Hello, >> lcCooperative="0" prevents cooperative changing if there is any inconvenience.
What would be considered an 'inconvenient' speed adaptation for a lane change when setting lcCooperative to 0 instead of -1? >> if you set lcCooperative to 1 then "optimal" speed adaptations will take place What would be considered an 'optimal' speed adaptation? Thank you. Sincerely, Hriday On Wed, 18 May 2022 at 08:13, Jakob Erdmann <namdre.s...@gmail.com> wrote: > In a simulation where you do not send any traci commands, the behavior > should be the same in both cases (and this was the situation I had in mind > for my previous explanation). > > If you are requesting lane changes, than vehicles will still perform some > amount of speed adaptation to resolve blockings and this adaptation is > subject to > lcCooperativeSpeed (which defaults to the value of lcCooperative). > > - if you set lcCooperative to 0 (or -1) then no speed adaptations will > ever take place (this holds for all sumo version) > - if you set lcCooperative to 1 then "optimal" speed adaptations will > take place > > The difference in speed adaption should be fully responsible for the > changes you are seeing. > > Am Mi., 18. Mai 2022 um 08:43 Uhr schrieb Hriday Sanghvi via sumo-user < > sumo-user@eclipse.org>: > >> >> Hello again, >> >> What I have observed is that even after setting the laneChangeMode to >> 512, setting the parameters lcStrategic, lcSpeedGain, lcCooperative to >> different values have different effects. That is what is being captured by >> the table: >> >> +-----------------+---------+------+ >> | *lc_params* | *lc_mode* | *Time* | >> +-----------------+---------+------+ >> | Set to 1 | 512 | *241* | >> +-----------------+---------+------+ >> | Unset (default) | 512 | *241* | >> +-----------------+---------+------+ >> | Set to 0 | 512 | 172 | >> +-----------------+---------+------+ >> >> As you can see, keeping the lane change mode fixed in all cases (at 512), >> if I either set the parameters to 1 or let them inherit the default value >> (of 1), the time taken for the simulation is 241 steps. However, with the >> parameters set to 0, the time taken for the same simulation with the same >> lane change mode is 172 steps. This is the part I don't understand. Please >> advise. >> >> Thank you. >> >> Sincerely, >> Hriday >> >> On Wed, 18 May 2022 at 07:21, Jakob Erdmann <namdre.s...@gmail.com> >> wrote: >> >>> >>>> So what I now understand is: >>>> >>>> *Only* in the development version, if I set lane change mode to 512 >>>> (it disables everything else apart from safety), now it will behave as >>>> expected - that is, no strategic, speed gain or cooperative changes. >>>> But if I use an older version before the changes have been implemented, >>>> I should also set lcStrategic to -1 and lcCooperative to -1. >>>> >>>> Please confirm. Thank you. >>>> >>>> >>> >>> a) In all sumo versions, setting laneChangeMode to 0 or 512 disables all >>> autonomous changing. In this mode, cars only change if you tell them to >>> change (i.e. with traci.vehicle.changeLane) >>> >>> Only in the development version: >>> b) If you do not set laneChangeMode but instead set lcStrategic=-1, >>> lcSpeedGain=0 and lcCooperative=-1 lcKeepRight=0 , you will achieve the >>> same effect: cars only change if you tell them to change (i.e. with >>> traci.vehicle.changeLane) >>> >>> Thus, in the development version combining both settings (a + b) has no >>> additional effect over only doing a) or b) alone. >>> >>> in older versions, b) still permits some autonomous changes to happen so >>> if you want to disable all changes, you have to use a) >>> >>> >>> >>> >>>> Sincerely, >>>> Hriday >>>> >>>> On Tue, 17 May 2022 at 08:34, Jakob Erdmann <namdre.s...