/// <summary>
/// Helps with parameterizations for lateral reasoning
/// </summary>
/// <param name="referenceLane"></param>
/// <param name="fqmLane"></param>
/// <param name="goal"></param>
/// <param name="vehicleFront"></param>
/// <returns></returns>
public TravelingParameters ParameterizationHelper(ArbiterLane referenceLane, ArbiterLane fqmLane,
Coordinates goal, Coordinates vehicleFront, IState nextState, VehicleState state, VehicleAgent va)
{
// get traveling parameterized list
List <TravelingParameters> tps = new List <TravelingParameters>();
// get distance to the goal
double goalDistance;
double goalSpeed;
this.StoppingParams(goal, referenceLane, vehicleFront, new double[] { }, out goalSpeed, out goalDistance);
tps.Add(this.GetParameters(referenceLane, goalSpeed, goalDistance, state));
// get next stop
ArbiterWaypoint stopPoint;
double stopSpeed;
double stopDistance;
StopType stopType;
this.NextLaneStop(fqmLane, vehicleFront, new double[] { }, new List <ArbiterWaypoint>(),
out stopPoint, out stopSpeed, out stopDistance, out stopType);
this.StoppingParams(stopPoint.Position, referenceLane, vehicleFront, new double[] { },
out stopSpeed, out stopDistance);
tps.Add(this.GetParameters(referenceLane, stopSpeed, stopDistance, state));
// get vehicle
if (va != null)
{
VehicleAgent tmp = this.ForwardVehicle.CurrentVehicle;
double tmpDist = this.ForwardVehicle.currentDistance;
this.ForwardVehicle.CurrentVehicle = va;
this.ForwardVehicle.currentDistance = referenceLane.DistanceBetween(state.Front, va.ClosestPosition);
TravelingParameters tp = this.ForwardVehicle.Follow(referenceLane, state, new List <ArbiterWaypoint>());
tps.Add(tp);
this.ForwardVehicle.CurrentVehicle = tmp;
this.ForwardVehicle.currentDistance = tmpDist;
}
// parameterize
tps.Sort();
return(tps[0]);
}
/// <summary>
/// COmpare this parameterization to another
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public int CompareTo(object obj)
{
if (obj is TravelingParameters)
{
TravelingParameters other = (TravelingParameters)obj;
if (!this.UsingSpeed || !other.UsingSpeed)
{
if (this.DistanceToGo < other.DistanceToGo)
{
return(-1);
}
else if (this.DistanceToGo > other.DistanceToGo)
{
return(1);
}
else
{
return(0);
}
}
else
{
if (this.RecommendedSpeed < other.RecommendedSpeed)
{
return(-1);
}
else if (this.RecommendedSpeed > other.RecommendedSpeed)
{
return(1);
}
else
{
return(0);
}
}
}
else
{
throw new Exception("obj not Traveling Params: " + obj.GetType().ToString());
}
}
/// <summary>
/// Gets parameterization
/// </summary>
/// <param name="lane"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters GetParameters(ArbiterLane lane, double speed, double distance, VehicleState state)
{
double distanceCutOff = CoreCommon.OperationslStopLineSearchDistance;
Maneuver m = new Maneuver();
SpeedCommand sc;
bool usingSpeed = true;
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff)
{
// default behavior
sc = new StopAtDistSpeedCommand(distance);
Behavior b = new StayInLaneBehavior(lane.LaneId, sc, new List <int>(), lane.LanePath(), lane.Width, lane.NumberOfLanesLeft(state.Front, true), lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(lane, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, state.Timestamp);
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// get lane
ArbiterLane al = lane;
// default behavior
sc = new ScalarSpeedCommand(speed);
Behavior b = new StayInLaneBehavior(al.LaneId, sc, new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Behavior given we stay in the current lane
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <param name="downstreamPoint"></param>
/// <returns></returns>
public TravelingParameters Primary(IFQMPlanable lane, VehicleState state, RoadPlan roadPlan,
List <ITacticalBlockage> blockages, List <ArbiterWaypoint> ignorable, bool log)
{
// possible parameterizations
List <TravelingParameters> tps = new List <TravelingParameters>();
#region Lane Major Parameterizations with Current Lane Goal Params, If Best Goal Exists in Current Lane
// check if the best goal is in the current lane
ArbiterWaypoint lanePoint = null;
if (lane.AreaComponents.Contains(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Lane))
