1 package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
2
3 import org.djunits.value.vdouble.scalar.Acceleration;
4 import org.djunits.value.vdouble.scalar.Length;
5 import org.djunits.value.vdouble.scalar.Speed;
6 import org.opentrafficsim.base.parameters.ParameterException;
7 import org.opentrafficsim.base.parameters.Parameters;
8 import org.opentrafficsim.core.gtu.GTUException;
9 import org.opentrafficsim.core.gtu.perception.EgoPerception;
10 import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
11 import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
12 import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
13 import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
14 import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
15 import org.opentrafficsim.road.gtu.lane.perception.categories.IntersectionPerception;
16 import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
17 import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayConflict;
18 import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
19 import org.opentrafficsim.road.gtu.lane.plan.operational.SimpleOperationalPlan;
20 import org.opentrafficsim.road.gtu.lane.tactical.Blockable;
21 import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
22 import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil;
23 import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil.ConflictPlans;
24 import org.opentrafficsim.road.network.lane.conflict.Conflict;
25 import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
26
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36
37
38 public class AccelerationConflicts implements AccelerationIncentive, Blockable
39 {
40
41
42 private final ConflictPlans yieldPlans = new ConflictPlans();
43
44
45 @Override
46 public final void accelerate(final SimpleOperationalPlan simplePlan, final RelativeLane lane, final LaneBasedGTU gtu,
47 final LanePerception perception, final CarFollowingModel carFollowingModel, final Speed speed,
48 final Parameters params, final SpeedLimitInfo speedLimitInfo)
49 throws OperationalPlanException, ParameterException, GTUException
50 {
51
52 EgoPerception<?, ?> ego = perception.getPerceptionCategory(EgoPerception.class);
53 Acceleration acceleration = ego.getAcceleration();
54 Length length = ego.getLength();
55 Length width = ego.getWidth();
56 PerceptionCollectable<HeadwayConflict, Conflict> conflicts =
57 perception.getPerceptionCategory(IntersectionPerception.class).getConflicts(lane);
58 PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders =
59 perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(lane);
60
61 Acceleration a = ConflictUtil.approachConflicts(params, conflicts, leaders, carFollowingModel, length, width, speed,
62 acceleration, speedLimitInfo, this.yieldPlans, gtu, lane);
63 simplePlan.minimizeAcceleration(a);
64 if (this.yieldPlans.getIndicatorIntent().isLeft())
65 {
66 simplePlan.setIndicatorIntentLeft(this.yieldPlans.getIndicatorObjectDistance());
67 }
68 else if (this.yieldPlans.getIndicatorIntent().isRight())
69 {
70 simplePlan.setIndicatorIntentRight(this.yieldPlans.getIndicatorObjectDistance());
71 }
72 }
73
74
75 @Override
76 public boolean isBlocking()
77 {
78 return this.yieldPlans.isBlocking();
79 }
80
81
82 @Override
83 public final String toString()
84 {
85 return "AccelerationConflicts";
86 }
87
88 }