@gmail.com> >>>> wrote: >>>> >>>>> No. >>>>> To disable strategic laneChanging completely, you can either >>>>> - set laneChangeMode >>>>> - or set lcStrategic="-1" >>>>> >>>>> because only setting lcStrategic="0" still allows changing at the end >>>>> of the lane. >>>>> >>>>> b) >>>>> lcSpeedGain="0" still is equivalent to lcSpeedGain="0.001" in version >>>>> 1.13.0 but disables changing for speedGain completely in the development >>>>> version (https://github.com/eclipse/sumo/issues/10709) >>>>> >>>>> c) >>>>> lcCooperative="0" prevents cooperative changing if there is any >>>>> inconvenience. However, if you set lcSpeedGain="0" lcCooperative="0" a >>>>> vehicle might still perform a cooperative change if the target lane >>>>> affords >>>>> higher speed. To achieve the same affect as disabled-via-lane-change-mode >>>>> you can set lcCooperative="-1" (again, this requires the dev version) >>>>> >>>>> regards, >>>>> Jakob >>>>> >>>>> >>>>> >>>>> >>>>> Am Do., 12. Mai 2022 um 08:49 Uhr schrieb Hriday Sanghvi via sumo-user >>>>> <sumo-user@eclipse.org>: >>>>> >>>>>> Hello Jakob, >>>>>> >>>>>> Thank you for the update. So if I understand correctly: to completely >>>>>> disable strategic lane changing by SUMO, I have to >>>>>> 1. set the laneChangeMode bits 0 and 1 (for strategic lane changes) >>>>>> to 0 >>>>>> AND also >>>>>> 2. set lcStrategic to -1 in my routes files for the vType >>>>>> Because only setting relevant laneChangeMode bits and then setting >>>>>> lcStrategic=1 may still allow strategic lane changes at the end of the >>>>>> lane? >>>>>> >>>>>> Is this also true for lcSpeedGain and lcCooperative? Since there are >>>>>> also changes in behaviour when I isolate lcCooperative parameter (keeping >>>>>> lcStrategic and lcSpeedGain fixed at 1), i.e., >>>>>> a. when I set laneChangeMode bits 2 and 3 to 0, and set lcCooperative >>>>>> to 1, >>>>>> vs. >>>>>> b. when I set laneChangeMode bits 2 and 3 to 0, and set lcCooperative >>>>>> to 0, >>>>>> >>>>>> I would have expected a. and b. to give me the same behaviour/time to >>>>>> complete the simulation, since I believe laneChangeMode completely >>>>>> disabled >>>>>> certain types of lane changes - but it seems that the lcParams still have >>>>>> some effect. Please advise. >>>>>> >>>>>> Thank you. >>>>>> >>>>>> Sincerely, >>>>>> Hriday >>>>>> >>>>>> >>>>>> On Thu, 12 May 2022 at 06:36, Jakob Erdmann <namdre.s...@gmail.com> >>>>>> wrote: >>>>>> >>>>>>> The key difference is that the laneChangeMode completely disables >>>>>>> strategic lane changing whereas lcStrategic="0" only sets the strategic >>>>>>> lookahead distance to the minimum possible value. Vehicles will still >>>>>>> perform a strategic laneChange when reaching the very end of their lane. >>>>>>> You can set lcStrategic to a negative value to disable strategic >>>>>>> lane changing completely but this was (until now) undocumented. >>>>>>> >>>>>>> regards, >>>>>>> Jakob >>>>>>> >>>>>>> Am Di., 10. Mai 2022 um 19:11 Uhr schrieb Hriday Sanghvi via >>>>>>> sumo-user <sumo-user@eclipse.org>: >>>>>>> >>>>>>>> Hello again, >>>>>>>> >>>>>>>> I use *lc_params* to refer to the 3 parameters lcStrategic, >>>>>>>> lcCooperative, and lcSpeedGain in the previous email, and >>>>>>>> *lc_mode *to refer to the lane changing mode. To clarify, here are >>>>>>>> some experimental results for each case for 100 vehicles on a 1000 m >>>>>>>> road >>>>>>>> with 2 free lanes (NO blockages): >>>>>>>> +-----------------+---------+------+ >>>>>>>> | *lc_params* | *lc_mode* | *Time* | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Set to 1 | 512 | *241* | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Unset (default) | 512 | *241* | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Set to 0 | 512 | 172 | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Set to 1 | 1621 | *204* | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Unset (default) | 1621 | *204* | >>>>>>>> +-----------------+---------+------+ >>>>>>>> | Set to 0 | 1621 | 218 | >>>>>>>> +-----------------+---------+------+ >>>>>>>> >>>>>>>> As seen from the table, Regardless of whether the lc_params are set >>>>>>>> to their default value (1) explicitly, or if they are unset (default >>>>>>>> value >>>>>>>> is used), the result (time in steps) of the simulation stays the same >>>>>>>> in >>>>>>>> both cases of the lc_mode (512 and 1621). This is in line with my >>>>>>>> understanding. However, when the lc_mode is set to 512, lc_params >>>>>>>> should in >>>>>>>> fact make no difference since the behaviour controlled by these >>>>>>>> lc_params >>>>>>>> were already deactivated - namely, do no strategic changes, do no >>>>>>>> cooperative changes and do no speed gain changes. >>>>>>>> >>>>>>>> So what I gather is that there is some form of hierarchy - Which >>>>>>>> parameter do I set to overwrite the other no matter what? Or why would >>>>>>>> setting lc_params to 0 in the case of lc_mode = 512 make a difference? >>>>>>>> >>>>>>>> Thank you. >>>>>>>> >>>>>>>> Sincerely, >>>>>>>> Hriday >>>>>>>> >>>>>>>> On Tue, 10 May 2022 at 14:01, Hriday Sanghvi <sangh...