package org.opentrafficsim.road.gtu.lane.tactical;
   
   import java.util.ArrayList;
   import java.util.Collection;
   import java.util.HashSet;
   import java.util.List;
   import java.util.Map;
   import java.util.Set;
   
  import org.djunits.unit.AccelerationUnit;
  import org.djunits.unit.LengthUnit;
  import org.djunits.unit.TimeUnit;
  import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.Duration;
  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.GTUDirectionality;
  import org.opentrafficsim.core.gtu.GTUException;
  import org.opentrafficsim.core.gtu.TurnIndicatorStatus;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.BehavioralCharacteristics;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterException;
  import org.opentrafficsim.core.gtu.behavioralcharacteristics.ParameterTypes;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.Segment;
  import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
  import org.opentrafficsim.core.network.LateralDirectionality;
  import org.opentrafficsim.core.network.NetworkException;
  import org.opentrafficsim.road.gtu.lane.AbstractLaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
  import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
  import org.opentrafficsim.road.gtu.lane.perception.categories.DefaultSimplePerception;
  import org.opentrafficsim.road.gtu.lane.perception.headway.AbstractHeadwayGTU;
  import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
  import org.opentrafficsim.road.gtu.lane.tactical.directedlanechange.DirectedAltruistic;
  import org.opentrafficsim.road.gtu.lane.tactical.directedlanechange.DirectedEgoistic;
  import org.opentrafficsim.road.gtu.lane.tactical.directedlanechange.DirectedLaneChangeModel;
  import org.opentrafficsim.road.gtu.lane.tactical.directedlanechange.DirectedLaneMovementStep;
  import org.opentrafficsim.road.gtu.lane.tactical.following.AccelerationStep;
  import org.opentrafficsim.road.gtu.lane.tactical.following.GTUFollowingModelOld;
  import org.opentrafficsim.road.network.lane.Lane;
  import org.opentrafficsim.road.network.lane.object.sensor.SingleSensor;
  import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor;
  
  import nl.tudelft.simulation.dsol.SimRuntimeException;
  import nl.tudelft.simulation.language.Throw;
  import nl.tudelft.simulation.language.d3.DirectedPoint;
  
  /**
   * Lane-based tactical planner that implements car following behavior and rule-based lane change. This tactical planner
   * retrieves the car following model from the strategical planner and will generate an operational plan for the GTU.
   * <p>
   * A lane change occurs when:
   * <ol>
   * <li>The route indicates that the current lane does not lead to the destination; main choices are the time when the GTU
   * switches to the "right" lane, and what should happen when the split gets closer and the lane change has failed. Observations
   * indicate that vehicles if necessary stop in their current lane until they can go to the desired lane. A lane drop is
   * automatically part of this implementation, because the lane with a lane drop will not lead to the GTU's destination.</li>
   * <li>The desired speed of the vehicle is a particular delta-speed higher than its predecessor, the headway to the predecessor
   * in the current lane has exceeded a certain value, it is allowed to change to the target lane, the target lane lies on the
   * GTU's route, and the gap in the target lane is acceptable (including the evaluation of the perceived speed of a following GTU
   * in the target lane).</li>
   * <li>The current lane is not the optimum lane given the traffic rules (for example, to keep right), the headway to the
   * predecessor on the target lane is greater than a certain value, the speed of the predecessor on the target lane is greater
   * than or equal to our speed, the target lane is on the route, it is allowed to switch to the target lane, and the gap at the
   * target lane is acceptable (including the perceived speed of any vehicle in front or behind on the target lane).</li>
   * </ol>
   * <p>
   * This lane-based tactical planner makes decisions based on headway (GTU following model). It can ask the strategic planner for
   * assistance on the route to take when the network splits.
   * <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 Nov 25, 2015 <br>
   * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
   * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
   */
  public class LaneBasedGTUFollowingDirectedChangeTacticalPlanner extends AbstractLaneBasedTacticalPlanner
  {
      /** */
      private static final long serialVersionUID = 20160129L;
  
      /** Earliest next lane change time (unless we HAVE to change lanes). */
      private Time earliestNextLaneChangeTime = Time.ZERO;
  
      /** Time a GTU should stay in its current lane after a lane change. */
      private Duration durationInLaneAfterLaneChange = new Duration(15.0, TimeUnit.SECOND);
  
      /** Lane we changed to at instantaneous lane change. */
      private Lane laneAfterLaneChange = null;
  
      /** Position on the reference lane. */
      private Length posAfterLaneChange = null;
  
      /** When a failure in planning occurs, should we destroy the GTU to avoid halting of the model? */
      private boolean destroyGtuOnFailure = false;
  
