Hello, Lane change mode: 1621 (default) Lane change model: SL2015 Max. duration given for a vehicle to perform a lane change: 10 s (arbitrary)
1. I am trying to discourage lane changes enforced by TraCI that are not valid, i.e., A vehicle trying to move to the right or the left from the rightmost or leftmost lane in the network respectively, or a vehicle that cannot perform a certain lane change operation within the given time due to other vehicles blocking it. For a lane change operation initiated on a vehicle by traci.vehicle.*changeLaneRelative*(vehID=*veh_id*, indexOffset=*dr*, > duration=*lc_max_duration*) The following code should tell me if the lane change will be a success: *lcs* = traci.vehicle.*getLaneChangeState*(vehID=*veh_id*, direction=*dr*)[1] > # index 1 for TraCI > *lc_success* = traci.vehicle.*wantsAndCouldChangeLane*(vehID=*veh_id*, > direction=*dr*, state=*lcs*) However, in the particular case where direction=0 (stay in the same lane), it still returns false. This made sense in a situation where the vehicle was still in the middle of a previous lane change from another lane (where it was between two lanes, and hence cannot "stay" in the same lane). a. But it also happened to a vehicle that had departed from the rightmost lane and chose to "stay". I could not understand it even with the help of the console output's 'pretty' version of the Lane change state for the TraCI command as shown: veh id: f.2 (currently on lane 0) > lc success: False > lcs pretty: ['stay', 'TraCI', 'sublane'] > Direction: 0 b. On a side note, the pretty version of the lane change state seems to be empty when it encounters a situation where the TraCI command tries to move the vehicle to a lane that doesn't exist, i.e. "move right" on the rightmost lane - just looking for confirmation? veh id: f.0 (currently on lane 0) > lc success: False > lcs pretty: [] > Direction: -1 2. I am trying to program an action that translates to "cooperate" with another vehicle. For this, I need to know what needs to be done in a situation where a leader/follower vehicle on the same or a different lane is blocking another vehicle from changing lanes. So if I can figure out the minimum changes that need to be made to resolve this situation - for example, the lateral distance between the ego vehicle and blocking vehicle has to be at least *X *m and the longitudinal distance between ego and blocking vehicle has to be at least *Y *m or maybe the relative speed difference has to be at least *S *m/s, then the lane change can go ahead. As I understand it, my question would be answered from this: https://github.com/eclipse/sumo/blob/f71860fb1b15868e0be63338bfcbd3fc05b08451/src/microsim/lcmodels/MSLCM_SL2015.cpp#L2190 but there are many components like the TraCI constant tc.LC_BLOCKED and how/when it is set that I don't fully understand. Please advise. Thank you. Sincerely, Hriday
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