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

Class ConflictUtil

java.lang.Object

org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil

public final class ConflictUtil
extends Object

This class implements default behavior for intersection conflicts for use in tactical planners.

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 Jun 3, 2016

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ConflictUtil.ConflictPlans	Holds the tactical plans of a driver considering conflicts.

Field Summary

Fields

Modifier and Type	Field	Description
static ParameterTypeAcceleration	B	Comfortable deceleration.
static ParameterTypeAcceleration	BCRIT	Critical deceleration.
static ParameterTypeDuration	MIN_GAP	Minimum time gap between events.
static ParameterTypeLength	S0	Stopping distance.
static ParameterTypeLength	S0_CONF	Stopping distance at conflicts.
static ParameterTypeLength	STOP_AREA	Area before stop line where one is considered arrived at the intersection.
static ParameterTypeDuration	TI	Parameter of how much time before departure a bus indicates its departure to get priority.
static ParameterTypeDouble	TIME_FACTOR	Multiplication factor on time for conservative assessment.

Method Summary

Modifier and Type	Method	Description
static Acceleration	approachConflicts(Parameters parameters, Iterable<HeadwayConflict> conflicts, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, CarFollowingModel carFollowingModel, Length vehicleLength, Length vehicleWidth, Speed speed, Acceleration acceleration, SpeedLimitInfo speedLimitInfo, ConflictUtil.ConflictPlans conflictPlans, LaneBasedGTU gtu, RelativeLane lane)	Approach conflicts by applying appropriate acceleration (or deceleration).
static boolean	stopForAllStopConflict(HeadwayConflict conflict, ConflictUtil.ConflictPlans conflictPlans)	Approach an all-stop conflict.
static boolean	stopForGiveWayConflict(HeadwayConflict conflict, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, Speed speed, Acceleration acceleration, Length vehicleLength, Parameters parameters, SpeedLimitInfo speedLimitInfo, CarFollowingModel carFollowingModel, ParameterTypeAcceleration bType, Length prevEnd)	Approach a give-way conflict.
static boolean	stopForPriorityConflict(HeadwayConflict conflict, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, Speed speed, Length vehicleLength, Parameters parameters, Length prevEnd)	Approach a priority conflict.
static boolean	stopForStopConflict(HeadwayConflict conflict, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, Speed speed, Acceleration acceleration, Length vehicleLength, Parameters parameters, SpeedLimitInfo speedLimitInfo, CarFollowingModel carFollowingModel, ParameterTypeAcceleration bType, Length prevEnd)	Approach a stop conflict.

Methods inherited from class java.lang.Object

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

Field Detail

MIN_GAP

public static final ParameterTypeDuration MIN_GAP

Minimum time gap between events.

B

public static final ParameterTypeAcceleration B

Comfortable deceleration.

BCRIT

public static final ParameterTypeAcceleration BCRIT

Critical deceleration.

S0

public static final ParameterTypeLength S0

Stopping distance.

S0_CONF

public static final ParameterTypeLength S0_CONF

Stopping distance at conflicts.

TIME_FACTOR

public static final ParameterTypeDouble TIME_FACTOR

Multiplication factor on time for conservative assessment.

STOP_AREA

public static final ParameterTypeLength STOP_AREA

Area before stop line where one is considered arrived at the intersection.

TI

public static final ParameterTypeDuration TI

Parameter of how much time before departure a bus indicates its departure to get priority.

Method Detail

approachConflicts

public static Acceleration approachConflicts(Parameters parameters,
                                             Iterable<HeadwayConflict> conflicts,
                                             PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                             CarFollowingModel carFollowingModel,
                                             Length vehicleLength,
                                             Length vehicleWidth,
                                             Speed speed,
                                             Acceleration acceleration,
                                             SpeedLimitInfo speedLimitInfo,
                                             ConflictUtil.ConflictPlans conflictPlans,
                                             LaneBasedGTU gtu,
                                             RelativeLane lane)
                                      throws GTUException,
                                             ParameterException

Approach conflicts by applying appropriate acceleration (or deceleration). The model may yield for a vehicle even while having priority. Such a 'yield plan' is remembered in YieldPlans. By forwarding the same YieldPlans for a GTU consistency of such plans is provided. If any conflict is not accepted to pass, stopping before a more upstream conflict is applied if there not sufficient stopping length in between conflicts.

