diff --git a/doc/source/user_guide/sim_user_guide/components/components_modular_driver/50_action_deduction.rst b/doc/source/user_guide/sim_user_guide/components/components_modular_driver/50_action_deduction.rst
index 0ece4a8a1ad7ca3de3a659eb332b738e38e3425a..9cc90bb76c2f4e34be7275953e043744474376fd 100644
--- a/doc/source/user_guide/sim_user_guide/components/components_modular_driver/50_action_deduction.rst
+++ b/doc/source/user_guide/sim_user_guide/components/components_modular_driver/50_action_deduction.rst
@@ -60,6 +60,7 @@ If the module doesn't get the assessed information from the module :ref:`situati
ReactionTimeMean Integer ms 34 Mean reaction time on suddenly hard braking leader
ReactionTimeStd Integer ms 35 Standard deviation of the reaction time
MinReactionTime Integer ms 36 Min reaction time on suddenly hard braking leader
+ spawnLCOffset Integer ms 37 Time offset in which the lane-change is blocked after the spawning 10000
================================ ========== ====== ==== =============================================================================================================================== ============================
The module *action-deduction* needs for the decision process the following components:
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.cpp b/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.cpp
index 834c7c860c1df4f0769a3660d2dbcd5c3be95364..7e0f43c51ec66291ed630defd2f0f92d03e13064 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.cpp
+++ b/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.cpp
@@ -34,7 +34,8 @@ LaneChangeModel::LaneChangeModel(int CycleTime,
double LeftFactor,
double RightFactor,
double CooperativeFactor,
- PublisherInterface * publisher) :
+ PublisherInterface * publisher,
+ int spawnLCOffset) :
vehicleParameters(vehicleParameters),
Ego(Ego),
DriverInformation(DriverInformation),
@@ -52,7 +53,8 @@ LaneChangeModel::LaneChangeModel(int CycleTime,
StayLeftFactor(LeftFactor),
NoOvertakeRightFactor(LeftFactor),
CooperativeFactor(CooperativeFactor),
- publisher(publisher)
+ publisher(publisher),
+ spawnLCOffset(spawnLCOffset)
{
InitLCReasons();
}
@@ -60,7 +62,7 @@ LaneChangeModel::LaneChangeModel(int CycleTime,
LaneChangeState LaneChangeModel::CheckForLaneChange(const int *time,
const int *spawnTime)
{
- int spawnoffset = 10000;
+ int spawnoffset = spawnLCOffset;
// to avoid lane-changes directly after spawning
if (*time == *spawnTime + spawnoffset)
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.h b/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.h
index 429b822f50bf16cfcda061f5ede307f742d20973..4ca38d3507b0eb96aec68ec74049be6621953bab 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.h
+++ b/sim/src/components/Algorithm_ActionDeduction/src/ActionDeductionMethods/LaneChangeModel.h
@@ -51,7 +51,8 @@ public:
double LeftFactor,
double RightFactor,
double CooperativeFactor,
- PublisherInterface *publisher);
+ PublisherInterface *publisher,
+ int spawnLCOffset);
void prepareStep()
{
@@ -351,6 +352,12 @@ private:
return (surroundingvehicles & Relation) != 0;
}
+ double GetDistanceTraveled()
+ {
+ distanceTraveled += Ego.absoluteVelocity*CycleTime_s;
+ return distanceTraveled;
+ }
+
void InitLCReasons()
{
overtakeRight = new OvertakeRight(CycleTime, carFollowingModel, Ego, DriverInformation, NearTraffic, vehicleParameters, surroundingvehicles, publisher, OvertakeFactor);
@@ -423,6 +430,8 @@ private:
int leftLCstatusSet = 0;
int rightLCstatusSet = 0;
+ double distanceTraveled = 0.0;
+
const CarFollowingModel &carFollowingModel;
int lastLaneId = -999;
@@ -468,6 +477,8 @@ private:
const int CycleTime;
+ int spawnLCOffset;
+
bool print = false;
PublisherInterface * publisher;
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.cpp b/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.cpp