     /**
      * Instantiated a tactical planner with just GTU following behavior and no lane changes.
      * @param carFollowingModel Car-following model.
      * @param gtu GTU
      */
     public LaneBasedGTUFollowingDirectedChangeTacticalPlanner(final GTUFollowingModelOld carFollowingModel,
             final LaneBasedGTU gtu)
     {
         super(carFollowingModel, gtu);
         getPerception().addPerceptionCategory(new DefaultSimplePerception(getPerception()));
         setNoLaneChange(new Duration(0.25, TimeUnit.SECOND));
     }
 
     /**
      * Returns the car-following model.
      * @return The car-following model.
      */
     public final GTUFollowingModelOld getCarFollowingModelOld()
     {
         return (GTUFollowingModelOld) super.getCarFollowingModel();
     }
 
     /**
      * Indicate that no lane change should happen for the indicated duration.
      * @param noLaneChangeDuration the duration for which no lane change should happen.
      */
     public final void setNoLaneChange(final Duration noLaneChangeDuration)
     {
         Throw.when(noLaneChangeDuration.lt(Duration.ZERO), RuntimeException.class, "noLaneChangeDuration should be >= 0");
         this.earliestNextLaneChangeTime = getGtu().getSimulator().getSimulatorTime().getTime().plus(noLaneChangeDuration);
     }
 
     /**
      * Headway for synchronization.
      */
     private Headway syncHeadway;
 
     /**
      * Headway for cooperation.
      */
     private Headway coopHeadway;
 
     /**
      * Time when (potential) dead-lock was first recognized.
      */
     private Time deadLock = null;
 
     /**
      * Time after which situation is labeled a dead-lock.
      */
     private final Duration deadLockThreshold = new Duration(5.0, TimeUnit.SI);
 
     /**
      * Headways that are causing the dead-lock.
      */
     private Collection<Headway> blockingHeadways = new HashSet<>();
 
     /** {@inheritDoc} */
     @Override
     @SuppressWarnings("checkstyle:methodlength")
     public final OperationalPlan generateOperationalPlan(final Time startTime, final DirectedPoint locationAtStartTime)
             throws OperationalPlanException, NetworkException, GTUException, ParameterException
     {
         try
         {
 
             // ask Perception for the local situation
             LaneBasedGTU laneBasedGTU = getGtu();
             DefaultSimplePerception simplePerception = getPerception().getPerceptionCategory(DefaultSimplePerception.class);
             BehavioralCharacteristics behavioralCharacteristics = laneBasedGTU.getBehavioralCharacteristics();
             // This is the only interaction between the car-following model and the behavioral characteristics
             getCarFollowingModelOld().setA(behavioralCharacteristics.getParameter(ParameterTypes.A));
             getCarFollowingModelOld().setT(behavioralCharacteristics.getParameter(ParameterTypes.T));
             getCarFollowingModelOld().setFspeed(behavioralCharacteristics.getParameter(ParameterTypes.FSPEED));
 
             // start with the turn indicator off -- this can change during the method
             laneBasedGTU.setTurnIndicatorStatus(TurnIndicatorStatus.NONE);
 
             // if the GTU's maximum speed is zero (block), generate a stand still plan for one second
             if (laneBasedGTU.getMaximumSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
             {
                 return new OperationalPlan(getGtu(), locationAtStartTime, startTime, new Duration(1.0, TimeUnit.SECOND));
             }
 
             // perceive the forward headway, accessible lanes and speed limit.
             simplePerception.updateForwardHeadwayGTU();
             simplePerception.updateForwardHeadwayObject();
             simplePerception.updateAccessibleAdjacentLanesLeft();
             simplePerception.updateAccessibleAdjacentLanesRight();
             simplePerception.updateSpeedLimit();
 
             // find out where we are going
             Length forwardHeadway = behavioralCharacteristics.getParameter(ParameterTypes.LOOKAHEAD);
             LanePathInfo lanePathInfo = buildLanePathInfo(laneBasedGTU, forwardHeadway);
             NextSplitInfo nextSplitInfo = determineNextSplit(laneBasedGTU, forwardHeadway);
             Set<Lane> correctLanes = laneBasedGTU.positions(laneBasedGTU.getReference()).keySet();
             correctLanes.retainAll(nextSplitInfo.getCorrectCurrentLanes());
 
