org.opentrafficsim.road.gtu.lane.perception

Class AbstractLanePerception

java.lang.Object

org.opentrafficsim.road.gtu.lane.perception.AbstractLanePerception

All Implemented Interfaces:

Serializable, org.opentrafficsim.core.gtu.perception.Perception, LanePerception

Direct Known Subclasses:

LanePerceptionFull, LanePerceptionNone

public abstract class AbstractLanePerception
extends Object
implements LanePerception

The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception.
Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU), parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending lanes.

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 15, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
AbstractLanePerception() Create a new LanePerception module.

Method Summary

Modifier and Type	Method and Description
Map<Lane,Set<Lane>>	accessibleAdjacentLaneMap(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Lane	bestAccessibleAdjacentLane(Lane currentLane, org.opentrafficsim.core.network.LateralDirectionality lateralDirection, org.djunits.value.vdouble.scalar.Length longitudinalPosition) Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found.
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesLeft()
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesRight()
Headway	getBackwardHeadway()
Headway	getForwardHeadway()
LaneBasedGTU	getGTU()
LanePathInfo	getLanePathInfo() Retrieve the last perceived lane path info.
Collection<Headway>	getNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Collection<Headway>	getNeighboringHeadwaysLeft()
Collection<Headway>	getNeighboringHeadwaysRight()
Collection<Headway>	getParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
Collection<Headway>	getParallelHeadwaysLeft()
Collection<Headway>	getParallelHeadwaysRight()
Set<org.opentrafficsim.core.perception.PerceivedObject>	getPerceivedObjects()
org.djunits.value.vdouble.scalar.Speed	getSpeedLimit()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesLeft()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Map<Lane,Set<Lane>>>	getTimeStampedAccessibleAdjacentLanesRight()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Headway>	getTimeStampedBackwardHeadway()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Headway>	getTimeStampedForwardHeadway()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysLeft()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>>	getTimeStampedNeighboringHeadwaysRight()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysLeft()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>>	getTimeStampedParallelHeadwaysRight()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<org.opentrafficsim.core.perception.PerceivedObject>>	getTimeStampedPerceivedObjects()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Speed>	getTimeStampedSpeedLimit()
void	setGTU(LaneBasedGTU laneBasedGtu) Sets the GTU -- call this method before any call to the perceive() method!
void	updateAccessibleAdjacentLanesLeft() Build a set of Lanes that is adjacent to the given lane that this GTU can enter, for the left lateral direction.
void	updateAccessibleAdjacentLanesRight() Build a set of Lanes that is adjacent to the given lane that this GTU can enter, for the left lateral direction.
void	updateBackwardHeadway() Update who's behind us and how far away the nearest object (e.g., a GTU) is.
void	updateForwardHeadway() Update who's in front of us and how far away the nearest object (e.g., a GTU) is.
void	updateLanePathInfo()
void	updateLaneTrafficLeft() Update the information about the objects (e.g., GTUs) left of our GTU, and behind us or ahead on the left hand side.
void	updateLaneTrafficRight() Update the information about the objects (e.g., GTUs) right of our GTU, and behind us or ahead on the left hand side.
void	updateParallelHeadwaysLeft() Update the information about the objects (e.g., GTUs) parallel to our GTU on the left side.
void	updateParallelHeadwaysRight() Update the information about the objects (e.g., GTUs) parallel to our GTU on the right side.
void	updateSpeedLimit() Update the perceived speed limit.

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.perception.Perception

perceive

Constructor Detail

AbstractLanePerception

public AbstractLanePerception()

Create a new LanePerception module. Because the constructor is often called inside the constructor of a GTU, this constructor does not ask for the pointer to the GTU, as it is often impossible to provide at the time of construction. Use the setter of the GTU instead.

Method Detail

setGTU

public final void setGTU(LaneBasedGTU laneBasedGtu)

Sets the GTU -- call this method before any call to the perceive() method!

Specified by:

setGTU in interface LanePerception

Parameters:

laneBasedGtu - the GTU for which this is the perception module

updateLanePathInfo

public final void updateLanePathInfo()
                              throws org.opentrafficsim.core.gtu.GTUException,
                                     org.opentrafficsim.core.network.NetworkException,
                                     org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when the speed limit for a GTU type cannot be retrieved from the network.

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - in case of not being able to retrieve parameter ParameterTypes.LOOKAHEAD

updateSpeedLimit

public final void updateSpeedLimit()
                            throws org.opentrafficsim.core.gtu.GTUException,
                                   org.opentrafficsim.core.network.NetworkException

Update the perceived speed limit.

Specified by:

updateSpeedLimit in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when the speed limit for a GTU type cannot be retreived from the network.

updateForwardHeadway

public final void updateForwardHeadway()
                                throws org.opentrafficsim.core.gtu.GTUException,
                                       org.opentrafficsim.core.network.NetworkException,
                                       org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update who's in front of us and how far away the nearest object (e.g., a GTU) is.

Specified by:

updateForwardHeadway in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when the headway cannot be determined for this GTU, usually due to routing problems.

