Package org.opentrafficsim.road.gtu.lane.perception

Class CategoricalLanePerception

java.lang.Object
org.opentrafficsim.core.gtu.perception.AbstractPerception<LaneBasedGtu>
org.opentrafficsim.road.gtu.lane.perception.CategoricalLanePerception
All Implemented Interfaces:
Serializable, Perception<LaneBasedGtu>, LanePerception
public class CategoricalLanePerception extends AbstractPerception<LaneBasedGtu> implements LanePerception
The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception.
Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU), parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending lanes.

This class allows PerceptionCategorys that are either eager or lazy. All categories will have the updateAll method invoked prior to an operational plan being determined. Categories may ignore this and instead evaluate results only when the tactical planner requests them.

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
See Also:

  • Field Details

    • LOOKAHEAD

      protected static final org.opentrafficsim.base.parameters.ParameterTypeLength LOOKAHEAD
      Look ahead parameter type.

    • LOOKBACK

      protected static final org.opentrafficsim.base.parameters.ParameterTypeLength LOOKBACK
      Look back parameter type.

  • Constructor Details

    • CategoricalLanePerception

      public CategoricalLanePerception(LaneBasedGtu gtu)
      Create a new LanePerception module without mental module.
      Parameters:
      gtu - LaneBasedGtu; GTU

    • CategoricalLanePerception

      public CategoricalLanePerception(LaneBasedGtu gtu, Mental mental)
      Create a new LanePerception module with mental module.
      Parameters:
      gtu - LaneBasedGtu; GTU
      mental - Mental; mental module

  • Method Details

    • getLaneStructure

      public final LaneStructure getLaneStructure() throws org.opentrafficsim.base.parameters.ParameterException
      Return the lane structure.
      Specified by:
      getLaneStructure in interface LanePerception
      Returns:
      LaneStructure; lane structure.
      Throws:
      org.opentrafficsim.base.parameters.ParameterException - on exception.

    • getMental

      public Mental getMental()
      Returns the mental module of perception.
      Specified by:
      getMental in interface LanePerception
      Returns:
      Mental; mental module of perception, may be null if not used

    • perceive

      public void perceive() throws GtuException, NetworkException, org.opentrafficsim.base.parameters.ParameterException
      Specified by:
      perceive in interface Perception<LaneBasedGtu>
      Throws:
      GtuException
      NetworkException
      org.opentrafficsim.base.parameters.ParameterException