package org.opentrafficsim.road.gtu.lane.tactical.util;
   
   import java.util.ArrayList;
   import java.util.Iterator;
   import java.util.LinkedHashMap;
   import java.util.List;
   import java.util.Optional;
   import java.util.Set;
   import java.util.UUID;
  import java.util.function.Function;
  import java.util.function.Supplier;
  
  import org.djunits.unit.AccelerationUnit;
  import org.djunits.unit.DurationUnit;
  import org.djunits.unit.LengthUnit;
  import org.djunits.value.vdouble.scalar.Acceleration;
  import org.djunits.value.vdouble.scalar.Duration;
  import org.djunits.value.vdouble.scalar.Length;
  import org.djunits.value.vdouble.scalar.Speed;
  import org.djunits.value.vdouble.scalar.Time;
  import org.djutils.exceptions.Throw;
  import org.opentrafficsim.base.OtsRuntimeException;
  import org.opentrafficsim.base.logger.Logger;
  import org.opentrafficsim.base.parameters.ParameterException;
  import org.opentrafficsim.base.parameters.ParameterTypeAcceleration;
  import org.opentrafficsim.base.parameters.ParameterTypeDouble;
  import org.opentrafficsim.base.parameters.ParameterTypeDuration;
  import org.opentrafficsim.base.parameters.ParameterTypeLength;
  import org.opentrafficsim.base.parameters.ParameterTypes;
  import org.opentrafficsim.base.parameters.Parameters;
  import org.opentrafficsim.base.parameters.constraint.ConstraintInterface;
  import org.opentrafficsim.core.definitions.DefaultsNl;
  import org.opentrafficsim.core.gtu.GtuException;
  import org.opentrafficsim.core.gtu.TurnIndicatorIntent;
  import org.opentrafficsim.core.network.Node;
  import org.opentrafficsim.core.network.route.Route;
  import org.opentrafficsim.road.gtu.lane.LaneBasedGtu;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable.PerceptionAccumulator;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionCollectable.PerceptionCollector;
  import org.opentrafficsim.road.gtu.lane.perception.PerceptionIterable;
  import org.opentrafficsim.road.gtu.lane.perception.RelativeLane;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedConflict;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtu;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtu.Maneuver;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtu.Signals;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtuBase;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedGtuSimple;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedObject;
  import org.opentrafficsim.road.gtu.lane.perception.object.PerceivedObject.Kinematics;
  import org.opentrafficsim.road.gtu.lane.tactical.Blockable;
  import org.opentrafficsim.road.gtu.lane.tactical.following.CarFollowingModel;
  import org.opentrafficsim.road.gtu.lane.tactical.pt.BusSchedule;
  import org.opentrafficsim.road.network.lane.CrossSectionLink;
  import org.opentrafficsim.road.network.lane.conflict.BusStopConflictRule;
  import org.opentrafficsim.road.network.lane.conflict.ConflictRule;
  import org.opentrafficsim.road.network.speed.SpeedLimitInfo;
  
  /**
   * This class implements default behavior for intersection conflicts for use in tactical planners.
   * <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>
   * @see <a href="https://rstrail.nl/wp-content/uploads/2015/02/schakel_2012.pdf">Schakel, W.J., B. van Arem (2012) “An Urban
   *      Traffic Extension of a Freeway Driver Model for use in the OpenTraffic® Open Source Traffic Simulation”, presented at
   *      TRAIL Congress 2012.</a>
   */
  // TODO do not ignore vehicles upstream of conflict if they have green
  // TODO conflict over multiple lanes (longitudinal in own direction)
  // TODO a) yielding while having priority happens only when leaders is standing still on conflict (then its useless...)
  // b) two vehicles can remain upstream of merge if vehicle stands on merge but leaves some space to move
  // probably 1 is yielding, and 1 is courtesy yielding as the other stands still
  // c) they might start moving together and collide further down (no response to negative headway on merge)
  public final class ConflictUtil
  {
  
      /** Minimum time gap between events. */
      public static final ParameterTypeDuration MIN_GAP = new ParameterTypeDuration("minGap", "Minimum gap for conflicts",
              new Duration(0.000001, DurationUnit.SECOND), ConstraintInterface.POSITIVE);
  
      /** Comfortable deceleration. */
      public static final ParameterTypeAcceleration B = ParameterTypes.B;
  
      /** Critical deceleration. */
      public static final ParameterTypeAcceleration BCRIT = ParameterTypes.BCRIT;
  
      /** Stopping distance. */
      public static final ParameterTypeLength S0 = ParameterTypes.S0;
  
      /** Stopping distance at conflicts. */
      public static final ParameterTypeLength S0_CONF = new ParameterTypeLength("s0conf", "Stopping distance at conflicts",
              new Length(1.5, LengthUnit.METER), ConstraintInterface.POSITIVE);
  
      /** Multiplication factor on time for conservative assessment. */
      public static final ParameterTypeDouble TIME_FACTOR =
             new ParameterTypeDouble("timeFactor", "Safety factor on estimated time", 1.25, ConstraintInterface.ATLEASTONE);
 
     /** Area before stop line where one is considered arrived at the intersection. */
     public static final ParameterTypeLength STOP_AREA =
             new ParameterTypeLength("stopArea", "Area before stop line where one is considered arrived at the intersection",
                     new Length(4, LengthUnit.METER), ConstraintInterface.POSITIVE);
 
     /** Parameter of how much time before departure a bus indicates its departure to get priority. */
     public static final ParameterTypeDuration TI = new ParameterTypeDuration("ti", "Indicator time before bus departure",
             Duration.ofSI(3.0), ConstraintInterface.POSITIVE);
 
     /** Time step for free acceleration anticipation. */
     private static final Duration TIME_STEP = new Duration(0.5, DurationUnit.SI);
 
     /** Cross standing vehicles on crossings. We allow this to prevent dead-locks. A better model should render this useless. */
     private static final boolean CROSSSTANDING = true;
 
