ConflictUtil.java
package org.opentrafficsim.road.gtu.lane.tactical.util;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.SortedMap;
import java.util.TreeMap;
import java.util.UUID;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.LengthUnit;
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.djutils.exceptions.Throw;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypeAcceleration;
import org.opentrafficsim.base.parameters.ParameterTypeDouble;
import org.opentrafficsim.base.parameters.ParameterTypeDuration;
import org.opentrafficsim.base.parameters.ParameterTypeLength;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.base.parameters.constraint.ConstraintInterface;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.gtu.TurnIndicatorIntent;
import org.opentrafficsim.core.network.Node;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
import org.opentrafficsim.road.gtu.lane.perception.headway.AbstractHeadwayGTU;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayConflict;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTUSimple;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayStopLine;
import org.opentrafficsim.road.gtu.lane.tactical.Blockable;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.pt.BusSchedule;
import org.opentrafficsim.road.network.lane.CrossSectionLink;
import org.opentrafficsim.road.network.lane.conflict.BusStopConflictRule;
import org.opentrafficsim.road.network.lane.conflict.Conflict;
import org.opentrafficsim.road.network.lane.conflict.ConflictRule;
import org.opentrafficsim.road.network.lane.conflict.ConflictType;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* This class implements default behavior for intersection conflicts for use in tactical planners.
* <p>
* Copyright (c) 2013-2019 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/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Jun 3, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
// TODO do not ignore vehicles upstream of conflict if they have green
// TODO conflict over multiple lanes (longitudinal in own direction)
// TODO a) yielding while having priority happens only when leaders is standing still on conflict (then its useless...)
// b) two vehicles can remain upstream of merge if vehicle stands on merge but leaves some space to move
// probably 1 is yielding, and 1 is courtesy yielding as the other stands still
// c) they might start moving together and collide further down (no response to negative headway on merge)
public final class ConflictUtil
{
/** Minimum time gap between events. */
public static final ParameterTypeDuration MIN_GAP = new ParameterTypeDuration("minGap", "Minimum gap for conflicts.",
new Duration(0.000001, DurationUnit.SECOND), ConstraintInterface.POSITIVE);
/** Comfortable deceleration. */
public static final ParameterTypeAcceleration B = ParameterTypes.B;
/** Critical deceleration. */
public static final ParameterTypeAcceleration BCRIT = ParameterTypes.BCRIT;
/** Stopping distance. */
public static final ParameterTypeLength S0 = ParameterTypes.S0;
/** Stopping distance at conflicts. */
public static final ParameterTypeLength S0_CONF = new ParameterTypeLength("s0 conf", "Stopping distance at conflicts.",
new Length(1.5, LengthUnit.METER), ConstraintInterface.POSITIVE);
/** Multiplication factor on time for conservative assessment. */
public static final ParameterTypeDouble TIME_FACTOR =
new ParameterTypeDouble("timeFactor", "Safety factor on estimated time.", 1.25, ConstraintInterface.ATLEASTONE);
/** Area before stop line where one is considered arrived at the intersection. */
public static final ParameterTypeLength STOP_AREA =
new ParameterTypeLength("stopArea", "Area before stop line where one is considered arrived at the intersection.",
new Length(4, LengthUnit.METER), ConstraintInterface.POSITIVE);
/** Parameter of how much time before departure a bus indicates its departure to get priority. */
public static final ParameterTypeDuration TI = new ParameterTypeDuration("ti", "Indicator time before departure.",
Duration.createSI(3.0), ConstraintInterface.POSITIVE);
/** Time step for free acceleration anticipation. */
private static final Duration TIME_STEP = new Duration(0.5, DurationUnit.SI);
/** Cross standing vehicles on crossings. We allow this to prevent dead-locks. A better model should render this useless. */
private static boolean CROSSSTANDING = true;
/**
* Do not instantiate.
*/
private ConflictUtil()
{
//
}
/**
* Approach conflicts by applying appropriate acceleration (or deceleration). The model may yield for a vehicle even while
* having priority. Such a 'yield plan' is remembered in <tt>YieldPlans</tt>. By forwarding the same <tt>YieldPlans</tt> for
* a GTU consistency of such plans is provided. If any conflict is not accepted to pass, stopping before a more upstream
* conflict is applied if there not sufficient stopping length in between conflicts.
