AbstractLaneBasedTacticalPlanner.java
package org.opentrafficsim.road.gtu.lane.tactical;
import java.io.Serializable;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Map;
import java.util.Set;
import org.djunits.value.vdouble.scalar.Length;
import org.opentrafficsim.base.OTSClassUtil;
import org.opentrafficsim.base.parameters.ParameterTypeClass;
import org.opentrafficsim.base.parameters.ParameterTypeDuration;
import org.opentrafficsim.base.parameters.ParameterTypeLength;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.core.geometry.OTSGeometryException;
import org.opentrafficsim.core.geometry.OTSLine3D;
import org.opentrafficsim.core.gtu.GTUDirectionality;
import org.opentrafficsim.core.gtu.GTUException;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.core.network.Link;
import org.opentrafficsim.core.network.LinkDirection;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.Node;
import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.lmrs.LMRS;
import org.opentrafficsim.road.network.lane.CrossSectionElement;
import org.opentrafficsim.road.network.lane.CrossSectionLink;
import org.opentrafficsim.road.network.lane.DirectedLanePosition;
import org.opentrafficsim.road.network.lane.Lane;
import org.opentrafficsim.road.network.lane.LaneDirection;
/**
* A lane-based tactical planner generates an operational plan for the lane-based GTU. It can ask the strategic planner for
* assistance on the route to take when the network splits. This abstract class contains a number of helper methods that make it
* easy to implement a tactical planner.
* <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 25, 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 abstract class AbstractLaneBasedTacticalPlanner implements LaneBasedTacticalPlanner, Serializable
{
/** Tactical planner parameter. */
public static final ParameterTypeClass<LaneBasedTacticalPlanner> TACTICAL_PLANNER;
static
{
Class<LaneBasedTacticalPlanner> type = LaneBasedTacticalPlanner.class;
TACTICAL_PLANNER = new ParameterTypeClass<>("tactical planner", "Tactical planner class.",
OTSClassUtil.getTypedClass(type), LMRS.class);
}
/** */
private static final long serialVersionUID = 20151125L;
/** Look ahead parameter type. */
protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
/** Time step parameter type. */
protected static final ParameterTypeDuration DT = ParameterTypes.DT;
/** The car-following model. */
private CarFollowingModel carFollowingModel;
/** The perception. */
private final LanePerception lanePerception;
/** GTU. */
private final LaneBasedGTU gtu;
/**
* Instantiates a tactical planner.
* @param carFollowingModel CarFollowingModel; car-following model
* @param gtu LaneBasedGTU; GTU
* @param lanePerception LanePerception; perception
*/
public AbstractLaneBasedTacticalPlanner(final CarFollowingModel carFollowingModel, final LaneBasedGTU gtu,
final LanePerception lanePerception)
{
setCarFollowingModel(carFollowingModel);
this.gtu = gtu;
this.lanePerception = lanePerception;
}
/** {@inheritDoc} */
@Override
public final LaneBasedGTU getGtu()
{
return this.gtu;
}
/**
* Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
* @param gtu LaneBasedGTU; the GTU for which to calculate the lane list
* @param maxHeadway Length; the maximum length for which lanes should be returned
* @return LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow,
* and the path to follow when staying on the same lane.
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
public static LanePathInfo buildLanePathInfo(final LaneBasedGTU gtu, final Length maxHeadway)
throws GTUException, NetworkException
{
DirectedLanePosition dlp = gtu.getReferencePosition();
return buildLanePathInfo(gtu, maxHeadway, dlp.getLane(), dlp.getPosition(), dlp.getGtuDirection());
}
/**
* Build a list of lanes forward, with a maximum headway relative to the reference point of the GTU.
* @param gtu LaneBasedGTU; the GTU for which to calculate the lane list
* @param maxHeadway Length; the maximum length for which lanes should be returned
* @param startLane Lane; the lane in which the path starts
* @param position Length; the position on the start lane
* @param startDirectionality GTUDirectionality; the driving direction on the start lane
* @return LanePathInfo; an instance that provides the following information for an operational plan: the lanes to follow,
* and the path to follow when staying on the same lane.
