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

Class DirectDefaultSimplePerception

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.LaneBasedAbstractPerceptionCategory

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

All Implemented Interfaces:

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

public class DirectDefaultSimplePerception
extends LaneBasedAbstractPerceptionCategory
implements DefaultSimplePerception

Copyright (c) 2013-2019 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

Modifier and Type	Field and Description
protected static ParameterTypeLength	LOOKAHEAD Look ahead parameter type.
protected static ParameterTypeLength	LOOKBACKOLD Look back parameter type.

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

MAX_RED_DECELERATION, MAX_YELLOW_DECELERATION

Constructor Summary

Constructors

Constructor and Description
DirectDefaultSimplePerception(LanePerception perception)

Method Summary

Modifier and Type	Method and Description
Lane	bestAccessibleAdjacentLane(Lane currentLane, LateralDirectionality lateralDirection, 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(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(LateralDirectionality lateralDirection)
Collection<Headway>	getNeighboringHeadwaysLeft()
Collection<Headway>	getNeighboringHeadwaysRight()
Collection<Headway>	getParallelHeadways(LateralDirectionality lateralDirection)
Collection<Headway>	getParallelHeadwaysLeft()
Collection<Headway>	getParallelHeadwaysRight()
Speed	getSpeedLimit()
TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanes(LateralDirectionality lateralDirection)
TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesLeft()
TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesRight()
TimeStampedObject<Headway>	getTimeStampedBackwardHeadway()
TimeStampedObject<Headway>	getTimeStampedForwardHeadwayGTU()
TimeStampedObject<Headway>	getTimeStampedForwardHeadwayObject()
TimeStampedObject<LanePathInfo>	getTimeStampedLanePathInfo() Retrieve the time stamped last perceived lane path info.
TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadways(LateralDirectionality lateralDirection)
TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysLeft()
TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysRight()
TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadways(LateralDirectionality lateralDirection)
TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysLeft()
TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysRight()
TimeStampedObject<Speed>	getTimeStampedSpeedLimit()
String	toString()
void	updateAccessibleAdjacentLanesLeft() Update the accessible adjacent lanes on the left.
void	updateAccessibleAdjacentLanesRight() Update the accessible adjacent lanes on the right.
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(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(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.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, wait, wait, wait

Methods inherited from interface org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception

updateAccessibleAdjacentLanes, updateAll

Field Detail

LOOKAHEAD

protected static final ParameterTypeLength LOOKAHEAD

Look ahead parameter type.

LOOKBACKOLD

protected static final ParameterTypeLength LOOKBACKOLD

Look back parameter type.

Constructor Detail

DirectDefaultSimplePerception

public DirectDefaultSimplePerception(LanePerception perception)

Parameters:

perception - LanePerception; perception

Method Detail

updateLanePathInfo

public final void updateLanePathInfo()
                              throws GTUException,
                                     NetworkException,
                                     ParameterException

Specified by:

updateLanePathInfo in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not initialized yet.

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

ParameterException - in case of not being able to retrieve parameter ParameterTypes.LOOKAHEAD

updateForwardHeadwayGTU

public final void updateForwardHeadwayGTU()
                                   throws GTUException,
                                          NetworkException,
                                          ParameterException

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

Specified by:

updateForwardHeadwayGTU in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

NetworkException - in case of network exception

ParameterException - if parameter is not defined or out of bounds

updateForwardHeadwayObject

public final void updateForwardHeadwayObject()
                                      throws GTUException,
                                             NetworkException,
                                             ParameterException

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

Specified by:

updateForwardHeadwayObject in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

NetworkException - in case of network exception

ParameterException - if parameter is not defined or out of bounds

updateBackwardHeadway

public final void updateBackwardHeadway()
                                 throws GTUException,
                                        ParameterException,
                                        NetworkException

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

Specified by:

updateBackwardHeadway in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateAccessibleAdjacentLanesLeft

public final void updateAccessibleAdjacentLanesLeft()
                                             throws GTUException

Update the accessible adjacent lanes on the left.

Specified by:

updateAccessibleAdjacentLanesLeft in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

updateAccessibleAdjacentLanesRight

public final void updateAccessibleAdjacentLanesRight()
                                              throws GTUException

Update the accessible adjacent lanes on the right.

Specified by:

updateAccessibleAdjacentLanesRight in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

updateNeighboringHeadwaysLeft

public final void updateNeighboringHeadwaysLeft()
                                         throws GTUException,
                                                ParameterException,
                                                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.

Specified by:

updateNeighboringHeadwaysLeft in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateNeighboringHeadwaysRight

public final void updateNeighboringHeadwaysRight()
                                          throws GTUException,
                                                 ParameterException,
                                                 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.

