AccelerationNoSlowLaneOvertake.java

package org.opentrafficsim.road.gtu.tactical.lmrs;

import java.util.function.Supplier;

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.ParameterTypeAcceleration;
import org.opentrafficsim.base.parameters.ParameterTypeSpeed;
import org.opentrafficsim.base.parameters.ParameterTypes;
import org.opentrafficsim.core.gtu.GtuException;
import org.opentrafficsim.core.network.LateralDirectionality;
import org.opentrafficsim.road.gtu.LaneBasedGtu;
import org.opentrafficsim.road.gtu.perception.FilteredIterable;
import org.opentrafficsim.road.gtu.perception.PerceptionCollectable;
import org.opentrafficsim.road.gtu.perception.RelativeLane;
import org.opentrafficsim.road.gtu.perception.categories.InfrastructurePerception;
import org.opentrafficsim.road.gtu.perception.categories.TrafficPerception;
import org.opentrafficsim.road.gtu.perception.categories.neighbors.NeighborsPerception;
import org.opentrafficsim.road.gtu.perception.object.PerceivedGtu;
import org.opentrafficsim.road.gtu.tactical.TacticalContextEgo;
import org.opentrafficsim.road.gtu.tactical.util.CarFollowingUtil;
import org.opentrafficsim.road.gtu.tactical.util.lmrs.Desire;

/**
 * Makes a GTU follow leaders in the left lane, with limited deceleration.
 * <p>
 * Copyright (c) 2013-2026 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 Alexander Verbraeck
 * @author Peter Knoppers
 * @author Wouter Schakel
 */
public final class AccelerationNoSlowLaneOvertake implements AccelerationIncentive
{

    /** Speed threshold below which traffic is considered congested. */
    public static final ParameterTypeSpeed VCONG = ParameterTypes.VCONG;

    /** Maximum adjustment deceleration, e.g. when speed limit drops. */
    public static final ParameterTypeAcceleration B0 = ParameterTypes.B0;

    /** Supplier of mandatory desire. */
    private Supplier<Desire> getMandatoryDesire;

    /**
     * Constructor.
     * @param getMandatoryDesire supplier of mandatory desire from the model
     */
    public AccelerationNoSlowLaneOvertake(final Supplier<Desire> getMandatoryDesire)
    {
        this.getMandatoryDesire = getMandatoryDesire;
    }

    @Override
    public Acceleration accelerate(final TacticalContextEgo context, final RelativeLane lane, final Length mergeDistance)
            throws ParameterException, GtuException
    {
        // Ignore incentive if we need to change lane for the route
        // TODO: depends on left/right traffic
        if (!lane.isCurrent() || !context.getPerception().getLaneStructure().exists(lane.getLeft())
                || this.getMandatoryDesire.get().right() > 0.0 || this.getMandatoryDesire.get().left() < 0.0)
        {
            return NO_REASON;
        }

        InfrastructurePerception infra = context.getPerception().getPerceptionCategory(InfrastructurePerception.class);
        Length legal = infra.getLegalLaneChangePossibility(RelativeLane.LEFT, LateralDirectionality.RIGHT);
        Length ignore = legal.lt0() ? legal.neg() : Length.ZERO;

        if (lane.isCurrent() && context.getPerception().getLaneStructure().exists(RelativeLane.LEFT))
        {
            Speed vCong = context.getParameters().getParameter(VCONG);
            if (context.getPerception().getPerceptionCategory(TrafficPerception.class).getSpeed(RelativeLane.CURRENT,
                    context.getDesiredSpeed()).si > vCong.si)
            {
                // TODO depends on left/right traffic
                PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders =
                        context.getPerception().getPerceptionCategory(NeighborsPerception.class).getLeaders(RelativeLane.LEFT);
                if (!leaders.isEmpty())
                {
                    for (PerceivedGtu leader : ignore.le0() ? leaders
                            : new FilteredIterable<>(leaders, (leader) -> leader.getDistance().gt(ignore)))
                    {
                        if (context.getSpeed().si > leader.getSpeed().si && leader.getDistance().gt0())
                        {
                            Acceleration b0 = context.getParameters().getParameter(B0);
                            Acceleration a = CarFollowingUtil.followSingleLeader(context, leader);
                            return a.si < -b0.si ? b0.neg() : a;
                        }
                        else
                        {
                            // Stop looking for further leaders when a leader is faster
                            return NO_REASON;
                        }
                    }
                }
            }
        }
        return NO_REASON;
    }

}