* @param parameters Parameters; parameters
* @param conflicts PerceptionCollectable<HeadwayConflict,Conflict>; set of conflicts to approach
* @param leaders PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leading vehicles
* @param carFollowingModel CarFollowingModel; car-following model
* @param vehicleLength Length; length of vehicle
* @param vehicleWidth Length; width of vehicle
* @param speed Speed; current speed
* @param acceleration Acceleration; current acceleration
* @param speedLimitInfo SpeedLimitInfo; speed limit info
* @param conflictPlans ConflictPlans; set of plans for conflict
* @param gtu LaneBasedGTU; gtu
* @return acceleration appropriate for approaching the conflicts
* @throws GTUException in case of an unsupported conflict rule
* @throws ParameterException if a parameter is not defined or out of bounds
*/
@SuppressWarnings("checkstyle:parameternumber")
public static Acceleration approachConflicts(final Parameters parameters,
final PerceptionCollectable<HeadwayConflict, Conflict> conflicts,
final PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders, final CarFollowingModel carFollowingModel,
final Length vehicleLength, final Length vehicleWidth, final Speed speed, final Acceleration acceleration,
final SpeedLimitInfo speedLimitInfo, final ConflictPlans conflictPlans, final LaneBasedGTU gtu)
throws GTUException, ParameterException
{
conflictPlans.cleanPlans();
Acceleration a = Acceleration.POS_MAXVALUE;
Length stoppingDistance = Length.createSI(
parameters.getParameter(S0).si + vehicleLength.si + .5 * speed.si * speed.si / parameters.getParameter(B).si);
if (!conflicts.isEmpty() && conflicts.first().getDistance().gt(stoppingDistance))
{
conflictPlans.setBlocking(false);
return a;
}
List<Length> prevStarts = new ArrayList<>();
List<Length> prevEnds = new ArrayList<>();
List<Class<? extends ConflictRule>> conflictRuleTypes = new ArrayList<>();
boolean blocking = false;
for (HeadwayConflict conflict : conflicts)
{
// adjust acceleration for situations where stopping might not be required
if (conflict.isCrossing())
{
// avoid collision if crossing is occupied
a = Acceleration.min(a, avoidCrossingCollision(parameters, conflict, carFollowingModel, speed, speedLimitInfo));
}
else
{
// follow leading GTUs on merge or split
a = Acceleration.min(a, followConflictingLeaderOnMergeOrSplit(conflict, parameters, carFollowingModel, speed,
speedLimitInfo, vehicleWidth));
}
if (conflict.getDistance().lt0())
{
if (conflict.getConflictType().isCrossing() && !conflict.getConflictPriority().isPriority())
{
// note that we are blocking a conflict
blocking = true;
}
// ignore conflicts we are on (i.e. negative distance to start of conflict)
continue;
}
// indicator if bus
if (gtu.getStrategicalPlanner().getRoute() instanceof BusSchedule && gtu.getGTUType().isOfType(GTUType.BUS)
&& conflict.getConflictRuleType().equals(BusStopConflictRule.class))
{
BusSchedule busSchedule = (BusSchedule) gtu.getStrategicalPlanner().getRoute();
Time actualDeparture = busSchedule.getActualDepartureConflict(conflict.getId());
if (actualDeparture != null
&& actualDeparture.si < gtu.getSimulator().getSimulatorTime().si + parameters.getParameter(TI).si)
{
// TODO depending on left/right-hand traffic
conflictPlans.setIndicatorIntent(TurnIndicatorIntent.LEFT, conflict.getDistance());
}
}
// determine if we need to stop
boolean stop;
switch (conflict.getConflictPriority())
{
case PRIORITY:
{
stop = stopForPriorityConflict(conflict, leaders, speed, vehicleLength, parameters, conflictPlans);
break;
}
case YIELD: // TODO depending on rules, we may need to stop and not just yield
case TURN_ON_RED:
{
stop = stopForGiveWayConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters,
speedLimitInfo, carFollowingModel, blocking ? BCRIT : B);
break;
}
case STOP:
{
stop = stopForStopConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters,
speedLimitInfo, carFollowingModel, blocking ? BCRIT : B);
break;
}
case ALL_STOP:
{
stop = stopForAllStopConflict(conflict, conflictPlans);
break;
}
case SPLIT:
{
stop = false; // skipped anyway
break;
}
default:
{
throw new GTUException("Unsupported conflict rule encountered while approaching conflicts.");
}
}
// stop if required, account for upstream conflicts to keep clear
if (!conflict.getConflictType().equals(ConflictType.SPLIT))
{
if (stop)
{
prevStarts.add(conflict.getDistance());
conflictRuleTypes.add(conflict.getConflictRuleType());
// stop for first conflict looking upstream of this blocked conflict that allows sufficient space
int j = 0; // most upstream conflict if not in between conflicts
for (int i = prevEnds.size() - 1; i >= 0; i--) // downstream to upstream
{
// note, at this point prevStarts contains one more conflict than prevEnds
if (prevStarts.get(i + 1).minus(prevEnds.get(i)).gt(passableDistance(vehicleLength, parameters)))
{
j = i + 1;
break;
}
}
if (blocking && j == 0)
{
// we are blocking a conflict, let's not stop more upstream than the conflict that forces our stop
j = prevStarts.size() - 1;
}
// TODO
// if this lowers our acceleration, we need to check if we are able to pass upstream conflicts still in time
// stop for j'th conflict, if deceleration is too strong, for next one
parameters.setParameterResettable(S0, parameters.getParameter(S0_CONF));
Acceleration aCF = new Acceleration(-Double.MAX_VALUE, AccelerationUnit.SI);
while (aCF.si < -6.0 && j < prevStarts.size())
{
if (prevStarts.get(j).lt(parameters.getParameter(S0_CONF)))
{
// TODO what to do when we happen to be in the stopping distance? Stopping might be reasonable,
// while car-following might give strong deceleration due to s < s0.
