java.lang.Object
- org.opentrafficsim.road.gtu.lane.plan.operational.LaneOperationalPlanBuilder

```
public final class LaneOperationalPlanBuilder
extends Object
```
Builder for several often used operational plans. E.g., decelerate to come to a full stop at the end of a shape; accelerate to reach a certain speed at the end of a curve; drive constant on a curve; decelerate or accelerate to reach a given end speed at the end of a curve, etc.
TODO driving with negative speeds (backward driving) is not yet supported.
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.
$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 15, 2015

Author:

Alexander Verbraeck, Peter Knoppers

Constructor Summary

Constructors
Modifier Constructor Description

protected LaneOperationalPlanBuilder()
Constructor.

Method Summary

All Methods Static Methods Concrete Methods
Modifier and Type	Method	Description
`static Duration`	`brakingTime(Acceleration acceleration, Speed startSpeed, Duration time)`	Returns the effective braking time, which stops if stand-still is reached.
`static LaneBasedOperationalPlan`	`buildAccelerationLaneChangePlan(InternalLaneBasedGtu gtu, LateralDirectionality laneChangeDirectionality, Ray3d startPosition, Time startTime, Speed startSpeed, Acceleration acceleration, Duration timeStep, LaneChange laneChange)`	Build a plan with a path and a given start speed to try to reach a provided end speed.
`static LaneBasedOperationalPlan`	`buildAccelerationPlan(InternalLaneBasedGtu gtu, Time startTime, Speed startSpeed, Acceleration acceleration, Duration timeStep, boolean deviative)`	Build a plan with a path and a given start speed to try to reach a provided end speed.
`static LaneBasedOperationalPlan`	`buildGradualAccelerationPlan(InternalLaneBasedGtu gtu, Length distance, Time startTime, Speed startSpeed, Speed endSpeed)`	Build a plan with a path and a given start speed to reach a provided end speed, exactly at the end of the curve.
`static LaneBasedOperationalPlan`	`buildGradualAccelerationPlan(InternalLaneBasedGtu gtu, Length distance, Time startTime, Speed startSpeed, Speed endSpeed, Acceleration maxAcceleration, Acceleration maxDeceleration)`	Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve.
`static LaneBasedOperationalPlan`	`buildMaximumAccelerationPlan(InternalLaneBasedGtu gtu, Length distance, Time startTime, Speed startSpeed, Speed endSpeed, Acceleration acceleration, Acceleration deceleration)`	Build a plan with a path and a given start speed to try to reach a provided end speed.
`static LaneBasedOperationalPlan`	`buildPlanFromSimplePlan(InternalLaneBasedGtu gtu, Time startTime, SimpleOperationalPlan simplePlan, LaneChange laneChange)`	Build an operational plan based on a simple operational plan and status info.
`static LaneBasedOperationalPlan`	`buildStopPlan(InternalLaneBasedGtu gtu, Length distance, Time startTime, Speed startSpeed, Acceleration deceleration)`	Build a plan with a path and a given start speed to try to come to a stop with a given deceleration.
`static PolyLine3d`	`createPathAlongCenterLine(InternalLaneBasedGtu gtu, Length distance)`	Creates a path along lane center lines.
`static void`	`scheduleLaneChangeFinalization(InternalLaneBasedGtu gtu, Length distance, LateralDirectionality laneChangeDirection)`	Schedules a lane change finalization after the given distance is covered.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail
- LaneOperationalPlanBuilder
```
protected LaneOperationalPlanBuilder()
```
  Constructor.

Method Detail

buildGradualAccelerationPlan
```
public static LaneBasedOperationalPlan buildGradualAccelerationPlan(InternalLaneBasedGtu gtu,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed,
                                                                    Acceleration maxAcceleration,
                                                                    Acceleration maxDeceleration)
                                                             throws OperationalPlanException
```
Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve. The acceleration (and deceleration) are capped by maxAcceleration and maxDeceleration. Therefore, there is no guarantee that the end speed is actually reached by this plan.

