MSCFModel_CC: properly handle leader role

eclipse-sumo · May 2, 2024 · dab4eeb · dab4eeb
1 parent 073b489
commit dab4eeb
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/src/microsim/cfmodels/CC_VehicleVariables.cpp b/src/microsim/cfmodels/CC_VehicleVariables.cpp
@@ -46,6 +46,7 @@ CC_VehicleVariables::CC_VehicleVariables() :
     controllerAcceleration(0), frontSpeed(0), frontAcceleration(0),
     frontControllerAcceleration(0), frontDataReadTime(0), frontAngle(0), frontInitialized(false),
     autoFeed(false), leaderVehicle(0), frontVehicle(0),
+    isLeader(true),
     accHeadwayTime(1.5), accLambda(0.1),
     useControllerAcceleration(true), leaderSpeed(0),
     leaderAcceleration(0), leaderControllerAcceleration(0), leaderDataReadTime(0), leaderAngle(0),

diff --git a/src/microsim/cfmodels/CC_VehicleVariables.h b/src/microsim/cfmodels/CC_VehicleVariables.h
@@ -108,6 +108,9 @@ class CC_VehicleVariables : public MSCFModel::VehicleVariables {
     MSVehicle* leaderVehicle;
     /// @brief front sumo id, used for auto feeding
     MSVehicle* frontVehicle;
+    /// @brief whether this vehicle is leader of a platoon or not. This is mainly used by the lane change logic.
+    /// By default this is true as a single vehicle is treated as a 1-vehicle platoon
+    bool isLeader;
 
     /// @brief headway time for ACC
     double accHeadwayTime;

diff --git a/src/microsim/cfmodels/MSCFModel_CC.cpp b/src/microsim/cfmodels/MSCFModel_CC.cpp
@@ -112,6 +112,11 @@ void
 MSCFModel_CC::setLeader(MSVehicle* veh, MSVehicle* const leader) const {
     auto* vars = (CC_VehicleVariables*) veh->getCarFollowVariables();
     vars->leaderVehicle = leader;
+    if (leader != nullptr)
+        vars->isLeader = false;
+    else
+        // if we are removing our leader, then this vehicle must become a leader of itself until being member of another platoon
+        vars->isLeader = true;
 }
 
 int
@@ -818,6 +823,7 @@ void MSCFModel_CC::setParameter(MSVehicle* veh, const std::string& key, const st
                 throw libsumo::TraCIException("Adding " + id + " as member but " + id + " is not using MSCFModel_CC");
             }
             cfm->setLeader(vehicle, veh);
+            vars->isLeader = true;
             return;
         }
         if (key.compare(PAR_REMOVE_MEMBER) == 0) {
@@ -1170,6 +1176,5 @@ MSCFModel_CC::duplicate(const MSVehicleType* vtype) const {
 bool
 MSCFModel_CC::isLeader(const MSVehicle *veh) const {
     auto vars = (CC_VehicleVariables*)veh->getCarFollowVariables();
-    // TODO: this condition might not be enough
-    return vars->activeController == Plexe::ACC;
+    return vars->isLeader;
 }