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unable to create lateral collision during lane-changing with TraCI #4864

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namdre opened this issue Nov 30, 2018 · 6 comments

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@namdre
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commented Nov 30, 2018

No description provided.

@namdre namdre self-assigned this Nov 30, 2018

namdre added a commit that referenced this issue Nov 30, 2018
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commented Nov 30, 2018

still needs tests before closing.

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commented Dec 6, 2018

Unable to cause a collision with test in schwamborn/sumo@9f4e4f9
Anything the test is missing?

schwamborn added a commit to schwamborn/sumo that referenced this issue Dec 7, 2018
added lateral collision tests for default lane model; refs eclipse#4864
Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>
schwamborn added a commit to schwamborn/sumo that referenced this issue Dec 7, 2018
added/fixed lateral collision tests for sublane model; test leftLane0…
….5 not accepted yet; refs eclipse#4864

Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>
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commented Dec 7, 2018

Increasing the lateral distance step-by-step instead of trying to cover the whole lateral distance in one step works.
However, test leftLane0.5 (cf. schwamborn/sumo@aaf5a29) produces some unexpected output. Vehicles 'collider' and 'left' seem to be in limbo between simulation time 5 and 6:

 Retrying in 1 seconds
Loading configuration... done.
old lanechangemode 011001010101
old speedmode 31
new lanechangemode 010001010101
new speedmode 0
trying to change lateral position by 0.50...
[000] lane 1, lateral pos: 0.00
trying to change lateral position by 0.50...
[001] lane 1, lateral pos: 0.50
trying to change lateral position by 0.50...
[002] lane 1, lateral pos: 1.00
trying to change lateral position by 0.50...
[003] lane 1, lateral pos: 1.50
trying to change lateral position by 0.50...
[004] lane 2, lateral pos: -1.20
Warning: Teleporting vehicle 'collider'; collision with vehicle 'left', lane='e1_2', gap=-7.50', latGap=-0.40, time=5.00 stage=laneChange.
Warning: Teleporting vehicle 'left'; collision with vehicle 'collider', lane='e1_2', gap=-7.50', latGap=-0.40, time=5.00 stage=laneChange.
trying to change lateral position by 0.50...
[005] lane -1073741824, lateral pos: -1073741824.00
Warning: Vehicle 'collider' ends teleporting on edge 'e2', time 6.00.
Warning: Vehicle 'left' ends teleporting on edge 'e2', time 6.00.
trying to change lateral position by 0.50...
[006] lane 1, lateral pos: 0.00
trying to change lateral position by 0.50...
[007] lane 1, lateral pos: 0.50
trying to change lateral position by 0.50...
[008] lane 1, lateral pos: 1.00
trying to change lateral position by 0.50...
[009] lane 1, lateral pos: 1.50
trying to change lateral position by 0.50...
[010] lane 2, lateral pos: -1.20
Warning: Teleporting vehicle 'collider'; collision with vehicle 'left', lane='e3_2', gap=-7.50', latGap=-0.40, time=11.00 stage=laneChange.
Warning: Teleporting vehicle 'left'; collision with vehicle 'collider', lane='e3_2', gap=-7.50', latGap=-0.40, time=11.00 stage=laneChange.
Warning: Vehicle 'collider' ends teleporting on edge 'e4', time 11.00.
Warning: Vehicle 'left' ends teleporting on edge 'e4', time 11.00.
trying to change lateral position by 0.50...
[011] lane 0, lateral pos: 0.00
trying to change lateral position by 0.50...
[012] lane 0, lateral pos: 0.50
trying to change lateral position by 0.50...
[013] lane 0, lateral pos: 1.00
trying to change lateral position by 0.50...
[014] lane 0, lateral pos: 1.50
trying to change lateral position by 0.50...
[015] lane 1, lateral pos: -1.20
[016] Vehicle 'collider' has arrived at destination
Print ended at step 17
schwamborn added a commit to schwamborn/sumo that referenced this issue Dec 10, 2018
lateral collision test leftLane0.5 approved; refs eclipse#4864
Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>
namdre added a commit that referenced this issue Dec 11, 2018
Tests for creating lateral collisions during lane-changing with TraCI (
…#4899)

* first attempt at collision test with sublane model

Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>

* added lateral collision tests for default lane model; refs #4864

Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>

* added/fixed lateral collision tests for sublane model; test leftLane0.5 not accepted yet; refs #4864

Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>

* lateral collision test leftLane0.5 approved; refs #4864

Signed-off-by: Matthias Schwamborn <matthias.schwamborn@dlr.de>
namdre added a commit that referenced this issue Dec 11, 2018
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commented Dec 11, 2018

lack of immediate collision is working as intended (laneChangeMode only take effect in simulation steps with an active traci request).

@namdre namdre closed this Dec 11, 2018

@namdre namdre reopened this Dec 17, 2018

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commented Dec 17, 2018

received another example from sumo-user where intended collision does not take place

namdre added a commit that referenced this issue Dec 17, 2018
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commented Dec 17, 2018

needs additional work to allow for unsafe traci changing while still preventing overlap-collisions.

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