DefaultCaccSensors.java
- package org.opentrafficsim.road.gtu.lane.perception.categories.neighbors;
- import java.util.ArrayList;
- import java.util.List;
- import org.djunits.value.vdouble.scalar.Acceleration;
- import org.djunits.value.vdouble.scalar.Length;
- import org.djunits.value.vdouble.scalar.Speed;
- import org.djunits.value.vdouble.scalar.Time;
- import org.opentrafficsim.base.parameters.ParameterException;
- import org.opentrafficsim.core.gtu.GtuException;
- import org.opentrafficsim.core.gtu.GtuType;
- import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
- import org.opentrafficsim.road.gtu.lane.control.ControlTacticalPlanner;
- import org.opentrafficsim.road.gtu.lane.perception.headway.GtuStatus;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
- import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtuSimple;
- /**
- * Default CACC sensors. This returns all information except desired speed for the first leader and CACC leaders. Remaining
- * leaders are provided null information.
- * <p>
- * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
- * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
- * </p>
- * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
- * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
- * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
- */
- public class DefaultCaccSensors implements HeadwayGtuType
- {
- @Override
- public HeadwayGtu createDownstreamGtu(final LaneBasedGtu perceivingGtu, final LaneBasedGtu perceivedGtu,
- final Length distance) throws GtuException, ParameterException
- {
- Time t;
- try
- {
- t = perceivingGtu.getSimulator().getSimulatorAbsTime()
- .minus(((ControlTacticalPlanner) perceivingGtu.getTacticalPlanner()).getSettings()
- .getParameter(LongitudinalControllerPerception.DELAY));
- }
- catch (ClassCastException exception)
- {
- if (!(perceivingGtu.getTacticalPlanner() instanceof ControlTacticalPlanner))
- {
- throw new GtuException("DefaultCaccSensors relies on the tactical planner being a ControlTacticalPlanner",
- exception);
- }
- throw new GtuException(exception);
- }
- String id = perceivedGtu.getId();
- GtuType gtuType = perceivedGtu.getType();
- Length length = perceivedGtu.getLength();
- Length width = perceivedGtu.getWidth();
- Speed v = perceivedGtu.getSpeed(t);
- Acceleration a = perceivedGtu.getAcceleration(t);
- Speed desiredSpeed = null;
- List<GtuStatus> status = new ArrayList<>();
- if (perceivedGtu.isBrakingLightsOn(t))
- {
- status.add(GtuStatus.BRAKING_LIGHTS);
- }
- switch (perceivedGtu.getTurnIndicatorStatus(t))
- {
- case HAZARD:
- status.add(GtuStatus.EMERGENCY_LIGHTS);
- break;
- case LEFT:
- status.add(GtuStatus.LEFT_TURNINDICATOR);
- break;
- case RIGHT:
- status.add(GtuStatus.RIGHT_TURNINDICATOR);
- break;
- default:
- break;
- }
- return new HeadwayGtuSimple(id, gtuType, distance, length, width, v, a, desiredSpeed,
- status.toArray(new GtuStatus[status.size()]));
- }
- @Override
- public HeadwayGtu createUpstreamGtu(final LaneBasedGtu perceivingGtu, final LaneBasedGtu perceivedGtu,
- final Length distance) throws GtuException, ParameterException
- {
- throw new UnsupportedOperationException("Default CACC sensors can only determine leaders.");
- }
- @Override
- public HeadwayGtu createParallelGtu(final LaneBasedGtu perceivingGtu, final LaneBasedGtu perceivedGtu,
- final Length overlapFront, final Length overlap, final Length overlapRear) throws GtuException
- {
- throw new UnsupportedOperationException("Default CACC sensors can only determine leaders.");
- }
- }