org.opentrafficsim.road.gtu.lane.perception.headway

Class AbstractHeadwayGTU

java.lang.Object

org.opentrafficsim.road.gtu.lane.perception.headway.AbstractHeadway

org.opentrafficsim.road.gtu.lane.perception.headway.AbstractHeadwayGTU

All Implemented Interfaces:

Serializable, Comparable<Headway>, org.opentrafficsim.core.perception.PerceivedObject, Headway

Direct Known Subclasses:

HeadwayGTUReal, HeadwayGTUSimple, HeadwayGTUType

public abstract class AbstractHeadwayGTU
extends AbstractHeadway

Container for a reference to information about a (lane based) GTU and a headway. The Headway can store information about GTUs or objects ahead of the reference GTU, behind the reference GTU, or (partially) parallel to the reference GTU. In addition to the (perceived) headway, several other pieces of information can be stored, such as (perceived) speed, (perceived) acceleration, (perceived) turn indicators, and (perceived) braking lights.
Special care must be taken in curves when perceiving headway of a GTU or object on an adjacent lane.The question is whether we perceive the parallel or ahead/behind based on a line perpendicular to the front/back of the GTU (rectangular), or perpendicular to the center line of the lane (wedge-shaped in case of a curve). The difficulty of a wedge-shaped situation is that reciprocity might be violated: in case of a clothoid, for instance, it is not sure that the point on the center line when projected from lane 1 to lane 2 is the same as the projection from lane 2 to lane 1. The same holds for shapes with sharp bends. Therefore, algorithms implementing headway should only project the reference point of the reference GTU on the center line of the adjacent lane, and then calculate the forward position and backward position on the adjacent lane based on the reference point. Still, our human perception of what is parallel and what not, is not reflected by fractional positions. See examples in http://simulation.tudelft.nl:8085/browse/OTS-113.

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.

Version:

$Revision: 1368 $, $LastChangedDate: 2015-09-02 00:20:20 +0200 (Wed, 02 Sep 2015) $, by $Author: averbraeck $, initial version 11 feb. 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	AbstractHeadwayGTU.GTUStatus Observable characteristics of a GTU.

Nested classes/interfaces inherited from interface org.opentrafficsim.road.gtu.lane.perception.headway.Headway

Headway.ObjectType

Constructor Summary

Constructors

Constructor and Description
AbstractHeadwayGTU(String id, org.opentrafficsim.core.gtu.GTUType gtuType, org.djunits.value.vdouble.scalar.Length distance, boolean facingSameDirection, org.djunits.value.vdouble.scalar.Length length) Construct a new Headway information object, for a non-moving GTU ahead of us or behind us.
AbstractHeadwayGTU(String id, org.opentrafficsim.core.gtu.GTUType gtuType, org.djunits.value.vdouble.scalar.Length distance, boolean facingSameDirection, org.djunits.value.vdouble.scalar.Length length, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Acceleration acceleration, AbstractHeadwayGTU.GTUStatus... gtuStatus) Construct a new Headway information object, for a moving GTU ahead of us or behind us.
AbstractHeadwayGTU(String id, org.opentrafficsim.core.gtu.GTUType gtuType, org.djunits.value.vdouble.scalar.Length overlapFront, org.djunits.value.vdouble.scalar.Length overlap, org.djunits.value.vdouble.scalar.Length overlapRear, boolean facingSameDirection, org.djunits.value.vdouble.scalar.Length length) Construct a new Headway information object, for a non-moving GTU parallel with us.
AbstractHeadwayGTU(String id, org.opentrafficsim.core.gtu.GTUType gtuType, org.djunits.value.vdouble.scalar.Length overlapFront, org.djunits.value.vdouble.scalar.Length overlap, org.djunits.value.vdouble.scalar.Length overlapRear, boolean facingSameDirection, org.djunits.value.vdouble.scalar.Length length, org.djunits.value.vdouble.scalar.Speed speed, org.djunits.value.vdouble.scalar.Acceleration acceleration) Construct a new Headway information object, for a moving GTU parallel with us.

