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

Class DelayedNeighborsPerception

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.AbstractDelayedPerceptionCategory

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

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

All Implemented Interfaces:

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

public class DelayedNeighborsPerception
extends AbstractDelayedNeighborsPerception

Implementation of delayed neighbors perception which anticipates using constant speed.

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 17 feb. 2017

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.AbstractDelayedNeighborsPerception

AbstractDelayedNeighborsPerception.NeighborsInfoType<T>

Nested classes/interfaces inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.AbstractDelayedPerceptionCategory

AbstractDelayedPerceptionCategory.DelayedInfoType<T>

Field Summary

Fields

Modifier and Type	Field and Description
static ParameterTypeDouble	AERROR Parameter for acceleration error factor.
static ParameterTypeDouble	SERROR Parameter for distance error factor.
static ParameterTypeDuration	TA Parameter for anticipating beyond current time.
static ParameterTypeDuration	TAUE Parameter for correlation in errors.
static ParameterTypeDouble	VERROR Parameter for speed error factor.

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

CROSSSECTION, DT, FIRSTFOLLOWERS, FIRSTLEADERS, FOLLOWERS, GTUALONGSIDE, LEADERS, ODOMETER, TR

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

MAX_RED_DECELERATION, MAX_YELLOW_DECELERATION

Constructor Summary

Constructors

Constructor and Description
DelayedNeighborsPerception(LanePerception perception, Anticipation anticipation)

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.
String	toString()

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

getDelayedCrossSection, isGtuAlongsideOverride, updateAll, updateAllDelayed, updateFirstFollowers, updateFirstLeaders, updateFollowers, updateGtuAlongside, updateLeaders

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

changeLane, getInfo, getInfo, setInfo, setInfo

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

Field Detail

TA

public static final ParameterTypeDuration TA

Parameter for anticipating beyond current time.

TAUE

public static final ParameterTypeDuration TAUE

Parameter for correlation in errors.

SERROR

public static final ParameterTypeDouble SERROR

Parameter for distance error factor.

VERROR

public static final ParameterTypeDouble VERROR

Parameter for speed error factor.

AERROR

public static final ParameterTypeDouble AERROR

Parameter for acceleration error factor.

Constructor Detail

DelayedNeighborsPerception

public DelayedNeighborsPerception(LanePerception perception,
                                  Anticipation anticipation)

Parameters:

perception - LanePerception; perception

anticipation - Anticipation; anticipation

Method Detail

getFirstLeaders

public final 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.

Parameters:

lat - LateralDirectionality; 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 final 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.

Parameters:

lat - LateralDirectionality; 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 final boolean isGtuAlongside(LateralDirectionality lat)
                             throws ParameterException,
                                    NullPointerException,
                                    IllegalArgumentException

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

Parameters:

lat - LateralDirectionality; 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 final 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.

Parameters:

lane - RelativeLane; 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 final 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.

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

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

toString

public final String toString()

Overrides:

toString in class Object