aCF = Acceleration.max(aCF, new Acceleration(-6.0, AccelerationUnit.SI));
}
else
{
Acceleration aStop = CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo,
prevStarts.get(j));
if (conflictRuleTypes.get(j).equals(BusStopConflictRule.class)
&& aStop.lt(parameters.getParameter(ParameterTypes.BCRIT).neg()))
{
// as it may suddenly switch state, i.e. ignore like a yellow traffic light
aStop = Acceleration.POS_MAXVALUE;
}
aCF = Acceleration.max(aCF, aStop);
}
j++;
}
parameters.resetParameter(S0);
a = Acceleration.min(a, aCF);
break;
}
// keep conflict clear (when stopping for another conflict), if there are conflicting vehicles
if (!conflict.getUpstreamConflictingGTUs().isEmpty())
{
prevStarts.add(conflict.getDistance());
conflictRuleTypes.add(conflict.getConflictRuleType());
prevEnds.add(conflict.getDistance().plus(conflict.getLength()));
}
}
}
conflictPlans.setBlocking(blocking);
if (a.si < -6.0 && speed.si > 5 / 3.6)
{
System.err.println("Deceleration from conflict util stronger than 6m/s^2.");
// return IGNORE;
}
return a;
}
/**
* Determines acceleration for following conflicting vehicles <i>on</i> a merge or split conflict.
* @param conflict HeadwayConflict; merge or split conflict
* @param parameters Parameters; parameters
* @param carFollowingModel CarFollowingModel; car-following model
* @param speed Speed; current speed
* @param speedLimitInfo SpeedLimitInfo; speed limit info
* @param vehicleWidth Length; own width
* @return acceleration for following conflicting vehicles <i>on</i> a merge or split conflict
* @throws ParameterException if a parameter is not given or out of bounds
*/
private static Acceleration followConflictingLeaderOnMergeOrSplit(final HeadwayConflict conflict,
final Parameters parameters, final CarFollowingModel carFollowingModel, final Speed speed,
final SpeedLimitInfo speedLimitInfo, final Length vehicleWidth) throws ParameterException
{
// ignore if no conflicting GTU's, or if first is downstream of conflict
PerceptionIterable<HeadwayGTU> downstreamGTUs = conflict.getDownstreamConflictingGTUs();
if (downstreamGTUs.isEmpty() || downstreamGTUs.first().isAhead())
{
return Acceleration.POS_MAXVALUE;
}
// get the most upstream GTU to consider
HeadwayGTU c = null;
Length virtualHeadway = null;
if (conflict.getDistance().gt0())
{
c = downstreamGTUs.first();
virtualHeadway = conflict.getDistance().plus(c.getOverlapRear());
}
else
{
for (HeadwayGTU con : downstreamGTUs)
{
if (con.isAhead())
{
// conflict GTU completely downstream of conflict (i.e. regular car-following, ignore here)
return Acceleration.POS_MAXVALUE;
}
// conflict GTU (partially) on the conflict
// {@formatter:off}
// ______________________________________________
// ___ virtual headway | ___ |
// |___|(-----------------------)|___|(vehicle from south, on lane from south)
// _____________________________|_______|________
// / /
// / /
// {@formatter:on}
virtualHeadway = conflict.getDistance().plus(con.getOverlapRear());
if (virtualHeadway.gt0())
{
if (conflict.isSplit())
{
double conflictWidth = conflict.getWidthAtFraction(
(-conflict.getDistance().si + virtualHeadway.si) / conflict.getConflictingLength().si).si;
double gtuWidth = con.getWidth().si + vehicleWidth.si;
if (conflictWidth > gtuWidth)
{
continue;
}
}
// found first downstream GTU on conflict
c = con;
break;
}
}
}
if (c == null)
{
// conflict GTU downstream of start of conflict, but upstream of us
return Acceleration.POS_MAXVALUE;
}
// follow leader
SortedMap<Length, Speed> leaders = new TreeMap<>();
leaders.put(virtualHeadway, c.getSpeed());
Acceleration a = CarFollowingUtil.followSingleLeader(carFollowingModel, parameters, speed, speedLimitInfo,
virtualHeadway, c.getSpeed());
// if conflicting GTU is partially upstream of the conflict and at (near) stand-still, stop for the conflict rather than
// following the tail of the conflicting GTU
if (conflict.isMerge() && virtualHeadway.lt(conflict.getDistance()))
{
// {@formatter:off}
/*
* ______________________________________________
* ___ stop for conflict | |
* |___|(--------------------)| ___ |
* _____________________________|__/ /_|________
* / /__/ /
* / /
*/
// {@formatter:on}
parameters.setParameterResettable(S0, parameters.getParameter(S0_CONF));
Acceleration aStop =
CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo, conflict.getDistance());
parameters.resetParameter(S0);
a = Acceleration.max(a, aStop); // max, which ever allows the largest acceleration
}
return a;
}
/**
* Determines an acceleration required to avoid a collision with GTUs <i>on</i> a crossing conflict.
