LaneOperationalPlanBuilder.java
package org.opentrafficsim.road.gtu.lane.plan.operational;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import org.djunits.unit.AccelerationUnit;
import org.djunits.unit.DurationUnit;
import org.djunits.unit.LengthUnit;
import org.djunits.unit.SpeedUnit;
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.djutils.exceptions.Throw;
import org.djutils.logger.CategoryLogger;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.geometry.OTSPoint3D;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.Segment;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlan.SpeedSegment;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.math.Solver;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.network.lane.DirectedLanePosition;
import org.opentrafficsim.road.network.lane.Lane;
import org.opentrafficsim.road.network.lane.LaneDirection;
import org.opentrafficsim.road.network.lane.object.sensor.SingleSensor;
import org.opentrafficsim.road.network.lane.object.sensor.SinkSensor;
import nl.tudelft.simulation.dsol.SimRuntimeException;
import nl.tudelft.simulation.dsol.formalisms.eventscheduling.SimEventInterface;
import nl.tudelft.simulation.dsol.simtime.SimTimeDoubleUnit;
import nl.tudelft.simulation.language.d3.DirectedPoint;
/**
* 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.
* <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 LaneOperationalPlanBuilder // class package private for scheduling static method on an instance
{
/** Maximum acceleration for unbounded accelerations: 1E12 m/s2. */
private static final Acceleration MAX_ACCELERATION = new Acceleration(1E12, AccelerationUnit.SI);
/** Maximum deceleration for unbounded accelerations: -1E12 m/s2. */
private static final Acceleration MAX_DECELERATION = new Acceleration(-1E12, AccelerationUnit.SI);
/**
* Minimum distance of an operational plan path; anything shorter will be truncated to 0. <br>
* If objects related to e.g. molecular movements are simulated using this code, a setter for this parameter will be needed.
*/
private static final Length MINIMUM_CREDIBLE_PATH_LENGTH = new Length(0.001, LengthUnit.METER);
/** Constructor. */
LaneOperationalPlanBuilder()
{
// class should not be instantiated
}
/**
* Build a plan with a path and a given start speed to try to reach a provided end speed, exactly at the end of the curve.
* 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.
* @param gtu LaneBasedGTU; the GTU for debugging purposes
* @param distance Length; distance to drive for reaching the end speed
* @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 maxAcceleration Acceleration; the maximum acceleration that can be applied, provided as a POSITIVE number
* @param maxDeceleration 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 plan cannot be generated, e.g. because of a path that is too short
* @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
* @throws OTSGeometryException in case the lanes are not connected or firstLanePosition is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildGradualAccelerationPlan(final LaneBasedGTU gtu, final Length distance,
final Time startTime, final Speed startSpeed, final Speed endSpeed, final Acceleration maxAcceleration,
final Acceleration maxDeceleration) throws OperationalPlanException, OTSGeometryException
{
OTSLine3D path = createPathAlongCenterLine(gtu, distance);
Segment segment;
if (startSpeed.eq(endSpeed))
{
segment = new SpeedSegment(distance.divide(startSpeed));
}
else
{
try
{
// t = 2x / (vt + v0); a = (vt - v0) / t
Duration duration = distance.times(2.0).divide(endSpeed.plus(startSpeed));
Acceleration acceleration = endSpeed.minus(startSpeed).divide(duration);
if (acceleration.si < 0.0 && acceleration.lt(maxDeceleration))
{
acceleration = maxDeceleration;
duration = new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
DurationUnit.SI);
}
if (acceleration.si > 0.0 && acceleration.gt(maxAcceleration))
{
acceleration = maxAcceleration;
duration = new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
DurationUnit.SI);
}
segment = new OperationalPlan.AccelerationSegment(duration, acceleration);
}
catch (ValueRuntimeException ve)
{
throw new OperationalPlanException(ve);
}
}
ArrayList<Segment> segmentList = new ArrayList<>();
segmentList.add(segment);
return new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, false);
}
/**
* 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 LaneBasedGTU; the GTU for debugging purposes
* @param distance Length; distance to drive for reaching the end speed
* @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
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildGradualAccelerationPlan(final LaneBasedGTU gtu, final Length distance,
final Time startTime, final Speed startSpeed, final Speed endSpeed)
throws OperationalPlanException, OTSGeometryException
{
return buildGradualAccelerationPlan(gtu, distance, 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.
