org.opentrafficsim.road.gtu.lane.perception.categories

Class DefaultSimplePerception

java.lang.Object

org.opentrafficsim.base.Type<org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory>

org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception

All Implemented Interfaces:

Serializable

public class DefaultSimplePerception
extends LaneBasedAbstractPerceptionCategory

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 Jul 22, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Field Summary

Fields inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

MAX_RED_DECELERATION, MAX_YELLOW_DECELERATION

Constructor Summary

Constructors

Constructor and Description
DefaultSimplePerception(LanePerception perception)

Method Summary

Modifier and Type	Method and Description
Lane	bestAccessibleAdjacentLane(Lane currentLane, org.opentrafficsim.core.network.LateralDirectionality lateralDirection, org.djunits.value.vdouble.scalar.Length longitudinalPosition) Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found.
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanes(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesLeft()
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesRight()
Headway	getBackwardHeadway()
Headway	getForwardHeadwayGTU()
Headway	getForwardHeadwayObject()
LanePathInfo	getLanePathInfo() Retrieve the last perceived lane path info.
Collection<Headway>	getNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Collection<Headway>	getNeighboringHeadwaysLeft()
Collection<Headway>	getNeighboringHeadwaysRight()
Collection<Headway>	getParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Collection<Headway>	getParallelHeadwaysLeft()
Collection<Headway>	getParallelHeadwaysRight()
org.djunits.value.vdouble.scalar.Speed	getSpeedLimit()
org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanes(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesLeft()
org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesRight()
org.opentrafficsim.base.TimeStampedObject<Headway>	getTimeStampedBackwardHeadway()
org.opentrafficsim.base.TimeStampedObject<Headway>	getTimeStampedForwardHeadwayGTU()
org.opentrafficsim.base.TimeStampedObject<Headway>	getTimeStampedForwardHeadwayObject()
org.opentrafficsim.base.TimeStampedObject<LanePathInfo>	getTimeStampedLanePathInfo() Retrieve the time stamped last perceived lane path info.
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysLeft()
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysRight()
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysLeft()
org.opentrafficsim.base.TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysRight()
org.opentrafficsim.base.TimeStampedObject<org.djunits.value.vdouble.scalar.Speed>	getTimeStampedSpeedLimit()
String	toString()
void	updateAccessibleAdjacentLanes() To pass DJUNIT test.
void	updateAccessibleAdjacentLanesLeft() Update the accessible adjacent lanes on the left.
void	updateAccessibleAdjacentLanesRight() Update the accessible adjacent lanes on the right.
void	updateAll()
void	updateBackwardHeadway() Update the backward headway and first object (e.g., a GTU) behind.
void	updateForwardHeadwayGTU() Update the forward headway and first object (a GTU) in front.
void	updateForwardHeadwayObject() Update the forward headway and first object (but not a GTU) in front.
void	updateLanePathInfo()
void	updateNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection) Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateNeighboringHeadwaysLeft() Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateNeighboringHeadwaysRight() Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection) Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.
void	updateParallelHeadwaysLeft() Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
void	updateParallelHeadwaysRight() Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
void	updateSpeedLimit() Update speedLimit.

Methods inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

getGtu, getPerception

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

getTimestamp

Methods inherited from class org.opentrafficsim.base.Type

isType

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

DefaultSimplePerception

public DefaultSimplePerception(LanePerception perception)

Parameters:

perception - perception

Method Detail

updateLanePathInfo

public final void updateLanePathInfo()
                              throws org.opentrafficsim.core.gtu.GTUException,
                                     org.opentrafficsim.core.network.NetworkException,
                                     org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when the speed limit for a GTU type cannot be retrieved from the network.