{
lanePoint = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest;
}
// get the next thing we need to stop at no matter what and parameters for stopping at it
ArbiterWaypoint laneNavStop;
double laneNavStopSpeed;
double laneNavStopDistance;
StopType laneNavStopType;
this.NextNavigationalStop(lane, lanePoint, state.Front, state.ENCovariance, ignorable,
out laneNavStopSpeed, out laneNavStopDistance, out laneNavStopType, out laneNavStop);
// create parameterization of the stop
TravelingParameters laneNavParams = this.NavStopParameterization(lane, roadPlan, laneNavStopSpeed, laneNavStopDistance, laneNavStop, laneNavStopType, state);
this.navigationParameters = laneNavParams;
this.laneParameters = laneNavParams;
tps.Add(laneNavParams);
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FQMBehavior = laneNavParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FQMBehaviorInfo = laneNavParams.Behavior.ShortBehaviorInformation();
CoreCommon.CurrentInformation.FQMSpeedCommand = laneNavParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FQMDistance = laneNavParams.DistanceToGo.ToString("F6");
CoreCommon.CurrentInformation.FQMSpeed = laneNavParams.RecommendedSpeed.ToString("F6");
CoreCommon.CurrentInformation.FQMState = laneNavParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FQMStateInfo = laneNavParams.NextState.StateInformation();
CoreCommon.CurrentInformation.FQMStopType = laneNavStopType.ToString();
CoreCommon.CurrentInformation.FQMWaypoint = laneNavStop.ToString();
CoreCommon.CurrentInformation.FQMSegmentSpeedLimit = lane.CurrentMaximumSpeed(state.Position).ToString("F1");
}
#endregion
#endregion
#region Forward Vehicle Parameterization
// forward vehicle update
this.ForwardVehicle.Update(lane, state);
// clear current params
this.followingParameters = null;
// check not in a sparse area
bool sparseArea = lane is ArbiterLane ?
((ArbiterLane)lane).GetClosestPartition(state.Front).Type == PartitionType.Sparse :
((SupraLane)lane).ClosestComponent(state.Front) == SLComponentType.Initial && ((SupraLane)lane).Initial.GetClosestPartition(state.Front).Type == PartitionType.Sparse;
// exists forward vehicle
if (!sparseArea && this.ForwardVehicle.ShouldUseForwardTracker)
{
// get forward vehicle params, set lane decorators
TravelingParameters vehicleParams = this.ForwardVehicle.Follow(lane, state, ignorable);
vehicleParams.Behavior.Decorators.AddRange(this.laneParameters.Decorators);
this.FollowingParameters = vehicleParams;
#region Log
if (log)
{
// add to current parames to arbiter information
CoreCommon.CurrentInformation.FVTBehavior = vehicleParams.Behavior.ToShortString();
CoreCommon.CurrentInformation.FVTSpeed = this.ForwardVehicle.FollowingParameters.RecommendedSpeed.ToString("F3");
CoreCommon.CurrentInformation.FVTSpeedCommand = vehicleParams.Behavior.SpeedCommandString();
CoreCommon.CurrentInformation.FVTDistance = vehicleParams.DistanceToGo.ToString("F2");
CoreCommon.CurrentInformation.FVTState = vehicleParams.NextState.ShortDescription();
CoreCommon.CurrentInformation.FVTStateInfo = vehicleParams.NextState.StateInformation();
// set xSeparation
CoreCommon.CurrentInformation.FVTXSeparation = this.ForwardVehicle.ForwardControl.xSeparation.ToString("F0");
}
#endregion
// check if we're stopped behind fv, allow wait timer if true, stop wait timer if not behind fv
bool forwardVehicleStopped = this.ForwardVehicle.CurrentVehicle.IsStopped;
bool forwardSeparationGood = this.ForwardVehicle.ForwardControl.xSeparation < TahoeParams.VL * 2.5;
bool wereStopped = CoreCommon.Communications.GetVehicleSpeed().Value < 0.1;
bool forwardDistanceToGo = vehicleParams.DistanceToGo < 3.5;
if (forwardVehicleStopped && forwardSeparationGood && wereStopped && forwardDistanceToGo)
{
this.ForwardVehicle.StoppedBehindForwardVehicle = true;
}
else
{
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop();
this.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset();
}
// add vehicle param
tps.Add(vehicleParams);
}
else
{
// no forward vehicle
this.followingParameters = null;
this.ForwardVehicle.StoppedBehindForwardVehicle = false;
}
#endregion
#region Sparse Waypoint Parameterization
