aim4.driver
Class DriverUtil

java.lang.Object
  aim4.driver.DriverUtil

public class DriverUtil
extends Object

A utility class for drivers.

Field Summary

static double	DEFAULT_LEAD_TIME The default amount of lead time for lane following, in seconds.
static double	MIN_LEAD_DIST The constant term in the formula of calculating lead distances.

Method Summary

static double	calculateMaxFeasibleVelocity(VehicleDriverView vehicle) Determine the maximum velocity at which the Vehicle should travel given the Lane in which it is.
static double	getLeadDistance(VehicleDriverView vehicle) Get the estimated lead distance, which is roughly equal to the speed of the vehicle times the default lead time.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEFAULT_LEAD_TIME

public static final double DEFAULT_LEAD_TIME

The default amount of lead time for lane following, in seconds. The lead time indicates how far along the Lane from the point nearest to the Vehicle's current location the Vehicle should aim. By default, lead distance = DEFAULT_LEAD_TIME * velocity + MIN_LEAD_DIST. 0.4 seconds.

See Also:

Constant Field Values

MIN_LEAD_DIST

public static final double MIN_LEAD_DIST

The constant term in the formula of calculating lead distances. It is the minimum possible lead distance. By default, lead distance = leadTime * velocity + MIN_LEAD_DIST. 0.2 meters.

See Also:

Constant Field Values

Method Detail

getLeadDistance

public static double getLeadDistance(VehicleDriverView vehicle)

Get the estimated lead distance, which is roughly equal to the speed of the vehicle times the default lead time.

Returns:

the lead distance

calculateMaxFeasibleVelocity

public static double calculateMaxFeasibleVelocity(VehicleDriverView vehicle)

Determine the maximum velocity at which the Vehicle should travel given the Lane in which it is.

Parameters:

vehicle - the vehicle

Returns:

the maximum velocity at which the Vehicle should travel given the Lane in which it is