LaneOperationalPlanBuilder.java
package org.opentrafficsim.road.gtu.lane.plan.operational;
import java.util.ArrayList;
import java.util.List;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.SpeedUnit;
import org.djunits.unit.TimeUnit;
import org.djunits.value.ValueException;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.scalar.Time;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.SpeedSegment;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.math.Solver;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.network.lane.Lane;
/**
* Builder for several often used operational plans, based on a list of lanes. 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.<br>
* TODO driving with negative speeds (backward driving) is not yet supported.
* <p>
* Copyright (c) 2013-2015 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 15, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public final class LaneOperationalPlanBuilder
{
/** Maximum acceleration for unbounded accelerations: 1E12 m/s2. */
private static final Acceleration MAX_ACCELERATION = new Acceleration(1E12, AccelerationUnit.SI);
/** Maximum deceleration for unbounded accelerations: -1E12 m/s2. */
private static final Acceleration MAX_DECELERATION = new Acceleration(-1E12, AccelerationUnit.SI);
/** Private constructor. */
private LaneOperationalPlanBuilder()
{
// class should not be instantiated
}
/**
* 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.
* @param gtu the GTU for debugging purposes
* @param lanes a list of connected Lanes to do the driving on
* @param firstLanePosition position on the first lane with the reference point of the GTU
* @param distance distance to drive for reaching the end speed
* @param startTime the current time or a time in the future when the plan should start
* @param startSpeed the speed at the start of the path
* @param endSpeed the required end speed
* @param maxAcceleration the maximum acceleration that can be applied, provided as a POSITIVE number
* @param maxDeceleration the maximum deceleration that can be applied, provided as a NEGATIVE number
* @return 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
* @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
* @throws OTSGeometryException in case the lanes are not connected or firstLanePosition is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildGradualAccelerationPlan(final LaneBasedGTU gtu, final List<Lane> lanes,
final Length firstLanePosition, final Length distance, final Time startTime,
final Speed startSpeed, final Speed endSpeed, final Acceleration maxAcceleration,
final Acceleration maxDeceleration) throws OperationalPlanException, OTSGeometryException
{
OTSLine3D path = makePath(lanes, firstLanePosition, distance);
OperationalPlan.Segment segment;
if (startSpeed.eq(endSpeed))
{
segment = new SpeedSegment(distance.divideBy(startSpeed));
}
else
{
try
{
// t = 2x / (vt + v0); a = (vt - v0) / t
Duration duration = distance.multiplyBy(2.0).divideBy(endSpeed.plus(startSpeed));
Acceleration acceleration = endSpeed.minus(startSpeed).divideBy(duration);
if (acceleration.si < 0.0 && acceleration.lt(maxDeceleration))
{
acceleration = maxDeceleration;
duration =
new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
TimeUnit.SI);
}
if (acceleration.si > 0.0 && acceleration.gt(maxAcceleration))
{
acceleration = maxAcceleration;
duration =
new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
TimeUnit.SI);
}
segment = new OperationalPlan.AccelerationSegment(duration, acceleration);
}
catch (ValueException ve)
{
throw new OperationalPlanException(ve);
}
}
ArrayList<OperationalPlan.Segment> segmentList = new ArrayList<>();
segmentList.add(segment);
return new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, lanes);
}
/**
* 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.
* @param lanes a list of connected Lanes to do the driving on
* @param firstLanePosition position on the first lane with the reference point of the GTU
* @param distance distance to drive for reaching the end speed
* @return the driving path as a line
* @throws OperationalPlanException when the length of the lanes is less than the distance when we start at the
* firstLanePosition on the first lane, or when the lanes list contains no elements
* @throws OTSGeometryException in case the lanes are not connected or firstLanePosition is larger than the length of the
* first lane
*/
public static OTSLine3D makePath(final List<Lane> lanes,
final Length firstLanePosition, final Length distance) throws OperationalPlanException,
OTSGeometryException
{
if (lanes.size() == 0)
{
throw new OperationalPlanException("LaneOperationalPlanBuilder.makePath got a lanes list with size = 0");
}
OTSLine3D path = lanes.get(0).getCenterLine().extract(firstLanePosition, lanes.get(0).getLength());
for (int i = 1; i < lanes.size(); i++)
{
path = OTSLine3D.concatenate(path, lanes.get(i).getCenterLine());
}
return path.extract(0.0, distance.si);
}
/**
* 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).
