1 package org.opentrafficsim.road.gtu.lane.control;
2
3 import org.djunits.value.vdouble.scalar.Acceleration;
4 import org.djunits.value.vdouble.scalar.Duration;
5 import org.opentrafficsim.base.parameters.ParameterTypeDuration;
6 import org.opentrafficsim.base.parameters.constraint.NumericConstraint;
7 import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
8
9 /**
10 * Delays the actuation of acceleration. This is not part of the vehicle model as that is used for both human and automated
11 * control, which follow different vehicle capability semantics.
12 * <p>
13 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
14 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
15 * </p>
16 * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
17 * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
18 * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
19 */
20 public interface DelayedActuation
21 {
22
23 /** No delayed actuation. */
24 DelayedActuation NONE = new DelayedActuation()
25 {
26 @Override
27 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGtu gtu)
28 {
29 return desiredAcceleration;
30 }
31 };
32
33 /** Parameter for actuation delay. */
34 ParameterTypeDuration TAU = new ParameterTypeDuration("tau_actuation", "Actuation delay", Duration.instantiateSI(0.1),
35 NumericConstraint.POSITIVE);
36
37 /** Tau delayed actuation. */
38 DelayedActuation TAUDELAYED = new DelayedActuation()
39 {
40 @Override
41 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGtu gtu)
42 {
43 // TODO: numerical implementation of tau rule
44 return desiredAcceleration.minus(gtu.getAcceleration());
45 }
46 };
47
48 /**
49 * Delays the actuation of acceleration.
50 * @param desiredAcceleration desired acceleration
51 * @param gtu gtu
52 * @return delayed acceleration
53 */
54 Acceleration delayActuation(Acceleration desiredAcceleration, LaneBasedGtu gtu);
55
56 }