Package org.opentrafficsim.road.gtu.perception.mental.channel

Class ChannelTaskIntersection

java.lang.Object

org.opentrafficsim.road.gtu.perception.mental.AbstractTask

org.opentrafficsim.road.gtu.perception.mental.channel.ChannelTaskIntersection

All Implemented Interfaces:

Identifiable, ChannelTask, Task

public class ChannelTaskIntersection
extends AbstractTask
implements ChannelTask

Task demand due to intersection, including conflicts. This class implements the task demand model by Yiyun et al. (2026). This defines the task demand as:

TD = b * exp(x / Beta_yl) + c * exp(TTCP / Beta_con)

where x is the distance to the yield line and TTCP is the time-to-conflict-point of the nearest (least TTCP) conflicting vehicle.

This class extents this model to perception with channels. A channel is added for each group of conflicts. A group of conflicts is formed if there is any overlap of their upstream nodes within x0. This upstream search branches at merges but stops at splits.

For each channel i, task demand is determined as:

TDi = Fi * b * exp(x / Beta_yl) + c * exp(TTCPi / Beta_con)

Here, Fi is the factor of the first component that assigns some of the yield line related task demand to channel i. This factor is the results of a weighted average, where each weight is defined as:

Wi = 1 + c * exp(TTCPi / Beta_con)

This equation captures a balance between uniform attention distribution, and attention being given only to the most critical channel. Finally, TTCPi is the least TTCP of all conflicting vehicles upstream of conflicts in the group of channel i.

Copyright (c) 2026-2026 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Author:

Wouter Schakel

Field Summary

Fields

Modifier and Type	Field	Description
static final ParameterTypeDuration	BETA_CON	Conflicting vehicle decay parameter.
static final ParameterTypeLength	BETA_YL	Ego decay parameter for distance to the yield line.
static final ParameterTypeLength	LOOKAHEAD	Look-ahead distance.
static final Function<LanePerception,Set<ChannelTask>>	SUPPLIER	Standard supplier that supplies a task per grouped set of conflicts based on common upstream nodes.
static final ParameterTypeDouble	TD_B	Maximum ego task demand.
static final ParameterTypeDouble	TD_C	Maximum task demand due to conflicting vehicle.

Fields inherited from interface org.opentrafficsim.road.gtu.perception.mental.channel.ChannelTask

FRONT, IN_VEHICLE, LEFT, REAR, RIGHT

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	ChannelTaskIntersection(LaneBasedGtu gtu, DistancedObject<Conflict> first, SortedSet<DistancedObject<Conflict>> conflicts, org.opentrafficsim.road.gtu.perception.mental.channel.ChannelTaskIntersection.IntersectionTaskGroup intersectionTaskGroup)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	calculateTaskDemand(LanePerception perception)	Calculates the task demand.
Object	getChannel()	Return the channel this task pertains to.

Methods inherited from class org.opentrafficsim.road.gtu.perception.mental.AbstractTask

getId, getTaskDemand, getTaskDemand

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.djutils.base.Identifiable

getId

Methods inherited from interface org.opentrafficsim.road.gtu.perception.mental.Task

getTaskDemand, getTaskDemand

Field Details

LOOKAHEAD

public static final ParameterTypeLength LOOKAHEAD

Look-ahead distance.

TD_B

public static final ParameterTypeDouble TD_B

Maximum ego task demand.

BETA_YL

public static final ParameterTypeLength BETA_YL

Ego decay parameter for distance to the yield line.

TD_C

public static final ParameterTypeDouble TD_C

Maximum task demand due to conflicting vehicle.

BETA_CON

public static final ParameterTypeDuration BETA_CON

Conflicting vehicle decay parameter.

SUPPLIER

public static final Function<LanePerception,Set<ChannelTask>> SUPPLIER

Standard supplier that supplies a task per grouped set of conflicts based on common upstream nodes.

Constructor Details

ChannelTaskIntersection

protected ChannelTaskIntersection(LaneBasedGtu gtu,
 DistancedObject<Conflict> first,
 SortedSet<DistancedObject<Conflict>> conflicts,
 org.opentrafficsim.road.gtu.perception.mental.channel.ChannelTaskIntersection.IntersectionTaskGroup intersectionTaskGroup)

Constructor.

Parameters:

gtu - GTU

first - first conflict in the intersection

conflicts - conflicts in the group

intersectionTaskGroup - group of all instantaneous intersection tasks

Method Details

getChannel

public Object getChannel()

Description copied from interface: ChannelTask

Return the channel this task pertains to.

Specified by:

getChannel in interface ChannelTask

Returns:

channel this task pertains to.

calculateTaskDemand

public double calculateTaskDemand(LanePerception perception)

Description copied from class: AbstractTask

Calculates the task demand.

Specified by:

calculateTaskDemand in class AbstractTask

Parameters:

perception - perception

Returns:

task demand