     /**
      * Do not instantiate.
      */
     private ConflictUtil()
     {
         //
     }
 
     /**
      * Approach conflicts by applying appropriate acceleration (or deceleration). The model may yield for a vehicle even while
      * having priority. Such a plan is remembered in {@link ConflictPlans}. By forwarding the same {@code ConflictPlans} for a
      * GTU consistency of such plans is provided. If any conflict is not accepted to pass, stopping before a more upstream
      * conflict is applied if there is not sufficient stopping length in between conflicts.
      * @param parameters parameters
      * @param conflicts set of conflicts to approach
      * @param leaders leading vehicles
      * @param carFollowingModel car-following model
      * @param vehicleLength length of vehicle
      * @param vehicleWidth width of vehicle
      * @param speed current speed
      * @param acceleration current acceleration
      * @param speedLimitInfo speed limit info
      * @param conflictPlans set of plans for conflict
      * @param gtu gtu
      * @param lane lane
      * @return acceleration appropriate for approaching the conflicts
      * @throws GtuException in case of an unsupported conflict rule
      * @throws ParameterException if a parameter is not defined or out of bounds
      */
     @SuppressWarnings("checkstyle:parameternumber")
     // @docs/06-behavior/tactical-planner/#modular-utilities (..., final ConflictPlans conflictPlans, ...)
     public static Acceleration approachConflicts(final Parameters parameters, final Iterable<PerceivedConflict> conflicts,
             final PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders, final CarFollowingModel carFollowingModel,
             final Length vehicleLength, final Length vehicleWidth, final Speed speed, final Acceleration acceleration,
             final SpeedLimitInfo speedLimitInfo, final ConflictPlans conflictPlans, final LaneBasedGtu gtu,
             final RelativeLane lane) throws GtuException, ParameterException
     {
         conflictPlans.cleanPlans();
         boolean blocking = false;
 
         // Ignore conflicts if we are beyond a stopping distance
         Acceleration a = Acceleration.POS_MAXVALUE;
         Length stoppingDistance = Length.ofSI(
                 parameters.getParameter(S0).si + vehicleLength.si + .5 * speed.si * speed.si / parameters.getParameter(B).si);
         Iterator<PerceivedConflict> it = conflicts.iterator();
         if (it.hasNext() && it.next().getDistance().gt(stoppingDistance))
         {
             conflictPlans.setBlocking(blocking);
             return a;
         }
 
         // Maintain lists of info per conflict required for consistency in a plan to cross (part of) an intersection
         List<Length> prevStarts = new ArrayList<>();
         List<Length> prevEnds = new ArrayList<>();
         List<Class<? extends ConflictRule>> conflictRuleTypes = new ArrayList<>();
 
         // Distance until first stationary leader, minus spaces required for stationary intermediate vehicle and minus ego
         Space space = leaders.collect(new AvailableSpace());
         Length availableSpace = space.availableSpace().minus(passableDistance(vehicleLength, parameters));
 
         for (PerceivedConflict conflict : conflicts)
         {
             // adjust acceleration for situations where stopping might not be required
             if (conflict.isCrossing())
             {
                 // avoid collision if crossing is occupied
                 a = Acceleration.min(a, avoidCrossingCollision(parameters, conflict, carFollowingModel, speed, speedLimitInfo));
             }
             else
             {
                 if (conflict.isMerge() && !lane.isCurrent() && conflict.getConflictPriority().isPriority())
                 {
                     // this is probably evaluation for a lane-change as this it not on the current lane
                     a = Acceleration.min(a,
                             avoidMergeCollision(parameters, conflict, carFollowingModel, speed, speedLimitInfo));
                 }
                 // follow leading GTUs on merge or split
                 a = Acceleration.min(a, followConflictingLeaderOnMergeOrSplit(conflict, parameters, carFollowingModel, speed,
                         speedLimitInfo, vehicleWidth));
             }
 
             // indicator if bus
             if (lane.isCurrent())
             {
                 // TODO priority rules of busses should be handled differently, this also makes a GTU type unnecessary here
                 Optional<Route> route = gtu.getStrategicalPlanner().getRoute();
                 if (route.isPresent() && route.get() instanceof BusSchedule busSchedule
                         && gtu.getType().isOfType(DefaultsNl.BUS)
                         && conflict.getConflictRuleType().equals(BusStopConflictRule.class))
                 {
                     Optional<Duration> actualDeparture = busSchedule.getActualDepartureConflict(conflict.getId());
                     if (actualDeparture.isPresent() && actualDeparture.get().si < gtu.getSimulator().getSimulatorTime().si
                             + parameters.getParameter(TI).si)
                     {
                         // TODO depending on left/right-hand traffic
                         conflictPlans.setIndicatorIntent(TurnIndicatorIntent.LEFT, conflict.getDistance());
                     }
                 }
             }
 
             // blocking and ignoring
             if (conflict.getDistance().lt0() && lane.isCurrent())
             {
                 if (conflict.getConflictType().isCrossing() && !conflict.getConflictPriority().isPriority())
                 {
                     // note that we are blocking a conflict
                     blocking = true;
                 }
                 // ignore conflicts we are on (i.e. negative distance to start of conflict)
                 continue;
             }
 
             // zip-merging
             boolean stop = false;
             if (conflict.isMerge() && conflict.getConflictPriority().isPriority())
             {
                 if (conflict.getUpstreamConflictingGTUs().isEmpty()
                         || !conflictPlans.isZipGtu(conflict.getUpstreamConflictingGTUs().first().getId()))
                 {
                     conflictPlans.clearZipGtu();
                 }
                 else
                 {
                     stop = true;
                 }
             }
 
             // determine if we need to stop by available space downstream
             if (!stop)
             {
                 Length d = conflict.isCrossing() ? conflict.getDistance().plus(conflict.getLength()) : conflict.getDistance();
                 stop = !conflict.getConflictType().isSplit() && d.lt(space.firstStationary()) && availableSpace.lt(d);
 