* @param parameters Parameters; parameters
* @param conflict HeadwayConflict; conflict
* @param carFollowingModel CarFollowingModel; car-following model
* @param speed Speed; current speed
* @param speedLimitInfo SpeedLimitInfo; speed limit info
* @return acceleration required to avoid a collision
* @throws ParameterException if parameter is not defined
*/
private static Acceleration avoidCrossingCollision(final Parameters parameters, final HeadwayConflict conflict,
final CarFollowingModel carFollowingModel, final Speed speed, final SpeedLimitInfo speedLimitInfo)
throws ParameterException
{
// TODO only within visibility
List<HeadwayGTU> conflictingGTUs = new ArrayList<>();
for (HeadwayGTU gtu : conflict.getUpstreamConflictingGTUs())
{
if (isOnRoute(conflict.getConflictingLink(), gtu))
{
// first upstream vehicle on route to this conflict
conflictingGTUs.add(gtu);
break;
}
}
for (HeadwayGTU gtu : conflict.getDownstreamConflictingGTUs())
{
if (gtu.isParallel())
{
conflictingGTUs.add(gtu);
}
else
{
// vehicles beyond conflict are not a thread
break;
}
}
if (conflictingGTUs.isEmpty())
{
return Acceleration.POS_MAXVALUE;
}
Acceleration a = Acceleration.POS_MAXVALUE;
for (HeadwayGTU conflictingGTU : conflictingGTUs)
{
AnticipationInfo tteC;
Length distance;
if (conflictingGTU.isParallel())
{
tteC = new AnticipationInfo(Duration.ZERO, conflictingGTU.getSpeed());
distance = conflictingGTU.getOverlapRear().abs().plus(conflictingGTU.getOverlap())
.plus(conflictingGTU.getOverlapFront().abs());
}
else
{
tteC = AnticipationInfo.anticipateMovement(conflictingGTU.getDistance(), conflictingGTU.getSpeed(),
Acceleration.ZERO);
distance = conflictingGTU.getDistance().plus(conflict.getLength()).plus(conflictingGTU.getLength());
}
AnticipationInfo ttcC = AnticipationInfo.anticipateMovement(distance, conflictingGTU.getSpeed(), Acceleration.ZERO);
AnticipationInfo tteO = AnticipationInfo.anticipateMovementFreeAcceleration(conflict.getDistance(), speed,
parameters, carFollowingModel, speedLimitInfo, TIME_STEP);
// enter before cleared
// TODO safety factor?
if (tteC.getDuration().lt(tteO.getDuration()) && tteO.getDuration().lt(ttcC.getDuration()))
{
if (!conflictingGTU.getSpeed().eq0() || !CROSSSTANDING)
{
// solve parabolic speed profile s = v*t + .5*a*t*t, a =
double acc = 2 * (conflict.getDistance().si - speed.si * ttcC.getDuration().si)
/ (ttcC.getDuration().si * ttcC.getDuration().si);
// time till zero speed > time to avoid conflict?
if (speed.si / -acc > ttcC.getDuration().si)
{
a = Acceleration.min(a, new Acceleration(acc, AccelerationUnit.SI));
}
else
{
// will reach zero speed ourselves
a = Acceleration.min(a, CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo,
conflict.getDistance()));
}
}
// conflicting vehicle stand-still, ignore even at conflict
}
}
return a;
}
/**
* Approach a priority conflict. Stopping is applied to give way to conflicting traffic in case congestion is present on the
* own lane. This is courtesy yielding.
