LaneChangeModelΒΆ

This class is responsible for the lane-change decisions of the driver.

The decision process is divided in several steps:

  • Verification of the general lane change possibility (existing adjacent lanes, lane boundary, end of lane).

  • Check of the relevant surrounding traffic

  • Check of the kinematic lane change possibility (superposition with other agents, distance and braking distance check)

  • Call of the several member lane-change-reason objects:

    • Calculation of the lane change urge to the left

      • due an end of the lane

      • to overtake, if necessary on the right, or to not overtake on the right

    • Calculation of the lane change urge to the right

      • due an end of the lane,

      • right-hand drive,

      • faster following vehicle vs. slow leading vehicle on the right

    • Calculation of the cooperative lane change urge to the left or right and speed adaptation

      • e.g. due to an end of the lane sideways

The model summarizes the total lane change urge and decision in case of threshold exceedance of the several lane-change-reason. It also decides whether to adapt the speed or to adopt the from car-following-model calculated.