// check for sparse waypoints downstream
bool sparseDownstream;
bool sparseNow;
double sparseDistance;
lane.SparseDetermination(state.Front, out sparseDownstream, out sparseNow, out sparseDistance);
// check if sparse areas downstream
if (sparseDownstream)
{
// set the distance to the sparse area
if (sparseNow)
{
sparseDistance = 0.0;
}
// get speed
double speed = SpeedTools.GenerateSpeed(sparseDistance, 2.24, lane.CurrentMaximumSpeed(state.Front));
// maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new ScalarSpeedCommand(speed);
#region Parameterize Given Speed Command
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), this.laneParameters.Decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
b.Decorators = this.laneParameters.Decorators;
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, this.laneParameters.Decorators, state.Timestamp);
}
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = this.laneParameters.Decorators;
tp.DistanceToGo = Double.MaxValue;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
tps.Add(tp);
#endregion
}
#endregion
// sort params by most urgent
tps.Sort();
// set current params
this.currentParameters = tps[0];
// get behavior to check add vehicles to ignore
if (this.currentParameters.Behavior is StayInLaneBehavior)
{
((StayInLaneBehavior)this.currentParameters.Behavior).IgnorableObstacles = this.ForwardVehicle.VehiclesToIgnore;
}
// out of navigation, blockages, and vehicle following determine the actual primary parameters for this lane
return(tps[0]);
}
/// <summary>
/// Makes new parameterization for nav
/// </summary>
/// <param name="lane"></param>
/// <param name="lanePlan"></param>
/// <param name="speed"></param>
/// <param name="distance"></param>
/// <param name="stopType"></param>
/// <returns></returns>
public TravelingParameters NavStopParameterization(IFQMPlanable lane, RoadPlan roadPlan, double speed, double distance,
ArbiterWaypoint stopWaypoint, StopType stopType, VehicleState state)
{
// get min dist
double distanceCutOff = stopType == StopType.StopLine ? CoreCommon.OperationslStopLineSearchDistance : CoreCommon.OperationalStopDistance;
#region Get Decorators
// turn direction default
ArbiterTurnDirection atd = ArbiterTurnDirection.Straight;
List <BehaviorDecorator> decorators = TurnDecorators.NoDecorators;
// check if need decorators
if (lane is ArbiterLane &&
stopWaypoint.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest) &&
roadPlan.BestPlan.laneWaypointOfInterest.IsExit &&
distance < 40.0)
{
if (roadPlan.BestPlan.laneWaypointOfInterest.BestExit == null)
{
ArbiterOutput.Output("NAV BUG: lanePlan.laneWaypointOfInterest.BestExit: FQM NavStopParameterization");
}
else
{
switch (roadPlan.BestPlan.laneWaypointOfInterest.BestExit.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
else if (lane is SupraLane)
{
SupraLane sl = (SupraLane)lane;
double distToInterconnect = sl.DistanceBetween(state.Front, sl.Interconnect.InitialGeneric.Position);
if ((distToInterconnect > 0 && distToInterconnect < 40.0) || sl.ClosestComponent(state.Front) == SLComponentType.Interconnect)
{
switch (sl.Interconnect.TurnDirection)
{
case ArbiterTurnDirection.Left:
decorators = TurnDecorators.LeftTurnDecorator;
atd = ArbiterTurnDirection.Left;
break;
case ArbiterTurnDirection.Right:
atd = ArbiterTurnDirection.Right;
decorators = TurnDecorators.RightTurnDecorator;
break;
case ArbiterTurnDirection.Straight:
atd = ArbiterTurnDirection.Straight;
decorators = TurnDecorators.NoDecorators;
break;
case ArbiterTurnDirection.UTurn:
atd = ArbiterTurnDirection.UTurn;
decorators = TurnDecorators.LeftTurnDecorator;
break;
}
}
}
#endregion
#region Get Maneuver
Maneuver m = new Maneuver();
bool usingSpeed = true;
SpeedCommand sc = new StopAtDistSpeedCommand(distance);
#region Distance Cutoff
// check if distance is less than cutoff
if (distance < distanceCutOff && stopType != StopType.EndOfLane)
{
// default behavior
Behavior b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtDistSpeedCommand(distance), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
// stopping so not using speed param
usingSpeed = false;
// exit is next
if (stopType == StopType.Exit)
