org.opentrafficsim.road.gtu.lane.plan.operational

Interface LaneChange.LaneChangePath

All Known Implementing Classes:

LaneChange.LaneChangePath.SequentialLaneChangePath

Enclosing class:

LaneChange

public static interface LaneChange.LaneChangePath

Provides a (partial) path during lane changes.

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 30 apr. 2018

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	LaneChange.LaneChangePath.SequentialLaneChangePath A helper class to allow a lane change to follow a sequential determination of the target position (including rotation) for each time step.

Field Summary

Fields

Modifier and Type	Field and Description
static LaneChange.LaneChangePath	BEZIER A simple Bezier curve directly to the lane change target position.
static LaneChange.LaneChangePath	POLY3 The target point (including rotation) for the coming time step is based on a 3rd-degree polynomial.
static LaneChange.LaneChangePath	SINE The target point (including rotation) for the coming time step is based on a sine wave.

Method Summary

Modifier and Type	Method and Description
OTSLine3D	getPath(Duration timeStep, Length planDistance, Speed meanSpeed, DirectedLanePosition from, DirectedPoint startPosition, LateralDirectionality laneChangeDirection, List<LaneDirection> fromLanes, List<LaneDirection> toLanes, double endFractionalPosition, Duration laneChangeDuration, double lcFraction) Returns a (partial) path for a lane change.

Field Detail

BEZIER

static final LaneChange.LaneChangePath BEZIER

A simple Bezier curve directly to the lane change target position.

SINE

static final LaneChange.LaneChangePath SINE

The target point (including rotation) for the coming time step is based on a sine wave.

POLY3

static final LaneChange.LaneChangePath POLY3

The target point (including rotation) for the coming time step is based on a 3rd-degree polynomial.

Method Detail

getPath

OTSLine3D getPath(Duration timeStep,
                  Length planDistance,
                  Speed meanSpeed,
                  DirectedLanePosition from,
                  DirectedPoint startPosition,
                  LateralDirectionality laneChangeDirection,
                  List<LaneDirection> fromLanes,
                  List<LaneDirection> toLanes,
                  double endFractionalPosition,
                  Duration laneChangeDuration,
                  double lcFraction)
           throws OTSGeometryException

Returns a (partial) path for a lane change. The method is called both at the start and during a lane change, and should return a valid path. This path should at least have a length of planDistance, unless the lane change will be finished during the coming time step. In that case, the caller of this method is to lengthen the path along the center line of the target lane.

Parameters:

timeStep - Duration; time step

planDistance - Length; distance covered during the plan

meanSpeed - Speed; mean speed during time step

from - DirectedLanePosition; current position on the from-lanes

startPosition - DirectedPoint; current 2D position

laneChangeDirection - LateralDirectionality; lane change direction

fromLanes - List<LaneDirection>; lane list of the from-lane concerned

toLanes - List<LaneDirection>; lane list of the to-lane concerned

endFractionalPosition - double; fractional position at the end of the plan at the last lanes in the lane lists

laneChangeDuration - Duration; current considered duration of the entire lane change

lcFraction - double; fraction of lane change done so far

Returns:

OTSLine3D a (partial) path for a lane change

Throws:

OTSGeometryException - on wrong fractional position