* @param conflict HeadwayConflict; conflict to approach
* @param leaders PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leading vehicles in own lane
* @param speed Speed; current speed
* @param vehicleLength Length; vehicle length
* @param parameters Parameters; parameters
* @param yieldPlans ConflictPlans; set of plans for yielding with priority
* @return whether to stop for this conflict
* @throws ParameterException if parameter B is not defined
*/
public static boolean stopForPriorityConflict(final HeadwayConflict conflict,
final PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders, final Speed speed, final Length vehicleLength,
final Parameters parameters, final ConflictPlans yieldPlans) throws ParameterException
{
if (leaders.isEmpty() || conflict.getUpstreamConflictingGTUs().isEmpty())
{
// no leader, or no conflicting vehicle
return false;
}
// Stop as long as some leader is standing still, and leader is not leaving sufficient space yet
// use start of conflict on merge, end of conflict on crossing
Length typeCorrection = conflict.isCrossing() ? conflict.getLength() : Length.ZERO;
// distance leader has to cover before we can pass the conflict
Length distance = conflict.getDistance().minus(leaders.first().getDistance())
.plus(passableDistance(vehicleLength, parameters)).plus(typeCorrection);
if (distance.gt0())
{
// for ourselves
Length required = conflict.getDistance().plus(typeCorrection).plus(passableDistance(vehicleLength, parameters));
for (HeadwayGTU leader : leaders)
{
if (leader.getSpeed().eq0())
{
// first stand-still leader is not fully upstream of the conflict (in that case, ignore), and does not
// allow sufficient space for all vehicles in between
return leader.getDistance().ge(conflict.getDistance()) && required.ge(leader.getDistance());
}
required = required // add required distance for leaders
.plus(passableDistance(leader.getLength(), leader.getParameters()));
}
}
return false;
}
/**
* Approach a give-way conflict.
* @param conflict HeadwayConflict; conflict
* @param leaders PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leaders
* @param speed Speed; current speed
* @param acceleration Acceleration; current acceleration
* @param vehicleLength Length; vehicle length
* @param parameters Parameters; parameters
* @param speedLimitInfo SpeedLimitInfo; speed limit info
* @param carFollowingModel CarFollowingModel; car-following model
* @param bType ParameterTypeAcceleration; parameter type for considered deceleration
* @return whether to stop for this conflict
* @throws ParameterException if a parameter is not defined
*/
@SuppressWarnings("checkstyle:parameternumber")
public static boolean stopForGiveWayConflict(final HeadwayConflict conflict,
final PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders, final Speed speed, final Acceleration acceleration,
final Length vehicleLength, final Parameters parameters, final SpeedLimitInfo speedLimitInfo,
final CarFollowingModel carFollowingModel, final ParameterTypeAcceleration bType) throws ParameterException
{
// TODO conflicting vehicle on crossing conflict, but will leave sooner then we enter, so no problem?
// TODO more generally, also upstream conflicting vehicles at crossings may leave the conflict before we enter
if (conflict.getConflictType().equals(ConflictType.CROSSING) && !conflict.getDownstreamConflictingGTUs().isEmpty()
&& conflict.getDownstreamConflictingGTUs().first().isParallel())
{
// vehicle on the conflict
return true;
}
// Get data independent of conflicting vehicle
// parameters
Acceleration b = parameters.getParameter(bType).neg();
double f = parameters.getParameter(TIME_FACTOR);
Duration gap = parameters.getParameter(MIN_GAP);
// time till conflict is cleared
Length distance = conflict.getDistance().plus(vehicleLength);
if (conflict.isCrossing())
{
// merge is cleared at start, crossing at end
distance = distance.plus(conflict.getLength());
}
// based on acceleration, limited by free acceleration
AnticipationInfo ttcOa = AnticipationInfo.anticipateMovementFreeAcceleration(distance, speed, parameters,
carFollowingModel, speedLimitInfo, TIME_STEP);
// time till downstream vehicle will make the conflict passible, under constant speed or safe deceleration
AnticipationInfo ttpDz = null;
AnticipationInfo ttpDs = null;
if (conflict.isCrossing())
{
if (!leaders.isEmpty())
{
distance = conflict.getDistance().minus(leaders.first().getDistance()).plus(conflict.getLength())
.plus(passableDistance(vehicleLength, parameters));
ttpDz = AnticipationInfo.anticipateMovement(distance, leaders.first().getSpeed(), Acceleration.ZERO);
ttpDs = AnticipationInfo.anticipateMovement(distance, leaders.first().getSpeed(), b);
}
else
{