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
public static LanePathInfo buildLanePathInfo(final LaneBasedGTU gtu, final Length maxHeadway, final Lane startLane,
final Length position, final GTUDirectionality startDirectionality) throws GTUException, NetworkException
{
List<LaneDirection> laneListForward = new ArrayList<>();
Lane lane = startLane;
GTUDirectionality lastGtuDir = startDirectionality;
Length startPosition = position;
Lane lastLane = lane;
laneListForward.add(new LaneDirection(lastLane, lastGtuDir));
Length distanceToEndOfLane;
OTSLine3D path;
try
{
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
distanceToEndOfLane = lane.getLength().minus(position);
path = lane.getCenterLine().extract(position, lane.getLength());
}
else
{
distanceToEndOfLane = position;
path = lane.getCenterLine().extract(Length.ZERO, position).reverse();
}
}
catch (OTSGeometryException exception)
{
// System.err.println(gtu + ": " + exception.getMessage());
// System.err.println(lane + ", len=" + lane.getLength());
// System.err.println(position);
// throw new GTUException(exception);
// section on current lane too short, floating point operations cause only a single point at the end of the lane
path = null;
distanceToEndOfLane = Length.ZERO;
laneListForward.clear();
startPosition = Length.ZERO;
}
while (distanceToEndOfLane.lt(maxHeadway))
{
Map<Lane, GTUDirectionality> lanes = lastGtuDir.equals(GTUDirectionality.DIR_PLUS)
? lane.nextLanes(gtu.getGTUType()) : lane.prevLanes(gtu.getGTUType());
if (lanes.size() == 0)
{
// Dead end. Return with the list as is.
return new LanePathInfo(path, laneListForward, startPosition);
}
else if (lanes.size() == 1)
{
// Ask the strategical planner what the next link should be (if known), because the strategical planner knows
// best!
LinkDirection ld = null;
ld = gtu.getStrategicalPlanner().nextLinkDirection(lane.getParentLink(), lastGtuDir, gtu.getGTUType());
lane = lanes.keySet().iterator().next();
if (ld != null && !lane.getParentLink().equals(ld.getLink()))
{
// Lane not on route anymore. return with the list as is.
return new LanePathInfo(path, laneListForward, startPosition);
}
}
else
{
// Multiple next lanes; ask the strategical planner where to go.
// Note: this is not necessarily a split; it could e.g. be a bike path on a road
LinkDirection ld;
try
{
ld = gtu.getStrategicalPlanner().nextLinkDirection(lane.getParentLink(), /* gtu.getLanes().get(lane), */
lastGtuDir, gtu.getGTUType());
}
catch (NetworkException ne)
{
// no route found.
// return the data structure up to this point...
return new LanePathInfo(path, laneListForward, startPosition);
}
Link nextLink = ld.getLink();
Lane newLane = null;
for (Lane nextLane : lanes.keySet())
{
if (nextLane.getParentLink().equals(nextLink))
{
newLane = nextLane;
break;
}
}
if (newLane == null)
{
// we cannot reach the next node on this lane -- we have to make a lane change!
// return the data structure up to this point...
return new LanePathInfo(path, laneListForward, startPosition);
}
// otherwise: continue!
lane = newLane;
}
// determine direction for the path
try
{
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
if (lastLane.getParentLink().getEndNode().equals(lane.getParentLink().getStartNode()))
{
// -----> O ----->, GTU moves ---->
path = concatenateNull(path, lane.getCenterLine());
// path = OTSLine3D.concatenate(Lane.MARGIN.si, path, lane.getCenterLine());
lastGtuDir = GTUDirectionality.DIR_PLUS;
}
else
{
// -----> O <-----, GTU moves ---->
path = concatenateNull(path, lane.getCenterLine().reverse());
// path = OTSLine3D.concatenate(Lane.MARGIN.si, path, lane.getCenterLine().reverse());
lastGtuDir = GTUDirectionality.DIR_MINUS;
}
}
else
{
if (lastLane.getParentLink().getStartNode().equals(lane.getParentLink().getStartNode()))
{
// <----- O ----->, GTU moves ---->
path = concatenateNull(path, lane.getCenterLine());
// path = OTSLine3D.concatenate(Lane.MARGIN.si, path, lane.getCenterLine());
lastGtuDir = GTUDirectionality.DIR_PLUS;
}
else
{
// <----- O <-----, GTU moves ---->
path = concatenateNull(path, lane.getCenterLine().reverse());
// path = OTSLine3D.concatenate(Lane.MARGIN.si, path, lane.getCenterLine().reverse());
lastGtuDir = GTUDirectionality.DIR_MINUS;
}
}
lastLane = lane;
}
catch (OTSGeometryException exception)
{
throw new GTUException(exception);
}
laneListForward.add(new LaneDirection(lastLane, lastGtuDir));
distanceToEndOfLane = distanceToEndOfLane.plus(lastLane.getLength());
}
return new LanePathInfo(path, laneListForward, startPosition);
}
/**
* Concatenate two paths, where the first may be {@code null}.