Method Summary

Modifier and Type	Method and Description
abstract org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics	getBehavioralCharacteristics() Many models that observe a GTU need to predict the imminent behavior of that GTU.
abstract CarFollowingModel	getCarFollowingModel() Many models that observe a GTU need to predict the imminent behavior of that GTU.
org.opentrafficsim.core.gtu.GTUType	getGtuType()
abstract SpeedLimitInfo	getSpeedLimitInfo() Many models that observe a GTU need to predict the imminent behavior of that GTU.
boolean	isBrakingLightsOn()
boolean	isEmergencyLightsOn()
boolean	isFacingSameDirection()
boolean	isHonking()
boolean	isLeftTurnIndicatorOn()
boolean	isRightTurnIndicatorOn()
String	toString()

Methods inherited from class org.opentrafficsim.road.gtu.lane.perception.headway.AbstractHeadway

equals, getAcceleration, getDistance, getId, getLength, getObjectType, getOverlap, getOverlapFront, getOverlapRear, getSpeed, hashCode, isAhead, isBehind, isParallel

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.opentrafficsim.road.gtu.lane.perception.headway.Headway

compareTo

Constructor Detail

AbstractHeadwayGTU

public AbstractHeadwayGTU(String id,
                          org.opentrafficsim.core.gtu.GTUType gtuType,
                          org.djunits.value.vdouble.scalar.Length distance,
                          boolean facingSameDirection,
                          org.djunits.value.vdouble.scalar.Length length,
                          org.djunits.value.vdouble.scalar.Speed speed,
                          org.djunits.value.vdouble.scalar.Acceleration acceleration,
                          AbstractHeadwayGTU.GTUStatus... gtuStatus)
                   throws org.opentrafficsim.core.gtu.GTUException

Construct a new Headway information object, for a moving GTU ahead of us or behind us.

Parameters:

id - the id of the GTU for comparison purposes, can not be null.

gtuType - the perceived GTU Type, or null if unknown.

distance - the distance to the other object; if this constructor is used, distance cannot be null.

facingSameDirection - whether the GTU is facing the same direction.

length - the (perceived) length of the other object; can not be null.

speed - the (perceived) speed of the other object; can be null if unknown.

acceleration - the (perceived) acceleration of the other object; can be null if unknown.

gtuStatus - the observable characteristics of the GTU.

Throws:

org.opentrafficsim.core.gtu.GTUException - when id is null, objectType is null, or parameters are inconsistent

AbstractHeadwayGTU

public AbstractHeadwayGTU(String id,
                          org.opentrafficsim.core.gtu.GTUType gtuType,
                          org.djunits.value.vdouble.scalar.Length distance,
                          boolean facingSameDirection,
                          org.djunits.value.vdouble.scalar.Length length)
                   throws org.opentrafficsim.core.gtu.GTUException

Construct a new Headway information object, for a non-moving GTU ahead of us or behind us.

Parameters:

id - String; the id of the GTU for comparison purposes, can not be null.

gtuType - GTUType; the perceived GTU Type, or null if unknown.

distance - Length; the distance to the other GTU; if this constructor is used, distance cannot be null.

facingSameDirection - whether the GTU is facing the same direction.

length - the (perceived) length of the other object; can not be null.

Throws:

org.opentrafficsim.core.gtu.GTUException - when id is null, or parameters are inconsistent

AbstractHeadwayGTU

public AbstractHeadwayGTU(String id,
                          org.opentrafficsim.core.gtu.GTUType gtuType,
                          org.djunits.value.vdouble.scalar.Length overlapFront,
                          org.djunits.value.vdouble.scalar.Length overlap,
                          org.djunits.value.vdouble.scalar.Length overlapRear,
                          boolean facingSameDirection,
                          org.djunits.value.vdouble.scalar.Length length,
                          org.djunits.value.vdouble.scalar.Speed speed,
                          org.djunits.value.vdouble.scalar.Acceleration acceleration)
                   throws org.opentrafficsim.core.gtu.GTUException

Construct a new Headway information object, for a moving GTU parallel with us.

Parameters:

id - the id of the GTU for comparison purposes, can not be null.

gtuType - the perceived GTU Type, or null if unknown.

overlapFront - the front-front distance to the other GTU; if this constructor is used, this value cannot be null.

overlap - the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.

overlapRear - the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.

facingSameDirection - whether the GTU is facing the same direction.

length - the (perceived) length of the other object; can not be null.

speed - the (perceived) speed of the other GTU; can be null if unknown.

acceleration - the (perceived) acceleration of the other GTU; can be null if unknown.

