org.opentrafficsim.road.gtu.lane.tactical

Class AbstractLaneBasedTacticalPlanner

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

All Implemented Interfaces:

Serializable, TacticalPlanner<LaneBasedGTU,LanePerception>, LaneBasedTacticalPlanner

Direct Known Subclasses:

LaneBasedCFLCTacticalPlanner, LaneBasedGTUFollowingDirectedChangeTacticalPlanner, LaneBasedGTUFollowingTacticalPlanner, LMRS, SteeringLmrs, Toledo

public abstract class AbstractLaneBasedTacticalPlanner
extends Object
implements LaneBasedTacticalPlanner, Serializable

A lane-based tactical planner generates an operational plan for the lane-based GTU. It can ask the strategic planner for assistance on the route to take when the network splits. This abstract class contains a number of helper methods that make it easy to implement a tactical planner.

Copyright (c) 2013-2019 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 25, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
protected static ParameterTypeDuration	DT Time step parameter type.
protected static ParameterTypeLength	LOOKAHEAD Look ahead parameter type.
static ParameterTypeClass<LaneBasedTacticalPlanner>	TACTICAL_PLANNER Tactical planner parameter.

Constructor Summary

Constructors

Constructor and Description
AbstractLaneBasedTacticalPlanner(CarFollowingModel carFollowingModel, LaneBasedGTU gtu, LanePerception lanePerception) Instantiates a tactical planner.

Method Summary

Modifier and Type	Method and Description
static LanePathInfo	buildLanePathInfo(LaneBasedGTU gtu, Length maxHeadway) Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
static LanePathInfo	buildLanePathInfo(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length position, GTUDirectionality startDirectionality) Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
protected static List<LinkDirection>	buildLinkListForward(LaneBasedGTU gtu, Length maxHeadway) Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.
static OTSLine3D	concatenateNull(OTSLine3D path, OTSLine3D centerLine) Concatenate two paths, where the first may be null.
protected static boolean	connectsToPath(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length startLanePosition, GTUDirectionality startDirectionality, Link linkAfterSplit) Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?
static NextSplitInfo	determineNextSplit(LaneBasedGTU gtu, Length maxHeadway) Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU.
CarFollowingModel	getCarFollowingModel() Returns the car-following model.
LaneBasedGTU	getGtu()
LanePerception	getPerception()
protected static boolean	noLaneDrop(LaneBasedGTU gtu, Length maxHeadway, Lane startLane, Length startLanePosition, GTUDirectionality startDirectionality) Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?
void	setCarFollowingModel(CarFollowingModel carFollowingModel) Sets the car-following model.

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.road.gtu.lane.tactical.LaneBasedTacticalPlanner

chooseLaneAtSplit, okDistance, rightMost

Methods inherited from interface org.opentrafficsim.core.gtu.plan.tactical.TacticalPlanner

generateOperationalPlan

Field Detail

TACTICAL_PLANNER

public static final ParameterTypeClass<LaneBasedTacticalPlanner> TACTICAL_PLANNER

Tactical planner parameter.

LOOKAHEAD

protected static final ParameterTypeLength LOOKAHEAD

Look ahead parameter type.

DT

protected static final ParameterTypeDuration DT

Time step parameter type.

Constructor Detail

AbstractLaneBasedTacticalPlanner

public AbstractLaneBasedTacticalPlanner(CarFollowingModel carFollowingModel,
                                        LaneBasedGTU gtu,
                                        LanePerception lanePerception)

Instantiates a tactical planner.

Parameters:

carFollowingModel - CarFollowingModel; car-following model

gtu - LaneBasedGTU; GTU

lanePerception - LanePerception; perception

Method Detail

getGtu

public final LaneBasedGTU getGtu()

Specified by:

getGtu in interface TacticalPlanner<LaneBasedGTU,LanePerception>

buildLanePathInfo

public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             Length maxHeadway)
                                      throws GTUException,
                                             NetworkException

Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - LaneBasedGTU; the GTU for which to calculate the lane list

maxHeadway - Length; the maximum length for which lanes should be returned

Returns:

LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

buildLanePathInfo

public static LanePathInfo buildLanePathInfo(LaneBasedGTU gtu,
                                             Length maxHeadway,
                                             Lane startLane,
                                             Length position,
                                             GTUDirectionality startDirectionality)
                                      throws GTUException,
                                             NetworkException

Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - LaneBasedGTU; the GTU for which to calculate the lane list

maxHeadway - Length; the maximum length for which lanes should be returned

startLane - Lane; the lane in which the path starts

position - Length; the position on the start lane

startDirectionality - GTUDirectionality; the driving direction on the start lane

Returns:

LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow, and the path to follow when staying on the same lane.

