Update lane change mode

examples/exp_configs/non_rl/bay_bridge.py

@@ -48,7 +48,7 @@
         lc_pushy=0.8,
         lc_speed_gain=4.0,
         model="LC2013",
-        lane_change_mode="no_lat_collide",
+        lane_change_mode="no_lc_safe",
         # lcKeepRight=0.8
     ),
     num_vehicles=1400)

examples/exp_configs/non_rl/bay_bridge_toll.py

@@ -46,7 +46,7 @@
         model="LC2013",
         lcCooperative=0.2,
         lcSpeedGain=15,
-        lane_change_mode="no_lat_collide",
+        lane_change_mode="no_lc_safe",
     ),
     num_vehicles=50)
 

examples/exp_configs/non_rl/minicity.py

@@ -18,7 +18,7 @@
         speed_mode=1,
     ),
     lane_change_params=SumoLaneChangeParams(
-        lane_change_mode="no_lat_collide",
+        lane_change_mode="no_lc_safe",
     ),
     initial_speed=0,
     num_vehicles=90)

flow/core/params.py

@@ -17,7 +17,27 @@
     "all_checks": 31
 }
 
-LC_MODES = {"aggressive": 0, "no_lat_collide": 512, "strategic": 1621}
+LC_MODES = {
+    "no_lc_safe": 512,
+    "no_lc_aggressive": 0,
+    "sumo_default": 1621,
+    "no_strategic_aggressive": 1108,
+    "no_strategic_safe": 1620,
+    "only_strategic_aggressive": 1,
+    "only_strategic_safe": 513,
+    "no_cooperative_aggressive": 1105,
+    "no_cooperative_safe": 1617,
+    "only_cooperative_aggressive": 4,
+    "only_cooperative_safe": 516,
+    "no_speed_gain_aggressive": 1093,
+    "no_speed_gain_safe": 1605,
+    "only_speed_gain_aggressive": 16,
+    "only_speed_gain_safe": 528,
+    "no_right_drive_aggressive": 1045,
+    "no_right_drive_safe": 1557,
+    "only_right_drive_aggressive": 64,
+    "only_right_drive_safe": 576
+}
 
 # Traffic light defaults
 PROGRAM_ID = 1
@@ -897,14 +917,71 @@ class SumoLaneChangeParams:
     ----------
     lane_change_mode : str or int, optional
         may be one of the following:
+        * "no_lc_safe" (default): Disable all SUMO lane changing but still
+          handle safety checks (collision avoidance and safety-gap enforcement)
+          in the simulation. Binary is [001000000000]
+        * "no_lc_aggressive": SUMO lane changes are not executed, collision
+          avoidance and safety-gap enforcement are off.
+          Binary is [000000000000]
+
+        * "sumo_default": Execute all changes requested by a custom controller
+          unless in conflict with TraCI. Binary is [011001010101].
+
+        * "no_strategic_aggressive": Execute all changes except strategic
+          (routing) lane changes unless in conflict with TraCI. Collision
+          avoidance and safety-gap enforcement are off. Binary is [010001010100]
+        * "no_strategic_safe": Execute all changes except strategic
+          (routing) lane changes unless in conflict with TraCI. Collision
+          avoidance and safety-gap enforcement are on. Binary is [011001010100]
+        * "only_strategic_aggressive": Execute only strategic (routing) lane
+          changes unless in conflict with TraCI. Collision avoidance and
+          safety-gap enforcement are off. Binary is [000000000001]
+        * "only_strategic_safe": Execute only strategic (routing) lane
+          changes unless in conflict with TraCI. Collision avoidance and
+          safety-gap enforcement are on. Binary is [001000000001]
+
+        * "no_cooperative_aggressive": Execute all changes except cooperative
+          (change in order to allow others to change) lane changes unless in
+          conflict with TraCI. Collision avoidance and safety-gap enforcement
+          are off. Binary is [010001010001]
+        * "no_cooperative_safe": Execute all changes except cooperative
+          lane changes unless in conflict with TraCI. Collision avoidance and
+          safety-gap enforcement are on. Binary is [011001010001]
+        * "only_cooperative_aggressive": Execute only cooperative lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are off. Binary is [000000000100]
+        * "only_cooperative_safe": Execute only cooperative lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are on. Binary is [001000000100]
+
+        * "no_speed_gain_aggressive": Execute all changes except speed gain (the
+           other lane allows for faster driving) lane changes unless in conflict
+           with TraCI. Collision avoidance and safety-gap enforcement are off.
+           Binary is [010001000101]
+        * "no_speed_gain_safe": Execute all changes except speed gain
+          lane changes unless in conflict with TraCI. Collision avoidance and
+          safety-gap enforcement are on. Binary is [011001000101]
+        * "only_speed_gain_aggressive": Execute only speed gain lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are off. Binary is [000000010000]
+        * "only_speed_gain_safe": Execute only speed gain lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are on. Binary is [001000010000]
+
+        * "no_right_drive_aggressive": Execute all changes except right drive
+          (obligation to drive on the right) lane changes unless in conflict
+          with TraCI. Collision avoidance and safety-gap enforcement are off.
+          Binary is [010000010101]
+        * "no_right_drive_safe": Execute all changes except right drive
+          lane changes unless in conflict with TraCI. Collision avoidance and
+          safety-gap enforcement are on. Binary is [011000010101]
+        * "only_right_drive_aggressive": Execute only right drive lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are off. Binary is [000001000000]
+        * "only_right_drive_safe": Execute only right drive lane changes
+          unless in conflict with TraCI. Collision avoidance and safety-gap
+          enforcement are on. Binary is [001001000000]
 