{
// exit means stopping at a good exit in our current lane
IState nextState = new StoppingAtExitState(stopWaypoint.Lane, stopWaypoint, atd, true, roadPlan.BestPlan.laneWaypointOfInterest.BestExit, state.Timestamp, state.Front);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
// stop line is left
else if (stopType == StopType.StopLine)
{
// determine if hte stop line is the best exit
bool isNavExit = roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Equals(stopWaypoint);
// get turn direction
atd = isNavExit ? atd : ArbiterTurnDirection.Straight;
// predetermine interconnect if best exit
ArbiterInterconnect desired = null;
if (isNavExit)
{
desired = roadPlan.BestPlan.laneWaypointOfInterest.BestExit;
}
else if (stopWaypoint.NextPartition != null && state.Front.DistanceTo(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > 25)
{
desired = stopWaypoint.NextPartition.ToInterconnect;
}
// set decorators
decorators = isNavExit ? decorators : TurnDecorators.NoDecorators;
// stop at the stop
IState nextState = new StoppingAtStopState(stopWaypoint.Lane, stopWaypoint, atd, isNavExit, desired);
b = new StayInLaneBehavior(stopWaypoint.Lane.LaneId, new StopAtLineSpeedCommand(), new List <int>(), lane.LanePath(), stopWaypoint.Lane.Width, stopWaypoint.Lane.NumberOfLanesLeft(state.Front, true), stopWaypoint.Lane.NumberOfLanesRight(state.Front, true));
m = new Maneuver(b, nextState, decorators, state.Timestamp);
sc = new StopAtLineSpeedCommand();
}
else if (stopType == StopType.LastGoal)
{
// stop at the last goal
IState nextState = new StayInLaneState(stopWaypoint.Lane, CoreCommon.CorePlanningState);
m = new Maneuver(b, nextState, decorators, state.Timestamp);
}
}
#endregion
#region Outisde Distance Envelope
// not inside distance envalope
else
{
// set speed
sc = new ScalarSpeedCommand(speed);
// check if lane
if (lane is ArbiterLane)
{
// get lane
ArbiterLane al = (ArbiterLane)lane;
// default behavior
Behavior b = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(speed), new List <int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
// standard behavior is fine for maneuver
m = new Maneuver(b, new StayInLaneState(al, CoreCommon.CorePlanningState), decorators, state.Timestamp);
}
// check if supra lane
else if (lane is SupraLane)
{
// get lane
SupraLane sl = (SupraLane)lane;
// get sl state
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
// get default beheavior
Behavior b = sisls.GetBehavior(new ScalarSpeedCommand(speed), state.Front, new List <int>());
// standard behavior is fine for maneuver
m = new Maneuver(b, sisls, decorators, state.Timestamp);
}
}
#endregion
#endregion
#region Parameterize
// create new params
TravelingParameters tp = new TravelingParameters();
tp.Behavior = m.PrimaryBehavior;
tp.Decorators = m.PrimaryBehavior.Decorators;
tp.DistanceToGo = distance;
tp.NextState = m.PrimaryState;
tp.RecommendedSpeed = speed;
tp.Type = TravellingType.Navigation;
tp.UsingSpeed = usingSpeed;
tp.SpeedCommand = sc;
tp.VehiclesToIgnore = new List <int>();
// return navigation params
return(tp);
#endregion
}
/// <summary>
/// Parameters to follow the forward vehicle
/// </summary>
/// <param name="lane"></param>
/// <param name="state"></param>
/// <returns></returns>
public TravelingParameters Follow(IFQMPlanable lane, VehicleState state, List <ArbiterWaypoint> ignorable)
{
// travelling parameters
TravelingParameters tp = new TravelingParameters();
// get control parameters
ForwardVehicleTrackingControl fvtc = GetControl(lane, state, ignorable);
this.ForwardControl = fvtc;
// initialize the parameters
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.Decorators = new List <BehaviorDecorator>();
// ignore the forward vehicles
tp.VehiclesToIgnore = this.VehiclesToIgnore;
#region Following Control
#region Immediate Stop
// need to stop immediately
if (fvtc.vFollowing == 0.0)
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(0.0);
tp.SpeedCommand = sc;
tp.UsingSpeed = true;
if (lane is ArbiterLane)
{
// standard path following behavior
ArbiterLane al = ((ArbiterLane)lane);
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, al.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Stopping at Distance