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

concatenateNull

public static OTSLine3D concatenateNull(OTSLine3D path,
                                        OTSLine3D centerLine)
                                 throws OTSGeometryException

Concatenate two paths, where the first may be null.

Parameters:

path - OTSLine3D; path, may be null

centerLine - OTSLine3D; center line of lane to add

Returns:

concatenated line

Throws:

OTSGeometryException - when lines are degenerate or too distant

determineNextSplit

public static NextSplitInfo determineNextSplit(LaneBasedGTU gtu,
                                               Length maxHeadway)
                                        throws GTUException,
                                               NetworkException

Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU. Note: a lane drop is also considered a split (!).

Parameters:

gtu - LaneBasedGTU; the GTU for which to calculate the lane list

maxHeadway - Length; the maximum length for which lanes should be returned

Returns:

NextSplitInfo; an instance that provides the following information for an operational plan: whether the network splits, the node where it splits, and the current lanes that lead to the right node after the split node.

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

connectsToPath

protected static boolean connectsToPath(LaneBasedGTU gtu,
                                        Length maxHeadway,
                                        Lane startLane,
                                        Length startLanePosition,
                                        GTUDirectionality startDirectionality,
                                        Link linkAfterSplit)
                                 throws GTUException,
                                        NetworkException

Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the given lane, can we take the right branch at the nextSplitNode without switching lanes?

Parameters:

gtu - LaneBasedGTU; the GTU for which we have to determine the lane suitability

maxHeadway - Length; the maximum length for use in the calculation

startLane - Lane; the first lane in the list

startLanePosition - Length; the position on the start lane

startDirectionality - GTUDirectionality; the driving direction on the start lane

linkAfterSplit - Link; the link after the split to which we should connect

Returns:

boolean; true if the lane (XXXXX which lane?) is connected to our path

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

noLaneDrop

protected static boolean noLaneDrop(LaneBasedGTU gtu,
                                    Length maxHeadway,
                                    Lane startLane,
                                    Length startLanePosition,
                                    GTUDirectionality startDirectionality)
                             throws GTUException,
                                    NetworkException

Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we continue to drive at the nextSplitNode without switching lanes?

Parameters:

gtu - LaneBasedGTU; the GTU for which we have to determine the lane suitability

maxHeadway - Length; the maximum length for use in the calculation

startLane - Lane; the first lane in the list

startLanePosition - Length; the position on the start lane

startDirectionality - GTUDirectionality; the driving direction on the start lane

Returns:

boolean; true if the lane (XXX which lane?) is connected to our path

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

buildLinkListForward

protected static List<LinkDirection> buildLinkListForward(LaneBasedGTU gtu,
                                                          Length maxHeadway)
                                                   throws GTUException,
                                                          NetworkException

Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.

Parameters:

gtu - LaneBasedGTU; the GTU for which to calculate the link list

maxHeadway - Length; the maximum length for which links should be returned

Returns:

List<LinkDirection>; a list of links on which to drive next

Throws:

GTUException - when the vehicle is not on one of the lanes on which it is registered

NetworkException - when the strategic planner is not able to return a next node in the route

getCarFollowingModel

public final CarFollowingModel getCarFollowingModel()

Returns the car-following model.

Specified by:

getCarFollowingModel in interface LaneBasedTacticalPlanner

Returns:

car following model

setCarFollowingModel

public final void setCarFollowingModel(CarFollowingModel carFollowingModel)

Sets the car-following model.

Parameters:

carFollowingModel - CarFollowingModel; Car-following model to set.

getPerception

public final LanePerception getPerception()

Specified by:

getPerception in interface TacticalPlanner<LaneBasedGTU,LanePerception>