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

Class HistoricalNeighborsPerception

java.lang.Object

org.opentrafficsim.base.Type<AbstractPerceptionCategory<G,P>>

org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory<LaneBasedGTU,LanePerception>

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

All Implemented Interfaces:

Serializable, PerceptionCategory<LaneBasedGTU,LanePerception>, LaneBasedPerceptionCategory, NeighborsPerception

public class HistoricalNeighborsPerception
extends AbstractPerceptionCategory<LaneBasedGTU,LanePerception>
implements NeighborsPerception, Serializable

Copyright (c) 2013-2018 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 31 jan. 2018

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
HistoricalNeighborsPerception(LanePerception perception, HeadwayGtuType headwayGtuType)
HistoricalNeighborsPerception(LanePerception perception, int nFollowers, int nLeaders, HeadwayGtuType headwayGtuType)

Method Summary

Modifier and Type	Method and Description
SortedSet<HeadwayGTU>	getFirstFollowers(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(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.
PerceptionCollectable<HeadwayGTU,LaneBasedGTU>	getFollowers(RelativeLane lane) Set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT.
PerceptionCollectable<HeadwayGTU,LaneBasedGTU>	getLeaders(RelativeLane lane) Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
boolean	isGtuAlongside(LateralDirectionality lat) Whether there is a GTU alongside, i.e.
void	updateAll()
void	updateFirstFollowers(LateralDirectionality lat) Update 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.
void	updateFirstLeaders(LateralDirectionality lat) Update 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.
void	updateFollowers(RelativeLane lane) Update set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT.
void	updateGtuAlongside(LateralDirectionality lat) Update whether there is a GTU alongside, i.e.
void	updateLeaders(RelativeLane lane) Update set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.

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

getGtu, getObjectOrNull, getPerception, getTimestamp

Methods inherited from class org.opentrafficsim.base.Type

isType

Methods inherited from class java.lang.Object

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

Constructor Detail

HistoricalNeighborsPerception

public HistoricalNeighborsPerception(LanePerception perception,
                                     HeadwayGtuType headwayGtuType)

HistoricalNeighborsPerception

public HistoricalNeighborsPerception(LanePerception perception,
                                     int nFollowers,
                                     int nLeaders,
                                     HeadwayGtuType headwayGtuType)

Method Detail

updateAll

public void updateAll()
               throws GTUException,
                      NetworkException,
                      ParameterException

Specified by:

updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>

Throws:

GTUException

NetworkException

ParameterException

updateFirstLeaders

public void updateFirstLeaders(LateralDirectionality lat)
                        throws ParameterException,
                               GTUException,
                               NetworkException

Update 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.

Specified by:

updateFirstLeaders in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Throws:

ParameterException - if a parameter was not present or out of bounds

GTUException - if the GTU was not initialized

NetworkException - in case of a network exception

updateFirstFollowers

public void updateFirstFollowers(LateralDirectionality lat)
                          throws GTUException,
                                 ParameterException,
                                 NetworkException

Update 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.

Specified by:

updateFirstFollowers in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter was not present or out of bounds

NetworkException - in case of a network exception

updateGtuAlongside

public void updateGtuAlongside(LateralDirectionality lat)
                        throws GTUException,
                               ParameterException,
                               NetworkException

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

Specified by:

updateGtuAlongside in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Throws:

GTUException - if the GTU was not initialized

ParameterException - if parameter is not defined

NetworkException - in case of a network exception

updateLeaders

public void updateLeaders(RelativeLane lane)
                   throws ParameterException,
                          GTUException,
                          NetworkException

Update set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Distance will be from the own vehicle FRONT to their REAR. This is negative for (partially) adjacent vehicles.

Specified by:

updateLeaders in interface NeighborsPerception

Parameters:

lane - relative lateral lane

Throws:

ParameterException - if a parameter was not present or out of bounds

GTUException - if the GRU was not initialized

NetworkException - in case of a network exception

updateFollowers

public void updateFollowers(RelativeLane lane)
                     throws GTUException,
                            NetworkException,
                            ParameterException

Update set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT. Distance will be from their FRONT to the own vehicle REAR. This is negative for (partially) adjacent vehicles.

Specified by:

updateFollowers in interface NeighborsPerception

Parameters:

lane - relative lateral lane

Throws:

GTUException - if the GRU was not initialized

NetworkException - in case of a network exception

ParameterException - if a parameter was not present or out of bounds

getFirstLeaders

public SortedSet<HeadwayGTU> getFirstLeaders(LateralDirectionality lat)
                                      throws ParameterException,
                                             NullPointerException,
                                             IllegalArgumentException

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_ _ _ _ _ _ _
 _________________
 

Only vehicles who's rear is beyond the own front are considered, no alongside vehicles.

Specified by:

getFirstLeaders in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

list of followers on a lane

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

getFirstFollowers

public SortedSet<HeadwayGTU> getFirstFollowers(LateralDirectionality lat)
                                        throws ParameterException,
                                               NullPointerException,
                                               IllegalArgumentException

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_ 
 _____|___________
 

Only vehicles who's front is before the own rear are considered, no alongside vehicles.

Specified by:

getFirstFollowers in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

list of followers on a lane

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

isGtuAlongside

public boolean isGtuAlongside(LateralDirectionality lat)
                       throws ParameterException,
                              NullPointerException,
                              IllegalArgumentException

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

Specified by:

isGtuAlongside in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

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

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

getLeaders

public PerceptionCollectable<HeadwayGTU,LaneBasedGTU> 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.

Specified by:

getLeaders in interface NeighborsPerception

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

public PerceptionCollectable<HeadwayGTU,LaneBasedGTU> getFollowers(RelativeLane lane)

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

Specified by:

getFollowers in interface NeighborsPerception

Parameters:

lane - relative lateral lane

Returns:

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