// no leader so conflict is passible within a duration of 0
ttpDz = new AnticipationInfo(Duration.ZERO, Speed.ZERO);
ttpDs = new AnticipationInfo(Duration.ZERO, Speed.ZERO);
}
}
PerceptionCollectable<HeadwayGTU, LaneBasedGTU> conflictingVehiclesCollectable = conflict.getUpstreamConflictingGTUs();
Iterable<HeadwayGTU> conflictingVehicles;
if (conflictingVehiclesCollectable.isEmpty())
{
if (conflict.getConflictingTrafficLightDistance() == null)
{
// none within visibility, assume a conflicting vehicle just outside of visibility driving at speed limit
try
{
HeadwayGTUSimple conflictGtu = new HeadwayGTUSimple("virtual " + UUID.randomUUID().toString(), GTUType.CAR,
conflict.getConflictingVisibility(), new Length(4.0, LengthUnit.SI), new Length(2.0, LengthUnit.SI),
conflict.getConflictingSpeedLimit(), Acceleration.ZERO, Speed.ZERO);
List<HeadwayGTU> conflictingVehiclesList = new ArrayList<>();
conflictingVehiclesList.add(conflictGtu);
conflictingVehicles = conflictingVehiclesList;
}
catch (GTUException exception)
{
throw new RuntimeException("Could not create a virtual conflicting vehicle at visibility range.",
exception);
}
}
else
{
// no conflicting vehicles
return false;
}
}
else
{
conflictingVehicles = conflictingVehiclesCollectable;
}
// Loop over conflicting vehicles
boolean first = true;
for (HeadwayGTU conflictingVehicle : conflictingVehicles)
{
// do not stop if conflicting vehicle is standing still
if (first && conflictingVehicle.getSpeed().eq0() && conflictingVehicle.isAhead())
{
return false;
}
first = false;
// skip if not on route
if (!isOnRoute(conflict.getConflictingLink(), conflictingVehicle))
{
continue;
}
// time till conflict vehicle will enter, under free acceleration and safe deceleration
AnticipationInfo tteCa;
if (conflictingVehicle instanceof HeadwayGTUSimple)
{
tteCa = AnticipationInfo.anticipateMovement(conflictingVehicle.getDistance(), conflictingVehicle.getSpeed(),
conflictingVehicle.getAcceleration());
}
else
{
Parameters params = conflictingVehicle.getParameters();
SpeedLimitInfo sli = conflictingVehicle.getSpeedLimitInfo();
CarFollowingModel cfm = conflictingVehicle.getCarFollowingModel();
// Constant acceleration creates inf at stand still, triggering passing trough a congested stream
tteCa = AnticipationInfo.anticipateMovementFreeAcceleration(conflictingVehicle.getDistance(),
conflictingVehicle.getSpeed(), params, cfm, sli, TIME_STEP);
}
AnticipationInfo tteCs =
AnticipationInfo.anticipateMovement(conflictingVehicle.getDistance(), conflictingVehicle.getSpeed(), b);
// check gap
if (conflict.isMerge())
{
// Merge, will be each others followers, add time to overcome speed difference
double vSelf = ttcOa.getEndSpeed().si;
double speedDiff = conflictingVehicle.getSpeed().si - vSelf;
speedDiff = speedDiff > 0 ? speedDiff : 0;
Duration additionalTime = new Duration(speedDiff / -b.si, DurationUnit.SI);
// check if conflict vehicle will be upstream after that time, position beyond conflict after additional time
double followerFront = conflictingVehicle.getSpeed().si * ttcOa.getDuration().si
- conflictingVehicle.getDistance().si + (conflictingVehicle.getSpeed().si * additionalTime.si
+ 0.5 * b.si * additionalTime.si * additionalTime.si);
double ownRear = vSelf * additionalTime.si; // constant speed after clearing
Duration tMax = parameters.getParameter(ParameterTypes.TMAX);
Length s0 = parameters.getParameter(S0);
// 1) will clear the conflict after the conflict vehicle enters
// 2) not sufficient time to overcome speed difference
// 3) conflict vehicle will be too near after adjusting speed
if (ttcOa.getDuration().multiplyBy(f).plus(gap).gt(tteCa.getDuration())
|| ttcOa.getDuration().plus(additionalTime).multiplyBy(f).plus(gap).gt(tteCs.getDuration())
|| ownRear < (followerFront + (tMax.si + gap.si) * vSelf + s0.si) * f)
{
return true;
}
}
else if (conflict.isCrossing())
{
// Crossing, stop if order of events is not ok
// Should go before the conflict vehicle
// 1) downstream vehicle must supply sufficient space before conflict vehicle will enter
// 2) must clear the conflict before the conflict vehicle will enter
// 3) if leader decelerates with b, conflict vehicle should be able to safely delay entering conflict
if (ttpDz.getDuration().multiplyBy(f).plus(gap).gt(tteCa.getDuration())
|| ttcOa.getDuration().multiplyBy(f).plus(gap).gt(tteCa.getDuration())
|| ttpDs.getDuration().multiplyBy(f).plus(gap).gt(tteCs.getDuration()))
{
return true;
}
}
else
{
throw new RuntimeException(
"Conflict is of unknown type " + conflict.getConflictType() + ", which is not merge nor a crossing.");
}
}
// No conflict vehicle triggered stopping
return false;
}
/**
* Approach a stop conflict. Currently this is equal to approaching a give-way conflict.
