org.opentrafficsim.road.gtu.lane.tactical

Class AbstractLaneBasedTacticalPlanner

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

All Implemented Interfaces:

Serializable, org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner

Direct Known Subclasses:

LaneBasedCFLCTacticalPlanner, LaneBasedGTUFollowingChange0TacticalPlanner, LaneBasedGTUFollowingLaneChangeTacticalPlanner, LaneBasedGTUFollowingLaneChangeTacticalPlanner2, LaneBasedGTUFollowingTacticalPlanner, LMRS

public abstract class AbstractLaneBasedTacticalPlanner
extends Object
implements org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner

A lane-based tactical planner generates an operational plan for the lane-based GTU. It can ask the strategic planner for assistance on the route to take when the network splits. This abstract class contains a number of helper methods that make it easy to implement a tactical planner.

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.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 25, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
AbstractLaneBasedTacticalPlanner() Instantiated a tactical planner.

Method Summary

Modifier and Type	Method and Description
protected static List<Lane>	buildLaneListForwardXXX(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway, Lane startLane, double startLaneFractionalPosition, org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality) Build a list of lanes forward, with a maximum headway.
static LanePathInfo	buildLanePathInfo(LaneBasedGTU gtu, Lane startLane, org.djunits.value.vdouble.scalar.Length.Rel startPosition, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway) Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
static LanePathInfo	buildLanePathInfo(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway) Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
static LanePathInfo	buildLanePathInfo(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway, Lane startLane, double startLaneFractionalPosition, org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality) Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
protected static List<org.opentrafficsim.core.network.LinkDirection>	buildLinkListForward(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway) Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.
protected static boolean	connectsToPath(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway, Lane startLane, double startLaneFractionalPosition, org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality, org.opentrafficsim.core.network.Link linkAfterSplit) Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?
static NextSplitInfo	determineNextSplit(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway) Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU.
static Lane	getReferenceLane(LaneBasedGTU gtu) The reference lane is the widest lane on which the reference point of the GTU is fully registered.
protected static boolean	noLaneDrop(LaneBasedGTU gtu, org.djunits.value.vdouble.scalar.Length.Rel maxHeadway, Lane startLane, double startLaneFractionalPosition, org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality) Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner

generateOperationalPlan

Constructor Detail

AbstractLaneBasedTacticalPlanner

public AbstractLaneBasedTacticalPlanner()

Instantiated a tactical planner.

Method Detail

getReferenceLane

public static Lane getReferenceLane(LaneBasedGTU gtu)
                             throws org.opentrafficsim.core.gtu.GTUException

The reference lane is the widest lane on which the reference point of the GTU is fully registered. If the reference point is not fully registered on one of the lanes, return a lane where the reference point is not fully registered as a fallback option. This can g=for instance happen when the GTU has just been generated, or when the GTU is about to be destroyed at the end of a lane.

Parameters:

gtu - the GTU for which to determine the lane on which the GTU's reference point lies

Returns:

the widest lane on which the reference point lies between start and end, or any lane where the GTU is registered as a fallback option.

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU's positions cannot be determined or when the GTU is not registered on any lane.

buildLanePathInfo

public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             org.djunits.value.vdouble.scalar.Length.Rel maxHeadway)
                                      throws org.opentrafficsim.core.gtu.GTUException,
                                             org.opentrafficsim.core.network.NetworkException

Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - the gtu for which to calculate the lane list

maxHeadway - the maximum length for which lanes should be returned

Returns:

an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

buildLanePathInfo

public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             Lane startLane,
                                             org.djunits.value.vdouble.scalar.Length.Rel startPosition,
                                             org.djunits.value.vdouble.scalar.Length.Rel maxHeadway)
                                      throws org.opentrafficsim.core.gtu.GTUException,
                                             org.opentrafficsim.core.network.NetworkException

Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - the gtu for which to calculate the lane list

startLane - the lane in which the path starts

startPosition - the start position on the start lane with the Vehicle's reference point

maxHeadway - the maximum length for which lanes should be returned

Returns:

an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

buildLanePathInfo

public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             org.djunits.value.vdouble.scalar.Length.Rel maxHeadway,
                                             Lane startLane,
                                             double startLaneFractionalPosition,
                                             org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality)
                                      throws org.opentrafficsim.core.gtu.GTUException,
                                             org.opentrafficsim.core.network.NetworkException

Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - the gtu for which to calculate the lane list

startLane - the lane in which the path starts

startLaneFractionalPosition - the fractional position on the start lane

startDirectionality - the driving direction on the start lane

maxHeadway - the maximum length for which lanes should be returned

Returns:

an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

buildLaneListForwardXXX

protected static List<Lane> buildLaneListForwardXXX(LaneBasedGTU gtu,
                                                    org.djunits.value.vdouble.scalar.Length.Rel maxHeadway,
                                                    Lane startLane,
                                                    double startLaneFractionalPosition,
                                                    org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality)
                                             throws org.opentrafficsim.core.gtu.GTUException,
                                                    org.opentrafficsim.core.network.NetworkException

Build a list of lanes forward, with a maximum headway.

Parameters:

gtu - the gtu for which to calculate the lane list

maxHeadway - the maximum length for which lanes should be returned

startLane - the first lane in the list

startLaneFractionalPosition - the fractional position on the start lane

startDirectionality - the driving direction on the start lane

Returns:

a list of lanes, connected to the startLane and following the path of the StrategicalPlanner.

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

determineNextSplit

public static NextSplitInfo determineNextSplit(LaneBasedGTU gtu,
                                               org.djunits.value.vdouble.scalar.Length.Rel maxHeadway)
                                        throws org.opentrafficsim.core.gtu.GTUException,
                                               org.opentrafficsim.core.network.NetworkException

Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU. Note: a lane drop is also considered a split (!).

Parameters:

gtu - the gtu for which to calculate the lane list

maxHeadway - the maximum length for which lanes should be returned

Returns:

an instance that provides the following information for an operational plan: whether the network splits, the node where it splits, and the current lanes that lead to the right node after the split node.

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

connectsToPath

protected static boolean connectsToPath(LaneBasedGTU gtu,
                                        org.djunits.value.vdouble.scalar.Length.Rel maxHeadway,
                                        Lane startLane,
                                        double startLaneFractionalPosition,
                                        org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality,
                                        org.opentrafficsim.core.network.Link linkAfterSplit)
                                 throws org.opentrafficsim.core.gtu.GTUException,
                                        org.opentrafficsim.core.network.NetworkException

Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?

Parameters:

gtu - the GTU for which we have to determine the lane suitability

maxHeadway - the maximum length for use in the calculation

startLane - the first lane in the list

startLaneFractionalPosition - the fractional position on the start lane

startDirectionality - the driving direction on the start lane

linkAfterSplit - the link after the split to which we should connect

Returns:

whether the lane is connected to our path

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

noLaneDrop

protected static boolean noLaneDrop(LaneBasedGTU gtu,
                                    org.djunits.value.vdouble.scalar.Length.Rel maxHeadway,
                                    Lane startLane,
                                    double startLaneFractionalPosition,
                                    org.opentrafficsim.core.gtu.GTUDirectionality startDirectionality)
                             throws org.opentrafficsim.core.gtu.GTUException,
                                    org.opentrafficsim.core.network.NetworkException

Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?

Parameters:

gtu - the GTU for which we have to determine the lane suitability

maxHeadway - the maximum length for use in the calculation

startLane - the first lane in the list

startLaneFractionalPosition - the fractional position on the start lane

startDirectionality - the driving direction on the start lane

Returns:

whether the lane is connected to our path

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route

buildLinkListForward

protected static List<org.opentrafficsim.core.network.LinkDirection> buildLinkListForward(LaneBasedGTU gtu,
                                                                                          org.djunits.value.vdouble.scalar.Length.Rel maxHeadway)
                                                                                   throws org.opentrafficsim.core.gtu.GTUException,
                                                                                          org.opentrafficsim.core.network.NetworkException

Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - the gtu for which to calculate the link list

maxHeadway - the maximum length for which links should be returned

Returns:

a list of links on which to drive next

Throws:

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

org.opentrafficsim.core.network.NetworkException - when the strategic planner is not able to return a next node in the route