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

Class ToledoPerception

java.lang.Object

org.opentrafficsim.base.Type<AbstractPerceptionCategory<G,P>>

org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory<LaneBasedGTU,LanePerception>

org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

org.opentrafficsim.road.gtu.lane.tactical.toledo.ToledoPerception

All Implemented Interfaces:

Serializable, PerceptionCategory<LaneBasedGTU,LanePerception>, LaneBasedPerceptionCategory

public class ToledoPerception
extends LaneBasedAbstractPerceptionCategory
implements LaneBasedPerceptionCategory

Wrapper class around InfrastructureCategory that forwards all methods except for infrastructure lane change info. These methods determine and return infrastructure information of type InfrastructureLaneChangeInfoToledo, which includes split number.

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:

$Revision$, $LastChangedDate$, by $Author$, initial version Jul 28, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

See Also:

Serialized Form

Field Summary

Fields inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

MAX_RED_DECELERATION, MAX_YELLOW_DECELERATION

Constructor Summary

Constructors

Constructor	Description
ToledoPerception(LanePerception perception)

Method Summary

Modifier and Type	Method	Description
SortedSet<RelativeLane>	getCrossSection()	Returns a set of relative lanes representing the cross section.
SortedSet<InfrastructureLaneChangeInfoToledo>	getInfrastructureLaneChangeInfo(RelativeLane lane)	Returns infrastructure lane change info of a lane.
Length	getLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the distance over which a lane change remains legally possible.
Length	getPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the distance over which a lane change remains physically possible.
SpeedLimitProspect	getSpeedLimitProspect(RelativeLane lane)	Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
TimeStampedObject<SortedSet<RelativeLane>>	getTimeStampedCrossSection()	Returns a time stamped set of relative lanes representing the cross section.
TimeStampedObject<SortedSet<InfrastructureLaneChangeInfoToledo>>	getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane)	Returns time stamped infrastructure lane change info of a lane.
TimeStampedObject<Length>	getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the time stamped distance over which a lane change remains legally possible.
TimeStampedObject<Length>	getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Returns the time stamped distance over which a lane change remains physically possible.
TimeStampedObject<SpeedLimitProspect>	getTimeStampedSpeedLimitProspect(RelativeLane lane)	Returns the time stamped prospect for speed limits on a lane (dynamic speed limits may vary between lanes).
String	toString()
void	updateAll()
void	updateCrossSection()	Updates a set of relative lanes representing the cross section.
void	updateInfrastructureLaneChangeInfo(RelativeLane lane)	Updates the infrastructural lane change info.
void	updateLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Updates the distance over which lane changes remains legally possible.
void	updatePhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)	Updates the distance over which lane changes remains physically possible.
void	updateSpeedLimitProspect(RelativeLane lane)	Updates the speed limit prospect.

Methods inherited from class org.opentrafficsim.road.gtu.lane.perception.categories.LaneBasedAbstractPerceptionCategory

computeIfAbsent, computeIfAbsent, computeIfAbsent

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

getGtu, getObjectOrNull, getPerception, getTimestamp

Methods inherited from class org.opentrafficsim.base.Type

isType

Methods inherited from class java.lang.Object

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

Constructor Detail

ToledoPerception

public ToledoPerception(LanePerception perception)

Parameters:

perception - LanePerception; perception

Method Detail

updateInfrastructureLaneChangeInfo

public void updateInfrastructureLaneChangeInfo(RelativeLane lane)
                                        throws GTUException

Updates the infrastructural lane change info.

Parameters:

lane - RelativeLane; relative lateral lane

Throws:

GTUException - when GTU is not initialized

getInfrastructureLaneChangeInfo

public final SortedSet<InfrastructureLaneChangeInfoToledo> getInfrastructureLaneChangeInfo(RelativeLane lane)

Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

infrastructure lane change info of a lane

getTimeStampedInfrastructureLaneChangeInfo

public final TimeStampedObject<SortedSet<InfrastructureLaneChangeInfoToledo>> getTimeStampedInfrastructureLaneChangeInfo(RelativeLane lane)

Returns time stamped infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first.