Specified by:

updateNeighboringHeadwaysRight in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateNeighboringHeadways

public final void updateNeighboringHeadways(LateralDirectionality lateralDirection)
                                     throws GTUException,
                                            ParameterException,
                                            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.

Specified by:

updateNeighboringHeadways in interface DefaultSimplePerception

Parameters:

lateralDirection - LateralDirectionality; the direction to update the parallel headway collection for

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateParallelHeadwaysLeft

public final void updateParallelHeadwaysLeft()
                                      throws GTUException

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

Specified by:

updateParallelHeadwaysLeft in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

updateParallelHeadwaysRight

public final void updateParallelHeadwaysRight()
                                       throws GTUException

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

Specified by:

updateParallelHeadwaysRight in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

updateParallelHeadways

public final void updateParallelHeadways(LateralDirectionality lateralDirection)
                                  throws GTUException

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

Specified by:

updateParallelHeadways in interface DefaultSimplePerception

Parameters:

lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for

Throws:

GTUException - when the GTU was not yet initialized

updateSpeedLimit

public final void updateSpeedLimit()
                            throws GTUException,
                                   NetworkException

Update speedLimit.

Specified by:

updateSpeedLimit in interface DefaultSimplePerception

Throws:

GTUException - when the GTU was not yet initialized

NetworkException - in case of network exception

getLanePathInfo

public final LanePathInfo getLanePathInfo()

Retrieve the last perceived lane path info.

Specified by:

getLanePathInfo in interface DefaultSimplePerception

Returns:

LanePathInfo

getForwardHeadwayGTU

public final Headway getForwardHeadwayGTU()

Specified by:

getForwardHeadwayGTU in interface DefaultSimplePerception

Returns:

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

getForwardHeadwayObject

public final Headway getForwardHeadwayObject()

Specified by:

getForwardHeadwayObject in interface DefaultSimplePerception

Returns:

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

getBackwardHeadway

public final Headway getBackwardHeadway()

Specified by:

getBackwardHeadway in interface DefaultSimplePerception

Returns:

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

getAccessibleAdjacentLanesLeft

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

Specified by:

getAccessibleAdjacentLanesLeft in interface DefaultSimplePerception

Returns:

accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getAccessibleAdjacentLanesRight

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

Specified by:

getAccessibleAdjacentLanesRight in interface DefaultSimplePerception

Returns:

accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getAccessibleAdjacentLanes

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)

Specified by:

getAccessibleAdjacentLanes in interface DefaultSimplePerception

Parameters:

lateralDirection - LateralDirectionality; 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()

Specified by:

getNeighboringHeadwaysLeft in interface DefaultSimplePerception

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()

Specified by:

getNeighboringHeadwaysRight in interface DefaultSimplePerception

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(LateralDirectionality lateralDirection)

Specified by:

getNeighboringHeadways in interface DefaultSimplePerception

Parameters:

lateralDirection - LateralDirectionality; 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()

Specified by:

getParallelHeadwaysLeft in interface DefaultSimplePerception

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()

Specified by:

getParallelHeadwaysRight in interface DefaultSimplePerception

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(LateralDirectionality lateralDirection)

Specified by:

getParallelHeadways in interface DefaultSimplePerception

Parameters:

lateralDirection - LateralDirectionality; 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 Speed getSpeedLimit()

Specified by:

getSpeedLimit in interface DefaultSimplePerception

Returns:

speedLimit

getTimeStampedForwardHeadwayGTU

public final TimeStampedObject<Headway> getTimeStampedForwardHeadwayGTU()

Returns:

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

getTimeStampedForwardHeadwayObject

public final TimeStampedObject<Headway> getTimeStampedForwardHeadwayObject()

Returns:

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

getTimeStampedBackwardHeadway

public final TimeStampedObject<Headway> getTimeStampedBackwardHeadway()

Returns:

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

getTimeStampedAccessibleAdjacentLanesLeft

public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesLeft()

Returns:

TimeStamped accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getTimeStampedAccessibleAdjacentLanesRight

public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesRight()

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedAccessibleAdjacentLanes

public final TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanes(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; the direction to return the accessible adjacent lanes for

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedNeighboringHeadwaysLeft

public final 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 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 TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadways(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; 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 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 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 TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadways(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; 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 TimeStampedObject<Speed> getTimeStampedSpeedLimit()

Returns:

TimeStamped speedLimit

getTimeStampedLanePathInfo

public final 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,
                                             LateralDirectionality lateralDirection,
                                             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.

Specified by:

bestAccessibleAdjacentLane in interface DefaultSimplePerception

Parameters:

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

lateralDirection - LateralDirectionality; 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