// stop at distance
else if (fvtc.vFollowing < 0.7 &&
CoreCommon.Communications.GetVehicleSpeed().Value <= 2.24 &&
fvtc.xSeparation > fvtc.xAbsMin)
{
// speed command
SpeedCommand sc = new StopAtDistSpeedCommand(fvtc.xDistanceToGood);
tp.SpeedCommand = sc;
tp.UsingSpeed = false;
if (lane is ArbiterLane)
{
ArbiterLane al = (ArbiterLane)lane;
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#region Normal Following
// else normal
else
{
// speed command
SpeedCommand sc = new ScalarSpeedCommand(fvtc.vFollowing);
tp.DistanceToGo = fvtc.xDistanceToGood;
tp.NextState = CoreCommon.CorePlanningState;
tp.RecommendedSpeed = fvtc.vFollowing;
tp.Type = TravellingType.Vehicle;
tp.UsingSpeed = true;
tp.SpeedCommand = sc;
if (lane is ArbiterLane)
{
ArbiterLane al = ((ArbiterLane)lane);
// standard path following behavior
Behavior final = new StayInLaneBehavior(al.LaneId, sc, this.VehiclesToIgnore, lane.LanePath(), al.Width, al.NumberOfLanesLeft(state.Front, true), al.NumberOfLanesRight(state.Front, true));
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
else
{
SupraLane sl = (SupraLane)lane;
StayInSupraLaneState sisls = (StayInSupraLaneState)CoreCommon.CorePlanningState;
Behavior final = sisls.GetBehavior(sc, state.Front, this.VehiclesToIgnore);
final.Decorators = tp.Decorators;
tp.Behavior = final;
}
}
#endregion
#endregion
#region Check for Oncoming Vehicles
// check if need to add current lane oncoming vehicle decorator
if (false && this.CurrentVehicle.PassedDelayedBirth && fvtc.forwardOncoming && fvtc.xSeparation > TahoeParams.VL && fvtc.xSeparation < 30)
{
// check valid lane area
if (lane is ArbiterLane || ((SupraLane)lane).ClosestComponent(this.CurrentVehicle.ClosestPosition) == SLComponentType.Initial)
{
// get distance to and speed of the forward vehicle
double fvDistance = fvtc.xSeparation;
double fvSpeed = fvtc.vTarget;
// create the 5mph behavior
ScalarSpeedCommand updated = new ScalarSpeedCommand(2.24);
// set that we are using speed
tp.UsingSpeed = true;
tp.RecommendedSpeed = updated.Speed;
tp.DistanceToGo = fvtc.xSeparation;
// create the decorator
OncomingVehicleDecorator ovd = new OncomingVehicleDecorator(updated, fvDistance, fvSpeed);
// add the decorator
tp.Behavior.Decorators.Add(ovd);
tp.Decorators.Add(ovd);
}
}
#endregion
// set current
this.followingParameters = tp;
// return parameterization
return(tp);
}
/// <summary>
/// Plan a lane change
/// </summary>
/// <param name="cls"></param>
/// <param name="initialManeuver"></param>
/// <param name="targetManeuver"></param>
/// <returns></returns>
public Maneuver PlanLaneChange(ChangeLanesState cls, VehicleState vehicleState, RoadPlan roadPlan,
List <ITacticalBlockage> blockages, List <ArbiterWaypoint> ignorable)
{
// check blockages
if (blockages != null && blockages.Count > 0 && blockages[0] is LaneChangeBlockage)
{
// create the blockage state
EncounteredBlockageState ebs = new EncounteredBlockageState(blockages[0], CoreCommon.CorePlanningState);
// go to a blockage handling tactical
return(new Maneuver(new NullBehavior(), ebs, TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
// lanes of the lane change
ArbiterLane initial = cls.Parameters.Initial;
ArbiterLane target = cls.Parameters.Target;
#region Initial Forwards
if (!cls.Parameters.InitialOncoming)
{
ForwardReasoning initialReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), initial);
#region Target Forwards
if (!cls.Parameters.TargetOncoming)
{
// target reasoning
ForwardReasoning targetReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), target);
#region Navigation
if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// vehicles to ignore
List <int> ignorableVehicles = new List <int>();
// params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle);
ArbiterOutput.Output("initial dist to go: " + initialParams.DistanceToGo.ToString("f3"));
if (initialParams.Type == TravellingType.Vehicle && !initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
tps.Add(initialParams);
}
else
{
tps.Add(initialReasoning.ForwardMonitor.NavigationParameters);
}
ignorableVehicles.AddRange(initialParams.VehiclesToIgnore);
