1 package org.opentrafficsim.road.gtu.lane.perception;
2
3 import org.djunits.value.vdouble.scalar.Length;
4 import org.djunits.value.vdouble.scalar.Time;
5 import org.opentrafficsim.base.parameters.ParameterException;
6 import org.opentrafficsim.base.parameters.ParameterTypeLength;
7 import org.opentrafficsim.base.parameters.ParameterTypes;
8 import org.opentrafficsim.core.gtu.GTUException;
9 import org.opentrafficsim.core.gtu.perception.AbstractPerception;
10 import org.opentrafficsim.core.network.NetworkException;
11 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
12 import org.opentrafficsim.road.gtu.lane.perception.mental.Mental;
13 import org.opentrafficsim.road.network.lane.DirectedLanePosition;
14
15 /**
16 * The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which
17 * includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a
18 * limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be
19 * recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception. <br>
20 * Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU),
21 * parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as
22 * to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending
23 * lanes.
24 * <p>
25 * This class allows {@code PerceptionCategory}s that are either eager or lazy. All categories will have the {@code updateAll}
26 * method invoked prior to an operational plan being determined. Categories may ignore this and instead evaluate results only
27 * when the tactical planner requests them.
28 * <p>
29 * Copyright (c) 2013-2019 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
30 * BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
31 * </p>
32 * $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
33 * initial version Nov 15, 2015 <br>
34 * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
35 * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
36 * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
37 */
38 public abstract class AbstractLanePerception extends AbstractPerception<LaneBasedGTU> implements LanePerception
39 {
40
41 /** */
42 private static final long serialVersionUID = 20151128L;
43
44 /** Perception parameter type. */
45 protected static final ParameterTypeLength PERCEPTION = ParameterTypes.PERCEPTION;
46
47 /** Look ahead parameter type. */
48 protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
49
50 /** Look back parameter type. */
51 protected static final ParameterTypeLength LOOKBACK = ParameterTypes.LOOKBACK;
52
53 /** Lane structure to perform the perception with. */
54 private LaneStructure laneStructure = null;
55
56 /** Most recent update time of lane structure. */
57 private Time updateTime = null;
58
59 /** Mental module. */
60 private Mental mental;
61
62 /**
63 * Create a new LanePerception module without mental module.
64 * @param gtu LaneBasedGTU; GTU
65 */
66 public AbstractLanePerception(final LaneBasedGTU gtu)
67 {
68 super(gtu);
69 this.mental = null;
70 }
71
72 /**
73 * Create a new LanePerception module with mental module.
74 * @param gtu LaneBasedGTU; GTU
75 * @param mental Mental; mental module
76 */
77 public AbstractLanePerception(final LaneBasedGTU gtu, final Mental mental)
78 {
79 super(gtu);
80 this.mental = mental;
81 }
82
83 /** {@inheritDoc} */
84 @Override
85 public final LaneStructure getLaneStructure() throws ParameterException
86 {
87
88 if (this.laneStructure == null || this.updateTime.lt(getGtu().getSimulator().getSimulatorTime()))
89 {
90 if (this.laneStructure == null)
91 {
92 // downstream structure length
93 Length down = getGtu().getParameters().getParameter(PERCEPTION);
94 // upstream structure length
95 Length up = getGtu().getParameters().getParameter(LOOKBACK);
96 // structure length downstream of split on link not on route
97 Length lookAhead = getGtu().getParameters().getParameter(LOOKAHEAD);
98 // structure length upstream of merge on link not on route
99 Length upMerge = Length.max(up, lookAhead);
100 // negative values for upstream
101 up = up.neg();
102 upMerge = upMerge.neg();
103 this.laneStructure = new RollingLaneStructure(lookAhead, down, up, lookAhead, upMerge, getGtu());
104 }
105 DirectedLanePosition dlp;
106 try
107 {
108 dlp = getGtu().getReferencePosition();
109 this.laneStructure.update(dlp, getGtu().getStrategicalPlanner().getRoute(), getGtu().getGTUType());
110 }
111 catch (GTUException exception)
112 {
113 exception.printStackTrace();
114 throw new RuntimeException("Error while updating the lane map.", exception);
115 }
116 this.updateTime = getGtu().getSimulator().getSimulatorTime();
117 }
118 return this.laneStructure;
119 }
120
121 /** {@inheritDoc} */
122 @Override
123 public Mental getMental()
124 {
125 return this.mental;
126 }
127
128 /** {@inheritDoc} */
129 @Override
130 public void perceive() throws GTUException, NetworkException, ParameterException
131 {
132 if (this.mental != null)
133 {
134 this.mental.apply(this);
135 }
136 super.perceive();
137 }
138
139 }