org.opentrafficsim.road.gtu.lane.perceptionold

Interface LanePerception

All Superinterfaces:

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

All Known Implementing Classes:

AbstractLanePerception, LanePerceptionFull

public interface LanePerception
extends org.opentrafficsim.core.gtu.perception.Perception

Interface for perception in a lane-based model. The following information can be perceived:

• maximum speed we can use at the current location; either time stamped or just the information
• forward headway and first object (e.g., GTU) in front; either time stamped or just the information
• backward headway and first object (e.g., GTU) behind; either time stamped or just the information
• accessible adjacent lanes on the left or right; either time stamped or just the information
• parallel objects (e.g., GTUa) on the left or right; either time stamped or just the information
• Objects (e.g., GTUs) in parallel, in front and behind on the left or right neighboring lane, with their headway relative to our GTU; either time stamped or just the information

Copyright (c) 2013-2016 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 Jan 30, 2016

Author:

Alexander Verbraeck, Peter Knoppers

Method Summary

Modifier and Type	Method and Description
Map<Lane,Set<Lane>>	accessibleAdjacentLaneMap(org.opentrafficsim.core.network.LateralDirectionality lateralDirection)
boolean	existsGtuAlongside(org.opentrafficsim.core.network.LateralDirectionality lat) Whether there is a GTU alongside, i.e.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Boolean>	existsGtuAlongsideTimeStamped(org.opentrafficsim.core.network.LateralDirectionality lat) Whether there is a GTU alongside, i.e.
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesLeft()
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesRight()
Headway	getBackwardHeadway()
SortedSet<RelativeLane>	getCurrentCrossSection() Returns a set of relative lanes representing the current cross section.
SortedSet<AbstractHeadwayGTU>	getFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat) Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU.
SortedSet<AbstractHeadwayGTU>	getFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat) Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU.
SortedSet<AbstractHeadwayGTU>	getFollowers(RelativeLane lane) Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR.
Headway	getForwardHeadway()
LaneBasedGTU	getGtu()
SortedSet<InfrastructureLaneChangeInfo>	getInfrastructureLaneChangeInfo(RelativeLane lane) Returns infrastructure lane change info of a lane.
SortedSet<HeadwayConflict>	getIntersectionConflicts(RelativeLane lane) Returns a set of intersection conflicts along the route.
SortedSet<AbstractHeadwayGTU>	getLeaders(RelativeLane lane) Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
org.djunits.value.vdouble.scalar.Length	getLegalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains legally possible.
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()
org.djunits.value.vdouble.scalar.Length	getPhysicalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains physically possible.
org.djunits.value.vdouble.scalar.Speed	getSpeedLimit()
SpeedLimitProspect	getSpeedLimitProspect(RelativeLane lane) Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
int	getSplitNumber(InfrastructureLaneChangeInfo info) Split number of given infrastructure lane change info, 0 if it does not regard a split.
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<SortedSet<RelativeLane>>	getTimeStampedCurrentCrossSection() Returns a set of relative lanes representing the current cross section.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>>	getTimeStampedFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat) Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>>	getTimeStampedFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat) Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>>	getTimeStampedFollowers(RelativeLane lane) Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Headway>	getTimeStampedForwardHeadway()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<InfrastructureLaneChangeInfo>>	getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane) Returns infrastructure lane change info of a lane.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<HeadwayConflict>>	getTimeStampedIntersectionConflicts(RelativeLane lane) Returns a set of intersection conflicts along the route.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>>	getTimeStampedLeaders(RelativeLane lane) Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Length>	getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains legally possible.
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<org.djunits.value.vdouble.scalar.Length>	getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane, org.opentrafficsim.core.network.LateralDirectionality lat) Returns the distance over which a lane change remains physically possible.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Speed>	getTimeStampedSpeedLimit()
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SpeedLimitProspect>	getTimeStampedSpeedLimitProspect(RelativeLane lane) Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
org.opentrafficsim.core.gtu.perception.TimeStampedObject<Integer>	getTimeStampedSplitNumber(InfrastructureLaneChangeInfo info) Split number of given infrastructure lane change info, 0 if it does not regard a split.
org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<HeadwayTrafficLight>>	getTimeStampedTrafficLights() Returns a set of traffic lights along the route.
SortedSet<HeadwayTrafficLight>	getTrafficLights() Returns a set of traffic lights along the route.
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	updateCurrentCrossSection() Updates a set of relative lanes representing the current cross section.
void	updateFirstFollowers() Updates of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU.
void	updateFirstLeaders() Updates of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU.
void	updateFollowers() Updates set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR.
void	updateForwardHeadway() Update who's in front of us and how far away the nearest object (e.g., a GTU) is.
void	updateGtuAlongside() Updates whether there is a GTU alongside, i.e.
void	updateInfrastructureLaneChangeInfo() Updates infrastructure lane change info of a lane.
void	updateIntersectionConflicts() Updates a set of intersection conflicts along the route.
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	updateLeaders() Updates set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
void	updateLegalLaneChangePossibility() Updates the distance over which a lane change remains legally possible.
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	updatePhysicalLaneChangePossibility() Updates the distance over which a lane change remains physically possible.
void	updateSpeedLimit() Update the perceived speed limit.
void	updateSpeedLimitProspect() Updates the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
void	updateSplitNumber() Updates split numbers of infrastructure lane change info, 0 if it does not regard a split.
void	updateTrafficLights() Updates a set of traffic lights along the route.

