position on this lane is already known. Assume constant and use old value.
newFurtherPosLat.push_back(*fpi);
++fi;
Expand All @@ -4795,7 +4808,7 @@ MSVehicle::updateFurtherLanes(std::vector<MSLane*>& furtherLanes, std::vector<do
#ifdef DEBUG_SETFURTHER
if (DEBUG_COND) {
std::cout << SIMTIME << " updateFurtherLanes \n"
<< " further lane '" << (*pi)->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
<< " further lane '" << further->getID() << "' backPosOnPreviousLane=" << backPosOnPreviousLane
<< std::endl;
}
#endif
Expand Down Expand Up @@ -4890,6 +4903,8 @@ MSVehicle::getBackPositionOnLane(const MSLane* lane, bool calledByGetPosition) c
//if (DEBUG_COND) std::cout << " comparing i=" << (*i)->getID() << " lane=" << lane->getID() << "\n";
if (*i == lane) {
return -leftLength;
} else if (*i == lane->getBidiLane()) {
return lane->getLength() + leftLength;
}
++i;
}
Expand Down Expand Up @@ -5349,11 +5364,19 @@ MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
if (leftLength > 0) {
if (lane != nullptr) {
myFurtherLanes[i]->resetPartialOccupation(this);
if (myFurtherLanes[i]->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
}
// lane changing onto longer lanes may reduce the number of
// remaining further lanes
myFurtherLanes[i] = lane;
myFurtherLanesPosLat[i] = myState.myPosLat;
leftLength -= (lane)->setPartialOccupation(this);
leftLength -= lane->setPartialOccupation(this);
if (lane->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (lane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
lane->getBidiLane()->setPartialOccupation(this);
}
myState.myBackPos = -leftLength;
#ifdef DEBUG_SETFURTHER
if (DEBUG_COND) {
Expand All @@ -5376,6 +5399,10 @@ MSVehicle::enterLaneAtLaneChange(MSLane* enteredLane) {
}
} else {
myFurtherLanes[i]->resetPartialOccupation(this);
if (myFurtherLanes[i]->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (myFurtherLanes[i]->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
myFurtherLanes[i]->getBidiLane()->resetPartialOccupation(this);
}
deleteFurther++;
}
}
Expand Down Expand Up @@ -5431,6 +5458,10 @@ MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision)
myFurtherLanes.push_back(clane);
myFurtherLanesPosLat.push_back(myState.myPosLat);
clane->setPartialOccupation(this);
if (clane->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (clane->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
clane->getBidiLane()->resetPartialOccupation(this);
}
}
leftLength -= clane->getLength();
}
Expand All @@ -5442,13 +5473,17 @@ MSVehicle::computeFurtherLanes(MSLane* enteredLane, double pos, bool collision)
#endif
} else {
// clear partial occupation
for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
for (MSLane* further : myFurtherLanes) {
#ifdef DEBUG_SETFURTHER
if (DEBUG_COND) {
std::cout << SIMTIME << " opposite: resetPartialOccupation " << (*i)->getID() << " \n";
std::cout << SIMTIME << " opposite: resetPartialOccupation " << further->getID() << " \n";
}
#endif
(*i)->resetPartialOccupation(this);
further->resetPartialOccupation(this);
if (further->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
further->getBidiLane()->resetPartialOccupation(this);
}
}
myFurtherLanes.clear();
myFurtherLanesPosLat.clear();
Expand Down Expand Up @@ -5525,13 +5560,17 @@ MSVehicle::leaveLane(const MSMoveReminder::Notification reason, const MSLane* ap
if (reason != MSMoveReminder::NOTIFICATION_JUNCTION && reason != MSMoveReminder::NOTIFICATION_LANE_CHANGE) {
// @note. In case of lane change, myFurtherLanes and partial occupation
// are handled in enterLaneAtLaneChange()
for (std::vector<MSLane*>::iterator i = myFurtherLanes.begin(); i != myFurtherLanes.end(); ++i) {
for (MSLane* further : myFurtherLanes) {
#ifdef DEBUG_FURTHER
if (DEBUG_COND) {
std::cout << SIMTIME << " leaveLane \n";
}
#endif
(*i)->resetPartialOccupation(this);
further->resetPartialOccupation(this);
if (further->getBidiLane() != nullptr
&& (!isRailway(getVClass()) || (further->getPermissions() & ~SVC_RAIL_CLASSES) != 0)) {
further->getBidiLane()->resetPartialOccupation(this);
}
}
myFurtherLanes.clear();
myFurtherLanesPosLat.clear();
Expand Down Expand Up @@ -6540,6 +6579,13 @@ MSVehicle::getCenterOnEdge(const MSLane* lane) const {
<< "\n";
#endif
return lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
} else if (myFurtherLanes[i]->getBidiLane() == lane) {
#ifdef DEBUG_FURTHER
if (DEBUG_COND) std::cout << " getCenterOnEdge veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " furtherLat(bidi)=" << myFurtherLanesPosLat[i]
<< " result=" << lane->getRightSideOnEdge() + myFurtherLanesPosLat[i] + 0.5 * lane->getWidth()
<< "\n";
#endif
return lane->getRightSideOnEdge() - myFurtherLanesPosLat[i] + 0.5 * lane->getWidth();
}
}
//if (DEBUG_COND) std::cout << SIMTIME << " veh=" << getID() << " myShadowFurtherLanes=" << toString(myLaneChangeModel->getShadowFurtherLanes()) << "\n";
Expand Down Expand Up @@ -6577,6 +6623,13 @@ MSVehicle::getLatOffset(const MSLane* lane) const {
}
#endif
return myFurtherLanesPosLat[i] - myState.myPosLat;
} else if (myFurtherLanes[i]->getBidiLane() == lane) {
#ifdef DEBUG_FURTHER
if (DEBUG_COND) {
std::cout << " getLatOffset veh=" << getID() << " lane=" << lane->getID() << " i=" << i << " posLat=" << myState.myPosLat << " furtherBidiLat=" << myFurtherLanesPosLat[i] << "\n";
}
#endif
return -2 * (myFurtherLanesPosLat[i] - myState.myPosLat);
}
}
#ifdef DEBUG_FURTHER
Expand Down Expand Up @@ -6838,6 +6891,15 @@ MSVehicle::onFurtherEdge(const MSEdge* edge) const {
return false;
}


bool
MSVehicle::isBidiOn(const MSLane* lane) const {
return lane->getBidiLane() != nullptr && (
myLane == lane->getBidiLane()
|| onFurtherEdge(&lane->getBidiLane()->getEdge()));
}


bool
MSVehicle::rerouteParkingArea(const std::string& parkingAreaID, std::string& errorMsg) {
// this function is based on MSTriggeredRerouter::rerouteParkingArea in order to keep
Expand Down
3 changes: 3 additions & 0 deletions src/microsim/MSVehicle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -856,6 +856,9 @@ class MSVehicle : public MSBaseVehicle {
/// @brief whether this vehicle has its back (and no its front) on the given edge
bool onFurtherEdge(const MSEdge* edge) const;

/// @brief whether this vehicle is driving against lane
bool isBidiOn(const MSLane* lane) const;

/// @name strategical/tactical lane choosing methods
/// @{

Expand Down

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