private void HandleBehavior(ChangeLaneBehavior cb)
{
AbsoluteTransformer absTransform = Services.StateProvider.GetAbsoluteTransformer(cb.TimeStamp);
startingLanePath = cb.BackupStartLanePath.Transform(absTransform);
endingLanePath = cb.BackupTargetLanePath.Transform(absTransform);
startingNumLanesLeft = cb.StartingNumLanesLeft;
startingNumLanesRight = cb.StartingNumLaneRights;
startingLaneWidth = cb.StartLaneWidth;
endingLaneWidth = cb.TargetLaneWidth;
startingLaneID = cb.StartLane;
endingLaneID = cb.TargetLane;
changeLeft = cb.ChangeLeft;
if (cb.MaxDist > -TahoeParams.FL)
{
dist = cb.MaxDist + TahoeParams.FL;
}
else
{
dist = 0;
}
speedCommand = cb.SpeedCommand;
ignorableObstacles = cb.IgnorableObstacles;
Services.ObstaclePipeline.LastIgnoredObstacles = cb.IgnorableObstacles;
behaviorTimestamp = absTransform.Timestamp;
}
public override void OnBehaviorReceived(Behavior b)
{
if (b is ChangeLaneBehavior)
{
ChangeLaneBehavior cb = (ChangeLaneBehavior)b;
if (cb.StartLane.Equals(startingLaneID) && cb.TargetLane.Equals(endingLaneID))
{
LinePath startingLanePath = cb.BackupStartLanePath;
LinePath endingLanePath = cb.BackupTargetLanePath;
Services.UIService.PushAbsolutePath(startingLanePath, cb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(endingLanePath, cb.TimeStamp, "original path2");
Services.BehaviorManager.QueueParam(cb);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- got change lanes behavior with same start/end lane");
}
else
{
// this is a new behavior
Services.BehaviorManager.Execute(b, null, false);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- got change lanes with different start/end lane ({0}/{1})", cb.StartLane, cb.TargetLane);
}
}
else
{
Services.BehaviorManager.Execute(b, null, false);
}
}
public UrbanChallenge.Behaviors.Behavior Resume(VehicleState currentState, double speed)
{
double distLeft = Parameters.TargetOncoming ?
Parameters.Target.DistanceBetween(Parameters.DepartUpperBound, currentState.Front) :
Parameters.Target.DistanceBetween(currentState.Front, Parameters.DepartUpperBound);
LaneChangeParameters chosen = this.Parameters;
this.Parameters.DistanceToDepartUpperBound = distLeft;
// distance to stop from max v given desired acceleration
//double stopEnvelopeLength = -Math.Pow(this.Parameters.Target.Way.Segment.SpeedLimits.MaximumSpeed, 2) /
// (2.0 * -0.5);
//double tmpSpeed = distLeft / this.Parameters.Parameters.DistanceToGo * this.Parameters.Parameters.RecommendedSpeed;
// create behavior
ChangeLaneBehavior clb = new ChangeLaneBehavior(
chosen.Initial.LaneId,
chosen.Target.LaneId,
chosen.ToLeft,
distLeft,
new ScalarSpeedCommand(chosen.Parameters.RecommendedSpeed),
chosen.Parameters.VehiclesToIgnore,
chosen.InitialOncoming ? chosen.Initial.ReversePath : chosen.Initial.LanePath(),
chosen.TargetOncoming ? chosen.Target.ReversePath : chosen.Target.LanePath(),
chosen.Initial.Width,
chosen.Target.Width,
chosen.InitialOncoming ? chosen.Initial.NumberOfLanesRight(currentState.Position, true) : chosen.Initial.NumberOfLanesLeft(currentState.Position, true),
chosen.InitialOncoming ? chosen.Initial.NumberOfLanesLeft(currentState.Position, true) : chosen.Initial.NumberOfLanesRight(currentState.Position, true));
// return behavior
return(clb);
}
public override void Initialize(Behavior b)
{
base.Initialize(b);
Services.ObstaclePipeline.ExtraSpacing = 0;
Services.ObstaclePipeline.UseOccupancyGrid = true;
ChangeLaneBehavior cb = (ChangeLaneBehavior)b;
Services.UIService.PushAbsolutePath(cb.BackupStartLanePath, cb.TimeStamp, "original path1");
Services.UIService.PushAbsolutePath(cb.BackupTargetLanePath, cb.TimeStamp, "original path2");
startTimestamp = b.TimeStamp;
HandleBehavior(cb);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Information, 0, "in change lanes -- initializing, start timestamp {0}", b.TimeStamp);
}
public override void Process(object param)
{
try {
Trace.CorrelationManager.StartLogicalOperation("ChangeLanes");
if (!base.BeginProcess())
{
return;
}
// check if we were given a parameter
if (param != null && param is ChangeLaneBehavior)
{
ChangeLaneBehavior clParam = (ChangeLaneBehavior)param;
HandleBehavior(clParam);
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "got new param -- speed {0}, dist {1}, dist timestamp {2}", clParam.SpeedCommand, clParam.MaxDist, clParam.TimeStamp);
}
// project the lane paths up to the current time
RelativeTransform relTransform = Services.RelativePose.GetTransform(behaviorTimestamp, curTimestamp);
