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

Class LaneChange

java.lang.Object

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

All Implemented Interfaces:

Serializable

public class LaneChange
extends Object
implements Serializable

Lane change status across operational plans. This class allows lane based tactical planners to perform lane changes without having to deal with many complexities concerning paths and lane registration. The main purpose of the tactical planner is to request a path using getPath() for each step of the tactical planner.

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 Jul 26, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static interface	LaneChange.LaneChangePath Provides a (partial) path during lane changes.

Field Summary

Fields

Modifier and Type	Field and Description
static double	MIN_LC_LENGTH_FACTOR Minimum distance required to perform a lane change as factor on vehicle length.

Constructor Summary

Constructors

Constructor and Description
LaneChange(LaneBasedGTU gtu) Constructor.
LaneChange(Length minimumLaneChangeDistance, Duration desiredLaneChangeDuration) Constructor.

Method Summary

Modifier and Type	Method and Description
boolean	checkRoom(LaneBasedGTU gtu, Headway headway) Checks whether the given GTU has sufficient space relative to a Headway.
LateralDirectionality	getDirection() Return lateral lane change direction.
double	getFraction() Returns the fraction of the lane change performed.
Length	getMinimumLaneChangeDistance() Returns the minimum lane change distance.
OTSLine3D	getPath(Duration timeStep, LaneBasedGTU gtu, DirectedLanePosition from, nl.tudelft.simulation.language.d3.DirectedPoint startPosition, Length planDistance, LateralDirectionality laneChangeDirection) Returns the path for a lane change.
RelativeLane	getSecondLane(LaneBasedGTU gtu) Second lane of lane change relative to the reference lane.
boolean	isChangingLane() Return whether the GTU is changing lane.
boolean	isChangingLeft() Return whether the GTU is changing left.
boolean	isChangingRight() Return whether the GTU is changing right.
void	setBoundary(Length boundary) Sets the distance within which a lane change should be finished.
void	setDesiredLaneChangeDuration(Duration duration) Sets the desired lane change duration.
void	setLaneChangePath(LaneChange.LaneChangePath laneChangePath) Sets a lane change path.
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

MIN_LC_LENGTH_FACTOR

public static double MIN_LC_LENGTH_FACTOR

Minimum distance required to perform a lane change as factor on vehicle length.

Constructor Detail

LaneChange

public LaneChange(LaneBasedGTU gtu)

Constructor.

Parameters:

gtu - LaneBasedGTU; gtu

LaneChange

public LaneChange(Length minimumLaneChangeDistance,
                  Duration desiredLaneChangeDuration)

Constructor.

Parameters:

minimumLaneChangeDistance - Length; minimum lane change distance

desiredLaneChangeDuration - Duration; deaired lane change duration

Method Detail

getMinimumLaneChangeDistance

public Length getMinimumLaneChangeDistance()

Returns the minimum lane change distance.

Returns:

Length; minimum lane change distance

setDesiredLaneChangeDuration

public void setDesiredLaneChangeDuration(Duration duration)

Sets the desired lane change duration. Should be set by a tactical planner.

Parameters:

duration - Duration; desired lane change duration

setBoundary

public void setBoundary(Length boundary)

Sets the distance within which a lane change should be finished. Should be set by a tactical planner. In case of a single lane change required before some point, this is not required as the found center line length is intrinsically limited. For multiple lane changes being required, space after a lane change is required.

Parameters:

boundary - Length; boundary

getFraction

public double getFraction()

Returns the fraction of the lane change performed.

Returns:

double; fraction of lane change performed

setLaneChangePath

public void setLaneChangePath(LaneChange.LaneChangePath laneChangePath)

Sets a lane change path.

Parameters:

laneChangePath - LaneChangePath; lane change path

isChangingLane

public final boolean isChangingLane()

Return whether the GTU is changing lane.

Returns:

whether the GTU is changing lane

isChangingLeft

public final boolean isChangingLeft()

Return whether the GTU is changing left.

Returns:

whether the GTU is changing left

isChangingRight

public final boolean isChangingRight()

Return whether the GTU is changing right.

Returns:

whether the GTU is changing right

getDirection

public final LateralDirectionality getDirection()

Return lateral lane change direction.

Returns:

LateralDirectionality; lateral lane change direction

getSecondLane

public final RelativeLane getSecondLane(LaneBasedGTU gtu)
                                 throws OperationalPlanException

Second lane of lane change relative to the reference lane. Note that the reference lane may either be the source or the target lane. Thus, the second lane during a lane change may either be the left or right lane, regardless of the lane change direction.

Parameters:

gtu - LaneBasedGTU; the GTU

Returns:

target lane of lane change

Throws:

OperationalPlanException - If no lane change is being performed.

getPath

public final OTSLine3D getPath(Duration timeStep,
                               LaneBasedGTU gtu,
                               DirectedLanePosition from,
                               nl.tudelft.simulation.language.d3.DirectedPoint startPosition,
                               Length planDistance,
                               LateralDirectionality laneChangeDirection)
                        throws OTSGeometryException

Returns the path for a lane change. Lane change initialization and finalization events are automatically performed.

Parameters:

timeStep - Duration; plan time step

gtu - LaneBasedGTU; gtu

from - DirectedLanePosition; current position on the from lane (i.e. not necessarily the reference position)

startPosition - DirectedPoint; current position in 2D

planDistance - Length; absolute distance that will be covered during the time step

laneChangeDirection - LateralDirectionality; lane change direction

Returns:

OTSLine3D; path

Throws:

OTSGeometryException - on path or shape error

checkRoom

public boolean checkRoom(LaneBasedGTU gtu,
                         Headway headway)

Checks whether the given GTU has sufficient space relative to a Headway.

Parameters:

gtu - LaneBasedGTU; gtu

headway - Headway; headway

Returns:

boolean; whether the given GTU has sufficient space relative to a Headway

toString

public String toString()

Overrides:

toString in class Object