@tcd.ie> >>>>>>>> wrote: >>>>>>>> >>>>>>>>> Hello, >>>>>>>>> >>>>>>>>> *My belief*: The lane change mode 512 is supposed to disable all >>>>>>>>> autonomous lane-changing except for safety-gap enforcement and >>>>>>>>> collision >>>>>>>>> avoidance. So setting lcSpeedGain=0 or lcStrategic=0 should be >>>>>>>>> pointless, >>>>>>>>> since that is the same effect achieved by setting lane change mode to >>>>>>>>> 512, >>>>>>>>> since bits 0 through 6 are all set to 0 : do no strategic changes, do >>>>>>>>> no >>>>>>>>> cooperative changes, do no speed gain changes, do no right drive >>>>>>>>> changes; >>>>>>>>> >>>>>>>>> *Discovery*: When I set *lcStrategic=0, lcCooperative=0, and >>>>>>>>> lcSpeedGain=0* on my vType anyway as such: >>>>>>>>> <vType lcStrategic="0" lcCooperative="0" lcSpeedGain="0" >>>>>>>>> carFollowModel="Krauss" color="0,1,0" id="veh" latAlignment= >>>>>>>>> "center" lcKeepRight="0" lcLookaheadLeft="1" lcOvertakeRight="1" >>>>>>>>> lcSpeedGainRight="1" length="5" sigma="0" speedDev="0" speedFactor >>>>>>>>> ="1.0" /> >>>>>>>>> The behaviour seems to have changed drastically. >>>>>>>>> >>>>>>>>> With an LC mode of 512, >>>>>>>>> *1. Without setting the 3 lcParams*, it takes 100 vehicles *477s *to >>>>>>>>> reach the end of a 1000m road with 2 lanes, with a small blockage >>>>>>>>> from (500 >>>>>>>>> - 750m) on one of the lanes. >>>>>>>>> *2.* *Setting the 3 lcParams, *it takes the same only *262s* >>>>>>>>> >>>>>>>>> *Doubt:* Am I misunderstanding what autonomous lane-changing >>>>>>>>> means? Or are the two: lcParams and lane change mode not equivalent >>>>>>>>> in the >>>>>>>>> way I have mentioned? >>>>>>>>> >>>>>>>>> Please advise. >>>>>>>>> >>>>>>>>> Thank you. >>>>>>>>> >>>>>>>>> Sincerely, >>>>>>>>> Hriday >>>>>>>>> >>>>>>>> _______________________________________________ >>>>>>>> sumo-user mailing list >>>>>>>> sumo-user@eclipse.org >>>>>>>> To unsubscribe from this list, visit >>>>>>>> https://www.eclipse.org/mailman/listinfo/sumo-user >>>>>>>> >>>>>>> _______________________________________________ >>>>>>> sumo-user mailing list >>>>>>> sumo-user@eclipse.org >>>>>>> To unsubscribe from this list, visit >>>>>>> https://www.eclipse.org/mailman/listinfo/sumo-user >>>>>>> >>>>>> _______________________________________________ >>>>>> sumo-user mailing list >>>>>> sumo-user@eclipse.org >>>>>> To unsubscribe from this list, visit >>>>>> https://www.eclipse.org/mailman/listinfo/sumo-user >>>>>> >>>>> _______________________________________________ >>>>> sumo-user mailing list >>>>> sumo-user@eclipse.org >>>>> To unsubscribe from this list, visit >>>>> https://www.eclipse.org/mailman/listinfo/sumo-user >>>>> >>>> _______________________________________________ >>>> sumo-user mailing list >>>> sumo-user@eclipse.org >>>> To unsubscribe from this list, visit >>>> https://www.eclipse.org/mailman/listinfo/sumo-user >>>> >>> _______________________________________________ >>> sumo-user mailing list >>> sumo-user@eclipse.org >>> To unsubscribe from this list, visit >>> https://www.eclipse.org/mailman/listinfo/sumo-user >>> >> _______________________________________________ >> sumo-user mailing list >> sumo-user@eclipse.org >> To unsubscribe from this list, visit >> https://www.eclipse.org/mailman/listinfo/sumo-user >> > _______________________________________________ > sumo-user mailing list > sumo-user@eclipse.org > To unsubscribe from this list, visit > https://www.eclipse.org/mailman/listinfo/sumo-user >
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