                 // trigger zip-merging
                 /*
                  * Note that when a vehicle is fully on a merge, only vehicles from the same direction consider it regarding
                  * available space. Vehicles from the other direction do not have the vehicle as one of their regular leaders.
                  * One vehicle from the other direction will thus put the nose on the merge or close to it. If this is on the
                  * merge, zip behavior automatically results. If it is close to the merge, and the vehicle on the conflict was
                  * from the priority direction, the priority vehicle upstream of the conflict needs to remember to let the other
                  * vehicle go. Otherwise, as soon as traffic starts to move and the available space heuristic is lifted, regular
                  * priority behavior results. This may cause the non-priority direction to never flow.
                  */
                 if (stop && conflict.isMerge() && conflict.getConflictPriority().isPriority() && conflict.getDistance().gt0()
                         && !conflict.getUpstreamConflictingGTUs().isEmpty())
                 {
                     conflictPlans.setZipGtu(conflict.getUpstreamConflictingGTUs().first().getId());
                 }
             }
 
             if (!stop)
             {
                 switch (conflict.getConflictPriority())
                 {
                     case PRIORITY:
                     {
                         // available space consideration and zip-merging allow no further action
                         break;
                     }
                     case YIELD:
                     {
                         Length prevEnd = prevEnds.isEmpty() ? null : prevEnds.get(prevEnds.size() - 1);
                         stop = stopForGiveWayConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters,
                                 speedLimitInfo, carFollowingModel, blocking ? BCRIT : B, prevEnd);
                         break;
                     }
                     case STOP:
                     {
                         Length prevEnd = prevEnds.isEmpty() ? null : prevEnds.get(prevEnds.size() - 1);
                         stop = stopForStopConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters,
                                 speedLimitInfo, carFollowingModel, blocking ? BCRIT : B, prevEnd);
                         break;
                     }
                     case ALL_STOP:
                     {
                         stop = stopForAllStopConflict(conflict, conflictPlans);
                         break;
                     }
                     case SPLIT:
                     {
                         continue;
                     }
                     default:
                     {
                         throw new GtuException("Unsupported conflict rule encountered while approaching conflicts.");
                     }
                 }
             }
 
             // stop if required, account for upstream conflicts to keep clear
             if (stop)
             {
                 prevStarts.add(conflict.getDistance());
                 conflictRuleTypes.add(conflict.getConflictRuleType());
 
                 // stop for first conflict looking upstream of this blocked conflict that allows sufficient space
                 int j = 0; // most upstream conflict if not in between conflicts
                 for (int i = prevEnds.size() - 1; i >= 0; i--) // downstream to upstream
                 {
                     // note, at this point prevStarts contains one more conflict than prevEnds
                     if (prevStarts.get(i + 1).minus(prevEnds.get(i)).gt(passableDistance(vehicleLength, parameters)))
                     {
                         j = i + 1;
                         break;
                     }
                 }
                 if (blocking && j == 0)
                 {
                     // we are blocking a conflict, let's not stop more upstream than the conflict that forces our stop
                     j = prevStarts.size() - 1;
                 }
 
                 // stop for j'th conflict, if deceleration is too strong, for next one
                 parameters.setParameterResettable(S0, parameters.getParameter(S0_CONF));
                 Acceleration bCrit = parameters.getParameter(ParameterTypes.BCRIT).neg();
                 Acceleration aConflict = Acceleration.ofSI(-Double.MAX_VALUE);
                 while (aConflict.si < bCrit.si && j < prevStarts.size())
                 {
                     if (prevStarts.get(j).lt(parameters.getParameter(S0_CONF)))
                     {
                         // critical deceleration once GTU is within s0_conf
                         // otherwise car-following model may generate unreasonably large decelerations
                         aConflict = Acceleration.max(aConflict, bCrit);
                     }
                     else
                     {
                         Acceleration aStop =
                                 CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo, prevStarts.get(j));
                         if (conflictRuleTypes.get(j).equals(BusStopConflictRule.class) && aStop.lt(bCrit))
                         {
                             // as it may suddenly switch state, i.e. ignore like a yellow traffic light
                             aStop = Acceleration.POS_MAXVALUE;
                         }
                         aConflict = Acceleration.max(aConflict, aStop);
                     }
                     j++;
                 }
                 parameters.resetParameter(S0);
                 a = Acceleration.min(a, aConflict);
                 break;
             }
 
             // remember info to keep conflict clear (when stopping for another conflict)
             if (conflict.isCrossing())
             {
                 prevStarts.add(conflict.getDistance());
                 conflictRuleTypes.add(conflict.getConflictRuleType());
                 prevEnds.add(conflict.getDistance().plus(conflict.getLength()));
             }
         }
         conflictPlans.setBlocking(blocking);
 
         if (a.si < -6.0 && speed.si > 5.0 / 3.6)
         {
             Logger.ots().info("Deceleration from conflict util stronger than 6m/s^2.");
             // return Acceleration.POSITIVE_INFINITY;
         }
         return a;
     }
 
