org.opentrafficsim.road.gtu.lane

Class AbstractLaneBasedGTU

java.lang.Object

org.opentrafficsim.core.gtu.AbstractGTU

org.opentrafficsim.road.gtu.lane.AbstractLaneBasedGTU

All Implemented Interfaces:

Serializable, nl.tudelft.simulation.dsol.animation.LocatableInterface, org.opentrafficsim.core.gtu.GTU, LaneBasedGTU

Direct Known Subclasses:

AbstractLaneBasedIndividualGTU

public abstract class AbstractLaneBasedGTU
extends org.opentrafficsim.core.gtu.AbstractGTU
implements LaneBasedGTU

This class contains most of the code that is needed to run a lane based GTU.
The starting point of a LaneBasedTU is that it can be in multiple lanes at the same time. This can be due to a lane change (lateral), or due to crossing a link (front of the GTU is on another Lane than rear of the GTU). If a Lane is shorter than the length of the GTU (e.g. when we do node expansion on a crossing, this is very well possible), a GTU could occupy dozens of Lanes at the same time.

When calculating a headway, the GTU has to look in successive lanes. When Lanes (or underlying CrossSectionLinks) diverge, the headway algorithms have to look at multiple Lanes and return the minimum headway in each of the Lanes. When the Lanes (or underlying CrossSectionLinks) converge, "parallel" traffic is not taken into account in the headway calculation. Instead, gap acceptance algorithms or their equivalent should guide the merging behavior.

To decide its movement, an AbstractLaneBasedGTU applies its car following algorithm and lane change algorithm to set the acceleration and any lane change operation to perform. It then schedules the triggers that will add it to subsequent lanes and remove it from current lanes as needed during the time step that is has committed to. Finally, it re-schedules its next movement evaluation with the simulator.

Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision: 1408 $, $LastChangedDate: 2015-09-24 15:17:25 +0200 (Thu, 24 Sep 2015) $, by $Author: pknoppers $, initial version Oct 22, 2014

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description

AbstractLaneBasedGTU(String id, org.opentrafficsim.core.gtu.GTUType gtuType, Set<DirectedLanePosition> initialLongitudinalPositions, org.djunits.value.vdouble.scalar.Speed initialSpeed, org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface simulator, LaneBasedStrategicalPlanner strategicalPlanner, LanePerception perception, org.opentrafficsim.core.network.OTSNetwork network) Construct a Lane Based GTU.

Method Summary

Modifier and Type	Method and Description
void	addTrigger(Lane lane, nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent<org.opentrafficsim.core.dsol.OTSSimTimeDouble> event) Add an event to the list of lane triggers scheduled for this GTU.
void	destroy()
void	enterLane(Lane lane, org.djunits.value.vdouble.scalar.Length.Rel position, org.opentrafficsim.core.gtu.GTUDirectionality gtuDirection) insert GTU at a certain position.
double	fractionalPosition(Lane lane, org.opentrafficsim.core.gtu.RelativePosition relativePosition) Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane.
double	fractionalPosition(Lane lane, org.opentrafficsim.core.gtu.RelativePosition relativePosition, org.djunits.value.vdouble.scalar.Time.Abs when) Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane.
Map<Lane,Double>	fractionalPositions(org.opentrafficsim.core.gtu.RelativePosition relativePosition) Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane.
Map<Lane,Double>	fractionalPositions(org.opentrafficsim.core.gtu.RelativePosition relativePosition, org.djunits.value.vdouble.scalar.Time.Abs when) Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane.
LaneBasedBehavioralCharacteristics	getBehavioralCharacteristics()
javax.media.j3d.Bounds	getBounds()
Map<Lane,org.opentrafficsim.core.gtu.GTUDirectionality>	getLanes()
LanePerceptionFull	getPerception()
LaneBasedStrategicalPlanner	getStrategicalPlanner()
void	leaveLane(Lane lane) Unregister the GTU from a lane.
void	leaveLane(Lane lane, boolean beingDestroyed) Leave a lane but do not complain about having no lanes left when beingDestroyed is true.
protected void	move(nl.tudelft.simulation.language.d3.DirectedPoint fromLocation)
org.djunits.value.vdouble.scalar.Length.Rel	position(Lane lane, org.opentrafficsim.core.gtu.RelativePosition relativePosition) Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane at the current simulation time.
org.djunits.value.vdouble.scalar.Length.Rel	position(Lane lane, org.opentrafficsim.core.gtu.RelativePosition relativePosition, org.djunits.value.vdouble.scalar.Time.Abs when) Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.
Map<Lane,org.djunits.value.vdouble.scalar.Length.Rel>	positions(org.opentrafficsim.core.gtu.RelativePosition relativePosition) Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
Map<Lane,org.djunits.value.vdouble.scalar.Length.Rel>	positions(org.opentrafficsim.core.gtu.RelativePosition relativePosition, org.djunits.value.vdouble.scalar.Time.Abs when) Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
org.djunits.value.vdouble.scalar.Length.Rel	projectedPosition(Lane projectionLane, org.opentrafficsim.core.gtu.RelativePosition relativePosition, org.djunits.value.vdouble.scalar.Time.Abs when) Return the longitudinal position that this GTU would have if it were to change to another Lane with a / the current CrossSectionLink.
String	toString()