Parameters:

parameters - Parameters; parameters

conflicts - PerceptionCollectable<HeadwayConflict,Conflict>; set of conflicts to approach

leaders - PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leading vehicles

carFollowingModel - CarFollowingModel; car-following model

vehicleLength - Length; length of vehicle

vehicleWidth - Length; width of vehicle

speed - Speed; current speed

acceleration - Acceleration; current acceleration

speedLimitInfo - SpeedLimitInfo; speed limit info

conflictPlans - ConflictPlans; set of plans for conflict

gtu - LaneBasedGTU; gtu

lane - RelativeLane; lane

Returns:

acceleration appropriate for approaching the conflicts

Throws:

GTUException - in case of an unsupported conflict rule

ParameterException - if a parameter is not defined or out of bounds

stopForPriorityConflict

public static boolean stopForPriorityConflict(HeadwayConflict conflict,
                                              PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                              Speed speed,
                                              Length vehicleLength,
                                              Parameters parameters,
                                              Length prevEnd)
                                       throws ParameterException

Approach a priority conflict. Stopping is applied to give way to conflicting traffic in case congestion is present on the own lane. This is courtesy yielding.

Parameters:

conflict - HeadwayConflict; conflict to approach

leaders - PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leading vehicles in own lane

speed - Speed; current speed

vehicleLength - Length; vehicle length

parameters - Parameters; parameters

prevEnd - Length; distance to end of previous conflict that should not be blocked, null if none

Returns:

whether to stop for this conflict

Throws:

ParameterException - if parameter B is not defined

stopForGiveWayConflict

public static boolean stopForGiveWayConflict(HeadwayConflict conflict,
                                             PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                             Speed speed,
                                             Acceleration acceleration,
                                             Length vehicleLength,
                                             Parameters parameters,
                                             SpeedLimitInfo speedLimitInfo,
                                             CarFollowingModel carFollowingModel,
                                             ParameterTypeAcceleration bType,
                                             Length prevEnd)
                                      throws ParameterException

Approach a give-way conflict.

Parameters:

conflict - HeadwayConflict; conflict

leaders - PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leaders

speed - Speed; current speed

acceleration - Acceleration; current acceleration

vehicleLength - Length; vehicle length

parameters - Parameters; parameters

speedLimitInfo - SpeedLimitInfo; speed limit info

carFollowingModel - CarFollowingModel; car-following model

bType - ParameterTypeAcceleration; parameter type for considered deceleration

prevEnd - Length; distance to end of previous conflict that should not be blocked, null if none

Returns:

whether to stop for this conflict

Throws:

ParameterException - if a parameter is not defined

stopForStopConflict

public static boolean stopForStopConflict(HeadwayConflict conflict,
                                          PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                          Speed speed,
                                          Acceleration acceleration,
                                          Length vehicleLength,
                                          Parameters parameters,
                                          SpeedLimitInfo speedLimitInfo,
                                          CarFollowingModel carFollowingModel,
                                          ParameterTypeAcceleration bType,
                                          Length prevEnd)
                                   throws ParameterException

Approach a stop conflict. Currently this is equal to approaching a give-way conflict.

Parameters:

conflict - HeadwayConflict; conflict

leaders - PerceptionCollectable<HeadwayGTU,LaneBasedGTU>; leaders

speed - Speed; current speed

acceleration - Acceleration; current acceleration

vehicleLength - Length; vehicle length

parameters - Parameters; parameters

speedLimitInfo - SpeedLimitInfo; speed limit info

carFollowingModel - CarFollowingModel; car-following model

bType - ParameterTypeAcceleration; parameter type for considered deceleration

prevEnd - Length; distance to end of previous conflict that should not be blocked, null if none

Returns:

whether to stop for this conflict

Throws:

ParameterException - if a parameter is not defined

stopForAllStopConflict

public static boolean stopForAllStopConflict(HeadwayConflict conflict,
                                             ConflictUtil.ConflictPlans conflictPlans)

Approach an all-stop conflict.

Parameters:

conflict - HeadwayConflict; conflict to approach

conflictPlans - ConflictPlans; set of plans for conflict

Returns:

whether to stop for this conflict