org.opentrafficsim.road.gtu.lane.perception

Interface PerceivedSurroundings

public interface PerceivedSurroundings

Perception interface which allows most tactical planners for human driver behavior on freeways.

Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision$, $LastChangedDate$, by $Author$, initial version Apr 29, 2016

Author:

Alexander Verbraeck, Wouter Schakel

Method Summary

Modifier and Type	Method and Description
boolean	existsGtuAlongside(org.opentrafficsim.core.network.LateralDirectionality lat) Whether there is a GTU alongside, i.e.
SortedSet<RelativeLane>	getCurrentCrossSection() Returns a set of relative lanes representing the current cross section.
SortedSet<HeadwayGTU>	getFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat) Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU.
SortedSet<HeadwayGTU>	getFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat) Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU.
SortedSet<HeadwayGTU>	getFollowers(RelativeLane lane) Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR.
SortedSet<InfrastructureLaneChangeInfo>	getInfrastructureLaneChangeInfo(RelativeLane lane) Returns infrastructure lane change info of a lane.
SortedSet<Object>	getIntersectionConflicts(RelativeLane lane) Returns a set of intersection conflicts along the route.
SortedSet<HeadwayGTU>	getLeaders(RelativeLane lane) Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
org.djunits.value.vdouble.scalar.Length	getLegalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains legally possible.
org.djunits.value.vdouble.scalar.Length	getPhysicalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains physically possible.
SpeedLimitProspect	getSpeedLimitProspect(RelativeLane lane) Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
SortedSet<HeadwayTrafficLight>	getTrafficLights() Returns a set of traffic lights along the route.

Method Detail

getFirstLeaders

SortedSet<HeadwayGTU> getFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU. This is shown below. Suppose A needs to go straight. If A considers a lane change to the left, both GTUs B (who's tail ~ is still on the straight lane) and C need to be considered for whether it's safe to do so. In case of multiple splits close to one another, the returned set may contain even more than 2 leaders. Leaders are sorted by headway value.

          | |
 _________/B/_____
 _ _?_ _ _~_ _C_ _
 _ _A_ _ _ _ _ _ _
 _________________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

getFirstFollowers

SortedSet<HeadwayGTU> getFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU. This is shown below. If A considers a lane change to the left, both GTUs B and C need to be considered for whether it's safe to do so. In case of multiple merges close to one another, the returned set may contain even more than 2 followers. Followers are sorted by tailway value.

        | |
        |C| 
 ________\ \______
 _ _B_|_ _ _ _ _?_
 _ _ _|_ _ _ _ _A_ 
 _____|___________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

existsGtuAlongside

boolean existsGtuAlongside(org.opentrafficsim.core.network.LateralDirectionality lat)

Whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.

Parameters:

lat - LEFT or RIGHT, null not allowed

Returns:

whether there is a GTU alongside, i.e. with overlap, in an adjacent lane

Throws:

NullPointerException - if lat == null

getLeaders

SortedSet<HeadwayGTU> getLeaders(RelativeLane lane)

Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Leaders are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT

getFollowers

SortedSet<HeadwayGTU> getFollowers(RelativeLane lane)

Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR. Follower are are sorted by tailway value.

Parameters:

lane - relative lateral lane

Returns:

set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR

getInfrastructureLaneChangeInfo

SortedSet<InfrastructureLaneChangeInfo> getInfrastructureLaneChangeInfo(RelativeLane lane)

Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - relative lateral lane

Returns:

infrastructure lane change info of a lane

getSpeedLimitProspect

SpeedLimitProspect getSpeedLimitProspect(RelativeLane lane)

Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - relative lateral lane

Returns:

prospect for speed limits on a lane

getLegalLaneChangePossibility

org.djunits.value.vdouble.scalar.Length getLegalLaneChangePossibility(RelativeLane fromLane,
                                                                      org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains legally possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getPhysicalLaneChangePossibility

org.djunits.value.vdouble.scalar.Length getPhysicalLaneChangePossibility(RelativeLane fromLane,
                                                                         org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains physically possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getCurrentCrossSection

SortedSet<RelativeLane> getCurrentCrossSection()

Returns a set of relative lanes representing the current cross section. Lanes are sorted left to right.

Returns:

set of relative lanes representing the current cross section

getTrafficLights

SortedSet<HeadwayTrafficLight> getTrafficLights()

Returns a set of traffic lights along the route. Traffic lights are sorted by headway value.

Returns:

set of traffic lights along the route

getIntersectionConflicts

SortedSet<Object> getIntersectionConflicts(RelativeLane lane)

Returns a set of intersection conflicts along the route. Conflicts are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of intersection conflicts along the route