/// <summary> /// Constructor /// </summary> public LateralReasoning(ArbiterLane lane, SideObstacleSide sos) { this.lane = lane; this.ForwardMonitor = new ForwardQuadrantMonitor(); this.LateralMonitor = new LateralQuadrantMonitor(sos); this.RearMonitor = new RearQuadrantMonitor(lane, sos); }
/// <summary> /// Constructor /// </summary> /// <param name="leftLateral"></param> /// <param name="rightLateral"></param> public ForwardReasoning(ILateralReasoning leftLateral, ILateralReasoning rightLateral, IFQMPlanable lane) { this.Lane = lane; this.leftLateralReasoning = leftLateral; this.rightLateralReasoning = rightLateral; this.ForwardMonitor = new ForwardQuadrantMonitor(); this.blockageTimer = new Stopwatch(); if (lane is ArbiterLane) { this.RearMonitor = new RearQuadrantMonitor((ArbiterLane)lane, SideObstacleSide.Driver); } else { this.RearMonitor = new RearQuadrantMonitor(((SupraLane)lane).Initial, SideObstacleSide.Driver); } }
/// <summary> /// Secondary maneuver when current lane is the desired lane /// </summary> /// <param name="arbiterLane"></param> /// <param name="vehicleState"></param> /// <param name="roadPlan"></param> /// <param name="blockages"></param> /// <param name="ignorable"></param> /// <returns></returns> public Maneuver? AdvancedSecondaryNextCheck(ArbiterLane lane, ArbiterWaypoint laneGoal, VehicleState vehicleState, RoadPlan roadPlan, List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable, TypeOfTasks bestTask) { // check if the forward vehicle exists if (this.ForwardMonitor.ForwardVehicle.ShouldUseForwardTracker && this.ForwardMonitor.ForwardVehicle.CurrentVehicle.PassedLongDelayedBirth) { // distance to forward vehicle double distanceToForwardVehicle = lane.DistanceBetween(vehicleState.Front, this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition); #region Distance From Forward Not Enough // check distance to forward vehicle if (this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.Queuing == QueuingState.Failed && distanceToForwardVehicle < 8.0 && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle) { // set name ArbiterLane al = lane; // distance to forward vehicle too small double distToForwards = al.DistanceBetween(vehicleState.Front, this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition); double distToReverse = Math.Max(1.0, 8.0 - distToForwards); if (distToForwards < 8.0) { // notify ArbiterOutput.Output("Secondary: NOT Properly Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " distance: " + distToForwards.ToString("f2")); this.RearMonitor = new RearQuadrantMonitor(al, SideObstacleSide.Driver); this.RearMonitor.Update(vehicleState); if (this.RearMonitor.CurrentVehicle != null) { double distToRearVehicle = al.DistanceBetween(this.RearMonitor.CurrentVehicle.ClosestPosition, vehicleState.Position) - TahoeParams.RL; double distNeedClear = distToReverse + 2.0; if (distToRearVehicle < distNeedClear) { // notify ArbiterOutput.Output("Secondary: Rear: Not enough room to clear in rear: " + distToRearVehicle.ToString("f2") + " < " + distNeedClear.ToString("f2")); return null; } } double distToLaneStart = al.DistanceBetween(al.LanePath().StartPoint.Location, vehicleState.Position) - TahoeParams.RL; if (distToReverse > distToLaneStart) { // notify ArbiterOutput.Output("Secondary: Rear: Not enough room in lane to reverse in rear: " + distToLaneStart.ToString("f2") + " < " + distToReverse.ToString("f2")); return null; } else { // notify ArbiterOutput.Output("Secondary: Reversing to pass Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " reversing distance: " + distToReverse.ToString("f2")); StopAtDistSpeedCommand sadsc = new StopAtDistSpeedCommand(distToReverse, true); StayInLaneBehavior silb = new StayInLaneBehavior(al.LaneId, sadsc, new List<int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true)); return new Maneuver(silb, CoreCommon.CorePlanningState, TurnDecorators.HazardDecorator, vehicleState.Timestamp); } } } #endregion // get distance to next lane major List<WaypointType> wts = new List<WaypointType>(new WaypointType[] { WaypointType.Stop, WaypointType.End }); ArbiterWaypoint nextWaypoint = lane.GetNext(lane.GetClosestPartition(vehicleState.Position).Final, wts, new List<ArbiterWaypoint>()); // check if the vehicle occurs before the next major thing double distanceToNextMajor = lane.DistanceBetween(vehicleState.Front, nextWaypoint.Position); // check if vehicle occurs before the next lane major