 _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)
     
     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
 

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

time stamped infrastructure lane change info of a lane

updateSpeedLimitProspect

public final void updateSpeedLimitProspect(RelativeLane lane)
                                    throws GTUException,
                                           ParameterException

Updates the speed limit prospect.

Parameters:

lane - RelativeLane; relative lateral lane

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter is not defined

updateLegalLaneChangePossibility

public final void updateLegalLaneChangePossibility(RelativeLane fromLane,
                                                   LateralDirectionality lat)
                                            throws GTUException,
                                                   ParameterException

Updates the distance over which lane changes remains legally possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter is not defined

updatePhysicalLaneChangePossibility

public final void updatePhysicalLaneChangePossibility(RelativeLane fromLane,
                                                      LateralDirectionality lat)
                                               throws GTUException,
                                                      ParameterException

Updates the distance over which lane changes remains physically possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter is not defined

updateCrossSection

public final void updateCrossSection()
                              throws GTUException,
                                     ParameterException

Updates a set of relative lanes representing the cross section.

Throws:

GTUException - if the GTU was not initialized

ParameterException - if a parameter is not defined

getSpeedLimitProspect

public final SpeedLimitProspect getSpeedLimitProspect(RelativeLane lane)

Returns the prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

prospect for speed limits on a lane

getLegalLaneChangePossibility

public final Length getLegalLaneChangePossibility(RelativeLane fromLane,
                                                  LateralDirectionality lat)

Returns the distance over which a lane change remains legally possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getPhysicalLaneChangePossibility

public final Length getPhysicalLaneChangePossibility(RelativeLane fromLane,
                                                     LateralDirectionality lat)

Returns the distance over which a lane change remains physically possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getCrossSection

public final SortedSet<RelativeLane> getCrossSection()

Returns a set of relative lanes representing the cross section. Lanes are sorted left to right.

Returns:

set of relative lanes representing the cross section

getTimeStampedSpeedLimitProspect

public final TimeStampedObject<SpeedLimitProspect> getTimeStampedSpeedLimitProspect(RelativeLane lane)

Returns the time stamped prospect for speed limits on a lane (dynamic speed limits may vary between lanes).

Parameters:

lane - RelativeLane; relative lateral lane

Returns:

time stamped prospect for speed limits on a lane

getTimeStampedLegalLaneChangePossibility

public final TimeStampedObject<Length> getTimeStampedLegalLaneChangePossibility(RelativeLane fromLane,
                                                                                LateralDirectionality lat)

Returns the time stamped distance over which a lane change remains legally possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

time stamped distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedPhysicalLaneChangePossibility

public final TimeStampedObject<Length> getTimeStampedPhysicalLaneChangePossibility(RelativeLane fromLane,
                                                                                   LateralDirectionality lat)

Returns the time stamped distance over which a lane change remains physically possible.

Parameters:

fromLane - RelativeLane; lane from which the lane change possibility is requested

lat - LateralDirectionality; LEFT or RIGHT, null not allowed

Returns:

time stamped distance over which a lane change remains possible

Throws:

NullPointerException - if lat == null

getTimeStampedCrossSection

public final TimeStampedObject<SortedSet<RelativeLane>> getTimeStampedCrossSection()

Returns a time stamped set of relative lanes representing the cross section. Lanes are sorted left to right.

Returns:

time stamped set of relative lanes representing the cross section

updateAll

public final void updateAll()
                     throws GTUException,
                            NetworkException,
                            ParameterException

Specified by:

updateAll in interface PerceptionCategory<LaneBasedGTU,LanePerception>

Throws:

GTUException

NetworkException

ParameterException

toString

public final String toString()

Overrides:

toString in class Object