HeadwayGtuReal.java
package org.opentrafficsim.road.gtu.lane.perception.headway;
import java.util.EnumSet;
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.Parameters;
import org.opentrafficsim.core.gtu.GtuException;
import org.opentrafficsim.core.gtu.GtuType;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
import org.opentrafficsim.road.network.speed.SpeedLimitTypes;
/**
* 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. <br>
* This particular version returns behavioral information about the observed GTU objects based on their real state.<br>
* 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 <i>reference point</i> 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.
* <p>
* Copyright (c) 2013-2023 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
* BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
* </p>
* @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
* @author <a href="https://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
* @author <a href="https://dittlab.tudelft.nl">Wouter Schakel</a>
*/
public class HeadwayGtuReal extends AbstractHeadway implements HeadwayGtu
{
/** */
private static final long serialVersionUID = 20170324L;
/** Stored speed limit info of the observed GTU. */
private SpeedLimitInfo speedLimitInfo;
/** Wrapped GTU. */
private final LaneBasedGtu gtu;
/** Whether the GTU is facing the same direction. */
private final boolean facingSameDirection;
/**
* Construct a new Headway information object, for a GTU ahead of us or behind us.
* @param gtu LaneBasedGtu; the observed GTU, can not be null.
* @param distance the distance to the other object; if this constructor is used, distance cannot be null.
* @param facingSameDirection boolean; whether the GTU is facing the same direction.
* @throws GtuException when id is null, objectType is null, or parameters are inconsistent
*/
public HeadwayGtuReal(final LaneBasedGtu gtu, final Length distance, final boolean facingSameDirection) throws GtuException
{
super(distance);
this.gtu = gtu;
this.facingSameDirection = facingSameDirection;
}
/**
* Construct a new Headway information object, for a GTU parallel with us.
* @param gtu LaneBasedGtu; the observed GTU, can not be null.
* @param overlapFront the front-front distance to the other Gtu; if this constructor is used, this value cannot be null.
* @param overlap the 'center' overlap with the other Gtu; if this constructor is used, this value cannot be null.
* @param overlapRear the rear-rear distance to the other Gtu; if this constructor is used, this value cannot be null.
* @param facingSameDirection boolean; whether the GTU is facing the same direction.
* @throws GtuException when id is null, or parameters are inconsistent
*/
public HeadwayGtuReal(final LaneBasedGtu gtu, final Length overlapFront, final Length overlap, final Length overlapRear,
final boolean facingSameDirection) throws GtuException
{
super(overlapFront, overlap, overlapRear);
this.gtu = gtu;
this.facingSameDirection = facingSameDirection;
}
/**
* Creates speed limit prospect for given GTU.
* @param wrappedGtu LaneBasedGtu; gtu to the the speed limit prospect for
* @return speed limit prospect for given GTU
*/
private SpeedLimitInfo getSpeedLimitInfo(final LaneBasedGtu wrappedGtu)
{
SpeedLimitInfo sli = new SpeedLimitInfo();
sli.addSpeedInfo(SpeedLimitTypes.MAX_VEHICLE_SPEED, wrappedGtu.getMaximumSpeed());
try
{
sli.addSpeedInfo(SpeedLimitTypes.FIXED_SIGN,
wrappedGtu.getReferencePosition().getLane().getSpeedLimit(wrappedGtu.getType()));
}
catch (NetworkException | GtuException exception)
{
throw new RuntimeException("Could not obtain speed limit from lane for perception.", exception);
}
return sli;
}
/** {@inheritDoc} */
@Override
public final CarFollowingModel getCarFollowingModel()
{
return this.gtu.getTacticalPlanner().getCarFollowingModel();
}
/** {@inheritDoc} */
@Override
public final Parameters getParameters()
{
return this.gtu.getParameters();
}
/** {@inheritDoc} */
@Override
public final SpeedLimitInfo getSpeedLimitInfo()
{
if (this.speedLimitInfo == null)
{
this.speedLimitInfo = getSpeedLimitInfo(this.gtu);
}
return this.speedLimitInfo;
}
/** {@inheritDoc} */
@Override
public final Route getRoute()
{
return this.gtu.getStrategicalPlanner().getRoute();
}
/**
* {@inheritDoc} <br>
* <br>
* <b>Note: when moving a {@code HeadwayGtuRealDirect}, only headway, speed and acceleration may be considered to be delayed
* and anticipated. Other information is taken from the actual GTU at the time {@code moved()} is called.</b>
*/
@Override
public final HeadwayGtu moved(final Length headway, final Speed speed, final Acceleration acceleration)
{
try
{
return new HeadwayGtuRealCopy(getId(), getGtuType(), headway, getLength(), getWidth(), speed, acceleration,
getCarFollowingModel(), getParameters(), getSpeedLimitInfo(), getRoute(), getDesiredSpeed(),
getGtuStatus());
}
catch (GtuException exception)
{
// input should be consistent
throw new RuntimeException("Exception while copying Headway GTU.", exception);
}
}
/**
* Returns an array with GTU status.
