Platoon-aware lane change logic #14809
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…without disruptions
…ise the type of blockage
…o be invoked by MSLaneChanger before moving a vehicle to an adjacent lane By default, this method does nothing making it backward compatible
…ed acceleration This avoids problems if the user sets the CC desired speed to 0 by chance
…nd lane change cases (leader leaving the simulation)
… friction forces only in the computation of physical limits
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This PR solves the long-lasting problem of making Plexe-controlled platoons change lane atomically (#14623). It does so by slightly changing
MSLaneChangerenabling to have a custom lane change model. The changes to core files are backward compatible and do not affect "standard" SUMO simulations. A summary of the changes is listed below:checkChangeBeforeCommittingmethod to re-evaluate the blocking state. If not implemented, this method simply returns 0 (so not blocked) and thus have no effect.MSCFModel_CCthe lane change model has no effect, but in any case people not using platooning features would not even instantiate that.We tested the changes running several simulations with hundreds of vehicles and platoons that can autonomously change lane and verified that no collisions occur. In fact, the test campaign revealed another bug, that is, an invalid reference to a pointer when the leader vehicle leaves the simulation. We fixed this in this commit.
The last commit is another issue related to the realistic engine model which caused platooning vehicles not to converge to the desired distance due to friction forces. The commit now uses friction forces only to compute the physical limits of the vehicle.