aim4.driver.pilot
Class V2IPilot

java.lang.Object
  aim4.driver.pilot.BasicPilot
      aim4.driver.pilot.V2IPilot

public class V2IPilot
extends BasicPilot

An agent that pilots a AutoVehicleDriverView autonomously. This agent attempts to emulate the behavior of a real-world autonomous driver agent in terms of physically controlling the Vehicle.

Field Summary

static double	DEFAULT_STOP_DISTANCE_BEFORE_INTERSECTION The default shortest distance before an intersection at which the vehicle stops if the vehicle can't enter the intersection immediately.
static double	MINIMUM_FOLLOWING_DISTANCE The minimum distance to maintain between the Vehicle controlled by this AutonomousPilot and the one in front of it.
static double	TRAVERSING_LANE_CHANGE_LEAD_TIME The distance, expressed in units of the Vehicle's velocity, at which to switch to a new lane when turning.

Constructor Summary

V2IPilot(AutoVehicleDriverView vehicle, AutoDriver driver)
Create an pilot to control a vehicle.

Method Summary

void	followAccelerationProfile(V2ICoordinator.ReservationParameter rp) Follow the acceleration profile received as part of a reservation confirmation from an IntersectionManager.
AutoDriver	getDriver() Get the driver this pilot controls.
AutoVehicleDriverView	getVehicle() Get the vehicle this pilot controls.
void	simpleThrottleAction() The simple throttle action.
void	takeSteeringActionForTraversing(V2ICoordinator.ReservationParameter rp) Set the steering action when the vehicle is traversing an intersection.

Methods inherited from class aim4.driver.pilot.BasicPilot

cruise, followCurrentLane, followNewLane

Methods inherited from class java.lang.Object

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

Field Detail

MINIMUM_FOLLOWING_DISTANCE

public static final double MINIMUM_FOLLOWING_DISTANCE

The minimum distance to maintain between the Vehicle controlled by this AutonomousPilot and the one in front of it. 0.5 meters.

See Also:

Constant Field Values

DEFAULT_STOP_DISTANCE_BEFORE_INTERSECTION

public static double DEFAULT_STOP_DISTANCE_BEFORE_INTERSECTION

The default shortest distance before an intersection at which the vehicle stops if the vehicle can't enter the intersection immediately.

TRAVERSING_LANE_CHANGE_LEAD_TIME

public static final double TRAVERSING_LANE_CHANGE_LEAD_TIME

The distance, expressed in units of the Vehicle's velocity, at which to switch to a new lane when turning. 1.5 seconds.

See Also:

Constant Field Values

Constructor Detail

V2IPilot

public V2IPilot(AutoVehicleDriverView vehicle,
                AutoDriver driver)

Create an pilot to control a vehicle.

Parameters:

vehicle - the vehicle to control

driver - the driver

Method Detail

getVehicle

public AutoVehicleDriverView getVehicle()

Get the vehicle this pilot controls.

Specified by:

getVehicle in class BasicPilot

getDriver

public AutoDriver getDriver()

Get the driver this pilot controls.

Specified by:

getDriver in class BasicPilot

takeSteeringActionForTraversing

public void takeSteeringActionForTraversing(V2ICoordinator.ReservationParameter rp)

Set the steering action when the vehicle is traversing an intersection.

followAccelerationProfile

public void followAccelerationProfile(V2ICoordinator.ReservationParameter rp)

Follow the acceleration profile received as part of a reservation confirmation from an IntersectionManager. If none exists, or if it is empty, just cruise. Modifies the acceleration profile to reflect the portion it has consumed. TODO: do not modify the acceleration profile

simpleThrottleAction

public void simpleThrottleAction()

The simple throttle action.