* @return array with GTU status
*/
private GtuStatus[] getGtuStatus()
{
EnumSet<GtuStatus> gtuStatus = EnumSet.noneOf(GtuStatus.class);
if (isLeftTurnIndicatorOn())
{
gtuStatus.add(GtuStatus.LEFT_TURNINDICATOR);
}
if (isRightTurnIndicatorOn())
{
gtuStatus.add(GtuStatus.RIGHT_TURNINDICATOR);
}
if (isBrakingLightsOn())
{
gtuStatus.add(GtuStatus.BRAKING_LIGHTS);
}
if (isEmergencyLightsOn())
{
gtuStatus.add(GtuStatus.EMERGENCY_LIGHTS);
}
if (isHonking())
{
gtuStatus.add(GtuStatus.HONK);
}
return gtuStatus.toArray(new GtuStatus[gtuStatus.size()]);
}
/** {@inheritDoc} */
@Override
public final String getId()
{
return this.gtu.getId();
}
/** {@inheritDoc} */
@Override
public final Length getLength()
{
return this.gtu.getLength();
}
/** {@inheritDoc} */
@Override
public Length getWidth()
{
return this.gtu.getWidth();
}
/** {@inheritDoc} */
@Override
public final Speed getSpeed()
{
return this.gtu.getSpeed();
}
/** {@inheritDoc} */
@Override
public Speed getDesiredSpeed()
{
return this.gtu.getDesiredSpeed();
}
/** {@inheritDoc} */
@Override
public final ObjectType getObjectType()
{
return ObjectType.GTU;
}
/** {@inheritDoc} */
@Override
public final Acceleration getAcceleration()
{
return this.gtu.getAcceleration();
}
/** {@inheritDoc} */
@Override
public final GtuType getGtuType()
{
return this.gtu.getType();
}
/** {@inheritDoc} */
@Override
public final boolean isFacingSameDirection()
{
return this.facingSameDirection;
}
/** {@inheritDoc} */
@Override
public final boolean isBrakingLightsOn()
{
// TODO
return false;
}
/** {@inheritDoc} */
@Override
public final boolean isLeftTurnIndicatorOn()
{
return this.gtu.getTurnIndicatorStatus().isLeft();
}
/** {@inheritDoc} */
@Override
public final boolean isRightTurnIndicatorOn()
{
return this.gtu.getTurnIndicatorStatus().isRight();
}
/** {@inheritDoc} */
@Override
public final boolean isEmergencyLightsOn()
{
return this.gtu.getTurnIndicatorStatus().isHazard();
}
/** {@inheritDoc} */
@Override
public final boolean isHonking()
{
// TODO
return false;
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "HeadwayGtuReal [speedLimitInfo=" + this.speedLimitInfo + ", gtu=" + this.gtu + ", facingSameDirection="
+ this.facingSameDirection + "]";
}
}