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

Class DirectInfrastructurePerception

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.DirectInfrastructurePerception

All Implemented Interfaces:

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

public class DirectInfrastructurePerception
extends LaneBasedAbstractPerceptionCategory
implements InfrastructurePerception

Perceives information concerning the infrastructure, including splits, lanes, speed limits and road markings. This category is optimized by cooperating closely with the LaneStructure and only updating internal information when the GTU is on a new Lane. On the Lane information is defined relative to the start, and thus easily calculated at each time.

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 14, 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	Description
DirectInfrastructurePerception(LanePerception perception)

Method Summary

Modifier and Type	Method	Description
SortedSet<RelativeLane>	getCrossSection()	Returns a set of relative lanes representing the cross section.
SortedSet<InfrastructureLaneChangeInfo>	getInfrastructureLaneChangeInfo(RelativeLane lane)	Returns infrastructure lane change info of a lane.
Length	getLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the distance over which a lane change remains legally possible.
Length	getPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the distance over which a lane change remains physically possible.
SpeedLimitProspect	getSpeedLimitProspect(RelativeLane lane)	Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
TimeStampedObject<SortedSet<RelativeLane>>	getTimeStampedCrossSection()	Returns a time stamped set of relative lanes representing the cross section.
TimeStampedObject<SortedSet<InfrastructureLaneChangeInfo>>	getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane)	Returns time stamped infrastructure lane change info of a lane.
TimeStampedObject<Length>	getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the time stamped distance over which a lane change remains legally possible.
TimeStampedObject<Length>	getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the time stamped distance over which a lane change remains physically possible.
TimeStampedObject<SpeedLimitProspect>	getTimeStampedSpeedLimitProspect(RelativeLane lane)	Returns the time stamped prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
String	toString()
void	updateAll()
void	updateCrossSection()	Updates a set of relative lanes representing the cross section.
void	updateInfrastructureLaneChangeInfo(RelativeLane lane)	Updates the infrastructural lane change info.
void	updateLegalLaneChangePossibility(RelativeLane lane, LateralDirectionality lat)	Updates the distance over which lane changes remains legally possible.
void	updatePhysicalLaneChangePossibility(RelativeLane lane, LateralDirectionality lat)	Updates the distance over which lane changes remains physically possible.
void	updateSpeedLimitProspect(RelativeLane lane)	Updates the speed limit prospect.

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

computeIfAbsent, computeIfAbsent, computeIfAbsent

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

Constructor Details

DirectInfrastructurePerception

public DirectInfrastructurePerception(LanePerception perception)

Parameters:

perception - LanePerception; perception

Method Details

updateAll

public void updateAll() throws GTUException, ParameterException

Specified by:

updateAll in interface InfrastructurePerception

Specified by:

updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>

Throws:

GTUException

ParameterException

updateInfrastructureLaneChangeInfo

public final void updateInfrastructureLaneChangeInfo(RelativeLane lane) throws GTUException, ParameterException

Updates the infrastructural lane change info. It starts at the given lane and moves downstream over the network. Whenever a point is encountered where lane changes are required, this information is saved.

Specified by:

updateInfrastructureLaneChangeInfo in interface InfrastructurePerception

Parameters:

lane - RelativeLane; relative lateral lane

Throws:

GTUException - if the GTU was not initialized or if the lane is not in the cross section

ParameterException - if a parameter is not defined

updateSpeedLimitProspect

public final void updateSpeedLimitProspect(RelativeLane lane) throws GTUException, ParameterException

Updates the speed limit prospect.

Specified by:

updateSpeedLimitProspect in interface InfrastructurePerception

Parameters:

lane - RelativeLane; relative lateral lane

Throws:

GTUException - if the GTU was not initialized or if the lane is not in the cross section

ParameterException - if a parameter is not defined

updateLegalLaneChangePossibility

public final void updateLegalLaneChangePossibility(RelativeLane lane, LateralDirectionality lat) throws GTUException, ParameterException

Updates the distance over which lane changes remains legally possible.

Specified by:

updateLegalLaneChangePossibility in interface InfrastructurePerception

Parameters:

lane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Throws:

GTUException - if the GTU was not initialized or if the lane is not in the cross section

ParameterException - if a parameter is not defined

updatePhysicalLaneChangePossibility

public final void updatePhysicalLaneChangePossibility(RelativeLane lane, LateralDirectionality lat) throws GTUException, ParameterException

Updates the distance over which lane changes remains physically possible.

Specified by:

updatePhysicalLaneChangePossibility in interface InfrastructurePerception

Parameters:

lane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Throws:

GTUException - if the GTU was not initialized or if the lane is not in the cross section

ParameterException - if a parameter is not defined

updateCrossSection

public final void updateCrossSection() throws GTUException, ParameterException

Updates a set of relative lanes representing the cross section. This set consists of all lanes on the current link, and an additional lane on the left and/or right side in case of a merge that is sufficiently nearby.

Specified by:

updateCrossSection in interface InfrastructurePerception

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter is not defined

getInfrastructureLaneChangeInfo

public final SortedSet<InfrastructureLaneChangeInfo> getInfrastructureLaneChangeInfo(RelativeLane lane)

Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Specified by:

getInfrastructureLaneChangeInfo in interface InfrastructurePerception

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

infrastructure lane change info of a lane

getSpeedLimitProspect

public final SpeedLimitProspect getSpeedLimitProspect(RelativeLane lane)

Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Specified by:

getSpeedLimitProspect in interface InfrastructurePerception

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

prospect for speed limits on a lane

getLegalLaneChangePossibility

public final Length getLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)

Returns the distance over which a lane change remains legally possible. Negative values indicate the distance over which a lane change is legally not possible.

Specified by:

getLegalLaneChangePossibility in interface InfrastructurePerception

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

getPhysicalLaneChangePossibility

public final Length getPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)

Returns the distance over which a lane change remains physically possible. Negative values indicate the distance over which a lane change is physically not possible.

Specified by:

getPhysicalLaneChangePossibility in interface InfrastructurePerception

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

getCrossSection

public final SortedSet<RelativeLane> getCrossSection()

Returns a set of relative lanes representing the cross section. Lanes are sorted left to right.

Specified by:

getCrossSection in interface InfrastructurePerception

Returns:

set of relative lanes representing the cross section

getTimeStampedInfrastructureLaneChangeInfo

public final TimeStampedObject<SortedSet<InfrastructureLaneChangeInfo>> getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane)

Returns time stamped infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

time stamped infrastructure lane change info of a lane

getTimeStampedSpeedLimitProspect

public final TimeStampedObject<SpeedLimitProspect> getTimeStampedSpeedLimitProspect(RelativeLane lane)

Returns the time stamped prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

time stamped prospect for speed limits on a lane

getTimeStampedLegalLaneChangePossibility

public final TimeStampedObject<Length> getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)

Returns the time stamped distance over which a lane change remains legally possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

time stamped distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedPhysicalLaneChangePossibility

public final TimeStampedObject<Length> getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)

Returns the time stamped distance over which a lane change remains physically possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

time stamped distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedCrossSection

public final TimeStampedObject<SortedSet<RelativeLane>> getTimeStampedCrossSection()

Returns a time stamped set of relative lanes representing the cross section. Lanes are sorted left to right.

Returns:

time stamped set of relative lanes representing the cross section

toString

public final String toString()

Overrides:

toString in class Object