* @param path OTSLine3D; path, may be {@code null}
* @param centerLine OTSLine3D; center line of lane to add
* @return concatenated line
* @throws OTSGeometryException when lines are degenerate or too distant
*/
public static OTSLine3D concatenateNull(final OTSLine3D path, final OTSLine3D centerLine) throws OTSGeometryException
{
if (path == null)
{
return centerLine;
}
return OTSLine3D.concatenate(Lane.MARGIN.si, path, centerLine);
}
/**
* Calculate the next location where the network splits, with a maximum headway relative to the reference point of the GTU.
* Note: a lane drop is also considered a split (!).
* @param gtu LaneBasedGTU; the GTU for which to calculate the lane list
* @param maxHeadway Length; the maximum length for which lanes should be returned
* @return NextSplitInfo; an instance that provides the following information for an operational plan: whether the network
* splits, the node where it splits, and the current lanes that lead to the right node after the split node.
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
public static NextSplitInfo determineNextSplit(final LaneBasedGTU gtu, final Length maxHeadway)
throws GTUException, NetworkException
{
Node nextSplitNode = null;
Set<Lane> correctCurrentLanes = new LinkedHashSet<>();
DirectedLanePosition dlp = gtu.getReferencePosition();
Lane referenceLane = dlp.getLane();
double refFrac = dlp.getPosition().si / referenceLane.getLength().si;
Link lastLink = referenceLane.getParentLink();
GTUDirectionality lastGtuDir = dlp.getGtuDirection();
GTUDirectionality referenceLaneDirectionality = lastGtuDir;
Length lengthForward;
Length position = dlp.getPosition();
Node lastNode;
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
lengthForward = referenceLane.getLength().minus(position);
lastNode = referenceLane.getParentLink().getEndNode();
}
else
{
lengthForward = gtu.position(referenceLane, gtu.getReference());
lastNode = referenceLane.getParentLink().getStartNode();
}
// see if we have a split within maxHeadway distance
while (lengthForward.lt(maxHeadway) && nextSplitNode == null)
{
// calculate the number of "outgoing" links
Set<Link> links = lastNode.getLinks().toSet(); // safe copy
Iterator<Link> linkIterator = links.iterator();
while (linkIterator.hasNext())
{
Link link = linkIterator.next();
GTUDirectionality drivingDirection =
lastNode.equals(link.getStartNode()) ? GTUDirectionality.DIR_PLUS : GTUDirectionality.DIR_MINUS;
if (!link.getDirectionality(gtu.getGTUType()).getDirectionalities().contains(drivingDirection))
{
linkIterator.remove();
}
// if (link.equals(lastLink) || !link.getLinkType().isCompatible(gtu.getGTUType())
// || (link.getDirectionality(gtu.getGTUType()).isForward() && link.getEndNode().equals(lastNode))
// || (link.getDirectionality(gtu.getGTUType()).isBackward() && link.getStartNode().equals(lastNode)))
// {
// linkIterator.remove();
// }
}
// calculate the number of incoming and outgoing lanes on the link
boolean laneChange = false;
if (links.size() == 1)
{
for (CrossSectionElement cse : ((CrossSectionLink) lastLink).getCrossSectionElementList())
{
if (cse instanceof Lane && lastGtuDir.isPlus())
{
Lane lane = (Lane) cse;
if (lane.nextLanes(gtu.getGTUType()).size() == 0)
{
laneChange = true;
}
}
if (cse instanceof Lane && lastGtuDir.isMinus())
{
Lane lane = (Lane) cse;
if (lane.prevLanes(gtu.getGTUType()).size() == 0)
{
laneChange = true;
}
}
}
}
// see if we have a lane drop
if (laneChange)
{
nextSplitNode = lastNode;
// which lane(s) we are registered on and adjacent lanes link to a lane
// that does not drop?
for (CrossSectionElement cse : referenceLane.getParentLink().getCrossSectionElementList())
{
if (cse instanceof Lane)
{
Lane l = (Lane) cse;
// if (noLaneDrop(gtu, maxHeadway, l, position, referenceLaneDirectionality))
if (noLaneDrop(gtu, maxHeadway, l, l.getLength().times(refFrac), referenceLaneDirectionality))
{
correctCurrentLanes.add(l);
}
}
}
return new NextSplitInfo(nextSplitNode, correctCurrentLanes);
}
// see if we have a split
if (links.size() > 1)
{
nextSplitNode = lastNode;
LinkDirection ld = gtu.getStrategicalPlanner().nextLinkDirection(nextSplitNode, lastLink, gtu.getGTUType());
// which lane(s) we are registered on and adjacent lanes link to a lane
// that is on the route at the next split?
