Package org.opentrafficsim.road.gtu.lane

Interface LaneBasedGTU

All Superinterfaces:
Drawable, EventProducerInterface, GTU, Identifiable, Locatable, java.io.Serializable
All Known Implementing Classes:
AbstractLaneBasedGTU, AbstractLaneBasedGTU2, AbstractLaneBasedIndividualGTU, LaneBasedIndividualGTU
public interface LaneBasedGTU
extends GTU
This interface defines a lane based GTU.

Copyright (c) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:
$Revision: 1401 $, $LastChangedDate: 2015-09-14 01:33:02 +0200 (Mon, 14 Sep 2015) $, by $Author: averbraeck $, initial version Oct 22, 2014
Author:
Alexander Verbraeck, Peter Knoppers

  • Field Details

    • LANEBASED_INIT_EVENT

      static final EventType LANEBASED_INIT_EVENT
      The lane-based event type for pub/sub indicating the initialization of a new GTU.
      Payload: [String gtuId, DirectedPoint initialPosition, Length length, Length width, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction, GTUType gtuType]

    • LANEBASED_MOVE_EVENT

      static final EventType LANEBASED_MOVE_EVENT
      The lane-based event type for pub/sub indicating a move.
      Payload: [String gtuId, DirectedPoint position, Speed speed, Acceleration acceleration, TurnIndicatorStatus turnIndicatorStatus, Length odometer, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction]

    • LANEBASED_DESTROY_EVENT

      static final EventType LANEBASED_DESTROY_EVENT
      The lane-based event type for pub/sub indicating destruction of the GTU.
      Payload: [String gtuId, DirectedPoint lastPosition, Length odometer, Lane referenceLane, Length positionOnReferenceLane, GTUDirectionality direction]

    • LINK_ENTER_EVENT

      static final EventType LINK_ENTER_EVENT
      The event type for pub/sub indicating that the GTU entered a new link (with the FRONT position if driving forward; REAR if driving backward).
      Payload: [String gtuId, Link link]

    • LINK_EXIT_EVENT

      static final EventType LINK_EXIT_EVENT
      The event type for pub/sub indicating that the GTU exited a link (with the REAR position if driving forward; FRONT if driving backward).
      Payload: [String gtuId, Link link]

    • LANE_ENTER_EVENT

      static final EventType LANE_ENTER_EVENT
      The event type for pub/sub indicating that the GTU entered a new lane (with the FRONT position if driving forward; REAR if driving backward).
      Payload: [String gtuId, Lane lane]

    • LANE_EXIT_EVENT

      static final EventType LANE_EXIT_EVENT
      The event type for pub/sub indicating that the GTU exited a lane (with the REAR position if driving forward; FRONT if driving backward).
      Payload: [String gtuId, Lane lane]

    • LANE_CHANGE_EVENT

      static final EventType LANE_CHANGE_EVENT
      The event type for pub/sub indicating that the GTU change lane.
      Payload: [String gtuId, LateralDirectionality direction, DirectedLanePosition from]

  • Method Details

    • getNetwork

      RoadNetwork getNetwork()
      Returns:
      the road network to which the LaneBasedGTU belongs

    • getStrategicalPlanner

      LaneBasedStrategicalPlanner getStrategicalPlanner()
      Specified by:
      getStrategicalPlanner in interface GTU

    • getStrategicalPlanner

      LaneBasedStrategicalPlanner getStrategicalPlanner​(Time time)
      Specified by:
      getStrategicalPlanner in interface GTU

    • getTacticalPlanner

      default LaneBasedTacticalPlanner getTacticalPlanner()
      Specified by:
      getTacticalPlanner in interface GTU

    • getTacticalPlanner

      default LaneBasedTacticalPlanner getTacticalPlanner​(Time time)
      Specified by:
      getTacticalPlanner in interface GTU

    • getLocation

      DirectedPoint getLocation()
      Return the location without a RemoteException.
      Specified by:
      getLocation in interface Locatable

    • changeLaneInstantaneously

      void changeLaneInstantaneously​(LateralDirectionality laneChangeDirection) throws GTUException
      Change lanes instantaneously.
      Parameters:
      laneChangeDirection - LateralDirectionality; the direction to change to
      Throws:
      GTUException - in case lane change fails

