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.