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

Class DirectInfrastructurePerception

    • Constructor Detail

      • DirectInfrastructurePerception

        public DirectInfrastructurePerception​(LanePerception perception)
        Parameters:
        perception - LanePerception; perception

    • Method Detail

      • 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

      • getInfrastructureLaneChangeInfo

        public final java.util.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

      • 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 java.util.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<java.util.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:
        java.lang.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:
        java.lang.NullPointerException - if lat == null

      • getTimeStampedCrossSection

        public final TimeStampedObject<java.util.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 java.lang.String toString()
        Overrides:
        toString in class java.lang.Object