DirectIntersectionPerception.java
package org.opentrafficsim.road.gtu.lane.perception.categories;
import java.util.Iterator;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.djutils.exceptions.Try;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypeLength;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.core.geometry.OtsGeometryException;
import org.opentrafficsim.core.geometry.OtsLine2d;
import org.opentrafficsim.core.gtu.GtuException;
import org.opentrafficsim.core.gtu.RelativePosition;
import org.opentrafficsim.core.gtu.perception.AbstractPerceptionCategory;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.core.network.NetworkException;
import org.opentrafficsim.core.network.route.Route;
import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
import org.opentrafficsim.road.gtu.lane.perception.AbstractPerceptionReiterable;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.HeadwayGtuType;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayConflict;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayGtu;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayStopLine;
import org.opentrafficsim.road.gtu.lane.perception.headway.HeadwayTrafficLight;
import org.opentrafficsim.road.network.lane.CrossSectionLink;
import org.opentrafficsim.road.network.lane.Lane;
import org.opentrafficsim.road.network.lane.conflict.Conflict;
import org.opentrafficsim.road.network.lane.conflict.ConflictPriority;
import org.opentrafficsim.road.network.lane.conflict.ConflictRule;
import org.opentrafficsim.road.network.lane.conflict.ConflictType;
import org.opentrafficsim.road.network.lane.object.trafficlight.TrafficLight;
/**
* Perceives traffic lights and intersection conflicts.
* <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://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
* @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
*/
public class DirectIntersectionPerception extends AbstractPerceptionCategory<LaneBasedGtu, LanePerception>
implements IntersectionPerception
{
/** */
private static final long serialVersionUID = 20160811L;
/** Look ahead parameter type. */
protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
/** Headway GTU type that should be used. */
private final HeadwayGtuType headwayGtuType;
/**
* @param perception LanePerception; perception
* @param headwayGtuType HeadwayGtuType; type of headway gtu to generate
*/
public DirectIntersectionPerception(final LanePerception perception, final HeadwayGtuType headwayGtuType)
{
super(perception);
this.headwayGtuType = headwayGtuType;
}
/** {@inheritDoc} */
@Override
public final PerceptionCollectable<HeadwayTrafficLight, TrafficLight> getTrafficLights(final RelativeLane lane)
{
return computeIfAbsent("trafficLights", () -> computeTrafficLights(lane), lane);
}
/** {@inheritDoc} */
@Override
public final PerceptionCollectable<HeadwayConflict, Conflict> getConflicts(final RelativeLane lane)
{
return computeIfAbsent("conflicts", () -> computeConflicts(lane), lane);
}
/** {@inheritDoc} */
@Override
public final boolean isAlongsideConflictLeft()
{
return computeIfAbsent("alongside", () -> computeConflictAlongside(LateralDirectionality.LEFT),
LateralDirectionality.LEFT);
}
/** {@inheritDoc} */
@Override
public final boolean isAlongsideConflictRight()
{
return computeIfAbsent("alongside", () -> computeConflictAlongside(LateralDirectionality.RIGHT),
LateralDirectionality.RIGHT);
}
/**
* Compute traffic lights.
* @param lane RelativeLane; lane
* @return PerceptionCollectable of traffic lights
*/
private PerceptionCollectable<HeadwayTrafficLight, TrafficLight> computeTrafficLights(final RelativeLane lane)
{
Iterable<org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<TrafficLight>> iterable =
Try.assign(() -> getPerception().getLaneStructure().getDownstreamObjects(lane, TrafficLight.class,
RelativePosition.FRONT, true), "");
Route route = Try.assign(() -> getPerception().getGtu().getStrategicalPlanner().getRoute(), "");
return new AbstractPerceptionReiterable<>(Try.assign(() -> getGtu(), "GtuException"))
{
/** {@inheritDoc} */
@Override
protected Iterator<PrimaryIteratorEntry> primaryIterator()
{
Iterator<org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<TrafficLight>> iterator =
iterable.iterator();
return new Iterator<>()
{
/** {@inheritDoc} */
@Override
public boolean hasNext()
{
return iterator.hasNext();
}
/** {@inheritDoc} */
@Override
public AbstractPerceptionReiterable<HeadwayTrafficLight, TrafficLight>.PrimaryIteratorEntry next()
{
org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<TrafficLight> entry =
iterator.next();
return new PrimaryIteratorEntry(entry.object(), entry.distance());
}
};
}
/** {@inheritDoc} */
@Override
protected HeadwayTrafficLight perceive(final LaneBasedGtu perceivingGtu, final TrafficLight trafficLight,
final Length distance) throws GtuException, ParameterException
{
return new HeadwayTrafficLight(trafficLight, distance,
trafficLight.canTurnOnRed(route, getPerception().getGtu().getType()));
}
};
}
/**
* Compute conflicts.