LinePath curStartingPath = startingLanePath.Transform(relTransform);
LinePath curEndingPath = endingLanePath.Transform(relTransform);
// get the starting and ending lane models
ILaneModel startingLaneModel, endingLaneModel;
Services.RoadModelProvider.GetLaneChangeModels(curStartingPath, startingLaneWidth, startingNumLanesLeft, startingNumLanesRight,
curEndingPath, endingLaneWidth, changeLeft, behaviorTimestamp, out startingLaneModel, out endingLaneModel);
// calculate the max speed
// TODO: make this look ahead for slowing down
settings.maxSpeed = GetMaxSpeed(endingLanePath, endingLanePath.ZeroPoint);
// get the remaining lane change distance
double remainingDist = GetRemainingLaneChangeDistance();
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "remaining distance is {0}", remainingDist);
if (cancelled)
{
return;
}
// check if we're done
if (remainingDist <= 0)
{
// create a new stay in lane behavior
int deltaLanes = changeLeft ? -1 : 1;
StayInLaneBehavior stayInLane = new StayInLaneBehavior(endingLaneID, speedCommand, null, endingLanePath, endingLaneWidth, startingNumLanesLeft + deltaLanes, startingNumLanesRight - deltaLanes);
stayInLane.TimeStamp = behaviorTimestamp.ts;
Services.BehaviorManager.Execute(stayInLane, null, false);
// send completion report
ForwardCompletionReport(new SuccessCompletionReport(typeof(ChangeLaneBehavior)));
return;
}
// calculate the planning distance
double planningDist = GetPlanningDistance();
if (planningDist < remainingDist + TahoeParams.VL)
{
planningDist = remainingDist + TahoeParams.VL;
}
BehaviorManager.TraceSource.TraceEvent(TraceEventType.Verbose, 0, "planning dist {0}", planningDist);
// create a linearization options structure
LinearizationOptions laneOpts = new LinearizationOptions();
laneOpts.Timestamp = curTimestamp;
// get the center line of the target lane starting at the distance we want to enter into it
laneOpts.StartDistance = remainingDist;
laneOpts.EndDistance = planningDist;
LinePath centerLine = endingLaneModel.LinearizeCenterLine(laneOpts);
// add the final center line as a weighting
AddTargetPath(centerLine.Clone(), default_lane_alpha_w);
// pre-pend (0,0) as our position
centerLine.Insert(0, new Coordinates(0, 0));
LinePath leftBound = null;
LinePath rightBound = null;
// figure out if the lane is to the right or left of us
laneOpts.EndDistance = planningDist;
double leftEndingStartDist, rightEndingStartDist;
GetLaneBoundStartDists(curEndingPath, endingLaneWidth, out leftEndingStartDist, out rightEndingStartDist);
if (changeLeft)
{
// we're the target lane is to the left
// get the left bound of the target lane
laneOpts.StartDistance = Math.Max(leftEndingStartDist, TahoeParams.FL);
leftBound = endingLaneModel.LinearizeLeftBound(laneOpts);
}
else
{
// we're changing to the right, get the right bound of the target lane
laneOpts.StartDistance = Math.Max(rightEndingStartDist, TahoeParams.FL);
rightBound = endingLaneModel.LinearizeRightBound(laneOpts);
}
// get the other bound as the starting lane up to 5m before the remaining dist
laneOpts.StartDistance = TahoeParams.FL;
laneOpts.EndDistance = Math.Max(0, remainingDist - 5);
if (changeLeft)
{
if (laneOpts.EndDistance > 0)
{
rightBound = startingLaneModel.LinearizeRightBound(laneOpts);
}
else
{
rightBound = new LinePath();
}
}
else
{
if (laneOpts.EndDistance > 0)
{
leftBound = startingLaneModel.LinearizeLeftBound(laneOpts);
}
else
{
leftBound = new LinePath();
}
}
// append on the that bound of the target lane starting at the remaining dist
laneOpts.StartDistance = Math.Max(remainingDist, TahoeParams.FL);
laneOpts.EndDistance = planningDist;
if (changeLeft)
{
rightBound.AddRange(endingLaneModel.LinearizeRightBound(laneOpts));
}
else
{
leftBound.AddRange(endingLaneModel.LinearizeLeftBound(laneOpts));
}
// set up the planning
smootherBasePath = centerLine;
AddLeftBound(leftBound, !changeLeft);
AddRightBound(rightBound, changeLeft);
Services.UIService.PushLineList(centerLine, curTimestamp, "subpath", true);
Services.UIService.PushLineList(leftBound, curTimestamp, "left bound", true);
Services.UIService.PushLineList(rightBound, curTimestamp, "right bound", true);
if (cancelled)
{
return;
}
// set auxillary options
settings.endingHeading = centerLine.EndSegment.UnitVector.ArcTan;
// smooth and track that stuff
SmoothAndTrack(commandLabel, true);
}
finally {
Trace.CorrelationManager.StopLogicalOperation();
}
}
/// <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
}