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - when there is a parameter problem, e.g., retrieving the forwardHeadwayDistance.

updateBackwardHeadway

public final void updateBackwardHeadway()
                                 throws org.opentrafficsim.core.gtu.GTUException,
                                        org.opentrafficsim.core.network.NetworkException,
                                        org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update who's behind us and how far away the nearest object (e.g., a GTU) is.

Specified by:

updateBackwardHeadway in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when the headway cannot be determined for this GTU, usually due to routing problems.

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - when there is a parameter problem, e.g., retrieving the backwardHeadwayDistance.

updateAccessibleAdjacentLanesLeft

public final void updateAccessibleAdjacentLanesLeft()
                                             throws org.opentrafficsim.core.gtu.GTUException

Build a set of Lanes that is adjacent to the given lane that this GTU can enter, for the left lateral direction.

Specified by:

updateAccessibleAdjacentLanesLeft in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

updateAccessibleAdjacentLanesRight

public final void updateAccessibleAdjacentLanesRight()
                                              throws org.opentrafficsim.core.gtu.GTUException

Build a set of Lanes that is adjacent to the given lane that this GTU can enter, for the left lateral direction.

Specified by:

updateAccessibleAdjacentLanesRight in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

updateParallelHeadwaysLeft

public final void updateParallelHeadwaysLeft()
                                      throws org.opentrafficsim.core.gtu.GTUException

Update the information about the objects (e.g., GTUs) parallel to our GTU on the left side.

Specified by:

updateParallelHeadwaysLeft in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

updateParallelHeadwaysRight

public final void updateParallelHeadwaysRight()
                                       throws org.opentrafficsim.core.gtu.GTUException

Update the information about the objects (e.g., GTUs) parallel to our GTU on the right side.

Specified by:

updateParallelHeadwaysRight in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

updateLaneTrafficLeft

public final void updateLaneTrafficLeft()
                                 throws org.opentrafficsim.core.gtu.GTUException,
                                        org.opentrafficsim.core.network.NetworkException,
                                        org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update the information about the objects (e.g., GTUs) left of our GTU, and behind us or ahead on the left hand side.

Specified by:

updateLaneTrafficLeft in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when there is an inconsistency in the lanes on this network

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - when there is a parameter problem.

updateLaneTrafficRight

public final void updateLaneTrafficRight()
                                  throws org.opentrafficsim.core.gtu.GTUException,
                                         org.opentrafficsim.core.network.NetworkException,
                                         org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException

Update the information about the objects (e.g., GTUs) right of our GTU, and behind us or ahead on the left hand side.

Specified by:

updateLaneTrafficRight in interface LanePerception

Throws:

org.opentrafficsim.core.gtu.GTUException - when the GTU was not initialized yet.

org.opentrafficsim.core.network.NetworkException - when there is an inconsistency in the lanes on this network

org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException - when there is a parameter problem.

accessibleAdjacentLaneMap

public final Map<Lane,Set<Lane>> accessibleAdjacentLaneMap(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Specified by:

accessibleAdjacentLaneMap in interface LanePerception

Parameters:

lateralDirection - the direction to return the accessible adjacent lane map for

Returns:

the accessible adjacent lane map for the given direction

getNeighboringHeadways

public final Collection<Headway> getNeighboringHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Specified by:

getNeighboringHeadways in interface LanePerception

Parameters:

lateralDirection - the direction to return the parallel headway collection for

Returns:

the the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects

getParallelHeadways

public final Collection<Headway> getParallelHeadways(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)

Specified by:

getParallelHeadways in interface LanePerception

Parameters:

lateralDirection - the direction to return the neighboring headway collection for

Returns:

the the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.

bestAccessibleAdjacentLane

public final Lane bestAccessibleAdjacentLane(Lane currentLane,
                                             org.opentrafficsim.core.network.LateralDirectionality lateralDirection,
                                             org.djunits.value.vdouble.scalar.Length longitudinalPosition)

Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found. The method takes the LongitidinalDirectionality of the lane into account. In other words, if we drive FORWARD and look for a lane on the LEFT, and there is a lane but the Directionality of that lane is not FORWARD or BOTH, null will be returned.
A lane is called adjacent to another lane if the lateral edges are not more than a delta distance apart. This means that a lane that overlaps with another lane is not returned as an adjacent lane.
The algorithm also looks for RoadMarkerAcross elements between the lanes to determine the lateral permeability for a GTU. A RoadMarkerAcross is seen as being between two lanes if its center line is not more than delta distance from the relevant lateral edges of the two adjacent lanes.
When there are multiple lanes that are adjacent, which could e.g. be the case if an overlapping tram lane and a car lane are adjacent to the current lane, the widest lane that best matches the GTU accessibility of the provided GTUType is returned.
Note: LEFT is seen as a negative lateral direction, RIGHT as a positive lateral direction.
FIXME In other places in OTS LEFT is positive (and RIGHT is negative). This should be made more consistent.

