Package org.opentrafficsim.road.gtu.lane.tactical

Class LaneBasedCFLCTacticalPlanner

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

org.opentrafficsim.road.gtu.lane.tactical.LaneBasedCFLCTacticalPlanner

All Implemented Interfaces:

Serializable, TacticalPlanner<LaneBasedGTU,LanePerception>, LaneBasedTacticalPlanner

public class LaneBasedCFLCTacticalPlanner
extends AbstractLaneBasedTacticalPlanner

Lane-based tactical planner that implements car following and lane change behavior. This lane-based tactical planner makes decisions based on headway (GTU following model) and lane change (Lane Change model), and will generate an operational plan for the GTU. It can ask the strategic planner for assistance on the route to take when the network splits.

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.

$LastChangedDate: 2015-07-24 02:58:59 +0200 (Fri, 24 Jul 2015) $, @version $Revision: 1147 $, by $Author: averbraeck $, initial version Nov 25, 2015

Author:

Alexander Verbraeck, Peter Knoppers

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
static Length	GETOFFTHISLANENOW	Return value of suitability when a lane change is required right now.
protected static ParameterTypeLength	LOOKBACKOLD	Look back parameter type.
static Length	NOLANECHANGENEEDED	Return value of suitability when no lane change is required within the time horizon.

Fields inherited from class org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

DT, LOOKAHEAD, TACTICAL_PLANNER

Constructor Summary

Constructors

Constructor	Description
LaneBasedCFLCTacticalPlanner(GTUFollowingModelOld carFollowingModel, LaneChangeModel laneChangeModel, LaneBasedGTU gtu)	Instantiated a tactical planner with GTU following and lane change behavior.

Method Summary

Modifier and Type	Method	Description
protected Length	computeSuitabilityWithLaneChanges(Lane startLane, double remainingDistance, Map<Lane,Length> suitabilities, int totalLanes, LateralDirectionality direction, GTUType gtuType, GTUDirectionality drivingDirection)	Compute the suitability of a lane from which lane changes are required to get to the next point on the Route. This method weighs the suitability of the nearest suitable lane by (m - n) / m where n is the number of lane changes required and m is the total number of lanes in the CrossSectionLink.
protected int	countCompatibleLanes(CrossSectionLink link, GTUType gtuType, GTUDirectionality drivingDirection)	Determine how many lanes on a CrossSectionLink are compatible with a particular GTU type. TODO: this method should probably be moved into the CrossSectionLink class
OperationalPlan	generateOperationalPlan(Time startTime, DirectedPoint locationAtStartTime)
String	toString()

Methods inherited from class org.opentrafficsim.road.gtu.lane.tactical.AbstractLaneBasedTacticalPlanner

buildLanePathInfo, buildLanePathInfo, buildLinkListForward, concatenateNull, connectsToPath, determineNextSplit, getCarFollowingModel, getGtu, getPerception, noLaneDrop, setCarFollowingModel

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.road.gtu.lane.tactical.LaneBasedTacticalPlanner

chooseLaneAtSplit, okDistance

Field Detail

LOOKBACKOLD

protected static final ParameterTypeLength LOOKBACKOLD

Look back parameter type.

NOLANECHANGENEEDED

public static final Length NOLANECHANGENEEDED

Return value of suitability when no lane change is required within the time horizon.

GETOFFTHISLANENOW

public static final Length GETOFFTHISLANENOW

Return value of suitability when a lane change is required right now.

Constructor Detail

LaneBasedCFLCTacticalPlanner

public LaneBasedCFLCTacticalPlanner(GTUFollowingModelOld carFollowingModel,
                                    LaneChangeModel laneChangeModel,
                                    LaneBasedGTU gtu)

Instantiated a tactical planner with GTU following and lane change behavior.

Parameters:

carFollowingModel - GTUFollowingModelOld; Car-following model.

laneChangeModel - LaneChangeModel; Lane change model.

gtu - LaneBasedGTU; GTU

Method Detail

generateOperationalPlan

public final OperationalPlan generateOperationalPlan(Time startTime,
                                                     DirectedPoint locationAtStartTime)
                                              throws OperationalPlanException,
                                                     NetworkException,
                                                     GTUException,
                                                     ParameterException

Throws:

OperationalPlanException

NetworkException

GTUException

ParameterException

computeSuitabilityWithLaneChanges

protected final Length computeSuitabilityWithLaneChanges(Lane startLane,
                                                         double remainingDistance,
                                                         Map<Lane,Length> suitabilities,
                                                         int totalLanes,
                                                         LateralDirectionality direction,
                                                         GTUType gtuType,
                                                         GTUDirectionality drivingDirection)

Compute the suitability of a lane from which lane changes are required to get to the next point on the Route.
This method weighs the suitability of the nearest suitable lane by (m - n) / m where n is the number of lane changes required and m is the total number of lanes in the CrossSectionLink.

Parameters:

startLane - Lane; the current lane of the GTU

remainingDistance - double; distance in m of GTU to first branch

suitabilities - Map<Lane, Length>; the set of suitable lanes and their suitability

totalLanes - int; total number of lanes compatible with the GTU type

direction - LateralDirectionality; the direction of the lane changes to attempt

gtuType - GTUType; the type of the GTU

drivingDirection - GTUDirectionality; the driving direction of the GTU

Returns:

double; the suitability of the startLane for following the Route

countCompatibleLanes

protected final int countCompatibleLanes(CrossSectionLink link,
                                         GTUType gtuType,
                                         GTUDirectionality drivingDirection)

Determine how many lanes on a CrossSectionLink are compatible with a particular GTU type.
TODO: this method should probably be moved into the CrossSectionLink class

Parameters:

link - CrossSectionLink; the link

gtuType - GTUType; the GTU type

drivingDirection - GTUDirectionality; the driving direction on the link

Returns:

integer; the number of lanes on the link that are compatible with the GTU type

toString

public final String toString()

Overrides:

toString in class Object