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

Interface LaneChange.LaneChangePath

All Known Implementing Classes:

LaneChange.LaneChangePath.InterpolatedLaneChangePath, 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.InterpolatedLaneChangePath Helper class for interpolation between the from and to center lines.
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	LINEAR Linear interpolation between center lines.
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.
static LaneChange.LaneChangePath	SINE_INTERP Sine-shaped interpolation between center lines.

Method Summary

Modifier and Type	Method and Description
OTSLine3D	getPath(Duration timeStep, Length planDistance, Speed meanSpeed, DirectedLanePosition from, nl.tudelft.simulation.language.d3.DirectedPoint startPosition, LateralDirectionality laneChangeDirection, OTSLine3D fromLine, OTSLine3D toLine, Duration laneChangeDuration, double lcFraction) Returns a (partial) path for a lane change.

Field Detail

SINE_INTERP

static final LaneChange.LaneChangePath SINE_INTERP

Sine-shaped interpolation between center lines.

LINEAR

static final LaneChange.LaneChangePath LINEAR

Linear interpolation between center lines.

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,
                  nl.tudelft.simulation.language.d3.DirectedPoint startPosition,
                  LateralDirectionality laneChangeDirection,
                  OTSLine3D fromLine,
                  OTSLine3D toLine,
                  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 operational 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

fromLine - OTSLine3D; from line

toLine - OTSLine3D; to line

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