* @param conflict HeadwayConflict; conflict
* @param leaders PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leaders
* @param speed Speed; current speed
* @param acceleration Acceleration; current acceleration
* @param vehicleLength Length; vehicle length
* @param parameters Parameters; parameters
* @param speedLimitInfo SpeedLimitInfo; speed limit info
* @param carFollowingModel CarFollowingModel; car-following model
* @param bType ParameterTypeAcceleration; parameter type for considered deceleration
* @return whether to stop for this conflict
* @throws ParameterException if a parameter is not defined
*/
@SuppressWarnings("checkstyle:parameternumber")
public static boolean stopForStopConflict(final HeadwayConflict conflict,
final PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders, final Speed speed, final Acceleration acceleration,
final Length vehicleLength, final Parameters parameters, final SpeedLimitInfo speedLimitInfo,
final CarFollowingModel carFollowingModel, final ParameterTypeAcceleration bType) throws ParameterException
{
// TODO stopping
return stopForGiveWayConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters, speedLimitInfo,
carFollowingModel, bType);
}
/**
* Approach an all-stop conflict.
* @param conflict HeadwayConflict; conflict to approach
* @param conflictPlans ConflictPlans; set of plans for conflict
* @return whether to stop for this conflict
*/
public static boolean stopForAllStopConflict(final HeadwayConflict conflict, final ConflictPlans conflictPlans)
{
// TODO all-stop behavior
if (conflictPlans.isStopPhaseRun(conflict.getStopLine()))
{
return false;
}
return false;
}
/**
* Returns whether the conflicting link is on the route of the given gtu.
* @param conflictingLink CrossSectionLink; conflicting link
* @param gtu HeadwayGTU; gtu
* @return whether the conflict is on the route of the given gtu
*/
private static boolean isOnRoute(final CrossSectionLink conflictingLink, final HeadwayGTU gtu)
{
try
{
Route route = gtu.getRoute();
if (route == null)
{
// conservative assumption: it's on the route (gtu should be upstream of the conflict)
return true;
}
Node startNode = conflictingLink.getStartNode();
Node endNode = conflictingLink.getEndNode();
return route.contains(startNode) && route.contains(endNode)
&& Math.abs(route.indexOf(endNode) - route.indexOf(startNode)) == 1;
}
catch (UnsupportedOperationException uoe)
{
// conservative assumption: it's on the route (gtu should be upstream of the conflict)
return true;
}
}
/**
* Returns a speed dependent distance needed behind the leader to completely pass the conflict.
* @param vehicleLength Length; vehicle length
* @param parameters Parameters; parameters
* @return speed dependent distance needed behind the leader to completely pass the conflict
* @throws ParameterException if parameter is not available
*/
private static Length passableDistance(final Length vehicleLength, final Parameters parameters) throws ParameterException
{
return parameters.getParameter(S0).plus(vehicleLength);
}
/**
* Holds the tactical plans of a driver considering conflicts. These are remembered for consistency. For instance, if the
* decision is made to yield as current deceleration suggests it's safe to do so, but the trajectory for stopping in front
* of the conflict results in deceleration slightly above what is considered safe deceleration, the plan should not be
* abandoned. Decelerations above what is considered safe deceleration may result due to numerical overshoot or other factor
* coming into play in car-following models. Many other examples exist where a driver sticks to a certain plan.
* <p>
* Copyright (c) 2013-2019 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/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Jun 7, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public static final class ConflictPlans implements Blockable, Serializable
{
/** */
private static final long serialVersionUID = 20160811L;
/** Phases of navigating an all-stop intersection per intersection. */
private final HashMap<String, StopPhase> stopPhases = new HashMap<>();
/** Estimated arrival times of vehicles at all-stop intersection. */
private final HashMap<String, Time> arrivalTimes = new HashMap<>();
/** Indicator intent. */
private TurnIndicatorIntent indicatorIntent = TurnIndicatorIntent.NONE;
/** Distance to object causing turn indicator intent. */
private Length indicatorObjectDistance = null;
/** Whether the GTU is blocking conflicts. */
private boolean blocking;
/**
* Clean any yield plan that was no longer kept active in the last evaluation of conflicts.
