OperationalPlanBuilder.java
package org.opentrafficsim.core.gtu.plan.operational;
import java.util.ArrayList;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.value.ValueRuntimeException;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Duration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djunits.value.vdouble.scalar.Time;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.gtu.GTU;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.SpeedSegment;
import org.opentrafficsim.core.math.Solver;
/**
* Builder for several often used operational plans. E.g., decelerate to come to a full stop at the end of a shape; accelerate
* to reach a certain speed at the end of a curve; drive constant on a curve; decelerate or accelerate to reach a given end
* speed at the end of a curve, etc.<br>
* TODO driving with negative speeds (backward driving) is not yet supported.<br>
* TODO plan with a constant speed.
* <p>
* Copyright (c) 2013-2020 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="http://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* $LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $,
* initial version Nov 15, 2015 <br>
* @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
* @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
*/
public final class OperationalPlanBuilder
{
/** The maximum acceleration for unbounded accelerations: 1E12 m/s2. */
private static final Acceleration MAX_ACCELERATION = new Acceleration(1E12, AccelerationUnit.SI);
/** The maximum deceleration for unbounded accelerations: -1E12 m/s2. */
private static final Acceleration MAX_DECELERATION = new Acceleration(-1E12, AccelerationUnit.SI);
/** Private constructor prevents instantiation. */
private OperationalPlanBuilder()
{
// class should not be instantiated
}
/**
* Build a plan with a path and a given speed.
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to drive (provides the length)
* @param startTime Time; the current time or a time in the future when the plan should start
* @param speed Speed; the speed at the start of the path
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the length of the path and the calculated driven distance implied by the
* constructed segment list differ more than a given threshold
*/
public static OperationalPlan buildConstantSpeedPlan(final GTU gtu, final OTSLine3D path, final Time startTime,
final Speed speed) throws OperationalPlanException
{
Length length = path.getLength();
OperationalPlan.Segment segment;
segment = new SpeedSegment(length.divide(speed));
ArrayList<OperationalPlan.Segment> segmentList = new ArrayList<>();
segmentList.add(segment);
return new OperationalPlan(gtu, path, startTime, speed, segmentList);
}
/**
* Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the provided
* <code>endTime</code>. The acceleration (and deceleration) are capped by maxAcceleration and maxDeceleration. Therefore,
* there is no guarantee that the end speed is actually reached by this plan. <p>
* TODO: rename this method buildConstantAccelerationPlan.
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to drive (provides the length)
* @param startTime Time; the current time or a time in the future when the plan should start
* @param startSpeed Speed; the speed at the start of the path
* @param endSpeed Speed; the required end speed
* @param maximumAcceleration Acceleration; the maximum acceleration that can be applied, provided as a POSITIVE number
* @param maximumDeceleration Acceleration; the maximum deceleration that can be applied, provided as a NEGATIVE number
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the length of the path and the calculated driven distance implied by the
* constructed segment list differ more than a given threshold
*/
public static OperationalPlan buildGradualAccelerationPlan(final GTU gtu, final OTSLine3D path, final Time startTime,
final Speed startSpeed, final Speed endSpeed, final Acceleration maximumAcceleration,
final Acceleration maximumDeceleration) throws OperationalPlanException
{
Length length = path.getLength();
OperationalPlan.Segment segment;
if (startSpeed.eq(endSpeed))
{
segment = new SpeedSegment(length.divide(startSpeed));
}
else
{
// t = 2x / (vt + v0); a = (vt - v0) / t
Duration duration = length.times(2.0).divide(endSpeed.plus(startSpeed));
Acceleration acceleration = endSpeed.minus(startSpeed).divide(duration);
try
{
if (acceleration.si < 0.0 && acceleration.lt(maximumDeceleration))
{
acceleration = maximumDeceleration;
// duration = new Duration(abc(acceleration.si / 2, startSpeed.si, -length.si), DurationUnit.SI);
duration = new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -length.si),
DurationUnit.SI);
}
if (acceleration.si > 0.0 && acceleration.gt(maximumAcceleration))
{
acceleration = maximumAcceleration;
// duration = new Duration(abc(acceleration.si / 2, startSpeed.si, -length.si), DurationUnit.SI);
duration = new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -length.si),
DurationUnit.SI);
}
}
catch (ValueRuntimeException exception)
{
throw new OperationalPlanException("Caught unexpected exception: " + exception);
}
segment = new OperationalPlan.AccelerationSegment(duration, acceleration);
}
ArrayList<OperationalPlan.Segment> segmentList = new ArrayList<>();
segmentList.add(segment);
return new OperationalPlan(gtu, path, startTime, startSpeed, segmentList);
}
/**
* Build a plan with a path and a given start speed to reach a provided end speed, exactly at the end of the curve.
* Acceleration and deceleration are virtually unbounded (1E12 m/s2) to reach the end speed (e.g., to come to a complete
* stop).
