AccelerationConflicts.java
- package org.opentrafficsim.road.gtu.lane.tactical.lmrs;
- import org.djunits.value.vdouble.scalar.Acceleration;
- import org.djunits.value.vdouble.scalar.Length;
- import org.djunits.value.vdouble.scalar.Speed;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.base.parameters.Parameters;
- import org.opentrafficsim.core.gtu.GTUException;
- import org.opentrafficsim.core.gtu.perception.EgoPerception;
- import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGTU;
- import org.opentrafficsim.road.gtu.lane.perception.FilteredIterable;
- import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
- import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
- import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
- import org.opentrafficsim.road.gtu.lane.perception.categories.IntersectionPerception;
- import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayConflict;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGTU;
- import org.opentrafficsim.road.gtu.lane.plan.operational.SimpleOperationalPlan;
- import org.opentrafficsim.road.gtu.lane.tactical.Blockable;
- import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
- import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil;
- import org.opentrafficsim.road.gtu.lane.tactical.util.ConflictUtil.ConflictPlans;
- import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
- /**
- * <p>
- * Copyright (c) 2013-2022 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/node/13">OpenTrafficSim License</a>.
- * <p>
- * @version $Revision$, $LastChangedDate$, by $Author$, initial version 27 jan. 2017 <br>
- * @author <a href="http://www.tbm.tudelft.nl/averbraeck">Alexander Verbraeck</a>
- * @author <a href="http://www.tudelft.nl/pknoppers">Peter Knoppers</a>
- * @author <a href="http://www.transport.citg.tudelft.nl">Wouter Schakel</a>
- */
- public class AccelerationConflicts implements AccelerationIncentive, Blockable
- {
- /** Set of yield plans at conflicts with priority. Remembering for static model. */
- private final ConflictPlans yieldPlans = new ConflictPlans();
- /** {@inheritDoc} */
- @Override
- public final void accelerate(final SimpleOperationalPlan simplePlan, final RelativeLane lane, final Length mergeDistance,
- final LaneBasedGTU gtu, final LanePerception perception, final CarFollowingModel carFollowingModel,
- final Speed speed, final Parameters params, final SpeedLimitInfo speedLimitInfo)
- throws OperationalPlanException, ParameterException, GTUException
- {
- EgoPerception<?, ?> ego = perception.getPerceptionCategory(EgoPerception.class);
- Acceleration acceleration = ego.getAcceleration();
- Length length = ego.getLength();
- Length width = ego.getWidth();
- Iterable<HeadwayConflict> conflicts = perception.getPerceptionCategory(IntersectionPerception.class).getConflicts(lane);
- PerceptionCollectable<HeadwayGTU, LaneBasedGTU> leaders =
- perception.getPerceptionCategory(NeighborsPerception.class).getLeaders(lane);
- if (!lane.isCurrent())
- {
- conflicts = new FilteredIterable<>(conflicts, (conflict) ->
- {
- return conflict.getDistance().gt(mergeDistance);
- });
- }
- conflicts = onRoute(conflicts, gtu);
- Acceleration a = ConflictUtil.approachConflicts(params, conflicts, leaders, carFollowingModel, length, width, speed,
- acceleration, speedLimitInfo, this.yieldPlans, gtu, lane);
- simplePlan.minimizeAcceleration(a);
- if (this.yieldPlans.getIndicatorIntent().isLeft())
- {
- simplePlan.setIndicatorIntentLeft(this.yieldPlans.getIndicatorObjectDistance());
- }
- else if (this.yieldPlans.getIndicatorIntent().isRight())
- {
- simplePlan.setIndicatorIntentRight(this.yieldPlans.getIndicatorObjectDistance());
- }
- }
- /** {@inheritDoc} */
- @Override
- public boolean isBlocking()
- {
- return this.yieldPlans.isBlocking();
- }
- /** {@inheritDoc} */
- @Override
- public final String toString()
- {
- return "AccelerationConflicts";
- }
- }