1 package org.opentrafficsim.road.gtu.lane.perception;
2
3 import org.opentrafficsim.base.parameters.ParameterException;
4 import org.opentrafficsim.base.parameters.ParameterTypeLength;
5 import org.opentrafficsim.base.parameters.ParameterTypes;
6 import org.opentrafficsim.core.gtu.GtuException;
7 import org.opentrafficsim.core.gtu.perception.AbstractPerception;
8 import org.opentrafficsim.core.network.NetworkException;
9 import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
10 import org.opentrafficsim.road.gtu.lane.perception.mental.Mental;
11 import org.opentrafficsim.road.gtu.lane.perception.structure.LaneStructure;
12
13 /**
14 * The perception module of a GTU based on lanes. It is responsible for perceiving (sensing) the environment of the GTU, which
15 * includes the locations of other GTUs. Perception is done at a certain time, and the perceived information might have a
16 * limited validity. In that sense, Perception is stateful. Information can be requested as often as needed, but will only be
17 * recalculated when asked explicitly. This abstract class provides the building blocks for lane-based perception. <br>
18 * Perception for lane-based GTUs involves information about GTUs in front of the owner GTU on the same lane (the 'leader' GTU),
19 * parallel vehicles (important if we want to change lanes), distance to other vehicles on parallel lanes, as well in front as
20 * to the back (important if we want to change lanes), and information about obstacles, traffic lights, speed signs, and ending
21 * lanes.
22 * <p>
23 * This class allows {@code PerceptionCategory}s that are either eager or lazy. All categories will have the {@code updateAll}
24 * method invoked prior to an operational plan being determined. Categories may ignore this and instead evaluate results only
25 * when the tactical planner requests them.
26 * <p>
27 * Copyright (c) 2013-2024 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved. <br>
28 * BSD-style license. See <a href="https://opentrafficsim.org/docs/license.html">OpenTrafficSim License</a>.
29 * </p>
30 * @author <a href="https://github.com/averbraeck">Alexander Verbraeck</a>
31 * @author <a href="https://github.com/peter-knoppers">Peter Knoppers</a>
32 * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
33 */
34 public class CategoricalLanePerception extends AbstractPerception<LaneBasedGtu> implements LanePerception
35 {
36
37 /** */
38 private static final long serialVersionUID = 20151128L;
39
40 /** Look ahead parameter type. */
41 protected static final ParameterTypeLength LOOKAHEAD = ParameterTypes.LOOKAHEAD;
42
43 /** Look back parameter type. */
44 protected static final ParameterTypeLength LOOKBACK = ParameterTypes.LOOKBACK;
45
46 /** Lane structure. */
47 private LaneStructure laneStructure = null;
48
49 /** Mental module. */
50 private Mental mental;
51
52 /**
53 * Create a new LanePerception module without mental module.
54 * @param gtu GTU
55 */
56 public CategoricalLanePerception(final LaneBasedGtu gtu)
57 {
58 super(gtu);
59 this.mental = null;
60 }
61
62 /**
63 * Create a new LanePerception module with mental module.
64 * @param gtu GTU
65 * @param mental mental module
66 */
67 public CategoricalLanePerception(final LaneBasedGtu gtu, final Mental mental)
68 {
69 super(gtu);
70 this.mental = mental;
71 }
72
73 @Override
74 public final LaneStructure getLaneStructure() throws ParameterException
75 {
76 if (this.laneStructure == null)
77 {
78 this.laneStructure = new LaneStructure(getGtu(), getGtu().getParameters().getParameter(LOOKBACK),
79 getGtu().getParameters().getParameter(LOOKAHEAD));
80 }
81 return this.laneStructure;
82 }
83
84 @Override
85 public Mental getMental()
86 {
87 return this.mental;
88 }
89
90 @Override
91 public void perceive() throws GtuException, NetworkException, ParameterException
92 {
93 if (this.mental != null)
94 {
95 this.mental.apply(this);
96 }
97 }
98
99 }