* @param gtu LaneBasedGTU; the GTU for debugging purposes
* @param distance Length; distance to drive for reaching the end speed
* @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 acceleration Acceleration; the acceleration to use if endSpeed > startSpeed, provided as a POSITIVE number
* @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 construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildMaximumAccelerationPlan(final LaneBasedGTU gtu, final Length distance,
final Time startTime, final Speed startSpeed, final Speed endSpeed, final Acceleration acceleration,
final Acceleration deceleration) throws OperationalPlanException, OTSGeometryException
{
OTSLine3D path = createPathAlongCenterLine(gtu, distance);
ArrayList<Segment> segmentList = new ArrayList<>();
if (startSpeed.eq(endSpeed))
{
segmentList.add(new OperationalPlan.SpeedSegment(distance.divide(startSpeed)));
}
else
{
try
{
if (endSpeed.gt(startSpeed))
{
Duration t = endSpeed.minus(startSpeed).divide(acceleration);
Length x = startSpeed.times(t).plus(acceleration.times(0.5).times(t).times(t));
if (x.ge(distance))
{
// we cannot reach the end speed in the given distance with the given acceleration
Duration duration =
new Duration(Solver.firstSolutionAfter(0, acceleration.si / 2, startSpeed.si, -distance.si),
DurationUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, acceleration));
}
else
{
// we reach the (higher) end speed before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, acceleration));
Duration duration = distance.minus(x).divide(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
else
{
Duration t = endSpeed.minus(startSpeed).divide(deceleration);
Length x = startSpeed.times(t).plus(deceleration.times(0.5).times(t).times(t));
if (x.ge(distance))
{
// we cannot reach the end speed in the given distance with the given deceleration
Duration duration =
new Duration(Solver.firstSolutionAfter(0, deceleration.si / 2, startSpeed.si, -distance.si),
DurationUnit.SI);
segmentList.add(new OperationalPlan.AccelerationSegment(duration, deceleration));
}
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, deceleration));
return new LaneBasedOperationalPlan(gtu, partialPath, startTime, startSpeed, segmentList, false);
}
// we reach the (lower) end speed, larger than zero, before the end of the segment. Make two segments.
segmentList.add(new OperationalPlan.AccelerationSegment(t, deceleration));
Duration duration = distance.minus(x).divide(endSpeed);
segmentList.add(new OperationalPlan.SpeedSegment(duration));
}
}
}
catch (ValueRuntimeException ve)
{
throw new OperationalPlanException(ve);
}
}
return new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, false);
}
/**
* 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.
* @param gtu LaneBasedGTU; the GTU for debugging purposes
* @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 acceleration Acceleration; the acceleration to use
* @param timeStep Duration; time step for the plan
* @param deviative boolean; whether the plan is deviative
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildAccelerationPlan(final LaneBasedGTU gtu, final Time startTime,
final Speed startSpeed, final Acceleration acceleration, final Duration timeStep, final boolean deviative)
throws OperationalPlanException, OTSGeometryException
{
if (startSpeed.si <= OperationalPlan.DRIFTING_SPEED_SI && acceleration.le(Acceleration.ZERO))
{
return new LaneBasedOperationalPlan(gtu, gtu.getLocation(), startTime, timeStep, deviative);
}
Duration brakingTime = brakingTime(acceleration, startSpeed, timeStep);
Length distance =
Length.instantiateSI(startSpeed.si * brakingTime.si + .5 * acceleration.si * brakingTime.si * brakingTime.si);
List<Segment> segmentList = createAccelerationSegments(startSpeed, acceleration, brakingTime, timeStep);
if (distance.le(MINIMUM_CREDIBLE_PATH_LENGTH))
{
return new LaneBasedOperationalPlan(gtu, gtu.getLocation(), startTime, timeStep, deviative);
}
OTSLine3D path = createPathAlongCenterLine(gtu, distance);
return new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, deviative);
}
/**
* Creates a path along lane center lines.