     /**
      * Determines acceleration for following conflicting vehicles <i>on</i> a merge or split conflict.
      * @param conflict merge or split conflict
      * @param parameters parameters
      * @param carFollowingModel car-following model
      * @param speed current speed
      * @param speedLimitInfo speed limit info
      * @param vehicleWidth own width
      * @return acceleration for following conflicting vehicles <i>on</i> a merge or split conflict
      * @throws ParameterException if a parameter is not given or out of bounds
      */
     private static Acceleration followConflictingLeaderOnMergeOrSplit(final PerceivedConflict conflict,
             final Parameters parameters, final CarFollowingModel carFollowingModel, final Speed speed,
             final SpeedLimitInfo speedLimitInfo, final Length vehicleWidth) throws ParameterException
     {
         // ignore if no conflicting GTU's, or if first is downstream of conflict
         PerceptionIterable<PerceivedGtu> downstreamGTUs = conflict.getDownstreamConflictingGTUs();
         if (downstreamGTUs.isEmpty() || downstreamGTUs.first().getKinematics().getOverlap().isAhead())
         {
             return Acceleration.POS_MAXVALUE;
         }
         // get the most upstream GTU to consider
         PerceivedGtu c = null;
         Length virtualHeadway = null;
         if (conflict.getDistance().gt0())
         {
             c = downstreamGTUs.first();
             virtualHeadway = conflict.getDistance().plus(c.getKinematics().getOverlap().getOverlapRear().get());
         }
         else
         {
             for (PerceivedGtu con : downstreamGTUs)
             {
                 if (con.getKinematics().getOverlap().isAhead())
                 {
                     // conflict GTU completely downstream of conflict (i.e. regular car-following, ignore here)
                     return Acceleration.POS_MAXVALUE;
                 }
                 // conflict GTU (partially) on the conflict
                 // {@formatter:off}
                 // ______________________________________________
                 //   ___      virtual headway   |  ___  |
                 //  |___|(-----------------------)|___|(vehicle from south, on lane from south)
                 // _____________________________|_______|________
                 //                              /       /
                 //                             /       /
                 // {@formatter:on}
                 virtualHeadway = conflict.getDistance().plus(con.getKinematics().getOverlap().getOverlapRear().get());
                 if (virtualHeadway.gt0())
                 {
                     if (conflict.isSplit())
                     {
                         double conflictWidth = conflict.getWidthAtFraction(
                                 (-conflict.getDistance().si + virtualHeadway.si) / conflict.getConflictingLength().si).si;
                         double gtuWidth = con.getWidth().si + vehicleWidth.si;
                         if (conflictWidth > gtuWidth)
                         {
                             continue;
                         }
                     }
                     // found first downstream GTU on conflict
                     c = con;
                     break;
                 }
             }
         }
         if (c == null)
         {
             // conflict GTU downstream of start of conflict, but upstream of us
             return Acceleration.POS_MAXVALUE;
         }
         // follow leader
         Acceleration a = CarFollowingUtil.followSingleLeader(carFollowingModel, parameters, speed, speedLimitInfo,
                 virtualHeadway, c.getSpeed());
         // if conflicting GTU is partially upstream of the conflict and at (near) stand-still, stop for the conflict rather than
         // following the tail of the conflicting GTU
         if (conflict.isMerge() && virtualHeadway.lt(conflict.getDistance()))
         {
             // {@formatter:off}
             /*
              * ______________________________________________
              *    ___    stop for conflict  |       |
              *   |___|(--------------------)|   ___ |
              * _____________________________|__/  /_|________
              *                              / /__/  /
              *                             /       /
              */
             // {@formatter:on}
             parameters.setParameterResettable(S0, parameters.getParameter(S0_CONF));
             Acceleration aStop =
                     CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo, conflict.getDistance());
             parameters.resetParameter(S0);
             a = Acceleration.max(a, aStop); // max, which ever allows the largest acceleration
         }
         return a;
     }
 
     /**
      * Determines an acceleration required to avoid a collision with GTUs <i>on</i> a crossing conflict.
      * @param parameters parameters
      * @param conflict conflict
      * @param carFollowingModel car-following model
      * @param speed current speed
      * @param speedLimitInfo speed limit info
      * @return acceleration required to avoid a collision
      * @throws ParameterException if parameter is not defined
      */
     private static Acceleration avoidCrossingCollision(final Parameters parameters, final PerceivedConflict conflict,
             final CarFollowingModel carFollowingModel, final Speed speed, final SpeedLimitInfo speedLimitInfo)
             throws ParameterException
     {
         // gather relevant GTUs (first up, and downstream on)
         List<PerceivedGtu> conflictingGTUs = new ArrayList<>();
         for (PerceivedGtu gtu : conflict.getUpstreamConflictingGTUs())
         {
             if (conflict.getConflictingVisibility().lt(gtu.getDistance()))
             {
                 break;
             }
             if (isOnRoute(conflict.getConflictingLink(), gtu))
             {
                 // first upstream vehicle on route to this conflict
                 conflictingGTUs.add(gtu);
                 break;
             }
         }
         for (PerceivedGtu gtu : conflict.getDownstreamConflictingGTUs())
         {
             if (gtu.getKinematics().getOverlap().isParallel())
             {
                 conflictingGTUs.add(gtu);
             }
             else
             {
                 // vehicles beyond conflict are not a thread
                 break;
             }
         }
 
         if (conflictingGTUs.isEmpty())
         {
             return Acceleration.POS_MAXVALUE;
         }
 
         Acceleration a = Acceleration.POS_MAXVALUE;
         for (PerceivedGtu conflictingGTU : conflictingGTUs)
         {
             // time till enter, conflicting vehicle, no acceleration
             AnticipationInfo tteCz;
             Length distance;
             if (conflictingGTU.getKinematics().getOverlap().isParallel())
             {
                 tteCz = new AnticipationInfo(Duration.ZERO, conflictingGTU.getSpeed());
                 distance = conflictingGTU.getKinematics().getOverlap().getOverlapRear().get().abs()
                         .plus(conflictingGTU.getKinematics().getOverlap().getOverlap().get()).plus(Length.max(Length.ZERO,
                                 conflictingGTU.getKinematics().getOverlap().getOverlapFront().get().neg()));
             }
             else
             {
                 tteCz = AnticipationInfo.anticipateMovement(conflictingGTU.getDistance(), conflictingGTU.getSpeed(),
                         Acceleration.ZERO);
                 distance = conflictingGTU.getDistance().plus(conflict.getLength()).plus(conflictingGTU.getLength());
             }
             // time till clear (rear past conflict), conflicting vehicle, no acceleration
             AnticipationInfo ttcCz =
                     AnticipationInfo.anticipateMovement(distance, conflictingGTU.getSpeed(), Acceleration.ZERO);
             // time till enter, own vehicle, free acceleration
             AnticipationInfo tteOa = AnticipationInfo.anticipateMovementFreeAcceleration(conflict.getDistance(), speed,
                     parameters, carFollowingModel, speedLimitInfo, TIME_STEP);
             // enter before cleared (tteCz < tteOa < ttcCz)
             // TODO safety factor?
             if (tteCz.duration().lt(tteOa.duration()) && tteOa.duration().lt(ttcCz.duration()))
             {
                 if (!conflictingGTU.getSpeed().eq0() || !CROSSSTANDING)
                 {
                     double t = ttcCz.duration().si;
                     // solve parabolic speed profile s = v*t + .5*a*t*t, a =
                     double acc = 2.0 * (conflict.getDistance().si - speed.si * t) / (t * t);
                     // time till zero speed > time to avoid conflict?
                     if (speed.si / -acc > ttcCz.duration().si)
                     {
                         a = Acceleration.min(a, new Acceleration(acc, AccelerationUnit.SI));
                     }
                     else
                     {
                         // will reach zero speed ourselves
                         a = Acceleration.min(a, CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo,
                                 conflict.getDistance()));
                     }
                 }
                 // conflicting vehicle stand-still, ignore even at conflict
             }
         }
         return a;
     }
 