Methods inherited from class org.opentrafficsim.core.gtu.AbstractGTU

getAcceleration, getAcceleration, getGTUType, getId, getLocation, getMaximumAcceleration, getMaximumDeceleration, getOdometer, getOperationalPlan, getPerceivableContext, getReference, getSimulator, getTacticalPlanner, getTurnIndicatorStatus, getVelocity, getVelocity, interruptMove, isDestroyed, setMaximumAcceleration, setMaximumDeceleration, setTurnIndicatorStatus

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.opentrafficsim.core.gtu.GTU

getAcceleration, getAcceleration, getFront, getGTUType, getId, getLength, getLocation, getMaximumAcceleration, getMaximumDeceleration, getMaximumVelocity, getOdometer, getOperationalPlan, getRear, getReference, getRelativePositions, getSimulator, getTacticalPlanner, getTurnIndicatorStatus, getVelocity, getVelocity, getWidth, setTurnIndicatorStatus

Constructor Detail

AbstractLaneBasedGTU

public AbstractLaneBasedGTU(String id,
                            org.opentrafficsim.core.gtu.GTUType gtuType,
                            Set<DirectedLanePosition> initialLongitudinalPositions,
                            org.djunits.value.vdouble.scalar.Speed initialSpeed,
                            org.opentrafficsim.core.dsol.OTSDEVSSimulatorInterface simulator,
                            LaneBasedStrategicalPlanner strategicalPlanner,
                            LanePerception perception,
                            org.opentrafficsim.core.network.OTSNetwork network)
                     throws org.opentrafficsim.core.network.NetworkException,
                            nl.tudelft.simulation.dsol.SimRuntimeException,
                            org.opentrafficsim.core.gtu.GTUException,
                            org.opentrafficsim.core.geometry.OTSGeometryException

Construct a Lane Based GTU.

Parameters:

id - the id of the GTU

gtuType - the type of GTU, e.g. TruckType, CarType, BusType

initialLongitudinalPositions - the initial positions of the car on one or more lanes with their directions

initialSpeed - the initial speed of the car on the lane

simulator - to initialize the move method and to get the current time

strategicalPlanner - the strategical planner (e.g., route determination) to use

perception - the lane-based perception model of the GTU

network - the network that the GTU is initially registered in

Throws:

org.opentrafficsim.core.network.NetworkException - when the GTU cannot be placed on the given lane

nl.tudelft.simulation.dsol.SimRuntimeException - when the move method cannot be scheduled

org.opentrafficsim.core.gtu.GTUException - when gtuFollowingModel is null

org.opentrafficsim.core.geometry.OTSGeometryException - when the initial path is wrong

Method Detail

enterLane

public final void enterLane(Lane lane,
                            org.djunits.value.vdouble.scalar.Length.Rel position,
                            org.opentrafficsim.core.gtu.GTUDirectionality gtuDirection)
                     throws org.opentrafficsim.core.gtu.GTUException

insert GTU at a certain position. This can happen at setup (first initialization), and after a lane change of the GTU. The relative position that will be registered is the referencePosition (dx, dy, dz) = (0, 0, 0). Front and rear positions are relative towards this position.

