Package org.opentrafficsim.road.gtu.lane.perception.headway

Class AbstractHeadwayGTU

  • All Implemented Interfaces:
    Serializable, Comparable<Headway>, org.opentrafficsim.base.Identifiable, PerceivedObject, Headway, HeadwayGTU
    Direct Known Subclasses:
    HeadwayGTURealCopy, HeadwayGTUSimple, HeadwayGTUType
    public abstract class AbstractHeadwayGTU
extends AbstractHeadwayCopy
implements HeadwayGTU
    Container for a reference to information about a (lane based) GTU and a headway. The Headway can store information about GTUs or objects ahead of the reference GTU, behind the reference GTU, or (partially) parallel to the reference GTU. In addition to the (perceived) headway, several other pieces of information can be stored, such as (perceived) speed, (perceived) acceleration, (perceived) turn indicators, and (perceived) braking lights.
    Special care must be taken in curves when perceiving headway of a GTU or object on an adjacent lane.The question is whether we perceive the parallel or ahead/behind based on a line perpendicular to the front/back of the GTU (rectangular), or perpendicular to the center line of the lane (wedge-shaped in case of a curve). The difficulty of a wedge-shaped situation is that reciprocity might be violated: in case of a clothoid, for instance, it is not sure that the point on the center line when projected from lane 1 to lane 2 is the same as the projection from lane 2 to lane 1. The same holds for shapes with sharp bends. Therefore, algorithms implementing headway should only project the reference point of the reference GTU on the center line of the adjacent lane, and then calculate the forward position and backward position on the adjacent lane based on the reference point. Still, our human perception of what is parallel and what not, is not reflected by fractional positions. See examples in http://simulation.tudelft.nl:8085/browse/OTS-113.

    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: 1368 $, $LastChangedDate: 2015-09-02 00:20:20 +0200 (Wed, 02 Sep 2015) $, by $Author: averbraeck $, initial version 11 feb. 2015
    Author:
    Alexander Verbraeck, Peter Knoppers
    See Also:
    Serialized Form

    • Constructor Detail

      • AbstractHeadwayGTU

        public AbstractHeadwayGTU​(String id,
                          GTUType gtuType,
                          Length distance,
                          boolean facingSameDirection,
                          Length length,
                          Length width,
                          Speed speed,
                          Acceleration acceleration,
                          Speed desiredSpeed,
                          GTUStatus... gtuStatus)
                   throws GTUException
        Construct a new Headway information object, for a moving GTU ahead of us or behind us.
        Parameters:
        id - String; the id of the GTU for comparison purposes, can not be null.
        gtuType - GTUType; the perceived GTU Type, or null if unknown.
        distance - the distance to the other object; if this constructor is used, distance cannot be null.
        facingSameDirection - boolean; whether the GTU is facing the same direction.
        length - the (perceived) length of the other object; can not be null.
        width - the (perceived) width of the other object; can not be null.
        speed - the (perceived) speed of the other object; can be null if unknown.
        acceleration - the (perceived) acceleration of the other object; can be null if unknown.
        desiredSpeed - Speed; desired speed
        gtuStatus - GTUStatus...; the observable characteristics of the GTU.
        Throws:
        GTUException - when id is null, objectType is null, or parameters are inconsistent

      • AbstractHeadwayGTU

        public AbstractHeadwayGTU​(String id,
                          GTUType gtuType,
                          Length distance,
                          boolean facingSameDirection,
                          Length length,
                          Length width,
                          Speed desiredSpeed,
                          GTUStatus... gtuStatus)
                   throws GTUException
        Construct a new Headway information object, for a non-moving GTU ahead of us or behind us.
        Parameters:
        id - String; the id of the GTU for comparison purposes, can not be null.
        gtuType - GTUType; the perceived GTU Type, or null if unknown.
        distance - Length; the distance to the other GTU; if this constructor is used, distance cannot be null.
        facingSameDirection - boolean; whether the GTU is facing the same direction.
        length - the (perceived) length of the other object; can not be null.
        width - the (perceived) width of the other object; can not be null.
        desiredSpeed - Speed; desired speed
        gtuStatus - GTUStatus...; the observable characteristics of the GTU.
        Throws:
        GTUException - when id is null, or parameters are inconsistent