    • initLaneChange

      void initLaneChange​(LateralDirectionality laneChangeDirection) throws GTUException
      Register on lanes in target lane.
      Parameters:
      laneChangeDirection - LateralDirectionality; direction of lane change
      Throws:
      GTUException - exception

    • setFinalizeLaneChangeEvent

      void setFinalizeLaneChangeEvent​(SimEventInterface<SimTimeDoubleUnit> event)
      Sets event to finalize lane change.
      Parameters:
      event - SimEventInterface<SimTimeDoubleUnit>; event

    • getProjectedLength

      default Length getProjectedLength​(Lane lane) throws GTUException
      Get projected length on the lane.
      Parameters:
      lane - Lane; lane to project the vehicle on
      Returns:
      Length; the length on the lane, which is different from the actual length during deviative tactical plans
      Throws:
      GTUException - when the vehicle is not on the given lane

    • setInstantaneousLaneChange

      void setInstantaneousLaneChange​(boolean instantaneous)
      Sets whether the GTU perform lane changes instantaneously or not.
      Parameters:
      instantaneous - boolean; whether the GTU perform lane changes instantaneously or not

    • isInstantaneousLaneChange

      boolean isInstantaneousLaneChange()
      Returns whether the GTU perform lane changes instantaneously or not.
      Returns:
      boolean; whether the GTU perform lane changes instantaneously or not

    • positions

      java.util.Map<Lane,​Length> positions​(RelativePosition relativePosition) throws GTUException
      Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
      Note: If a GTU is registered in multiple parallel lanes, the lateralLaneChangeModel is used to determine the center line of the vehicle at this point in time. Otherwise, the average of the center positions of the lines will be taken.
      Parameters:
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      Returns:
      the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
      Throws:
      GTUException - when the vehicle is not on one of the lanes on which it is registered.

    • positions

      java.util.Map<Lane,​Length> positions​(RelativePosition relativePosition, Time when) throws GTUException
      Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered.
      Parameters:
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      when - Time; the future time for which to calculate the positions.
      Returns:
      the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.
      Throws:
      GTUException - when the vehicle is not on one of the lanes on which it is registered.

    • position

      Length position​(Lane lane, RelativePosition relativePosition) throws GTUException
      Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane at the current simulation time.
      Parameters:
      lane - Lane; the position on this lane will be returned.
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      Returns:
      DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
      Throws:
      GTUException - when the vehicle is not on the given lane.

    • position

      Length position​(Lane lane, RelativePosition relativePosition, Time when) throws GTUException
      Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane.
      Parameters:
      lane - Lane; the position on this lane will be returned.
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      when - Time; the future time for which to calculate the positions.
      Returns:
      DoubleScalarAbs<LengthUnit>; the position, relative to the center line of the Lane.
      Throws:
      GTUException - when the vehicle is not on the given lane.

    • fractionalPositions

      java.util.Map<Lane,​java.lang.Double> fractionalPositions​(RelativePosition relativePosition) throws GTUException
      Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
      Parameters:
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      Returns:
      the lanes and the position on the lanes where the GTU is currently registered, for the given position of the GTU.
      Throws:
      GTUException - when the vehicle is not on one of the lanes on which it is registered.

    • fractionalPositions

      java.util.Map<Lane,​java.lang.Double> fractionalPositions​(RelativePosition relativePosition, Time when) throws GTUException
      Return the longitudinal positions of a point relative to this GTU, relative to the center line of the Lanes in which the vehicle is registered, as fractions of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
      Parameters:
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      when - Time; the future time for which to calculate the positions.
      Returns:
      the lanes and the position on the lanes where the GTU will be registered at the time, for the given position of the GTU.
      Throws:
      GTUException - when the vehicle is not on one of the lanes on which it is registered.

    • fractionalPosition

      double fractionalPosition​(Lane lane, RelativePosition relativePosition, Time when) throws GTUException
      Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
      Parameters:
      lane - Lane; the position on this lane will be returned.
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      when - Time; the future time for which to calculate the positions.
      Returns:
      the fractional relative position on the lane at the given time.
      Throws:
      GTUException - when the vehicle is not on the given lane.

