org.opentrafficsim.road.gtu.lane.plan.operational

Class LaneOperationalPlanBuilder

java.lang.Object

org.opentrafficsim.road.gtu.lane.plan.operational.LaneOperationalPlanBuilder

public final class LaneOperationalPlanBuilder
extends Object

Builder for several often used operational plans, based on a list of lanes. E.g., decelerate to come to a full stop at the end of a shape; accelerate to reach a certain speed at the end of a curve; drive constant on a curve; decelerate or accelerate to reach a given end speed at the end of a curve, etc.
TODO driving with negative speeds (backward driving) is not yet supported.

Copyright (c) 2013-2017 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 15, 2015

Author:

Alexander Verbraeck, Peter Knoppers

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	LaneOperationalPlanBuilder.LaneChange Lane change status across operational plans.

Method Summary

Modifier and Type	Method and Description
static LaneBasedOperationalPlan	buildAccelerationLaneChangePlan(LaneBasedGTU gtu, List<Lane> fromLanes, org.opentrafficsim.core.network.LateralDirectionality laneChangeDirectionality, nl.tudelft.simulation.language.d3.DirectedPoint startPosition, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Acceleration acceleration, org.djunits.value.vdouble.scalar.Duration timeStep, LaneOperationalPlanBuilder.LaneChange laneChange) Build a plan with a path and a given start speed to try to reach a provided end speed.
static LaneBasedOperationalPlan	buildAccelerationPlan(LaneBasedGTU gtu, List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Acceleration acceleration, org.djunits.value.vdouble.scalar.Duration timeStep) Build a plan with a path and a given start speed to try to reach a provided end speed.
static LaneBasedOperationalPlan	buildGradualAccelerationPlan(LaneBasedGTU gtu, List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Length distance, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Speed endSpeed) Build a plan with a path and a given start speed to reach a provided end speed, exactly at the end of the curve.
static LaneBasedOperationalPlan	buildGradualAccelerationPlan(LaneBasedGTU gtu, List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Length distance, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Speed endSpeed, org.djunits.value.vdouble.scalar.Acceleration maxAcceleration, org.djunits.value.vdouble.scalar.Acceleration maxDeceleration) Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve.
static LaneBasedOperationalPlan	buildMaximumAccelerationPlan(LaneBasedGTU gtu, List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Length distance, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Speed endSpeed, org.djunits.value.vdouble.scalar.Acceleration acceleration, org.djunits.value.vdouble.scalar.Acceleration deceleration) Build a plan with a path and a given start speed to try to reach a provided end speed.
static LaneBasedOperationalPlan	buildStopPlan(LaneBasedGTU gtu, List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Length distance, org.djunits.value.vdouble.scalar.Time startTime, org.djunits.value.vdouble.scalar.Speed startSpeed, org.djunits.value.vdouble.scalar.Acceleration deceleration) Build a plan with a path and a given start speed to try to come to a stop with a given deceleration.
static org.opentrafficsim.core.geometry.OTSLine3D	concatenateNull(org.opentrafficsim.core.geometry.OTSLine3D path, org.opentrafficsim.core.geometry.OTSLine3D centerLine) Concatenate two paths, where the first may be null.
static org.opentrafficsim.core.geometry.OTSLine3D	makePath(List<Lane> lanes, org.djunits.value.vdouble.scalar.Length firstLanePosition, org.djunits.value.vdouble.scalar.Length distance) Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

buildGradualAccelerationPlan

public static LaneBasedOperationalPlan buildGradualAccelerationPlan(LaneBasedGTU gtu,
                                                                    List<Lane> lanes,
                                                                    org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                                    org.djunits.value.vdouble.scalar.Length distance,
                                                                    org.djunits.value.vdouble.scalar.Time startTime,
                                                                    org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                                    org.djunits.value.vdouble.scalar.Speed endSpeed,
                                                                    org.djunits.value.vdouble.scalar.Acceleration maxAcceleration,
                                                                    org.djunits.value.vdouble.scalar.Acceleration maxDeceleration)
                                                             throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                                    org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve. The acceleration (and deceleration) are capped by maxAcceleration and maxDeceleration. Therefore, there is no guarantee that the end speed is actually reached by this plan.

Parameters:

gtu - the GTU for debugging purposes

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

distance - distance to drive for reaching the end speed

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

endSpeed - the required end speed

maxAcceleration - the maximum acceleration that can be applied, provided as a POSITIVE number

maxDeceleration - the maximum deceleration that can be applied, provided as a NEGATIVE number

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the plan cannot be generated, e.g. because of a path that is too short

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePosition is larger than the length of the first lane

makePath

public static org.opentrafficsim.core.geometry.OTSLine3D makePath(List<Lane> lanes,
                                                                  org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                                  org.djunits.value.vdouble.scalar.Length distance)
                                                           throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                                  org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve. The acceleration (and deceleration) are capped by maxAcceleration and maxDeceleration. Therefore, there is no guarantee that the end speed is actually reached by this plan.