             // Step 1: Do we want to change lanes because of the current lane not leading to our destination?
             this.syncHeadway = null;
             if (lanePathInfo.getPath().getLength().lt(forwardHeadway) && correctLanes.isEmpty())
             {
                 LateralDirectionality direction = determineLeftRight(laneBasedGTU, nextSplitInfo);
                 if (direction != null)
                 {
                     getGtu().setTurnIndicatorStatus(direction.isLeft() ? TurnIndicatorStatus.LEFT : TurnIndicatorStatus.RIGHT);
                     if (canChange(laneBasedGTU, getPerception(), lanePathInfo, direction))
                     {
                         DirectedPoint newLocation = changeLane(laneBasedGTU, direction);
                         lanePathInfo = buildLanePathInfo(laneBasedGTU, forwardHeadway, this.laneAfterLaneChange,
                                 this.posAfterLaneChange, laneBasedGTU.getDirection(this.laneAfterLaneChange));
                         return currentLanePlan(laneBasedGTU, startTime, newLocation, lanePathInfo);
                     }
                     else
                     {
                         simplePerception.updateNeighboringHeadways(direction);
                         Length minDistance = new Length(Double.MAX_VALUE, LengthUnit.SI);
                         for (Headway headway : simplePerception.getNeighboringHeadways(direction))
                         {
                             if ((headway.isAhead() || headway.isParallel()) && (headway instanceof AbstractHeadwayGTU))
                             {
                                 if (headway.isParallel() || headway.getDistance().lt(minDistance))
                                 {
                                     this.syncHeadway = headway;
                                     if (!headway.isParallel())
                                     {
                                         minDistance = headway.getDistance();
                                     }
                                 }
                             }
                         }
                     }
                 }
             }
             if (this.syncHeadway != null && this.syncHeadway.isParallel() && getGtu().getSpeed().si < 10)
             {
                 // do not sync at low speeds when being parallel
                 this.syncHeadway = null;
             }
 
             // Cooperation
             this.coopHeadway = null;
             for (LateralDirectionality direction : new LateralDirectionality[] { LateralDirectionality.LEFT,
                     LateralDirectionality.RIGHT })
             {
                 simplePerception.updateNeighboringHeadways(direction);
                 for (Headway headway : simplePerception.getNeighboringHeadways(direction))
                 {
                     // other vehicle ahead, its a vehicle, its the nearest, and its indicator is on
                     if (headway.isAhead() && (headway instanceof AbstractHeadwayGTU)
                             && (this.coopHeadway == null || headway.getDistance().lt(this.coopHeadway.getDistance()))
                             && (direction.isLeft() ? ((AbstractHeadwayGTU) headway).isRightTurnIndicatorOn()
                                     : ((AbstractHeadwayGTU) headway).isLeftTurnIndicatorOn()))
                     {
                         this.coopHeadway = headway;
                     }
                 }
             }
 
             // Condition, if we have just changed lane, let's not change immediately again.
             if (getGtu().getSimulator().getSimulatorTime().getTime().lt(this.earliestNextLaneChangeTime))
             {
                 return currentLanePlan(laneBasedGTU, startTime, locationAtStartTime, lanePathInfo);
             }
 
             // Step 2. Do we want to change lanes to the left because of predecessor speed on the current lane?
             // And does the lane left of us bring us to our destination as well?
             Set<Lane> leftLanes = simplePerception.getAccessibleAdjacentLanesLeft().get(lanePathInfo.getReferenceLane());
             if (nextSplitInfo.isSplit())
             {
                 leftLanes.retainAll(nextSplitInfo.getCorrectCurrentLanes());
             }
             if (!leftLanes.isEmpty()) // && laneBasedGTU.getSpeed().si > 4.0) // only if we are driving...
             {
                 simplePerception.updateBackwardHeadway();
                 simplePerception.updateParallelHeadwaysLeft();
                 simplePerception.updateNeighboringHeadwaysLeft();
                 if (simplePerception.getParallelHeadwaysLeft().isEmpty())
                 {
                     Collection<Headway> sameLaneTraffic = new HashSet<>();
                     // TODO should it be getObjectType().isGtu() or !getObjectType().isDistanceOnly() ?
                     // XXX Object & GTU
                     if (simplePerception.getForwardHeadwayGTU() != null
                             && simplePerception.getForwardHeadwayGTU().getObjectType().isGtu())
                     {
                         sameLaneTraffic.add(simplePerception.getForwardHeadwayGTU());
                     }
                     if (simplePerception.getBackwardHeadway() != null
                             && simplePerception.getBackwardHeadway().getObjectType().isGtu())
                     {
                         sameLaneTraffic.add(simplePerception.getBackwardHeadway());
                     }
                     DirectedLaneChangeModel dlcm = new DirectedAltruistic(getPerception());
                     DirectedLaneMovementStep dlms = dlcm.computeLaneChangeAndAcceleration(laneBasedGTU,
                             LateralDirectionality.LEFT, sameLaneTraffic, simplePerception.getNeighboringHeadwaysLeft(),
                             behavioralCharacteristics.getParameter(ParameterTypes.LOOKAHEAD), simplePerception.getSpeedLimit(),
                             // changes 1.0 to 0.0, no bias to the left: changed 0.5 to 0.1 (threshold from MOBIL model)
                             new Acceleration(0.0, AccelerationUnit.SI), new Acceleration(0.5, AccelerationUnit.SI),
                             new Duration(0.5, TimeUnit.SECOND));
                     if (dlms.getLaneChange() != null)
                     {
                         getGtu().setTurnIndicatorStatus(TurnIndicatorStatus.LEFT);
                         if (canChange(laneBasedGTU, getPerception(), lanePathInfo, LateralDirectionality.LEFT))
                         {
                             DirectedPoint newLocation = changeLane(laneBasedGTU, LateralDirectionality.LEFT);
                             lanePathInfo = buildLanePathInfo(laneBasedGTU, forwardHeadway, this.laneAfterLaneChange,
                                     this.posAfterLaneChange, laneBasedGTU.getDirection(this.laneAfterLaneChange));
                             return currentLanePlan(laneBasedGTU, startTime, newLocation, lanePathInfo);
                         }
                     }
                 }
             }
 