      • AbstractHeadwayGTU

        public AbstractHeadwayGTU​(String id,
                          GTUType gtuType,
                          Length overlapFront,
                          Length overlap,
                          Length overlapRear,
                          boolean facingSameDirection,
                          Length length,
                          Length width,
                          Speed speed,
                          Acceleration acceleration,
                          Speed desiredSpeed,
                          GTUStatus... gtuStatus)
                   throws GTUException
        Construct a new Headway information object, for a moving GTU parallel with us.
        Parameters:
        id - String; the id of the GTU for comparison purposes, can not be null.
        gtuType - GTUType; the perceived GTU Type, or null if unknown.
        overlapFront - the front-front distance to the other GTU; if this constructor is used, this value cannot be null.
        overlap - the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.
        overlapRear - the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.
        facingSameDirection - boolean; whether the GTU is facing the same direction.
        length - the (perceived) length of the other object; can not be null.
        width - the (perceived) width of the other object; can not be null.
        speed - the (perceived) speed of the other GTU; can be null if unknown.
        acceleration - the (perceived) acceleration of the other GTU; can be null if unknown.
        desiredSpeed - Speed; desired speed
        gtuStatus - GTUStatus...; the observable characteristics of the GTU.
        Throws:
        GTUException - when id is null, or parameters are inconsistent

      • AbstractHeadwayGTU

        public AbstractHeadwayGTU​(String id,
                          GTUType gtuType,
                          Length overlapFront,
                          Length overlap,
                          Length overlapRear,
                          boolean facingSameDirection,
                          Length length,
                          Length width,
                          Speed desiredSpeed,
                          GTUStatus... gtuStatus)
                   throws GTUException
        Construct a new Headway information object, for a non-moving GTU parallel with us.
        Parameters:
        id - String; the id of the GTU for comparison purposes, can not be null.
        gtuType - GTUType; the perceived GTU Type, or null if unknown.
        overlapFront - the front-front distance to the other GTU; if this constructor is used, this value cannot be null.
        overlap - the 'center' overlap with the other GTU; if this constructor is used, this value cannot be null.
        overlapRear - the rear-rear distance to the other GTU; if this constructor is used, this value cannot be null.
        facingSameDirection - boolean; whether the GTU is facing the same direction.
        length - the (perceived) length of the other object; can not be null.
        width - the (perceived) width of the other object; can not be null.
        desiredSpeed - Speed; desired speed
        gtuStatus - GTUStatus...; the observable characteristics of the GTU.
        Throws:
        GTUException - when id is null, or parameters are inconsistent

    • Method Detail

      • getDesiredSpeed

        public final Speed getDesiredSpeed()
        Returns the perceived desired speed of the neighbor.
        Specified by:
        getDesiredSpeed in interface HeadwayGTU
        Returns:
        Speed; perceived desired speed of the neighbor

      • isFacingSameDirection

        public final boolean isFacingSameDirection()
        Specified by:
        isFacingSameDirection in interface HeadwayGTU
        Returns:
        facingSameDirection

      • isBrakingLightsOn

        public final boolean isBrakingLightsOn()
        Specified by:
        isBrakingLightsOn in interface HeadwayGTU
        Returns:
        were the braking lights on?

      • isLeftTurnIndicatorOn

        public final boolean isLeftTurnIndicatorOn()
        Specified by:
        isLeftTurnIndicatorOn in interface HeadwayGTU
        Returns:
        was the left turn indicator on?

      • isRightTurnIndicatorOn

        public final boolean isRightTurnIndicatorOn()
        Specified by:
        isRightTurnIndicatorOn in interface HeadwayGTU
        Returns:
        was the right turn indicator on?

      • isEmergencyLightsOn

        public final boolean isEmergencyLightsOn()
        Specified by:
        isEmergencyLightsOn in interface HeadwayGTU
        Returns:
        were the emergency lights on?

      • isHonking

        public final boolean isHonking()
        Specified by:
        isHonking in interface HeadwayGTU
        Returns:
        was the vehicle honking or ringing its bell when being observed for the headway?

      • getGtuStatus

        protected final GTUStatus[] getGtuStatus()
        For subclasses that create a copy of themselves.
        Returns:
        set of gtu status

      • getGTUStatuses

        public static final GTUStatus[] getGTUStatuses​(LaneBasedGTU gtu,
                                               Time when)
        Collects GTU statuses from a gtu.
        Parameters:
        gtu - LaneBasedGTU; gtu
        when - Time; time
        Returns:
        GTU statuses

      • getSpeedLimitInfo

        public static SpeedLimitInfo getSpeedLimitInfo​(LaneBasedGTU gtu)
        Creates speed limit info for given GTU.
        Parameters:
        gtu - LaneBasedGTU; gtu to the the speed limit info for
        Returns:
        speed limit info for given GTU

      • getWidth

        public Length getWidth()
        Returns the width of the GTU.
        Specified by:
        getWidth in interface HeadwayGTU
        Returns:
        Length; width of the GTU