AccPerception.java
package org.opentrafficsim.road.gtu.lane.perception.categories.neighbors;
import java.util.ArrayList;
import java.util.List;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.scalar.Time;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.GTUType;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.gtu.lane.control.CACC;
import org.opentrafficsim.road.gtu.lane.perception.DownstreamNeighborsIterable;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.LaneRecord;
import org.opentrafficsim.road.gtu.lane.perception.LaneStructureRecord;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory;
import org.opentrafficsim.road.gtu.lane.perception.headway.GTUStatus;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTUSimple;
/**
* ACC perception.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 12, 2019 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
public class AccPerception extends LaneBasedAbstractPerceptionCategory implements LongitudinalControllerPerception
{
/** */
private static final long serialVersionUID = 20190312L;
/** Onboard sensors in the form of a headway GTU type. */
private final HeadwayGtuType sensors;
/**
* Constructor using default sensors with zero delay.
* @param perception LanePerception; perception
*/
public AccPerception(final LanePerception perception)
{
this(perception, new OnboardSensors());
}
/**
* Constructor using specified sensors.
* @param perception LanePerception; perception
* @param sensors HeadwayGtuType; headway GTU type that defines the onboard sensor information
*/
public AccPerception(final LanePerception perception, final HeadwayGtuType sensors)
{
super(perception);
this.sensors = sensors;
}
/** {@inheritDoc} */
@Override
public void updateAll() throws GTUException, NetworkException, ParameterException
{
// lazy evaluation
}
/** {@inheritDoc} */
@Override
public PerceptionCollectable<HeadwayGTU, LaneBasedGTU> getLeaders()
{
return computeIfAbsent("leaders", () -> computeLeaders());
}
/**
* Computes leaders.
* @return perception iterable for leaders
*/
private PerceptionCollectable<HeadwayGTU, LaneBasedGTU> computeLeaders()
{
try
{
LaneStructureRecord record = getPerception().getLaneStructure().getRootRecord();
Length pos = record.getStartDistance().neg();
pos = record.getDirection().isPlus() ? pos.plus(getGtu().getFront().getDx())
: pos.minus(getGtu().getFront().getDx());
boolean ignoreIfUpstream = true;
return new DownstreamNeighboursIterableACC(getGtu(), record, Length.max(Length.ZERO, pos),
getGtu().getParameters().getParameter(RANGE), getGtu().getFront(), this.sensors, RelativeLane.CURRENT,
ignoreIfUpstream);
}
catch (ParameterException | GTUException exception)
{
throw new RuntimeException("Unexpected exception while computing gtu alongside.", exception);
}
}
/**
* Extends the regular {@code DownstreamNeighborsIterable} class with skipping leaders that are not sensed by the system.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* <br>
* BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 13, 2019 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
private static class DownstreamNeighboursIterableACC extends DownstreamNeighborsIterable
{
/**
* Constructor.
* @param perceivingGtu LaneBasedGTU; perceiving GTU
* @param root LaneRecord<?>; root record
* @param initialPosition Length; position on the root record
* @param maxDistance Length; maximum distance to search
* @param relativePosition RelativePosition; position to which distance are calculated by subclasses
* @param headwayGtuType HeadwayGtuType; type of HeadwayGTU to return
* @param lane RelativeLane; relative lane (used for a left/right distinction to prevent dead-locks)
* @param ignoreIfUpstream boolean; whether to ignore GTU that are partially upstream of a record
*/
@SuppressWarnings("checkstyle:parameternumber")
DownstreamNeighboursIterableACC(final LaneBasedGTU perceivingGtu, final LaneRecord<?> root,
final Length initialPosition, final Length maxDistance, final RelativePosition relativePosition,
final HeadwayGtuType headwayGtuType, final RelativeLane lane, final boolean ignoreIfUpstream)
{
super(perceivingGtu, root, initialPosition, maxDistance, relativePosition, headwayGtuType, lane, ignoreIfUpstream);
}
/** {@inheritDoc} */
@Override
protected Entry getNext(final LaneRecord<?> record, final Length position, final Integer counter) throws GTUException
{
Entry next;
do
{
next = super.getNext(record, position, counter);
}
// skip leaders that are not the direct leader and that are not CACC
while (next != null && counter > 1 && !(next.getObject().getTacticalPlanner() instanceof CACC));
return next;
}
}
/**
* Default CACC sensors. This returns all information except desired speed for the first leader and CACC leaders. Remaining
* leaders are provided null information.
* <p>
* Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
* <br>
* BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
* <p>
* @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 13, 2019 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
* @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
*/
private static class OnboardSensors implements HeadwayGtuType
{
/**
* Constructor.
*/
OnboardSensors()
{
//
}
/** {@inheritDoc} */
@Override
public HeadwayGTU createDownstreamGtu(final LaneBasedGTU perceivingGtu, final LaneBasedGTU perceivedGtu,
final Length distance) throws GTUException, ParameterException
{
Time t = perceivingGtu.getSimulator().getSimulatorTime().minus(perceivingGtu.getParameters().getParameter(DELAY));
String id = perceivedGtu.getId();
GTUType gtuType = perceivedGtu.getGTUType();
Length length = perceivedGtu.getLength();
Length width = perceivedGtu.getWidth();
Speed v = perceivedGtu.getSpeed(t);
Acceleration a = perceivedGtu.getAcceleration(t);
Speed desiredSpeed = null;
List<GTUStatus> status = new ArrayList<>();
if (perceivedGtu.isBrakingLightsOn(t))
{
status.add(GTUStatus.BRAKING_LIGHTS);
}
switch (perceivedGtu.getTurnIndicatorStatus(t))
{
case HAZARD:
status.add(GTUStatus.EMERGENCY_LIGHTS);
break;
case LEFT:
status.add(GTUStatus.LEFT_TURNINDICATOR);
break;
case RIGHT:
status.add(GTUStatus.RIGHT_TURNINDICATOR);
break;
default:
break;
}
return new HeadwayGTUSimple(id, gtuType, distance, length, width, v, a, desiredSpeed,
status.toArray(new GTUStatus[status.size()]));
}
/** {@inheritDoc} */
@Override
public HeadwayGTU createUpstreamGtu(final LaneBasedGTU perceivingGtu, final LaneBasedGTU perceivedGtu,
final Length distance) throws GTUException, ParameterException
{
throw new UnsupportedOperationException("Default CACC sensors can only determine leaders.");
}
/** {@inheritDoc} */
@Override
public HeadwayGTU createParallelGtu(final LaneBasedGTU perceivingGtu, final LaneBasedGTU perceivedGtu,
final Length overlapFront, final Length overlap, final Length overlapRear) throws GTUException
{
throw new UnsupportedOperationException("Default CACC sensors can only determine leaders.");
}
}
}