Package org.opentrafficsim.road.gtu.lane.plan.operational

Class LaneChange.LaneChangePath.SequentialLaneChangePath

java.lang.Object

org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath.SequentialLaneChangePath

All Implemented Interfaces:

LaneChange.LaneChangePath

Enclosing interface:

LaneChange.LaneChangePath

public abstract static class LaneChange.LaneChangePath.SequentialLaneChangePath
extends Object
implements LaneChange.LaneChangePath

A helper class to allow a lane change to follow a sequential determination of the target position (including rotation) for each time step.

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 30 apr. 2018

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Nested Class Summary

Nested classes/interfaces inherited from interface org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath

LaneChange.LaneChangePath.InterpolatedLaneChangePath, LaneChange.LaneChangePath.SequentialLaneChangePath

Field Summary

Fields inherited from interface org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath

BEZIER, LINEAR, POLY3, SINE, SINE_INTERP

Constructor Summary

Constructors

Constructor	Description
SequentialLaneChangePath()

Method Summary

Modifier and Type	Method	Description
protected abstract double	angle(double width, double cumulLcLength, double totalLcLength)	Returns the angle, relative to the lane center line, at the given cumulative length for a lane change of given total length and lateral deviation.
OTSLine3D	getPath(Duration timeStep, Length planDistance, Speed meanSpeed, DirectedLanePosition from, DirectedPoint startPosition, LateralDirectionality laneChangeDirection, OTSLine3D fromLine, OTSLine3D toLine, Duration laneChangeDuration, double lcFraction)	Returns a (partial) path for a lane change.
protected abstract double	lateralFraction(double lcFraction)	Returns the fractional lateral deviation given a fraction of lane change being completed.

Methods inherited from class java.lang.Object

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

Constructor Detail

SequentialLaneChangePath

public SequentialLaneChangePath()

Method Detail

getPath

public OTSLine3D getPath(Duration timeStep,
                         Length planDistance,
                         Speed meanSpeed,
                         DirectedLanePosition from,
                         DirectedPoint startPosition,
                         LateralDirectionality laneChangeDirection,
                         OTSLine3D fromLine,
                         OTSLine3D toLine,
                         Duration laneChangeDuration,
                         double lcFraction)
                  throws OTSGeometryException

Returns a (partial) path for a lane change. The method is called both at the start and during a lane change, and should return a valid path. This path should at least have a length of planDistance, unless the lane change will be finished during the coming time step. In that case, the caller of this method is to lengthen the path along the center line of the target lane.

Specified by:

getPath in interface LaneChange.LaneChangePath

Parameters:

timeStep - Duration; time step

planDistance - Length; distance covered during the operational plan

meanSpeed - Speed; mean speed during time step

from - DirectedLanePosition; current position on the from-lanes

startPosition - DirectedPoint; current 2D position

laneChangeDirection - LateralDirectionality; lane change direction

fromLine - OTSLine3D; from line

toLine - OTSLine3D; to line

laneChangeDuration - Duration; current considered duration of the entire lane change

lcFraction - double; fraction of lane change done so far

Returns:

OTSLine3D a (partial) path for a lane change

Throws:

OTSGeometryException - on wrong fractional position

lateralFraction

protected abstract double lateralFraction(double lcFraction)

Returns the fractional lateral deviation given a fraction of lane change being completed.

Parameters:

lcFraction - double; fraction of lane change

Returns:

double; lateral deviation

angle

protected abstract double angle(double width,
                                double cumulLcLength,
                                double totalLcLength)

Returns the angle, relative to the lane center line, at the given cumulative length for a lane change of given total length and lateral deviation.

Parameters:

width - double; lateral deviation from from lanes at lane change end

cumulLcLength - double; cumulative length (along from lanes) covered so far

totalLcLength - double; total (along from lanes) length to cover in lane change

Returns:

double; angle, relative to the lane center line