    • fractionalPosition

      double fractionalPosition​(Lane lane, RelativePosition relativePosition) throws GTUException
      Return the longitudinal position of a point relative to this GTU, relative to the center line of the Lane, as a fraction of the length of the lane. This is important when we want to see if two vehicles are next to each other and we compare an 'inner' and 'outer' curve.
      Parameters:
      lane - Lane; the position on this lane will be returned.
      relativePosition - RelativePosition; the position on the vehicle relative to the reference point.
      Returns:
      the fractional relative position on the lane at the given time.
      Throws:
      GTUException - when the vehicle is not on the given lane.

    • getReferencePosition

      DirectedLanePosition getReferencePosition() throws GTUException
      Return the current Lane, position and directionality of the GTU.
      Returns:
      DirectedLanePosition; the current Lane, position and directionality of the GTU
      Throws:
      GTUException - in case the reference position of the GTU cannot be found on the lanes in its current path

    • getDirection

      GTUDirectionality getDirection​(Lane lane) throws GTUException
      Return the directionality of a lane on which the GTU is registered for its current operational plan.
      Parameters:
      lane - Lane; the lane for which we want to know the direction
      Returns:
      GTUDirectionality; the direction on the given lane
      Throws:
      GTUException - in case the GTU is not registered on the Lane

    • addTrigger

      void addTrigger​(Lane lane, SimEventInterface<SimTimeDoubleUnit> event)
      Add an event to the list of lane triggers scheduled for this GTU.
      Parameters:
      lane - Lane; the lane on which the event occurs
      event - SimEventInterface<SimTimeDoubleUnit>; SimeEvent<SimTimeDoubleUnit> the event

    • setNoLaneChangeDistance

      void setNoLaneChangeDistance​(Length distance)
      Set distance over which the GTU should not change lane after being created.
      Parameters:
      distance - Length; distance over which the GTU should not change lane after being created

    • laneChangeAllowed

      boolean laneChangeAllowed()
      Returns whether a lane change is allowed.
      Returns:
      whether a lane change is allowed

    • getDesiredSpeed

      Speed getDesiredSpeed()
      This method returns the current desired speed of the GTU. This value is required often, so implementations can cache it.
      Returns:
      Speed; current desired speed

    • getCarFollowingAcceleration

      Acceleration getCarFollowingAcceleration()
      This method returns the current car-following acceleration of the GTU. This value is required often, so implementations can cache it.
      Returns:
      Acceleration; current car-following acceleration

    • getVehicleModel

      default VehicleModel getVehicleModel()
      Returns the vehicle model.
      Returns:
      VehicleModel; vehicle model

    • isBrakingLightsOn

      default boolean isBrakingLightsOn()
      The default implementation returns true if the deceleration is larger than a speed-dependent threshold given by:

      c0 * g(v) + c1 + c3*v^2

      where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
      Returns:
      boolean; whether the braking lights are on

    • isBrakingLightsOn

      default boolean isBrakingLightsOn​(Time when)
      The default implementation returns true if the deceleration is larger than a speed-dependent threshold given by:

      c0 * g(v) + c1 + c3*v^2

      where c0 = 0.2, c1 = 0.15 and c3 = 0.00025 (with c2 = 0 implicit) are empirically derived averages, and g(v) is 0 below 25 km/h or 1 otherwise, representing that the engine is disengaged at low speeds.
      Parameters:
      when - Time; time
      Returns:
      boolean; whether the braking lights are on

    • getLateralPosition

      Length getLateralPosition​(Lane lane) throws GTUException
      Returns the lateral position of the GTU relative to the lane center line. Negative values are towards the right.
      Parameters:
      lane - Lane; lane to consider (most important regarding left/right, not upstream downstream)
      Returns:
      Length; lateral position of the GTU relative to the lane center line
      Throws:
      GTUException - when the vehicle is not on the given lane.

    • getTurnIndicatorStatus

      TurnIndicatorStatus getTurnIndicatorStatus()
      Returns:
      the status of the turn indicator

    • getTurnIndicatorStatus

      TurnIndicatorStatus getTurnIndicatorStatus​(Time time)
      Parameters:
      time - Time; time to obtain the turn indicator status at
      Returns:
      the status of the turn indicator at the given time

    • setTurnIndicatorStatus

      void setTurnIndicatorStatus​(TurnIndicatorStatus turnIndicatorStatus) throws GTUException
      Set the status of the turn indicator.
      Parameters:
      turnIndicatorStatus - TurnIndicatorStatus; the new status of the turn indicator.
      Throws:
      GTUException - when GTUType does not have a turn indicator