     /**
      * Avoid collision at merge. This method assumes the GTU has priority.
      * @param parameters parameters
      * @param conflict conflict
      * @param carFollowingModel car-following model
      * @param speed current speed
      * @param speedLimitInfo speed limit info
      * @return acceleration required to avoid a collision
      * @throws ParameterException if parameter is not defined
      */
     private static Acceleration avoidMergeCollision(final Parameters parameters, final PerceivedConflict conflict,
             final CarFollowingModel carFollowingModel, final Speed speed, final SpeedLimitInfo speedLimitInfo)
             throws ParameterException
     {
         PerceptionCollectable<PerceivedGtu, LaneBasedGtu> conflicting = conflict.getUpstreamConflictingGTUs();
         // parallel, followConflictingLeaderOnMergeOrSplit?
         if (conflicting.isEmpty() || conflicting.first().getKinematics().getOverlap().isParallel())
         {
             return Acceleration.POS_MAXVALUE;
         }
         // TODO: this check is simplistic, designed quick and dirty, it just adds 3s as a safe gap
         PerceivedGtu conflictingGtu = conflicting.first();
         double tteC = conflictingGtu.getDistance().si / conflictingGtu.getSpeed().si;
         if (tteC < conflict.getDistance().si / speed.si + 3.0)
         {
             return CarFollowingUtil.stop(carFollowingModel, parameters, speed, speedLimitInfo, conflict.getDistance());
         }
         return Acceleration.POS_MAXVALUE;
     }
 
     /**
      * Approach a give-way conflict.
      * @param conflict conflict
      * @param leaders leaders
      * @param speed current speed
      * @param acceleration current acceleration
      * @param vehicleLength vehicle length
      * @param parameters parameters
      * @param speedLimitInfo speed limit info
      * @param carFollowingModel car-following model
      * @param bType parameter type for considered deceleration
      * @param prevEnd distance to end of previous conflict that should not be blocked, {@code null} if none
      * @return whether to stop for this conflict
      * @throws ParameterException if a parameter is not defined
      */
     @SuppressWarnings({"checkstyle:parameternumber", "checkstyle:methodlength"})
     public static boolean stopForGiveWayConflict(final PerceivedConflict conflict,
             final PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders, final Speed speed, final Acceleration acceleration,
             final Length vehicleLength, final Parameters parameters, final SpeedLimitInfo speedLimitInfo,
             final CarFollowingModel carFollowingModel, final ParameterTypeAcceleration bType, final Length prevEnd)
             throws ParameterException
     {
         // Account for limited visibility and traffic light
         PerceptionCollectable<PerceivedGtu, LaneBasedGtu> conflictingVehiclesCollectable =
                 conflict.getUpstreamConflictingGTUs();
         Iterable<PerceivedGtu> conflictingVehicles;
         if (conflictingVehiclesCollectable.isEmpty())
         {
             if (conflict.getConflictingTrafficLightDistance().isEmpty())
             {
                 // none within visibility, assume a conflicting vehicle just outside of visibility driving at speed limit
                 Length length = Length.ofSI(4.0);
                 PerceivedGtuSimple conflictGtu = new PerceivedGtuSimple("virtual " + UUID.randomUUID().toString(),
                         DefaultsNl.CAR, length, new Length(2.0, LengthUnit.SI),
                         Kinematics.dynamicBehind(conflict.getConflictingVisibility(), conflict.getConflictingSpeedLimit(),
                                 Acceleration.ZERO, true, length, conflict.getLength()),
                         Signals.NONE, Maneuver.NONE);
                 conflictingVehicles = Set.of(conflictGtu);
             }
             else
             {
                 // no conflicting vehicles
                 return false;
             }
         }
         else
         {
             PerceivedGtu conflicting = conflictingVehiclesCollectable.first();
             Optional<Length> tlDistance = conflict.getConflictingTrafficLightDistance();
             if (tlDistance.isPresent() && conflicting.getKinematics().getOverlap().isAhead()
                     && tlDistance.get().lt(conflicting.getDistance())
                     && (conflicting.getSpeed().eq0() || conflicting.getAcceleration().lt0()))
             {
                 // conflicting traffic upstream of traffic light
                 return false;
             }
             conflictingVehicles = conflictingVehiclesCollectable;
         }
 
         // Get data independent of conflicting vehicle
         Acceleration b = parameters.getParameter(bType).neg();
         double f = parameters.getParameter(TIME_FACTOR);
         Duration gap = parameters.getParameter(MIN_GAP);
         Length passable = passableDistance(vehicleLength, parameters);
         Length distance = conflict.getDistance().plus(vehicleLength);
         if (conflict.isCrossing())
         {
             distance = distance.plus(conflict.getLength()); // merge is cleared at start, crossing at end
         }
 
         // time till clear (i.e. rear leaves conflict), own vehicle, free acceleration
         AnticipationInfo ttcOa = AnticipationInfo.anticipateMovementFreeAcceleration(distance, speed, parameters,
                 carFollowingModel, speedLimitInfo, TIME_STEP);
 