             // Step 3. Do we want to change lanes to the right because of TODO traffic rules?
             Set<Lane> rightLanes = simplePerception.getAccessibleAdjacentLanesRight().get(lanePathInfo.getReferenceLane());
             if (nextSplitInfo.isSplit())
             {
                 rightLanes.retainAll(nextSplitInfo.getCorrectCurrentLanes());
             }
             if (!rightLanes.isEmpty()) // && laneBasedGTU.getSpeed().si > 4.0) // only if we are driving...
             {
                 simplePerception.updateBackwardHeadway();
                 simplePerception.updateParallelHeadwaysRight();
                 simplePerception.updateNeighboringHeadwaysRight();
                 if (simplePerception.getParallelHeadwaysRight().isEmpty())
                 {
                     Collection<Headway> sameLaneTraffic = new HashSet<>();
                     // TODO should it be getObjectType().isGtu() or !getObjectType().isDistanceOnly() ?
                     // XXX GTU & Object
                     if (simplePerception.getForwardHeadwayGTU() != null
                             && simplePerception.getForwardHeadwayGTU().getObjectType().isGtu())
                     {
                         sameLaneTraffic.add(simplePerception.getForwardHeadwayGTU());
                     }
                     if (simplePerception.getBackwardHeadway() != null
                             && simplePerception.getBackwardHeadway().getObjectType().isGtu())
                     {
                         sameLaneTraffic.add(simplePerception.getBackwardHeadway());
                     }
                     DirectedLaneChangeModel dlcm = new DirectedAltruistic(getPerception());
                     DirectedLaneMovementStep dlms = dlcm.computeLaneChangeAndAcceleration(laneBasedGTU,
                             LateralDirectionality.RIGHT, sameLaneTraffic, simplePerception.getNeighboringHeadwaysRight(),
                             behavioralCharacteristics.getParameter(ParameterTypes.LOOKAHEAD), simplePerception.getSpeedLimit(),
                             // 1.0 = bias?
                             new Acceleration(0.0, AccelerationUnit.SI), new Acceleration(0.1, AccelerationUnit.SI),
                             new Duration(0.5, TimeUnit.SECOND));
                     if (dlms.getLaneChange() != null)
                     {
                         getGtu().setTurnIndicatorStatus(TurnIndicatorStatus.RIGHT);
                         if (canChange(laneBasedGTU, getPerception(), lanePathInfo, LateralDirectionality.RIGHT))
                         {
                             DirectedPoint newLocation = changeLane(laneBasedGTU, LateralDirectionality.RIGHT);
                             lanePathInfo = buildLanePathInfo(laneBasedGTU, forwardHeadway, this.laneAfterLaneChange,
                                     this.posAfterLaneChange, laneBasedGTU.getDirection(this.laneAfterLaneChange));
                             return currentLanePlan(laneBasedGTU, startTime, newLocation, lanePathInfo);
                         }
                     }
                 }
             }
 
