Hello, if this question needs more information / screenshots - I could try and modify it if it's not clear.
Thank you. Sincerely, Hriday On Wed, 13 Apr 2022 at 19:58, Hriday Sanghvi <[email protected]> wrote: > 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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