Specified by:

enterLane in interface LaneBasedGTU

Parameters:

lane - the lane to add to the list of lanes on which the GTU is registered.

position - the position on the lane.

gtuDirection - the direction of the GTU on the lane (which can be bidirectional). If the GTU has a positive velocity, it is moving in this direction.

Throws:

org.opentrafficsim.core.gtu.GTUException - when positioning the GTU on the lane causes a problem

leaveLane

public final void leaveLane(Lane lane)
                     throws org.opentrafficsim.core.gtu.GTUException

Unregister the GTU from a lane.

Specified by:

leaveLane in interface LaneBasedGTU

Parameters:

lane - the lane to remove from the list of lanes on which the GTU is registered.

Throws:

org.opentrafficsim.core.gtu.GTUException - when leaveLane should not be called

leaveLane

public final void leaveLane(Lane lane,
                            boolean beingDestroyed)
                     throws org.opentrafficsim.core.gtu.GTUException

Leave a lane but do not complain about having no lanes left when beingDestroyed is true.

Parameters:

lane - the lane to leave

beingDestroyed - if true, no complaints about having no lanes left

Throws:

org.opentrafficsim.core.gtu.GTUException - in case leaveLane should not be called

getLanes

public final Map<Lane,org.opentrafficsim.core.gtu.GTUDirectionality> getLanes()

Specified by:

getLanes in interface LaneBasedGTU

Returns:

a safe copy of the lanes on which the GTU is registered.

move

protected final void move(nl.tudelft.simulation.language.d3.DirectedPoint fromLocation)
                   throws nl.tudelft.simulation.dsol.SimRuntimeException,
                          org.opentrafficsim.core.gtu.GTUException,
                          org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                          org.opentrafficsim.core.network.NetworkException

Overrides:

move in class org.opentrafficsim.core.gtu.AbstractGTU

Throws:

nl.tudelft.simulation.dsol.SimRuntimeException

org.opentrafficsim.core.gtu.GTUException

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException

org.opentrafficsim.core.network.NetworkException

positions

public final Map<Lane,org.djunits.value.vdouble.scalar.Length.Rel> positions(org.opentrafficsim.core.gtu.RelativePosition relativePosition)
                                                                      throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
Note: If a GTU is registered in multiple parallel lanes, the lateralLaneChangeModel is used to determine the center line of the vehicle at this point in time. Otherwise, the average of the center positions of the lines will be taken.

Specified by:

positions in interface LaneBasedGTU

Parameters:

relativePosition - the position on the vehicle relative to the reference point.

Returns:

the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on one of the lanes on which it is registered.

positions

public final Map<Lane,org.djunits.value.vdouble.scalar.Length.Rel> positions(org.opentrafficsim.core.gtu.RelativePosition relativePosition,
                                                                             org.djunits.value.vdouble.scalar.Time.Abs when)
                                                                      throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.

Specified by:

positions in interface LaneBasedGTU

Parameters:

relativePosition - the position on the vehicle relative to the reference point.

when - the future time for which to calculate the positions.

Returns:

the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on one of the lanes on which it is registered.

position

public final org.djunits.value.vdouble.scalar.Length.Rel position(Lane lane,
                                                                  org.opentrafficsim.core.gtu.RelativePosition relativePosition)
                                                           throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane at the current simulation time.

Specified by:

position in interface LaneBasedGTU

Parameters:

lane - the position on this lane will be returned.

relativePosition - the position on the vehicle relative to the reference point.

Returns:

DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on the given lane.

projectedPosition

public final org.djunits.value.vdouble.scalar.Length.Rel projectedPosition(Lane projectionLane,
                                                                           org.opentrafficsim.core.gtu.RelativePosition relativePosition,
                                                                           org.djunits.value.vdouble.scalar.Time.Abs when)
                                                                    throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal position that this GTU would have if it were to change to another Lane with a / the current CrossSectionLink.

Specified by:

projectedPosition in interface LaneBasedGTU

Parameters:

projectionLane - Lane; the lane onto which the position of this GTU must be projected

relativePosition - RelativePosition; the point on this GTU that must be projected

when - Time.Abs; the time for which to project the position of this GTU

Returns:

Length.Rel; the position of this GTU in the projectionLane

Throws:

org.opentrafficsim.core.gtu.GTUException - when projectionLane it not in any of the CrossSectionLink that the GTU is on

position

public final org.djunits.value.vdouble.scalar.Length.Rel position(Lane lane,
                                                                  org.opentrafficsim.core.gtu.RelativePosition relativePosition,
                                                                  org.djunits.value.vdouble.scalar.Time.Abs when)
                                                           throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.