         // Loop over conflicting vehicles
         boolean first = true;
         for (PerceivedGtu conflictingVehicle : conflictingVehicles)
         {
             // skip if not on route
             if (!isOnRoute(conflict.getConflictingLink(), conflictingVehicle))
             {
                 continue;
             }
 
             // do not stop if first conflicting vehicle is standing still
             if (first && conflictingVehicle.getSpeed().eq0() && conflictingVehicle.getKinematics().getOverlap().isAhead())
             {
                 return false;
             }
 
             // time till enter, conflict vehicle, free acceleration
             AnticipationInfo tteCa;
             if (conflictingVehicle instanceof PerceivedGtuSimple)
             {
                 // fixed acceleration for simple as it provides no behavioral information
                 tteCa = AnticipationInfo.anticipateMovement(conflictingVehicle.getDistance(), conflictingVehicle.getSpeed(),
                         conflictingVehicle.getAcceleration());
             }
             else
             {
                 Parameters params = conflictingVehicle.getBehavior().getParameters();
                 SpeedLimitInfo sli = conflictingVehicle.getBehavior().getSpeedLimitInfo();
                 CarFollowingModel cfm = conflictingVehicle.getBehavior().getCarFollowingModel();
                 // Constant acceleration creates inf at stand still, triggering passing trough a congested stream
                 if (conflictingVehicle.getKinematics().getOverlap().isAhead())
                 {
                     tteCa = AnticipationInfo.anticipateMovementFreeAcceleration(conflictingVehicle.getDistance(),
                             conflictingVehicle.getSpeed(), params, cfm, sli, TIME_STEP);
                 }
                 else
                 {
                     tteCa = new AnticipationInfo(Duration.ZERO, conflictingVehicle.getSpeed());
                 }
             }
 
             // check gap
             if (conflict.isMerge())
             {
                 /*
                  * At a merge the conflicting vehicle will become ego's follower. Hence time might be needed to overcome a speed
                  * difference. We assume that the speed difference at the moment the ego vehicle clears the conflict, relative
                  * to the current speed of the conflicting vehicle, must be removed by deceleration b. This will require
                  * additional time, within which we need to have moved sufficiently assuming the speed we have when we clear the
                  * conflict. Sufficient space is when the follower can perform the deceleration over that space. Then, also
                  * space for a car-following headway and the gap time is required. Note that tteCa assumes free acceleration of
                  * the conflicting vehicle until it enters the conflict. The ego vehicle however clears the conflict earlier, so
                  * the resulting speed of that acceleration is not the right speed to consider for the speed difference after
                  * the conflict. The conflicting vehicle's speed at the moment ego clear the conflict is not known. Hence, the
                  * current conflicting vehicle's speed is used. This is compensated by not assuming further acceleration of ego
                  * after clearing the conflict.
                  */
                 double vSelf = ttcOa.endSpeed().si;
                 double speedDiff = conflictingVehicle.getSpeed().si - vSelf;
                 speedDiff = speedDiff > 0 ? speedDiff : 0;
                 Duration additionalTime = Duration.ofSI(speedDiff / -b.si);
                 double followerFront = conflictingVehicle.getSpeed().si * (ttcOa.duration().si + additionalTime.si)
                         - conflictingVehicle.getDistance().si + 0.5 * b.si * additionalTime.si * additionalTime.si;
                 double ownRear = vSelf * additionalTime.si;
                 Duration tMax = parameters.getParameter(ParameterTypes.TMAX);
                 Length s0 = parameters.getParameter(S0);
                 // 1) will clear the conflict after the conflict vehicle enters
                 // 2) conflict vehicle will be too near after adjusting speed
                 if (ttcOa.duration().times(f).plus(gap).gt(tteCa.duration()) || (!Double.isInfinite(tteCa.duration().si)
                         && tteCa.duration().si > 0.0 && ownRear < (followerFront + (tMax.si + gap.si) * vSelf + s0.si) * f))
                 {
                     return true;
                 }
             }
             else if (conflict.isCrossing())
             {
                 // time till passible, downstream, zero acceleration
                 AnticipationInfo ttpDz = null;
                 if (!leaders.isEmpty())
                 {
                     distance = conflict.getDistance().minus(leaders.first().getDistance()).plus(conflict.getLength())
                             .plus(passable);
                     ttpDz = AnticipationInfo.anticipateMovement(distance, leaders.first().getSpeed(), Acceleration.ZERO);
                 }
                 else
                 {
                     // no leader so conflict is passable within a duration of 0
                     ttpDz = new AnticipationInfo(Duration.ZERO, Speed.ZERO);
                 }
                 // 1) downstream vehicle must supply sufficient space before conflict vehicle will enter
                 // 2) must clear the conflict before the conflict vehicle will enter
                 if (ttpDz.duration().times(f).plus(gap).gt(tteCa.duration())
                         || ttcOa.duration().times(f).plus(gap).gt(tteCa.duration()))
                 {
                     return true;
                 }
             }
             else
             {
                 throw new RuntimeException(
                         "Conflict is of unknown type " + conflict.getConflictType() + ", which is not merge nor a crossing.");
             }
             first = false;
         }
 
         // No conflict vehicle triggered stopping
         return false;
     }
 
     /**
      * Approach a stop conflict. Currently this is equal to approaching a give-way conflict.
      * @param conflict conflict
      * @param leaders leaders
      * @param speed current speed
      * @param acceleration current acceleration
      * @param vehicleLength vehicle length
      * @param parameters parameters
      * @param speedLimitInfo speed limit info
      * @param carFollowingModel car-following model
      * @param bType parameter type for considered deceleration
      * @param prevEnd distance to end of previous conflict that should not be blocked, {@code null} if none
      * @return whether to stop for this conflict
      * @throws ParameterException if a parameter is not defined
      */
     @SuppressWarnings("checkstyle:parameternumber")
     public static boolean stopForStopConflict(final PerceivedConflict conflict,
             final PerceptionCollectable<PerceivedGtu, LaneBasedGtu> leaders, final Speed speed, final Acceleration acceleration,
             final Length vehicleLength, final Parameters parameters, final SpeedLimitInfo speedLimitInfo,
             final CarFollowingModel carFollowingModel, final ParameterTypeAcceleration bType, final Length prevEnd)
             throws ParameterException
     {
         // TODO stopping
         return stopForGiveWayConflict(conflict, leaders, speed, acceleration, vehicleLength, parameters, speedLimitInfo,
                 carFollowingModel, bType, prevEnd);
     }
 