if (distanceToForwardVehicle < distanceToNextMajor) { // check if forward vehicle exists in this lane and is closer then the lane goal if (TacticalDirector.VehicleAreas.ContainsKey(lane) && TacticalDirector.VehicleAreas[lane].Contains(this.ForwardMonitor.ForwardVehicle.CurrentVehicle) && lane.DistanceBetween(vehicleState.Front, this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition) < lane.DistanceBetween(vehicleState.Front, laneGoal.Position)) { // some constants double desiredDistance = 50.0; // get the lane goal distance double distanceToLaneGoal = lane.DistanceBetween(vehicleState.Front, laneGoal.Position); // check if necessary to be in current lane if (distanceToLaneGoal <= desiredDistance) { // default secondary maneuver ArbiterOutput.WriteToLog("AdvancedSecondaryNextCheck: DistToLaneGoal < 50: " + desiredDistance.ToString("f2")); return this.SecondaryManeuver(lane, vehicleState, roadPlan, new List<ITacticalBlockage>(), new List<ArbiterWaypoint>(), bestTask); } // otherwise would be good but not necessary else { // return the maneuver from the vehicle being outside the min cap ArbiterOutput.WriteToLog("AdvancedSecondaryNextCheck: DistToLaneGoal > 50: " + desiredDistance.ToString("f2")); return this.AdvancedSecondaryOutsideMinCap(lane, laneGoal, vehicleState, roadPlan, blockages, ignorable, bestTask); } } } } // no secondary return null; }
/// <summary> /// Makes use of parameterizations made from the initial forward maneuver plan /// </summary> /// <param name="arbiterLane"></param> /// <param name="vehicleState"></param> /// <param name="roadPlan"></param> /// <param name="blockages"></param> /// <param name="ignorable"></param> /// <returns></returns> public Maneuver? SecondaryManeuver(IFQMPlanable arbiterLane, VehicleState vehicleState, RoadPlan roadPlan, List<ITacticalBlockage> blockages, List<ArbiterWaypoint> ignorable, TypeOfTasks bestTask) { // check if we might be able to pass here bool validArea = arbiterLane is ArbiterLane || (((SupraLane)arbiterLane).ClosestComponent(vehicleState.Front) == SLComponentType.Initial); ArbiterLane ourForwardLane = arbiterLane is ArbiterLane ? (ArbiterLane)arbiterLane : ((SupraLane)arbiterLane).Initial; // check if the forward vehicle exists and we're in a valid area if (this.ForwardMonitor.ForwardVehicle.ShouldUseForwardTracker && validArea) { // check if we should pass the vehicle ahead LaneChangeInformation lci; bool sp = this.ForwardMonitor.ForwardVehicle.ShouldPass(out lci); // make sure we should do something before processing extras if(sp) { // available parameterizations for the lane change List<LaneChangeParameters> changeParams = new List<LaneChangeParameters>(); // get lane ArbiterLane al = arbiterLane is ArbiterLane ? (ArbiterLane)arbiterLane : ((SupraLane)arbiterLane).Initial; // get the location we need to return by Coordinates absoluteUpperBound = arbiterLane is ArbiterLane ? roadPlan.LanePlans[al.LaneId].laneWaypointOfInterest.PointOfInterest.Position : ((SupraLane)arbiterLane).Interconnect.InitialGeneric.Position; #region Failed Forward // if failed, parameterize ourselved if we're following them if (lci.Reason == LaneChangeReason.FailedForwardVehicle && this.ForwardMonitor.CurrentParameters.Type == TravellingType.Vehicle) { // notify ArbiterOutput.Output("Failed Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.VehicleId.ToString()); // get traveling params from FQM to make sure we stopped for vehicle, behind vehicle double v = CoreCommon.Communications.GetVehicleSpeed().Value; TravelingParameters fqmParams = this.ForwardMonitor.CurrentParameters; double d = this.ForwardMonitor.ForwardVehicle.DistanceToVehicle(arbiterLane, vehicleState.Front); Coordinates departUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d - 3.0).Location; // check stopped behing failed forward try { if (fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle) { // check for checkpoint within 4VL of front of failed vehicle ArbiterCheckpoint acCurrecnt = CoreCommon.Mission.MissionCheckpoints.Peek(); if (acCurrecnt.WaypointId.AreaSubtypeId.Equals(al.LaneId)) { // check distance ArbiterWaypoint awCheckpoint = (ArbiterWaypoint)CoreCommon.RoadNetwork.ArbiterWaypoints[acCurrecnt.WaypointId]; double cpDistacne = Lane.DistanceBetween(vehicleState.Front, awCheckpoint.Position); if (cpDistacne < d || cpDistacne - d < TahoeParams.VL * 4.5) { ArbiterOutput.Output("Removing checkpoint: " + acCurrecnt.WaypointId.ToString() + " as