Methods inherited from interface org.opentrafficsim.core.gtu.perception.Perception

addPerceptionCategory, contains, getPerceptionCategory, perceive, removePerceptionCategory

Method Detail

getGtu

LaneBasedGTU getGtu()

Specified by:

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

Returns:

the gtu for which this is the perception

getForwardHeadway

Headway getForwardHeadway()

Returns:

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

getBackwardHeadway

Headway getBackwardHeadway()

Returns:

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

getAccessibleAdjacentLanesLeft

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

Returns:

accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getAccessibleAdjacentLanesRight

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

Returns:

accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

accessibleAdjacentLaneMap

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

Parameters:

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

Returns:

the accessible adjacent lane map for the given direction

getNeighboringHeadwaysLeft

Collection<Headway> getNeighboringHeadwaysLeft()

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

Collection<Headway> getNeighboringHeadwaysRight()

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

getNeighboringHeadways

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

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

getParallelHeadwaysLeft

Collection<Headway> getParallelHeadwaysLeft()

Returns:

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

getParallelHeadwaysRight

Collection<Headway> getParallelHeadwaysRight()

Returns:

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

getParallelHeadways

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

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.

getSpeedLimit

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

Returns:

speedLimit

getFirstLeaders

SortedSet<AbstractHeadwayGTU> getFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU. This is shown below. Suppose A needs to go straight. If A considers a lane change to the left, both GTUs B (who's tail ~ is still on the straight lane) and C need to be considered for whether it's safe to do so. In case of multiple splits close to one another, the returned set may contain even more than 2 leaders. Leaders are sorted by headway value.

          | |
 _________/B/_____
 _ _?_ _ _~_ _C_ _
 _ _A_ _ _ _ _ _ _
 _________________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

getFirstFollowers

SortedSet<AbstractHeadwayGTU> getFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU. This is shown below. If A considers a lane change to the left, both GTUs B and C need to be considered for whether it's safe to do so. In case of multiple merges close to one another, the returned set may contain even more than 2 followers. Followers are sorted by tailway value.

        | |
        |C| 
 ________\ \______
 _ _B_|_ _ _ _ _?_
 _ _ _|_ _ _ _ _A_ 
 _____|___________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

existsGtuAlongside

boolean existsGtuAlongside(org.opentrafficsim.core.network.LateralDirectionality lat)

Whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.

Parameters:

lat - LEFT or RIGHT, null not allowed

Returns:

whether there is a GTU alongside, i.e. with overlap, in an adjacent lane

Throws:

NullPointerException - if lat == null

getLeaders

SortedSet<AbstractHeadwayGTU> getLeaders(RelativeLane lane)

Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Leaders are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT

getFollowers

SortedSet<AbstractHeadwayGTU> getFollowers(RelativeLane lane)

Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR. Follower are are sorted by tailway value.

Parameters:

lane - relative lateral lane

Returns:

set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR

getInfrastructureLaneChangeInfo

SortedSet<InfrastructureLaneChangeInfo> getInfrastructureLaneChangeInfo(RelativeLane lane)

Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - relative lateral lane

Returns:

infrastructure lane change info of a lane

getSplitNumber

int getSplitNumber(InfrastructureLaneChangeInfo info)

Split number of given infrastructure lane change info, 0 if it does not regard a split.