             if (this.deadLock != null
                     && getGtu().getSimulator().getSimulatorTime().getTime().minus(this.deadLock).ge(this.deadLockThreshold))
             {
                 System.err.println("Deleting gtu " + getGtu().getId() + " to prevent dead-lock.");
                 try
                 {
                     getGtu().getSimulator().scheduleEventRel(new Duration(0.001, TimeUnit.SI), this, getGtu(), "destroy",
                             new Object[0]);
                 }
                 catch (SimRuntimeException exception)
                 {
                     throw new RuntimeException(exception);
                 }
             }
 
             return currentLanePlan(laneBasedGTU, startTime, locationAtStartTime, lanePathInfo);
         }
         catch (GTUException | NetworkException | OperationalPlanException exception)
         {
             if (isDestroyGtuOnFailure())
             {
                 System.err.println("LaneBasedGTUFollowingChange0TacticalPlanner.generateOperationalPlan() failed for "
                         + getGtu() + " because of " + exception.getMessage() + " -- GTU destroyed");
                 getGtu().destroy();
                 return new OperationalPlan(getGtu(), locationAtStartTime, startTime, new Duration(1.0, TimeUnit.SECOND));
             }
             throw exception;
         }
     }
 
     /**
      * Make a plan for the current lane.
      * @param laneBasedGTU the gtu to generate the plan for
      * @param startTime the time from which the new operational plan has to be operational
      * @param locationAtStartTime the location of the GTU at the start time of the new plan
      * @param lanePathInfo the lane path for the current lane.
      * @return An operation plan for staying in the current lane.
      * @throws OperationalPlanException when there is a problem planning a path in the network
      * @throws GTUException when there is a problem with the state of the GTU when planning a path
      * @throws ParameterException in case LOOKAHEAD parameter cannot be found
      * @throws NetworkException in case the headways to GTUs or objects cannot be calculated
      */
     private OperationalPlan currentLanePlan(final LaneBasedGTU laneBasedGTU, final Time startTime,
             final DirectedPoint locationAtStartTime, final LanePathInfo lanePathInfo)
             throws OperationalPlanException, GTUException, ParameterException, NetworkException
     {
         DefaultSimplePerception simplePerception = getPerception().getPerceptionCategory(DefaultSimplePerception.class);
 
         // No lane change. Continue on current lane.
         AccelerationStep accelerationStep = mostLimitingAccelerationStep(lanePathInfo, simplePerception.getForwardHeadwayGTU(),
                 simplePerception.getForwardHeadwayObject());
 
         // see if we have to continue standing still. In that case, generate a stand still plan
         if (accelerationStep.getAcceleration().si < 1E-6 && laneBasedGTU.getSpeed().si < OperationalPlan.DRIFTING_SPEED_SI)
         {
             return new OperationalPlan(laneBasedGTU, locationAtStartTime, startTime, accelerationStep.getDuration());
         }
 
         // build a list of lanes forward, with a maximum headway.
         List<Segment> operationalPlanSegmentList = new ArrayList<>();
         if (accelerationStep.getAcceleration().si == 0.0)
         {
             Segment segment = new OperationalPlan.SpeedSegment(accelerationStep.getDuration());
             operationalPlanSegmentList.add(segment);
         }
         else
         {
             Segment segment =
                     new OperationalPlan.AccelerationSegment(accelerationStep.getDuration(), accelerationStep.getAcceleration());
             operationalPlanSegmentList.add(segment);
         }
         OperationalPlan op = new OperationalPlan(laneBasedGTU, lanePathInfo.getPath(), startTime, laneBasedGTU.getSpeed(),
                 operationalPlanSegmentList);
         return op;
     }
 
     /**
      * We are not on a lane that leads to our destination. Determine whether the lateral direction to go is left or right.
      * @param laneBasedGTU the gtu
      * @param nextSplitInfo the information about the next split
      * @return the lateral direction to go, or null if this cannot be determined
      */
     private LateralDirectionality determineLeftRight(final LaneBasedGTU laneBasedGTU, final NextSplitInfo nextSplitInfo)
     {
         // are the lanes in nextSplitInfo.getCorrectCurrentLanes() left or right of the current lane(s) of the GTU?
         try
         {
             Set<Lane> lanes = laneBasedGTU.positions(laneBasedGTU.getReference()).keySet();
             for (Lane correctLane : nextSplitInfo.getCorrectCurrentLanes())
             {
                 for (Lane currentLane : lanes)
                 {
                     if (correctLane.getParentLink().equals(currentLane.getParentLink()))
                     {
                         double deltaOffset =
                                 correctLane.getDesignLineOffsetAtBegin().si - currentLane.getDesignLineOffsetAtBegin().si;
                         if (laneBasedGTU.getDirection(currentLane).equals(GTUDirectionality.DIR_PLUS))
                         {
                             return deltaOffset > 0 ? LateralDirectionality.LEFT : LateralDirectionality.RIGHT;
                         }
                         else
                         {
                             return deltaOffset < 0 ? LateralDirectionality.LEFT : LateralDirectionality.RIGHT;
                         }
                     }
                 }
             }
         }
         catch (GTUException exception)
         {
             System.err.println(
                     "Exception in LaneBasedGTUFollowingChange0TacticalPlanner.determineLeftRight: " + exception.getMessage());
         }
         // perhaps known from split info (if need to change away from all lanes on current link)
         return nextSplitInfo.getRequiredDirection();
     }
 
