Package org.opentrafficsim.road.gtu.lane.plan.operational

Class LaneChange.LaneChangePath.SequentialLaneChangePath

java.lang.Object
org.opentrafficsim.road.gtu.lane.plan.operational.LaneChange.LaneChangePath.SequentialLaneChangePath
All Implemented Interfaces:
LaneChange.LaneChangePath
Enclosing interface:
LaneChange.LaneChangePath
public abstract static class LaneChange.LaneChangePath.SequentialLaneChangePath extends Object implements LaneChange.LaneChangePath
A helper class to allow a lane change to follow a sequential determination of the target position (including rotation) for each time step.

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

  • Constructor Details

    • SequentialLaneChangePath

      public SequentialLaneChangePath()

  • Method Details

    • getPath

      public OtsLine2d getPath(org.djunits.value.vdouble.scalar.Duration timeStep, org.djunits.value.vdouble.scalar.Length planDistance, org.djunits.value.vdouble.scalar.Speed meanSpeed, LanePosition from, org.djutils.draw.point.OrientedPoint2d startPosition, LateralDirectionality laneChangeDirection, OtsLine2d fromLine, OtsLine2d toLine, org.djunits.value.vdouble.scalar.Duration laneChangeDuration, double lcFraction) throws OtsGeometryException
      Returns a (partial) path for a lane change. The method is called both at the start and during a lane change, and should return a valid path. This path should at least have a length of planDistance, unless the lane change will be finished during the coming time step. In that case, the caller of this method is to lengthen the path along the center line of the target lane.
      Specified by:
      getPath in interface LaneChange.LaneChangePath
      Parameters:
      timeStep - Duration; time step
      planDistance - Length; distance covered during the operational plan
      meanSpeed - Speed; mean speed during time step
      from - LanePosition; current position on the from-lanes
      startPosition - OrientedPoint2d; current 2D position
      laneChangeDirection - LateralDirectionality; lane change direction
      fromLine - OtsLine2d; from line
      toLine - OtsLine2d; to line
      laneChangeDuration - Duration; current considered duration of the entire lane change
      lcFraction - double; fraction of lane change done so far
      Returns:
      OtsLine2d a (partial) path for a lane change
      Throws:
      OtsGeometryException - on wrong fractional position

    • lateralFraction

      protected abstract double lateralFraction(double lcFraction)
      Returns the fractional lateral deviation given a fraction of lane change being completed.
      Parameters:
      lcFraction - double; fraction of lane change
      Returns:
      double; lateral deviation

    • angle

      protected abstract double angle(double width, double cumulLcLength, double totalLcLength)
      Returns the angle, relative to the lane center line, at the given cumulative length for a lane change of given total length and lateral deviation.
      Parameters:
      width - double; lateral deviation from from lanes at lane change end
      cumulLcLength - double; cumulative length (along from lanes) covered so far
      totalLcLength - double; total (along from lanes) length to cover in lane change
      Returns:
      double; angle, relative to the lane center line