GapAcceptance.java
package org.opentrafficsim.road.gtu.lane.tactical.util.lmrs;
import java.util.SortedSet;
import org.djunits.value.vdouble.scalar.Acceleration;
import org.djunits.value.vdouble.scalar.Length;
import org.djunits.value.vdouble.scalar.Speed;
import org.opentrafficsim.base.parameters.ParameterException;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.base.parameters.Parameters;
import org.opentrafficsim.core.gtu.plan.operational.OperationalPlanException;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.road.gtu.lane.perception.LanePerception;
import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
import org.opentrafficsim.road.gtu.lane.perception.categories.neighbors.NeighborsPerception;
import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtu;
import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
import org.opentrafficsim.road.gtu.lane.tactical.util.CarFollowingUtil;
import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
/**
* Interface for LMRS gap-acceptance models.
* <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 interface GapAcceptance
{
/** Being informed of the model and parameters of other drivers (default LMRS). */
GapAcceptance INFORMED = new GapAcceptance()
{
@Override
public boolean acceptGap(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
final CarFollowingModel cfm, final double desire, final Speed ownSpeed, final Acceleration ownAcceleration,
final LateralDirectionality lat) throws ParameterException, OperationalPlanException
{
NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
if (neighbors.isGtuAlongside(lat))
{
// gtu alongside
return false;
}
Acceleration threshold = params.getParameter(ParameterTypes.B).times(-desire);
if (threshold.gt(ownAcceleration))
{
return false;
}
if (!acceptEgoAcceleration(perception, params, sli, cfm, desire, ownSpeed, lat, threshold))
{
return false;
}
// TODO
/*-
* Followers and are accepted if the acceleration and speed is 0, a leader is accepted if the ego speed is 0. This
* is in place as vehicles that provide courtesy, will decelerate for us and overshoot the stand-still distance. As
* a consequence, they will cease cooperation as they are too close. A pattern will arise where followers slow down
* to (near) stand-still, and accelerate again, before we could ever accept the gap.
*
* By accepting the gap in the moment that they reach stand-still, this vehicle can at least accept the gap at some
* point. All of this is only a problem if the own vehicle is standing still. Otherwise the stand-still distance is
* not important and movement of our own will create an acceptable situation.
*
* What needs to be done, is to find a better way to deal with the cooperation and gap-acceptance, such that this
* hack is not required.
*/
for (PerceivedGtu follower : neighbors.getFirstFollowers(lat))
{
if (follower.getSpeed().gt0() || follower.getAcceleration().gt0() || follower.getDistance().si < 1.0)
{
Acceleration aFollow = LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed,
desire, follower.getBehavior().getParameters(), follower.getBehavior().getSpeedLimitInfo(),
follower.getBehavior().getCarFollowingModel());
if (threshold.gt(aFollow))
{
return false;
}
}
}
if (!acceptLaneChangers(perception, params, sli, cfm, ownSpeed, lat, threshold))
{
return false;
}
return true;
}
@Override
public String toString()
{
return "INFORMED";
}
};
/** Being informed of the model and parameters of other drivers, but applying own headway value. */
GapAcceptance EGO_HEADWAY = new GapAcceptance()
{
@Override
public boolean acceptGap(final LanePerception perception, final Parameters params, final SpeedLimitInfo sli,
final CarFollowingModel cfm, final double desire, final Speed ownSpeed, final Acceleration ownAcceleration,
final LateralDirectionality lat) throws ParameterException, OperationalPlanException
{
NeighborsPerception neigbors = perception.getPerceptionCategory(NeighborsPerception.class);
if (neigbors.isGtuAlongside(lat))
{
// gtu alongside
return false;
}
Acceleration threshold = params.getParameter(ParameterTypes.B).times(-desire);
if (!acceptEgoAcceleration(perception, params, sli, cfm, desire, ownSpeed, lat, threshold))
{
return false;
}
for (PerceivedGtu follower : neigbors.getFirstFollowers(lat))
{
if (follower.getSpeed().gt0() || follower.getAcceleration().gt0())
{
// Change headway parameter
Parameters folParams = follower.getBehavior().getParameters();
// safe copy, so no need to set/reset
folParams.setParameter(ParameterTypes.TMIN, params.getParameter(ParameterTypes.TMIN));
folParams.setParameter(ParameterTypes.TMAX, params.getParameter(ParameterTypes.TMAX));
Acceleration aFollow = LmrsUtil.singleAcceleration(follower.getDistance(), follower.getSpeed(), ownSpeed,
desire, folParams, follower.getBehavior().getSpeedLimitInfo(),
follower.getBehavior().getCarFollowingModel());
// folParams.resetParameter(ParameterTypes.TMIN);
// folParams.resetParameter(ParameterTypes.TMAX);
if (threshold.gt(aFollow))
{
return false;
}
}
}
if (!acceptLaneChangers(perception, params, sli, cfm, ownSpeed, lat, threshold))
{
return false;
}
return true;
}
@Override
public String toString()
{
return "EGO_HEADWAY";
}
};
/**
* Determine whether a gap is acceptable.