// get params for the final lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, new List <ArbiterWaypoint>());
TravelingParameters targetParams = targetReasoning.ForwardMonitor.CurrentParameters;
tps.Add(targetParams);
ignorableVehicles.AddRange(targetParams.VehiclesToIgnore);
try
{
if (CoreCommon.Communications.GetVehicleSpeed().Value < 0.1 &&
targetParams.Type == TravellingType.Vehicle &&
targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle != null &&
targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.Queuing == QueuingState.Failed)
{
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(target, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
catch (Exception) { }
ArbiterOutput.Output("target dist to go: " + targetParams.DistanceToGo.ToString("f3"));
// decorators
List <BehaviorDecorator> decorators = initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target) ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// check if need to modify distance to go
if (initialParams.Type == TravellingType.Vehicle && initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
double curDistToUpper = cls.Parameters.DistanceToDepartUpperBound;
double newVhcDistToUpper = initial.DistanceBetween(vehicleState.Front, initialReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition) - 2.0;
if (curDistToUpper > newVhcDistToUpper)
{
distanceToGo = newVhcDistToUpper;
}
}
// get final
tps.Sort();
// get the proper speed command
ScalarSpeedCommand sc = new ScalarSpeedCommand(tps[0].RecommendedSpeed);
if (sc.Speed < 8.84)
{
sc = new ScalarSpeedCommand(Math.Min(targetParams.RecommendedSpeed, 8.84));
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target), distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Failed Forwards
else if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// vehicles to ignore
List <int> ignorableVehicles = new List <int>();
// params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, null);
tps.Add(initialParams);
ignorableVehicles.AddRange(initialParams.VehiclesToIgnore);
// get params for the final lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, new List <ArbiterWaypoint>());
TravelingParameters targetParams = targetReasoning.ForwardMonitor.CurrentParameters;
tps.Add(targetParams);
ignorableVehicles.AddRange(targetParams.VehiclesToIgnore);
// decorators
List <BehaviorDecorator> decorators = initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target) ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = new ScalarSpeedCommand(tps[0].RecommendedSpeed);
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, initial.LaneOnLeft != null && initial.LaneOnLeft.Equals(target), distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Slow
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#endregion
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
#region Target Oncoming
else
{
OpposingReasoning targetReasoning = new OpposingReasoning(new OpposingLateralReasoning(null, SideObstacleSide.Driver), new OpposingLateralReasoning(null, SideObstacleSide.Driver), target);
#region Failed Forward
if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// ignore the forward vehicle but keep params for forward lane
initialReasoning.ForwardManeuver(initial, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters initialParams = initialReasoning.ForwardMonitor.ParameterizationHelper(initial, initial,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
initial.WaypointList[initial.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, null);
tps.Add(initialParams);
// get params for the final lane
targetReasoning.ForwardManeuver(target, initial, vehicleState, roadPlan, blockages);
TravelingParameters targetParams = targetReasoning.OpposingForwardMonitor.CurrentParamters.Value;
tps.Add(targetParams);
// decorators
List <BehaviorDecorator> decorators = cls.Parameters.ToLeft ? TurnDecorators.LeftTurnDecorator : TurnDecorators.RightTurnDecorator;
// distance
double distanceToGo = initial.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = new ScalarSpeedCommand(Math.Min(tps[0].RecommendedSpeed, 2.24));
// check final for stopped failed opposing
