Eclipse SUMO is an open source, highly portable, microscopic and continuous traffic simulation package designed to handle large networks. It allows for intermodal simulation including pedestrians and comes with a large set of tools for scenario creation.
The planning currently does not care about neighboring vehicles moving laterally.
If the actionsteplength == simsteplength this is no problem, because in the next state the feasibility of continuation will be checked again.
If actionsteplength > simsteplength this is not the case and if the ego continues the maneuver according to the planning, which disregards the lateral movement of the neighboring vehicle, it may crash into it.
The most convenient solution seems that the LC-planning checks whether the neigh vehicle is already executing a maneuver (getSpeedLat()>0) and antcipates the space required for the maneuver during the upcoming non-action interval as blocked for its own maneuver.
leoluecken
commented
6 years ago
The planning currently does not care about neighboring vehicles moving laterally. If the actionsteplength == simsteplength this is no problem, because in the next state the feasibility of continuation will be checked again. If actionsteplength > simsteplength this is not the case and if the ego continues the maneuver according to the planning, which disregards the lateral movement of the neighboring vehicle, it may crash into it. The most convenient solution seems that the LC-planning checks whether the neigh vehicle is already executing a maneuver (getSpeedLat()>0) and antcipates the space required for the maneuver during the upcoming non-action interval as blocked for its own maneuver.