Parameters:

currentLane - the lane to look for the best accessible adjacent lane

lateralDirection - the direction (LEFT, RIGHT) to look at

longitudinalPosition - Length; the position of the GTU along currentLane

Returns:

the lane if it is accessible, or null if there is no lane, it is not accessible, or the driving direction does not match.

getGTU

public final LaneBasedGTU getGTU()

Specified by:

getGTU in interface LanePerception

Returns:

the gtu for which this is the perception

getLanePathInfo

public final LanePathInfo getLanePathInfo()

Retrieve the last perceived lane path info.

Returns:

LanePathInfo

getForwardHeadway

public final Headway getForwardHeadway()

Specified by:

getForwardHeadway in interface LanePerception

Returns:

forwardHeadway, the forward headway and first object (e.g., a GTU) in front

getBackwardHeadway

public final Headway getBackwardHeadway()

Specified by:

getBackwardHeadway in interface LanePerception

Returns:

backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind

getAccessibleAdjacentLanesLeft

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesLeft()

Specified by:

getAccessibleAdjacentLanesLeft in interface LanePerception

Returns:

accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getAccessibleAdjacentLanesRight

public final Map<Lane,Set<Lane>> getAccessibleAdjacentLanesRight()

Specified by:

getAccessibleAdjacentLanesRight in interface LanePerception

Returns:

accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getNeighboringHeadwaysLeft

public final Collection<Headway> getNeighboringHeadwaysLeft()

Specified by:

getNeighboringHeadwaysLeft in interface LanePerception

Returns:

neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getNeighboringHeadwaysRight

public final Collection<Headway> getNeighboringHeadwaysRight()

Specified by:

getNeighboringHeadwaysRight in interface LanePerception

Returns:

neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getParallelHeadwaysLeft

public final Collection<Headway> getParallelHeadwaysLeft()

Specified by:

getParallelHeadwaysLeft in interface LanePerception

Returns:

parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

getParallelHeadwaysRight

public final Collection<Headway> getParallelHeadwaysRight()

Specified by:

getParallelHeadwaysRight in interface LanePerception

Returns:

parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getSpeedLimit

public final org.djunits.value.vdouble.scalar.Speed getSpeedLimit()

Specified by:

getSpeedLimit in interface LanePerception

Returns:

speedLimit

getPerceivedObjects

public final Set<org.opentrafficsim.core.perception.PerceivedObject> getPerceivedObjects()

Specified by:

getPerceivedObjects in interface org.opentrafficsim.core.gtu.perception.Perception

getTimeStampedForwardHeadway

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Headway> getTimeStampedForwardHeadway()

Specified by:

getTimeStampedForwardHeadway in interface LanePerception

Returns:

TimeStamped forwardHeadway, the forward headway and first object (e.g., a GTU) in front

getTimeStampedBackwardHeadway

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Headway> getTimeStampedBackwardHeadway()

Specified by:

getTimeStampedBackwardHeadway in interface LanePerception

Returns:

TimeStamped backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind

getTimeStampedAccessibleAdjacentLanesLeft

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesLeft()

Specified by:

getTimeStampedAccessibleAdjacentLanesLeft in interface LanePerception

Returns:

TimeStamped accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getTimeStampedAccessibleAdjacentLanesRight

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Map<Lane,Set<Lane>>> getTimeStampedAccessibleAdjacentLanesRight()

Specified by:

getTimeStampedAccessibleAdjacentLanesRight in interface LanePerception

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedNeighboringHeadwaysLeft

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysLeft()

Specified by:

getTimeStampedNeighboringHeadwaysLeft in interface LanePerception

Returns:

TimeStamped neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getTimeStampedNeighboringHeadwaysRight

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>> getTimeStampedNeighboringHeadwaysRight()

Specified by:

getTimeStampedNeighboringHeadwaysRight in interface LanePerception

Returns:

TimeStamped neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getTimeStampedParallelHeadwaysLeft

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysLeft()

Specified by:

getTimeStampedParallelHeadwaysLeft in interface LanePerception

Returns:

TimeStamped parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

getTimeStampedParallelHeadwaysRight

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<Headway>> getTimeStampedParallelHeadwaysRight()

Specified by:

getTimeStampedParallelHeadwaysRight in interface LanePerception

Returns:

TimeStamped parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getTimeStampedSpeedLimit

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Speed> getTimeStampedSpeedLimit()

Specified by:

getTimeStampedSpeedLimit in interface LanePerception

Returns:

TimeStamped speedLimit

getTimeStampedPerceivedObjects

public final org.opentrafficsim.core.gtu.perception.TimeStampedObject<Collection<org.opentrafficsim.core.perception.PerceivedObject>> getTimeStampedPerceivedObjects()
                                                                                                                                                              throws org.opentrafficsim.core.gtu.GTUException

Specified by:

getTimeStampedPerceivedObjects in interface org.opentrafficsim.core.gtu.perception.Perception

Throws:

org.opentrafficsim.core.gtu.GTUException