org.opentrafficsim.road.gtu.lane.control

Class AbstractLinearFreeControl

java.lang.Object

org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

org.opentrafficsim.road.gtu.lane.control.AbstractLinearFreeControl

All Implemented Interfaces:

LongitudinalControl

Direct Known Subclasses:

LinearCACC

public abstract class AbstractLinearFreeControl
extends AbstractActuatedControl

Class that splits the desired acceleration of a controller in a fixed linear free term, and a term for following determined by the sub-class.

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.

Version:

$Revision$, $LastChangedDate$, by $Author$, initial version Mar 14, 2019

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Field Summary

Fields

Modifier and Type	Field and Description
static ParameterTypeDouble	KF Desired speed error gain parameter.

Fields inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

TDACC, TDCACC, X0

Constructor Summary

Constructors

Constructor and Description
AbstractLinearFreeControl(DelayedActuation delayedActuation) Constructor using default sensors with no delay.

Method Summary

Modifier and Type	Method and Description
Acceleration	getDesiredAcceleration(LaneBasedGTU gtu, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders) Returns the desired acceleration from the longitudinal control.
abstract Acceleration	getFollowingAcceleration(LaneBasedGTU gtu, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders) Returns the following acceleration of the longitudinal control.

Methods inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

delayActuation, getAcceleration

Methods inherited from class java.lang.Object

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

Field Detail

KF

public static final ParameterTypeDouble KF

Desired speed error gain parameter.

Constructor Detail

AbstractLinearFreeControl

public AbstractLinearFreeControl(DelayedActuation delayedActuation)

Constructor using default sensors with no delay.

Parameters:

delayedActuation - DelayedActuation; delayed actuation

Method Detail

getDesiredAcceleration

public final Acceleration getDesiredAcceleration(LaneBasedGTU gtu,
                                                 PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders)
                                          throws ParameterException

Returns the desired acceleration from the longitudinal control.

Specified by:

getDesiredAcceleration in class AbstractActuatedControl

Parameters:

gtu - LaneBasedGTU; gtu

leaders - PerceptionCollectable<HeadwayGTU, LaneBasedGTU>; leaders

Returns:

Acceleration; desired acceleration

Throws:

ParameterException - if parameter is not present

getFollowingAcceleration

public abstract Acceleration getFollowingAcceleration(LaneBasedGTU gtu,
                                                      PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders)
                                               throws ParameterException

Returns the following acceleration of the longitudinal control. This method is only invoked if there is at least 1 leader.

Parameters:

gtu - LaneBasedGTU; gtu

leaders - PerceptionCollectable<HeadwayGTU, LaneBasedGTU>; leaders

Returns:

Acceleration; following acceleration of the longitudinal control

Throws:

ParameterException - if parameter is not present