// Lane change mdp.

mdp

// Repair variable p is the probability of staying in the same
// state even after giving a turn signal.
const double p;

// States/actions.
module lanechange
        state : [1..4] init 1;

	// 1: Init lane change.
	[drive] (state=1) -> (state'=1);
	[turn] (state=1) -> (state'=2);

	// 2: Do lane change.
	[drive] (state=2) -> (state'=2);
	[turn] (state=2) -> p: (state'=2) + (1-p): (state'=4);
	[abort] (state=2) -> (state'=3);

	// 3: Abort lane change.
	[] (state=3) -> true;

	// 4: In new lane.
	[] (state=4) -> true;
endmodule

// Reward, associated with the states.
rewards
	state=1 : 0.2;
	state=2 : 0.3;
	state=3 : 0.05;
	state=4 : 0.1;
endrewards

// Labels.
label "changed" = state=4;
label "abandoned" = state=3;