-        * "no_lat_collide" (default): Human cars will not make lane
-          changes, RL cars can lane change into any space, no matter how
-          likely it is to crash
-        * "strategic": Human cars make lane changes in accordance with SUMO
-          to provide speed boosts
-        * "aggressive": RL cars are not limited by sumo with regard to
-          their lane-change actions, and can crash longitudinally
         * int values may be used to define custom lane change modes for the
           given vehicles, specified at:
           http://sumo.dlr.de/wiki/TraCI/Change_Vehicle_State#lane_change_mode_.280xb6.29
@@ -943,7 +1020,7 @@ class SumoLaneChangeParams:
     """
 
     def __init__(self,
-                 lane_change_mode="no_lat_collide",
+                 lane_change_mode="no_lc_safe",
                  model="LC2013",
                  lc_strategic=1.0,
                  lc_cooperative=1.0,
@@ -1051,7 +1128,7 @@ def __init__(self,
         elif not (isinstance(lane_change_mode, int)
                   or isinstance(lane_change_mode, float)):
             logging.error("Setting lane change mode to default.")
-            lane_change_mode = LC_MODES["no_lat_collide"]
+            lane_change_mode = LC_MODES["no_lc_safe"]
 
         self.lane_change_mode = lane_change_mode
 

tests/fast_tests/test_vehicles.py

@@ -33,7 +33,7 @@ def test_speed_lane_change_modes(self):
                 speed_mode='obey_safe_speed',
             ),
             lane_change_params=SumoLaneChangeParams(
-                lane_change_mode="no_lat_collide",
+                lane_change_mode="no_lc_safe",
             )
         )
 
@@ -56,7 +56,7 @@ def test_speed_lane_change_modes(self):
         self.assertEqual(vehicles.type_parameters["typeB"][
                              "car_following_params"].speed_mode, 0)
         self.assertEqual(vehicles.type_parameters["typeB"][
-                             "lane_change_params"].lane_change_mode, 1621)
+                             "lane_change_params"].lane_change_mode, 512)
 
         vehicles.add(
             "typeC",
@@ -89,7 +89,7 @@ def test_controlled_id_params(self):
                 speed_mode="obey_safe_speed",
             ),
             lane_change_params=SumoLaneChangeParams(
-                lane_change_mode="no_lat_collide",
+                lane_change_mode="no_lc_safe",
             ))
         default_mingap = SumoCarFollowingParams().controller_params["minGap"]
         self.assertEqual(vehicles.types[0]["type_params"]["minGap"],