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

Class NeighborsPerceptionChannel

java.lang.Object

org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory<LaneBasedGtu,LanePerception>

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

All Implemented Interfaces:

Type<AbstractPerceptionCategory<LaneBasedGtu,LanePerception>>, PerceptionCategory<LaneBasedGtu,LanePerception>, LaneBasedPerceptionCategory, NeighborsPerception

public class NeighborsPerceptionChannel
extends AbstractPerceptionCategory<LaneBasedGtu,LanePerception>
implements NeighborsPerception

This class is highly similar to DirectNeighborsPerception, but creates and uses 4 different perceived GTU types for the 4 standard channels. These headway GTU types dynamically obtain a perception delay from the mental module.

Copyright (c) 2024-2026 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Author:

Wouter Schakel

Constructor Summary

Constructors

Constructor	Description
NeighborsPerceptionChannel(LanePerception perception, Estimation estimation, Anticipation anticipation)	Constructor.

Method Summary

Modifier and Type	Method	Description
boolean	computeGtuAlongside(LateralDirectionality lat)	Computes whether there is a GTU alongside.
SortedSet<PerceivedGtu>	getFirstFollowers(LateralDirectionality lat)	Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU.
SortedSet<PerceivedGtu>	getFirstLeaders(LateralDirectionality lat)	Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU.
PerceptionCollectable<PerceivedGtu,LaneBasedGtu>	getFollowers(RelativeLane lane)	Set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT.
PerceptionCollectable<PerceivedGtu,LaneBasedGtu>	getLeaders(RelativeLane lane)	Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT.
boolean	isGtuAlongside(LateralDirectionality lat)	Whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.
final String	toString()

Methods inherited from class org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory

cacheAsString, computeIfAbsent, computeIfAbsent, computeIfAbsent, getGtu, getPerception, getTimestamp

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.opentrafficsim.base.Type

isType

Constructor Details

NeighborsPerceptionChannel

public NeighborsPerceptionChannel(LanePerception perception,
 Estimation estimation,
 Anticipation anticipation)

Constructor.

Parameters:

perception - perception.

estimation - estimation.

anticipation - anticipation.

Method Details

getFirstLeaders

public SortedSet<PerceivedGtu> getFirstLeaders(LateralDirectionality lat)
                                        throws ParameterException,
NullPointerException,
IllegalArgumentException

Set of leaders on a lane, which is usually 0 or 1, but possibly more in case of a downstream split with no intermediate GTU. This is shown below. Suppose A needs to go straight. If A considers a lane change to the left, both GTUs B (who's tail ~ is still on the straight lane) and C need to be considered for whether it's safe to do so. In case of multiple splits close to one another, the returned set may contain even more than 2 leaders. Leaders are sorted by headway value.

          | |
 _________/B/_____
 _ _?_ _ _~_ _C_ _
 _ _A_ _ _ _ _ _ _
 _________________
 

Only vehicles who's rear is beyond the own front are considered, no alongside vehicles.

Specified by:

getFirstLeaders in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

list of followers on a lane

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

getFirstFollowers

public SortedSet<PerceivedGtu> getFirstFollowers(LateralDirectionality lat)
                                          throws ParameterException,
NullPointerException,
IllegalArgumentException

Set of followers on a lane, which is usually 0 or 1, but possibly more in case of an upstream merge with no intermediate GTU. This is shown below. If A considers a lane change to the left, both GTUs B and C need to be considered for whether it's safe to do so. In case of multiple merges close to one another, the returned set may contain even more than 2 followers. Followers are sorted by tailway value.

        | |
        |C| 
 ________\ \______
 _ _B_|_ _ _ _ _?_
 _ _ _|_ _ _ _ _A_ 
 _____|___________
 

Only vehicles who's front is before the own rear are considered, no alongside vehicles.

Specified by:

getFirstFollowers in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

list of followers on a lane

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

isGtuAlongside

public boolean isGtuAlongside(LateralDirectionality lat)
                       throws ParameterException,
NullPointerException,
IllegalArgumentException

Whether there is a GTU alongside, i.e. with overlap, in an adjacent lane.

Specified by:

isGtuAlongside in interface NeighborsPerception

Parameters:

lat - LEFT or RIGHT

Returns:

whether there is a GTU alongside, i.e. with overlap, in an adjacent lane

Throws:

ParameterException - if parameter is not defined

NullPointerException - if lat is null

IllegalArgumentException - if lat is NONE

computeGtuAlongside

public boolean computeGtuAlongside(LateralDirectionality lat)

Computes whether there is a GTU alongside.

Parameters:

lat - lateral directionality

Returns:

whether there is a GTU alongside

getLeaders

public PerceptionCollectable<PerceivedGtu,LaneBasedGtu> getLeaders(RelativeLane lane)

Set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT. Leaders are sorted by distance.

Specified by:

getLeaders in interface NeighborsPerception

Parameters:

lane - relative lateral lane

Returns:

set of leaders on a lane, including adjacent GTU's who's FRONT is ahead of the own vehicle FRONT

getFollowers

public PerceptionCollectable<PerceivedGtu,LaneBasedGtu> getFollowers(RelativeLane lane)

Set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT. Followers are sorted by distance.

Specified by:

getFollowers in interface NeighborsPerception

Parameters:

lane - relative lateral lane

Returns:

set of followers on a lane, including adjacent GTU's who's FRONT is back of the own vehicle FRONT

toString

public final String toString()

Overrides:

toString in class Object