  ________________
  _ _ _ _ _ _ _ _____________
 A___.....____________.....__
     \______          \______ (destination of A)
                          ^
                          |
             This split provides the 1st 
      infrastructure info on the current lane. 
      It regards the 3rd split along the road.
                 split number = 3
 

Parameters:

info - infrastructure lane change info

Returns:

split number of given infrastructure lane change info, 0 if it does not regard a split

getSpeedLimitProspect

SpeedLimitProspect getSpeedLimitProspect(RelativeLane lane)

Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - relative lateral lane

Returns:

prospect for speed limits on a lane

getLegalLaneChangePossibility

org.djunits.value.vdouble.scalar.Length getLegalLaneChangePossibility(RelativeLane fromLane,
                                                                      org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains legally possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getPhysicalLaneChangePossibility

org.djunits.value.vdouble.scalar.Length getPhysicalLaneChangePossibility(RelativeLane fromLane,
                                                                         org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains physically possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getCurrentCrossSection

SortedSet<RelativeLane> getCurrentCrossSection()

Returns a set of relative lanes representing the current cross section. Lanes are sorted left to right.

Returns:

set of relative lanes representing the current cross section

getTrafficLights

SortedSet<HeadwayTrafficLight> getTrafficLights()

Returns a set of traffic lights along the route. Traffic lights are sorted by headway value.

Returns:

set of traffic lights along the route

getIntersectionConflicts

SortedSet<HeadwayConflict> getIntersectionConflicts(RelativeLane lane)

Returns a set of intersection conflicts along the route. Conflicts are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of intersection conflicts along the route

getTimeStampedForwardHeadway

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

Returns:

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

getTimeStampedBackwardHeadway

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

Returns:

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

getTimeStampedAccessibleAdjacentLanesLeft

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

Returns:

TimeStamped accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getTimeStampedAccessibleAdjacentLanesRight

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

Returns:

TimeStamped accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getTimeStampedNeighboringHeadwaysLeft

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

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

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

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

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

Returns:

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

getTimeStampedParallelHeadwaysRight

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

Returns:

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

getTimeStampedSpeedLimit

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

Returns:

TimeStamped speedLimit

getTimeStampedFirstLeaders

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>> getTimeStampedFirstLeaders(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU. This is shown below. Suppose A needs to go straight. If A considers a lane change to the left, both GTUs B (who's tail ~ is still on the straight lane) and C need to be considered for whether it's safe to do so. In case of multiple splits close to one another, the returned set may contain even more than 2 leaders. Leaders are sorted by headway value.

          | |
 _________/B/_____
 _ _?_ _ _~_ _C_ _
 _ _A_ _ _ _ _ _ _
 _________________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

getTimeStampedFirstFollowers

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>> getTimeStampedFirstFollowers(org.opentrafficsim.core.network.LateralDirectionality lat)

Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU. This is shown below. If A considers a lane change to the left, both GTUs B and C need to be considered for whether it's safe to do so. In case of multiple merges close to one another, the returned set may contain even more than 2 followers. Followers are sorted by tailway value.

        | |
        |C| 
 ________\ \______
 _ _B_|_ _ _ _ _?_
 _ _ _|_ _ _ _ _A_ 
 _____|___________
 

Parameters:

lat - LEFT, null (current) or RIGHT

Returns:

list of followers on a lane

existsGtuAlongsideTimeStamped

org.opentrafficsim.core.gtu.perception.TimeStampedObject<Boolean> existsGtuAlongsideTimeStamped(org.opentrafficsim.core.network.LateralDirectionality lat)

Whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.

Parameters:

lat - LEFT or RIGHT, null not allowed

Returns:

whether there is a GTU alongside, i.e. with overlap, in an adjacent lane

Throws:

NullPointerException - if lat == null

getTimeStampedLeaders

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>> getTimeStampedLeaders(RelativeLane lane)

Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Leaders are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT

getTimeStampedFollowers

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<AbstractHeadwayGTU>> getTimeStampedFollowers(RelativeLane lane)

Set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR. Follower are are sorted by tailway value.

Parameters:

lane - relative lateral lane

Returns:

set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR

getTimeStampedInfrastructureLaneChangeInfo

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<InfrastructureLaneChangeInfo>> getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane)

Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - relative lateral lane

Returns:

infrastructure lane change info of a lane

getTimeStampedSplitNumber

org.opentrafficsim.core.gtu.perception.TimeStampedObject<Integer> getTimeStampedSplitNumber(InfrastructureLaneChangeInfo info)

Split number of given infrastructure lane change info, 0 if it does not regard a split.

