Package org.opentrafficsim.road.gtu.operational

Class LaneOperationalPlanBuilder

java.lang.Object
org.opentrafficsim.road.gtu.operational.LaneOperationalPlanBuilder
public final class LaneOperationalPlanBuilder extends Object
Builder for several often used operational plans. E.g., decelerate to come to a full stop at the end of a shape; accelerate to reach a certain speed at the end of a curve; drive constant on a curve; decelerate or accelerate to reach a given end speed at the end of a curve, etc.

Copyright (c) 2013-2026 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

  • Method Details

    • buildRoamingPlan

      public static LaneBasedOperationalPlan buildRoamingPlan(LaneBasedGtu gtu, org.djunits.value.vdouble.scalar.Acceleration acceleration, org.djunits.value.vdouble.scalar.Duration duration, org.djunits.value.vdouble.scalar.Duration tManeuver)
      Builds a plan from any position not on a lane, towards a reasonable location on a lane on the route.
      Parameters:
      gtu - GTU
      acceleration - acceleration
      duration - time step
      tManeuver - maneuver time, e.g. lane change
      Returns:
      plan from any position not on a lane, to a reasonable location on a lane on the route
      Throws:
      IllegalStateException - if the GTU is on a lane

    • buildPlanFromSimplePlan

      public static LaneBasedOperationalPlan buildPlanFromSimplePlan(LaneBasedGtu gtu, SimpleOperationalPlan simplePlan, org.djunits.value.vdouble.scalar.Duration tManeuver, DistancedObject<org.djunits.value.vdouble.scalar.Length> deviation)
      Build operational plan from a simple plan. Sets or resets the GTU lane change direction. Deviation is applied if it is within a reasonable maneuver range.
      Parameters:
      gtu - GTU
      simplePlan - simple operational plan
      tManeuver - maneuver time, e.g. lane change
      deviation - desired lateral deviation
      Returns:
      plan from position on a lane
      Throws:
      IllegalStateException - if the GTU is not on a lane

    • bezierToTarget

      public static OtsLine2d bezierToTarget(DirectedPoint2d from, DirectedPoint2d target)
      Create Bezier path from one location to a target point. The path is flattened with a default flattener using a maximum deviation of 0.1m and maximum angle 0.5 degrees.
      Parameters:
      from - from point
      target - target point
      Returns:
      Bezier path from current location of the GTU towards the target point