AbstractCarFollowingModel.java
- package org.opentrafficsim.road.gtu.lane.tactical.following;
- import org.djunits.unit.AccelerationUnit;
- import org.djunits.value.vdouble.scalar.Acceleration;
- import org.djunits.value.vdouble.scalar.Length;
- import org.djunits.value.vdouble.scalar.Speed;
- import org.djutils.exceptions.Throw;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.base.parameters.Parameters;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
- import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
- import org.opentrafficsim.road.gtu.lane.perception.headway.Headway;
- import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
- /**
- * Default implementation where desired speed and headway are pre-calculated for car-following.
- * <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://dittlab.tudelft.nl">Wouter Schakel</a>
- */
- public abstract class AbstractCarFollowingModel implements CarFollowingModel
- {
- /** Desired headway model. */
- private DesiredHeadwayModel desiredHeadwayModel;
- /** Desired speed model. */
- private DesiredSpeedModel desiredSpeedModel;
- /**
- * @param desiredHeadwayModel DesiredHeadwayModel; desired headway model
- * @param desiredSpeedModel DesiredSpeedModel; desired speed model
- */
- public AbstractCarFollowingModel(final DesiredHeadwayModel desiredHeadwayModel, final DesiredSpeedModel desiredSpeedModel)
- {
- this.desiredHeadwayModel = desiredHeadwayModel;
- this.desiredSpeedModel = desiredSpeedModel;
- }
- /** {@inheritDoc} */
- @Override
- public final Length desiredHeadway(final Parameters parameters, final Speed speed) throws ParameterException
- {
- Throw.whenNull(parameters, "Parameters may not be null.");
- Throw.whenNull(speed, "Speed may not be null.");
- return this.desiredHeadwayModel.desiredHeadway(parameters, speed);
- }
- /** {@inheritDoc} */
- @Override
- public final Speed desiredSpeed(final Parameters parameters, final SpeedLimitInfo speedInfo) throws ParameterException
- {
- Throw.whenNull(parameters, "Parameters may not be null.");
- Throw.whenNull(speedInfo, "Speed limit info may not be null.");
- return this.desiredSpeedModel.desiredSpeed(parameters, speedInfo);
- }
- /** {@inheritDoc} */
- @Override
- public final Acceleration followingAcceleration(final Parameters parameters, final Speed speed,
- final SpeedLimitInfo speedLimitInfo, final PerceptionIterable<? extends Headway> leaders) throws ParameterException
- {
- Throw.whenNull(parameters, "Parameters may not be null.");
- Throw.whenNull(speed, "Speed may not be null.");
- Throw.whenNull(speedLimitInfo, "Speed limit info may not be null.");
- Throw.whenNull(leaders, "Leaders may not be null.");
- // Catch negative headway
- if (!leaders.isEmpty() && leaders.first().getDistance().si <= 0)
- {
- return new Acceleration(Double.NEGATIVE_INFINITY, AccelerationUnit.SI);
- }
- // Forward to method with desired speed and headway predetermined by this car-following model.
- Acceleration acc = followingAcceleration(parameters, speed, desiredSpeed(parameters, speedLimitInfo),
- desiredHeadway(parameters, speed), leaders);
- return acc;
- }
- /**
- * Determination of car-following acceleration, possibly based on multiple leaders.
- * @param parameters Parameters; parameters
- * @param speed Speed; current speed
- * @param desiredSpeed Speed; desired speed
- * @param desiredHeadway Length; desired headway
- * @param leaders PerceptionIterable<? extends Headway>; set of leader headways (guaranteed positive) and speeds,
- * ordered by headway (closest first)
- * @return car-following acceleration
- * @throws ParameterException if parameter exception occurs
- */
- protected abstract Acceleration followingAcceleration(Parameters parameters, Speed speed, Speed desiredSpeed,
- Length desiredHeadway, PerceptionIterable<? extends Headway> leaders) throws ParameterException;
- /** {@inheritDoc} */
- @SuppressWarnings("checkstyle:designforextension")
- @Override
- public String toString()
- {
- return getLongName();
- }
- /** {@inheritDoc} */
- @Override
- public final void init(final LaneBasedGtu gtu)
- {
- if (this.desiredHeadwayModel instanceof Initialisable)
- {
- ((Initialisable) this.desiredHeadwayModel).init(gtu);
- }
- if (this.desiredSpeedModel instanceof Initialisable)
- {
- ((Initialisable) this.desiredSpeedModel).init(gtu);
- }
- }
- }