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to drive (provides the length)
* @param startTime Time; the current time or a time in the future when the plan should start
* @param startSpeed Speed; the speed at the start of the path
* @param endSpeed Speed; the required end speed
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the length of the path and the calculated driven distance implied by the
* constructed segment list differ more than a given threshold
*/
public static OperationalPlan buildGradualAccelerationPlan(final GTU gtu, final OTSLine3D path, final Time startTime,
final Speed startSpeed, final Speed endSpeed) throws OperationalPlanException
{
return buildGradualAccelerationPlan(gtu, path, startTime, startSpeed, endSpeed, MAX_ACCELERATION, MAX_DECELERATION);
}
/**
* Build a plan with a path and a given start speed to try to reach a provided end speed. Acceleration or deceleration is as
* provided, until the end speed is reached. After this, constant end speed is used to reach the end point of the path.
* There is no guarantee that the end speed is actually reached by this plan. If the end speed is zero, and it is reached
* before completing the path, a truncated path that ends where the GTU stops is used instead. The maximum acceleration and
* deceleration is limited by the provided values. If these prevent the <code>endSpeed</code> from being reached, the
* generated plan is a constant acceleration plan using the limiting value.
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to drive (provides the length)
* @param startTime Time; the current time or a time in the future when the plan should start
* @param startSpeed Speed; the speed at the start of the path
* @param endSpeed Speed; the required end speed
* @param maximumAcceleration Acceleration; the acceleration to use if endSpeed > startSpeed, provided as a POSITIVE
* number
* @param maximumDeceleration Acceleration; the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE
* number
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the length of the path and the calculated driven distance implied by the
* constructed segment list differ more than a given threshold
*/
public static OperationalPlan buildMaximumAccelerationPlan(final GTU gtu, final OTSLine3D path, final Time startTime,
final Speed startSpeed, final Speed endSpeed, final Acceleration maximumAcceleration,
final Acceleration maximumDeceleration) throws OperationalPlanException
{
Length length = path.getLength();
ArrayList<OperationalPlan.Segment> segmentList = new ArrayList<>();
if (startSpeed.eq(endSpeed))
{
segmentList.add(new OperationalPlan.SpeedSegment(length.divide(startSpeed)));
}
else
{
try
{
if (endSpeed.gt(startSpeed))
{
Duration t = endSpeed.minus(startSpeed).divide(maximumAcceleration);
Length x = startSpeed.times(t).plus(maximumAcceleration.times(0.5).times(t).times(t));
if (x.ge(length))
{
// we cannot reach the end speed in the given distance with the given acceleration
// Duration duration = new Duration(abc(acceleration.si / 2, startSpeed.si, -length.si),
// DurationUnit.SI);
Duration duration = new Duration(
Solver.firstSolutionAfter(0, maximumAcceleration.si / 2, startSpeed.si, -length.si),
DurationUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, maximumAcceleration));
}
else
{
// we reach the (higher) end speed before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, maximumAcceleration));
Duration duration = length.minus(x).divide(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
else
{
Duration t = endSpeed.minus(startSpeed).divide(maximumDeceleration);
Length x = startSpeed.times(t).plus(maximumDeceleration.times(0.5).times(t).times(t));
if (x.ge(length))
{
// we cannot reach the end speed in the given distance with the given deceleration
// Duration duration = new Duration(abc(deceleration.si / 2, startSpeed.si, -length.si),
// DurationUnit.SI);
Duration duration =
new Duration(Solver.firstSolutionAfter(0, maximumDeceleration.si / 2, startSpeed.si, -length.si),
DurationUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, maximumDeceleration));
}
else
{
if (endSpeed.si == 0.0)
{
// if endSpeed == 0, we cannot reach the end of the path. Therefore, build a partial path.
OTSLine3D partialPath = path.truncate(x.si);
segmentList.add(new OperationalPlan.AccelerationSegment(t, maximumDeceleration));
return new OperationalPlan(gtu, partialPath, startTime, startSpeed, segmentList);
}
// we reach the (lower) end speed, larger than zero, before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, maximumDeceleration));
Duration duration = length.minus(x).divide(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
}
catch (ValueRuntimeException | OTSGeometryException exception)
{
throw new OperationalPlanException("Caught unexpected exception: " + exception);
}
}
return new OperationalPlan(gtu, path, startTime, startSpeed, segmentList);
}
/**
* Build a plan with a path and a given start speed to try to come to a stop with a given deceleration. If the GTU can stop
* before completing the given path, a truncated path that ends where the GTU stops is used instead. There is no guarantee
* that the OperationalPlan will lead to a complete stop.
* @param gtu GTU; the GTU for debugging purposes
* @param path OTSLine3D; the path to drive (provides the length)
* @param startTime Time; the current time or a time in the future when the plan should start
* @param startSpeed Speed; the speed at the start of the path
* @param deceleration Acceleration; the deceleration to use if endSpeed < startSpeed, provided as a NEGATIVE number
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the length of the path and the calculated driven distance implied by the
* constructed segment list differ more than a given threshold
*/
public static OperationalPlan buildStopPlan(final GTU gtu, final OTSLine3D path, final Time startTime,
final Speed startSpeed, final Acceleration deceleration) throws OperationalPlanException
{
return buildMaximumAccelerationPlan(gtu, path, startTime, startSpeed, Speed.ZERO,
new Acceleration(1.0, AccelerationUnit.SI), deceleration);
}
}