* @param perception perception
* @param params parameters
* @param sli speed limit info
* @param cfm car-following model
* @param desire level of lane change desire
* @param ownSpeed own speed
* @param lat lateral direction for synchronization
* @param threshold threshold value
* @return whether a gap is acceptable
* @throws ParameterException if a parameter is not defined
* @throws OperationalPlanException perception exception
*/
private static boolean acceptEgoAcceleration(final LanePerception perception, final Parameters params,
final SpeedLimitInfo sli, final CarFollowingModel cfm, final double desire, final Speed ownSpeed,
final LateralDirectionality lat, final Acceleration threshold) throws ParameterException, OperationalPlanException
{
if (ownSpeed.gt0())
{
for (PerceivedGtu leader : perception.getPerceptionCategory(NeighborsPerception.class).getFirstLeaders(lat))
{
Acceleration a = LmrsUtil.singleAcceleration(leader.getDistance(), ownSpeed, leader.getSpeed(), desire, params,
sli, cfm);
if (threshold.gt(a))
{
return false;
}
}
}
return true;
}
/**
* Determine whether a gap is acceptable regarding lane changers from the second adjacent lane to the first adjacent lane.
* @param perception perception
* @param params parameters
* @param sli speed limit info
* @param cfm car-following model
* @param ownSpeed own speed
* @param lat lateral direction for synchronization
* @param threshold threshold value
* @return whether a gap is acceptable
* @throws ParameterException if a parameter is not defined
* @throws OperationalPlanException perception exception
*/
private static boolean acceptLaneChangers(final LanePerception perception, final Parameters params,
final SpeedLimitInfo sli, final CarFollowingModel cfm, final Speed ownSpeed, final LateralDirectionality lat,
final Acceleration threshold) throws ParameterException, OperationalPlanException
{
if (ownSpeed.gt0())
{
NeighborsPerception neighbors = perception.getPerceptionCategory(NeighborsPerception.class);
// Only potential lane changers in the gap to the leader in the target lane are relevant
SortedSet<PerceivedGtu> firstLeaders = neighbors.getFirstLeaders(lat);
Length range = Length.POS_MAXVALUE;
if (!firstLeaders.isEmpty())
{
range = Length.ZERO;
for (PerceivedGtu leader : firstLeaders)
{
range = Length.max(range, leader.getDistance());
}
}
for (PerceivedGtu leader : neighbors.getLeaders(new RelativeLane(lat, 2)))
{
if (leader.getDistance().gt(range))
{
return true;
}
if (leader.getManeuver().isChangingLane(lat.flip()))
{
Acceleration a = CarFollowingUtil.followSingleLeader(cfm, params, ownSpeed, sli, leader.getDistance(),
leader.getSpeed());
return a.ge(threshold);
}
}
}
return true;
}
/**
* Determine whether a gap is acceptable.
* @param perception perception
* @param params parameters
* @param sli speed limit info
* @param cfm car-following model
* @param desire level of lane change desire
* @param ownSpeed own speed
* @param ownAcceleration current car-following acceleration
* @param lat lateral direction for synchronization
* @return whether a gap is acceptable
* @throws ParameterException if a parameter is not defined
* @throws OperationalPlanException perception exception
*/
boolean acceptGap(LanePerception perception, Parameters params, SpeedLimitInfo sli, CarFollowingModel cfm, double desire,
Speed ownSpeed, Acceleration ownAcceleration, LateralDirectionality lat)
throws ParameterException, OperationalPlanException;
}