* @param gtu LaneBasedGTU; gtu
* @param distance Length; minimum distance
* @return OTSLine3D; path along lane center lines
* @throws OTSGeometryException when any of the OTSLine3D operations fails
*/
public static OTSLine3D createPathAlongCenterLine(final LaneBasedGTU gtu, final Length distance) throws OTSGeometryException
{
OTSLine3D path = null;
try
{
DirectedLanePosition ref = gtu.getReferencePosition();
double f = ref.getLane().fraction(ref.getPosition());
if (ref.getGtuDirection().isPlus() && f < 1.0)
{
if (f >= 0.0)
{
path = ref.getLane().getCenterLine().extractFractional(f, 1.0);
}
else
{
path = ref.getLane().getCenterLine().extractFractional(0.0, 1.0);
}
}
else if (ref.getGtuDirection().isMinus() && f > 0.0)
{
if (f <= 1.0)
{
path = ref.getLane().getCenterLine().extractFractional(0.0, f).reverse();
}
else
{
path = ref.getLane().getCenterLine().extractFractional(0.0, 1.0).reverse();
}
}
LaneDirection prevFrom = null;
LaneDirection from = ref.getLaneDirection();
int n = 1;
while (path == null || path.getLength().si < distance.si + n * Lane.MARGIN.si)
{
n++;
prevFrom = from;
from = from.getNextLaneDirection(gtu);
if (from == null)
{
// check sink sensor
Length pos = prevFrom.getDirection().isPlus() ? prevFrom.getLength() : Length.ZERO;
for (SingleSensor sensor : prevFrom.getLane().getSensors(pos, pos, gtu.getGTUType(),
prevFrom.getDirection()))
{
// XXX for now, the same is not done for the DestinationSensor (e.g., decrease speed for parking)
if (sensor instanceof SinkSensor)
{
// just add some length so the GTU is happy to go to the sink
DirectedPoint end = path.getLocationExtendedSI(distance.si + n * Lane.MARGIN.si);
List<OTSPoint3D> points = new ArrayList<>(Arrays.asList(path.getPoints()));
points.add(new OTSPoint3D(end));
return new OTSLine3D(points);
}
}
CategoryLogger.always().error("GTU {} has nowhere to go and no sink sensor either", gtu);
gtu.destroy();
return path;
}
if (path == null)
{
path = from.getDirection().isPlus() ? from.getLane().getCenterLine()
: from.getLane().getCenterLine().reverse();
}
else
{
path = OTSLine3D.concatenate(Lane.MARGIN.si, path, from.getDirection().isPlus()
? from.getLane().getCenterLine() : from.getLane().getCenterLine().reverse());
}
}
}
catch (GTUException exception)
{
throw new RuntimeException("Error during creation of path.", exception);
}
return path;
}
/**
* 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.
