Package org.opentrafficsim.road.gtu.lane.control

Class AbstractLinearFreeControl

java.lang.Object

org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

org.opentrafficsim.road.gtu.lane.control.AbstractLinearFreeControl

All Implemented Interfaces:

LongitudinalControl

Direct Known Subclasses:

LinearACC

public abstract class AbstractLinearFreeControl
extends AbstractActuatedControl

Class that splits the desired acceleration of a controller in a fixed linear free term, and a term for following determined by the sub-class.

Copyright (c) 2013-2022 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 Mar 14, 2019

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Field Summary

Fields

Modifier and Type	Field	Description
static org.opentrafficsim.base.parameters.ParameterTypeDouble	KF	Desired speed error gain parameter.

Fields inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

TDACC, TDCACC, X0

Constructor Summary

Constructors

Constructor	Description
AbstractLinearFreeControl(DelayedActuation delayedActuation)	Constructor using default sensors with no delay.

Method Summary

Modifier and Type	Method	Description
Acceleration	getDesiredAcceleration(LaneBasedGTU gtu, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, org.opentrafficsim.base.parameters.Parameters settings)	Returns the desired acceleration from the longitudinal control.
abstract Acceleration	getFollowingAcceleration(LaneBasedGTU gtu, PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders, org.opentrafficsim.base.parameters.Parameters settings)	Returns the following acceleration of the longitudinal control.

Methods inherited from class org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

delayActuation, getAcceleration

Methods inherited from class java.lang.Object

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

Field Detail

KF

public static final org.opentrafficsim.base.parameters.ParameterTypeDouble KF

Desired speed error gain parameter.

Constructor Detail

AbstractLinearFreeControl

public AbstractLinearFreeControl(DelayedActuation delayedActuation)

Constructor using default sensors with no delay.

Parameters:

delayedActuation - DelayedActuation; delayed actuation

Method Detail

getDesiredAcceleration

public final Acceleration getDesiredAcceleration(LaneBasedGTU gtu,
                                                 PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                                 org.opentrafficsim.base.parameters.Parameters settings)
                                          throws org.opentrafficsim.base.parameters.ParameterException

Returns the desired acceleration from the longitudinal control.

Specified by:

getDesiredAcceleration in class AbstractActuatedControl

Parameters:

gtu - LaneBasedGTU; gtu

leaders - PerceptionCollectable<HeadwayGTU, LaneBasedGTU>; leaders

settings - Parameters; system settings

Returns:

Acceleration; desired acceleration

Throws:

org.opentrafficsim.base.parameters.ParameterException - if parameter is not present

getFollowingAcceleration

public abstract Acceleration getFollowingAcceleration(LaneBasedGTU gtu,
                                                      PerceptionCollectable<HeadwayGTU,LaneBasedGTU> leaders,
                                                      org.opentrafficsim.base.parameters.Parameters settings)
                                               throws org.opentrafficsim.base.parameters.ParameterException

Returns the following acceleration of the longitudinal control. This method is only invoked if there is at least 1 leader.

Parameters:

gtu - LaneBasedGTU; gtu

leaders - PerceptionCollectable<HeadwayGTU, LaneBasedGTU>; leaders

settings - Parameters; system settings

Returns:

Acceleration; following acceleration of the longitudinal control

Throws:

org.opentrafficsim.base.parameters.ParameterException - if parameter is not present