1 package org.opentrafficsim.road.gtu.lane.perception;
2
3 import org.djunits.value.vdouble.scalar.Length;
4 import org.djunits.value.vdouble.scalar.Time;
5 import org.opentrafficsim.base.parameters.ParameterException;
6 import org.opentrafficsim.base.parameters.ParameterTypeLength;
7 import org.opentrafficsim.base.parameters.ParameterTypes;
8 import org.opentrafficsim.core.gtu.GTUException;
9 import org.opentrafficsim.core.gtu.perception.AbstractPerception;
10 import org.opentrafficsim.core.network.NetworkException;
11 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
12 import org.opentrafficsim.road.gtu.lane.perception.mental.Mental;
13 import org.opentrafficsim.road.network.lane.DirectedLanePosition;
14
15 /**
16 * The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which
17 * includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a
18 * limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be
19 * recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception. <br>
20 * Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU),
21 * parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as
22 * to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending
23 * lanes.
24 * <p>
25 * Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
26 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
27 * </p>
28 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
29 * initial version Nov 15, 2015 <br>
30 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
31 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
32 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
33 */
34 public abstract class AbstractLanePerception extends AbstractPerception<LaneBasedGTU> implements LanePerception
35 {
36
37 /** */
38 private static final long serialVersionUID = 20151128L;
39
40 /** Perception parameter type. */
41 protected static final ParameterTypeLength PERCEPTION = ParameterTypes.PERCEPTION;
42
43 /** Look ahead parameter type. */
44 protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
45
46 /** Look back parameter type. */
47 protected static final ParameterTypeLength LOOKBACK = ParameterTypes.LOOKBACK;
48
49 /** Lane structure to perform the perception with. */
50 private LaneStructure laneStructure = null;
51
52 /** Most recent update time of lane structure. */
53 private Time updateTime = null;
54
55 /** Mental module. */
56 private Mental mental;
57
58 /**
59 * Create a new LanePerception module without mental module.
60 * @param gtu LaneBasedGTU; GTU
61 */
62 public AbstractLanePerception(final LaneBasedGTU gtu)
63 {
64 super(gtu);
65 this.mental = null;
66 }
67
68 /**
69 * Create a new LanePerception module with mental module.
70 * @param gtu LaneBasedGTU; GTU
71 * @param mental Mental; mental module
72 */
73 public AbstractLanePerception(final LaneBasedGTU gtu, final Mental mental)
74 {
75 super(gtu);
76 this.mental = mental;
77 }
78
79 /** {@inheritDoc} */
80 @Override
81 public final LaneStructure getLaneStructure() throws ParameterException
82 {
83
84 if (this.laneStructure == null || this.updateTime.lt(getGtu().getSimulator().getSimulatorTime()))
85 {
86 if (this.laneStructure == null)
87 {
88 // downstream structure length
89 Length down = getGtu().getParameters().getParameter(PERCEPTION);
90 // upstream structure length
91 Length up = getGtu().getParameters().getParameter(LOOKBACK);
92 // structure length downstream of split on link not on route
93 Length lookAhead = getGtu().getParameters().getParameter(LOOKAHEAD);
94 // structure length upstream of merge on link not on route
95 Length upMerge = Length.max(up, lookAhead);
96 // negative values for upstream
97 up = up.neg();
98 upMerge = upMerge.neg();
99 this.laneStructure = new RollingLaneStructure(lookAhead, down, up, lookAhead, upMerge, getGtu());
100 }
101 DirectedLanePosition dlp;
102 try
103 {
104 dlp = getGtu().getReferencePosition();
105 this.laneStructure.update(dlp, getGtu().getStrategicalPlanner().getRoute(), getGtu().getGTUType());
106 }
107 catch (GTUException exception)
108 {
109 exception.printStackTrace();
110 throw new RuntimeException("Error while updating the lane map.", exception);
111 }
112 this.updateTime = getGtu().getSimulator().getSimulatorTime();
113 }
114 return this.laneStructure;
115 }
116
117 /** {@inheritDoc} */
118 @Override
119 public Mental getMental()
120 {
121 return this.mental;
122 }
123
124 /** {@inheritDoc} */
125 @Override
126 public void perceive() throws GTUException, NetworkException, ParameterException
127 {
128 if (this.mental != null)
129 {
130 this.mental.apply(this);
131 }
132 super.perceive();
133 }
134
135 }