1 package org.opentrafficsim.road.gtu.lane.perception.headway;
2
3 import org.djunits.value.vdouble.scalar.Length;
4 import org.opentrafficsim.core.gtu.GTUException;
5 import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
6 import org.opentrafficsim.core.network.NetworkException;
7 import org.opentrafficsim.core.network.route.Route;
8 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
9 import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
10 import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
11 import org.opentrafficsim.road.network.speed.SpeedLimitTypes;
12
13 /**
14 * Container for a reference to information about a (lane based) GTU and a headway. The Headway can store information about GTUs
15 * or objects ahead of the reference GTU, behind the reference GTU, or (partially) parallel to the reference GTU. In addition to
16 * the (perceived) headway, several other pieces of information can be stored, such as (perceived) speed, (perceived)
17 * acceleration, (perceived) turn indicators, and (perceived) braking lights. <br>
18 * This particular version returns behavioral information about the observed GTU objects based on their real state.<br>
19 * Special care must be taken in curves when perceiving headway of a GTU or object on an adjacent lane.The question is whether
20 * we perceive the parallel or ahead/behind based on a line perpendicular to the front/back of the GTU (rectangular), or
21 * perpendicular to the center line of the lane (wedge-shaped in case of a curve). The difficulty of a wedge-shaped situation is
22 * that reciprocity might be violated: in case of a clothoid, for instance, it is not sure that the point on the center line
23 * 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
24 * sharp bends. Therefore, algorithms implementing headway should only project the <i>reference point</i> of the reference GTU
25 * on the center line of the adjacent lane, and then calculate the forward position and backward position on the adjacent lane
26 * based on the reference point. Still, our human perception of what is parallel and what not, is not reflected by fractional
27 * positions. See examples in <a href=
28 * "http://simulation.tudelft.nl:8085/browse/OTS-113">http://simulation.tudelft.nl:8085/browse/OTS-113</a>.
29 * <p>
30 * Copyright (c) 2013-2016 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
31 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
32 * </p>
33 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
34 * initial version May 27, 2016 <br>
35 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
36 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
37 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
38 */
39 public class HeadwayGTUReal extends AbstractHeadwayGTU
40 {
41 /** */
42 private static final long serialVersionUID = 20160527L;
43
44 /** stored car following model of the observed GTU. */
45 private final CarFollowingModel carFollowingModel;
46
47 /** stored behavioral characteristics of the observed GTU. */
48 private final BehavioralCharacteristics behavioralCharacteristics;
49
50 /** stored speed limit info of the observed GTU. */
51 private final SpeedLimitInfo speedLimitInfo;
52
53 /** stored route of the observed GTU. */
54 private final Route route;
55
56 /**
57 * Construct a new Headway information object, for a GTU ahead of us or behind us.
58 * @param gtu the observed GTU, can not be null.
59 * @param distance the distance to the other object; if this constructor is used, distance cannot be null.
60 * @param gtuStatus the observable characteristics of the GTU.
61 * @throws GTUException when id is null, objectType is null, or parameters are inconsistent
62 */
63 public HeadwayGTUReal(final LaneBasedGTU gtu, final Length distance, final GTUStatus... gtuStatus) throws GTUException
64 {
65 super(gtu.getId(), gtu.getGTUType(), distance, true, gtu.getLength(), gtu.getSpeed(), gtu.getAcceleration(), gtuStatus);
66 this.carFollowingModel = gtu.getTacticalPlanner().getCarFollowingModel();
67 this.behavioralCharacteristics = new BehavioralCharacteristics(gtu.getBehavioralCharacteristics());
68 this.speedLimitInfo = getSpeedLimitInfo(gtu);
69 this.route = gtu.getStrategicalPlanner().getRoute();
70 }
71
72 /**
73 * Construct a new Headway information object, for a GTU parallel with us.
74 * @param gtu the observed GTU, can not be null.
75 * @param overlapFront the front-front distance to the other GTU; if this constructor is used, this value cannot be null.
76 * @param overlap the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.
77 * @param overlapRear the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.
78 * @throws GTUException when id is null, or parameters are inconsistent
79 */
80 public HeadwayGTUReal(final LaneBasedGTU gtu, final Length overlapFront, final Length overlap, final Length overlapRear)
81 throws GTUException
82 {
83 super(gtu.getId(), gtu.getGTUType(), overlapFront, overlap, overlapRear, true, gtu.getLength(), gtu.getSpeed(), gtu
84 .getAcceleration());
85 this.carFollowingModel = gtu.getTacticalPlanner().getCarFollowingModel();
86 this.behavioralCharacteristics = new BehavioralCharacteristics(gtu.getBehavioralCharacteristics());
87 this.speedLimitInfo = getSpeedLimitInfo(gtu);
88 this.route = gtu.getStrategicalPlanner().getRoute();
89 }
90
91 /**
92 * Creates speed limit prospect for given GTU.
93 * @param gtu gtu to the the speed limit prospect for
94 * @return speed limit prospect for given GTU
95 */
96 // TODO this is a simple fix, and getReferenceLane()
97 private SpeedLimitInfo getSpeedLimitInfo(final LaneBasedGTU gtu)
98 {
99 SpeedLimitInfo sli = new SpeedLimitInfo();
100 sli.addSpeedInfo(SpeedLimitTypes.MAX_VEHICLE_SPEED, gtu.getMaximumSpeed());
101 try
102 {
103 sli.addSpeedInfo(SpeedLimitTypes.FIXED_SIGN,
104 gtu.getReferencePosition().getLane().getSpeedLimit(gtu.getGTUType()));
105 }
106 catch (NetworkException | GTUException exception)
107 {
108 throw new RuntimeException("Could not obtain speed limit from lane for perception.", exception);
109 }
110 return sli;
111 }
112
113 /** {@inheritDoc} */
114 @Override
115 public final CarFollowingModel getCarFollowingModel()
116 {
117 return this.carFollowingModel;
118 }
119
120 /** {@inheritDoc} */
121 @Override
122 public final BehavioralCharacteristics getBehavioralCharacteristics()
123 {
124 return this.behavioralCharacteristics;
125 }
126
127 /** {@inheritDoc} */
128 @Override
129 public final SpeedLimitInfo getSpeedLimitInfo()
130 {
131 return this.speedLimitInfo;
132 }
133
134 /** {@inheritDoc} */
135 @Override
136 public final Route getRoute()
137 {
138 return this.route;
139 }
140
141 }