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) 2013-2020 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	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	Description
`DirectNeighborsPerception(LanePerception perception, HeadwayGtuType headwayGtuType)`
`DirectNeighborsPerception(LanePerception perception, HeadwayGtuType headwayGtuType, HeadwayGtuType headwayGtuTypeGap)`

Method Summary

Modifier and Type	Method	Description
`boolean`	`computeGtuAlongside(LateralDirectionality lat)`	Computes whether there is a GTU alongside.
`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()`
`void`	`updateAll()`

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

Field Details
- LOOKAHEAD
  
  protected static final ParameterTypeLength LOOKAHEAD
  
  Look ahead parameter type.
- LOOKBACK
  
  protected static final ParameterTypeLength LOOKBACK
  
  Look back parameter type.
Constructor Details
- DirectNeighborsPerception
  
  public DirectNeighborsPerception(LanePerception perception, HeadwayGtuType headwayGtuType)
  
  Parameters:
  
  perception - LanePerception; perception
  
  headwayGtuType - HeadwayGtuType; type of headway gtu to generate
- DirectNeighborsPerception
  
  public DirectNeighborsPerception(LanePerception perception, HeadwayGtuType headwayGtuType, HeadwayGtuType headwayGtuTypeGap)
  
  Parameters:
  
  perception - LanePerception; perception
  
  headwayGtuType - HeadwayGtuType; type of headway gtu to generate
  
  headwayGtuTypeGap - HeadwayGtuType; type of headway gtu to assess gaps
Method Details
- updateAll
  
  public final void updateAll() throws GTUException, NetworkException, ParameterException
  
  Specified by:
  
  updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>
  
  Throws:
  
  GTUException
  
  NetworkException
  
  ParameterException
- 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
- computeGtuAlongside
  
  public boolean computeGtuAlongside(LateralDirectionality lat)
  
  Computes whether there is a GTU alongside.
  
  Parameters:
  
  lat - LateralDirectionality; lateral directionality
  
  Returns:
  
  boolean; whether there is a GTU alongside
- 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
- toString
  
  public final String toString()
  
  Overrides:
  
  toString in class Object

Class DirectNeighborsPerception