  ________________
  _ _ _ _ _ _ _ _____________
 A___.....____________.....__
     \______          \______ (destination of A)
                          ^
                          |
             This split provides the 1st 
      infrastructure info on the current lane. 
      It regards the 3rd split along the road.
                 split number = 3
 

Parameters:

info - infrastructure lane change info

Returns:

split number of given infrastructure lane change info, 0 if it does not regard a split

getTimeStampedSpeedLimitProspect

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SpeedLimitProspect> getTimeStampedSpeedLimitProspect(RelativeLane lane)

Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - relative lateral lane

Returns:

prospect for speed limits on a lane

getTimeStampedLegalLaneChangePossibility

org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Length> getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane,
                                                                                                                                           org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains legally possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedPhysicalLaneChangePossibility

org.opentrafficsim.core.gtu.perception.TimeStampedObject<org.djunits.value.vdouble.scalar.Length> getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane,
                                                                                                                                              org.opentrafficsim.core.network.LateralDirectionality lat)

Returns the distance over which a lane change remains physically possible.

Parameters:

fromLane - lane from which the lane change possibility is requested

lat - LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedCurrentCrossSection

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<RelativeLane>> getTimeStampedCurrentCrossSection()

Returns a set of relative lanes representing the current cross section. Lanes are sorted left to right.

Returns:

set of relative lanes representing the current cross section

getTimeStampedTrafficLights

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<HeadwayTrafficLight>> getTimeStampedTrafficLights()

Returns a set of traffic lights along the route. Traffic lights are sorted by headway value.

Returns:

set of traffic lights along the route

getTimeStampedIntersectionConflicts

org.opentrafficsim.core.gtu.perception.TimeStampedObject<SortedSet<HeadwayConflict>> getTimeStampedIntersectionConflicts(RelativeLane lane)

Returns a set of intersection conflicts along the route. Conflicts are sorted by headway value.

Parameters:

lane - relative lateral lane

Returns:

set of intersection conflicts along the route

updateForwardHeadway

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.

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

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.

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

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.

Throws:

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

updateAccessibleAdjacentLanesRight

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.

Throws:

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

updateParallelHeadwaysLeft

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.

Throws:

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

updateParallelHeadwaysRight

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.

Throws:

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

updateLaneTrafficLeft

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.

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

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.

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.

updateSpeedLimit

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

Update the perceived speed limit.

Throws:

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

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

updateFirstLeaders

void updateFirstLeaders()

Updates of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU. This is shown below. Suppose A needs to go straight. If A considers a lane change to the left, both GTUs B (who's tail ~ is still on the straight lane) and C need to be considered for whether it's safe to do so. In case of multiple splits close to one another, the returned set may contain even more than 2 leaders. Leaders are sorted by headway value.

          | |
 _________/B/_____
 _ _?_ _ _~_ _C_ _
 _ _A_ _ _ _ _ _ _
 _________________
 

updateFirstFollowers

void updateFirstFollowers()

Updates of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU. This is shown below. If A considers a lane change to the left, both GTUs B and C need to be considered for whether it's safe to do so. In case of multiple merges close to one another, the returned set may contain even more than 2 followers. Followers are sorted by tailway value.

        | |
        |C| 
 ________\ \______
 _ _B_|_ _ _ _ _?_
 _ _ _|_ _ _ _ _A_ 
 _____|___________
 

updateGtuAlongside

void updateGtuAlongside()

Updates whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.

Throws:

NullPointerException - if lat == null

updateLeaders

void updateLeaders()

Updates set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Leaders are sorted by headway value.

updateFollowers

void updateFollowers()

Updates set of followers on a lane, including adjacent GTU's who's REAR is back of the own vehicle REAR. Follower are are sorted by tailway value.

updateInfrastructureLaneChangeInfo

void updateInfrastructureLaneChangeInfo()

Updates infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

updateSplitNumber

void updateSplitNumber()

Updates split numbers of infrastructure lane change info, 0 if it does not regard a split.

  ________________
  _ _ _ _ _ _ _ _____________
 A___.....____________.....__
     \______          \______ (destination of A)
                          ^
                          |
             This split provides the 1st 
      infrastructure info on the current lane. 
      It regards the 3rd split along the road.
                 split number = 3
 

updateSpeedLimitProspect

void updateSpeedLimitProspect()

Updates the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

updateLegalLaneChangePossibility

void updateLegalLaneChangePossibility()

Updates the distance over which a lane change remains legally possible.

Throws:

NullPointerException - if lat == null

updatePhysicalLaneChangePossibility

void updatePhysicalLaneChangePossibility()

Updates the distance over which a lane change remains physically possible.

Throws:

NullPointerException - if lat == null

updateCurrentCrossSection

void updateCurrentCrossSection()

Updates a set of relative lanes representing the current cross section. Lanes are sorted left to right.

updateTrafficLights

void updateTrafficLights()

Updates a set of traffic lights along the route. Traffic lights are sorted by headway value.

updateIntersectionConflicts

void updateIntersectionConflicts()

Updates a set of intersection conflicts along the route. Conflicts are sorted by headway value.