Parameters:

gtu - InternalLaneBasedGtu; the GTU for debugging purposes

distance - Length; distance to drive for reaching the end speed

startTime - Time; the current time or a time in the future when the plan should start

startSpeed - Speed; the speed at the start of the path

endSpeed - Speed; the required end speed

maxAcceleration - Acceleration; the maximum acceleration that can be applied, provided as a POSITIVE number

maxDeceleration - Acceleration; the maximum deceleration that can be applied, provided as a NEGATIVE number

Returns:

the operational plan to accomplish the given end speed

Throws:

OperationalPlanException - when the plan cannot be generated, e.g. because of a path that is too short

OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

buildGradualAccelerationPlan

public static LaneBasedOperationalPlan buildGradualAccelerationPlan(InternalLaneBasedGtu gtu,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed)
                                                             throws OperationalPlanException

Build a plan with a path and a given start speed to reach a provided end speed, exactly at the end of the curve. Acceleration and deceleration are virtually unbounded (1E12 m/s2) to reach the end speed (e.g., to come to a complete stop).

Parameters:: gtu - InternalLaneBasedGtu; the GTU for debugging purposes; distance - Length; distance to drive for reaching the end speed; startTime - Time; the current time or a time in the future when the plan should start; startSpeed - Speed; the speed at the start of the path; endSpeed - Speed; the required end speed
Returns:: the operational plan to accomplish the given end speed
Throws:: OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

buildMaximumAccelerationPlan

public static LaneBasedOperationalPlan buildMaximumAccelerationPlan(InternalLaneBasedGtu gtu,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed,
                                                                    Acceleration acceleration,
                                                                    Acceleration deceleration)
                                                             throws OperationalPlanException

Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:: gtu - InternalLaneBasedGtu; the GTU for debugging purposes; distance - Length; distance to drive for reaching the end speed; startTime - Time; the current time or a time in the future when the plan should start; startSpeed - Speed; the speed at the start of the path; endSpeed - Speed; the required end speed; acceleration - Acceleration; the acceleration to use if endSpeed > startSpeed, provided as a POSITIVE number; deceleration - Acceleration; the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number
Returns:: the operational plan to accomplish the given end speed
Throws:: OperationalPlanException - when the construction of the operational path fails

buildAccelerationPlan
```
public static LaneBasedOperationalPlan buildAccelerationPlan(InternalLaneBasedGtu gtu,
                                                             Time startTime,
                                                             Speed startSpeed,
                                                             Acceleration acceleration,
                                                             Duration timeStep,
                                                             boolean deviative)
                                                      throws OperationalPlanException
```
Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:

gtu - InternalLaneBasedGtu; the GTU for debugging purposes

startTime - Time; the current time or a time in the future when the plan should start

startSpeed - Speed; the speed at the start of the path

acceleration - Acceleration; the acceleration to use

timeStep - Duration; time step for the plan

deviative - boolean; whether the plan is deviative

Returns:

the operational plan to accomplish the given end speed

Throws:

OperationalPlanException - when the construction of the operational path fails

createPathAlongCenterLine

public static PolyLine3d createPathAlongCenterLine(InternalLaneBasedGtu gtu,
                                                   Length distance)

Creates a path along lane center lines.

