HeadwayGTUReal.java
package org.opentrafficsim.road.gtu.lane.perception.headway;
import org.djunits.value.vdouble.scalar.Length;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
import org.opentrafficsim.road.network.speed.SpeedLimitProspect;
import org.opentrafficsim.road.network.speed.SpeedLimitTypes;
/**
* 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. <br>
* This particular version returns behavioral information about the observed GTU objects based on their real state.<br>
* 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 <i>reference point</i> 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 <a href=
* "http://simulation.tudelft.nl:8085/browse/OTS-113">http://simulation.tudelft.nl:8085/browse/OTS-113</a>.
* <p>
* Copyright (c) 2013-2016 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 May 27, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public class HeadwayGTUReal extends AbstractHeadwayGTU
{
/** */
private static final long serialVersionUID = 20160527L;
/** stored car following model of the observed GTU. */
private final CarFollowingModel carFollowingModel;
/** stored behavioral characteristics of the observed GTU. */
private final BehavioralCharacteristics behavioralCharacteristics;
/** stored speed limit info of the observed GTU. */
private final SpeedLimitInfo speedLimitInfo;
/**
* Construct a new Headway information object, for a GTU ahead of us or behind us.
* @param gtu the observed GTU, can not be null.
* @param distance the distance to the other object; if this constructor is used, distance cannot be null.
* @param gtuStatus the observable characteristics of the GTU.
* @throws GTUException when id is null, objectType is null, or parameters are inconsistent
*/
public HeadwayGTUReal(final LaneBasedGTU gtu, final Length distance, final GTUStatus... gtuStatus) throws GTUException
{
super(gtu.getId(), gtu.getGTUType(), distance, true, gtu.getLength(), gtu.getSpeed(), gtu.getAcceleration(), gtuStatus);
this.carFollowingModel = gtu.getTacticalPlanner().getCarFollowingModel();
this.behavioralCharacteristics = gtu.getBehavioralCharacteristics();
this.speedLimitInfo = getSpeedLimitInfo(gtu);
}
/**
* Construct a new Headway information object, for a GTU parallel with us.
* @param gtu the observed GTU, can not be null.
* @param overlapFront the front-front distance to the other GTU; if this constructor is used, this value cannot be null.
* @param overlap the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.
* @param overlapRear the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.
* @throws GTUException when id is null, or parameters are inconsistent
*/
public HeadwayGTUReal(final LaneBasedGTU gtu, final Length overlapFront, final Length overlap, final Length overlapRear)
throws GTUException
{
super(gtu.getId(), gtu.getGTUType(), overlapFront, overlap, overlapRear, true, gtu.getLength(), gtu.getSpeed(), gtu
.getAcceleration());
this.carFollowingModel = gtu.getTacticalPlanner().getCarFollowingModel();
this.behavioralCharacteristics = gtu.getBehavioralCharacteristics();
this.speedLimitInfo = getSpeedLimitInfo(gtu);
}
/**
* Creates speed limit prospect for given GTU.
* @param gtu gtu to the the speed limit prospect for
* @return speed limit prospect for given GTU
*/
// TODO this is a simple fix, and getReferenceLane()
private SpeedLimitInfo getSpeedLimitInfo(final LaneBasedGTU gtu)
{
SpeedLimitInfo sli = new SpeedLimitInfo();
sli.addSpeedInfo(SpeedLimitTypes.MAX_VEHICLE_SPEED, gtu.getMaximumSpeed());
try
{
sli.addSpeedInfo(SpeedLimitTypes.FIXED_SIGN,
gtu.getReferencePosition().getLane().getSpeedLimit(gtu.getGTUType()));
}
catch (NetworkException | GTUException exception)
{
throw new RuntimeException("Could not obtain speed limit from lane for perception.", exception);
}
return sli;
}
/** {@inheritDoc} */
@Override
public final CarFollowingModel getCarFollowingModel()
{
return this.carFollowingModel;
}
/** {@inheritDoc} */
@Override
public final BehavioralCharacteristics getBehavioralCharacteristics()
{
return this.behavioralCharacteristics;
}
/** {@inheritDoc} */
@Override
public final SpeedLimitInfo getSpeedLimitInfo()
{
return this.speedLimitInfo;
}
}