     /**
      * See if a lane change in the given direction if possible.
      * @param gtu the GTU that has to make the lane change
      * @param perception the perception, where forward headway, accessible lanes and speed limit have been assessed
      * @param lanePathInfo the information for the path on the current lane
      * @param direction the lateral direction, either LEFT or RIGHT
      * @return whether a lane change is possible.
      * @throws NetworkException when there is a network inconsistency in updating the perception
      * @throws GTUException when there is an issue retrieving GTU information for the perception update
      * @throws ParameterException when there is a parameter problem.
      * @throws OperationalPlanException in case a perception category is not present
      */
     private boolean canChange(final LaneBasedGTU gtu, final LanePerception perception, final LanePathInfo lanePathInfo,
             final LateralDirectionality direction)
             throws GTUException, NetworkException, ParameterException, OperationalPlanException
     {
 
         // TODO remove this hack
         if (!((AbstractLaneBasedGTU) gtu).isSafeToChange())
         {
             return false;
         }
 
         // rear should be able to change
         Map<Lane, Length> positions = getGtu().positions(getGtu().getRear());
         for (Lane lane : positions.keySet())
         {
             Length pos = positions.get(lane);
             if (pos.si > 0.0 && pos.si < lane.getLength().si
                     && lane.accessibleAdjacentLanes(direction, getGtu().getGTUType()).isEmpty())
             {
                 return false;
             }
         }
 
         Collection<Headway> otherLaneTraffic;
         DefaultSimplePerception simplePerception = getPerception().getPerceptionCategory(DefaultSimplePerception.class);
         simplePerception.updateForwardHeadwayGTU();
         simplePerception.updateForwardHeadwayObject();
         simplePerception.updateBackwardHeadway();
         if (direction.isLeft())
         {
             simplePerception.updateParallelHeadwaysLeft();
             this.blockingHeadways = simplePerception.getParallelHeadwaysLeft();
             simplePerception.updateNeighboringHeadwaysLeft();
             otherLaneTraffic = simplePerception.getNeighboringHeadwaysLeft();
         }
         else if (direction.isRight())
         {
             simplePerception.updateParallelHeadwaysRight();
             this.blockingHeadways = simplePerception.getParallelHeadwaysRight();
             simplePerception.updateNeighboringHeadwaysRight();
             otherLaneTraffic = simplePerception.getNeighboringHeadwaysRight();
         }
         else
         {
             throw new GTUException("Lateral direction is neither LEFT nor RIGHT during a lane change");
         }
         if (!simplePerception.getParallelHeadways(direction).isEmpty())
         {
             return false;
         }
 
         Collection<Headway> sameLaneTraffic = new HashSet<>();
         // TODO should it be getObjectType().isGtu() or !getObjectType().isDistanceOnly() ?
         // XXX Object & GTU
         if (simplePerception.getForwardHeadwayGTU() != null && perception.getPerceptionCategory(DefaultSimplePerception.class)
                 .getForwardHeadwayGTU().getObjectType().isGtu())
         {
             sameLaneTraffic.add(simplePerception.getForwardHeadwayGTU());
         }
         if (simplePerception.getBackwardHeadway() != null && simplePerception.getBackwardHeadway().getObjectType().isGtu())
         {
             sameLaneTraffic.add(simplePerception.getBackwardHeadway());
         }
 