Parameters:: gtu - InternalLaneBasedGtu; gtu; distance - Length; minimum distance
Returns:: OTSLine3D; path along lane center lines

buildAccelerationLaneChangePlan

public static LaneBasedOperationalPlan buildAccelerationLaneChangePlan(InternalLaneBasedGtu gtu,
                                                                       LateralDirectionality laneChangeDirectionality,
                                                                       Ray3d startPosition,
                                                                       Time startTime,
                                                                       Speed startSpeed,
                                                                       Acceleration acceleration,
                                                                       Duration timeStep,
                                                                       LaneChange laneChange)
                                                                throws OperationalPlanException

Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:: gtu - InternalLaneBasedGtu; the GTU for debugging purposes; laneChangeDirectionality - LateralDirectionality; direction of lane change (on initiation only, after that not important); startPosition - Ray3d; current position; startTime - Time; the current time or a time in the future when the plan should start; startSpeed - Speed; the speed at the start of the path; acceleration - Acceleration; the acceleration to use; timeStep - Duration; time step for the plan; laneChange - LaneChange; lane change status
Returns:: the operational plan to accomplish the given end speed
Throws:: OperationalPlanException - when the construction of the operational path fails

brakingTime

public static Duration brakingTime(Acceleration acceleration,
                                   Speed startSpeed,
                                   Duration time)

Returns the effective braking time, which stops if stand-still is reached.

Parameters:: acceleration - Acceleration; acceleration; startSpeed - Speed; start speed; time - Duration; intended time step
Returns:: Duration; effective braking time

buildPlanFromSimplePlan

public static LaneBasedOperationalPlan buildPlanFromSimplePlan(InternalLaneBasedGtu gtu,
                                                               Time startTime,
                                                               SimpleOperationalPlan simplePlan,
                                                               LaneChange laneChange)
                                                        throws ParameterException,
                                                               GtuException,
                                                               NetworkException,
                                                               OperationalPlanException

Build an operational plan based on a simple operational plan and status info.

Parameters:: gtu - InternalLaneBasedGtu; gtu; startTime - Time; start time for plan; simplePlan - SimpleOperationalPlan; simple operational plan; laneChange - LaneChange; lane change status
Returns:: operational plan
Throws:: ParameterException - if parameter is not defined; GtuException - gtu exception; NetworkException - network exception; OperationalPlanException - operational plan exception

scheduleLaneChangeFinalization
```
public static void scheduleLaneChangeFinalization(InternalLaneBasedGtu gtu,
                                                  Length distance,
                                                  LateralDirectionality laneChangeDirection)
                                           throws SimRuntimeException
```
Schedules a lane change finalization after the given distance is covered. This distance is known as the plan is created, but at that point no time can be derived as the plan is required for that. Hence, this method can be scheduled at the same time (sequentially after creation of the plan) to then schedule the actual finalization by deriving time from distance with the plan.

Parameters:

gtu - InternalLaneBasedGtu; gtu

distance - Length; distance

laneChangeDirection - LateralDirectionality; lane change direction

Throws:

SimRuntimeException - on bad time

buildStopPlan
```
public static LaneBasedOperationalPlan buildStopPlan(InternalLaneBasedGtu gtu,
                                                     Length distance,
                                                     Time startTime,
                                                     Speed startSpeed,
                                                     Acceleration deceleration)
                                              throws OperationalPlanException
```
Build a plan with a path and a given start speed to try to come to a stop with a given deceleration. If the GTU can stop before completing the given path, a truncated path that ends where the GTU stops is used instead. There is no guarantee that the OperationalPlan will lead to a complete stop.

Parameters:

gtu - InternalLaneBasedGtu; the GTU for debugging purposes

distance - Length; distance to drive for reaching the end speed

startTime - Time; the current time or a time in the future when the plan should start

startSpeed - Speed; the speed at the start of the path

deceleration - Acceleration; the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number

Returns:

the operational plan to accomplish the given end speed

Throws:

OperationalPlanException - when construction of the operational path fails

Class LaneOperationalPlanBuilder

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

LaneOperationalPlanBuilder

Method Detail

buildGradualAccelerationPlan

buildGradualAccelerationPlan

buildMaximumAccelerationPlan

buildAccelerationPlan

createPathAlongCenterLine

buildAccelerationLaneChangePlan

brakingTime

buildPlanFromSimplePlan

scheduleLaneChangeFinalization

buildStopPlan