org.opentrafficsim.road.gtu.lane.perception.categories

Interface DefaultSimplePerception

All Superinterfaces:

LaneBasedPerceptionCategory, PerceptionCategory<LaneBasedGTU,LanePerception>

All Known Implementing Classes:

DirectDefaultSimplePerception

public interface DefaultSimplePerception
extends LaneBasedPerceptionCategory

Default perception category.

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 14 feb. 2017

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Method Summary

Modifier and Type	Method and Description
Lane	bestAccessibleAdjacentLane(Lane currentLane, LateralDirectionality lateralDirection, Length longitudinalPosition) Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found.
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesLeft()
Map<Lane,Set<Lane>>	getAccessibleAdjacentLanesRight()
Headway	getBackwardHeadway()
Headway	getForwardHeadwayGTU()
Headway	getForwardHeadwayObject()
LanePathInfo	getLanePathInfo() Retrieve the last perceived lane path info.
Collection<Headway>	getNeighboringHeadways(LateralDirectionality lateralDirection)
Collection<Headway>	getNeighboringHeadwaysLeft()
Collection<Headway>	getNeighboringHeadwaysRight()
Collection<Headway>	getParallelHeadways(LateralDirectionality lateralDirection)
Collection<Headway>	getParallelHeadwaysLeft()
Collection<Headway>	getParallelHeadwaysRight()
Speed	getSpeedLimit()
default void	updateAccessibleAdjacentLanes() Update the accessible adjacent lanes.
void	updateAccessibleAdjacentLanesLeft() Update the accessible adjacent lanes on the left.
void	updateAccessibleAdjacentLanesRight() Update the accessible adjacent lanes on the right.
default void	updateAll()
void	updateBackwardHeadway() Update the backward headway and first object (e.g., a GTU) behind.
void	updateForwardHeadwayGTU() Update the forward headway and first object (a GTU) in front.
void	updateForwardHeadwayObject() Update the forward headway and first object (but not a GTU) in front.
void	updateLanePathInfo()
void	updateNeighboringHeadways(LateralDirectionality lateralDirection) Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateNeighboringHeadwaysLeft() Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateNeighboringHeadwaysRight() Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.
void	updateParallelHeadways(LateralDirectionality lateralDirection) Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.
void	updateParallelHeadwaysLeft() Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.
void	updateParallelHeadwaysRight() Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.
void	updateSpeedLimit() Update speedLimit.

Method Detail

updateLanePathInfo

void updateLanePathInfo()
                 throws GTUException,
                        NetworkException,
                        ParameterException

Throws:

GTUException - when the GTU was not initialized yet.

NetworkException - when the speed limit for a GTU type cannot be retrieved from the network.

ParameterException - in case of not being able to retrieve parameter ParameterTypes.LOOKAHEAD

updateForwardHeadwayGTU

void updateForwardHeadwayGTU()
                      throws GTUException,
                             NetworkException,
                             ParameterException

Update the forward headway and first object (a GTU) in front.

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateForwardHeadwayObject

void updateForwardHeadwayObject()
                         throws GTUException,
                                NetworkException,
                                ParameterException

Update the forward headway and first object (but not a GTU) in front.

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateBackwardHeadway

void updateBackwardHeadway()
                    throws GTUException,
                           ParameterException,
                           NetworkException

Update the backward headway and first object (e.g., a GTU) behind.

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateAccessibleAdjacentLanes

default void updateAccessibleAdjacentLanes()
                                    throws GTUException

Update the accessible adjacent lanes.

Throws:

GTUException - when the GTU was not yet initialized

updateAccessibleAdjacentLanesLeft

void updateAccessibleAdjacentLanesLeft()
                                throws GTUException

Update the accessible adjacent lanes on the left.

Throws:

GTUException - when the GTU was not yet initialized

updateAccessibleAdjacentLanesRight

void updateAccessibleAdjacentLanesRight()
                                 throws GTUException

Update the accessible adjacent lanes on the right.

Throws:

GTUException - when the GTU was not yet initialized

updateNeighboringHeadwaysLeft

void updateNeighboringHeadwaysLeft()
                            throws GTUException,
                                   ParameterException,
                                   NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateNeighboringHeadwaysRight

void updateNeighboringHeadwaysRight()
                             throws GTUException,
                                    ParameterException,
                                    NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects.

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateNeighboringHeadways

void updateNeighboringHeadways(LateralDirectionality lateralDirection)
                        throws GTUException,
                               ParameterException,
                               NetworkException

Update the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects.

Parameters:

lateralDirection - LateralDirectionality; the direction to update the parallel headway collection for

Throws:

GTUException - when the GTU was not yet initialized

ParameterException - if parameter is not defined or out of bounds

NetworkException - in case of network exception

updateParallelHeadwaysLeft

void updateParallelHeadwaysLeft()
                         throws GTUException

Update the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

Throws:

GTUException - when the GTU was not yet initialized

updateParallelHeadwaysRight

void updateParallelHeadwaysRight()
                          throws GTUException

Update the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

Throws:

GTUException - when the GTU was not yet initialized

updateParallelHeadways

void updateParallelHeadways(LateralDirectionality lateralDirection)
                     throws GTUException

Update the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.