* @param lane RelativeLane; lane
* @return PerceptionCollectable of conflicts
*/
private PerceptionCollectable<HeadwayConflict, Conflict> computeConflicts(final RelativeLane lane)
{
Iterable<org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<Conflict>> iterable =
Try.assign(() -> getPerception().getLaneStructure().getDownstreamObjects(lane, Conflict.class,
RelativePosition.FRONT, true), "");
return new AbstractPerceptionReiterable<>(Try.assign(() -> getGtu(), "GtuException"))
{
/** {@inheritDoc} */
@Override
protected Iterator<PrimaryIteratorEntry> primaryIterator()
{
Iterator<org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<Conflict>> iterator =
iterable.iterator();
return new Iterator<>()
{
/** {@inheritDoc} */
@Override
public boolean hasNext()
{
return iterator.hasNext();
}
/** {@inheritDoc} */
@Override
public AbstractPerceptionReiterable<HeadwayConflict, Conflict>.PrimaryIteratorEntry next()
{
org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<Conflict> entry =
iterator.next();
return new PrimaryIteratorEntry(entry.object(), entry.distance());
}
};
}
/** {@inheritDoc} */
@Override
protected HeadwayConflict perceive(final LaneBasedGtu perceivingGtu, final Conflict conflict, final Length distance)
throws GtuException, ParameterException
{
Conflict otherConflict = conflict.getOtherConflict();
ConflictType conflictType = conflict.getConflictType();
ConflictPriority conflictPriority = conflict.conflictPriority();
Class<? extends ConflictRule> conflictRuleType = conflict.getConflictRule().getClass();
String id = conflict.getId();
Length length = conflict.getLength();
Length conflictingLength = otherConflict.getLength();
CrossSectionLink conflictingLink = otherConflict.getLane().getLink();
// TODO get from link combination (needs to be a map property on the links)
Length lookAhead = Try.assign(() -> getGtu().getParameters().getParameter(LOOKAHEAD), "Parameter not present.");
Length conflictingVisibility = lookAhead;
Speed conflictingSpeedLimit;
try
{
conflictingSpeedLimit = otherConflict.getLane().getHighestSpeedLimit();
}
catch (NetworkException exception)
{
throw new RuntimeException("GTU type not available on conflicting lane.", exception);
}
// TODO limit 'conflictingVisibility' to first upstream traffic light, so GTU's behind it are ignored
HeadwayConflict headwayConflict;
try
{
PerceptionCollectable<HeadwayGtu, LaneBasedGtu> upstreamConflictingGTUs = otherConflict
.getUpstreamGtus(getGtu(), DirectIntersectionPerception.this.headwayGtuType, conflictingVisibility);
PerceptionCollectable<HeadwayGtu, LaneBasedGtu> downstreamConflictingGTUs = otherConflict.getDownstreamGtus(
getGtu(), DirectIntersectionPerception.this.headwayGtuType, conflictingVisibility);
// TODO stop lines (current models happen not to use this, but should be possible)
HeadwayStopLine stopLine = new HeadwayStopLine("stopLineId", Length.ZERO, conflict.getLane());
HeadwayStopLine conflictingStopLine =
new HeadwayStopLine("conflictingStopLineId", Length.ZERO, conflict.getLane());
Lane thisLane = conflict.getLane();
Lane otherLane = otherConflict.getLane();
Length pos1a = conflict.getLongitudinalPosition();
Length pos2a = otherConflict.getLongitudinalPosition();
Length pos1b = Length.min(pos1a.plus(conflict.getLength()), thisLane.getLength());
Length pos2b = Length.min(pos2a.plus(otherConflict.getLength()), otherLane.getLength());
OtsLine2d line1 = thisLane.getCenterLine();
OtsLine2d line2 = otherLane.getCenterLine();
double dStart = line1.getLocation(pos1a).distance(line2.getLocation(pos2a));
double dEnd = line1.getLocation(pos1b).distance(line2.getLocation(pos2b));
Length startWidth =
Length.instantiateSI(dStart + .5 * thisLane.getWidth(pos1a).si + .5 * otherLane.getWidth(pos2a).si);
Length endWidth =
Length.instantiateSI(dEnd + .5 * thisLane.getWidth(pos1b).si + .5 * otherLane.getWidth(pos2b).si);
headwayConflict = new HeadwayConflict(conflictType, conflictPriority, conflictRuleType, id, distance,
length, conflictingLength, upstreamConflictingGTUs, downstreamConflictingGTUs,
conflictingVisibility, conflictingSpeedLimit, conflictingLink,
HeadwayConflict.Width.linear(startWidth, endWidth), stopLine, conflictingStopLine, thisLane);
Length trafficLightDistance = conflict.getOtherConflict()
.getTrafficLightDistance(perceivingGtu.getParameters().getParameter(ParameterTypes.LOOKAHEAD));
if (trafficLightDistance != null && trafficLightDistance.le(lookAhead))
{
headwayConflict.setConflictingTrafficLight(trafficLightDistance, conflict.isPermitted());
}
}
catch (GtuException | OtsGeometryException | ParameterException exception)
{
throw new RuntimeException("Could not create headway objects.", exception);
}
return headwayConflict;
}
};
}
/**
* Compute whether there is a conflict alongside.
* @param lat LateralDirectionality; lateral directionality
* @return boolean; whether there is a conflict alongside
*/
private boolean computeConflictAlongside(final LateralDirectionality lat)
{
try
{
RelativeLane lane = new RelativeLane(lat, 1);
if (getPerception().getLaneStructure().exists(lane))
{
Iterator<org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<Conflict>> conflicts =
getPerception().getLaneStructure().getUpstreamObjects(lane, Conflict.class, RelativePosition.FRONT)
.iterator();
if (conflicts.hasNext())
{
org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure.Entry<Conflict> entry =
conflicts.next();
return entry.distance().si < entry.object().getLength().si + getGtu().getLength().si;
}
}
return false;
}
catch (ParameterException exception)
{
throw new RuntimeException("Unexpected exception while computing conflict alongside.", exception);
}
}
/** {@inheritDoc} */
@Override
public final String toString()
{
return "DirectIntersectionPerception " + cacheAsString();
}
}