org.opentrafficsim.road.gtu.lane.perception

Class AbstractLanePerception

java.lang.Object

org.opentrafficsim.core.gtu.perception.AbstractPerception<LaneBasedGTU>

org.opentrafficsim.road.gtu.lane.perception.AbstractLanePerception

All Implemented Interfaces:

Serializable, Perception<LaneBasedGTU>, LanePerception

Direct Known Subclasses:

CategoricalLanePerception

public abstract class AbstractLanePerception
extends AbstractPerception<LaneBasedGTU>
implements LanePerception

The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception.
Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU), parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending lanes.

This class allows PerceptionCategorys that are either eager or lazy. All categories will have the updateAll method invoked prior to an operational plan being determined. Categories may ignore this and instead evaluate results only when the tactical planner requests them.

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 15, 2015

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
protected static ParameterTypeLength	LOOKAHEAD Look ahead parameter type.
protected static ParameterTypeLength	LOOKBACK Look back parameter type.
protected static ParameterTypeLength	PERCEPTION Perception parameter type.

Constructor Summary

Constructors

Constructor and Description
AbstractLanePerception(LaneBasedGTU gtu) Create a new LanePerception module without mental module.
AbstractLanePerception(LaneBasedGTU gtu, Mental mental) Create a new LanePerception module with mental module.

Method Summary

Modifier and Type	Method and Description
LaneStructure	getLaneStructure()
Mental	getMental() Returns the mental module of perception.
void	perceive()

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerception

addPerceptionCategory, contains, getGtu, getPerceptionCategory, getPerceptionCategoryOrNull, removePerceptionCategory, toString

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.road.gtu.lane.perception.LanePerception

getGtu

Methods inherited from interface org.opentrafficsim.core.gtu.perception.Perception

addPerceptionCategory, contains, getPerceptionCategory, getPerceptionCategoryOrNull, removePerceptionCategory

Field Detail

PERCEPTION

protected static final ParameterTypeLength PERCEPTION

Perception parameter type.

LOOKAHEAD

protected static final ParameterTypeLength LOOKAHEAD

Look ahead parameter type.

LOOKBACK

protected static final ParameterTypeLength LOOKBACK

Look back parameter type.

Constructor Detail

AbstractLanePerception

public AbstractLanePerception(LaneBasedGTU gtu)

Create a new LanePerception module without mental module.

Parameters:

gtu - LaneBasedGTU; GTU

AbstractLanePerception

public AbstractLanePerception(LaneBasedGTU gtu,
                              Mental mental)

Create a new LanePerception module with mental module.

Parameters:

gtu - LaneBasedGTU; GTU

mental - Mental; mental module

Method Detail

getLaneStructure

public final LaneStructure getLaneStructure()
                                     throws ParameterException

Specified by:

getLaneStructure in interface LanePerception

Returns:

lane structure to perform perception

Throws:

ParameterException - if parameter is not defined

getMental

public Mental getMental()

Returns the mental module of perception.

Specified by:

getMental in interface LanePerception

Returns:

Mental; mental module of perception, may be null if not used

perceive

public void perceive()
              throws GTUException,
                     NetworkException,
                     ParameterException

Specified by:

perceive in interface Perception<LaneBasedGTU>

Overrides:

perceive in class AbstractPerception<LaneBasedGTU>

Throws:

GTUException

NetworkException

ParameterException