*/
void cleanPlans()
{
this.indicatorIntent = TurnIndicatorIntent.NONE;
this.indicatorObjectDistance = null;
}
/**
* Sets the estimated arrival time of a GTU.
* @param gtu AbstractHeadwayGTU; GTU
* @param time Time; estimated arrival time
*/
void setArrivalTime(final AbstractHeadwayGTU gtu, final Time time)
{
this.arrivalTimes.put(gtu.getId(), time);
}
/**
* Returns the estimated arrival time of given GTU.
* @param gtu AbstractHeadwayGTU; GTU
* @return estimated arrival time of given GTU
*/
Time getArrivalTime(final AbstractHeadwayGTU gtu)
{
return this.arrivalTimes.get(gtu.getId());
}
/**
* Sets the current phase to 'approach' for the given stop line.
* @param stopLine HeadwayStopLine; stop line
*/
void setStopPhaseApproach(final HeadwayStopLine stopLine)
{
this.stopPhases.put(stopLine.getId(), StopPhase.APPROACH);
}
/**
* Sets the current phase to 'yield' for the given stop line.
* @param stopLine HeadwayStopLine; stop line
* @throws RuntimeException if the phase was not set to approach before
*/
void setStopPhaseYield(final HeadwayStopLine stopLine)
{
Throw.when(
!this.stopPhases.containsKey(stopLine.getId())
|| !this.stopPhases.get(stopLine.getId()).equals(StopPhase.APPROACH),
RuntimeException.class, "Yield stop phase is set for stop line that was not approached.");
this.stopPhases.put(stopLine.getId(), StopPhase.YIELD);
}
/**
* Sets the current phase to 'run' for the given stop line.
* @param stopLine HeadwayStopLine; stop line
* @throws RuntimeException if the phase was not set to approach before
*/
void setStopPhaseRun(final HeadwayStopLine stopLine)
{
Throw.when(!this.stopPhases.containsKey(stopLine.getId()), RuntimeException.class,
"Run stop phase is set for stop line that was not approached.");
this.stopPhases.put(stopLine.getId(), StopPhase.YIELD);
}
/**
* @param stopLine HeadwayStopLine; stop line
* @return whether the current phase is 'approach' for the given stop line
*/
boolean isStopPhaseApproach(final HeadwayStopLine stopLine)
{
return this.stopPhases.containsKey(stopLine.getId())
&& this.stopPhases.get(stopLine.getId()).equals(StopPhase.APPROACH);
}
/**
* @param stopLine HeadwayStopLine; stop line
* @return whether the current phase is 'yield' for the given stop line
*/
boolean isStopPhaseYield(final HeadwayStopLine stopLine)
{
return this.stopPhases.containsKey(stopLine.getId())
&& this.stopPhases.get(stopLine.getId()).equals(StopPhase.YIELD);
}
/**
* @param stopLine HeadwayStopLine; stop line
* @return whether the current phase is 'run' for the given stop line
*/
boolean isStopPhaseRun(final HeadwayStopLine stopLine)
{
return this.stopPhases.containsKey(stopLine.getId()) && this.stopPhases.get(stopLine.getId()).equals(StopPhase.RUN);
}
/** {@inheritDoc} */
@Override
public String toString()
{
return "ConflictPlans";
}
/**
* @return indicatorIntent.
*/
public TurnIndicatorIntent getIndicatorIntent()
{
return this.indicatorIntent;
}
/**
* @return indicatorObjectDistance.
*/
public Length getIndicatorObjectDistance()
{
return this.indicatorObjectDistance;
}
/**
* @param intent TurnIndicatorIntent; indicator intent
* @param distance Length; distance to object pertaining to the turn indicator intent
*/
public void setIndicatorIntent(final TurnIndicatorIntent intent, final Length distance)
{
if (this.indicatorObjectDistance == null || this.indicatorObjectDistance.gt(distance))
{
this.indicatorIntent = intent;
this.indicatorObjectDistance = distance;
}
}
/** {@inheritDoc} */
@Override
public boolean isBlocking()
{
return this.blocking;
}
/**
* Sets the GTU as blocking conflicts or not.
* @param blocking boolean; whether the GTU is blocking conflicts
*/
public void setBlocking(final boolean blocking)
{
this.blocking = blocking;
}
}
/**
* Phases of navigating an all-stop intersection.
* <p>
* Copyright (c) 2013-2019 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/current/license.html">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Jun 30, 2016 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
private enum StopPhase
{
/** Approaching stop intersection. */
APPROACH,
/** Yielding for stop intersection. */
YIELD,
/** Running over stop intersection. */
RUN;
}
}