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - in case of not being able to retrieve parameter ParameterTypes.LOOKAHEAD

updateAll

public final void updateAll()
                     throws org.opentrafficsim.core.gtu.GTUException,
                            org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException,
                            org.opentrafficsim.core.network.NetworkException

Specified by:

updateAll in class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

Throws:

org.opentrafficsim.core.gtu.GTUException

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

org.opentrafficsim.core.network.NetworkException

updateForwardHeadwayGTU

public final void updateForwardHeadwayGTU()
                                   throws org.opentrafficsim.core.gtu.GTUException,
                                          org.opentrafficsim.core.network.NetworkException,
                                          org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update the forward headway and first object (a GTU) in front.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateForwardHeadwayObject

public final void updateForwardHeadwayObject()
                                      throws org.opentrafficsim.core.gtu.GTUException,
                                             org.opentrafficsim.core.network.NetworkException,
                                             org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update the forward headway and first object (but not a GTU) in front.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateBackwardHeadway

public final void updateBackwardHeadway()
                                 throws org.opentrafficsim.core.gtu.GTUException,
                                        org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException,
                                        org.opentrafficsim.core.network.NetworkException

Update the backward headway and first object (e.g., a GTU) behind.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateAccessibleAdjacentLanesLeft

public final void updateAccessibleAdjacentLanesLeft()
                                             throws org.opentrafficsim.core.gtu.GTUException

Update the accessible adjacent lanes on the left.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

updateAccessibleAdjacentLanesRight

public final void updateAccessibleAdjacentLanesRight()
                                              throws org.opentrafficsim.core.gtu.GTUException

Update the accessible adjacent lanes on the right.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

updateAccessibleAdjacentLanes

public final void updateAccessibleAdjacentLanes()

To pass DJUNIT test.

updateNeighboringHeadwaysLeft

public final void updateNeighboringHeadwaysLeft()
                                         throws org.opentrafficsim.core.gtu.GTUException,
                                                org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException,
                                                org.opentrafficsim.core.network.NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateNeighboringHeadwaysRight

public final void updateNeighboringHeadwaysRight()
                                          throws org.opentrafficsim.core.gtu.GTUException,
                                                 org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException,
                                                 org.opentrafficsim.core.network.NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateNeighboringHeadways

public final void updateNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
                                     throws org.opentrafficsim.core.gtu.GTUException,
                                            org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException,
                                            org.opentrafficsim.core.network.NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.

Parameters:

lateralDirection - the direction to update the parallel headway collection for

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - if parameter is not defined or out of bounds

org.opentrafficsim.core.network.NetworkException - in case of network exception

updateParallelHeadwaysLeft

public final void updateParallelHeadwaysLeft()
                                      throws org.opentrafficsim.core.gtu.GTUException

Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

updateParallelHeadwaysRight

public final void updateParallelHeadwaysRight()
                                       throws org.opentrafficsim.core.gtu.GTUException

Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

updateParallelHeadways

public final void updateParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
                                  throws org.opentrafficsim.core.gtu.GTUException

Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.

Parameters:

lateralDirection - the direction to return the neighboring headway collection for

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

updateSpeedLimit

public final void updateSpeedLimit()
                            throws org.opentrafficsim.core.gtu.GTUException,
                                   org.opentrafficsim.core.network.NetworkException

Update speedLimit.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not yet initialized

org.opentrafficsim.core.network.NetworkException - in case of network exception

getForwardHeadwayGTU

public final Headway getForwardHeadwayGTU()

Returns:

forwardHeadway, the forward headway and first object (GTU) in front

getForwardHeadwayObject

public final Headway getForwardHeadwayObject()

Returns:

forwardHeadway, the forward headway and first object (not a GTU) in front

getBackwardHeadway

public final Headway getBackwardHeadway()

Returns:

backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind

getAccessibleAdjacentLanesLeft

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesLeft()

Returns:

accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getAccessibleAdjacentLanesRight

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesRight()

Returns:

accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getAccessibleAdjacentLanes

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanes(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the accessible adjacent lane map for

Returns:

the accessible adjacent lane map for the given direction

getNeighboringHeadwaysLeft

public final Collection<Headway> getNeighboringHeadwaysLeft()

Returns:

neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getNeighboringHeadwaysRight

public final Collection<Headway> getNeighboringHeadwaysRight()

Returns:

neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getNeighboringHeadways

public final Collection<Headway> getNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the parallel headway collection for

Returns:

the the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects

getParallelHeadwaysLeft

public final Collection<Headway> getParallelHeadwaysLeft()

Returns:

parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

getParallelHeadwaysRight

public final Collection<Headway> getParallelHeadwaysRight()

Returns:

parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getParallelHeadways

public final Collection<Headway> getParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the neighboring headway collection for

Returns:

the the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.

getSpeedLimit

public final org.djunits.value.vdouble.scalar.Speed getSpeedLimit()

Returns:

speedLimit

getLanePathInfo

public final LanePathInfo getLanePathInfo()

Retrieve the last perceived lane path info.