Throws:

org.opentrafficsim.core.gtu.GTUException - when id is null, or parameters are inconsistent

AbstractHeadwayGTU

public AbstractHeadwayGTU(String id,
                          org.opentrafficsim.core.gtu.GTUType gtuType,
                          org.djunits.value.vdouble.scalar.Length overlapFront,
                          org.djunits.value.vdouble.scalar.Length overlap,
                          org.djunits.value.vdouble.scalar.Length overlapRear,
                          boolean facingSameDirection,
                          org.djunits.value.vdouble.scalar.Length length)
                   throws org.opentrafficsim.core.gtu.GTUException

Construct a new Headway information object, for a non-moving GTU parallel with us.

Parameters:

id - the id of the GTU for comparison purposes, can not be null.

gtuType - the perceived GTU Type, or null if unknown.

overlapFront - the front-front distance to the other GTU; if this constructor is used, this value cannot be null.

overlap - the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.

overlapRear - the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.

facingSameDirection - whether the GTU is facing the same direction.

length - the (perceived) length of the other object; can not be null.

Throws:

org.opentrafficsim.core.gtu.GTUException - when id is null, or parameters are inconsistent

Method Detail

getGtuType

public final org.opentrafficsim.core.gtu.GTUType getGtuType()

Returns:

gtuType

isFacingSameDirection

public final boolean isFacingSameDirection()

Returns:

facingSameDirection

isBrakingLightsOn

public final boolean isBrakingLightsOn()

Returns:

were the braking lights on?

isLeftTurnIndicatorOn

public final boolean isLeftTurnIndicatorOn()

Returns:

was the left turn indicator on?

isRightTurnIndicatorOn

public final boolean isRightTurnIndicatorOn()

Returns:

was the right turn indicator on?

isEmergencyLightsOn

public final boolean isEmergencyLightsOn()

Returns:

were the emergency lights on?

isHonking

public final boolean isHonking()

Returns:

was the vehicle honking or ringing its bell when being observed for the headway?

getCarFollowingModel

public abstract CarFollowingModel getCarFollowingModel()

Many models that observe a GTU need to predict the imminent behavior of that GTU. Having a car following model of the observed GTU can help with that. The car following model that is returned can be on a continuum between the actual car following model of the observed GTU and the own car following model of the observing GTU, not making any assumptions about the observed GTU. When successive observations of the GTU take place, parameters about its behavior can be estimated more accurately. Another interesting easy-to-implement solution is to return a car following model per GTU type, where the following model of a truck can differ from that of a car.

Returns:

a car following model that represents the expected behavior of the observed GTU

getBehavioralCharacteristics

public abstract org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics getBehavioralCharacteristics()

Many models that observe a GTU need to predict the imminent behavior of that GTU. Having an estimate of the behavioral characteristics of the observed GTU can help with that. The behavioral characteristics that are returned can be on a continuum between the actual behavioral characteristics of the observed GTU and the own behavioral characteristics of the observing GTU, not making any assumptions about the observed GTU. When successive observations of the GTU take place, parameters about its behavior can be estimated more accurately. Another interesting easy-to-implement solution is to return a set of behavioral characteristics per GTU type, where the behavioral characteristics of a truck can differ from that of a car.

Returns:

the behavioral characteristics that represent the expected behavior of the observed GTU

getSpeedLimitInfo

public abstract SpeedLimitInfo getSpeedLimitInfo()

Many models that observe a GTU need to predict the imminent behavior of that GTU. Having a model of the speed info profile for the observed GTU can help with predicting its future behavior. The speed limit info that is returned can be on a continuum between the actual speed limit model of the observed GTU and the own speed limit model of the observing GTU, not making any assumptions about the observed GTU. When successive observations of the GTU take place, parameters about its behavior, such as the maximum speed it accepts, can be estimated more accurately. Another interesting easy-to-implement solution is to return a speed limit info object per GTU type, where the returned information of a truck -- with a maximum allowed speed on 80 km/h -- can differ from that of a car -- which can have a maximum allowed speed of 100 km/h on the same road.

Returns:

a speed limit model that helps in determining the expected behavior of the observed GTU

toString

public final String toString()

Overrides:

toString in class AbstractHeadway