         // TODO make type of plan (Egoistic, Altruistic) parameter of the class
         DirectedLaneChangeModel dlcm = new DirectedEgoistic(getPerception());
         // TODO make the elasticities 2.0 and 0.1 parameters of the class
         DirectedLaneMovementStep dlms = dlcm.computeLaneChangeAndAcceleration(gtu, direction, sameLaneTraffic, otherLaneTraffic,
                 gtu.getBehavioralCharacteristics().getParameter(ParameterTypes.LOOKAHEAD), simplePerception.getSpeedLimit(),
                 new Acceleration(2.0, AccelerationUnit.SI), new Acceleration(0.1, AccelerationUnit.SI),
                 new Duration(0.5, TimeUnit.SECOND));
         if (dlms.getLaneChange() == null)
         {
             return false;
         }
 
         return true;
     }
 
     /**
      * Change lanes instantaneously.
      * @param gtu the gtu
      * @param direction the direction
      * @return the new location of the GTU after the lane change
      * @throws GTUException in case the enter lane fails
      */
     private DirectedPoint changeLane(final LaneBasedGTU gtu, final LateralDirectionality direction) throws GTUException
     {
         gtu.changeLaneInstantaneously(direction);
 
         // stay at a certain number of seconds in the current lane (unless we HAVE to change lanes)
         this.earliestNextLaneChangeTime =
                 gtu.getSimulator().getSimulatorTime().getTime().plus(this.durationInLaneAfterLaneChange);
 
         // make sure out turn indicator is on!
         gtu.setTurnIndicatorStatus(direction.isLeft() ? TurnIndicatorStatus.LEFT : TurnIndicatorStatus.RIGHT);
 
         this.laneAfterLaneChange = gtu.getReferencePosition().getLane();
         this.posAfterLaneChange = gtu.getReferencePosition().getPosition();
         return gtu.getLocation();
     }
 
     /**
      * Calculate which Headway in front of us is leading to the most limiting acceleration step (i.e. to the lowest or most
      * negative acceleration). There could, e.g. be a GTU in front of us, a speed sign in front of us, and a traffic light in
      * front of the GTU and speed sign. This method will return the acceleration based on the headway that limits us most.<br>
      * The method can e.g., be called with:
      * <code>mostLimitingHeadway(simplePerception.getForwardHeadwayGTU(), simplePerception.getForwardHeadwayObject());</code>
      * @param lanePathInfo the lane path info that was calculated for this GTU.
      * @param headways zero or more headways specifying possible limitations on our acceleration.
      * @return the acceleration based on the most limiting headway.
      * @throws OperationalPlanException in case the PerceptionCategory cannot be found
      * @throws ParameterException in case LOOKAHEAD parameter cannot be found
      * @throws GTUException in case the AccelerationStep cannot be calculated
      * @throws NetworkException in case the headways to GTUs or objects cannot be calculated
      */
     private AccelerationStep mostLimitingAccelerationStep(final LanePathInfo lanePathInfo, final Headway... headways)
             throws OperationalPlanException, ParameterException, GTUException, NetworkException
     {
         DefaultSimplePerception simplePerception = getPerception().getPerceptionCategory(DefaultSimplePerception.class);
         simplePerception.updateForwardHeadwayGTU();
         simplePerception.updateForwardHeadwayObject();
         boolean sinkAtEnd = false;
         for (SingleSensor sensor : (lanePathInfo.getLanes().get(lanePathInfo.getLanes().size() - 1).getSensors()))
         {
             if (sensor instanceof SinkSensor)
             {
                 sinkAtEnd = true;
             }
         }
         boolean stopForEndOrSplit = !sinkAtEnd;
         BehavioralCharacteristics bc = getGtu().getBehavioralCharacteristics();
         Length maxDistance = sinkAtEnd ? new Length(Double.MAX_VALUE, LengthUnit.SI)
                 : Length.min(getGtu().getBehavioralCharacteristics().getParameter(ParameterTypes.LOOKAHEAD),
                         lanePathInfo.getPath().getLength().minus(getGtu().getLength().multiplyBy(2.0)));
         // bc.setParameter(ParameterTypes.B, bc.getParameter(ParameterTypes.B0));
         AccelerationStep mostLimitingAccelerationStep = getCarFollowingModelOld().computeAccelerationStepWithNoLeader(getGtu(),
                 maxDistance, simplePerception.getSpeedLimit());
         // bc.resetParameter(ParameterTypes.B);
         Acceleration minB = bc.getParameter(ParameterTypes.B).neg();
         Acceleration numericallySafeB =
                 Acceleration.max(minB, getGtu().getSpeed().divideBy(mostLimitingAccelerationStep.getDuration()).neg());
         if ((this.syncHeadway != null || this.coopHeadway != null) && mostLimitingAccelerationStep.getAcceleration().gt(minB))
         {
             AccelerationStep sync;
             if (this.syncHeadway == null)
             {
                 sync = null;
             }
             else if (this.syncHeadway.isParallel())
             {
                 sync = new AccelerationStep(numericallySafeB, mostLimitingAccelerationStep.getValidUntil(),
                         mostLimitingAccelerationStep.getDuration());
             }
             else
             {
                 sync = getCarFollowingModelOld().computeAccelerationStep(getGtu(), this.syncHeadway.getSpeed(),
                         this.syncHeadway.getDistance(), maxDistance, simplePerception.getSpeedLimit());
             }
             AccelerationStep coop;
             if (this.coopHeadway == null)
             {
                 coop = null;
             }
             else
             {
                 coop = getCarFollowingModelOld().computeAccelerationStep(getGtu(), this.coopHeadway.getSpeed(),
                         this.coopHeadway.getDistance(), maxDistance, simplePerception.getSpeedLimit());
             }
             AccelerationStep adjust;
             if (sync == null)
             {
                 adjust = coop;
             }
             else if (coop == null)
             {
                 adjust = sync;
             }
             else
             {
                 adjust = sync.getAcceleration().lt(coop.getAcceleration()) ? sync : coop;
             }
             if (adjust.getAcceleration().lt(minB))
             {
                 mostLimitingAccelerationStep = new AccelerationStep(numericallySafeB,
                         mostLimitingAccelerationStep.getValidUntil(), mostLimitingAccelerationStep.getDuration());
             }
             else
             {
                 mostLimitingAccelerationStep = adjust;
             }
         }
 