index ace1692eea89d8abf401f0ce53630ab0140e40f8..a48217cb37e64f18d6db8ed425019cc354998027 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.cpp
+++ b/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.cpp
@@ -363,7 +363,8 @@ void ActionDeduction::Initialize(driverInformation *DriverInformation, int time)
SpeedGain,
KeepRight,
Cooperative,
- publisher);
+ publisher,
+ spawnLCOffset);
targetBraking = new TargetBraking(CycleTime, stochastics, carFollowingModel);
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.h b/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.h
index 25989e6b372f7932bef014abca0c373a69d2b6f4..f95eb242389455e5af86d71f9f956653418c6271 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.h
+++ b/sim/src/components/Algorithm_ActionDeduction/src/AlgorithmActionDeduction.h
@@ -452,21 +452,26 @@ public:
void CheckTDGazeRequest();
- void SetReactionTimeMean(double reactionTimeMean)
+ void SetReactionTimeMean(int reactionTimeMean)
{
this->reactionTime.meanTime = reactionTimeMean;
}
- void SetReactionTimeStd(double reactionTimeStd)
+ void SetReactionTimeStd(int reactionTimeStd)
{
this->reactionTime.stdTime = reactionTimeStd;
}
- void SetMinReactionTime(double minReactionTime)
+ void SetMinReactionTime(int minReactionTime)
{
this->reactionTime.minTime = minReactionTime;
}
+ void SetSpawnLCOffset(int spawnLCOffset)
+ {
+ this->spawnLCOffset = spawnLCOffset;
+ }
+
void PublishLCTrigger();
~ActionDeduction()
@@ -562,6 +567,8 @@ private:
double velocity_next = 0;
+ int spawnLCOffset = 10000;
+
//! Current Lane-change wish status
LaneChangeState LaneChangeWish = LaneChangeState::NoLaneChange;
//! The agents Car-following-model
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/Algorithm_ActionDeduction_implementation.cpp b/sim/src/components/Algorithm_ActionDeduction/src/Algorithm_ActionDeduction_implementation.cpp
index 5cdc42883c8c5d9787aaa97d84d64e1d39e7cc0d..fcfde367784c40cd54beebed28510c90c5c6a929 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/Algorithm_ActionDeduction_implementation.cpp
+++ b/sim/src/components/Algorithm_ActionDeduction/src/Algorithm_ActionDeduction_implementation.cpp
@@ -189,6 +189,11 @@ AlgorithmActionDeductionImplementation::AlgorithmActionDeductionImplementation(
{
int minReactionTime = (parameters->GetParametersInt().count("MinReactionTime") > 0 ? parameters->GetParametersInt().at("MinReactionTime") : parameters->GetParametersInt().at("36"));;
actiondeduction.SetMinReactionTime(minReactionTime);
+ }
+ if (parameters->GetParametersInt().count("SpawnLCOffset") > 0 || parameters->GetParametersInt().count("37") > 0)
+ {
+ int spawnLCOffset = (parameters->GetParametersInt().count("SpawnLCOffset") > 0 ? parameters->GetParametersInt().at("SpawnLCOffset") : parameters->GetParametersInt().at("37"));;
+ actiondeduction.SetSpawnLCOffset(spawnLCOffset);
}
initialisationAD = true;
diff --git a/sim/src/components/Algorithm_ActionDeduction/src/Container/agent_representation.cpp b/sim/src/components/Algorithm_ActionDeduction/src/Container/agent_representation.cpp
index a00fe3acf1295f5e5174b8c9c37ea2700e1ca42a..7b322ffa2bedc614c3fbafd1f887f9dc3a55a82d 100644
--- a/sim/src/components/Algorithm_ActionDeduction/src/Container/agent_representation.cpp
+++ b/sim/src/components/Algorithm_ActionDeduction/src/Container/agent_representation.cpp
@@ -73,6 +73,8 @@ void AgentRepresentation::Extrapolate (double EgoVelocity)
void AgentRepresentation::ExtrapolateKinematic(double EgoVelocity)
{
+ acceleration = acceleration * 1/(std::max(100,lifetime)/100);
+
absoluteVelocity = std::max(0.0, absoluteVelocity + acceleration * cycletime / 1000) ;
relativeLongitudinalDistance += (absoluteVelocity * cycletime/1000.0) - (EgoVelocity * cycletime/1000.0);