for (CrossSectionElement cse : referenceLane.getParentLink().getCrossSectionElementList())
{
if (cse instanceof Lane)
{
Lane l = (Lane) cse;
// if (connectsToPath(gtu, maxHeadway, l, position, referenceLaneDirectionality, ld.getLink()))
if (connectsToPath(gtu, maxHeadway, l, l.getLength().times(refFrac), referenceLaneDirectionality,
ld.getLink()))
{
correctCurrentLanes.add(l);
}
}
}
if (correctCurrentLanes.size() > 0)
{
return new NextSplitInfo(nextSplitNode, correctCurrentLanes);
}
// split, but no lane on current link to right direction
Set<Lane> correctLanes = new LinkedHashSet<>();
Set<Lane> wrongLanes = new LinkedHashSet<>();
for (CrossSectionElement cse : ((CrossSectionLink) lastLink).getCrossSectionElementList())
{
if (cse instanceof Lane)
{
Lane l = (Lane) cse;
if (connectsToPath(gtu, maxHeadway.plus(l.getLength()), l, Length.ZERO, lastGtuDir, ld.getLink()))
{
correctLanes.add(l);
}
else
{
wrongLanes.add(l);
}
}
}
for (Lane wrongLane : wrongLanes)
{
for (Lane adjLane : wrongLane.accessibleAdjacentLanesLegal(LateralDirectionality.LEFT, gtu.getGTUType(),
referenceLaneDirectionality))
{
if (correctLanes.contains(adjLane))
{
return new NextSplitInfo(nextSplitNode, correctCurrentLanes, LateralDirectionality.LEFT);
}
}
for (Lane adjLane : wrongLane.accessibleAdjacentLanesLegal(LateralDirectionality.RIGHT, gtu.getGTUType(),
referenceLaneDirectionality))
{
if (correctLanes.contains(adjLane))
{
return new NextSplitInfo(nextSplitNode, correctCurrentLanes, LateralDirectionality.RIGHT);
}
}
}
return new NextSplitInfo(nextSplitNode, correctCurrentLanes, null);
}
if (links.size() == 0)
{
return new NextSplitInfo(null, correctCurrentLanes);
}
// just one link
Link link = links.iterator().next();
// determine direction for the path
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
if (lastLink.getEndNode().equals(link.getStartNode()))
{
// -----> O ----->, GTU moves ---->
lastGtuDir = GTUDirectionality.DIR_PLUS;
lastNode = link.getEndNode();
}
else
{
// -----> O <-----, GTU moves ---->
lastGtuDir = GTUDirectionality.DIR_MINUS;
lastNode = link.getEndNode();
}
}
else
{
if (lastLink.getStartNode().equals(link.getStartNode()))
{
// <----- O ----->, GTU moves ---->
lastNode = link.getStartNode();
lastGtuDir = GTUDirectionality.DIR_PLUS;
}
else
{
// <----- O <-----, GTU moves ---->
lastNode = link.getStartNode();
lastGtuDir = GTUDirectionality.DIR_MINUS;
}
}
lastLink = links.iterator().next();
lengthForward = lengthForward.plus(lastLink.getLength());
}
return new NextSplitInfo(null, correctCurrentLanes);
}
/**
* Determine whether the lane is directly connected to our route, in other words: if we would (continue to) drive on the
* given lane, can we take the right branch at the nextSplitNode without switching lanes?
* @param gtu LaneBasedGTU; the GTU for which we have to determine the lane suitability
* @param maxHeadway Length; the maximum length for use in the calculation
* @param startLane Lane; the first lane in the list
* @param startLanePosition Length; the position on the start lane
* @param startDirectionality GTUDirectionality; the driving direction on the start lane
* @param linkAfterSplit Link; the link after the split to which we should connect
* @return boolean; true if the lane (XXXXX which lane?) is connected to our path
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
protected static boolean connectsToPath(final LaneBasedGTU gtu, final Length maxHeadway, final Lane startLane,
final Length startLanePosition, final GTUDirectionality startDirectionality, final Link linkAfterSplit)
throws GTUException, NetworkException
{
List<LaneDirection> laneDirections =
buildLanePathInfo(gtu, maxHeadway, startLane, startLanePosition, startDirectionality).getLaneDirectionList();
for (LaneDirection laneDirection : laneDirections)
{
if (laneDirection.getLane().getParentLink().equals(linkAfterSplit))
{
return true;
}
}
return false;
}
/**
* Determine whether the lane does not drop, in other words: if we would (continue to) drive on the given lane, can we
* continue to drive at the nextSplitNode without switching lanes?
