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. 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) 2013-2018 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

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	INSTANT_LANE_CHANGES Use instant lane changes.

Method Summary

Modifier and Type	Method and Description
static Duration	brakingTime(Acceleration acceleration, Speed startSpeed, Duration time) Returns the effective braking time, which stops if stand-still is reached.
static LaneBasedOperationalPlan	buildAccelerationLaneChangePlan(LaneBasedGTU gtu, LateralDirectionality laneChangeDirectionality, DirectedPoint startPosition, Time startTime, Speed startSpeed, Acceleration acceleration, Duration timeStep, 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, Time startTime, Speed startSpeed, Acceleration acceleration, 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, Length distance, Time startTime, Speed startSpeed, 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, Length distance, Time startTime, Speed startSpeed, Speed endSpeed, Acceleration maxAcceleration, 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, Length distance, Time startTime, Speed startSpeed, Speed endSpeed, Acceleration acceleration, Acceleration deceleration) Build a plan with a path and a given start speed to try to reach a provided end speed.
static LaneBasedOperationalPlan	buildPlanFromSimplePlan(LaneBasedGTU gtu, Time startTime, SimpleOperationalPlan simplePlan, LaneChange laneChange) Build an operational plan based on a simple operational plan and status info.
static LaneBasedOperationalPlan	buildStopPlan(LaneBasedGTU gtu, Length distance, Time startTime, Speed startSpeed, 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 OTSLine3D	createPathAlongCenterLine(LaneBasedGTU gtu, Length distance) Creates a path along lane center lines.
static void	scheduleLaneChangeFinalization(LaneBasedGTU gtu, Length distance, LateralDirectionality laneChangeDirection) Schedules a lane change finalization after the given distance is covered.

Methods inherited from class java.lang.Object

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

Field Detail

INSTANT_LANE_CHANGES

public static boolean INSTANT_LANE_CHANGES

Use instant lane changes.

Method Detail

buildGradualAccelerationPlan

public static LaneBasedOperationalPlan buildGradualAccelerationPlan(LaneBasedGTU gtu,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed,
                                                                    Acceleration maxAcceleration,
                                                                    Acceleration maxDeceleration)
                                                             throws OperationalPlanException,
                                                                    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

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:

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

OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

OTSGeometryException - in case the lanes are not connected or firstLanePosition is larger than the length of the first lane

buildGradualAccelerationPlan

public static LaneBasedOperationalPlan buildGradualAccelerationPlan(LaneBasedGTU gtu,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed)
                                                             throws OperationalPlanException,
                                                                    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

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:

OperationalPlanException - when the length of the path and the calculated driven distance implied by the constructed segment list differ more than a given threshold

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,
                                                                    Length distance,
                                                                    Time startTime,
                                                                    Speed startSpeed,
                                                                    Speed endSpeed,
                                                                    Acceleration acceleration,
                                                                    Acceleration deceleration)
                                                             throws OperationalPlanException,
                                                                    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

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:

OperationalPlanException - when the construction of the operational path fails

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,
                                                             Time startTime,
                                                             Speed startSpeed,
                                                             Acceleration acceleration,
                                                             Duration timeStep)
                                                      throws OperationalPlanException,
                                                             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

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:

OperationalPlanException - when the construction of the operational path fails

OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

createPathAlongCenterLine

public static OTSLine3D createPathAlongCenterLine(LaneBasedGTU gtu,
                                                  Length distance)
                                           throws OTSGeometryException

Creates a path along lane center lines.

Parameters:

gtu - LaneBasedGTU; gtu

distance - Length; minimum distance

Returns:

OTSLine3D; path along lane center lines

Throws:

OTSGeometryException - when any of the OTSLine3D operations fails

buildAccelerationLaneChangePlan

public static LaneBasedOperationalPlan buildAccelerationLaneChangePlan(LaneBasedGTU gtu,
                                                                       LateralDirectionality laneChangeDirectionality,
                                                                       DirectedPoint startPosition,
                                                                       Time startTime,
                                                                       Speed startSpeed,
                                                                       Acceleration acceleration,
                                                                       Duration timeStep,
                                                                       LaneChange laneChange)
                                                                throws OperationalPlanException,
                                                                       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

laneChangeDirectionality - direction of lane change (on initiation only, after that not important)

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:

OperationalPlanException - when the construction of the operational path fails

OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane

brakingTime

public static Duration brakingTime(Acceleration acceleration,
                                   Speed startSpeed,
                                   Duration time)

Returns the effective braking time, which stops if stand-still is reached.

Parameters:

acceleration - Acceleration; acceleration

startSpeed - Speed; start speed

time - Duration; intended time step

Returns:

Duration; effective braking time

buildPlanFromSimplePlan

public static LaneBasedOperationalPlan buildPlanFromSimplePlan(LaneBasedGTU gtu,
                                                               Time startTime,
                                                               SimpleOperationalPlan simplePlan,
                                                               LaneChange laneChange)
                                                        throws ParameterException,
                                                               GTUException,
                                                               NetworkException,
                                                               OperationalPlanException

Build an operational plan based on a simple operational plan and status info.

Parameters:

gtu - gtu

startTime - start time for plan

simplePlan - simple operational plan

laneChange - lane change status

Returns:

operational plan

Throws:

ParameterException - if parameter is not defined

GTUException - gtu exception

NetworkException - network exception

OperationalPlanException - operational plan exeption

scheduleLaneChangeFinalization

public static void scheduleLaneChangeFinalization(LaneBasedGTU gtu,
                                                  Length distance,
                                                  LateralDirectionality laneChangeDirection)
                                           throws SimRuntimeException

Schedules a lane change finalization after the given distance is covered. This distance is known as the plan is created, but at that point no time can be derived as the plan is required for that. Hence, this method can be scheduled at the same time (sequentially after creation of the plan) to then schedule the actual finalization by deriving time from distance with the plan.

Parameters:

gtu - LaneBasedGTU; gtu

distance - Length; distance

laneChangeDirection - LateralDirectionality; lane change direction

Throws:

SimRuntimeException - on bad time

buildStopPlan

public static LaneBasedOperationalPlan buildStopPlan(LaneBasedGTU gtu,
                                                     Length distance,
                                                     Time startTime,
                                                     Speed startSpeed,
                                                     Acceleration deceleration)
                                              throws OperationalPlanException,
                                                     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

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:

OperationalPlanException - when construction of the operational path fails

OTSGeometryException - in case the lanes are not connected or firstLanePositiion is larger than the length of the first lane