* @param gtu LaneBasedGTU; the GTU for debugging purposes
* @param laneChangeDirectionality LateralDirectionality; direction of lane change (on initiation only, after that not
* important)
* @param startPosition DirectedPoint; current position
* @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 acceleration Acceleration; the acceleration to use
* @param timeStep Duration; time step for the plan
* @param laneChange LaneChange; lane change status
* @return the operational plan to accomplish the given end speed
* @throws OperationalPlanException when the construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
@SuppressWarnings("checkstyle:parameternumber")
public static LaneBasedOperationalPlan buildAccelerationLaneChangePlan(final LaneBasedGTU gtu,
final LateralDirectionality laneChangeDirectionality, final DirectedPoint startPosition, final Time startTime,
final Speed startSpeed, final Acceleration acceleration, final Duration timeStep, final LaneChange laneChange)
throws OperationalPlanException, OTSGeometryException
{
// on first call during lane change, use laneChangeDirectionality as laneChange.getDirection() is NONE
// on successive calls, use laneChange.getDirection() as laneChangeDirectionality is NONE (i.e. no LC initiated)
LateralDirectionality direction = laneChange.isChangingLane() ? laneChange.getDirection() : laneChangeDirectionality;
Duration brakingTime = brakingTime(acceleration, startSpeed, timeStep);
Length planDistance =
Length.instantiateSI(startSpeed.si * brakingTime.si + .5 * acceleration.si * brakingTime.si * brakingTime.si);
List<Segment> segmentList = createAccelerationSegments(startSpeed, acceleration, brakingTime, timeStep);
try
{
// get position on from lane
Map<Lane, Length> positions = gtu.positions(gtu.getReference());
DirectedLanePosition ref = gtu.getReferencePosition();
Iterator<Lane> iterator = ref.getLane()
.accessibleAdjacentLanesPhysical(direction, gtu.getGTUType(), ref.getGtuDirection()).iterator();
Lane adjLane = iterator.hasNext() ? iterator.next() : null;
DirectedLanePosition from = null;
if (laneChange.getDirection() == null || (adjLane != null && positions.containsKey(adjLane)))
{
// reference lane is from lane, this is ok
from = ref;
}
else
{
// reference lane is to lane, this should be accounted for
for (Lane lane : positions.keySet())
{
if (lane.accessibleAdjacentLanesPhysical(direction, gtu.getGTUType(), ref.getGtuDirection())
.contains(ref.getLane()))
{
from = new DirectedLanePosition(lane, positions.get(lane), ref.getGtuDirection());
break;
}
}
}
Throw.when(from == null, RuntimeException.class, "From lane could not be determined during lane change.");
// get path and make plan
OTSLine3D path = laneChange.getPath(timeStep, gtu, from, startPosition, planDistance, direction);
LaneBasedOperationalPlan plan = new LaneBasedOperationalPlan(gtu, path, startTime, startSpeed, segmentList, true);
return plan;
}
catch (GTUException exception)
{
throw new RuntimeException("Error during creation of lane change plan.", exception);
}
}
/**
* Returns the effective braking time, which stops if stand-still is reached.
* @param acceleration Acceleration; acceleration
* @param startSpeed Speed; start speed
* @param time Duration; intended time step
* @return Duration; effective braking time
*/
public static Duration brakingTime(final Acceleration acceleration, final Speed startSpeed, final Duration time)
{
if (acceleration.ge0())
{
return time;
}
double t = startSpeed.si / -acceleration.si;
if (t >= time.si)
{
return time;
}
return Duration.instantiateSI(t);
}
/**
* Creates 1 or 2 segments in an operational plan. Two segments are returned of stand-still is reached within the time step.
* @param startSpeed Speed; start speed
* @param acceleration Acceleration; acceleration
* @param brakingTime Duration; braking time until stand-still
* @param timeStep Duration; time step
* @return 1 or 2 segments in an operational plan
*/
private static List<Segment> createAccelerationSegments(final Speed startSpeed, final Acceleration acceleration,
final Duration brakingTime, final Duration timeStep)
{
List<Segment> segmentList = new ArrayList<>();
if (brakingTime.si < timeStep.si)
{
if (brakingTime.si > 0.0)
{
segmentList.add(new OperationalPlan.AccelerationSegment(brakingTime, acceleration));
}
segmentList.add(new OperationalPlan.SpeedSegment(timeStep.minus(brakingTime)));
}
else
{
segmentList.add(new OperationalPlan.AccelerationSegment(timeStep, acceleration));
}
return segmentList;
}
/**
* Build an operational plan based on a simple operational plan and status info.
* @param gtu LaneBasedGTU; gtu
* @param startTime Time; start time for plan
* @param simplePlan SimpleOperationalPlan; simple operational plan
* @param laneChange LaneChange; lane change status
* @return operational plan
* @throws ParameterException if parameter is not defined
* @throws GTUException gtu exception
* @throws NetworkException network exception
* @throws OperationalPlanException operational plan exeption
*/
public static LaneBasedOperationalPlan buildPlanFromSimplePlan(final LaneBasedGTU gtu, final Time startTime,
final SimpleOperationalPlan simplePlan, final LaneChange laneChange)
throws ParameterException, GTUException, NetworkException, OperationalPlanException
{
Acceleration acc = gtu.getVehicleModel().boundAcceleration(simplePlan.getAcceleration(), gtu);
if (gtu.isInstantaneousLaneChange())
{
if (simplePlan.isLaneChange())
{
gtu.changeLaneInstantaneously(simplePlan.getLaneChangeDirection());
}
try
{
return LaneOperationalPlanBuilder.buildAccelerationPlan(gtu, startTime, gtu.getSpeed(), acc,
simplePlan.getDuration(), false);
}
catch (OTSGeometryException exception)
{
throw new OperationalPlanException(exception);
}
}
// gradual lane change
try
{
if (!simplePlan.isLaneChange() && !laneChange.isChangingLane())
{
return LaneOperationalPlanBuilder.buildAccelerationPlan(gtu, startTime, gtu.getSpeed(), acc,
simplePlan.getDuration(), true);
}
if (gtu.getSpeed().si == 0.0 && acc.si <= 0.0)
{
return LaneOperationalPlanBuilder.buildAccelerationPlan(gtu, startTime, gtu.getSpeed(), acc,
simplePlan.getDuration(), false);
}
return LaneOperationalPlanBuilder.buildAccelerationLaneChangePlan(gtu, simplePlan.getLaneChangeDirection(),
gtu.getLocation(), startTime, gtu.getSpeed(), acc, simplePlan.getDuration(), laneChange);
}
catch (OTSGeometryException exception)
{
throw new OperationalPlanException(exception);
}
}
/**
* Schedules a lane change finalization after the given distance is covered. This distance is known as the plan is created,
* but at that point no time can be derived as the plan is required for that. Hence, this method can be scheduled at the
* same time (sequentially after creation of the plan) to then schedule the actual finalization by deriving time from
* distance with the plan.
* @param gtu LaneBasedGTU; gtu
* @param distance Length; distance
* @param laneChangeDirection LateralDirectionality; lane change direction
* @throws SimRuntimeException on bad time
*/
public static void scheduleLaneChangeFinalization(final LaneBasedGTU gtu, final Length distance,
final LateralDirectionality laneChangeDirection) throws SimRuntimeException
{
Time time = gtu.getOperationalPlan().timeAtDistance(distance);
if (Double.isNaN(time.si))
{
// rounding...
time = gtu.getOperationalPlan().getEndTime();
}
SimEventInterface<SimTimeDoubleUnit> event = gtu.getSimulator().scheduleEventAbs(time, (short) 6, gtu, gtu,
"finalizeLaneChange", new Object[] { laneChangeDirection });
gtu.setFinalizeLaneChangeEvent(event);
}
/**
* 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 LaneBasedGTU; the GTU for debugging purposes
* @param distance Length; distance to drive for reaching the end speed
* @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 construction of the operational path fails
* @throws OTSGeometryException in case the lanes are not connected or firstLanePositiion is larger than the length of the
* first lane
*/
public static LaneBasedOperationalPlan buildStopPlan(final LaneBasedGTU gtu, final Length distance, final Time startTime,
final Speed startSpeed, final Acceleration deceleration) throws OperationalPlanException, OTSGeometryException
{
return buildMaximumAccelerationPlan(gtu, distance, startTime, startSpeed, new Speed(0.0, SpeedUnit.SI),
new Acceleration(1.0, AccelerationUnit.SI), deceleration);
}
}