AccPerception.java
- package org.opentrafficsim.road.gtu.lane.perception.categories.neighbors;
- import org.djunits.value.vdouble.scalar.Length;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.core.gtu.GTUException;
- import org.opentrafficsim.core.gtu.RelativePosition;
- import org.opentrafficsim.core.network.NetworkException;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
- import org.opentrafficsim.road.gtu.lane.control.ControlTacticalPlanner;
- import org.opentrafficsim.road.gtu.lane.perception.DownstreamNeighborsIterable;
- import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
- import org.opentrafficsim.road.gtu.lane.perception.LaneRecord;
- import org.opentrafficsim.road.gtu.lane.perception.LaneStructureRecord;
- import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
- import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
- import org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
- /**
- * ACC perception.
- * <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/node/13">OpenTrafficSim License</a>.
- * <p>
- * @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 12, 2019 <br>
- * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
- * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
- * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
- */
- public class AccPerception extends LaneBasedAbstractPerceptionCategory implements LongitudinalControllerPerception
- {
- /** */
- private static final long serialVersionUID = 20190312L;
- /** Onboard sensors in the form of a headway GTU type. */
- private final HeadwayGtuType sensors;
- /**
- * Constructor using default sensors with zero delay.
- * @param perception LanePerception; perception
- */
- public AccPerception(final LanePerception perception)
- {
- this(perception, new DefaultCaccSensors());
- }
- /**
- * Constructor using specified sensors.
- * @param perception LanePerception; perception
- * @param sensors HeadwayGtuType; headway GTU type that defines the onboard sensor information
- */
- public AccPerception(final LanePerception perception, final HeadwayGtuType sensors)
- {
- super(perception);
- this.sensors = sensors;
- }
- /** {@inheritDoc} */
- @Override
- public void updateAll() throws GTUException, NetworkException, ParameterException
- {
- // lazy evaluation
- }
- /** {@inheritDoc} */
- @Override
- public PerceptionCollectable<HeadwayGTU, LaneBasedGTU> getLeaders()
- {
- return computeIfAbsent("leaders", () -> computeLeaders());
- }
- /**
- * Computes leaders.
- * @return perception iterable for leaders
- */
- private PerceptionCollectable<HeadwayGTU, LaneBasedGTU> computeLeaders()
- {
- try
- {
- LaneStructureRecord record = getPerception().getLaneStructure().getRootRecord();
- Length pos = record.getStartDistance().neg();
- pos = record.getDirection().isPlus() ? pos.plus(getGtu().getFront().getDx())
- : pos.minus(getGtu().getFront().getDx());
- boolean ignoreIfUpstream = true;
- return new DownstreamNeighboursIterableACC(getGtu(), record, Length.max(Length.ZERO, pos),
- ((ControlTacticalPlanner) getGtu().getTacticalPlanner()).getSettings()
- .getParameter(LongitudinalControllerPerception.RANGE),
- getGtu().getFront(), this.sensors, RelativeLane.CURRENT, ignoreIfUpstream);
- }
- catch (ParameterException | GTUException exception)
- {
- throw new RuntimeException("Unexpected exception while computing gtu alongside.", exception);
- }
- }
- /**
- * Extends the regular {@code DownstreamNeighborsIterable} class with skipping leaders that are not sensed by the system.
- * <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/node/13">OpenTrafficSim License</a>.
- * <p>
- * @version $Revision$, $LastChangedDate$, by $Author$, initial version Mar 13, 2019 <br>
- * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
- * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
- * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
- */
- private static class DownstreamNeighboursIterableACC extends DownstreamNeighborsIterable
- {
- /**
- * Constructor.
- * @param perceivingGtu LaneBasedGTU; perceiving GTU
- * @param root LaneRecord<?>; root record
- * @param initialPosition Length; position on the root record
- * @param maxDistance Length; maximum distance to search
- * @param relativePosition RelativePosition; position to which distance are calculated by subclasses
- * @param headwayGtuType HeadwayGtuType; type of HeadwayGTU to return
- * @param lane RelativeLane; relative lane (used for a left/right distinction to prevent dead-locks)
- * @param ignoreIfUpstream boolean; whether to ignore GTU that are partially upstream of a record
- */
- @SuppressWarnings("checkstyle:parameternumber")
- DownstreamNeighboursIterableACC(final LaneBasedGTU perceivingGtu, final LaneRecord<?> root,
- final Length initialPosition, final Length maxDistance, final RelativePosition relativePosition,
- final HeadwayGtuType headwayGtuType, final RelativeLane lane, final boolean ignoreIfUpstream)
- {
- super(perceivingGtu, root, initialPosition, maxDistance, relativePosition, headwayGtuType, lane, ignoreIfUpstream);
- }
- /** {@inheritDoc} */
- @Override
- protected Entry getNext(final LaneRecord<?> record, final Length position, final Integer counter) throws GTUException
- {
- Entry next;
- do
- {
- next = super.getNext(record, position, counter);
- }
- // skip leaders that are not the direct leader and that are not CACC
- while (next != null && first() != null);
- return next;
- }
- }
- }