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

Class DirectNeighborsPerception

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.neighbors.DirectNeighborsPerception

All Implemented Interfaces:

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

public class DirectNeighborsPerception
extends LaneBasedAbstractPerceptionCategory
implements NeighborsPerception

Perception of surrounding traffic on the own road, i.e. without crossing traffic.

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	LOOKBACK 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
DirectNeighborsPerception(LanePerception perception, 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.
TimeStampedObject<SortedSet<HeadwayGTU>>	getTimeStampedFirstFollowers(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.
TimeStampedObject<SortedSet<HeadwayGTU>>	getTimeStampedFirstLeaders(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.
TimeStampedObject<PerceptionCollectable<HeadwayGTU,LaneBasedGTU>>	getTimeStampedFollowers(RelativeLane lane) Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR.
TimeStampedObject<PerceptionCollectable<HeadwayGTU,LaneBasedGTU>>	getTimeStampedLeaders(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.
TimeStampedObject<Boolean>	isGtuAlongsideTimeStamped(LateralDirectionality lat) Whether there is a GTU alongside, i.e.
String	toString()
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, wait, wait, wait

Field Detail

LOOKAHEAD

protected static final ParameterTypeLength LOOKAHEAD

Look ahead parameter type.

LOOKBACK

protected static final ParameterTypeLength LOOKBACK

Look back parameter type.

Constructor Detail

DirectNeighborsPerception

public DirectNeighborsPerception(LanePerception perception,
                                 HeadwayGtuType headwayGtuType)

Parameters:

perception - LanePerception; perception

headwayGtuType - HeadwayGtuType; type of headway gtu to generate

Method Detail

updateAll

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

Specified by:

updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>

Throws:

GTUException

NetworkException

ParameterException

updateFirstLeaders

public final 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 - LateralDirectionality; 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 final 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 - LateralDirectionality; 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 final void updateGtuAlongside(LateralDirectionality lat)
                              throws GTUException,
                                     ParameterException

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

Specified by:

updateGtuAlongside in interface NeighborsPerception

Parameters:

lat - LateralDirectionality; LEFT or RIGHT

Throws:

GTUException - if the GTU was not initialized

ParameterException - if parameter is not defined

updateLeaders

public final 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 - RelativeLane; 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 final 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 - RelativeLane; 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 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.

Specified by:

getFirstLeaders in interface NeighborsPerception

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.

Specified by:

getFirstFollowers in interface NeighborsPerception

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.

Specified by:

isGtuAlongside in interface NeighborsPerception

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.

Specified by:

getLeaders in interface NeighborsPerception

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.

Specified by:

getFollowers in interface NeighborsPerception

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

getTimeStampedFirstLeaders

public final TimeStampedObject<SortedSet<HeadwayGTU>> getTimeStampedFirstLeaders(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_ _ _ _ _ _ _
 _________________
 

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

getTimeStampedFirstFollowers

public final TimeStampedObject<SortedSet<HeadwayGTU>> getTimeStampedFirstFollowers(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_ 
 _____|___________
 

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

isGtuAlongsideTimeStamped

public final TimeStampedObject<Boolean> isGtuAlongsideTimeStamped(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

getTimeStampedLeaders

public final TimeStampedObject<PerceptionCollectable<HeadwayGTU,LaneBasedGTU>> getTimeStampedLeaders(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

getTimeStampedFollowers

public final TimeStampedObject<PerceptionCollectable<HeadwayGTU,LaneBasedGTU>> getTimeStampedFollowers(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 - RelativeLane; relative lateral lane

Returns:

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

toString

public final String toString()

Overrides:

toString in class Object