Parameters:

lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for

Throws:

GTUException - when the GTU was not yet initialized

updateSpeedLimit

void updateSpeedLimit()
               throws GTUException,
                      NetworkException

Update speedLimit.

Throws:

GTUException - when the GTU was not yet initialized

NetworkException - in case of network exception

getLanePathInfo

LanePathInfo getLanePathInfo()

Retrieve the last perceived lane path info.

Returns:

LanePathInfo

getForwardHeadwayGTU

Headway getForwardHeadwayGTU()

Returns:

forwardHeadway, the forward headway and first object (GTU) in front

getForwardHeadwayObject

Headway getForwardHeadwayObject()

Returns:

forwardHeadway, the forward headway and first object (not a GTU) in front

getBackwardHeadway

Headway getBackwardHeadway()

Returns:

backwardHeadwayGTU, the backward headway and first object (e.g., a GTU) behind

getAccessibleAdjacentLanesLeft

Map<Lane,Set<Lane>> getAccessibleAdjacentLanesLeft()

Returns:

accessibleAdjacentLanesLeft, the accessible adjacent lanes on the left

getAccessibleAdjacentLanesRight

Map<Lane,Set<Lane>> getAccessibleAdjacentLanesRight()

Returns:

accessibleAdjacentLanesRight, the accessible adjacent lanes on the right

getAccessibleAdjacentLanes

Map<Lane,Set<Lane>> getAccessibleAdjacentLanes(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; the direction to return the accessible adjacent lane map for

Returns:

the accessible adjacent lane map for the given direction

getNeighboringHeadwaysLeft

Collection<Headway> getNeighboringHeadwaysLeft()

Returns:

neighboringHeadwaysLeft, the objects (e.g., GTUs) in parallel, in front and behind on the left neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getNeighboringHeadwaysRight

Collection<Headway> getNeighboringHeadwaysRight()

Returns:

neighboringHeadwaysRight, the objects (e.g., GTUs) in parallel, in front and behind on the right neighboring lane, with their headway relative to our GTU, and information about the status of the adjacent objects

getNeighboringHeadways

Collection<Headway> getNeighboringHeadways(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; the direction to return the parallel headway collection for

Returns:

the the objects (e.g., GTUs) in parallel, in front and behind for the lane in the given direction, with their headway relative to our GTU, and information about the status of the adjacent objects

getParallelHeadwaysLeft

Collection<Headway> getParallelHeadwaysLeft()

Returns:

parallelHeadwaysLeft, the parallel objects (e.g., GTUs) on the left, with information about their status and parallel overlap with our GTU.

getParallelHeadwaysRight

Collection<Headway> getParallelHeadwaysRight()

Returns:

parallelHeadwaysRight, the parallel objects (e.g., GTUs) on the right, with information about their status and parallel overlap with our GTU.

getParallelHeadways

Collection<Headway> getParallelHeadways(LateralDirectionality lateralDirection)

Parameters:

lateralDirection - LateralDirectionality; the direction to return the neighboring headway collection for

Returns:

the the parallel objects (e.g., GTUs) for the given direction, with information about their status and parallel overlap with our GTU.

getSpeedLimit

Speed getSpeedLimit()

Returns:

speedLimit

updateAll

default void updateAll()
                throws GTUException,
                       ParameterException,
                       NetworkException

Specified by:

updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>

Throws:

GTUException

ParameterException

NetworkException

bestAccessibleAdjacentLane

Lane bestAccessibleAdjacentLane(Lane currentLane,
                                LateralDirectionality lateralDirection,
                                Length longitudinalPosition)

Determine whether there is a lane to the left or to the right of this lane, which is accessible from this lane, or null if no lane could be found. The method takes the LongitidinalDirectionality of the lane into account. In other words, if we drive FORWARD and look for a lane on the LEFT, and there is a lane but the Directionality of that lane is not FORWARD or BOTH, null will be returned.
A lane is called adjacent to another lane if the lateral edges are not more than a delta distance apart. This means that a lane that overlaps with another lane is not returned as an adjacent lane.
The algorithm also looks for RoadMarkerAcross elements between the lanes to determine the lateral permeability for a GTU. A RoadMarkerAcross is seen as being between two lanes if its center line is not more than delta distance from the relevant lateral edges of the two adjacent lanes.
When there are multiple lanes that are adjacent, which could e.g. be the case if an overlapping tram lane and a car lane are adjacent to the current lane, the widest lane that best matches the GTU accessibility of the provided GTUType is returned.
Note: LEFT is seen as a negative lateral direction, RIGHT as a positive lateral direction.
FIXME In other places in OTS LEFT is positive (and RIGHT is negative). This should be made more consistent.

Parameters:

currentLane - Lane; the lane to look for the best accessible adjacent lane

lateralDirection - LateralDirectionality; the direction (LEFT, RIGHT) to look at

longitudinalPosition - Length; the position of the GTU along currentLane

Returns:

the lane if it is accessible, or null if there is no lane, it is not accessible, or the driving direction does not match.