VehicleAgent forwardVa = targetReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle;
if (forwardVa != null)
{
// dist between
double distToFV = -targetReasoning.Lane.DistanceBetween(vehicleState.Front, forwardVa.ClosestPosition);
// check stopped
bool stopped = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.5;
// check distance
bool distOk = distToFV < 2.5 * TahoeParams.VL;
// check failed
bool failed = forwardVa.QueuingState.Queuing == QueuingState.Failed;
// notify
ArbiterOutput.Output("Forward Vehicle: Stopped: " + stopped.ToString() + ", DistOk: " + distOk.ToString() + ", Failed: " + failed.ToString());
// check all for failed
if (stopped && distOk && failed)
{
// check inside target
if (target.LanePolygon.IsInside(vehicleState.Front))
{
// blockage recovery
StayInLaneState sils = new StayInLaneState(initial, CoreCommon.CorePlanningState);
StayInLaneBehavior silb = new StayInLaneBehavior(initial.LaneId, new StopAtDistSpeedCommand(TahoeParams.VL * 2.0, true), new List <int>(), initial.LanePath(), initial.Width, initial.NumberOfLanesLeft(vehicleState.Front, false), initial.NumberOfLanesRight(vehicleState.Front, false));
BlockageRecoveryState brs = new BlockageRecoveryState(silb, sils, sils, BlockageRecoveryDEFCON.REVERSE,
new EncounteredBlockageState(new LaneBlockage(new TrajectoryBlockedReport(CompletionResult.Stopped, 4.0, BlockageType.Static, -1, true, silb.GetType())), sils, BlockageRecoveryDEFCON.INITIAL, SAUDILevel.None),
BlockageRecoverySTATUS.EXECUTING);
return(new Maneuver(silb, brs, TurnDecorators.HazardDecorator, vehicleState.Timestamp));
}
// check which lane we are in
else
{
// return to forward lane
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(initial, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, cls.Parameters.ToLeft, distanceToGo,
sc, targetParams.VehiclesToIgnore, initial.LanePath(), target.ReversePath, initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, true),
initial.NumberOfLanesRight(vehicleState.Front, true));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
#region Other
else if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#endregion
}
#endregion
}
#endregion
#region Initial Oncoming
else
{
OpposingReasoning initialReasoning = new OpposingReasoning(new OpposingLateralReasoning(null, SideObstacleSide.Driver), new OpposingLateralReasoning(null, SideObstacleSide.Driver), initial);
#region Target Forwards
if (!cls.Parameters.TargetOncoming)
{
ForwardReasoning targetReasoning = new ForwardReasoning(new LateralReasoning(null, SideObstacleSide.Driver), new LateralReasoning(null, SideObstacleSide.Driver), target);
if (cls.Parameters.Reason == LaneChangeReason.FailedForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
#region Navigation
else if (cls.Parameters.Reason == LaneChangeReason.Navigation)
{
// parameters to follow
List <TravelingParameters> tps = new List <TravelingParameters>();
// distance to the upper bound of the change
double distanceToGo = target.DistanceBetween(vehicleState.Front, cls.Parameters.DepartUpperBound);
cls.Parameters.DistanceToDepartUpperBound = distanceToGo;
// get params for the initial lane
initialReasoning.ForwardManeuver(initial, target, vehicleState, roadPlan, blockages);
// current params of the fqm
TravelingParameters initialParams = initialReasoning.OpposingForwardMonitor.CurrentParamters.Value;
if (initialParams.Type == TravellingType.Vehicle)
{
if (!initialReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle.IsStopped)
{
tps.Add(initialParams);
}
else
{
tps.Add(initialReasoning.OpposingForwardMonitor.NaviationParameters);
distanceToGo = initial.DistanceBetween(initialReasoning.OpposingForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition, vehicleState.Front) - TahoeParams.VL;
}
}
else
{
tps.Add(initialReasoning.OpposingForwardMonitor.NaviationParameters);
}
// get params for forward lane
targetReasoning.ForwardManeuver(target, vehicleState, roadPlan, blockages, ignorable);
TravelingParameters targetParams = targetReasoning.ForwardMonitor.ParameterizationHelper(target, target,
CoreCommon.Mission.MissionCheckpoints.Peek().WaypointId.Equals(roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.WaypointId) ?
