Package org.opentrafficsim.road.gtu.perception.categories

Interface InfrastructurePerception

All Superinterfaces:
LaneBasedPerceptionCategory, PerceptionCategory<LaneBasedGtu,LanePerception>
All Known Implementing Classes:
DirectInfrastructurePerception
public interface InfrastructurePerception extends LaneBasedPerceptionCategory

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

    • getLegalLaneChangeInfo

      SortedSet<LaneChangeInfo> getLegalLaneChangeInfo(RelativeLane lane)
      Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first. 
       _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)

     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
      Parameters:
      lane - relative lateral lane
      Returns:
      infrastructure lane change info of a lane

    • getPhysicalLaneChangeInfo

      SortedSet<LaneChangeInfo> getPhysicalLaneChangeInfo(RelativeLane lane)
      Returns infrastructure lane change info of a lane. A set is returned as multiple points may force lane changes. Which point is considered most critical is a matter of driver interpretation and may change over time. This is shown below. Suppose vehicle A needs to take the off-ramp, and that behavior is that the minimum distance per required lane change determines how critical it is. First, 400m before the lane-drop, the off-ramp is critical. 300m downstream, the lane-drop is critical. Info is sorted by distance, closest first. 
       _______
 _ _A_ _\_________
 _ _ _ _ _ _ _ _ _
 _________ _ _ ___
          \_______
     (-)        Lane-drop: 1 lane change  in 400m (400m per lane change)
     (--------) Off-ramp:  3 lane changes in 900m (300m per lane change, critical)

     (-)        Lane-drop: 1 lane change  in 100m (100m per lane change, critical)
     (--------) Off-ramp:  3 lane changes in 600m (200m per lane change)
      Parameters:
      lane - relative lateral lane
      Returns:
      infrastructure lane change info of a lane

    • getSpeedLimits

      SpeedLimits getSpeedLimits(RelativeLane lane)
      Returns the current speed limits.
      Parameters:
      lane - lane for the speed limits
      Returns:
      current speed limits.

    • getPathScan

      SortedMap<org.djunits.value.vdouble.scalar.Length,DirectedPoint2d> getPathScan()
      Relevant points in path from scanning.
      Returns:
      relevant points in path from scanning

    • getSpeedBump

      Optional<DistancedObject<org.djunits.value.vdouble.scalar.Speed>> getSpeedBump()
      Returns speed bump information.
      Returns:
      distance and speed of first downstream speed bump.

    • getLegalLaneChangePossibility

      org.djunits.value.vdouble.scalar.Length getLegalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)
      Returns the distance over which a lane change remains legally possible. Negative values indicate the distance over which a lane change is legally not possible.
      Parameters:
      fromLane - lane from which the lane change possibility is requested
      lat - LEFT or RIGHT, null not allowed
      Returns:
      distance over which a lane change remains possible
      Throws:
      NullPointerException - if lat == null

    • getPhysicalLaneChangePossibility

      org.djunits.value.vdouble.scalar.Length getPhysicalLaneChangePossibility(RelativeLane fromLane, LateralDirectionality lat)
      Returns the distance over which a lane change remains physically possible. Negative values indicate the distance over which a lane change is physically not possible.
      Parameters:
      fromLane - lane from which the lane change possibility is requested
      lat - LEFT or RIGHT, null not allowed
      Returns:
      distance over which a lane change remains possible
      Throws:
      NullPointerException - if lat == null

    • getCrossSection

      SortedSet<RelativeLane> getCrossSection()
      Returns a set of relative lanes representing the cross section. Lanes are sorted left to right.
      Returns:
      set of relative lanes representing the cross section