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://tudelft.nl/staff/p.knoppers-1">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 /** {@inheritDoc} */
27 @Override
28 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGtu gtu)
29 {
30 return desiredAcceleration;
31 }
32 };
33
34 /** Parameter for actuation delay. */
35 ParameterTypeDuration TAU = new ParameterTypeDuration("tau_actuation", "Actuation delay", Duration.instantiateSI(0.1),
36 NumericConstraint.POSITIVE);
37
38 /** Tau delayed actuation. */
39 DelayedActuation TAUDELAYED = new DelayedActuation()
40 {
41 /** {@inheritDoc} */
42 @Override
43 public Acceleration delayActuation(final Acceleration desiredAcceleration, final LaneBasedGtu gtu)
44 {
45 // TODO: numerical implementation of tau rule
46 return desiredAcceleration.minus(gtu.getAcceleration());
47 }
48 };
49
50 /**
51 * Delays the actuation of acceleration.
52 * @param desiredAcceleration Acceleration; desired acceleration
53 * @param gtu LaneBasedGtu; gtu
54 * @return Acceleration; delayed acceleration
55 */
56 Acceleration delayActuation(Acceleration desiredAcceleration, LaneBasedGtu gtu);
57
58 }