failed vehicle over it"); CoreCommon.Mission.MissionCheckpoints.Dequeue(); return new Maneuver(new NullBehavior(), CoreCommon.CorePlanningState, TurnDecorators.NoDecorators, vehicleState.Timestamp); } } } }catch (Exception) { } #region Right Lateral Reasoning Forwards // check right lateral reasoning for existence, if so parametrize if (rightLateralReasoning.Exists && fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle) { // get lane ArbiterLane lane = al; // determine failed vehicle lane change distance params Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location; Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.0)).Location; Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location; // get params for lane change LaneChangeParameters? lcp = this.LaneChangeParameterization( new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, null), lane, lane.LaneOnRight, false, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound, blockages, ignorable, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value); // check if exists to generate full param if (lcp.HasValue) { // get param LaneChangeParameters tp = lcp.Value; // notify ArbiterOutput.WriteToLog("Failed Forward: Right Lateral Reasoning Forwards: Available: " + tp.Available.ToString() + ", Feasable: " + tp.Feasible.ToString()); // get behavior ChangeLaneBehavior clb = new ChangeLaneBehavior( al.LaneId, al.LaneOnRight.LaneId, false, al.DistanceBetween(vehicleState.Front, departUpperBound), new ScalarSpeedCommand(tp.Parameters.RecommendedSpeed), tp.Parameters.VehiclesToIgnore, al.LanePath(), al.LaneOnRight.LanePath(), al.Width, al.LaneOnRight.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true)); tp.Behavior = clb; tp.Decorators = TurnDecorators.RightTurnDecorator; // next state ChangeLanesState cls = new ChangeLanesState(tp); tp.NextState = cls; // add parameterization to possible changeParams.Add(tp); } } #endregion #region Left Lateral Reasoning // check left lateral reasoning if(leftLateralReasoning.Exists) { #region Left Lateral Opposing // check opposing ArbiterLane closestOpposingLane = this.GetClosestOpposing(ourForwardLane, vehicleState); if(closestOpposingLane != null && (leftLateralReasoning.IsOpposing || !closestOpposingLane.Equals(leftLateralReasoning.LateralLane))) { // check room of initial bool enoughRoom = (arbiterLane is ArbiterLane && (!roadPlan.BestPlan.laneWaypointOfInterest.IsExit || ((ArbiterLane)arbiterLane).DistanceBetween(vehicleState.Front, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position) > TahoeParams.VL * 5.0)) || (arbiterLane is SupraLane && ((SupraLane)arbiterLane).DistanceBetween(vehicleState.Front, ((SupraLane)arbiterLane).Interconnect.InitialGeneric.Position) > TahoeParams.VL * 5.0); // check opposing enough room bool oppEnough = closestOpposingLane.DistanceBetween(closestOpposingLane.LanePath().StartPoint.Location, vehicleState.Front) > TahoeParams.VL * 5.0; // check if enough room if (enoughRoom && oppEnough) { // check if we're stopped and the current trav params were for a vehicle and we're close to the vehicle bool stoppedBehindFV = fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle; // check that we're stopped behind forward vehicle before attempting to change lanes if (stoppedBehindFV) { #region Check Segment Blockage // check need to make uturn (hack) bool waitForUTurnCooldown; BlockageTactical bt = CoreCommon.BlockageDirector; StayInLaneBehavior tmpBlockBehavior = new StayInLaneBehavior(al.LaneId, new ScalarSpeedCommand(2.0), new List<int>(), al.LanePath(), al.Width, 0, 0); ITacticalBlockage itbTmp = new LaneBlockage(new TrajectoryBlockedReport(CompletionResult.Stopped, TahoeParams.VL, BlockageType.Static, -1, false, tmpBlockBehavior.GetType())); Maneuver tmpBlockManeuver = bt.LaneRecoveryManeuver(al, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value, roadPlan, new BlockageRecoveryState(tmpBlockBehavior, new StayInLaneState(al, CoreCommon.CorePlanningState), new StayInLaneState(al, CoreCommon.CorePlanningState), BlockageRecoveryDEFCON.REVERSE, new EncounteredBlockageState(itbTmp, CoreCommon.CorePlanningState, BlockageRecoveryDEFCON.REVERSE, SAUDILevel.None), BlockageRecoverySTATUS.ENCOUNTERED), true, out waitForUTurnCooldown); if (!waitForUTurnCooldown && tmpBlockManeuver.PrimaryBehavior is UTurnBehavior) return tmpBlockManeuver; else if (waitForUTurnCooldown) return null; #endregion // distance to forward