Specified by:

position in interface LaneBasedGTU

Parameters:

lane - the position on this lane will be returned.

relativePosition - the position on the vehicle relative to the reference point.

when - the future time for which to calculate the positions.

Returns:

DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on the given lane.

fractionalPositions

public final Map<Lane,Double> fractionalPositions(org.opentrafficsim.core.gtu.RelativePosition relativePosition)
                                           throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.

Specified by:

fractionalPositions in interface LaneBasedGTU

Parameters:

relativePosition - the position on the vehicle relative to the reference point.

Returns:

the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on one of the lanes on which it is registered.

fractionalPositions

public final Map<Lane,Double> fractionalPositions(org.opentrafficsim.core.gtu.RelativePosition relativePosition,
                                                  org.djunits.value.vdouble.scalar.Time.Abs when)
                                           throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.

Specified by:

fractionalPositions in interface LaneBasedGTU

Parameters:

relativePosition - the position on the vehicle relative to the reference point.

when - the future time for which to calculate the positions.

Returns:

the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on one of the lanes on which it is registered.

fractionalPosition

public final double fractionalPosition(Lane lane,
                                       org.opentrafficsim.core.gtu.RelativePosition relativePosition,
                                       org.djunits.value.vdouble.scalar.Time.Abs when)
                                throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.

Specified by:

fractionalPosition in interface LaneBasedGTU

Parameters:

lane - the position on this lane will be returned.

relativePosition - the position on the vehicle relative to the reference point.

when - the future time for which to calculate the positions.

Returns:

the fractional relative position on the lane at the given time.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on the given lane.

fractionalPosition

public final double fractionalPosition(Lane lane,
                                       org.opentrafficsim.core.gtu.RelativePosition relativePosition)
                                throws org.opentrafficsim.core.gtu.GTUException

Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.

Specified by:

fractionalPosition in interface LaneBasedGTU

Parameters:

lane - the position on this lane will be returned.

relativePosition - the position on the vehicle relative to the reference point.

Returns:

the fractional relative position on the lane at the given time.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the vehicle is not on the given lane.

getPerception

public LanePerceptionFull getPerception()

Specified by:

getPerception in interface org.opentrafficsim.core.gtu.GTU

Specified by:

getPerception in interface LaneBasedGTU

Overrides:

getPerception in class org.opentrafficsim.core.gtu.AbstractGTU

getStrategicalPlanner

public LaneBasedStrategicalPlanner getStrategicalPlanner()

Specified by:

getStrategicalPlanner in interface org.opentrafficsim.core.gtu.GTU

Specified by:

getStrategicalPlanner in interface LaneBasedGTU

Overrides:

getStrategicalPlanner in class org.opentrafficsim.core.gtu.AbstractGTU

getBehavioralCharacteristics

public LaneBasedBehavioralCharacteristics getBehavioralCharacteristics()

Specified by:

getBehavioralCharacteristics in interface org.opentrafficsim.core.gtu.GTU

Specified by:

getBehavioralCharacteristics in interface LaneBasedGTU

addTrigger

public void addTrigger(Lane lane,
                       nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEvent<org.opentrafficsim.core.dsol.OTSSimTimeDouble> event)

Add an event to the list of lane triggers scheduled for this GTU.

Specified by:

addTrigger in interface LaneBasedGTU

Parameters:

lane - Lane; the lane on which the event occurs

event - SimeEvent<OTSSimTimeDouble> the event

destroy

public void destroy()

Specified by:

destroy in interface org.opentrafficsim.core.gtu.GTU

Overrides:

destroy in class org.opentrafficsim.core.gtu.AbstractGTU

getBounds

public final javax.media.j3d.Bounds getBounds()

Specified by:

getBounds in interface nl.tudelft.simulation.dsol.animation.LocatableInterface

Specified by:

getBounds in interface org.opentrafficsim.core.gtu.GTU

toString

public String toString()

Overrides:

toString in class Object