     /**
      * Approach an all-stop conflict.
      * @param conflict conflict to approach
      * @param conflictPlans set of plans for conflict
      * @return whether to stop for this conflict
      */
     public static boolean stopForAllStopConflict(final PerceivedConflict conflict, final ConflictPlans conflictPlans)
     {
         // TODO all-stop behavior
         if (conflictPlans.isStopPhaseRun(conflict.getStopLine()))
         {
             return false;
         }
         return false;
     }
 
     /**
      * Returns whether the conflicting link is on the route of the given gtu.
      * @param conflictingLink conflicting link
      * @param gtu gtu
      * @return whether the conflict is on the route of the given gtu
      */
     private static boolean isOnRoute(final CrossSectionLink conflictingLink, final PerceivedGtu gtu)
     {
         try
         {
             Optional<Route> route = gtu.getBehavior().getRoute();
             if (route.isEmpty())
             {
                 // conservative assumption: it's on the route (gtu should be upstream of the conflict)
                 return true;
             }
             Node startNode = conflictingLink.getStartNode();
             Node endNode = conflictingLink.getEndNode();
             return route.get().contains(startNode) && route.get().contains(endNode)
                     && Math.abs(route.get().indexOf(endNode) - route.get().indexOf(startNode)) == 1;
         }
         catch (UnsupportedOperationException uoe)
         {
             // conservative assumption: it's on the route (gtu should be upstream of the conflict)
             return true;
         }
     }
 
     /**
      * Returns distance needed behind the leader to completely pass the conflict.
      * @param vehicleLength vehicle length
      * @param parameters parameters
      * @return distance needed behind the leader to completely pass the conflict
      * @throws ParameterException if parameter is not available
      */
     private static Length passableDistance(final Length vehicleLength, final Parameters parameters) throws ParameterException
     {
         return parameters.getParameter(S0).plus(vehicleLength);
     }
 
     /**
      * Holds the tactical plans of a driver considering conflicts. These are remembered for consistency. For instance, if the
      * decision is made to yield as current deceleration suggests it's safe to do so, but the trajectory for stopping in front
      * of the conflict results in deceleration slightly above what is considered safe deceleration, the plan should not be
      * abandoned. Decelerations above what is considered safe deceleration may result due to numerical overshoot or other
      * factors coming into play in car-following models. Many other examples exist where a driver sticks to a certain plan.
      */
     public static final class ConflictPlans implements Blockable
     {
 
         /** Phases of navigating an all-stop intersection per intersection. */
         private final LinkedHashMap<String, StopPhase> stopPhases = new LinkedHashMap<>();
 
         /** Estimated arrival times of vehicles at all-stop intersection. */
         private final LinkedHashMap<String, Time> arrivalTimes = new LinkedHashMap<>();
 
         /** Indicator intent. */
         private TurnIndicatorIntent indicatorIntent = TurnIndicatorIntent.NONE;
 
         /** Distance to object causing turn indicator intent. */
         private Length indicatorObjectDistance = null;
 
         /** Whether the GTU is blocking conflicts. */
         private boolean blocking;
 
         /** Id of GTU that we allow priority (although it has not) for zip-merging at congested merge conflict. */
         private String zipGtuId;
 
         /**
          * Constructor.
          */
         public ConflictPlans()
         {
             //
         }
 
         /**
          * Clean any yield plan that was no longer kept active in the last evaluation of conflicts.
          */
         void cleanPlans()
         {
             this.indicatorIntent = TurnIndicatorIntent.NONE;
             this.indicatorObjectDistance = null;
         }
 
         /**
          * Sets the estimated arrival time of a GTU.
          * @param gtu GTU
          * @param time estimated arrival time
          */
         void setArrivalTime(final PerceivedGtuBase gtu, final Time time)
         {
             this.arrivalTimes.put(gtu.getId(), time);
         }
 
         /**
          * Returns the estimated arrival time of given GTU.
          * @param gtu GTU
          * @return estimated arrival time of given GTU
          */
         Time getArrivalTime(final PerceivedGtuBase gtu)
         {
             return this.arrivalTimes.get(gtu.getId());
         }
 
         /**
          * Sets the current phase to 'approach' for the given stop line.
          * @param stopLine stop line
          */
         void setStopPhaseApproach(final PerceivedObject stopLine)
         {
             this.stopPhases.put(stopLine.getId(), StopPhase.APPROACH);
         }
 
         /**
          * Sets the current phase to 'yield' for the given stop line.
          * @param stopLine stop line
          * @throws OtsRuntimeException if the phase was not set to approach before
          */
         void setStopPhaseYield(final PerceivedObject stopLine)
         {
             Throw.when(
                     !this.stopPhases.containsKey(stopLine.getId())
                             || !this.stopPhases.get(stopLine.getId()).equals(StopPhase.APPROACH),
                     OtsRuntimeException.class, "Yield stop phase is set for stop line that was not approached.");
             this.stopPhases.put(stopLine.getId(), StopPhase.YIELD);
         }
 
         /**
          * Sets the current phase to 'run' for the given stop line.
          * @param stopLine stop line
          * @throws OtsRuntimeException if the phase was not set to approach before
          */
         void setStopPhaseRun(final PerceivedObject stopLine)
         {
             Throw.when(!this.stopPhases.containsKey(stopLine.getId()), OtsRuntimeException.class,
                     "Run stop phase is set for stop line that was not approached.");
             this.stopPhases.put(stopLine.getId(), StopPhase.YIELD);
         }
 