vehicle too small double distToForwards = al.DistanceBetween(vehicleState.Front, this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ClosestPosition); double distToReverse = Math.Max(1.0, 8.0 - distToForwards); if (distToForwards < 8.0) { // notify ArbiterOutput.WriteToLog("Secondary: NOT Properly Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " distance: " + distToForwards.ToString("f2")); this.RearMonitor = new RearQuadrantMonitor(al, SideObstacleSide.Driver); this.RearMonitor.Update(vehicleState); if (this.RearMonitor.CurrentVehicle != null) { double distToRearVehicle = al.DistanceBetween(this.RearMonitor.CurrentVehicle.ClosestPosition, vehicleState.Position) - TahoeParams.RL; double distNeedClear = distToReverse + 2.0; if (distToRearVehicle < distNeedClear) { // notify ArbiterOutput.Output("Secondary: Rear: Not enough room to clear in rear: " + distToRearVehicle.ToString("f2") + " < " + distNeedClear.ToString("f2")); return null; } } double distToLaneStart = al.DistanceBetween(al.LanePath().StartPoint.Location, vehicleState.Position) - TahoeParams.RL; if (distToReverse > distToLaneStart) { // notify ArbiterOutput.Output("Secondary: Rear: Not enough room in lane to reverse in rear: " + distToLaneStart.ToString("f2") + " < " + distToReverse.ToString("f2")); return null; } else { // notify ArbiterOutput.Output("Secondary: Reversing to pass Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + " reversing distance: " + distToReverse.ToString("f2")); StopAtDistSpeedCommand sadsc = new StopAtDistSpeedCommand(distToReverse, true); StayInLaneBehavior silb = new StayInLaneBehavior(al.LaneId, sadsc, new List<int>(), al.LanePath(), al.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true)); return new Maneuver(silb, CoreCommon.CorePlanningState, TurnDecorators.HazardDecorator, vehicleState.Timestamp); } } else { // notify ArbiterOutput.WriteToLog("Secondary: Left Lateral Opposing: Properly Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString()); // determine failed vehicle lane change distance params Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location; Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.5)).Location; Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location; // check if enough room if (al.DistanceBetween(vehicleState.Front, defaultReturnUpperBound) >= d + TahoeParams.VL * 4.5) { // get hte closest oppoing ArbiterLane closestOpposing = this.GetClosestOpposing(al, vehicleState); // check exists if (closestOpposing != null) { // set/check secondary if (this.secondaryLeftLateralReasoning == null || !this.secondaryLeftLateralReasoning.LateralLane.Equals(closestOpposing)) this.secondaryLeftLateralReasoning = new OpposingLateralReasoning(closestOpposing, SideObstacleSide.Driver); // check the state of hte lanes next to us if (this.leftLateralReasoning.LateralLane.Equals(closestOpposing) && this.leftLateralReasoning.ExistsExactlyHere(vehicleState)) { #region Plan // need to make sure that we wait for 3 seconds with the blinker on (resetting with pause) if (this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds > 3000) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: Wait Timer DONE"); // get parameterization LaneChangeParameters? tp = this.LaneChangeParameterization( new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, this.ForwardMonitor.ForwardVehicle.CurrentVehicle), al, leftLateralReasoning.LateralLane, true, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound, blockages, ignorable, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value); // check if available and feasible if (tp.HasValue && tp.Value.Available && tp.Value.Feasible) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: AVAILABLE & FEASIBLE"); LaneChangeParameters lcp = tp.Value; lcp.Behavior = this.ForwardMonitor.CurrentParameters.Behavior; lcp.Decorators = TurnDecorators.LeftTurnDecorator; lcp.Behavior.Decorators = lcp.Decorators; // next state ChangeLanesState cls = new ChangeLanesState(tp.Value); lcp.NextState = cls; // add parameterization to possible changeParams.Add(lcp); } // check if not available now but still feasible else if (tp.HasValue && !tp.Value.Available && tp.Value.Feasible) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: NOT Available, Still FEASIBLE, WAITING"); // wait and blink maneuver TravelingParameters tp2 = this.ForwardMonitor.CurrentParameters; tp2.Decorators = TurnDecorators.LeftTurnDecorator; tp2.Behavior.Decorators = tp2.Decorators; // create parameterization LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, al.LaneOnLeft, true, true, tp2.Behavior, 0.0, CoreCommon.CorePlanningState, tp2.Decorators, tp2, new Coordinates(), new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle); // add parameterization to possible changeParams.Add(lcp); } } // otherwise timer not running or not been long enough else { // check if timer running if (!this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.IsRunning) this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Start(); double waited = (double)(this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds / 1000.0); ArbiterOutput.Output("Waited for failed forwards: " + waited.ToString("F2") + " seconds"); // wait and blink maneuver TravelingParameters tp = this.ForwardMonitor.CurrentParameters; tp.Decorators = TurnDecorators.LeftTurnDecorator; tp.Behavior.Decorators = tp.Decorators; // create parameterization LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, al.LaneOnLeft, true, true, tp.Behavior, 0.0, CoreCommon.CorePlanningState, tp.Decorators, tp, new Coordinates(), new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle); // add parameterization to possible changeParams.Add(lcp); } #endregion } else if (!this.leftLateralReasoning.LateralLane.Equals(closestOpposing) && !this.leftLateralReasoning.ExistsRelativelyHere(vehicleState)) { // set and notify ArbiterOutput.Output("superceeded left lateral reasoning with override for non adjacent left lateral reasoning"); ILateralReasoning tmpReasoning = this.leftLateralReasoning; this.leftLateralReasoning = this.secondaryLeftLateralReasoning; try { #region Plan // need to make sure that we wait for 3 seconds with the blinker on (resetting with pause) if (this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds > 3000) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: Wait Timer DONE"); // get parameterization LaneChangeParameters? tp = this.LaneChangeParameterization( new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, this.ForwardMonitor.ForwardVehicle.CurrentVehicle), al, leftLateralReasoning.LateralLane, true, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound, blockages, ignorable, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value); // check if available and feasible if (tp.HasValue && tp.Value.Available && tp.Value.Feasible) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: AVAILABLE & FEASIBLE"); LaneChangeParameters lcp = tp.Value; lcp.Behavior = this.ForwardMonitor.CurrentParameters.Behavior; lcp.Decorators = TurnDecorators.LeftTurnDecorator; lcp.Behavior.Decorators = TurnDecorators.LeftTurnDecorator; // next state ChangeLanesState cls = new ChangeLanesState(tp.Value); lcp.NextState = cls; // add parameterization to possible changeParams.Add(lcp); } // check if not available now but still feasible else if (tp.HasValue && !tp.Value.Available && tp.Value.Feasible) { // notify ArbiterOutput.Output("Scondary: Left Lateral Opposing: NOT Available, Still FEASIBLE, WAITING"); // wait and blink maneuver TravelingParameters tp2 = this.ForwardMonitor.CurrentParameters; tp2.Decorators = TurnDecorators.LeftTurnDecorator; tp2.Behavior.Decorators = tp2.Decorators; // create parameterization LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, this.leftLateralReasoning.LateralLane, true, true, tp2.Behavior, 0.0, CoreCommon.CorePlanningState, tp2.Decorators, tp2, new Coordinates(), new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle); // add parameterization to possible changeParams.Add(lcp); } } // otherwise timer not running or not been long enough else { // check if timer running if (!this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.IsRunning) this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Start(); double waited = (double)(this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.ElapsedMilliseconds / 1000.0); ArbiterOutput.Output("Waited for failed forwards: " + waited.ToString("F2") + " seconds"); // wait and blink maneuver TravelingParameters tp = this.ForwardMonitor.CurrentParameters; tp.Decorators = TurnDecorators.LeftTurnDecorator; tp.Behavior.Decorators = tp.Decorators; // create parameterization LaneChangeParameters lcp = new LaneChangeParameters(false, true, al, false, this.leftLateralReasoning.LateralLane, true, true, tp.Behavior, 0.0, CoreCommon.CorePlanningState, tp.Decorators, tp, new