Parameters:

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

distance - distance to drive for reaching the end speed

Returns:

the driving path as a line

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the length of the lanes is less than the distance when we start at the firstLanePosition on the first lane, or when the lanes list contains no elements

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePosition is larger than the length of the first lane

concatenateNull

public static org.opentrafficsim.core.geometry.OTSLine3D concatenateNull(org.opentrafficsim.core.geometry.OTSLine3D path,
                                                                         org.opentrafficsim.core.geometry.OTSLine3D centerLine)
                                                                  throws org.opentrafficsim.core.geometry.OTSGeometryException

Concatenate two paths, where the first may be null.

Parameters:

path - path, may be null

centerLine - center line of lane to add

Returns:

concatenated line

Throws:

org.opentrafficsim.core.geometry.OTSGeometryException - when lines are degenerate or too distant

buildGradualAccelerationPlan

public static LaneBasedOperationalPlan buildGradualAccelerationPlan(LaneBasedGTU gtu,
                                                                    List<Lane> lanes,
                                                                    org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                                    org.djunits.value.vdouble.scalar.Length distance,
                                                                    org.djunits.value.vdouble.scalar.Time startTime,
                                                                    org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                                    org.djunits.value.vdouble.scalar.Speed endSpeed)
                                                             throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                                    org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to reach a provided end speed, exactly at the end of the curve. Acceleration and deceleration are virtually unbounded (1E12 m/s2) to reach the end speed (e.g., to come to a complete stop).

Parameters:

gtu - the GTU for debugging purposes

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

distance - distance to drive for reaching the end speed

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

endSpeed - the required end speed

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

buildMaximumAccelerationPlan

public static LaneBasedOperationalPlan buildMaximumAccelerationPlan(LaneBasedGTU gtu,
                                                                    List<Lane> lanes,
                                                                    org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                                    org.djunits.value.vdouble.scalar.Length distance,
                                                                    org.djunits.value.vdouble.scalar.Time startTime,
                                                                    org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                                    org.djunits.value.vdouble.scalar.Speed endSpeed,
                                                                    org.djunits.value.vdouble.scalar.Acceleration acceleration,
                                                                    org.djunits.value.vdouble.scalar.Acceleration deceleration)
                                                             throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                                    org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:

gtu - the GTU for debugging purposes

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

distance - distance to drive for reaching the end speed

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

endSpeed - the required end speed

acceleration - the acceleration to use if endSpeed > startSpeed, provided as a POSITIVE number

deceleration - the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the construction of the operational path fails

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

buildAccelerationPlan

public static LaneBasedOperationalPlan buildAccelerationPlan(LaneBasedGTU gtu,
                                                             List<Lane> lanes,
                                                             org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                             org.djunits.value.vdouble.scalar.Time startTime,
                                                             org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                             org.djunits.value.vdouble.scalar.Acceleration acceleration,
                                                             org.djunits.value.vdouble.scalar.Duration timeStep)
                                                      throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                             org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:

gtu - the GTU for debugging purposes

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

acceleration - the acceleration to use

timeStep - time step for the plan

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the construction of the operational path fails

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

buildAccelerationLaneChangePlan

public static LaneBasedOperationalPlan buildAccelerationLaneChangePlan(LaneBasedGTU gtu,
                                                                       List<Lane> fromLanes,
                                                                       org.opentrafficsim.core.network.LateralDirectionality laneChangeDirectionality,
                                                                       nl.tudelft.simulation.language.d3.DirectedPoint startPosition,
                                                                       org.djunits.value.vdouble.scalar.Time startTime,
                                                                       org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                                       org.djunits.value.vdouble.scalar.Acceleration acceleration,
                                                                       org.djunits.value.vdouble.scalar.Duration timeStep,
                                                                       LaneOperationalPlanBuilder.LaneChange laneChange)
                                                                throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                                       org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path. There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached before completing the path, a truncated path that ends where the GTU stops is used instead.

Parameters:

gtu - the GTU for debugging purposes

fromLanes - lanes where the GTU changes from

laneChangeDirectionality - direction of lane change

startPosition - current position

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

acceleration - the acceleration to use

timeStep - time step for the plan

laneChange - lane change status

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when the construction of the operational path fails

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

buildStopPlan

public static LaneBasedOperationalPlan buildStopPlan(LaneBasedGTU gtu,
                                                     List<Lane> lanes,
                                                     org.djunits.value.vdouble.scalar.Length firstLanePosition,
                                                     org.djunits.value.vdouble.scalar.Length distance,
                                                     org.djunits.value.vdouble.scalar.Time startTime,
                                                     org.djunits.value.vdouble.scalar.Speed startSpeed,
                                                     org.djunits.value.vdouble.scalar.Acceleration deceleration)
                                              throws org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException,
                                                     org.opentrafficsim.core.geometry.OTSGeometryException

Build a plan with a path and a given start speed to try to come to a stop with a given deceleration. If the GTU can stop before completing the given path, a truncated path that ends where the GTU stops is used instead. There is no guarantee that the OperationalPlan will lead to a complete stop.

Parameters:

gtu - the GTU for debugging purposes

lanes - a list of connected Lanes to do the driving on

firstLanePosition - position on the first lane with the reference point of the GTU

distance - distance to drive for reaching the end speed

startTime - the current time or a time in the future when the plan should start

startSpeed - the speed at the start of the path

deceleration - the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number

Returns:

the operational plan to accomplish the given end speed

Throws:

org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException - when construction of the operational path fails

org.opentrafficsim.core.geometry.OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane