1 package org.opentrafficsim.road.gtu.lane.control;
2
3 import org.djunits.value.vdouble.scalar.Acceleration;
4 import org.djunits.value.vdouble.scalar.Duration;
5 import org.opentrafficsim.base.parameters.ParameterTypeDuration;
6 import org.opentrafficsim.base.parameters.constraint.NumericConstraint;
7 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
8
9 /**
10 * Delays the actuation of acceleration. This is not part of the vehicle model as that is used for both human and automated
11 * control, which follow different vehicle capability semantics.
12 * <p>
13 * Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
14 * BSD-style license. See <a href="http://opentrafficsim.org/node/13">OpenTrafficSim License</a>.
15 * <p>
16 * @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 12, 2019 <br>
17 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
18 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
19 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
20 */
21 public interface DelayedActuation
22 {
23
24 /** No delayed actuation. */
25 DelayedActuation NONE = new DelayedActuation()
26 {
27 /** {@inheritDoc} */
28 @Override
29 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGTU gtu)
30 {
31 return desiredAcceleration;
32 }
33 };
34
35 /** Parameter for actuation delay. */
36 ParameterTypeDuration TAU =
37 new ParameterTypeDuration("tau_actuation", "Actuation delay", Duration.createSI(0.1), NumericConstraint.POSITIVE);
38
39 /** Tau delayed actuation. */
40 DelayedActuation TAUDELAYED = new DelayedActuation()
41 {
42 /** {@inheritDoc} */
43 @Override
44 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGTU gtu)
45 {
46 // TODO: numerical implementation of tau rule
47 return desiredAcceleration.minus(gtu.getAcceleration());
48 }
49 };
50
51 /**
52 * Delays the actuation of acceleration.
53 * @param desiredAcceleration Acceleration; desired acceleration
54 * @param gtu LaneBasedGTU; gtu
55 * @return Acceleration; delayed acceleration
56 */
57 Acceleration delayActuation(Acceleration desiredAcceleration, LaneBasedGTU gtu);
58
59 }