Coordinates(), new Coordinates(), new Coordinates(), new Coordinates(), LaneChangeReason.FailedForwardVehicle); // add parameterization to possible changeParams.Add(lcp); } #endregion } catch (Exception ex) { ArbiterOutput.Output("Core intelligence thread caught exception in forward reasoning secondary maneuver when non-standard adjacent left: " + ex.ToString()); } // restore this.leftLateralReasoning = tmpReasoning; } } else { // do nuttin ArbiterOutput.Output("no opposing adjacent"); } } else { // notify ArbiterOutput.Output("Secondary: LeftLatOpp: Stopped Behind FV: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString() + ", but not enough room to pass"); } } } else { this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Stop(); this.ForwardMonitor.ForwardVehicle.CurrentVehicle.QueuingState.WaitTimer.Reset(); // notify ArbiterOutput.Output("Secondary: Left Lateral Opposing: NOT Stopped Behind Forward Vehicle: " + this.ForwardMonitor.ForwardVehicle.CurrentVehicle.ToString()); } } else { ArbiterOutput.Output("Secondary Opposing: enough room to pass opposing: initial: " + enoughRoom.ToString() + ", opposing: " + oppEnough.ToString()); } } #endregion #region Left Lateral Forwards // otherwise parameterize else if(fqmParams.Type == TravellingType.Vehicle && this.ForwardMonitor.ForwardVehicle.StoppedBehindForwardVehicle) { // get lane ArbiterLane lane = al; // determine failed vehicle lane change distance params Coordinates defaultReturnLowerBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 2.0)).Location; Coordinates minimumReturnComplete = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 3.0)).Location; Coordinates defaultReturnUpperBound = al.LanePath().AdvancePoint(al.LanePath().GetClosestPoint(vehicleState.Front), d + (TahoeParams.VL * 5.0)).Location; // get params for lane change LaneChangeParameters? lcp = this.LaneChangeParameterization( new LaneChangeInformation(LaneChangeReason.FailedForwardVehicle, null), lane, lane.LaneOnLeft, false, roadPlan.BestPlan.laneWaypointOfInterest.PointOfInterest.Position, departUpperBound, defaultReturnLowerBound, minimumReturnComplete, defaultReturnUpperBound, blockages, ignorable, vehicleState, CoreCommon.Communications.GetVehicleSpeed().Value); // check if exists to generate full param if (lcp.HasValue) { // set param LaneChangeParameters tp = lcp.Value; // notify ArbiterOutput.Output("Secondary Failed Forward Reasoning Forwards: Available: " + tp.Available.ToString() + ", Feasible: " + tp.Feasible.ToString()); // get behavior ChangeLaneBehavior clb = new ChangeLaneBehavior( al.LaneId, al.LaneOnLeft.LaneId, true, al.DistanceBetween(vehicleState.Front, departUpperBound), new ScalarSpeedCommand(tp.Parameters.RecommendedSpeed), tp.Parameters.VehiclesToIgnore, al.LanePath(), al.LaneOnLeft.LanePath(), al.Width, al.LaneOnLeft.Width, al.NumberOfLanesLeft(vehicleState.Front, true), al.NumberOfLanesRight(vehicleState.Front, true)); tp.Behavior = clb; tp.Decorators = TurnDecorators.LeftTurnDecorator; // next state ChangeLanesState cls = new ChangeLanesState(tp); tp.NextState = cls; // add parameterization to possible changeParams.Add(tp); } } #endregion } #endregion } #endregion #region Slow Forward // if pass, determine if should pass in terms or vehicles adjacent and in front then call lane change function for maneuver else if (lci.Reason == LaneChangeReason.SlowForwardVehicle) { // if left exists and is not opposing, parameterize if (leftLateralReasoning.Exists && !leftLateralReasoning.IsOpposing) { throw new Exception("slow forward vehicle pass not implemented yet"); } // if right exists and is not opposing, parameterize if (rightLateralReasoning.Exists && !rightLateralReasoning.IsOpposing) { throw new Exception("slow forward vehicle pass not implemented yet"); } } #endregion #region Parameterize // check params to see if any are good and available if(changeParams != null && changeParams.Count > 0) { // sort the parameterizations changeParams.Sort(); // get first LaneChangeParameters final = changeParams[0]; // notify ArbiterOutput.Output("Secondary Reasoning Final: Available: " + final.Available.ToString() + ", Feasible: " + final.Feasible.ToString()); // make sure ok if (final.Available && final.Feasible) { // return best param return new Maneuver(changeParams[0].Behavior, changeParams[0].NextState, changeParams[0].Decorators, vehicleState.Timestamp); } } #endregion } } // fallout is null return null; }