* @param gtu LaneBasedGTU; the GTU for which we have to determine the lane suitability
* @param maxHeadway Length; the maximum length for use in the calculation
* @param startLane Lane; the first lane in the list
* @param startLanePosition Length; the position on the start lane
* @param startDirectionality GTUDirectionality; the driving direction on the start lane
* @return boolean; true if the lane (XXX which lane?) is connected to our path
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
protected static boolean noLaneDrop(final LaneBasedGTU gtu, final Length maxHeadway, final Lane startLane,
final Length startLanePosition, final GTUDirectionality startDirectionality) throws GTUException, NetworkException
{
LanePathInfo lpi = buildLanePathInfo(gtu, maxHeadway, startLane, startLanePosition, startDirectionality);
if (lpi.getPath().getLength().lt(maxHeadway))
{
return false;
}
return true;
}
/**
* Make a list of links on which to drive next, with a maximum headway relative to the reference point of the GTU.
* @param gtu LaneBasedGTU; the GTU for which to calculate the link list
* @param maxHeadway Length; the maximum length for which links should be returned
* @return List<LinkDirection>; a list of links on which to drive next
* @throws GTUException when the vehicle is not on one of the lanes on which it is registered
* @throws NetworkException when the strategic planner is not able to return a next node in the route
*/
protected static List<LinkDirection> buildLinkListForward(final LaneBasedGTU gtu, final Length maxHeadway)
throws GTUException, NetworkException
{
List<LinkDirection> linkList = new ArrayList<>();
DirectedLanePosition dlp = gtu.getReferencePosition();
Lane referenceLane = dlp.getLane();
Link lastLink = referenceLane.getParentLink();
GTUDirectionality lastGtuDir = dlp.getGtuDirection();
linkList.add(new LinkDirection(lastLink, lastGtuDir));
Length lengthForward;
Length position = dlp.getPosition();
Node lastNode;
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
lengthForward = referenceLane.getLength().minus(position);
lastNode = referenceLane.getParentLink().getEndNode();
}
else
{
lengthForward = gtu.position(referenceLane, gtu.getReference());
lastNode = referenceLane.getParentLink().getStartNode();
}
// see if we have a split within maxHeadway distance
while (lengthForward.lt(maxHeadway))
{
// calculate the number of "outgoing" links
Set<Link> links = lastNode.getLinks().toSet(); // is a safe copy
Iterator<Link> linkIterator = links.iterator();
while (linkIterator.hasNext())
{
Link link = linkIterator.next();
GTUDirectionality drivingDirection =
lastNode.equals(link.getStartNode()) ? GTUDirectionality.DIR_PLUS : GTUDirectionality.DIR_MINUS;
if (link.equals(lastLink) || !link.getLinkType().isCompatible(gtu.getGTUType(), drivingDirection))
{
linkIterator.remove();
}
}
if (links.size() == 0)
{
return linkList; // the path stops here...
}
Link link;
if (links.size() > 1)
{
LinkDirection ld = gtu.getStrategicalPlanner().nextLinkDirection(lastLink, lastGtuDir, gtu.getGTUType());
link = ld.getLink();
}
else
{
link = links.iterator().next();
}
// determine direction for the path
if (lastGtuDir.equals(GTUDirectionality.DIR_PLUS))
{
if (lastLink.getEndNode().equals(link.getStartNode()))
{
// -----> O ----->, GTU moves ---->
lastGtuDir = GTUDirectionality.DIR_PLUS;
lastNode = lastLink.getEndNode();
}
else
{
// -----> O <-----, GTU moves ---->
lastGtuDir = GTUDirectionality.DIR_MINUS;
lastNode = lastLink.getEndNode();
}
}
else
{
if (lastLink.getStartNode().equals(link.getStartNode()))
{
// <----- O ----->, GTU moves ---->
lastNode = lastLink.getStartNode();
lastGtuDir = GTUDirectionality.DIR_PLUS;
}
else
{
// <----- O <-----, GTU moves ---->
lastNode = lastLink.getStartNode();
lastGtuDir = GTUDirectionality.DIR_MINUS;
}
}
lastLink = link;
linkList.add(new LinkDirection(lastLink, lastGtuDir));
lengthForward = lengthForward.plus(lastLink.getLength());
}
return linkList;
}
/** {@inheritDoc} */
@Override
public final CarFollowingModel getCarFollowingModel()
{
return this.carFollowingModel;
}
/**
* Sets the car-following model.
* @param carFollowingModel CarFollowingModel; Car-following model to set.
*/
public final void setCarFollowingModel(final CarFollowingModel carFollowingModel)
{
this.carFollowingModel = carFollowingModel;
}
/** {@inheritDoc} */
@Override
public final LanePerception getPerception()
{
return this.lanePerception;
}
}