         for (Headway headway : headways)
         {
             if (headway != null && headway.getDistance().lt(maxDistance))
             {
                 AccelerationStep accelerationStep = getCarFollowingModelOld().computeAccelerationStep(getGtu(),
                         headway.getSpeed(), headway.getDistance(), maxDistance, simplePerception.getSpeedLimit());
                 if (accelerationStep.getAcceleration().lt(mostLimitingAccelerationStep.getAcceleration()))
                 {
                     stopForEndOrSplit = false;
                     mostLimitingAccelerationStep = accelerationStep;
                 }
             }
         }
 
         // recognize dead-lock
         if (!this.blockingHeadways.isEmpty() && stopForEndOrSplit)
         {
             Speed maxSpeed = getGtu().getSpeed();
             for (Headway headway : this.blockingHeadways)
             {
                 maxSpeed = Speed.max(maxSpeed, headway.getSpeed());
             }
             if (maxSpeed.si < OperationalPlan.DRIFTING_SPEED_SI)
             {
                 if (this.deadLock == null)
                 {
                     this.deadLock = getGtu().getSimulator().getSimulatorTime().getTime();
                 }
             }
             else
             {
                 this.deadLock = null;
             }
         }
         else
         {
             this.deadLock = null;
         }
 
         return mostLimitingAccelerationStep;
 
     }
 
     /**
      * @return destroyGtuOnFailure, indicating when a failure in planning occurs, whether we should destroy the GTU to avoid
      *         halting of the model
      */
     public final boolean isDestroyGtuOnFailure()
     {
         return this.destroyGtuOnFailure;
     }
 
     /**
      * When a failure in planning occurs, should we destroy the GTU to avoid halting of the model?
      * @param destroyGtuOnFailure set destroyGtuOnFailure to true or false
      */
     public final void setDestroyGtuOnFailure(final boolean destroyGtuOnFailure)
     {
         this.destroyGtuOnFailure = destroyGtuOnFailure;
     }
 
     /**
      * Get the duration to stay in a Lane after a lane change.
      * @return Duration; durationInLaneAfterLaneChange
      */
     protected final Duration getDurationInLaneAfterLaneChange()
     {
         return this.durationInLaneAfterLaneChange;
     }
 
     /**
      * Set the duration to stay in a Lane after a lane change.
      * @param durationInLaneAfterLaneChange set duration to stay in a Lane after a lane change
      * @throws GTUException when durationInLaneAfterLaneChange less than zero
      */
     protected final void setDurationInLaneAfterLaneChange(final Duration durationInLaneAfterLaneChange) throws GTUException
     {
         Throw.when(durationInLaneAfterLaneChange.lt(Duration.ZERO), GTUException.class,
                 "durationInLaneAfterLaneChange should be >= 0");
         this.durationInLaneAfterLaneChange = durationInLaneAfterLaneChange;
     }
 
     /** {@inheritDoc} */
     @Override
     public final String toString()
     {
         return "LaneBasedGTUFollowingChange0TacticalPlanner [earliestNexLaneChangeTime=" + this.earliestNextLaneChangeTime
                 + ", referenceLane=" + this.laneAfterLaneChange + ", referencePos=" + this.posAfterLaneChange
                 + ", destroyGtuOnFailure=" + this.destroyGtuOnFailure + "]";
     }
 
 }