Package org.opentrafficsim.road.gtu.lane.control

Class AbstractActuatedControl

java.lang.Object

org.opentrafficsim.road.gtu.lane.control.AbstractActuatedControl

All Implemented Interfaces:

LongitudinalControl

Direct Known Subclasses:

AbstractLinearFreeControl

public abstract class AbstractActuatedControl
extends Object
implements LongitudinalControl

Simple linear CACC controller.

Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Author:

Alexander Verbraeck, Peter Knoppers, Wouter Schakel

Field Summary

Fields

Modifier and Type	Field	Description
static final ParameterTypeDuration	TDACC	Time headway setting for ACC mode.
static final ParameterTypeDuration	TDCACC	Time headway setting for CACC mode.
static final ParameterTypeLength	X0	(C)ACC stopping distance.

Constructor Summary

Constructors

Constructor	Description
AbstractActuatedControl(DelayedActuation delayedActuation)	Constructor using default sensors with no delay.

Method Summary

Modifier and Type	Method	Description
Acceleration	delayActuation(Acceleration desiredAcceleration, LaneBasedGtu gtu)	Delays the actuation of acceleration.
Optional<Acceleration>	getAcceleration(LaneBasedGtu gtu, Parameters settings)	Calculate acceleration.
abstract Acceleration	getDesiredAcceleration(LaneBasedGtu gtu, PerceptionCollectable<PerceivedGtu,LaneBasedGtu> leaders, Parameters settings)	Returns the desired acceleration from the longitudinal control.

Methods inherited from class java.lang.Object

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

Field Details

TDACC

public static final ParameterTypeDuration TDACC

Time headway setting for ACC mode.

TDCACC

public static final ParameterTypeDuration TDCACC

Time headway setting for CACC mode.

X0

public static final ParameterTypeLength X0

(C)ACC stopping distance.

Constructor Details

AbstractActuatedControl

public AbstractActuatedControl(DelayedActuation delayedActuation)

Constructor using default sensors with no delay.

Parameters:

delayedActuation - delayed actuation

Method Details

delayActuation

public Acceleration delayActuation(Acceleration desiredAcceleration,
 LaneBasedGtu gtu)

Delays the actuation of acceleration.

Parameters:

desiredAcceleration - desired acceleration

gtu - gtu

Returns:

delayed acceleration

getAcceleration

public Optional<Acceleration> getAcceleration(LaneBasedGtu gtu,
 Parameters settings)

Description copied from interface: LongitudinalControl

Calculate acceleration.

Specified by:

getAcceleration in interface LongitudinalControl

Parameters:

gtu - controlled GTU

settings - system settings

Returns:

level of acceleration, may be empty if the controller is unable to deal with a situation

getDesiredAcceleration

public abstract Acceleration getDesiredAcceleration(LaneBasedGtu gtu,
 PerceptionCollectable<PerceivedGtu,LaneBasedGtu> leaders,
 Parameters settings)
                                             throws ParameterException

Returns the desired acceleration from the longitudinal control.

Parameters:

gtu - gtu

leaders - leaders

settings - system settings

Returns:

desired acceleration

Throws:

ParameterException - if parameter is not present