         /**
          * Return whether plan is in approach stop line phase.
          * @param stopLine stop line
          * @return whether the current phase is 'approach' for the given stop line
          */
         boolean isStopPhaseApproach(final PerceivedObject stopLine)
         {
             return this.stopPhases.containsKey(stopLine.getId())
                     && this.stopPhases.get(stopLine.getId()).equals(StopPhase.APPROACH);
         }
 
         /**
          * Returns whether yielding was planned for the stop line.
          * @param stopLine stop line
          * @return whether the current phase is 'yield' for the given stop line
          */
         boolean isStopPhaseYield(final PerceivedObject stopLine)
         {
             return this.stopPhases.containsKey(stopLine.getId())
                     && this.stopPhases.get(stopLine.getId()).equals(StopPhase.YIELD);
         }
 
         /**
          * Returns whether running was planned for the stop line.
          * @param stopLine stop line
          * @return whether the current phase is 'run' for the given stop line
          */
         boolean isStopPhaseRun(final PerceivedObject stopLine)
         {
             return this.stopPhases.containsKey(stopLine.getId()) && this.stopPhases.get(stopLine.getId()).equals(StopPhase.RUN);
         }
 
         /**
          * Return indicator intent.
          * @return indicatorIntent.
          */
         public TurnIndicatorIntent getIndicatorIntent()
         {
             return this.indicatorIntent;
         }
 
         /**
          * Returns distance to indicator determining object.
          * @return distance to indicator determining object.
          */
         public Length getIndicatorObjectDistance()
         {
             return this.indicatorObjectDistance;
         }
 
         /**
          * Set indicator intent.
          * @param intent indicator intent
          * @param distance distance to object pertaining to the turn indicator intent
          */
         public void setIndicatorIntent(final TurnIndicatorIntent intent, final Length distance)
         {
             if (this.indicatorObjectDistance == null || this.indicatorObjectDistance.gt(distance))
             {
                 this.indicatorIntent = intent;
                 this.indicatorObjectDistance = distance;
             }
         }
 
         @Override
         public boolean isBlocking()
         {
             return this.blocking;
         }
 
         /**
          * Sets the GTU as blocking conflicts or not.
          * @param blocking whether the GTU is blocking conflicts
          */
         public void setBlocking(final boolean blocking)
         {
             this.blocking = blocking;
         }
 
         /**
          * Sets the id of GTU that we allow priority (although it has not) for zip-merging at congested merge conflict.
          * @param zipGtuId id of GTU that we allow priority
          */
         void setZipGtu(final String zipGtuId)
         {
             this.zipGtuId = zipGtuId;
         }
 
         /**
          * Clear the id of GTU that we allow priority (although it has not) for zip-merging at congested merge conflict.
          */
         void clearZipGtu()
         {
             this.zipGtuId = null;
         }
 
         /**
          * Check whether the given id is of the GTU for which we allow priority.
          * @param id GTU id
          * @return whether the given id is of the GTU for which we allow priority
          */
         boolean isZipGtu(final String id)
         {
             return id.equals(this.zipGtuId);
         }
 
         @Override
         public String toString()
         {
             return "ConflictPlans";
         }
 
     }
 
     /**
      * Phases of navigating an all-stop intersection.
      * <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://tudelft.nl/staff/p.knoppers-1">Peter Knoppers</a>
      * @author <a href="https://github.com/wjschakel">Wouter Schakel</a>
      */
     private enum StopPhase
     {
         /** Approaching stop intersection. */
         APPROACH,
 
         /** Yielding for stop intersection. */
         YIELD,
 
         /** Running over stop intersection. */
         RUN;
     }
 
     /**
      * Returns the net available space when all moving GTUs will become stationary behind the first stationary GTU.
      */
     private static final class AvailableSpace implements PerceptionCollector<Space, LaneBasedGtu, Space>
     {
         @Override
         public Supplier<Space> getIdentity()
         {
             return () -> new Space();
         }
 
         @Override
         public PerceptionAccumulator<LaneBasedGtu, Space> getAccumulator()
         {
             return (i, u, h) ->
             {
                 if (i.getObject().addVehicle(u, h))
                 {
                     i.stop();
                 }
                 return i;
             };
         }
 
         @Override
         public Function<Space, Space> getFinalizer()
         {
             return (l) -> l;
         }
     }
 
     /**
      * Intermediate result for {@link AvailableSpace} collector.
      */
     private static final class Space
     {
         /** Accumulated required space for vehicles up to stationary leader. */
         private Length cumulativeRequiredSpace = Length.ZERO;
 
         /** Distance to first stationary leader. */
         private Length firstStationary;
 
         /**
          * Adds a vehicle.
          * @param gtu GTU
          * @param h distance to GTU
          * @return whether the accumulator can stop as the vehicles is stationary
          */
         public boolean addVehicle(final LaneBasedGtu gtu, final Length h)
         {
             if (gtu.getSpeed().eq0())
             {
                 this.firstStationary = h;
                 return true;
             }
             Length s0;
             try
             {
                 s0 = gtu.getParameters().getParameter(ParameterTypes.S0);
             }
             catch (ParameterException ex)
             {
                 s0 = Length.ofSI(3.0);
             }
             this.cumulativeRequiredSpace = this.cumulativeRequiredSpace.plus(gtu.getLength()).plus(s0);
             return false;
         }
 
         /**
          * Returns the available space up to first stationary leader.
          * @return available space up to first stationary leader
          */
         public Length availableSpace()
         {
             return this.firstStationary == null ? Length.POSITIVE_INFINITY
                     : this.firstStationary.minus(this.cumulativeRequiredSpace);
         }
 
         /**
          * Returns the distance to first stationary leader.
          * @return distance to first stationary leader
          */
         public Length firstStationary()
         {
             return this.firstStationary == null ? Length.POSITIVE_INFINITY : this.firstStationary;
         }
     }
 
 }