Returns:

LanePathInfo

getTimeStampedForwardHeadwayGTU

public final org.opentrafficsim.base.TimeStampedObject<Headway> getTimeStampedForwardHeadwayGTU()

Returns:

TimeStamped forwardHeadway, the forward headway and first object (GTU) in front

getTimeStampedForwardHeadwayObject

public final org.opentrafficsim.base.TimeStampedObject<Headway> getTimeStampedForwardHeadwayObject()

Returns:

TimeStamped forwardHeadway, the forward headway and first object (not a GTU) in front

getTimeStampedBackwardHeadway

public final org.opentrafficsim.base.TimeStampedObject<Headway> getTimeStampedBackwardHeadway()

Returns:

TimeStamped backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind

getTimeStampedAccessibleAdjacentLanesLeft

public final org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesLeft()

Returns:

TimeStamped accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getTimeStampedAccessibleAdjacentLanesRight

public final org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesRight()

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedAccessibleAdjacentLanes

public final org.opentrafficsim.base.TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanes(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the accessible adjacent lanes for

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedNeighboringHeadwaysLeft

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysLeft()

Returns:

TimeStamped neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getTimeStampedNeighboringHeadwaysRight

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysRight()

Returns:

TimeStamped neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getTimeStampedNeighboringHeadways

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the neighboring headways for

Returns:

TimeStamped neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getTimeStampedParallelHeadwaysLeft

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysLeft()

Returns:

TimeStamped parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

getTimeStampedParallelHeadwaysRight

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysRight()

Returns:

TimeStamped parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getTimeStampedParallelHeadways

public final org.opentrafficsim.base.TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Parameters:

lateralDirection - the direction to return the parallel headways for

Returns:

TimeStamped parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getTimeStampedSpeedLimit

public final org.opentrafficsim.base.TimeStampedObject<org.djunits.value.vdouble.scalar.Speed> getTimeStampedSpeedLimit()

Returns:

TimeStamped speedLimit

getTimeStampedLanePathInfo

public final org.opentrafficsim.base.TimeStampedObject<LanePathInfo> getTimeStampedLanePathInfo()

Retrieve the time stamped last perceived lane path info.

Returns:

LanePathInfo time stamped last perceived lane path info

bestAccessibleAdjacentLane

public final Lane bestAccessibleAdjacentLane(Lane currentLane,
                                             org.opentrafficsim.core.network.LateralDirectionality lateralDirection,
                                             org.djunits.value.vdouble.scalar.Length longitudinalPosition)

Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found. The method takes the LongitidinalDirectionality of the lane into account. In other words, if we drive FORWARD and look for a lane on the LEFT, and there is a lane but the Directionality of that lane is not FORWARD or BOTH, null will be returned.
A lane is called adjacent to another lane if the lateral edges are not more than a delta distance apart. This means that a lane that overlaps with another lane is not returned as an adjacent lane.
The algorithm also looks for RoadMarkerAcross elements between the lanes to determine the lateral permeability for a GTU. A RoadMarkerAcross is seen as being between two lanes if its center line is not more than delta distance from the relevant lateral edges of the two adjacent lanes.
When there are multiple lanes that are adjacent, which could e.g. be the case if an overlapping tram lane and a car lane are adjacent to the current lane, the widest lane that best matches the GTU accessibility of the provided GTUType is returned.
Note: LEFT is seen as a negative lateral direction, RIGHT as a positive lateral direction.
FIXME In other places in OTS LEFT is positive (and RIGHT is negative). This should be made more consistent.

Parameters:

currentLane - the lane to look for the best accessible adjacent lane

lateralDirection - the direction (LEFT, RIGHT) to look at

longitudinalPosition - Length; the position of the GTU along currentLane

Returns:

the lane if it is accessible, or null if there is no lane, it is not accessible, or the driving direction does not match.

toString

public final String toString()

Overrides:

toString in class Object