* @param gtu the GTU for debugging purposes
* @param lanes a list of connected Lanes to do the driving on
* @param firstLanePosition position on the first lane with the reference point of the GTU
* @param distance distance to drive for reaching the end speed
* @param startTime the current time or a time in the future when the plan should start
* @param startSpeed the speed at the start of the path
* @param endSpeed the required end speed
* @return 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
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildGradualAccelerationPlan(final LaneBasedGTU gtu, final List<Lane> lanes,
final Length firstLanePosition, final Length distance, final Time startTime,
final Speed startSpeed, final Speed endSpeed) throws OperationalPlanException, OTSGeometryException
{
return buildGradualAccelerationPlan(gtu, lanes, firstLanePosition, distance, startTime, startSpeed, endSpeed,
MAX_ACCELERATION, MAX_DECELERATION);
}
/**
* 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.
* @param gtu the GTU for debugging purposes
* @param lanes a list of connected Lanes to do the driving on
* @param firstLanePosition position on the first lane with the reference point of the GTU
* @param distance distance to drive for reaching the end speed
* @param startTime the current time or a time in the future when the plan should start
* @param startSpeed the speed at the start of the path
* @param endSpeed the required end speed
* @param acceleration the acceleration to use if endSpeed > startSpeed, provided as a POSITIVE number
* @param deceleration the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildMaximumAccelerationPlan(final LaneBasedGTU gtu, final List<Lane> lanes,
final Length firstLanePosition, final Length distance, final Time startTime,
final Speed startSpeed, final Speed endSpeed, final Acceleration acceleration, final Acceleration deceleration)
throws OperationalPlanException, OTSGeometryException
{
OTSLine3D path = makePath(lanes, firstLanePosition, distance);
ArrayList<OperationalPlan.Segment> segmentList = new ArrayList<>();
if (startSpeed.eq(endSpeed))
{
segmentList.add(new OperationalPlan.SpeedSegment(distance.divideBy(startSpeed)));
}
else
{
try
{
if (endSpeed.gt(startSpeed))
{
Duration t = endSpeed.minus(startSpeed).divideBy(acceleration);
Length x =
startSpeed.multiplyBy(t).plus(acceleration.multiplyBy(0.5).multiplyBy(t).multiplyBy(t));
if (x.ge(distance))
{
// we cannot reach the end speed in the given distance with the given acceleration
Duration duration =
new Duration(
Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
TimeUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, acceleration));
}
else
{
// we reach the (higher) end speed before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, acceleration));
Duration duration = distance.minus(x).divideBy(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
else
{
Duration t = endSpeed.minus(startSpeed).divideBy(deceleration);
Length x =
startSpeed.multiplyBy(t).plus(deceleration.multiplyBy(0.5).multiplyBy(t).multiplyBy(t));
if (x.ge(distance))
{
// we cannot reach the end speed in the given distance with the given deceleration
Duration duration =
new Duration(
Solver.firstSolutionAfter(0, deceleration.si / 2, startSpeed.si, -distance.si),
TimeUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, deceleration));
}
else
{
if (endSpeed.si == 0.0)
{
// if endSpeed == 0, we cannot reach the end of the path. Therefore, build a partial path.
OTSLine3D partialPath = path.truncate(x.si);
segmentList.add(new OperationalPlan.AccelerationSegment(t, deceleration));
return new LaneBasedOperationalPlan(gtu, partialPath, startTime, startSpeed, segmentList,
lanes);
}
// we reach the (lower) end speed, larger than zero, before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, deceleration));
Duration duration = distance.minus(x).divideBy(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
}
catch (ValueException ve)
{
throw new OperationalPlanException(ve);
}
}
return new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, lanes);
}
/**
* 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.
* @param gtu the GTU for debugging purposes
* @param lanes a list of connected Lanes to do the driving on
* @param firstLanePosition position on the first lane with the reference point of the GTU
* @param distance distance to drive for reaching the end speed
* @param startTime the current time or a time in the future when the plan should start
* @param startSpeed the speed at the start of the path
* @param deceleration the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildStopPlan(final LaneBasedGTU gtu, final List<Lane> lanes,
final Length firstLanePosition, final Length distance, final Time startTime,
final Speed startSpeed, final Acceleration deceleration) throws OperationalPlanException, OTSGeometryException
{
return buildMaximumAccelerationPlan(gtu, lanes, firstLanePosition, distance, startTime, startSpeed, new Speed(
0.0, SpeedUnit.SI), new Acceleration(1.0, AccelerationUnit.SI), deceleration);
}
}