target.WaypointList[target.WaypointList.Count - 1].Position : roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position,
vehicleState.Front, CoreCommon.CorePlanningState, vehicleState, targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle);
tps.Add(targetParams);
// ignoring vehicles add
List <int> ignoreVehicles = initialParams.VehiclesToIgnore;
ignoreVehicles.AddRange(targetParams.VehiclesToIgnore);
// decorators
List <BehaviorDecorator> decorators = !cls.Parameters.ToLeft ? TurnDecorators.RightTurnDecorator : TurnDecorators.LeftTurnDecorator;
// get final
tps.Sort();
// get the proper speed command
SpeedCommand sc = tps[0].SpeedCommand;
if (sc is StopAtDistSpeedCommand)
{
sc = new ScalarSpeedCommand(0.0);
}
// check final for stopped failed opposing
VehicleAgent forwardVa = targetReasoning.ForwardMonitor.ForwardVehicle.CurrentVehicle;
if (forwardVa != null)
{
// dist between
double distToFV = targetReasoning.Lane.DistanceBetween(vehicleState.Front, forwardVa.ClosestPosition);
// check stopped
bool stopped = Math.Abs(CoreCommon.Communications.GetVehicleSpeed().Value) < 0.5;
// check distance
bool distOk = distToFV < 2.5 * TahoeParams.VL;
// check failed
bool failed = forwardVa.QueuingState.Queuing == QueuingState.Failed;
// notify
ArbiterOutput.Output("Forward Vehicle: Stopped: " + stopped.ToString() + ", DistOk: " + distOk.ToString() + ", Failed: " + failed.ToString());
// check all for failed
if (stopped && distOk && failed)
{
// check which lane we are in
if (initial.LanePolygon.IsInside(vehicleState.Front))
{
// return to opposing lane
return(new Maneuver(new HoldBrakeBehavior(), new OpposingLanesState(initial, true, CoreCommon.CorePlanningState, vehicleState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
else
{
// lane state
return(new Maneuver(new HoldBrakeBehavior(), new StayInLaneState(target, CoreCommon.CorePlanningState), TurnDecorators.NoDecorators, vehicleState.Timestamp));
}
}
}
// continue the lane change with the proper speed command
ChangeLaneBehavior clb = new ChangeLaneBehavior(initial.LaneId, target.LaneId, cls.Parameters.ToLeft, distanceToGo,
sc, ignoreVehicles, initial.ReversePath, target.LanePath(), initial.Width, target.Width, initial.NumberOfLanesLeft(vehicleState.Front, false),
initial.NumberOfLanesRight(vehicleState.Front, false));
// standard maneuver
return(new Maneuver(clb, CoreCommon.CorePlanningState, decorators, vehicleState.Timestamp));
}
#endregion
else if (cls.Parameters.Reason == LaneChangeReason.SlowForwardVehicle)
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
else
{
// fallout exception
throw new Exception("currently unsupported lane change type");
}
}
#endregion
}
