LMRS.java
package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
import java.util.LinkedHashSet;
import org.djunits.value.vdouble.scalar.Acceleration;
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.gtu.GTUException;
import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
import org.opentrafficsim.core.gtu.perception.EgoPerception;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception;
import org.opentrafficsim.road.gtu.lane.perception.categories.InfrastructurePerception;
import org.opentrafficsim.road.gtu.lane.perception.categories.IntersectionPerception;
import org.opentrafficsim.road.gtu.lane.perception.categories.NeighborsPerception;
import org.opentrafficsim.road.gtu.lane.plan.operational.LaneOperationalPlanBuilder.LaneChange;
import org.opentrafficsim.road.gtu.lane.plan.operational.SimpleOperationalPlan;
import org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil.ConflictPlans;
import org.opentrafficsim.road.gtu.lane.tactical.util.SpeedLimitUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.TrafficLightUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsUtil;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.LmrsUtil.LmrsData;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.MandatoryIncentive;
import org.opentrafficsim.road.gtu.lane.tactical.util.lmrs.VoluntaryIncentive;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
import org.opentrafficsim.road.network.speed.SpeedLimitProspect;
import nl.tudelft.simulation.language.d3.DirectedPoint;
/**
* Implementation of the LMRS (Lane change Model with Relaxation and Synchronization). See Schakel, W.J., Knoop, V.L., and Van
* Arem, B. (2012), <a href="http://victorknoop.eu/research/papers/TRB2012_LMRS_reviewed.pdf">LMRS: Integrated Lane Change Model
* with Relaxation and Synchronization</a>, Transportation Research Records: Journal of the Transportation Research Board, No.
* 2316, pp. 47-57. Note in the official versions of TRB and TRR some errors appeared due to the typesetting of the papers (not
* in the preprint provided here). A list of errata for the official versions is found
* <a href="http://victorknoop.eu/research/papers/Erratum_LMRS.pdf">here</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/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Apr 13, 2016 <br>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public class LMRS extends AbstractLaneBasedTacticalPlanner
{
/** Serialization id. */
private static final long serialVersionUID = 20160300L;
/** Set of yield plans at conflicts with priority. Remembering for static model. */
private final ConflictPlans yieldPlans = new ConflictPlans();
/** Lane change status. */
private final LaneChange laneChange = new LaneChange();
/** LMRS data. */
private final LmrsData lmrsData = new LmrsData();
/** Set of mandatory lane change incentives. */
private final LinkedHashSet<MandatoryIncentive> mandatoryIncentives = new LinkedHashSet<>();
/** Set of voluntary lane change incentives. */
private final LinkedHashSet<VoluntaryIncentive> voluntaryIncentives = new LinkedHashSet<>();
/**
* Constructor setting the car-following model.
* @param carFollowingModel Car-following model.
* @param gtu GTU
*/
public LMRS(final CarFollowingModel carFollowingModel, final LaneBasedGTU gtu)
{
super(carFollowingModel, gtu);
getPerception().addPerceptionCategory(new DefaultSimplePerception(getPerception()));
getPerception().addPerceptionCategory(new InfrastructurePerception(getPerception()));
getPerception().addPerceptionCategory(new NeighborsPerception(getPerception()));
getPerception().addPerceptionCategory(new IntersectionPerception(getPerception()));
getPerception().addPerceptionCategory(new EgoPerception(getPerception()));
}
/**
* Adds a mandatory incentive. Ignores <tt>null</tt>.
* @param incentive Incentive to add.
*/
public final void addMandatoryIncentive(final MandatoryIncentive incentive)
{
if (incentive != null)
{
this.mandatoryIncentives.add(incentive);
}
}
/**
* Adds a voluntary incentive. Ignores <tt>null</tt>.
* @param incentive Incentive to add.
*/
public final void addVoluntaryIncentive(final VoluntaryIncentive incentive)
{
if (incentive != null)
{
this.voluntaryIncentives.add(incentive);
}
}
/**
* Sets the default lane change incentives.
*/
public final void setDefaultIncentives()
{
this.mandatoryIncentives.clear();
this.voluntaryIncentives.clear();
this.mandatoryIncentives.add(new IncentiveRoute());
this.voluntaryIncentives.add(new IncentiveSpeedWithCourtesy());
this.voluntaryIncentives.add(new IncentiveKeep());
}
/** {@inheritDoc} */
@Override
public final OperationalPlan generateOperationalPlan(final Time startTime, final DirectedPoint locationAtStartTime)
throws OperationalPlanException, GTUException, NetworkException, ParameterException
{
if (getGtu().getId().equals("WWP.LANE:2") && startTime.si > 0)
{
double q = 8;
}
// obtain objects to get info
getPerception().perceive();
SpeedLimitProspect slp = getPerception().getPerceptionCategory(InfrastructurePerception.class)
.getSpeedLimitProspect(RelativeLane.CURRENT);
SpeedLimitInfo sli = slp.getSpeedLimitInfo(Length.ZERO);
BehavioralCharacteristics bc = getGtu().getBehavioralCharacteristics();
// LMRS
SimpleOperationalPlan simplePlan = LmrsUtil.determinePlan(getGtu(), startTime, getCarFollowingModel(), this.laneChange,
this.lmrsData, getPerception(), this.mandatoryIncentives, this.voluntaryIncentives);
// speed limits
Speed speed = getPerception().getPerceptionCategory(EgoPerception.class).getSpeed();
simplePlan.minimumAcceleration(SpeedLimitUtil.considerSpeedLimitTransitions(bc, speed, slp, getCarFollowingModel()));
// traffic lights
// TODO traffic lights on route, possible on different lane (and possibly close)
simplePlan.minimumAcceleration(TrafficLightUtil.respondToTrafficLights(bc,
getPerception().getPerceptionCategory(IntersectionPerception.class).getTrafficLights(RelativeLane.CURRENT),
getCarFollowingModel(), speed, sli));
// conflicts
Acceleration acceleration = getPerception().getPerceptionCategory(EgoPerception.class).getAcceleration();
simplePlan.minimumAcceleration(ConflictUtil.approachConflicts(bc,
getPerception().getPerceptionCategory(IntersectionPerception.class).getConflicts(RelativeLane.CURRENT),
getPerception().getPerceptionCategory(NeighborsPerception.class).getLeaders(RelativeLane.CURRENT),
getCarFollowingModel(), getGtu().getLength(), speed, acceleration, sli, this.yieldPlans));
// create plan
return buildPlanFromSimplePlan(getGtu(), startTime, bc, simplePlan, this.laneChange);
}
/** {@inheritDoc} */
@Override
public final String toString()
{
String mandatory;
mandatory = "mandatoryIncentives=" + this.mandatoryIncentives + ", ";
String voluntary;
if (!this.voluntaryIncentives.isEmpty())
{
voluntary = "voluntaryIncentives=" + this.voluntaryIncentives;
}
else
{
voluntary = "voluntaryIncentives=[]";
}
return "LMRS [" + mandatory + voluntary + "]";
}
}